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diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
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+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * 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
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+using OMV = OpenMetaverse;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+/*
+ * Class to wrap all objects.
+ * The rest of BulletSim doesn't need to keep checking for avatars or prims
+ *        unless the difference is significant.
+ * 
+ *  Variables in the physicsl objects are in three forms:
+ *      VariableName: used by the simulator and performs taint operations, etc
+ *      RawVariableName: direct reference to the BulletSim storage for the variable value
+ *      ForceVariableName: direct reference (store and fetch) to the value in the physics engine.
+ *  The last two (and certainly the last one) should be referenced only in taint-time.
+ */
+public abstract class BSPhysObject : PhysicsActor
+{
+    protected BSPhysObject()
+    {
+    }
+    protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName)
+    {
+        PhysicsScene = parentScene;
+        LocalID = localID;
+        PhysObjectName = name;
+        TypeName = typeName;
+
+        Linkset = BSLinkset.Factory(PhysicsScene, this);
+        LastAssetBuildFailed = false;
+
+        CollisionCollection = new CollisionEventUpdate();
+        SubscribedEventsMs = 0;
+        CollidingStep = 0;
+        CollidingGroundStep = 0;
+    }
+
+    public BSScene PhysicsScene { get; protected set; }
+    // public override uint LocalID { get; set; } // Use the LocalID definition in PhysicsActor
+    public string PhysObjectName { get; protected set; }
+    public string TypeName { get; protected set; }
+
+    public BSLinkset Linkset { get; set; }
+
+    // Return the object mass without calculating it or having side effects
+    public abstract float RawMass { get; }
+    // Set the raw mass but also update physical mass properties (inertia, ...)
+    public abstract void UpdatePhysicalMassProperties(float mass);
+
+    // The last value calculated for the prim's inertia
+    public OMV.Vector3 Inertia { get; set; }
+
+    // Reference to the physical body (btCollisionObject) of this object
+    public BulletBody PhysBody;
+    // Reference to the physical shape (btCollisionShape) of this object
+    public BulletShape PhysShape;
+
+    // 'true' if the mesh's underlying asset failed to build.
+    // This will keep us from looping after the first time the build failed.
+    public bool LastAssetBuildFailed { get; set; }
+
+    // The objects base shape information. Null if not a prim type shape.
+    public PrimitiveBaseShape BaseShape { get; protected set; }
+    // Some types of objects have preferred physical representations.
+    // Returns SHAPE_UNKNOWN if there is no preference.
+    public virtual ShapeData.PhysicsShapeType PreferredPhysicalShape
+    {
+        get { return ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; }
+    }
+
+    // When the physical properties are updated, an EntityProperty holds the update values.
+    // Keep the current and last EntityProperties to enable computation of differences
+    //      between the current update and the previous values.
+    public EntityProperties CurrentEntityProperties { get; set; }
+    public EntityProperties LastEntityProperties { get; set; }
+
+    public abstract OMV.Vector3 Scale { get; set; }
+    public abstract bool IsSolid { get; }
+    public abstract bool IsStatic { get; }
+
+    // Stop all physical motion.
+    public abstract void ZeroMotion(bool inTaintTime);
+    public abstract void ZeroAngularMotion(bool inTaintTime);
+
+    // Step the vehicle simulation for this object. A NOOP if the vehicle was not configured.
+    public virtual void StepVehicle(float timeStep) { }
+
+    // Update the physical location and motion of the object. Called with data from Bullet.
+    public abstract void UpdateProperties(EntityProperties entprop);
+
+    // Tell the object to clean up.
+    public abstract void Destroy();
+
+    public abstract OMV.Vector3 RawPosition { get; set; }
+    public abstract OMV.Vector3 ForcePosition { get; set; }
+
+    public abstract OMV.Quaternion RawOrientation { get; set; }
+    public abstract OMV.Quaternion ForceOrientation { get; set; }
+
+    public abstract OMV.Vector3 ForceVelocity { get; set; }
+
+    public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }
+
+    public abstract float ForceBuoyancy { get; set; }
+
+    public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; }
+
+    #region Collisions
+
+    // Requested number of milliseconds between collision events. Zero means disabled.
+    protected int SubscribedEventsMs { get; set; }
+    // Given subscription, the time that a collision may be passed up
+    protected int NextCollisionOkTime { get; set; }
+    // The simulation step that last had a collision
+    protected long CollidingStep { get; set; }
+    // The simulation step that last had a collision with the ground
+    protected long CollidingGroundStep { get; set; }
+    // The collision flags we think are set in Bullet
+    protected CollisionFlags CurrentCollisionFlags { get; set; }
+
+    // The collisions that have been collected this tick
+    protected CollisionEventUpdate CollisionCollection;
+
+    // The simulation step is telling this object about a collision.
+    // Return 'true' if a collision was processed and should be sent up.
+    // Called at taint time from within the Step() function
+    public virtual bool Collide(uint collidingWith, BSPhysObject collidee,
+                    OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
+    {
+        bool ret = false;
+
+        // The following lines make IsColliding() and IsCollidingGround() work
+        CollidingStep = PhysicsScene.SimulationStep;
+        if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID)
+        {
+            CollidingGroundStep = PhysicsScene.SimulationStep;
+        }
+
+        // prims in the same linkset cannot collide with each other
+        if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID))
+        {
+            return ret;
+        }
+
+        // if someone has subscribed for collision events....
+        if (SubscribedEvents()) {
+            CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
+            DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
+                            LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);
+
+            ret = true;
+        }
+        return ret;
+    }
+
+    // Send the collected collisions into the simulator.
+    // Called at taint time from within the Step() function thus no locking problems
+    //      with CollisionCollection and ObjectsWithNoMoreCollisions.
+    // Return 'true' if there were some actual collisions passed up
+    public virtual bool SendCollisions()
+    {
+        bool ret = true;
+        // If the 'no collision' call, force it to happen right now so quick collision_end
+        bool force = CollisionCollection.Count == 0;
+
+        // throttle the collisions to the number of milliseconds specified in the subscription
+        if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime))
+        {
+            NextCollisionOkTime = PhysicsScene.SimulationNowTime + SubscribedEventsMs;
+
+            // We are called if we previously had collisions. If there are no collisions
+            //   this time, send up one last empty event so OpenSim can sense collision end.
+            if (CollisionCollection.Count == 0)
+            {
+                // If I have no collisions this time, remove me from the list of objects with collisions.
+                ret = false;
+            }
+
+            // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
+            base.SendCollisionUpdate(CollisionCollection);
+
+            // The collisionCollection structure is passed around in the simulator.
+            // Make sure we don't have a handle to that one and that a new one is used for next time.
+            CollisionCollection = new CollisionEventUpdate();
+        }
+        return ret;
+    }
+
+    // Subscribe for collision events.
+    // Parameter is the millisecond rate the caller wishes collision events to occur.
+    public override void SubscribeEvents(int ms) {
+        // DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms);
+        SubscribedEventsMs = ms;
+        if (ms > 0)
+        {
+            // make sure first collision happens
+            NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs);
+
+            PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate()
+            {
+                CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            });
+        }
+        else
+        {
+            // Subscribing for zero or less is the same as unsubscribing
+            UnSubscribeEvents();
+        }
+    }
+    public override void UnSubscribeEvents() {
+        // DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName);
+        SubscribedEventsMs = 0;
+        PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate()
+        {
+            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+        });
+    }
+    // Return 'true' if the simulator wants collision events
+    public override bool SubscribedEvents() {
+        return (SubscribedEventsMs > 0);
+    }
+
+    #endregion // Collisions
+
+    // High performance detailed logging routine used by the physical objects.
+    protected void DetailLog(string msg, params Object[] args)
+    {
+        if (PhysicsScene.PhysicsLogging.Enabled)
+            PhysicsScene.DetailLog(msg, args);
+    }
+}
+}