10 files changed, 225 insertions, 92 deletions

diff --git a/OpenSim/Framework/Monitoring/SimExtraStatsCollector.cs b/OpenSim/Framework/Monitoring/SimExtraStatsCollector.cs
index 6a68322..f6f458d 100644
--- a/OpenSim/Framework/Monitoring/SimExtraStatsCollector.cs
+++ b/OpenSim/Framework/Monitoring/SimExtraStatsCollector.cs
@@ -27,6 +27,7 @@
 
 using System;
 using System.Collections.Generic;
+using System.Linq;
 using System.Text;
 using OpenMetaverse;
 using OpenMetaverse.StructuredData;
@@ -39,8 +40,6 @@ namespace OpenSim.Framework.Monitoring
     /// </summary>
     public class SimExtraStatsCollector : BaseStatsCollector
     {
-        private long abnormalClientThreadTerminations;
-
 //        private long assetsInCache;
 //        private long texturesInCache;
 //        private long assetCacheMemoryUsage;
@@ -73,11 +72,6 @@ namespace OpenSim.Framework.Monitoring
         private volatile float activeScripts;
         private volatile float scriptLinesPerSecond;
 
-        /// <summary>
-        /// Number of times that a client thread terminated because of an exception
-        /// </summary>
-        public long AbnormalClientThreadTerminations { get { return abnormalClientThreadTerminations; } }
-
 //        /// <summary>
 //        /// These statistics are being collected by push rather than pull.  Pull would be simpler, but I had the
 //        /// notion of providing some flow statistics (which pull wouldn't give us).  Though admittedly these
@@ -166,11 +160,6 @@ namespace OpenSim.Framework.Monitoring
         private IDictionary<UUID, PacketQueueStatsCollector> packetQueueStatsCollectors
             = new Dictionary<UUID, PacketQueueStatsCollector>();
 
-        public void AddAbnormalClientThreadTermination()
-        {
-            abnormalClientThreadTerminations++;
-        }
-
 //        public void AddAsset(AssetBase asset)
 //        {
 //            assetsInCache++;
@@ -324,10 +313,12 @@ Asset service request failures: {3}" + Environment.NewLine,
             sb.Append(Environment.NewLine);
             sb.Append("CONNECTION STATISTICS");
             sb.Append(Environment.NewLine);
-            sb.Append(
-                string.Format(
-                    "Abnormal client thread terminations: {0}" + Environment.NewLine,
-                    abnormalClientThreadTerminations));
+
+            List<Stat> stats = StatsManager.GetStatsFromEachContainer("clientstack", "ClientLogoutsDueToNoReceives");
+
+            sb.AppendFormat(
+                "Client logouts due to no data receive timeout: {0}\n\n", 
+                stats != null ? stats.Sum(s => s.Value).ToString() : "unknown");
 
 //            sb.Append(Environment.NewLine);
 //            sb.Append("INVENTORY STATISTICS");
@@ -338,7 +329,7 @@ Asset service request failures: {3}" + Environment.NewLine,
 //                    InventoryServiceRetrievalFailures));
 
             sb.Append(Environment.NewLine);
-            sb.Append("FRAME STATISTICS");
+            sb.Append("SAMPLE FRAME STATISTICS");
             sb.Append(Environment.NewLine);
             sb.Append("Dilatn  SimFPS  PhyFPS  AgntUp  RootAg  ChldAg  Prims   AtvPrm  AtvScr  ScrLPS");
             sb.Append(Environment.NewLine);
diff --git a/OpenSim/Framework/Monitoring/StatsManager.cs b/OpenSim/Framework/Monitoring/StatsManager.cs
index a5b54c9..e6a2304 100644
--- a/OpenSim/Framework/Monitoring/StatsManager.cs
+++ b/OpenSim/Framework/Monitoring/StatsManager.cs
@@ -271,7 +271,7 @@ namespace OpenSim.Framework.Monitoring
                 // Stat name is not unique across category/container/shortname key.
                 // XXX: For now just return false.  This is to avoid problems in regression tests where all tests
                 // in a class are run in the same instance of the VM.
-                if (TryGetStat(stat, out category, out container))
+                if (TryGetStatParents(stat, out category, out container))
                     return false;
 
                 // We take a copy-on-write approach here of replacing dictionaries when keys are added or removed.
@@ -307,7 +307,7 @@ namespace OpenSim.Framework.Monitoring
 
             lock (RegisteredStats)
             {
-                if (!TryGetStat(stat, out category, out container))
+                if (!TryGetStatParents(stat, out category, out container))
                     return false;
 
                 newContainer = new SortedDictionary<string, Stat>(container);
@@ -323,12 +323,67 @@ namespace OpenSim.Framework.Monitoring
             }
         }
 
-        public static bool TryGetStats(string category, out SortedDictionary<string, SortedDictionary<string, Stat>> stats)
+        public static bool TryGetStat(string category, string container, string statShortName, out Stat stat)
         {
-            return RegisteredStats.TryGetValue(category, out stats);
+            stat = null;
+            SortedDictionary<string, SortedDictionary<string, Stat>> categoryStats;
+
+            lock (RegisteredStats)
+            {
+                if (!TryGetStatsForCategory(category, out categoryStats))
+                    return false;
+
+                SortedDictionary<string, Stat> containerStats;
+
+                if (!categoryStats.TryGetValue(container, out containerStats))
+                    return false;
+
+                return containerStats.TryGetValue(statShortName, out stat);
+            }
+        }
+
+        public static bool TryGetStatsForCategory(
+            string category, out SortedDictionary<string, SortedDictionary<string, Stat>> stats)
+        {
+            lock (RegisteredStats)
+                return RegisteredStats.TryGetValue(category, out stats);
+        }
+
+        /// <summary>
+        /// Get the same stat for each container in a given category.
+        /// </summary>
+        /// <returns>
+        /// The stats if there were any to fetch.  Otherwise null.
+        /// </returns>
+        /// <param name='category'></param>
+        /// <param name='statShortName'></param>
+        public static List<Stat> GetStatsFromEachContainer(string category, string statShortName)
+        {
+            SortedDictionary<string, SortedDictionary<string, Stat>> categoryStats;
+
+            lock (RegisteredStats)
+            {
+                if (!RegisteredStats.TryGetValue(category, out categoryStats))
+                    return null;
+
+                List<Stat> stats = null;
+
+                foreach (SortedDictionary<string, Stat> containerStats in categoryStats.Values)
+                {
+                    if (containerStats.ContainsKey(statShortName))
+                    {
+                        if (stats == null)
+                            stats = new List<Stat>();
+
+                        stats.Add(containerStats[statShortName]);
+                    }
+                }
+
+                return stats;
+            }
         }
 
-        public static bool TryGetStat(
+        public static bool TryGetStatParents(
             Stat stat,
             out SortedDictionary<string, SortedDictionary<string, Stat>> category,
             out SortedDictionary<string, Stat> container)
diff --git a/OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs b/OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs
index 25e10be..85fe1a4 100644
--- a/OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs
+++ b/OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs
@@ -69,9 +69,22 @@ namespace OpenSim.Region.ClientStack.LindenUDP
 
             StatsManager.RegisterStat(
                 new Stat(
+                    "ClientLogoutsDueToNoReceives",
+                    "Number of times a client has been logged out because no packets were received before the timeout.",
+                    "",
+                    "",
+                    "clientstack",
+                    scene.Name,
+                    StatType.Pull,
+                    MeasuresOfInterest.None,
+                    stat => stat.Value = m_udpServer.ClientLogoutsDueToNoReceives,
+                    StatVerbosity.Debug));
+
+            StatsManager.RegisterStat(
+                new Stat(
                     "IncomingUDPReceivesCount",
                     "Number of UDP receives performed",
-                    "Number of UDP receives performed",
+                    "",
                     "",
                     "clientstack",
                     scene.Name,
@@ -84,7 +97,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
                 new Stat(
                     "IncomingPacketsProcessedCount",
                     "Number of inbound LL protocol packets processed",
-                    "Number of inbound LL protocol packets processed",
+                    "",
                     "",
                     "clientstack",
                     scene.Name,
@@ -97,7 +110,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
                 new Stat(
                     "OutgoingUDPSendsCount",
                     "Number of UDP sends performed",
-                    "Number of UDP sends performed",
+                    "",
                     "",
                     "clientstack",
                     scene.Name,
@@ -149,6 +162,9 @@ namespace OpenSim.Region.ClientStack.LindenUDP
         /// <summary>Maximum transmission unit, or UDP packet size, for the LLUDP protocol</summary>
         public const int MTU = 1400;
 
+        /// <summary>Number of forced client logouts due to no receipt of packets before timeout.</summary>
+        public int ClientLogoutsDueToNoReceives { get; private set; }
+
         /// <summary>
         /// Default packet debug level given to new clients
         /// </summary>
@@ -1046,7 +1062,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
                 // Fire this out on a different thread so that we don't hold up outgoing packet processing for
                 // everybody else if this is being called due to an ack timeout.
                 // This is the same as processing as the async process of a logout request.
-                Util.FireAndForget(o => DeactivateClientDueToTimeout(client));
+                Util.FireAndForget(o => DeactivateClientDueToTimeout(client, timeoutTicks));
 
                 return;
             }
@@ -1770,18 +1786,19 @@ namespace OpenSim.Region.ClientStack.LindenUDP
         /// regular client pings.
         /// </remarks>
         /// <param name='client'></param>
-        private void DeactivateClientDueToTimeout(LLClientView client)
+        /// <param name='timeoutTicks'></param>
+        private void DeactivateClientDueToTimeout(LLClientView client, int timeoutTicks)
         {
             lock (client.CloseSyncLock)
-            {
+            {    
+                ClientLogoutsDueToNoReceives++;
+
                 m_log.WarnFormat(
-                    "[LLUDPSERVER]: Ack timeout, disconnecting {0} agent for {1} in {2}",
-                    client.SceneAgent.IsChildAgent ? "child" : "root", client.Name, m_scene.RegionInfo.RegionName);
-    
-                StatsManager.SimExtraStats.AddAbnormalClientThreadTermination();
+                    "[LLUDPSERVER]: No packets received from {0} agent of {1} for {2}ms in {3}.  Disconnecting.",
+                    client.SceneAgent.IsChildAgent ? "child" : "root", client.Name, timeoutTicks, m_scene.Name);
     
                 if (!client.SceneAgent.IsChildAgent)
-                     client.Kick("Simulator logged you out due to connection timeout");
+                     client.Kick("Simulator logged you out due to connection timeout.");
     
                 client.CloseWithoutChecks();
             }
diff --git a/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs b/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs
index 6009dc5..0cbc5f9 100755
--- a/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs
+++ b/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs
@@ -31,10 +31,10 @@ using System.Reflection;
 using System.Text;
 
 using OpenSim.Framework;
+using OpenSim.Region.CoreModules;
 using OpenSim.Region.Framework;
 using OpenSim.Region.Framework.Interfaces;
 using OpenSim.Region.Framework.Scenes;
-using OpenSim.Region.CoreModules;
 
 using Mono.Addins;
 using Nini.Config;
@@ -49,6 +49,10 @@ public class ExtendedPhysics : INonSharedRegionModule
     private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
     private static string LogHeader = "[EXTENDED PHYSICS]";
 
+    // Since BulletSim is a plugin, this these values aren't defined easily in one place.
+    // This table must coorespond to an identical table in BSScene.
+    public const string PhysFunctSetLinksetType = "BulletSim.SetLinksetType";
+
     private IConfig Configuration { get; set; }
     private bool Enabled { get; set; }
     private Scene BaseScene { get; set; }
@@ -143,13 +147,6 @@ public class ExtendedPhysics : INonSharedRegionModule
     [ScriptConstant]
     public static int PHYS_CENTER_OF_MASS =     1 << 0;
 
-    [ScriptConstant]
-    public static int PHYS_LINKSET_TYPE_CONSTRAINT  = 1;
-    [ScriptConstant]
-    public static int PHYS_LINKSET_TYPE_COMPOUND    = 2;
-    [ScriptConstant]
-    public static int PHYS_LINKSET_TYPE_MANUAL      = 3;
-
     [ScriptInvocation]
     public string physGetEngineType(UUID hostID, UUID scriptID)
     {
@@ -163,9 +160,50 @@ public class ExtendedPhysics : INonSharedRegionModule
         return ret;
     }
 
+    [ScriptConstant]
+    public static int PHYS_LINKSET_TYPE_CONSTRAINT  = 0;
+    [ScriptConstant]
+    public static int PHYS_LINKSET_TYPE_COMPOUND    = 1;
+    [ScriptConstant]
+    public static int PHYS_LINKSET_TYPE_MANUAL      = 2;
+
     [ScriptInvocation]
     public void physSetLinksetType(UUID hostID, UUID scriptID, int linksetType)
     {
+        if (!Enabled) return;
+
+        // The part that is requesting the change.
+        SceneObjectPart requestingPart = BaseScene.GetSceneObjectPart(hostID);
+
+        if (requestingPart != null)
+        {
+            // The change is always made to the root of a linkset.
+            SceneObjectGroup containingGroup = requestingPart.ParentGroup;
+            SceneObjectPart rootPart = containingGroup.RootPart;
+
+            if (rootPart != null)
+            {
+                Physics.Manager.PhysicsActor rootPhysActor = rootPart.PhysActor;
+                if (rootPhysActor != null)
+                {
+                    rootPhysActor.Extension(PhysFunctSetLinksetType, linksetType);
+                }
+                else
+                {
+                    m_log.WarnFormat("{0} physSetLinksetType: root part does not have a physics actor. rootName={1}, hostID={2}",
+                                        LogHeader, rootPart.Name, hostID);
+                }
+            }
+            else
+            {
+                m_log.WarnFormat("{0} physSetLinksetType: root part does not exist. RequestingPartName={1}, hostID={2}",
+                                    LogHeader, requestingPart.Name, hostID);
+            }
+        }
+        else
+        {
+            m_log.WarnFormat("{0} physSetLinsetType: cannot find script object in scene. hostID={1}", LogHeader, hostID);
+        }
     }
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 59e7f5f..58a417e 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -75,7 +75,7 @@ public sealed class BSCharacter : BSPhysObject
         RawVelocity = OMV.Vector3.Zero;
         _buoyancy = ComputeBuoyancyFromFlying(isFlying);
         Friction = BSParam.AvatarStandingFriction;
-        Density = BSParam.AvatarDensity / BSParam.DensityScaleFactor;
+        Density = BSParam.AvatarDensity;
 
         // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
         //     replace with the default values.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 82d7c44..f0d17d3 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -589,10 +589,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 m_vehicleMass = ControllingPrim.TotalMass;
 
                 // Friction affects are handled by this vehicle code
-                m_physicsScene.PE.SetFriction(ControllingPrim.PhysBody, BSParam.VehicleFriction);
-                m_physicsScene.PE.SetRestitution(ControllingPrim.PhysBody, BSParam.VehicleRestitution);
-                // ControllingPrim.Linkset.SetPhysicalFriction(BSParam.VehicleFriction);
-                // ControllingPrim.Linkset.SetPhysicalRestitution(BSParam.VehicleRestitution);
+                // m_physicsScene.PE.SetFriction(ControllingPrim.PhysBody, BSParam.VehicleFriction);
+                // m_physicsScene.PE.SetRestitution(ControllingPrim.PhysBody, BSParam.VehicleRestitution);
+                ControllingPrim.Linkset.SetPhysicalFriction(BSParam.VehicleFriction);
+                ControllingPrim.Linkset.SetPhysicalRestitution(BSParam.VehicleRestitution);
 
                 // Moderate angular movement introduced by Bullet.
                 // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle.
@@ -602,21 +602,21 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 m_physicsScene.PE.SetAngularFactorV(ControllingPrim.PhysBody, BSParam.VehicleAngularFactor);
 
                 // Vehicles report collision events so we know when it's on the ground
-                m_physicsScene.PE.AddToCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
-                // ControllingPrim.Linkset.SetPhysicalCollisionFlags(CollisionFlags.BS_VEHICLE_COLLISIONS);
+                // m_physicsScene.PE.AddToCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
+                ControllingPrim.Linkset.AddToPhysicalCollisionFlags(CollisionFlags.BS_VEHICLE_COLLISIONS);
 
-                Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape.physShapeInfo, m_vehicleMass);
-                ControllingPrim.Inertia = inertia * BSParam.VehicleInertiaFactor;
-                m_physicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia);
-                m_physicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody);
-                // ControllingPrim.Linkset.ComputeLocalInertia(BSParam.VehicleInertiaFactor);
+                // Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape.physShapeInfo, m_vehicleMass);
+                // ControllingPrim.Inertia = inertia * BSParam.VehicleInertiaFactor;
+                // m_physicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia);
+                // m_physicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody);
+                ControllingPrim.Linkset.ComputeAndSetLocalInertia(BSParam.VehicleInertiaFactor, m_vehicleMass);
 
                 // Set the gravity for the vehicle depending on the buoyancy
                 // TODO: what should be done if prim and vehicle buoyancy differ?
                 m_VehicleGravity = ControllingPrim.ComputeGravity(m_VehicleBuoyancy);
                 // The actual vehicle gravity is set to zero in Bullet so we can do all the application of same.
-                m_physicsScene.PE.SetGravity(ControllingPrim.PhysBody, Vector3.Zero);
-                // ControllingPrim.Linkset.SetPhysicalGravity(Vector3.Zero);
+                // m_physicsScene.PE.SetGravity(ControllingPrim.PhysBody, Vector3.Zero);
+                ControllingPrim.Linkset.SetPhysicalGravity(Vector3.Zero);
 
                 VDetailLog("{0},BSDynamics.SetPhysicalParameters,mass={1},inert={2},vehGrav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}",
                         ControllingPrim.LocalID, m_vehicleMass, ControllingPrim.Inertia, m_VehicleGravity,
@@ -1121,7 +1121,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 {
                     m_VhoverTargetHeight = m_VhoverHeight;
                 }
-
                 if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0)
                 {
                     // If body is already heigher, use its height as target height
@@ -1170,7 +1169,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                                     m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight,
                                     verticalError, verticalCorrection);
                 }
-
             }
         }
 
@@ -1357,6 +1355,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         private void ComputeAngularTurning(float pTimestep)
         {
             // The user wants this many radians per second angular change?
+            Vector3 origVehicleRotationalVelocity = VehicleRotationalVelocity;      // DEBUG DEBUG
             Vector3 currentAngularV = VehicleRotationalVelocity * Quaternion.Inverse(VehicleOrientation);
             Vector3 angularMotorContributionV = m_angularMotor.Step(pTimestep, currentAngularV);
 
@@ -1369,20 +1368,20 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             // TODO: This is here because this is where ODE put it but documentation says it
             //    is a linear effect. Where should this check go?
             //if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
-           // {
+            // {
             //    angularMotorContributionV.X = 0f;
             //    angularMotorContributionV.Y = 0f;
-          //  }
+            //  }
 
             // Reduce any velocity by friction.
             Vector3 frictionFactorW = ComputeFrictionFactor(m_angularFrictionTimescale, pTimestep);
             angularMotorContributionV -= (currentAngularV * frictionFactorW);
 
-            VehicleRotationalVelocity += angularMotorContributionV * VehicleOrientation;
-
-
+            Vector3 angularMotorContributionW = angularMotorContributionV * VehicleOrientation;
+            VehicleRotationalVelocity += angularMotorContributionW;
 
-            VDetailLog("{0},  MoveAngular,angularTurning,angContribV={1}", ControllingPrim.LocalID, angularMotorContributionV);
+            VDetailLog("{0},  MoveAngular,angularTurning,curAngVelV={1},origVehRotVel={2},vehRotVel={3},frictFact={4}, angContribV={5},angContribW={6}",
+                        ControllingPrim.LocalID, currentAngularV, origVehicleRotationalVelocity, VehicleRotationalVelocity, frictionFactorW, angularMotorContributionV, angularMotorContributionW);
         }
 
         // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
@@ -1409,7 +1408,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
                             // Flipping what was originally a timescale into a speed variable and then multiplying it by 2
                             //    since only computing half the distance between the angles.
-                            float VerticalAttractionSpeed = (1 / m_verticalAttractionTimescale) * 2.0f;
+                            float verticalAttractionSpeed = (1 / m_verticalAttractionTimescale) * 2.0f;
 
                             // Make a prediction of where the up axis will be when this is applied rather then where it is now as
                             //     this makes for a smoother adjustment and less fighting between the various forces.
@@ -1419,12 +1418,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                             Vector3 torqueVector = Vector3.Cross(predictedUp, Vector3.UnitZ);
 
                             // Scale vector by our timescale since it is an acceleration it is r/s^2 or radians a timescale squared
-                            Vector3 vertContributionV = torqueVector * VerticalAttractionSpeed * VerticalAttractionSpeed;
+                            Vector3 vertContributionV = torqueVector * verticalAttractionSpeed * verticalAttractionSpeed;
 
                             VehicleRotationalVelocity += vertContributionV;
 
-                            VDetailLog("{0},  MoveAngular,verticalAttraction,upAxis={1},PredictedUp={2},torqueVector={3},contrib={4}",
+                            VDetailLog("{0},  MoveAngular,verticalAttraction,vertAttrSpeed={1},upAxis={2},PredictedUp={3},torqueVector={4},contrib={5}",
                                             ControllingPrim.LocalID,
+                                            verticalAttractionSpeed,
                                             vehicleUpAxis,
                                             predictedUp,
                                             torqueVector,
@@ -1437,37 +1437,38 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                             // http://stackoverflow.com/questions/14939657/computing-vector-from-quaternion-works-computing-quaternion-from-vector-does-no
 
                             // Create a rotation that is only the vehicle's rotation around Z
-                            Vector3 currentEuler = Vector3.Zero;
-                            VehicleOrientation.GetEulerAngles(out currentEuler.X, out currentEuler.Y, out currentEuler.Z);
-                            Quaternion justZOrientation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, currentEuler.Z);
+                            Vector3 currentEulerW = Vector3.Zero;
+                            VehicleOrientation.GetEulerAngles(out currentEulerW.X, out currentEulerW.Y, out currentEulerW.Z);
+                            Quaternion justZOrientation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, currentEulerW.Z);
 
                             // Create the axis that is perpendicular to the up vector and the rotated up vector.
-                            Vector3 differenceAxis = Vector3.Cross(Vector3.UnitZ * justZOrientation, Vector3.UnitZ * VehicleOrientation);
+                            Vector3 differenceAxisW = Vector3.Cross(Vector3.UnitZ * justZOrientation, Vector3.UnitZ * VehicleOrientation);
                             // Compute the angle between those to vectors.
                             double differenceAngle = Math.Acos((double)Vector3.Dot(Vector3.UnitZ, Vector3.Normalize(Vector3.UnitZ * VehicleOrientation)));
                             // 'differenceAngle' is the angle to rotate and 'differenceAxis' is the plane to rotate in to get the vehicle vertical
 
                             // Reduce the change by the time period it is to change in. Timestep is handled when velocity is applied.
                             // TODO: add 'efficiency'.
-                            differenceAngle /= m_verticalAttractionTimescale;
+                            // differenceAngle /= m_verticalAttractionTimescale;
 
                             // Create the quaterian representing the correction angle
-                            Quaternion correctionRotation = Quaternion.CreateFromAxisAngle(differenceAxis, (float)differenceAngle);
+                            Quaternion correctionRotationW = Quaternion.CreateFromAxisAngle(differenceAxisW, (float)differenceAngle);
 
                             // Turn that quaternion into Euler values to make it into velocities to apply.
-                            Vector3 vertContributionV = Vector3.Zero;
-                            correctionRotation.GetEulerAngles(out vertContributionV.X, out vertContributionV.Y, out vertContributionV.Z);
-                            vertContributionV *= -1f;
+                            Vector3 vertContributionW = Vector3.Zero;
+                            correctionRotationW.GetEulerAngles(out vertContributionW.X, out vertContributionW.Y, out vertContributionW.Z);
+                            vertContributionW *= -1f;
+                            vertContributionW /= m_verticalAttractionTimescale;
 
-                            VehicleRotationalVelocity += vertContributionV;
+                            VehicleRotationalVelocity += vertContributionW;
 
                             VDetailLog("{0},  MoveAngular,verticalAttraction,upAxis={1},diffAxis={2},diffAng={3},corrRot={4},contrib={5}",
                                             ControllingPrim.LocalID,
                                             vehicleUpAxis,
-                                            differenceAxis,
+                                            differenceAxisW,
                                             differenceAngle,
-                                            correctionRotation,
-                                            vertContributionV);
+                                            correctionRotationW,
+                                            vertContributionW);
                             break;
                         }
                     case 2:
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 960c0b4..7f94666 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -309,16 +309,18 @@ public abstract class BSLinkset
             }
         );
     }
-    public virtual void ComputeLocalInertia(OMV.Vector3 inertiaFactor)
+    public virtual void ComputeAndSetLocalInertia(OMV.Vector3 inertiaFactor, float linksetMass)
     {
         ForEachMember((member) =>
             {
                 if (member.PhysBody.HasPhysicalBody)
                 {
-                    OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, member.Mass);
+                    OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, linksetMass);
                     member.Inertia = inertia * inertiaFactor;
-                    m_physicsScene.PE.SetMassProps(member.PhysBody, member.Mass, member.Inertia);
+                    m_physicsScene.PE.SetMassProps(member.PhysBody, linksetMass, member.Inertia);
                     m_physicsScene.PE.UpdateInertiaTensor(member.PhysBody);
+                    DetailLog("{0},BSLinkset.ComputeAndSetLocalInertia,m.mass={1}, inertia={2}", member.LocalID, linksetMass, member.Inertia);
+
                 }
                 return false;   // 'false' says to continue looping
             }
@@ -334,6 +336,16 @@ public abstract class BSLinkset
             }
         );
     }
+    public virtual void AddToPhysicalCollisionFlags(CollisionFlags collFlags)
+    {
+        ForEachMember((member) =>
+            {
+                if (member.PhysBody.HasPhysicalBody)
+                    m_physicsScene.PE.AddToCollisionFlags(member.PhysBody, collFlags);
+                return false;   // 'false' says to continue looping
+            }
+        );
+    }
     public virtual void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags)
     {
         ForEachMember((member) =>
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 33ae5a5..6359046 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -61,11 +61,11 @@ public sealed class BSLinksetCompound : BSLinkset
         if (LinksetRoot.PhysBody.HasPhysicalBody)
             m_physicsScene.PE.SetGravity(LinksetRoot.PhysBody, gravity);
     }
-    public override void ComputeLocalInertia(OMV.Vector3 inertiaFactor)
+    public override void ComputeAndSetLocalInertia(OMV.Vector3 inertiaFactor, float linksetMass)
     {
-        OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(LinksetRoot.PhysShape.physShapeInfo, LinksetRoot.Mass);
+        OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(LinksetRoot.PhysShape.physShapeInfo, linksetMass);
         LinksetRoot.Inertia = inertia * inertiaFactor;
-        m_physicsScene.PE.SetMassProps(LinksetRoot.PhysBody, LinksetRoot.Mass, LinksetRoot.Inertia);
+        m_physicsScene.PE.SetMassProps(LinksetRoot.PhysBody, linksetMass, LinksetRoot.Inertia);
         m_physicsScene.PE.UpdateInertiaTensor(LinksetRoot.PhysBody);
     }
     public override void SetPhysicalCollisionFlags(CollisionFlags collFlags)
@@ -73,6 +73,11 @@ public sealed class BSLinksetCompound : BSLinkset
         if (LinksetRoot.PhysBody.HasPhysicalBody)
             m_physicsScene.PE.SetCollisionFlags(LinksetRoot.PhysBody, collFlags);
     }
+    public override void AddToPhysicalCollisionFlags(CollisionFlags collFlags)
+    {
+        if (LinksetRoot.PhysBody.HasPhysicalBody)
+            m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, collFlags);
+    }
     public override void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags)
     {
         if (LinksetRoot.PhysBody.HasPhysicalBody)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index 0bdb5f1..4520171 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -463,7 +463,7 @@ public static class BSParam
         // Density is passed around as 100kg/m3. This scales that to 1kg/m3.
         // Reduce by power of 100 because Bullet doesn't seem to handle objects with large mass very well
         new ParameterDefn<float>("DensityScaleFactor", "Conversion for simulator/viewer density (100kg/m3) to physical density (1kg/m3)",
-            0.0001f ),
+            0.01f ),
 
         new ParameterDefn<float>("PID_D", "Derivitive factor for motion smoothing",
             2200f ),
@@ -474,8 +474,9 @@ public static class BSParam
             0.2f,
             (s) => { return DefaultFriction; },
             (s,v) => { DefaultFriction = v; s.UnmanagedParams[0].defaultFriction = v; } ),
+        // For historical reasons, the viewer and simulator multiply the density by 100
         new ParameterDefn<float>("DefaultDensity", "Density for new objects" ,
-            10.000006836f,  // Aluminum g/cm3
+            1000.0006836f,  // Aluminum g/cm3 * 100
             (s) => { return DefaultDensity; },
             (s,v) => { DefaultDensity = v; s.UnmanagedParams[0].defaultDensity = v; } ),
         new ParameterDefn<float>("DefaultRestitution", "Bouncyness of an object" ,
@@ -555,8 +556,9 @@ public static class BSParam
             0.95f ),
         new ParameterDefn<float>("AvatarAlwaysRunFactor", "Speed multiplier if avatar is set to always run",
             1.3f ),
-        new ParameterDefn<float>("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
-            3.5f) ,
+            // For historical reasons, density is reported  * 100
+        new ParameterDefn<float>("AvatarDensity", "Density of an avatar. Changed on avatar recreation. Scaled times 100.",
+            3500f) ,    // 3.5 * 100
         new ParameterDefn<float>("AvatarRestitution", "Bouncyness. Changed on avatar recreation.",
             0f ),
         new ParameterDefn<float>("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule",
@@ -608,9 +610,8 @@ public static class BSParam
             0.0f ),
         new ParameterDefn<float>("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)",
             0.0f ),
-        // Turn off fudge with DensityScaleFactor = 0.0001.  Value used to be 0.2f;
         new ParameterDefn<float>("VehicleGroundGravityFudge", "Factor to multiply gravity if a ground vehicle is probably on the ground (0.0 - 1.0)",
-            1.0f ),
+            0.2f ),
         new ParameterDefn<float>("VehicleAngularBankingTimescaleFudge", "Factor to multiple angular banking timescale. Tune to increase realism.",
             60.0f ),
         new ParameterDefn<bool>("VehicleEnableLinearDeflection", "Turn on/off vehicle linear deflection effect",
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index d34b797..0704591 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -187,10 +187,23 @@ public abstract class BSPhysObject : PhysicsActor
         MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
         Friction = matAttrib.friction;
         Restitution = matAttrib.restitution;
-        Density = matAttrib.density / BSParam.DensityScaleFactor;
+        Density = matAttrib.density;
         // DetailLog("{0},{1}.SetMaterial,Mat={2},frict={3},rest={4},den={5}", LocalID, TypeName, Material, Friction, Restitution, Density);
     }
 
+    public override float Density
+    {
+        get
+        {
+            return base.Density;
+        }
+        set
+        {
+            DetailLog("{0},BSPhysObject.Density,set,den={1}", LocalID, value);
+            base.Density = value;
+        }
+    }
+
     // Stop all physical motion.
     public abstract void ZeroMotion(bool inTaintTime);
     public abstract void ZeroAngularMotion(bool inTaintTime);