28 files changed, 728 insertions, 327 deletions
diff --git a/CONTRIBUTORS.txt b/CONTRIBUTORS.txt
index a16d174..fd00fe8 100644
--- a/CONTRIBUTORS.txt
+++ b/CONTRIBUTORS.txt
@@ -16,7 +16,7 @@ people that make the day to day of OpenSim happen.
 * BlueWall (James Hughes)
 * Nebadon Izumi (Michael Cerquoni, OSgrid)
 * Snoopy Pfeffer
-* Richard Adams (Intel)
+* Robert Adams (Intel)
 = Core Developers Following the White Rabbit =
 Core developers who have temporarily (we hope) gone chasing the white rabbit. 
diff --git a/OpenSim/Region/CoreModules/Avatar/Attachments/AttachmentsModule.cs b/OpenSim/Region/CoreModules/Avatar/Attachments/AttachmentsModule.cs
index 130c869..2a513e9 100644
--- a/OpenSim/Region/CoreModules/Avatar/Attachments/AttachmentsModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/Attachments/AttachmentsModule.cs
@@ -407,6 +407,11 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments
        public void DetachSingleAttachmentToGround(IScenePresence sp, uint soLocalId)
        {
+            DetachSingleAttachmentToGround(sp, soLocalId, sp.AbsolutePosition, Quaternion.Identity);
+        }
+        public void DetachSingleAttachmentToGround(IScenePresence sp, uint soLocalId, Vector3 absolutePos, Quaternion absoluteRot)
+        {
            if (!Enabled)
                return;
@@ -448,7 +453,11 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments
                so.FromItemID = UUID.Zero;
                SceneObjectPart rootPart = so.RootPart;
-                so.AbsolutePosition = sp.AbsolutePosition;
+                so.AbsolutePosition = absolutePos;
+                if (absoluteRot != Quaternion.Identity)
+                {
+                    so.UpdateGroupRotationR(absoluteRot);
+                }
                so.AttachedAvatar = UUID.Zero;
                rootPart.SetParentLocalId(0);
                so.ClearPartAttachmentData();
diff --git a/OpenSim/Region/CoreModules/Avatar/AvatarFactory/AvatarFactoryModule.cs b/OpenSim/Region/CoreModules/Avatar/AvatarFactory/AvatarFactoryModule.cs
index 1d6e522..b5b0082 100644
--- a/OpenSim/Region/CoreModules/Avatar/AvatarFactory/AvatarFactoryModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/AvatarFactory/AvatarFactoryModule.cs
@@ -525,7 +525,7 @@ namespace OpenSim.Region.CoreModules.Avatar.AvatarFactory
            {
                for (int i = 0; i < AvatarWearable.MAX_WEARABLES; i++)
                {
-                    for (int j = 0; j < appearance.Wearables[j].Count; j++)
+                    for (int j = 0; j < appearance.Wearables[i].Count; j++)
                    {
                        if (appearance.Wearables[i][j].ItemID == UUID.Zero)
                            continue;
@@ -533,6 +533,7 @@ namespace OpenSim.Region.CoreModules.Avatar.AvatarFactory
                        // Ignore ruth's assets
                        if (appearance.Wearables[i][j].ItemID == AvatarWearable.DefaultWearables[i][0].ItemID)
                            continue;
                        InventoryItemBase baseItem = new InventoryItemBase(appearance.Wearables[i][j].ItemID, userID);
                        baseItem = invService.GetItem(baseItem);
diff --git a/OpenSim/Region/CoreModules/Avatar/Inventory/Transfer/InventoryTransferModule.cs b/OpenSim/Region/CoreModules/Avatar/Inventory/Transfer/InventoryTransferModule.cs
index f3af59a..91eda19 100644
--- a/OpenSim/Region/CoreModules/Avatar/Inventory/Transfer/InventoryTransferModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/Inventory/Transfer/InventoryTransferModule.cs
@@ -297,6 +297,45 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Transfer
                        });
                }
            }
+            else if (im.dialog == (byte) InstantMessageDialog.TaskInventoryAccepted)
+            {
+                UUID destinationFolderID = UUID.Zero;
+                if (im.binaryBucket != null && im.binaryBucket.Length >= 16)
+                {
+                    destinationFolderID = new UUID(im.binaryBucket, 0);
+                }
+                if (destinationFolderID != UUID.Zero)
+                {
+                    IInventoryService invService = scene.InventoryService;
+                    UUID inventoryID = new UUID(im.imSessionID); // The inventory item/folder, back from it's trip
+                    InventoryItemBase item = new InventoryItemBase(inventoryID, client.AgentId);
+                    item = invService.GetItem(item);
+                    InventoryFolderBase folder = null;
+                    if (item != null) // It's an item
+                    {
+                        item.Folder = destinationFolderID;
+                        invService.DeleteItems(item.Owner, new List<UUID>() { item.ID });
+                        scene.AddInventoryItem(client, item);
+                    }
+                    else
+                    {
+                        folder = new InventoryFolderBase(inventoryID, client.AgentId);
+                        folder = invService.GetFolder(folder);
+                        if (folder != null) // It's a folder
+                        {
+                            folder.ParentID = destinationFolderID;
+                            invService.MoveFolder(folder);
+                        }
+                    }
+                }
+            }
            else if (
                im.dialog == (byte)InstantMessageDialog.InventoryDeclined
                || im.dialog == (byte)InstantMessageDialog.TaskInventoryDeclined)
diff --git a/OpenSim/Region/CoreModules/Framework/Statistics/Logging/LogWriter.cs b/OpenSim/Region/CoreModules/Framework/Statistics/Logging/LogWriter.cs
index 65e4c90..fd8d5e3 100755
--- a/OpenSim/Region/CoreModules/Framework/Statistics/Logging/LogWriter.cs
+++ b/OpenSim/Region/CoreModules/Framework/Statistics/Logging/LogWriter.cs
@@ -1,161 +1,170 @@
-/*
+/*
- * Copyright (c) Contributors, http://opensimulator.org/
+ * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
+ *
- * Redistribution and use in source and binary forms, with or without
+ * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
+ * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
+ *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
+ *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyright
+ *     * Redistributions in binary form must reproduce the above copyright
- *       notice, this list of conditions and the following disclaimer in the
+ *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
+ *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
+ *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
+ *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
+ *       derived from this software without specific prior written permission.
- *
+ *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
+ */
-using System;
+using System;
-using System.IO;
+using System.IO;
-using System.Text;
+using System.Text;
-using log4net;
+using log4net;
-namespace OpenSim.Region.CoreModules.Framework.Statistics.Logging
+namespace OpenSim.Region.CoreModules.Framework.Statistics.Logging
-{
+{
-    /// <summary>
+    /// <summary>
-    /// Class for writing a high performance, high volume log file.
+    /// Class for writing a high performance, high volume log file.
-    /// Sometimes, to debug, one has a high volume logging to do and the regular
+    /// Sometimes, to debug, one has a high volume logging to do and the regular
-    /// log file output is not appropriate.
+    /// log file output is not appropriate.
-    /// Create a new instance with the parameters needed and
+    /// Create a new instance with the parameters needed and
-    /// call Write() to output a line. Call Close() when finished.
+    /// call Write() to output a line. Call Close() when finished.
-    /// If created with no parameters, it will not log anything.
+    /// If created with no parameters, it will not log anything.
-    /// </summary>
+    /// </summary>
-    public class LogWriter : IDisposable
+    public class LogWriter : IDisposable
-    {
+    {
-        public bool Enabled { get; private set; }
+        public bool Enabled { get; private set; }
-        private string m_logDirectory = ".";
+        private string m_logDirectory = ".";
-        private int m_logMaxFileTimeMin = 5;    // 5 minutes
+        private int m_logMaxFileTimeMin = 5;    // 5 minutes
-        public String LogFileHeader { get; set; }
+        public String LogFileHeader { get; set; }
-        private StreamWriter m_logFile = null;
+        private StreamWriter m_logFile = null;
-        private TimeSpan m_logFileLife;
+        private TimeSpan m_logFileLife;
-        private DateTime m_logFileEndTime;
+        private DateTime m_logFileEndTime;
-        private Object m_logFileWriteLock = new Object();
+        private Object m_logFileWriteLock = new Object();
-        // set externally when debugging. If let 'null', this does not write any error messages.
+        // set externally when debugging. If let 'null', this does not write any error messages.
-        public ILog ErrorLogger = null;
+        public ILog ErrorLogger = null;
-        private string LogHeader = "[LOG WRITER]";
+        private string LogHeader = "[LOG WRITER]";
-        /// <summary>
+        /// <summary>
-        /// Create a log writer that will not write anything. Good for when not enabled
+        /// Create a log writer that will not write anything. Good for when not enabled
-        /// but the write statements are still in the code.
+        /// but the write statements are still in the code.
-        /// </summary>
+        /// </summary>
-        public LogWriter()
+        public LogWriter()
-        {
+        {
-            Enabled = false;
+            Enabled = false;
-            m_logFile = null;
+            m_logFile = null;
-        }
+        }
-        /// <summary>
+        /// <summary>
-        /// Create a log writer instance.
+        /// Create a log writer instance.
-        /// </summary>
+        /// </summary>
-        /// <param name="dir">The directory to create the log file in. May be 'null' for default.</param>
+        /// <param name="dir">The directory to create the log file in. May be 'null' for default.</param>
-        /// <param name="headr">The characters that begin the log file name. May be 'null' for default.</param>
+        /// <param name="headr">The characters that begin the log file name. May be 'null' for default.</param>
-        /// <param name="maxFileTime">Maximum age of a log file in minutes. If zero, will set default.</param>
+        /// <param name="maxFileTime">Maximum age of a log file in minutes. If zero, will set default.</param>
-        public LogWriter(string dir, string headr, int maxFileTime)
+        public LogWriter(string dir, string headr, int maxFileTime)
-        {
+        {
-            m_logDirectory = dir == null ? "." : dir;
+            m_logDirectory = dir == null ? "." : dir;
-            LogFileHeader = headr == null ? "log-" : headr;
+            LogFileHeader = headr == null ? "log-" : headr;
-            m_logMaxFileTimeMin = maxFileTime;
+            m_logMaxFileTimeMin = maxFileTime;
-            if (m_logMaxFileTimeMin < 1)
+            if (m_logMaxFileTimeMin < 1)
-                m_logMaxFileTimeMin = 5;
+                m_logMaxFileTimeMin = 5;
-            m_logFileLife = new TimeSpan(0, m_logMaxFileTimeMin, 0);
+            m_logFileLife = new TimeSpan(0, m_logMaxFileTimeMin, 0);
-            m_logFileEndTime = DateTime.Now + m_logFileLife;
+            m_logFileEndTime = DateTime.Now + m_logFileLife;
-            Enabled = true;
+            Enabled = true;
-        }
+        }
-        public void Dispose()
+        public void Dispose()
-        {
+        {
-            this.Close();
+            this.Close();
-        }
+        }
-        public void Close()
+        public void Close()
-        {
+        {
-            Enabled = false;
+            Enabled = false;
-            if (m_logFile != null)
+            if (m_logFile != null)
-            {
+            {
-                m_logFile.Close();
+                m_logFile.Close();
-                m_logFile.Dispose();
+                m_logFile.Dispose();
-                m_logFile = null;
+                m_logFile = null;
-            }
+            }
-        }
+        }
-        public void Write(string line, params object[] args)
+        public void Write(string line, params object[] args)
-        {
+        {
-            if (!Enabled) return;
+            if (!Enabled) return;
-            Write(String.Format(line, args));
+            Write(String.Format(line, args));
-        }
+        }
-        public void Write(string line)
+        public void Flush()
-        {
+        {
-            if (!Enabled) return;
+            if (!Enabled) return;
-            try
+            if (m_logFile != null)
-            {
+            {
-                lock (m_logFileWriteLock)
+                m_logFile.Flush();
-                {
+            }
-                    DateTime now = DateTime.Now;
+        }
-                    if (m_logFile == null || now > m_logFileEndTime)
-                    {
+        public void Write(string line)
-                        if (m_logFile != null)
+        {
-                        {
+            if (!Enabled) return;
-                            m_logFile.Close();
+            try
-                            m_logFile.Dispose();
+            {
-                            m_logFile = null;
+                lock (m_logFileWriteLock)
-                        }
+                {
+                    DateTime now = DateTime.Now;
-                        // First log file or time has expired, start writing to a new log file
+                    if (m_logFile == null || now > m_logFileEndTime)
-                        m_logFileEndTime = now + m_logFileLife;
+                    {
-                        string path = (m_logDirectory.Length > 0 ? m_logDirectory
+                        if (m_logFile != null)
-                                    + System.IO.Path.DirectorySeparatorChar.ToString() : "")
+                        {
-                                + String.Format("{0}{1}.log", LogFileHeader, now.ToString("yyyyMMddHHmmss"));
+                            m_logFile.Close();
-                        m_logFile = new StreamWriter(File.Open(path, FileMode.Append, FileAccess.Write));
+                            m_logFile.Dispose();
-                    }
+                            m_logFile = null;
-                    if (m_logFile != null)
+                        }
-                    {
-                        StringBuilder buff = new StringBuilder(line.Length + 25);
+                        // First log file or time has expired, start writing to a new log file
-                        buff.Append(now.ToString("yyyyMMddHHmmssfff"));
+                        m_logFileEndTime = now + m_logFileLife;
-                        // buff.Append(now.ToString("yyyyMMddHHmmss"));
+                        string path = (m_logDirectory.Length > 0 ? m_logDirectory
-                        buff.Append(",");
+                                    + System.IO.Path.DirectorySeparatorChar.ToString() : "")
-                        buff.Append(line);
+                                + String.Format("{0}{1}.log", LogFileHeader, now.ToString("yyyyMMddHHmmss"));
-                        buff.Append("\r\n");
+                        m_logFile = new StreamWriter(File.Open(path, FileMode.Append, FileAccess.Write));
-                        m_logFile.Write(buff.ToString());
+                    }
-                    }
+                    if (m_logFile != null)
-                }
+                    {
-            }
+                        StringBuilder buff = new StringBuilder(line.Length + 25);
-            catch (Exception e)
+                        buff.Append(now.ToString("yyyyMMddHHmmssfff"));
-            {
+                        // buff.Append(now.ToString("yyyyMMddHHmmss"));
-                if (ErrorLogger != null)
+                        buff.Append(",");
-                {
+                        buff.Append(line);
-                    ErrorLogger.ErrorFormat("{0}: FAILURE WRITING TO LOGFILE: {1}", LogHeader, e);
+                        buff.Append("\r\n");
-                }
+                        m_logFile.Write(buff.ToString());
-                Enabled = false;
+                    }
-            }
+                }
-            return;
+            }
-        }
+            catch (Exception e)
-    }
+            {
-}
-\ No newline at end of file
+                if (ErrorLogger != null)
+                {
+                    ErrorLogger.ErrorFormat("{0}: FAILURE WRITING TO LOGFILE: {1}", LogHeader, e);
+                }
+                Enabled = false;
+            }
+            return;
+        }
+    }
+}
diff --git a/OpenSim/Region/Framework/Interfaces/IAttachmentsModule.cs b/OpenSim/Region/Framework/Interfaces/IAttachmentsModule.cs
index 8155eab..620ec22 100644
--- a/OpenSim/Region/Framework/Interfaces/IAttachmentsModule.cs
+++ b/OpenSim/Region/Framework/Interfaces/IAttachmentsModule.cs
@@ -109,6 +109,15 @@ namespace OpenSim.Region.Framework.Interfaces
        void DetachSingleAttachmentToGround(IScenePresence sp, uint objectLocalID);
        /// <summary>
+        /// Detach the given item to the ground at the specified coordinates & rotation
+        /// </summary>
+        /// <param name="sp"></param>
+        /// <param name="objectLocalID"></param>
+        /// <param name="absolutePos"></param>
+        /// <param name="absoluteRot"></param>
+        void DetachSingleAttachmentToGround(IScenePresence sp, uint objectLocalID, Vector3 absolutePos, Quaternion absoluteRot);
+        /// <summary>
        /// Detach the given attachment so that it remains in the user's inventory.
        /// </summary>
        /// <param name="sp">/param>
diff --git a/OpenSim/Region/Framework/Scenes/Scene.cs b/OpenSim/Region/Framework/Scenes/Scene.cs
index 2e03874..0a4aa4a 100644
--- a/OpenSim/Region/Framework/Scenes/Scene.cs
+++ b/OpenSim/Region/Framework/Scenes/Scene.cs
@@ -5545,6 +5545,9 @@ namespace OpenSim.Region.Framework.Scenes
        public void StoreExtraSetting(string name, string val)
        {
+            if (m_extraSettings == null)
+                return;
            string oldVal;
            if (m_extraSettings.TryGetValue(name, out oldVal))
@@ -5562,6 +5565,9 @@ namespace OpenSim.Region.Framework.Scenes
        public void RemoveExtraSetting(string name)
        {
+            if (m_extraSettings == null)
+                return;
            if (!m_extraSettings.ContainsKey(name))
                return;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index b88ec3c..2a52e01 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -218,6 +218,18 @@ public class BSCharacter : BSPhysObject
            });
        }
    }
+    public override OMV.Vector3 ForcePosition {
+        get {
+            _position = BulletSimAPI.GetPosition2(BSBody.ptr);
+            return _position;
+        }
+        set {
+            _position = value;
+            PositionSanityCheck();
+            BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+        }
+    }
    // Check that the current position is sane and, if not, modify the position to make it so.
    // Check for being below terrain and being out of bounds.
@@ -234,6 +246,15 @@ public class BSCharacter : BSPhysObject
            _position.Z = terrainHeight + 2.0f;
            ret = true;
        }
+        if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
+        {
+            float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position);
+            if (Position.Z < waterHeight)
+            {
+                _position.Z = waterHeight;
+                ret = true;
+            }
+        }
        // TODO: check for out of bounds
        return ret;
@@ -242,18 +263,22 @@ public class BSCharacter : BSPhysObject
    // A version of the sanity check that also makes sure a new position value is
    //    pushed back to the physics engine. This routine would be used by anyone
    //    who is not already pushing the value.
-    private bool PositionSanityCheck2()
+    private bool PositionSanityCheck2(bool atTaintTime)
    {
        bool ret = false;
        if (PositionSanityCheck())
        {
            // The new position value must be pushed into the physics engine but we can't
            //    just assign to "Position" because of potential call loops.
-            PhysicsScene.TaintedObject("BSCharacter.PositionSanityCheck", delegate()
+            BSScene.TaintCallback sanityOperation = delegate()
            {
                DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
-            });
+            };
+            if (atTaintTime)
+                sanityOperation();
+            else
+                PhysicsScene.TaintedObject("BSCharacter.PositionSanityCheck", sanityOperation);
            ret = true;
        }
        return ret;
@@ -333,6 +358,20 @@ public class BSCharacter : BSPhysObject
            });
        }
    }
+    // Go directly to Bullet to get/set the value. 
+    public override OMV.Quaternion ForceOrientation
+    {
+        get
+        {
+            _orientation = BulletSimAPI.GetOrientation2(BSBody.ptr);
+            return _orientation;
+        }
+        set
+        {
+            _orientation = value;
+            BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+        }
+    }
    public override int PhysicsActorType {
        get { return _physicsActorType; }
        set { _physicsActorType = value;
@@ -378,7 +417,16 @@ public class BSCharacter : BSPhysObject
        set { _collidingObj = value; }
    }
    public override bool FloatOnWater {
-        set { _floatOnWater = value; }
+        set { 
+            _floatOnWater = value;
+            PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate()
+            {
+                if (_floatOnWater)
+                    CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+                else
+                    CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+            });
+        }
    }
    public override OMV.Vector3 RotationalVelocity {
        get { return _rotationalVelocity; }
@@ -493,15 +541,14 @@ public class BSCharacter : BSPhysObject
        _velocity = entprop.Velocity;
        _acceleration = entprop.Acceleration;
        _rotationalVelocity = entprop.RotationalVelocity;
+        // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
+        PositionSanityCheck2(true);
        // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
        // base.RequestPhysicsterseUpdate();
-        // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
+        DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
-        PositionSanityCheck2();
+                LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
-        float heightHere = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);   // only for debug
-        DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5},terrain={6}",
-                LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity, heightHere);
    }
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 65b38d6..4ba2f62 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -92,7 +92,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
        private float m_angularMotorDecayTimescale = 0;                 // motor angular velocity decay rate
        private Vector3 m_angularFrictionTimescale = Vector3.Zero;      // body angular velocity  decay rate
        private Vector3 m_lastAngularVelocity = Vector3.Zero;           // what was last applied to body
- //       private Vector3 m_lastVertAttractor = Vector3.Zero;             // what VA was last applied to body
+        private Vector3 m_lastVertAttractor = Vector3.Zero;             // what VA was last applied to body
        //Deflection properties
        // private float m_angularDeflectionEfficiency = 0;
@@ -138,74 +138,55 @@ namespace OpenSim.Region.Physics.BulletSPlugin
            switch (pParam)
            {
                case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
-                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_angularDeflectionEfficiency = Math.Max(pValue, 0.01f);
-                    // m_angularDeflectionEfficiency = pValue;
                    break;
                case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
-                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_angularDeflectionTimescale = Math.Max(pValue, 0.01f);
-                    // m_angularDeflectionTimescale = pValue;
                    break;
                case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
-                    if (pValue < 0.01f) pValue = 0.01f;
+                    m_angularMotorDecayTimescale = Math.Max(pValue, 0.01f);
-                    m_angularMotorDecayTimescale = pValue;
                    break;
                case Vehicle.ANGULAR_MOTOR_TIMESCALE:
-                    if (pValue < 0.01f) pValue = 0.01f;
+                    m_angularMotorTimescale = Math.Max(pValue, 0.01f);
-                    m_angularMotorTimescale = pValue;
                    break;
                case Vehicle.BANKING_EFFICIENCY:
-                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_bankingEfficiency = Math.Max(pValue, 0.01f);
-                    // m_bankingEfficiency = pValue;
                    break;
                case Vehicle.BANKING_MIX:
-                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_bankingMix = Math.Max(pValue, 0.01f);
-                    // m_bankingMix = pValue;
                    break;
                case Vehicle.BANKING_TIMESCALE:
-                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_bankingTimescale = Math.Max(pValue, 0.01f);
-                    // m_bankingTimescale = pValue;
                    break;
                case Vehicle.BUOYANCY:
-                    if (pValue < -1f) pValue = -1f;
+                    m_VehicleBuoyancy = Math.Max(-1f, Math.Min(pValue, 1f));
-                    if (pValue > 1f) pValue = 1f;
-                    m_VehicleBuoyancy = pValue;
                    break;
 //                case Vehicle.HOVER_EFFICIENCY:
-//                    if (pValue < 0f) pValue = 0f;
+//                    m_VhoverEfficiency = Math.Max(0f, Math.Min(pValue, 1f));
-//                    if (pValue > 1f) pValue = 1f;
-//                    m_VhoverEfficiency = pValue;
 //                    break;
                case Vehicle.HOVER_HEIGHT:
                    m_VhoverHeight = pValue;
                    break;
                case Vehicle.HOVER_TIMESCALE:
-                    if (pValue < 0.01f) pValue = 0.01f;
+                    m_VhoverTimescale = Math.Max(pValue, 0.01f);
-                    m_VhoverTimescale = pValue;
                    break;
                case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
-                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_linearDeflectionEfficiency = Math.Max(pValue, 0.01f);
-                    // m_linearDeflectionEfficiency = pValue;
                    break;
                case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
-                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_linearDeflectionTimescale = Math.Max(pValue, 0.01f);
-                    // m_linearDeflectionTimescale = pValue;
                    break;
                case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
-                    if (pValue < 0.01f) pValue = 0.01f;
+                    m_linearMotorDecayTimescale = Math.Max(pValue, 0.01f);
-                    m_linearMotorDecayTimescale = pValue;
                    break;
                case Vehicle.LINEAR_MOTOR_TIMESCALE:
-                    if (pValue < 0.01f) pValue = 0.01f;
+                    m_linearMotorTimescale = Math.Max(pValue, 0.01f);
-                    m_linearMotorTimescale = pValue;
                    break;
                case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
-                    if (pValue < 0.1f) pValue = 0.1f;    // Less goes unstable
+                    m_verticalAttractionEfficiency = Math.Max(0.1f, Math.Min(pValue, 1f));
-                    if (pValue > 1.0f) pValue = 1.0f;
-                    m_verticalAttractionEfficiency = pValue;
                    break;
                case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
-                    if (pValue < 0.01f) pValue = 0.01f;
+                    m_verticalAttractionTimescale = Math.Max(pValue, 0.01f);
-                    m_verticalAttractionTimescale = pValue;
                    break;
                // These are vector properties but the engine lets you use a single float value to
@@ -371,8 +352,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                    // m_bankingMix = 1;
                    // m_bankingTimescale = 1;
                    // m_referenceFrame = Quaternion.Identity;
-                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY |
+                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP 
-                                VehicleFlag.LIMIT_MOTOR_UP);
+                                | VehicleFlag.LIMIT_ROLL_ONLY
+                                | VehicleFlag.LIMIT_MOTOR_UP);
                    m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
                    m_flags |= (VehicleFlag.HOVER_UP_ONLY);
                    break;
@@ -399,12 +381,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                    // m_bankingMix = 0.8f;
                    // m_bankingTimescale = 1;
                    // m_referenceFrame = Quaternion.Identity;
-                    m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY |
+                    m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY
-                            VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
+                                    | VehicleFlag.HOVER_GLOBAL_HEIGHT 
-                    m_flags &= ~(VehicleFlag.LIMIT_ROLL_ONLY);
+                                    | VehicleFlag.LIMIT_ROLL_ONLY
-                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
+                                    | VehicleFlag.HOVER_UP_ONLY);
-                                VehicleFlag.LIMIT_MOTOR_UP);
+                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP
-                    m_flags |= (VehicleFlag.HOVER_WATER_ONLY);
+                                    | VehicleFlag.LIMIT_MOTOR_UP
+                                    | VehicleFlag.HOVER_WATER_ONLY);
                    break;
                case Vehicle.TYPE_AIRPLANE:
                    m_linearFrictionTimescale = new Vector3(200, 10, 5);
@@ -429,9 +412,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                    // m_bankingMix = 0.7f;
                    // m_bankingTimescale = 2;
                    // m_referenceFrame = Quaternion.Identity;
-                    m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
+                    m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
-                        VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
+                                    | VehicleFlag.HOVER_TERRAIN_ONLY
-                    m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP);
+                                    | VehicleFlag.HOVER_GLOBAL_HEIGHT
+                                    | VehicleFlag.HOVER_UP_ONLY
+                                    | VehicleFlag.NO_DEFLECTION_UP
+                                    | VehicleFlag.LIMIT_MOTOR_UP);
                    m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
                    break;
                case Vehicle.TYPE_BALLOON:
@@ -457,11 +443,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                    // m_bankingMix = 0.7f;
                    // m_bankingTimescale = 5;
                    // m_referenceFrame = Quaternion.Identity;
-                    m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
+                    m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
-                        VehicleFlag.HOVER_UP_ONLY);
+                                    | VehicleFlag.HOVER_TERRAIN_ONLY
-                    m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP);
+                                    | VehicleFlag.HOVER_UP_ONLY
-                    m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
+                                    | VehicleFlag.NO_DEFLECTION_UP
-                    m_flags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT);
+                                    | VehicleFlag.LIMIT_MOTOR_UP);
+                    m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY
+                                    | VehicleFlag.HOVER_GLOBAL_HEIGHT);
                    break;
            }
        }//end SetDefaultsForType
@@ -470,7 +458,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
        // Do any updating needed for a vehicle
        public void Refresh()
        {
-            if (Type == Vehicle.TYPE_NONE) return;
+            if (!IsActive) 
+                return;
            // Set the prim's inertia to zero. The vehicle code handles that and this
            //    removes the torque action introduced by Bullet.
@@ -489,7 +478,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
            LimitRotation(pTimestep);
            // remember the position so next step we can limit absolute movement effects
-            m_lastPositionVector = Prim.Position;
+            m_lastPositionVector = Prim.ForcePosition;
            VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}",
                    Prim.LocalID, Prim.Position, Prim.Force, Prim.Velocity, Prim.RotationalVelocity);
@@ -543,7 +532,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
            }
            // convert requested object velocity to object relative vector
-            Quaternion rotq = Prim.Orientation;
+            Quaternion rotq = Prim.ForceOrientation;
            m_newVelocity = m_lastLinearVelocityVector * rotq;
            // Add the various forces into m_dir which will be our new direction vector (velocity)
@@ -560,19 +549,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin
            m_dir.Z = vel_now.Z;        // Preserve the accumulated falling velocity
             */
-            Vector3 pos = Prim.Position;
+            Vector3 pos = Prim.ForcePosition;
 //            Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f);
            // If below the terrain, move us above the ground a little.
            float terrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos);
            // Taking the rotated size doesn't work here because m_prim.Size is the size of the root prim and not the linkset.
            //     Need to add a m_prim.LinkSet.Size similar to m_prim.LinkSet.Mass.
-            // Vector3 rotatedSize = m_prim.Size * m_prim.Orientation;
+            // Vector3 rotatedSize = m_prim.Size * m_prim.ForceOrientation;
            // if (rotatedSize.Z < terrainHeight)
            if (pos.Z < terrainHeight)
            {
                pos.Z = terrainHeight + 2;
-                Prim.Position = pos;
+                Prim.ForcePosition = pos;
                VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, terrainHeight, pos);
            }
@@ -602,7 +591,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                {
                    if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2)
                    {
-                        Prim.Position = pos;
+                        Prim.ForcePosition = pos;
                    }
                }
                else
@@ -654,12 +643,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                }
                if (changed)
                {
-                    Prim.Position = pos;
+                    Prim.ForcePosition = pos;
                    VDetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}",
                                Prim.LocalID, m_BlockingEndPoint, posChange, pos);
                }
            }
+            // Limit absolute vertical change
            float Zchange = Math.Abs(posChange.Z);
            if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
            {
@@ -678,6 +668,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                    grav.Z = (float)(grav.Z * 1.037125);
                VDetailLog("{0},MoveLinear,limitMotorUp,grav={1}", Prim.LocalID, grav);
            }
+            // If not changing some axis, reduce out velocity
            if ((m_flags & (VehicleFlag.NO_X)) != 0)
                m_newVelocity.X = 0;
            if ((m_flags & (VehicleFlag.NO_Y)) != 0)
@@ -720,19 +712,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                //    a newly set velocity, this routine steps the value from the previous
                //    value (m_angularMotorVelocity) to the requested value (m_angularMotorDirection).
                // There are m_angularMotorApply steps.
-                Vector3 origAngularVelocity = m_angularMotorVelocity;
+                Vector3 origVel = m_angularMotorVelocity;
+                Vector3 origDir = m_angularMotorDirection;
                // ramp up to new value
-                //   current velocity    +=                         error                          /    (  time to get there   / step interval)
+                //       new 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);
-                VDetailLog("{0},MoveAngular,angularMotorApply,apply={1},angTScale={2},timeStep={3},origvel={4},dir={5},vel={6}",
+                VDetailLog("{0},MoveAngular,angularMotorApply,apply={1},angTScale={2},timeStep={3},origvel={4},origDir={5},vel={6}",
-                        Prim.LocalID, m_angularMotorApply, m_angularMotorTimescale, pTimestep, origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity);
+                        Prim.LocalID, m_angularMotorApply, m_angularMotorTimescale, pTimestep, origVel, origDir, m_angularMotorVelocity);
-                // This is done so that if script request rate is less than phys frame rate the expected
-                //    velocity may still be acheived.
                m_angularMotorApply--;
            }
            else
@@ -746,25 +738,32 @@ namespace OpenSim.Region.Physics.BulletSPlugin
            // Vertical attractor section
            Vector3 vertattr = Vector3.Zero;
-            if (m_verticalAttractionTimescale < 300)
+            Vector3 deflection = Vector3.Zero;
+            Vector3 banking = Vector3.Zero;
+            if (m_verticalAttractionTimescale < 300 && m_lastAngularVelocity != Vector3.Zero)
            {
                float VAservo = 0.2f / (m_verticalAttractionTimescale / pTimestep);
+                VAservo *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
                // get present body rotation
-                Quaternion rotq = Prim.Orientation;
+                Quaternion rotq = Prim.ForceOrientation;
-                // make a vector pointing up
+                // vector pointing up
                Vector3 verterr = Vector3.Zero;
                verterr.Z = 1.0f;
                // rotate it to Body Angle
                verterr = verterr * rotq;
-                // verterr.X and .Y are the World error ammounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1.
+                // verterr.X and .Y are the World error amounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1.
                // As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go
                // negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body.
+                // Error is 0 (no error) to +/- 2 (max error)
                if (verterr.Z < 0.0f)
                {
                    verterr.X = 2.0f - verterr.X;
                    verterr.Y = 2.0f - verterr.Y;
                }
-                // Error is 0 (no error) to +/- 2 (max error)
                // scale it by VAservo
                verterr = verterr * VAservo;
@@ -784,7 +783,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
            } // else vertical attractor is off
-            // m_lastVertAttractor = vertattr;
+            m_lastVertAttractor = vertattr;
            // Bank section tba
@@ -818,7 +817,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
        internal void LimitRotation(float timestep)
        {
-            Quaternion rotq = Prim.Orientation;
+            Quaternion rotq = Prim.ForceOrientation;
            Quaternion m_rot = rotq;
            bool changed = false;
            if (m_RollreferenceFrame != Quaternion.Identity)
@@ -853,7 +852,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
            }
            if (changed)
            {
-                Prim.Orientation = m_rot;
+                Prim.ForceOrientation = m_rot;
                VDetailLog("{0},LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot);
            }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 4f225ae..3e82642 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -34,7 +34,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 {
 public class BSLinkset
 {
-    private static string LogHeader = "[BULLETSIM LINKSET]";
+    // private static string LogHeader = "[BULLETSIM LINKSET]";
    public BSPhysObject LinksetRoot { get; protected set; }
@@ -331,21 +331,21 @@ public class BSLinkset
            m_children.Add(child);
            BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
-            BulletBody rootBodyx = LinksetRoot.BSBody;
            BSPhysObject childx = child;
-            BulletBody childBodyx = child.BSBody;
            DetailLog("{0},AddChildToLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", 
                            rootx.LocalID,
-                            rootx.LocalID, rootBodyx.ptr.ToString("X"),
+                            rootx.LocalID, rootx.BSBody.ptr.ToString("X"),
-                            childx.LocalID, childBodyx.ptr.ToString("X"));
+                            childx.LocalID, childx.BSBody.ptr.ToString("X"));
            PhysicsScene.TaintedObject("AddChildToLinkset", delegate()
            {
                DetailLog("{0},AddChildToLinkset,taint,child={1}", LinksetRoot.LocalID, child.LocalID);
                // build the physical binding between me and the child
                m_taintChildren.Add(childx);
-                PhysicallyLinkAChildToRoot(rootx, rootBodyx, childx, childBodyx);
+                // Since this is taint-time, the body and shape could have changed for the child
+                PhysicallyLinkAChildToRoot(rootx, rootx.BSBody, childx, childx.BSBody);
            });
        }
        return;
@@ -369,21 +369,19 @@ public class BSLinkset
        if (m_children.Remove(child))
        {
            BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
-            BulletBody rootBodyx = LinksetRoot.BSBody;
            BSPhysObject childx = child;
-            BulletBody childBodyx = child.BSBody;
            DetailLog("{0},RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", 
                            childx.LocalID,
-                            rootx.LocalID, rootBodyx.ptr.ToString("X"),
+                            rootx.LocalID, rootx.BSBody.ptr.ToString("X"),
-                            childx.LocalID, childBodyx.ptr.ToString("X"));
+                            childx.LocalID, childx.BSBody.ptr.ToString("X"));
            PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate()
            {
                if (m_taintChildren.Contains(childx))
                    m_taintChildren.Remove(childx);
-                PhysicallyUnlinkAChildFromRoot(rootx, rootBodyx, childx, childBodyx);
+                PhysicallyUnlinkAChildFromRoot(rootx, rootx.BSBody, childx, childx.BSBody);
                RecomputeLinksetConstraintVariables();
            });
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index d9b738b..1ac8c59 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -81,6 +81,10 @@ public abstract class BSPhysObject : PhysicsActor
    // Tell the object to clean up.
    public abstract void Destroy();
+    public abstract OMV.Vector3 ForcePosition { get; set; }
+    public abstract OMV.Quaternion ForceOrientation { get; set; }
    #region Collisions
    // Requested number of milliseconds between collision events. Zero means disabled.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index a0e627e..f7b68ba 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -46,19 +46,13 @@ public sealed class BSPrim : BSPhysObject
    private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
    private static readonly string LogHeader = "[BULLETS PRIM]";
-    private IMesh _mesh;
    private PrimitiveBaseShape _pbs;
-    private ShapeData.PhysicsShapeType _shapeType;
-    private ulong _meshKey;
-    private ulong _hullKey;
-    private List<ConvexResult> _hulls;
    // _size is what the user passed. _scale is what we pass to the physics engine with the mesh.
    // Often _scale is unity because the meshmerizer will apply _size when creating the mesh.
    private OMV.Vector3 _size;  // the multiplier for each mesh dimension as passed by the user
    private OMV.Vector3 _scale; // the multiplier for each mesh dimension for the mesh as created by the meshmerizer
-    private bool _stopped;
    private bool _grabbed;
    private bool _isSelected;
    private bool _isVolumeDetect;
@@ -109,8 +103,6 @@ public sealed class BSPrim : BSPhysObject
        _buoyancy = 1f;
        _velocity = OMV.Vector3.Zero;
        _rotationalVelocity = OMV.Vector3.Zero;
-        _hullKey = 0;
-        _meshKey = 0;
        _pbs = pbs;
        _isPhysical = pisPhysical;
        _isVolumeDetect = false;
@@ -160,8 +152,9 @@ public sealed class BSPrim : BSPhysObject
        });
    }
+    // No one uses this property.
    public override bool Stopped {
-        get { return _stopped; }
+        get { return false; }
    }
    public override OMV.Vector3 Size {
        get { return _size; }
@@ -274,6 +267,7 @@ public sealed class BSPrim : BSPhysObject
        set {
            _position = value;
            // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint?
+            PositionSanityCheck();
            PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
            {
                // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
@@ -281,6 +275,74 @@ public sealed class BSPrim : BSPhysObject
            });
        }
    }
+    public override OMV.Vector3 ForcePosition {
+        get {
+            _position = BulletSimAPI.GetPosition2(BSBody.ptr);
+            return _position;
+        }
+        set {
+            _position = value;
+            PositionSanityCheck();
+            BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+        }
+    }
+    // Check that the current position is sane and, if not, modify the position to make it so.
+    // Check for being below terrain and being out of bounds.
+    // Returns 'true' of the position was made sane by some action.
+    private bool PositionSanityCheck()
+    {
+        bool ret = false;
+      
+        // If totally below the ground, move the prim up
+        // TODO: figure out the right solution for this... only for dynamic objects?
+        /*
+        float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
+        if (Position.Z < terrainHeight)
+        {
+            DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
+            _position.Z = terrainHeight + 2.0f;
+            ret = true;
+        }
+         */
+        if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
+        {
+            float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position);
+            if (Position.Z < waterHeight)
+            {
+                _position.Z = waterHeight;
+                ret = true;
+            }
+        }
+        // TODO: check for out of bounds
+        return ret;
+    }
+    // A version of the sanity check that also makes sure a new position value is
+    //    pushed back to the physics engine. This routine would be used by anyone
+    //    who is not already pushing the value.
+    private bool PositionSanityCheck2(bool atTaintTime)
+    {
+        bool ret = false;
+        if (PositionSanityCheck())
+        {
+            // The new position value must be pushed into the physics engine but we can't
+            //    just assign to "Position" because of potential call loops.
+            BSScene.TaintCallback sanityOperation = delegate()
+            {
+                DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
+                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
+            };
+            if (atTaintTime)
+                sanityOperation();
+            else
+                PhysicsScene.TaintedObject("BSPrim.PositionSanityCheck", sanityOperation);
+            ret = true;
+        }
+        return ret;
+    }
    // Return the effective mass of the object.
    // If there are multiple items in the linkset, add them together for the root
@@ -326,14 +388,15 @@ public sealed class BSPrim : BSPhysObject
        }
        set {
            Vehicle type = (Vehicle)value;
-            BSPrim vehiclePrim = this;
+            // Tell the scene about the vehicle so it will get processing each frame.
+            PhysicsScene.VehicleInSceneTypeChanged(this, type);
            PhysicsScene.TaintedObject("setVehicleType", delegate()
            {
                // 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);
+                this._vehicle.ProcessTypeChange(type);
-                // Tell the scene about the vehicle so it will get processing each frame.
-                PhysicsScene.VehicleInSceneTypeChanged(this, type);
            });
        }
    }
@@ -371,7 +434,9 @@ public sealed class BSPrim : BSPhysObject
    public override void StepVehicle(float timeStep)
    {
        if (IsPhysical)
+        {
            _vehicle.Step(timeStep);
+        }
    }
    // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
@@ -435,6 +500,20 @@ public sealed class BSPrim : BSPhysObject
            });
        }
    }
+    // Go directly to Bullet to get/set the value. 
+    public override OMV.Quaternion ForceOrientation
+    {
+        get
+        {
+            _orientation = BulletSimAPI.GetOrientation2(BSBody.ptr);
+            return _orientation;
+        }
+        set
+        {
+            _orientation = value;
+            BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+        }
+    }
    public override int PhysicsActorType {
        get { return _physicsActorType; }
        set { _physicsActorType = value; }
@@ -488,11 +567,10 @@ public sealed class BSPrim : BSPhysObject
        // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr);
        // Set up the object physicalness (does gravity and collisions move this object)
        MakeDynamic(IsStatic);
-        // Do any vehicle stuff
+        // Update vehicle specific parameters
        _vehicle.Refresh();
        // Arrange for collision events if the simulator wants them
@@ -563,7 +641,6 @@ public sealed class BSPrim : BSPhysObject
            // A dynamic object has mass
            IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr);
            OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass);
-            // OMV.Vector3 inertia = OMV.Vector3.Zero;
            BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia);
            BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
@@ -573,7 +650,7 @@ public sealed class BSPrim : BSPhysObject
            BulletSimAPI.SetSleepingThresholds2(BSBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
            BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
-            // There can be special things needed for implementing linksets.
+            // There might be special things needed for implementing linksets.
            Linkset.MakeDynamic(this);
            // Force activation of the object so Bullet will act on it.
@@ -663,7 +740,16 @@ public sealed class BSPrim : BSPhysObject
        }
    }
    public override bool FloatOnWater {
-        set { _floatOnWater = value; }
+        set { 
+            _floatOnWater = value;
+            PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate()
+            {
+                if (_floatOnWater)
+                    CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+                else
+                    CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+            });
+        }
    }
    public override OMV.Vector3 RotationalVelocity {
        get {
@@ -1082,15 +1168,15 @@ public sealed class BSPrim : BSPhysObject
    public void FillShapeInfo(out ShapeData shape)
    {
        shape.ID = LocalID;
-        shape.Type = _shapeType;
+        shape.Type = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
        shape.Position = _position;
        shape.Rotation = _orientation;
        shape.Velocity = _velocity;
        shape.Scale = _scale;
        shape.Mass = _isPhysical ? _mass : 0f;
        shape.Buoyancy = _buoyancy;
-        shape.HullKey = _hullKey;
+        shape.HullKey = 0;
-        shape.MeshKey = _meshKey;
+        shape.MeshKey = 0;
        shape.Friction = _friction;
        shape.Restitution = _restitution;
        shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse;
@@ -1112,7 +1198,8 @@ public sealed class BSPrim : BSPhysObject
        // Create the correct physical representation for this type of object.
        // Updates BSBody and BSShape with the new information.
-        PhysicsScene.Shapes.GetBodyAndShape(forceRebuild, PhysicsScene.World, this, shapeData, _pbs, 
+        // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
+        PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, _pbs, 
                        null, delegate(BulletBody dBody)
        {
            // Called if the current prim body is about to be destroyed.
@@ -1205,6 +1292,8 @@ public sealed class BSPrim : BSPhysObject
            _acceleration = entprop.Acceleration;
            _rotationalVelocity = entprop.RotationalVelocity;
+            PositionSanityCheck2(true);
            DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
                    LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 0cf8c91..aaed7de 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -493,6 +493,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters
        // step the physical world one interval
        m_simulationStep++;
        int numSubSteps = 0;
+        // Sometimes needed for debugging to find out what happened before the step
+        // PhysicsLogging.Flush();
        try
        {
            if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
@@ -536,7 +540,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
        }
        // This is a kludge to get avatar movement updates.
-        //   ODE sends collisions for avatars even if there are have been no collisions. This updates
+        //   the simulator expects collisions for avatars even if there are have been no collisions. This updates
        //   avatar animations and stuff.
        // If you fix avatar animation updates, remove this overhead and let normal collision processing happen.
        foreach (BSPhysObject bsp in m_avatars)
@@ -556,7 +560,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
        }
        // Objects that are done colliding are removed from the ObjectsWithCollisions list.
-        // This can't be done by SendCollisions because it is inside an iteration of ObjectWithCollisions.
+        // Not done above because it is inside an iteration of ObjectWithCollisions.
        if (ObjectsWithNoMoreCollisions.Count > 0)
        {
            foreach (BSPhysObject po in ObjectsWithNoMoreCollisions)
@@ -726,13 +730,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters
    public void VehicleInSceneTypeChanged(BSPrim vehic, Vehicle newType)
    {
-        if (newType == Vehicle.TYPE_NONE)
+        RemoveVehiclePrim(vehic);
-        {
+        if (newType != Vehicle.TYPE_NONE)
-            RemoveVehiclePrim(vehic);
-        }
-        else
        {
-            // make it so the scene will call us each tick to do vehicle things
+           // make it so the scene will call us each tick to do vehicle things
           AddVehiclePrim(vehic);
        }
    }
@@ -764,7 +765,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
    }
    // Some prims have extra vehicle actions
-    // no locking because only called when physics engine is not busy
+    // Called at taint time!
    private void ProcessVehicles(float timeStep)
    {
        foreach (BSPhysObject pobj in m_vehicles)
@@ -1008,12 +1009,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters
            new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
-            0f,     // zero to disable
+            0f,
            (s,cf,p,v) => { s.m_params[0].maxPersistantManifoldPoolSize = cf.GetFloat(p, v); },
            (s) => { return s.m_params[0].maxPersistantManifoldPoolSize; },
            (s,p,l,v) => { s.m_params[0].maxPersistantManifoldPoolSize = v; } ),
            new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)",
-            0f,     // zero to disable
+            0f,
            (s,cf,p,v) => { s.m_params[0].maxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); },
            (s) => { return s.m_params[0].maxCollisionAlgorithmPoolSize; },
            (s,p,l,v) => { s.m_params[0].maxCollisionAlgorithmPoolSize = v; } ),
@@ -1028,7 +1029,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
            (s) => { return s.m_params[0].shouldForceUpdateAllAabbs; },
            (s,p,l,v) => { s.m_params[0].shouldForceUpdateAllAabbs = v; } ),
            new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction",
-            ConfigurationParameters.numericFalse,
+            ConfigurationParameters.numericTrue,
            (s,cf,p,v) => { s.m_params[0].shouldRandomizeSolverOrder = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
            (s) => { return s.m_params[0].shouldRandomizeSolverOrder; },
            (s,p,l,v) => { s.m_params[0].shouldRandomizeSolverOrder = v; } ),
@@ -1152,7 +1153,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
    {
        if (SettableParameters.Length < ParameterDefinitions.Length)
        {
            List<PhysParameterEntry> entries = new List<PhysParameterEntry>();
            for (int ii = 0; ii < ParameterDefinitions.Length; ii++)
            {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index dee6243..399a133 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -36,7 +36,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 {
 public class BSShapeCollection : IDisposable
 {
-    private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]";
+    // private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]";
    protected BSScene PhysicsScene { get; set; }
@@ -108,7 +108,8 @@ public class BSShapeCollection : IDisposable
            // If we had to select a new shape geometry for the object,
            //    rebuild the body around it.
            // Updates prim.BSBody with information/pointers to requested body
-            bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, prim.BSShape, shapeData, bodyCallback);
+            bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, 
+                                    prim.BSShape, shapeData, bodyCallback);
            ret = newGeom || newBody;
        }
        DetailLog("{0},BSShapeCollection.GetBodyAndShape,force={1},ret={2},body={3},shape={4}",
@@ -140,7 +141,7 @@ public class BSShapeCollection : IDisposable
            bodyDesc.lastReferenced = System.DateTime.Now;
            Bodies[body.ID] = bodyDesc;
        }
-}
+    }
    // Release the usage of a body.
    // Called when releasing use of a BSBody. BSShape is handled separately.
@@ -167,7 +168,7 @@ public class BSShapeCollection : IDisposable
                    {
                        DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}",
                                                    body.ID, body.ptr.ToString("X"));
-                        // If the caller needs to know, pass the event up.
+                        // If the caller needs to know the old body is going away, pass the event up.
                        if (bodyCallback != null) bodyCallback(body);
                        // Zero any reference to the shape so it is not freed when the body is deleted.
@@ -448,7 +449,8 @@ public class BSShapeCollection : IDisposable
        ulong newMeshKey = ComputeShapeKey(shapeData, pbs, out lod);
        // if this new shape is the same as last time, don't recreate the mesh
-        if (prim.BSShape.shapeKey == newMeshKey) return false;
+        if (newMeshKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_MESH)
+            return false;
        DetailLog("{0},BSShapeCollection.CreateGeomMesh,create,oldKey={1},newKey={2}",
                                prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newMeshKey.ToString("X"));
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index 1125d7e..a43880d 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -71,7 +71,7 @@ public struct BulletBody
        buff.Append(ID.ToString());
        buff.Append(",p=");
        buff.Append(ptr.ToString("X"));
-        if (collisionFilter != 0 && collisionMask != 0)
+        if (collisionFilter != 0 || collisionMask != 0)
        {
            buff.Append(",f=");
            buff.Append(collisionFilter.ToString("X"));
@@ -344,10 +344,7 @@ public enum CollisionFlags : uint
    CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
    // Following used by BulletSim to control collisions
    BS_SUBSCRIBE_COLLISION_EVENTS    = 1 << 10,
-    // BS_VOLUME_DETECT_OBJECT          = 1 << 11,
+    BS_FLOATS_ON_WATER               = 1 << 11,
-    // BS_PHANTOM_OBJECT                = 1 << 12,
-    // BS_PHYSICAL_OBJECT               = 1 << 13,
-    // BS_TERRAIN_OBJECT                = 1 << 14,
    BS_NONE                          = 0,
    BS_ALL                           = 0xFFFFFFFF,
@@ -356,9 +353,6 @@ public enum CollisionFlags : uint
    BS_ACTIVE = CF_STATIC_OBJECT
                | CF_KINEMATIC_OBJECT
                | CF_NO_CONTACT_RESPONSE
-    //            | BS_VOLUME_DETECT_OBJECT
-    //            | BS_PHANTOM_OBJECT
-    //            | BS_PHYSICAL_OBJECT,
 };
 // Values for collisions groups and masks
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
index 0716214..e7b3b2b 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
@@ -63,6 +63,9 @@ namespace OpenSim.Region.Physics.OdePlugin
        private bool m_isphysical;
+        public int ExpectedCollisionContacts { get { return m_expectedCollisionContacts; } }
+        private int m_expectedCollisionContacts = 0;
        /// <summary>
        /// Is this prim subject to physics?  Even if not, it's still solid for collision purposes.
        /// </summary>
@@ -150,7 +153,7 @@ namespace OpenSim.Region.Physics.OdePlugin
        private PrimitiveBaseShape _pbs;
        private OdeScene _parent_scene;
+        
        /// <summary>
        /// The physics space which contains prim geometries
        /// </summary>
@@ -840,7 +843,7 @@ namespace OpenSim.Region.Physics.OdePlugin
            int vertexStride, triStride;
            mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); // Note, that vertices are fixed in unmanaged heap
            mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); // Also fixed, needs release after usage
+            m_expectedCollisionContacts = indexCount;
            mesh.releaseSourceMeshData(); // free up the original mesh data to save memory
            // We must lock here since m_MeshToTriMeshMap is static and multiple scene threads may call this method at
@@ -1377,6 +1380,7 @@ Console.WriteLine("CreateGeom:");
                            {
 //Console.WriteLine(" CreateGeom 1");
                                SetGeom(d.CreateSphere(m_targetSpace, _size.X / 2));
+                                m_expectedCollisionContacts = 3;
                            }
                            catch (AccessViolationException)
                            {
@@ -1391,6 +1395,7 @@ Console.WriteLine("CreateGeom:");
                            {
 //Console.WriteLine(" CreateGeom 2");
                                SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
+                                m_expectedCollisionContacts = 4;
                            }
                            catch (AccessViolationException)
                            {
@@ -1406,6 +1411,7 @@ Console.WriteLine("CreateGeom:");
                        {
 //Console.WriteLine("  CreateGeom 3");
                            SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
+                            m_expectedCollisionContacts = 4;
                        }
                        catch (AccessViolationException)
                        {
@@ -1421,6 +1427,7 @@ Console.WriteLine("CreateGeom:");
                    {
 //Console.WriteLine("  CreateGeom 4");
                        SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
+                        m_expectedCollisionContacts = 4;
                    }
                    catch (AccessViolationException)
                    {
@@ -1446,11 +1453,13 @@ Console.WriteLine("CreateGeom:");
                    _parent_scene.geom_name_map.Remove(prim_geom);
                    _parent_scene.actor_name_map.Remove(prim_geom);
                    d.GeomDestroy(prim_geom);
+                    m_expectedCollisionContacts = 0;
                    prim_geom = IntPtr.Zero;
                }
                catch (System.AccessViolationException)
                {
                    prim_geom = IntPtr.Zero;
+                    m_expectedCollisionContacts = 0;
                    m_log.ErrorFormat("[PHYSICS]: PrimGeom dead for {0}", Name);
                    return false;
@@ -2395,15 +2404,15 @@ Console.WriteLine(" JointCreateFixed");
        {
            get
            {
-                // Averate previous velocity with the new one so
+                // Average previous velocity with the new one so
                // client object interpolation works a 'little' better
                if (_zeroFlag)
                    return Vector3.Zero;
                Vector3 returnVelocity = Vector3.Zero;
-                returnVelocity.X = (m_lastVelocity.X + _velocity.X)/2;
+                returnVelocity.X = (m_lastVelocity.X + _velocity.X) * 0.5f; // 0.5f is mathematically equiv to '/ 2'
-                returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y)/2;
+                returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y) * 0.5f;
-                returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z)/2;
+                returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z) * 0.5f;
                return returnVelocity;
            }
            set
@@ -2600,6 +2609,7 @@ Console.WriteLine(" JointCreateFixed");
            {
                Vector3 pv = Vector3.Zero;
                bool lastZeroFlag = _zeroFlag;
+                float m_minvelocity = 0;
                if (Body != (IntPtr)0) // FIXME -> or if it is a joint
                {
                    d.Vector3 vec = d.BodyGetPosition(Body);
@@ -2752,8 +2762,21 @@ Console.WriteLine(" JointCreateFixed");
                        _acceleration = ((_velocity - m_lastVelocity) / 0.1f);
                        _acceleration = new Vector3(_velocity.X - m_lastVelocity.X / 0.1f, _velocity.Y - m_lastVelocity.Y / 0.1f, _velocity.Z - m_lastVelocity.Z / 0.1f);
                        //m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString());
+                       
+                        // Note here that linearvelocity is affecting angular velocity...  so I'm guessing this is a vehicle specific thing... 
+                        // it does make sense to do this for tiny little instabilities with physical prim, however 0.5m/frame is fairly large. 
+                        // reducing this to 0.02m/frame seems to help the angular rubberbanding quite a bit, however, to make sure it doesn't affect elevators and vehicles
+                        // adding these logical exclusion situations to maintain this where I think it was intended to be.
+                        if (m_throttleUpdates || m_usePID || (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) || (Amotor != IntPtr.Zero)) 
+                        {
+                            m_minvelocity = 0.5f;
+                        }
+                        else
+                        {
+                            m_minvelocity = 0.02f;
+                        }
-                        if (_velocity.ApproxEquals(pv, 0.5f))
+                        if (_velocity.ApproxEquals(pv, m_minvelocity))
                        {
                            m_rotationalVelocity = pv;
                        }
diff --git a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs b/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
index 929b019..7a50c4c 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
@@ -336,6 +336,7 @@ namespace OpenSim.Region.Physics.OdePlugin
        public int geomContactPointsStartthrottle = 3;
        public int geomUpdatesPerThrottledUpdate = 15;
+        private const int avatarExpectedContacts = 3;
        public float bodyPIDD = 35f;
        public float bodyPIDG = 25;
@@ -474,6 +475,8 @@ namespace OpenSim.Region.Physics.OdePlugin
        private OdePrim cp1;
        private OdeCharacter cc2;
        private OdePrim cp2;
+        private int p1ExpectedPoints = 0;
+        private int p2ExpectedPoints = 0;
        //private int cStartStop = 0;
        //private string cDictKey = "";
@@ -498,6 +501,7 @@ namespace OpenSim.Region.Physics.OdePlugin
        public int physics_logging_interval = 0;
        public bool physics_logging_append_existing_logfile = false;
        public d.Vector3 xyz = new d.Vector3(128.1640f, 128.3079f, 25.7600f);
        public d.Vector3 hpr = new d.Vector3(125.5000f, -17.0000f, 0.0000f);
@@ -644,7 +648,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                    contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", 80);
-                    geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3);
+                    geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 5);
                    geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15);
                    geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5);
@@ -1064,7 +1068,10 @@ namespace OpenSim.Region.Physics.OdePlugin
            PhysicsActor p1;
            PhysicsActor p2;
+            
+            p1ExpectedPoints = 0;
+            p2ExpectedPoints = 0;
+            
            if (!actor_name_map.TryGetValue(g1, out p1))
            {
                p1 = PANull;
@@ -1121,9 +1128,13 @@ namespace OpenSim.Region.Physics.OdePlugin
                switch (p1.PhysicsActorType)
                {
                    case (int)ActorTypes.Agent:
+                        p1ExpectedPoints = avatarExpectedContacts;
                        p2.CollidingObj = true;
                        break;
                    case (int)ActorTypes.Prim:
+                        if (p1 != null && p1 is OdePrim)
+                            p1ExpectedPoints = ((OdePrim) p1).ExpectedCollisionContacts;
                        if (p2.Velocity.LengthSquared() > 0.0f)
                            p2.CollidingObj = true;
                        break;
@@ -1319,6 +1330,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                        if ((p2.PhysicsActorType == (int) ActorTypes.Agent) &&
                            (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f))
                        {
+                            p2ExpectedPoints = avatarExpectedContacts;
                            // Avatar is moving on terrain, use the movement terrain contact
                            AvatarMovementTerrainContact.geom = curContact;
@@ -1332,6 +1344,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                        {
                            if (p2.PhysicsActorType == (int)ActorTypes.Agent)
                            {
+                                p2ExpectedPoints = avatarExpectedContacts;
                                // Avatar is standing on terrain, use the non moving terrain contact
                                TerrainContact.geom = curContact;
@@ -1356,9 +1369,18 @@ namespace OpenSim.Region.Physics.OdePlugin
                                    }
                                    if (p2 is OdePrim)
-                                        material = ((OdePrim)p2).m_material;
+                                    {
+                                        material = ((OdePrim) p2).m_material;
+                                        p2ExpectedPoints = ((OdePrim)p2).ExpectedCollisionContacts;
+                                    }
+                                   
+                                    // Unnessesary because p1 is defined above
+                                    //if (p1 is OdePrim)
+                                    // { 
+                                    //     p1ExpectedPoints = ((OdePrim)p1).ExpectedCollisionContacts;
+                                    // }
                                    //m_log.DebugFormat("Material: {0}", material);
                                    m_materialContacts[material, movintYN].geom = curContact;
                                    if (m_global_contactcount < maxContactsbeforedeath)
@@ -1379,7 +1401,10 @@ namespace OpenSim.Region.Physics.OdePlugin
                                    int material = (int)Material.Wood;
                                    if (p2 is OdePrim)
+                                    {
                                        material = ((OdePrim)p2).m_material;
+                                        p2ExpectedPoints = ((OdePrim)p2).ExpectedCollisionContacts;
+                                    }
                                    //m_log.DebugFormat("Material: {0}", material);
                                    m_materialContacts[material, movintYN].geom = curContact;
@@ -1429,6 +1454,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                    {
                        if ((p2.PhysicsActorType == (int)ActorTypes.Agent))
                        {
+                            p2ExpectedPoints = avatarExpectedContacts;
                            if ((Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f))
                            {
                                // Avatar is moving on a prim, use the Movement prim contact
@@ -1458,7 +1484,10 @@ namespace OpenSim.Region.Physics.OdePlugin
                            int material = (int)Material.Wood;
                            if (p2 is OdePrim)
+                            {
                                material = ((OdePrim)p2).m_material;
+                                p2ExpectedPoints = ((OdePrim)p2).ExpectedCollisionContacts;
+                            }
                            
                            //m_log.DebugFormat("Material: {0}", material);
                            m_materialContacts[material, 0].geom = curContact;
@@ -1479,8 +1508,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                }
                collision_accounting_events(p1, p2, maxDepthContact);
+                
-                if (count > geomContactPointsStartthrottle)
+                if (count > ((p1ExpectedPoints + p2ExpectedPoints) * 0.25) + (geomContactPointsStartthrottle))
                {
                    // If there are more then 3 contact points, it's likely
                    // that we've got a pile of objects, so ...
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
index 52d96bc..7fa6f05 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
@@ -4006,7 +4006,18 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
        {
            m_host.AddScriptLPS(1);
            Vector3 av3 = Util.Clip(color, 0.0f, 1.0f);
-            m_host.SetText(text.Length > 254 ? text.Remove(254) : text, av3, Util.Clip((float)alpha, 0.0f, 1.0f));
+            if (text.Length > 254)
+                text = text.Remove(254);
+            byte[] data;
+            do
+            {
+                data = Util.UTF8.GetBytes(text);
+                if (data.Length > 254)
+                    text = text.Substring(0, text.Length - 1);
+            } while (data.Length > 254);
+            m_host.SetText(text, av3, Util.Clip((float)alpha, 0.0f, 1.0f));
            //m_host.ParentGroup.HasGroupChanged = true;
            //m_host.ParentGroup.ScheduleGroupForFullUpdate();
        }
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs
index 8b73cd9..31be450 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs
@@ -3538,7 +3538,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
            return new LSL_Key(m_host.ParentGroup.FromPartID.ToString());
        }
- 
        /// <summary>
        /// Sets the response type for an HTTP request/response
        /// </summary>
@@ -3549,6 +3549,91 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
            if (m_UrlModule != null)
                m_UrlModule.HttpContentType(new UUID(id),type);
        }
-        
+        /// Shout an error if the object owner did not grant the script the specified permissions.
-   }
+        /// </summary>
+        /// <param name="perms"></param>
+        /// <returns>boolean indicating whether an error was shouted.</returns>
+        protected bool ShoutErrorOnLackingOwnerPerms(int perms, string errorPrefix)
+        {
+            CheckThreatLevel(ThreatLevel.Moderate, "osDropAttachment");
+            m_host.AddScriptLPS(1);
+            bool fail = false;
+            if (m_item.PermsGranter != m_host.OwnerID)
+            {
+                fail = true;
+                OSSLShoutError(string.Format("{0}. Permissions not granted to owner.", errorPrefix));
+            }
+            else if ((m_item.PermsMask & perms) == 0)
+            {
+                fail = true;
+                OSSLShoutError(string.Format("{0}. Permissions not granted.", errorPrefix));
+            }
+            return fail;
+        }
+        protected void DropAttachment(bool checkPerms)
+        {
+            if (checkPerms && ShoutErrorOnLackingOwnerPerms(ScriptBaseClass.PERMISSION_ATTACH, "Cannot drop attachment"))
+            {
+                return;
+            }
+            IAttachmentsModule attachmentsModule = m_ScriptEngine.World.AttachmentsModule;
+            ScenePresence sp = attachmentsModule == null ? null : m_host.ParentGroup.Scene.GetScenePresence(m_host.ParentGroup.OwnerID);
+            if (attachmentsModule != null && sp != null)
+            {
+                attachmentsModule.DetachSingleAttachmentToGround(sp, m_host.ParentGroup.LocalId);
+            }
+        }
+        protected void DropAttachmentAt(bool checkPerms, LSL_Vector pos, LSL_Rotation rot)
+        {
+            if (checkPerms && ShoutErrorOnLackingOwnerPerms(ScriptBaseClass.PERMISSION_ATTACH, "Cannot drop attachment"))
+            {
+                return;
+            }
+            IAttachmentsModule attachmentsModule = m_ScriptEngine.World.AttachmentsModule;
+            ScenePresence sp = attachmentsModule == null ? null : m_host.ParentGroup.Scene.GetScenePresence(m_host.ParentGroup.OwnerID);
+            if (attachmentsModule != null && sp != null)
+            {
+                attachmentsModule.DetachSingleAttachmentToGround(sp, m_host.ParentGroup.LocalId, pos, rot);
+            }
+        }
+        public void osDropAttachment()
+        {
+            CheckThreatLevel(ThreatLevel.Moderate, "osDropAttachment");
+            m_host.AddScriptLPS(1);
+            DropAttachment(true);
+        }
+        public void osForceDropAttachment()
+        {
+            CheckThreatLevel(ThreatLevel.High, "osForceDropAttachment");
+            m_host.AddScriptLPS(1);
+            DropAttachment(false);
+        }
+        public void osDropAttachmentAt(LSL_Vector pos, LSL_Rotation rot)
+        {
+            CheckThreatLevel(ThreatLevel.Moderate, "osDropAttachmentAt");
+            m_host.AddScriptLPS(1);
+            DropAttachmentAt(true, pos, rot);
+        }
+        public void osForceDropAttachmentAt(LSL_Vector pos, LSL_Rotation rot)
+        {
+            CheckThreatLevel(ThreatLevel.High, "osForceDropAttachmentAt");
+            m_host.AddScriptLPS(1);
+            DropAttachmentAt(false, pos, rot);
+        }
+    }
 }
 \ No newline at end of file
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Interface/IOSSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Interface/IOSSL_Api.cs
index 3985e66..93188c9 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Interface/IOSSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Interface/IOSSL_Api.cs
@@ -394,5 +394,29 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Interfaces
        /// </summary>
        /// <returns></returns>
        void osSetContentType(LSL_Key id, string type);
+        /// <summary>
+        /// Attempts to drop an attachment to the ground
+        /// </summary>
+        void osDropAttachment();
+        /// <summary>
+        /// Attempts to drop an attachment to the ground while bypassing the script permissions
+        /// </summary>
+        void osForceDropAttachment();
+        /// <summary>
+        /// Attempts to drop an attachment at the specified coordinates.
+        /// </summary>
+        /// <param name="pos"></param>
+        /// <param name="rot"></param>
+        void osDropAttachmentAt(vector pos, rotation rot);
+        /// <summary>
+        /// Attempts to drop an attachment at the specified coordinates while bypassing the script permissions
+        /// </summary>
+        /// <param name="pos"></param>
+        /// <param name="rot"></param>
+        void osForceDropAttachmentAt(vector pos, rotation rot);
    }
 }
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/OSSL_Stub.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/OSSL_Stub.cs
index 52ca3da..dee1b28 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/OSSL_Stub.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/OSSL_Stub.cs
@@ -972,5 +972,25 @@ namespace OpenSim.Region.ScriptEngine.Shared.ScriptBase
        {
            m_OSSL_Functions.osSetContentType(id,type);
        }
+        public void osDropAttachment()
+        {
+            m_OSSL_Functions.osDropAttachment();
+        }
+        public void osForceDropAttachment()
+        {
+            m_OSSL_Functions.osForceDropAttachment();
+        }
+        public void osDropAttachmentAt(vector pos, rotation rot)
+        {
+            m_OSSL_Functions.osDropAttachmentAt(pos, rot);
+        }
+        public void osForceDropAttachmentAt(vector pos, rotation rot)
+        {
+            m_OSSL_Functions.osForceDropAttachmentAt(pos, rot);
+        }
    }
 }
diff --git a/OpenSim/Region/ScriptEngine/XEngine/EventManager.cs b/OpenSim/Region/ScriptEngine/XEngine/EventManager.cs
index cee10df..9405075 100644
--- a/OpenSim/Region/ScriptEngine/XEngine/EventManager.cs
+++ b/OpenSim/Region/ScriptEngine/XEngine/EventManager.cs
@@ -96,9 +96,12 @@ namespace OpenSim.Region.ScriptEngine.XEngine
            if (part == null)
                return;
+            if ((part.ScriptEvents & scriptEvents.money) == 0)
+                part = part.ParentGroup.RootPart;
            m_log.Debug("Paid: " + objectID + " from " + agentID + ", amount " + amount);
-            part = part.ParentGroup.RootPart;
+//            part = part.ParentGroup.RootPart;
            money(part.LocalId, agentID, amount);
        }
diff --git a/OpenSim/Services/Interfaces/IGridUserService.cs b/OpenSim/Services/Interfaces/IGridUserService.cs
index 8b738ab..2e7237e 100644
--- a/OpenSim/Services/Interfaces/IGridUserService.cs
+++ b/OpenSim/Services/Interfaces/IGridUserService.cs
@@ -80,7 +80,7 @@ namespace OpenSim.Services.Interfaces
        }
-        public Dictionary<string, object> ToKeyValuePairs()
+        public virtual Dictionary<string, object> ToKeyValuePairs()
        {
            Dictionary<string, object> result = new Dictionary<string, object>();
            result["UserID"] = UserID;
diff --git a/OpenSim/Services/LLLoginService/LLLoginService.cs b/OpenSim/Services/LLLoginService/LLLoginService.cs
index 495dc52..59fb559 100644
--- a/OpenSim/Services/LLLoginService/LLLoginService.cs
+++ b/OpenSim/Services/LLLoginService/LLLoginService.cs
@@ -293,7 +293,7 @@ namespace OpenSim.Services.LLLoginService
                {
                    m_log.InfoFormat(
                        "[LLOGIN SERVICE]: Login failed for {0} {1}, reason: user level is {2} but minimum login level is {3}",
-                        firstName, lastName, m_MinLoginLevel, account.UserLevel);
+                        firstName, lastName, account.UserLevel, m_MinLoginLevel);
                    return LLFailedLoginResponse.LoginBlockedProblem;
                }
diff --git a/bin/lib32/BulletSim.dll b/bin/lib32/BulletSim.dll
index da6e31c..1fd0a60 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 9503cdb..3b42048 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 1782c8e..bfaabde 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 06e6ce2..54ddad9 100755
--- a/bin/lib64/libBulletSim.so
+++ b/bin/lib64/libBulletSim.so
Binary files differ