27 files changed, 1404 insertions, 9873 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
deleted file mode 100755
index 30a7bee..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
+++ /dev/null
@@ -1,1622 +0,0 @@
-/*
- * 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.IO;
-using System.Text;
-
-using OpenSim.Framework;
-
-using OpenMetaverse;
-
-using BulletXNA;
-using BulletXNA.LinearMath;
-using BulletXNA.BulletCollision;
-using BulletXNA.BulletDynamics;
-using BulletXNA.BulletCollision.CollisionDispatch;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-public sealed class BSAPIXNA : BSAPITemplate
-{
-private sealed class BulletWorldXNA : BulletWorld
-{
-    public DiscreteDynamicsWorld world;
-    public BulletWorldXNA(uint id, BSScene physScene, DiscreteDynamicsWorld xx)
-        : base(id, physScene)
-    {
-        world = xx;
-    }
-}
-
-private sealed class BulletBodyXNA : BulletBody
-{
-    public CollisionObject body;
-    public RigidBody rigidBody { get { return RigidBody.Upcast(body); } }
-
-    public BulletBodyXNA(uint id, CollisionObject xx)
-        : base(id)
-    {
-        body = xx;
-    }
-    public override bool HasPhysicalBody
-    {
-        get { return body != null; }
-    }
-    public override void Clear()
-    {
-        body = null;
-    }
-    public override string AddrString
-    {
-        get { return "XNARigidBody"; }
-    }
-}
-
-private sealed class BulletShapeXNA : BulletShape
-{
-    public CollisionShape shape;
-    public BulletShapeXNA(CollisionShape xx, BSPhysicsShapeType typ) 
-        : base()
-    {
-        shape = xx;
-        type = typ;
-    }
-    public override bool HasPhysicalShape
-    {
-        get { return shape != null; }
-    }
-    public override void Clear()
-    {
-        shape = null;
-    }
-    public override BulletShape Clone()
-    {
-        return new BulletShapeXNA(shape, type);
-    }
-    public override bool ReferenceSame(BulletShape other)
-    {
-        BulletShapeXNA otheru = other as BulletShapeXNA;
-        return (otheru != null) && (this.shape == otheru.shape);
-
-    }
-    public override string AddrString
-    {
-        get { return "XNACollisionShape"; }
-    }
-}
-private sealed class BulletConstraintXNA : BulletConstraint
-{
-    public TypedConstraint constrain;
-    public BulletConstraintXNA(TypedConstraint xx) : base()
-    {
-        constrain = xx;
-    }
-
-    public override void Clear()
-    {
-        constrain = null;
-    }
-    public override bool HasPhysicalConstraint { get { return constrain != null; } }
-
-    // Used for log messages for a unique display of the memory/object allocated to this instance
-    public override string AddrString
-    {
-        get { return "XNAConstraint"; }
-    }
-}
-
-    private static int m_collisionsThisFrame;
-    private BSScene PhysicsScene { get; set; }
-
-    public override string BulletEngineName { get { return "BulletXNA"; } }
-    public override string BulletEngineVersion { get; protected set; }
-
-    public BSAPIXNA(string paramName, BSScene physScene)
-    {
-        PhysicsScene = physScene;
-    }
-
-    /// <summary>
-    /// 
-    /// </summary>
-    /// <param name="p"></param>
-    /// <param name="p_2"></param>
-    public override bool RemoveObjectFromWorld(BulletWorld pWorld, BulletBody pBody)
-    {
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        world.RemoveRigidBody(body);
-        return true;
-    }
-
-    public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects)
-    {
-        /* TODO */
-        return false;
-    }
-
-    public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain)
-    {
-        /* TODO */
-        return false;
-    }
-
-    public override void SetRestitution(BulletBody pBody, float pRestitution)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        body.SetRestitution(pRestitution);
-    }
-
-    public override int GetShapeType(BulletShape pShape)
-    {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
-        return (int)shape.GetShapeType();
-    }
-    public override void SetMargin(BulletShape pShape, float pMargin)
-    {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
-        shape.SetMargin(pMargin);
-    }
-
-    public override float GetMargin(BulletShape pShape)
-    {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
-        return shape.GetMargin();
-    }
-
-    public override void SetLocalScaling(BulletShape pShape, Vector3 pScale)
-    {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
-        IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
-        shape.SetLocalScaling(ref vec);
-
-    }
-
-    public override void SetContactProcessingThreshold(BulletBody pBody, float contactprocessingthreshold)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        body.SetContactProcessingThreshold(contactprocessingthreshold);
-    }
-
-    public override void SetCcdMotionThreshold(BulletBody pBody, float pccdMotionThreashold)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        body.SetCcdMotionThreshold(pccdMotionThreashold);
-    }
-
-    public override void SetCcdSweptSphereRadius(BulletBody pBody, float pCcdSweptSphereRadius)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        body.SetCcdSweptSphereRadius(pCcdSweptSphereRadius);
-    }
-
-    public override void SetAngularFactorV(BulletBody pBody, Vector3 pAngularFactor)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z));
-    }
-
-    public override CollisionFlags AddToCollisionFlags(BulletBody pBody, CollisionFlags pcollisionFlags)
-    {
-        CollisionObject body = ((BulletBodyXNA)pBody).body;
-        CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags();
-        existingcollisionFlags |= pcollisionFlags;
-        body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
-        return (CollisionFlags) (uint) existingcollisionFlags;
-    }
-
-    public override bool AddObjectToWorld(BulletWorld pWorld, BulletBody pBody)
-    {
-        // Bullet resets several variables when an object is added to the world. In particular,
-        //   BulletXNA resets position and rotation. Gravity is also reset depending on the static/dynamic
-        //   type. Of course, the collision flags in the broadphase proxy are initialized to default.
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-
-        IndexedMatrix origPos = body.GetWorldTransform();
-        IndexedVector3 origGrav = body.GetGravity();
-
-        //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE))
-
-        world.AddRigidBody(body);
-
-        body.SetWorldTransform(origPos);
-        body.SetGravity(origGrav);
-
-        pBody.ApplyCollisionMask(pWorld.physicsScene);
-
-        //if (body.GetBroadphaseHandle() != null)
-        //    world.UpdateSingleAabb(body);
-        return true;
-    }
-
-    public override void ForceActivationState(BulletBody pBody, ActivationState pActivationState)
-    {
-        CollisionObject body = ((BulletBodyXNA)pBody).body;
-        body.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState);
-    }
-
-    public override void UpdateSingleAabb(BulletWorld pWorld, BulletBody pBody)
-    {
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
-        CollisionObject body = ((BulletBodyXNA)pBody).body;
-        world.UpdateSingleAabb(body);
-    }
-
-    public override void UpdateAabbs(BulletWorld world) { /* TODO */ }
-    public override bool GetForceUpdateAllAabbs(BulletWorld world) { /* TODO */ return false;  }
-    public override void SetForceUpdateAllAabbs(BulletWorld world, bool force) { /* TODO */ }
-
-    public override bool SetCollisionGroupMask(BulletBody pBody, uint pGroup, uint pMask)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
-        body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
-        if ((uint) body.GetBroadphaseHandle().m_collisionFilterGroup == 0)
-            return false;
-        return true;
-    }
-
-    public override void ClearAllForces(BulletBody pBody)
-    {
-        CollisionObject body = ((BulletBodyXNA)pBody).body;
-        IndexedVector3 zeroVector = new IndexedVector3(0, 0, 0);
-        body.SetInterpolationLinearVelocity(ref zeroVector);
-        body.SetInterpolationAngularVelocity(ref zeroVector);
-        IndexedMatrix bodytransform = body.GetWorldTransform();
-
-        body.SetInterpolationWorldTransform(ref bodytransform);
-
-        if (body is RigidBody)
-        {
-            RigidBody rigidbody = body as RigidBody;
-            rigidbody.SetLinearVelocity(zeroVector);
-            rigidbody.SetAngularVelocity(zeroVector);
-            rigidbody.ClearForces();
-        }
-    }
-
-    public override void SetInterpolationAngularVelocity(BulletBody pBody, Vector3 pVector3)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
-        body.SetInterpolationAngularVelocity(ref vec);
-    }
-
-    public override void SetAngularVelocity(BulletBody pBody, Vector3 pVector3)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
-        body.SetAngularVelocity(ref vec);
-    }
-    public override Vector3 GetTotalForce(BulletBody pBody)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        IndexedVector3 iv3 = body.GetTotalForce();
-        return new Vector3(iv3.X, iv3.Y, iv3.Z);
-    }
-    public override Vector3 GetTotalTorque(BulletBody pBody)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        IndexedVector3 iv3 = body.GetTotalTorque();
-        return new Vector3(iv3.X, iv3.Y, iv3.Z);
-    }
-    public override Vector3 GetInvInertiaDiagLocal(BulletBody pBody)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        IndexedVector3 iv3 = body.GetInvInertiaDiagLocal();
-        return new Vector3(iv3.X, iv3.Y, iv3.Z);
-    }
-    public override void SetInvInertiaDiagLocal(BulletBody pBody, Vector3 inert)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        IndexedVector3 iv3 = new IndexedVector3(inert.X, inert.Y, inert.Z);
-        body.SetInvInertiaDiagLocal(ref iv3);
-    }
-    public override void ApplyForce(BulletBody pBody, Vector3 force, Vector3 pos)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        IndexedVector3 forceiv3 = new IndexedVector3(force.X, force.Y, force.Z);
-        IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z);
-        body.ApplyForce(ref forceiv3, ref posiv3);
-    }
-    public override void ApplyImpulse(BulletBody pBody, Vector3 imp, Vector3 pos)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        IndexedVector3 impiv3 = new IndexedVector3(imp.X, imp.Y, imp.Z);
-        IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z);
-        body.ApplyImpulse(ref impiv3, ref posiv3);
-    }
-
-    public override void ClearForces(BulletBody pBody)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        body.ClearForces();
-    }
-
-    public override void SetTranslation(BulletBody pBody, Vector3 _position, Quaternion _orientation)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z);
-        IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z,
-                                                              _orientation.W);
-        IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion);
-        mat._origin = vposition;
-        body.SetWorldTransform(mat);
-        
-    }
-
-    public override Vector3 GetPosition(BulletBody pBody)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        IndexedVector3 pos = body.GetInterpolationWorldTransform()._origin;
-        return new Vector3(pos.X, pos.Y, pos.Z);
-    }
-
-    public override Vector3 CalculateLocalInertia(BulletShape pShape, float pphysMass)
-    {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
-        IndexedVector3 inertia = IndexedVector3.Zero;
-        shape.CalculateLocalInertia(pphysMass, out inertia);
-        return new Vector3(inertia.X, inertia.Y, inertia.Z);
-    }
-
-    public override void SetMassProps(BulletBody pBody, float pphysMass, Vector3 plocalInertia)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z);
-        body.SetMassProps(pphysMass, inertia);
-    }
-
-
-    public override void SetObjectForce(BulletBody pBody, Vector3 _force)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z);
-        body.SetTotalForce(ref force);
-    }
-
-    public override void SetFriction(BulletBody pBody, float _currentFriction)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        body.SetFriction(_currentFriction);
-    }
-
-    public override void SetLinearVelocity(BulletBody pBody, Vector3 _velocity)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z);
-        body.SetLinearVelocity(velocity);
-    }
-
-    public override void Activate(BulletBody pBody, bool pforceactivation)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        body.Activate(pforceactivation);
-        
-    }
-
-    public override Quaternion GetOrientation(BulletBody pBody)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        IndexedQuaternion mat = body.GetInterpolationWorldTransform().GetRotation();
-        return new Quaternion(mat.X, mat.Y, mat.Z, mat.W);
-    }
-
-    public override CollisionFlags RemoveFromCollisionFlags(BulletBody pBody, CollisionFlags pcollisionFlags)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags();
-        existingcollisionFlags &= ~pcollisionFlags;
-        body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
-        return (CollisionFlags)(uint)existingcollisionFlags;
-    }
-
-    public override float GetCcdMotionThreshold(BulletBody obj) { /* TODO */ return 0f;  }
-
-    public override float GetCcdSweptSphereRadius(BulletBody obj) { /* TODO */ return 0f;  }
-
-    public override IntPtr GetUserPointer(BulletBody obj) { /* TODO */ return IntPtr.Zero;  }
-
-    public override void SetUserPointer(BulletBody obj, IntPtr val) { /* TODO */ }
-
-    public override void SetGravity(BulletBody pBody, Vector3 pGravity)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z);
-        body.SetGravity(gravity);
-    }
-
-    public override bool DestroyConstraint(BulletWorld pWorld, BulletConstraint pConstraint)
-    {
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
-        TypedConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain;
-        world.RemoveConstraint(constraint);
-        return true;
-    }
-
-    public override bool SetLinearLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high)
-    {
-        Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
-        IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
-        IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
-        constraint.SetLinearLowerLimit(lowlimit);
-        constraint.SetLinearUpperLimit(highlimit);
-        return true;
-    }
-
-    public override bool SetAngularLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high)
-    {
-        Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
-        IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
-        IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
-        constraint.SetAngularLowerLimit(lowlimit);
-        constraint.SetAngularUpperLimit(highlimit);
-        return true;
-    }
-
-    public override void SetConstraintNumSolverIterations(BulletConstraint pConstraint, float cnt)
-    {
-        Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
-        constraint.SetOverrideNumSolverIterations((int)cnt);
-    }
-
-    public override bool CalculateTransforms(BulletConstraint pConstraint)
-    {
-        Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
-        constraint.CalculateTransforms();
-        return true;
-    }
-
-    public override void SetConstraintEnable(BulletConstraint pConstraint, float p_2)
-    {
-        Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
-        constraint.SetEnabled((p_2 == 0) ? false : true);
-    }
-
-
-    //BulletSimAPI.Create6DofConstraint(m_world.ptr, m_body1.ptr, m_body2.ptr,frame1, frame1rot,frame2, frame2rot,useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
-    public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
-
-    {
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
-        RigidBody body1 = ((BulletBodyXNA)pBody1).rigidBody;
-        RigidBody body2 = ((BulletBodyXNA)pBody2).rigidBody;
-        IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
-        IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
-        IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
-        frame1._origin = frame1v;
-
-        IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
-        IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
-        IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
-        frame2._origin = frame1v;
-
-        Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2,
-                                                                  puseLinearReferenceFrameA);
-        consttr.CalculateTransforms();
-        world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies);
-
-        return new BulletConstraintXNA(consttr);
-    }
-
-    
-    /// <summary>
-    /// 
-    /// </summary>
-    /// <param name="pWorld"></param>
-    /// <param name="pBody1"></param>
-    /// <param name="pBody2"></param>
-    /// <param name="pjoinPoint"></param>
-    /// <param name="puseLinearReferenceFrameA"></param>
-    /// <param name="pdisableCollisionsBetweenLinkedBodies"></param>
-    /// <returns></returns>
-    public override BulletConstraint Create6DofConstraintToPoint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
-    {
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
-        RigidBody body1 = ((BulletBodyXNA)pBody1).rigidBody;
-        RigidBody body2 = ((BulletBodyXNA)pBody2).rigidBody;
-        IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
-        IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
-
-        IndexedVector3 joinPoint = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z);
-        IndexedMatrix mat = IndexedMatrix.Identity;
-        mat._origin = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z);
-        frame1._origin = body1.GetWorldTransform().Inverse()*joinPoint;
-        frame2._origin = body2.GetWorldTransform().Inverse()*joinPoint;
-
-        Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2, puseLinearReferenceFrameA);
-        consttr.CalculateTransforms();
-        world.AddConstraint(consttr, pdisableCollisionsBetweenLinkedBodies);
-
-        return new BulletConstraintXNA(consttr);
-    }
-    //SetFrames(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
-    public override bool SetFrames(BulletConstraint pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot)
-    {
-        Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
-        IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
-        IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
-        IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
-        frame1._origin = frame1v;
-
-        IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
-        IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
-        IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
-        frame2._origin = frame1v;
-        constraint.SetFrames(ref frame1, ref frame2);
-        return true;
-    }
-
-    public override Vector3 GetLinearVelocity(BulletBody pBody)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        IndexedVector3 iv3 = body.GetLinearVelocity();
-        return new Vector3(iv3.X, iv3.Y, iv3.Z);
-    }
-    public override Vector3 GetAngularVelocity(BulletBody pBody)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        IndexedVector3 iv3 = body.GetAngularVelocity();
-        return new Vector3(iv3.X, iv3.Y, iv3.Z);
-    }
-    public override Vector3 GetVelocityInLocalPoint(BulletBody pBody, Vector3 pos)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z);
-        IndexedVector3 iv3 = body.GetVelocityInLocalPoint(ref posiv3);
-        return new Vector3(iv3.X, iv3.Y, iv3.Z);
-    }
-    public override void Translate(BulletBody pBody, Vector3 trans)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-    }
-    public override void UpdateDeactivation(BulletBody pBody, float timeStep)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        body.UpdateDeactivation(timeStep);
-    }
-
-    public override bool WantsSleeping(BulletBody pBody)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        return body.WantsSleeping();
-    }
-
-    public override void SetAngularFactor(BulletBody pBody, float factor)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        body.SetAngularFactor(factor);
-    }
-
-    public override Vector3 GetAngularFactor(BulletBody pBody)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        IndexedVector3 iv3 =  body.GetAngularFactor();
-        return new Vector3(iv3.X, iv3.Y, iv3.Z);
-    }
-
-    public override bool IsInWorld(BulletWorld pWorld, BulletBody pBody)
-    {
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
-        CollisionObject body = ((BulletBodyXNA)pBody).body;
-        return world.IsInWorld(body);
-    }
-
-    public override void AddConstraintRef(BulletBody pBody, BulletConstraint pConstrain)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        TypedConstraint constrain = ((BulletConstraintXNA)pConstrain).constrain;
-        body.AddConstraintRef(constrain);
-    }
-
-    public override void RemoveConstraintRef(BulletBody pBody, BulletConstraint pConstrain)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        TypedConstraint constrain = ((BulletConstraintXNA)pConstrain).constrain;
-        body.RemoveConstraintRef(constrain);
-    }
-
-    public override BulletConstraint GetConstraintRef(BulletBody pBody, int index)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        return new BulletConstraintXNA(body.GetConstraintRef(index));
-    }
-
-    public override int GetNumConstraintRefs(BulletBody pBody)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        return body.GetNumConstraintRefs();
-    }
-
-    public override void SetInterpolationLinearVelocity(BulletBody pBody, Vector3 VehicleVelocity)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z);
-        body.SetInterpolationLinearVelocity(ref velocity);
-    }
-
-    public override bool UseFrameOffset(BulletConstraint pConstraint, float onOff)
-    {
-        Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
-        constraint.SetUseFrameOffset((onOff == 0) ? false : true);
-        return true;
-    }
-    //SetBreakingImpulseThreshold(m_constraint.ptr, threshold);
-    public override bool SetBreakingImpulseThreshold(BulletConstraint pConstraint, float threshold)
-    {
-        Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
-        constraint.SetBreakingImpulseThreshold(threshold);
-        return true;
-    }
-    //BulletSimAPI.SetAngularDamping(Prim.PhysBody.ptr, angularDamping);
-    public override void SetAngularDamping(BulletBody pBody, float angularDamping)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        float lineardamping = body.GetLinearDamping();
-        body.SetDamping(lineardamping, angularDamping);
-
-    }
-
-    public override void UpdateInertiaTensor(BulletBody pBody)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        body.UpdateInertiaTensor();
-    }
-
-    public override void RecalculateCompoundShapeLocalAabb(BulletShape pCompoundShape)
-    {
-        CompoundShape shape = ((BulletShapeXNA)pCompoundShape).shape as CompoundShape;
-        shape.RecalculateLocalAabb();
-    }
-
-    //BulletSimAPI.GetCollisionFlags(PhysBody.ptr)
-    public override CollisionFlags GetCollisionFlags(BulletBody pBody)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        uint flags = (uint)body.GetCollisionFlags();
-        return (CollisionFlags) flags;
-    }
-
-    public override void SetDamping(BulletBody pBody, float pLinear, float pAngular)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        body.SetDamping(pLinear, pAngular);
-    }
-    //PhysBody.ptr, PhysicsScene.Params.deactivationTime);
-    public override void SetDeactivationTime(BulletBody pBody, float pDeactivationTime)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        body.SetDeactivationTime(pDeactivationTime);
-    }
-    //SetSleepingThresholds(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
-    public override void SetSleepingThresholds(BulletBody pBody, float plinearSleepingThreshold, float pangularSleepingThreshold)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold);
-    }
-
-    public override CollisionObjectTypes GetBodyType(BulletBody pBody)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        return (CollisionObjectTypes)(int) body.GetInternalType();
-    }
-
-    public override void ApplyGravity(BulletBody obj) { /* TODO */ }
-
-    public override Vector3 GetGravity(BulletBody obj) { /* TODO */ return Vector3.Zero;  }
-
-    public override void SetLinearDamping(BulletBody obj, float lin_damping) { /* TODO */ }
-
-    public override float GetLinearDamping(BulletBody obj) { /* TODO */ return 0f;  }
-
-    public override float GetAngularDamping(BulletBody obj) { /* TODO */ return 0f;  }
-
-    public override float GetLinearSleepingThreshold(BulletBody obj) { /* TODO */ return 0f;  }
-
-    public override void ApplyDamping(BulletBody obj, float timeStep) { /* TODO */ }
-
-    public override Vector3 GetLinearFactor(BulletBody obj) { /* TODO */ return Vector3.Zero; }
-
-    public override void SetLinearFactor(BulletBody obj, Vector3 factor) { /* TODO */ }
-
-    public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot) { /* TODO */ }
-
-    //BulletSimAPI.ApplyCentralForce(PhysBody.ptr, fSum);
-    public override void ApplyCentralForce(BulletBody pBody, Vector3 pfSum)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
-        body.ApplyCentralForce(ref fSum);
-    }
-    public override void ApplyCentralImpulse(BulletBody pBody, Vector3 pfSum)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
-        body.ApplyCentralImpulse(ref fSum);
-    }
-    public override void ApplyTorque(BulletBody pBody, Vector3 pfSum)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
-        body.ApplyTorque(ref fSum);
-    }
-    public override void ApplyTorqueImpulse(BulletBody pBody, Vector3 pfSum)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
-        body.ApplyTorqueImpulse(ref fSum);
-    }
-
-    public override void DumpRigidBody(BulletWorld p, BulletBody p_2)
-    {
-        //TODO:
-    }
-
-    public override void DumpCollisionShape(BulletWorld p, BulletShape p_2)
-    {
-        //TODO:
-    }
-    public override void DumpConstraint(BulletWorld world, BulletConstraint constrain)
-    {
-        //TODO:
-    }
-
-    public override void DumpActivationInfo(BulletWorld world)
-    {
-        //TODO:
-    }
-
-    public override void DumpAllInfo(BulletWorld world)
-    {
-        //TODO:
-    }
-
-    public override void DumpPhysicsStatistics(BulletWorld world)
-    {
-        //TODO:
-    }
-
-    public override void DestroyObject(BulletWorld p, BulletBody p_2)
-    {
-        //TODO:
-    }
-
-    public override void Shutdown(BulletWorld pWorld)
-    {
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
-        world.Cleanup();
-    }
-
-    public override BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id)
-    {
-        return null;
-    }
-
-    public override bool DeleteCollisionShape(BulletWorld p, BulletShape p_2)
-    {
-        //TODO:
-        return false;
-    }
-    //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation);
-               
-    public override BulletBody CreateBodyFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
-    {
-        CollisionWorld world = ((BulletWorldXNA)pWorld).world;
-        IndexedMatrix mat =
-            IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y,
-                                                                     pRawOrientation.Z, pRawOrientation.W));
-        mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
-        //UpdateSingleAabb(world, shape);
-        // TODO: Feed Update array into null
-        RigidBody body = new RigidBody(0,new SimMotionState(world,pLocalID,mat,null),shape,IndexedVector3.Zero);
-        
-        body.SetUserPointer(pLocalID);
-        return new BulletBodyXNA(pLocalID, body);
-    }
-
-    
-    public override BulletBody CreateBodyWithDefaultMotionState( BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
-    {
-
-        IndexedMatrix mat =
-            IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y,
-                                                                     pRawOrientation.Z, pRawOrientation.W));
-        mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
-
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
-
-        // TODO: Feed Update array into null
-        RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero);
-        body.SetWorldTransform(mat);
-        body.SetUserPointer(pLocalID);
-        return new BulletBodyXNA(pLocalID, body);
-    }
-    //(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
-    public override CollisionFlags SetCollisionFlags(BulletBody pBody, CollisionFlags collisionFlags)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags);
-        return (CollisionFlags)body.GetCollisionFlags();
-    }
-
-    public override Vector3 GetAnisotripicFriction(BulletConstraint pconstrain) { /* TODO */ return Vector3.Zero; }
-    public override Vector3 SetAnisotripicFriction(BulletConstraint pconstrain, Vector3 frict) { /* TODO */ return Vector3.Zero; }
-    public override bool HasAnisotripicFriction(BulletConstraint pconstrain) { /* TODO */ return false; }
-    public override float GetContactProcessingThreshold(BulletBody pBody) { /* TODO */ return 0f; }
-    public override bool IsStaticObject(BulletBody pBody) { /* TODO */ return false; }
-    public override bool IsKinematicObject(BulletBody pBody) { /* TODO */ return false; }
-    public override bool IsStaticOrKinematicObject(BulletBody pBody) { /* TODO */ return false; }
-    public override bool HasContactResponse(BulletBody pBody) { /* TODO */ return false; }
-    public override int GetActivationState(BulletBody pBody) { /* TODO */ return 0; }
-    public override void SetActivationState(BulletBody pBody, int state) { /* TODO */ }
-    public override float GetDeactivationTime(BulletBody pBody) { /* TODO */ return 0f; }
-    public override bool IsActive(BulletBody pBody) { /* TODO */ return false; }
-    public override float GetRestitution(BulletBody pBody) { /* TODO */ return 0f; }
-    public override float GetFriction(BulletBody pBody) { /* TODO */ return 0f; }
-    public override void SetInterpolationVelocity(BulletBody pBody, Vector3 linearVel, Vector3 angularVel) { /* TODO */ }
-    public override float GetHitFraction(BulletBody pBody) { /* TODO */ return 0f; }
-
-    //(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
-    public override void SetHitFraction(BulletBody pBody, float pHitFraction)
-    {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        body.SetHitFraction(pHitFraction);
-    }
-    //BuildCapsuleShape(physicsScene.World.ptr, 1f, 1f, prim.Scale);
-    public override BulletShape BuildCapsuleShape(BulletWorld pWorld, float pRadius, float pHeight, Vector3 pScale)
-    {
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
-        IndexedVector3 scale = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
-        CapsuleShapeZ capsuleShapeZ = new CapsuleShapeZ(pRadius, pHeight);
-        capsuleShapeZ.SetMargin(world.WorldSettings.Params.collisionMargin);
-        capsuleShapeZ.SetLocalScaling(ref scale);
-
-        return new BulletShapeXNA(capsuleShapeZ, BSPhysicsShapeType.SHAPE_CAPSULE); ;
-    }
-
-    public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
-                                            int maxCollisions, ref CollisionDesc[] collisionArray,
-                                            int maxUpdates, ref EntityProperties[] updateArray
-                                            )
-    {
-        /* TODO */
-        return new BulletWorldXNA(1, null, null);
-    }
-
-    private static object Initialize2(Vector3 worldExtent, 
-                        ConfigurationParameters[] o,
-                        int mMaxCollisionsPerFrame, ref List<BulletXNA.CollisionDesc> collisionArray,
-                        int mMaxUpdatesPerFrame, ref List<BulletXNA.EntityProperties> updateArray, 
-                        object mDebugLogCallbackHandle)
-    {
-        CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData();
-
-        p.angularDamping = o[0].XangularDamping;
-        p.defaultFriction = o[0].defaultFriction;
-        p.defaultFriction = o[0].defaultFriction;
-        p.defaultDensity = o[0].defaultDensity;
-        p.defaultRestitution = o[0].defaultRestitution;
-        p.collisionMargin = o[0].collisionMargin;
-        p.gravity = o[0].gravity;
-
-        p.linearDamping = o[0].XlinearDamping;
-        p.angularDamping = o[0].XangularDamping;
-        p.deactivationTime = o[0].XdeactivationTime;
-        p.linearSleepingThreshold = o[0].XlinearSleepingThreshold;
-        p.angularSleepingThreshold = o[0].XangularSleepingThreshold;
-        p.ccdMotionThreshold = o[0].XccdMotionThreshold;
-        p.ccdSweptSphereRadius = o[0].XccdSweptSphereRadius;
-        p.contactProcessingThreshold = o[0].XcontactProcessingThreshold;
-
-        p.terrainImplementation = o[0].XterrainImplementation;
-        p.terrainFriction = o[0].XterrainFriction;
-
-        p.terrainHitFraction = o[0].XterrainHitFraction;
-        p.terrainRestitution = o[0].XterrainRestitution;
-        p.terrainCollisionMargin = o[0].XterrainCollisionMargin;
-
-        p.avatarFriction = o[0].XavatarFriction;
-        p.avatarStandingFriction = o[0].XavatarStandingFriction;
-        p.avatarDensity = o[0].XavatarDensity;
-        p.avatarRestitution = o[0].XavatarRestitution;
-        p.avatarCapsuleWidth = o[0].XavatarCapsuleWidth;
-        p.avatarCapsuleDepth = o[0].XavatarCapsuleDepth;
-        p.avatarCapsuleHeight = o[0].XavatarCapsuleHeight;
-        p.avatarContactProcessingThreshold = o[0].XavatarContactProcessingThreshold;
-       
-        p.vehicleAngularDamping = o[0].XvehicleAngularDamping;
-        
-        p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize;
-        p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize;
-        p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation;
-        p.shouldForceUpdateAllAabbs = o[0].shouldForceUpdateAllAabbs;
-        p.shouldRandomizeSolverOrder = o[0].shouldRandomizeSolverOrder;
-        p.shouldSplitSimulationIslands = o[0].shouldSplitSimulationIslands;
-        p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching;
-        p.numberOfSolverIterations = o[0].numberOfSolverIterations;
-
-        p.linksetImplementation = o[0].XlinksetImplementation;
-        p.linkConstraintUseFrameOffset = o[0].XlinkConstraintUseFrameOffset;
-        p.linkConstraintEnableTransMotor = o[0].XlinkConstraintEnableTransMotor;
-        p.linkConstraintTransMotorMaxVel = o[0].XlinkConstraintTransMotorMaxVel;
-        p.linkConstraintTransMotorMaxForce = o[0].XlinkConstraintTransMotorMaxForce;
-        p.linkConstraintERP = o[0].XlinkConstraintERP;
-        p.linkConstraintCFM = o[0].XlinkConstraintCFM;
-        p.linkConstraintSolverIterations = o[0].XlinkConstraintSolverIterations;
-        p.physicsLoggingFrames = o[0].XphysicsLoggingFrames;
-        DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo();
-        
-        DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration();
-        CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci);
-
-
-        if (p.maxPersistantManifoldPoolSize > 0)
-            cci.m_persistentManifoldPoolSize = (int)p.maxPersistantManifoldPoolSize;
-        if (p.shouldDisableContactPoolDynamicAllocation !=0)
-            m_dispatcher.SetDispatcherFlags(DispatcherFlags.CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION);
-        //if (p.maxCollisionAlgorithmPoolSize >0 )
-
-        DbvtBroadphase m_broadphase = new DbvtBroadphase();
-        //IndexedVector3 aabbMin = new IndexedVector3(0, 0, 0);
-        //IndexedVector3 aabbMax = new IndexedVector3(256, 256, 256);
-
-        //AxisSweep3Internal m_broadphase2 = new AxisSweep3Internal(ref aabbMin, ref aabbMax, Convert.ToInt32(0xfffe), 0xffff, ushort.MaxValue/2, null, true);
-        m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback());
-
-        SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver();
-
-        DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci);
-        world.UpdatedObjects = updateArray;
-        world.UpdatedCollisions = collisionArray;
-        world.WorldSettings.Params = p;
-        world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0);
-        world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD;
-        if (p.shouldRandomizeSolverOrder != 0)
-            world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_RANDMIZE_ORDER;
-
-        world.GetSimulationIslandManager().SetSplitIslands(p.shouldSplitSimulationIslands != 0);
-        //world.GetDispatchInfo().m_enableSatConvex Not implemented in C# port
-
-        if (p.shouldEnableFrictionCaching != 0)
-            world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;
-
-        if (p.numberOfSolverIterations > 0)
-            world.GetSolverInfo().m_numIterations = (int) p.numberOfSolverIterations;
-
-
-        world.GetSolverInfo().m_damping = world.WorldSettings.Params.linearDamping;
-        world.GetSolverInfo().m_restitution = world.WorldSettings.Params.defaultRestitution;
-        world.GetSolverInfo().m_globalCfm = 0.0f;
-        world.GetSolverInfo().m_tau = 0.6f;
-        world.GetSolverInfo().m_friction = 0.3f;
-        world.GetSolverInfo().m_maxErrorReduction = 20f;
-        world.GetSolverInfo().m_numIterations = 10;
-        world.GetSolverInfo().m_erp = 0.2f;
-        world.GetSolverInfo().m_erp2 = 0.1f;
-        world.GetSolverInfo().m_sor = 1.0f;
-        world.GetSolverInfo().m_splitImpulse = false;
-        world.GetSolverInfo().m_splitImpulsePenetrationThreshold = -0.02f;
-        world.GetSolverInfo().m_linearSlop = 0.0f;
-        world.GetSolverInfo().m_warmstartingFactor = 0.85f;
-        world.GetSolverInfo().m_restingContactRestitutionThreshold = 2;
-        world.SetForceUpdateAllAabbs(true);
-
-
-        world.SetGravity(new IndexedVector3(0,0,p.gravity));
-
-        return world;
-    }
-    //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL
-    public override bool SetConstraintParam(BulletConstraint pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis)
-    {
-        Generic6DofConstraint constrain = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
-        if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
-        {
-            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0);
-            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 1);
-            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 2);
-        }
-        if (axis == ConstraintParamAxis.AXIS_ANGULAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
-        {
-            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 3);
-            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 4);
-            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 5);
-        }
-        if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL)
-        {
-            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, (int)axis);
-        }
-        return true;
-    }
-
-    public override bool PushUpdate(BulletBody pCollisionObject)
-    {
-        bool ret = false;
-        RigidBody rb = ((BulletBodyXNA)pCollisionObject).rigidBody;
-        if (rb != null)
-        {
-            SimMotionState sms = rb.GetMotionState() as SimMotionState;
-            if (sms != null)
-            {
-                IndexedMatrix wt = IndexedMatrix.Identity;
-                sms.GetWorldTransform(out wt);
-                sms.SetWorldTransform(ref wt, true);
-                ret = true;
-            }
-        }
-        return ret;
-        
-    }
-
-    public override float GetAngularMotionDisc(BulletShape pShape)
-    {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
-        return shape.GetAngularMotionDisc();
-    }
-    public override float GetContactBreakingThreshold(BulletShape pShape, float defaultFactor)
-    {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
-        return shape.GetContactBreakingThreshold(defaultFactor);
-    }
-    public override bool IsCompound(BulletShape pShape)
-    {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
-        return shape.IsCompound();
-    }
-    public override bool IsSoftBody(BulletShape pShape)
-    {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
-        return shape.IsSoftBody();
-    }
-    public override bool IsPolyhedral(BulletShape pShape)
-    {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
-        return shape.IsPolyhedral();
-    }
-    public override bool IsConvex2d(BulletShape pShape)
-    {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
-        return shape.IsConvex2d();
-    }
-    public override bool IsConvex(BulletShape pShape)
-    {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
-        return shape.IsConvex();
-    }
-    public override bool IsNonMoving(BulletShape pShape)
-    {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
-        return shape.IsNonMoving();
-    }
-    public override bool IsConcave(BulletShape pShape)
-    {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
-        return shape.IsConcave();
-    }
-    public override bool IsInfinite(BulletShape pShape)
-    {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
-        return shape.IsInfinite();
-    }
-    public override bool IsNativeShape(BulletShape pShape)
-    {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
-        bool ret;
-        switch (shape.GetShapeType())
-        {
-            case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE:
-                case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE:
-                case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE:
-                case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE:
-                ret = true;
-                break;
-            default:
-                ret = false;
-                break;
-        }
-        return ret;
-    }
-
-    public override void SetShapeCollisionMargin(BulletShape shape, float margin) { /* TODO */ }
-
-    //sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation
-    public override BulletBody CreateGhostFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
-    {
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
-        IndexedMatrix bodyTransform = new IndexedMatrix();
-        bodyTransform._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
-        bodyTransform.SetRotation(new IndexedQuaternion(pRawOrientation.X,pRawOrientation.Y,pRawOrientation.Z,pRawOrientation.W));
-        GhostObject gObj = new PairCachingGhostObject();
-        gObj.SetWorldTransform(bodyTransform);
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
-        gObj.SetCollisionShape(shape);
-        gObj.SetUserPointer(pLocalID);
-        // TODO: Add to Special CollisionObjects!
-        return new BulletBodyXNA(pLocalID, gObj);
-    }
-
-    public override void SetCollisionShape(BulletWorld pWorld, BulletBody pObj, BulletShape pShape)
-    {
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
-        CollisionObject obj = ((BulletBodyXNA)pObj).body;
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
-        obj.SetCollisionShape(shape);
-
-    }
-    public override BulletShape GetCollisionShape(BulletBody obj) { /* TODO */ return null; }
-
-    //(PhysicsScene.World.ptr, nativeShapeData)
-    public override BulletShape BuildNativeShape(BulletWorld pWorld, ShapeData pShapeData)
-    {
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
-        CollisionShape shape = null;
-        switch (pShapeData.Type)
-        {
-            case BSPhysicsShapeType.SHAPE_BOX:
-                shape = new BoxShape(new IndexedVector3(0.5f,0.5f,0.5f));
-                break;
-            case BSPhysicsShapeType.SHAPE_CONE:
-                shape = new ConeShapeZ(0.5f, 1.0f);
-                break;
-            case BSPhysicsShapeType.SHAPE_CYLINDER:
-                shape = new CylinderShapeZ(new IndexedVector3(0.5f, 0.5f, 0.5f));
-                break;
-            case BSPhysicsShapeType.SHAPE_SPHERE:
-                shape = new SphereShape(0.5f);
-                break;
-
-        }
-        if (shape != null)
-        {
-            IndexedVector3 scaling = new IndexedVector3(pShapeData.Scale.X, pShapeData.Scale.Y, pShapeData.Scale.Z);
-            shape.SetMargin(world.WorldSettings.Params.collisionMargin);
-            shape.SetLocalScaling(ref scaling);
-
-        }
-        return new BulletShapeXNA(shape, pShapeData.Type);
-    }
-    //PhysicsScene.World.ptr, false
-    public override BulletShape CreateCompoundShape(BulletWorld pWorld, bool enableDynamicAabbTree)
-    {
-        return new BulletShapeXNA(new CompoundShape(enableDynamicAabbTree), BSPhysicsShapeType.SHAPE_COMPOUND);
-    }
-
-    public override int GetNumberOfCompoundChildren(BulletShape pCompoundShape)
-    {
-        CompoundShape compoundshape = ((BulletShapeXNA)pCompoundShape).shape as CompoundShape;
-        return compoundshape.GetNumChildShapes();
-    }
-    //LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot
-    public override void AddChildShapeToCompoundShape(BulletShape pCShape, BulletShape paddShape, Vector3 displacementPos, Quaternion displacementRot)
-    {
-        IndexedMatrix relativeTransform = new IndexedMatrix();
-        CompoundShape compoundshape = ((BulletShapeXNA)pCShape).shape as CompoundShape;
-        CollisionShape addshape = ((BulletShapeXNA)paddShape).shape;
-
-        relativeTransform._origin = new IndexedVector3(displacementPos.X, displacementPos.Y, displacementPos.Z);
-        relativeTransform.SetRotation(new IndexedQuaternion(displacementRot.X,displacementRot.Y,displacementRot.Z,displacementRot.W));
-        compoundshape.AddChildShape(ref relativeTransform, addshape);
-
-    }
-
-    public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape pCShape, int pii)
-    {
-        CompoundShape compoundshape = ((BulletShapeXNA)pCShape).shape as CompoundShape;
-        CollisionShape ret = null;
-        ret = compoundshape.GetChildShape(pii);
-        compoundshape.RemoveChildShapeByIndex(pii);
-        return new BulletShapeXNA(ret, BSPhysicsShapeType.SHAPE_UNKNOWN);
-    }
-
-    public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) { /* TODO */ return null; }
-    public override void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape) { /* TODO */ }
-
-    public override BulletShape CreateGroundPlaneShape(uint pLocalId, float pheight, float pcollisionMargin)
-    {
-        StaticPlaneShape m_planeshape = new StaticPlaneShape(new IndexedVector3(0,0,1),(int)pheight );
-        m_planeshape.SetMargin(pcollisionMargin);
-        m_planeshape.SetUserPointer(pLocalId);
-        return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE);
-    }
-
-    public override BulletConstraint CreateHingeConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody ppBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
-    {
-        HingeConstraint constrain = null;
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
-        RigidBody rb1 = ((BulletBodyXNA)pBody1).rigidBody;
-        RigidBody rb2 = ((BulletBodyXNA)ppBody2).rigidBody;
-        if (rb1 != null && rb2 != null)
-        {
-            IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z);
-            IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z);
-            IndexedVector3 axisInA = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z);
-            IndexedVector3 axisInB = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z);
-            world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
-        }
-        return new BulletConstraintXNA(constrain);
-    }
-
-    public override BulletShape CreateHullShape(BulletWorld pWorld, int pHullCount, float[] pConvHulls)
-    {
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
-        CompoundShape compoundshape = new CompoundShape(false);
-        
-        compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin);
-        int ii = 1;
-
-        for (int i = 0; i < pHullCount; i++)
-        {
-            int vertexCount = (int) pConvHulls[ii];
-
-            IndexedVector3 centroid = new IndexedVector3(pConvHulls[ii + 1], pConvHulls[ii + 2], pConvHulls[ii + 3]);
-            IndexedMatrix childTrans = IndexedMatrix.Identity;
-            childTrans._origin = centroid;
-
-            List<IndexedVector3> virts = new List<IndexedVector3>();
-            int ender = ((ii + 4) + (vertexCount*3));
-            for (int iii = ii + 4; iii < ender; iii+=3)
-            {
-               
-                virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2]));
-            }
-            ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount);
-            convexShape.SetMargin(world.WorldSettings.Params.collisionMargin);
-            compoundshape.AddChildShape(ref childTrans, convexShape);
-            ii += (vertexCount*3 + 4);
-        }
-        
-        return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL);
-    }
-
-    public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape) { /* TODO */ return null; }
-
-    public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
-    {
-        //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount);
-        
-        for (int iter = 0; iter < pVerticesCount; iter++)
-        {
-            if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0;
-            if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0;
-        }
-        
-        ObjectArray<int> indicesarr = new ObjectArray<int>(indices);
-        ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats);
-        DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount);
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
-        IndexedMesh mesh = new IndexedMesh();
-        mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
-        mesh.m_numTriangles = pIndicesCount/3;
-        mesh.m_numVertices = pVerticesCount;
-        mesh.m_triangleIndexBase = indicesarr;
-        mesh.m_vertexBase = vertices;
-        mesh.m_vertexStride = 3;
-        mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
-        mesh.m_triangleIndexStride = 3;
-        
-        TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
-        tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
-        BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true);
-        meshShape.SetMargin(world.WorldSettings.Params.collisionMargin);
-       // world.UpdateSingleAabb(meshShape);
-        return new BulletShapeXNA(meshShape, BSPhysicsShapeType.SHAPE_MESH);
-
-    }
-    public static void DumpRaw(ObjectArray<int>indices, ObjectArray<float> vertices, int pIndicesCount,int pVerticesCount )
-    {
-        
-        String fileName = "objTest3.raw";
-        String completePath = System.IO.Path.Combine(Util.configDir(), fileName);
-        StreamWriter sw = new StreamWriter(completePath);
-        IndexedMesh mesh = new IndexedMesh();
-
-        mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
-        mesh.m_numTriangles = pIndicesCount / 3;
-        mesh.m_numVertices = pVerticesCount;
-        mesh.m_triangleIndexBase = indices;
-        mesh.m_vertexBase = vertices;
-        mesh.m_vertexStride = 3;
-        mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
-        mesh.m_triangleIndexStride = 3;
-
-        TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
-        tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
-
-
-
-        for (int i = 0; i < pVerticesCount; i++)
-        {
-
-            string s = vertices[indices[i * 3]].ToString("0.0000");
-            s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000");
-            s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000");
-        
-            sw.Write(s + "\n");
-        }
-
-        sw.Close();
-    }
-    public static void DumpRaw(int[] indices, float[] vertices, int pIndicesCount, int pVerticesCount)
-    {
-
-        String fileName = "objTest6.raw";
-        String completePath = System.IO.Path.Combine(Util.configDir(), fileName);
-        StreamWriter sw = new StreamWriter(completePath);
-        IndexedMesh mesh = new IndexedMesh();
-
-        mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
-        mesh.m_numTriangles = pIndicesCount / 3;
-        mesh.m_numVertices = pVerticesCount;
-        mesh.m_triangleIndexBase = indices;
-        mesh.m_vertexBase = vertices;
-        mesh.m_vertexStride = 3;
-        mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
-        mesh.m_triangleIndexStride = 3;
-        
-        TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
-        tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
-
-
-        sw.WriteLine("Indices");
-        sw.WriteLine(string.Format("int[] indices = new int[{0}];",pIndicesCount));
-        for (int iter = 0; iter < indices.Length; iter++)
-        {
-            sw.WriteLine(string.Format("indices[{0}]={1};",iter,indices[iter]));
-        }
-        sw.WriteLine("VerticesFloats");
-        sw.WriteLine(string.Format("float[] vertices = new float[{0}];", pVerticesCount));
-        for (int iter = 0; iter < vertices.Length; iter++)
-        {
-            sw.WriteLine(string.Format("Vertices[{0}]={1};", iter, vertices[iter].ToString("0.0000")));
-        }
-
-            // for (int i = 0; i < pVerticesCount; i++)
-            // {
-            //
-            //     string s = vertices[indices[i * 3]].ToString("0.0000");
-            //     s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000");
-            //    s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000");
-            //
-            //     sw.Write(s + "\n");
-            //}
-
-            sw.Close();
-    }
-
-    public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, 
-                                                                float scaleFactor, float collisionMargin)
-    {
-        const int upAxis = 2;
-        HeightfieldTerrainShape terrainShape = new HeightfieldTerrainShape((int)size.X, (int)size.Y,
-                                                                           heightMap,  scaleFactor,
-                                                                           minHeight, maxHeight, upAxis,
-                                                                            false);
-        terrainShape.SetMargin(collisionMargin + 0.5f);
-        terrainShape.SetUseDiamondSubdivision(true);
-        terrainShape.SetUserPointer(id);
-        return new BulletShapeXNA(terrainShape, BSPhysicsShapeType.SHAPE_TERRAIN);
-    }
-
-    public override bool TranslationalLimitMotor(BulletConstraint pConstraint, float ponOff, float targetVelocity, float maxMotorForce)
-    {
-        TypedConstraint tconstrain = ((BulletConstraintXNA)pConstraint).constrain;
-        bool onOff = ponOff != 0;
-        bool ret = false;
-
-        switch (tconstrain.GetConstraintType())
-        {
-            case TypedConstraintType.D6_CONSTRAINT_TYPE:
-                Generic6DofConstraint constrain = tconstrain as Generic6DofConstraint;
-                constrain.GetTranslationalLimitMotor().m_enableMotor[0] = onOff;
-                constrain.GetTranslationalLimitMotor().m_targetVelocity[0] = targetVelocity;
-                constrain.GetTranslationalLimitMotor().m_maxMotorForce[0] = maxMotorForce;
-                ret = true;
-                break;
-        }
-
-
-        return ret;
-
-    }
-
-    public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
-                        out int updatedEntityCount, out int collidersCount)
-    {
-        /* TODO */
-        updatedEntityCount = 0;
-        collidersCount = 0;
-        return 1;
-    }
-
-    private int PhysicsStep2(BulletWorld pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, 
-                    out int updatedEntityCount, out List<BulletXNA.EntityProperties> updatedEntities, 
-                    out int collidersCount, out List<BulletXNA.CollisionDesc>colliders)
-    {
-        int epic = PhysicsStepint(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities,
-                                out collidersCount, out colliders);
-        return epic;
-    }
-
-    private static int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List<BulletXNA.EntityProperties> updatedEntities, out int collidersCount, out List<BulletXNA.CollisionDesc> colliders)
-    {
-        int numSimSteps = 0;
-      
-
-        //if (updatedEntities is null)
-        //    updatedEntities = new List<BulletXNA.EntityProperties>();
-
-        //if (colliders is null)
-        //    colliders = new List<BulletXNA.CollisionDesc>();
-        
-
-        if (pWorld is BulletWorldXNA)
-        {
-            DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
-
-            numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep);
-            int updates = 0;
-
-            updatedEntityCount = world.UpdatedObjects.Count;
-            updatedEntities = new List<BulletXNA.EntityProperties>(world.UpdatedObjects);
-            updatedEntityCount = updatedEntities.Count;
-            world.UpdatedObjects.Clear();
-            
-
-            collidersCount = world.UpdatedCollisions.Count;
-            colliders = new List<BulletXNA.CollisionDesc>(world.UpdatedCollisions);
-
-            world.UpdatedCollisions.Clear();
-            m_collisionsThisFrame = 0;
-            int numManifolds = world.GetDispatcher().GetNumManifolds();
-            for (int j = 0; j < numManifolds; j++)
-            {
-                PersistentManifold contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j);
-                int numContacts = contactManifold.GetNumContacts();
-                if (numContacts == 0)
-                    continue;
-
-                CollisionObject objA = contactManifold.GetBody0() as CollisionObject;
-                CollisionObject objB = contactManifold.GetBody1() as CollisionObject;
-
-                ManifoldPoint manifoldPoint = contactManifold.GetContactPoint(0);
-                IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB();
-                IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A
-
-                RecordCollision(world, objA, objB, contactPoint, contactNormal);
-                m_collisionsThisFrame ++;
-                if (m_collisionsThisFrame >= 9999999)
-                    break;
-
-
-            }
-
-
-        }
-        else
-        {
-            //if (updatedEntities is null)
-            updatedEntities = new List<BulletXNA.EntityProperties>();
-            updatedEntityCount = 0;
-            //if (colliders is null)
-            colliders = new List<BulletXNA.CollisionDesc>();
-            collidersCount = 0;
-        }
-        return numSimSteps;
-    }
-
-    private static void RecordCollision(CollisionWorld world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm)
-    {
-       
-        IndexedVector3 contactNormal = norm;
-        if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 &&
-            (objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0)
-        {
-            return;
-        }
-        uint idA = (uint)objA.GetUserPointer();
-        uint idB = (uint)objB.GetUserPointer();
-        if (idA > idB)
-        {
-            uint temp = idA;
-            idA = idB;
-            idB = temp;
-            contactNormal = -contactNormal;
-        }
-
-        ulong collisionID = ((ulong) idA << 32) | idB;
-
-        BulletXNA.CollisionDesc cDesc = new BulletXNA.CollisionDesc()
-                                            {
-                                                aID = idA,
-                                                bID = idB,
-                                                point = contact,
-                                                normal = contactNormal
-                                            };
-        world.UpdatedCollisions.Add(cDesc);
-        m_collisionsThisFrame++;
-
-
-    }
-    private static EntityProperties GetDebugProperties(BulletWorld pWorld, BulletBody pBody)
-    {
-        EntityProperties ent = new EntityProperties();
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        IndexedMatrix transform = body.GetWorldTransform();
-        IndexedVector3 LinearVelocity = body.GetInterpolationLinearVelocity();
-        IndexedVector3 AngularVelocity = body.GetInterpolationAngularVelocity();
-        IndexedQuaternion rotation = transform.GetRotation();
-        ent.Acceleration = Vector3.Zero;
-        ent.ID = (uint)body.GetUserPointer();
-        ent.Position = new Vector3(transform._origin.X,transform._origin.Y,transform._origin.Z);
-        ent.Rotation = new Quaternion(rotation.X,rotation.Y,rotation.Z,rotation.W);
-        ent.Velocity = new Vector3(LinearVelocity.X, LinearVelocity.Y, LinearVelocity.Z);
-        ent.RotationalVelocity = new Vector3(AngularVelocity.X, AngularVelocity.Y, AngularVelocity.Z);
-        return ent;
-    }
-
-    public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value) { /* TODO */ return false; }
-
-    public override Vector3 GetLocalScaling(BulletShape pShape)
-    {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
-        IndexedVector3 scale = shape.GetLocalScaling();
-        return new Vector3(scale.X,scale.Y,scale.Z);
-    }
-
-    public bool RayCastGround(BulletWorld pWorld, Vector3 _RayOrigin, float pRayHeight, BulletBody NotMe)
-    {
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
-        if (world != null)
-        {
-            if (NotMe is BulletBodyXNA && NotMe.HasPhysicalBody)
-            {
-                CollisionObject AvoidBody = ((BulletBodyXNA)NotMe).body;
-                
-                IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z);
-                IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight);
-                using (
-                    ClosestNotMeRayResultCallback rayCallback = 
-                                            new ClosestNotMeRayResultCallback(rOrigin, rEnd, AvoidBody)
-                    )
-                {
-                    world.RayTest(ref rOrigin, ref rEnd, rayCallback);
-                    if (rayCallback.HasHit())
-                    {
-                        IndexedVector3 hitLocation = rayCallback.m_hitPointWorld;
-                    }
-                    return rayCallback.HasHit();
-                }
-           }
-        }
-        return false;
-    }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs
deleted file mode 100755
index 2aeff25..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs
+++ /dev/null
@@ -1,180 +0,0 @@
-/*
- * 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 log4net;
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-
-public sealed class BSConstraintCollection : IDisposable
-{
-    // private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
-    // private static readonly string LogHeader = "[CONSTRAINT COLLECTION]";
-
-    delegate bool ConstraintAction(BSConstraint constrain);
-
-    private List<BSConstraint> m_constraints;
-    private BulletWorld m_world;
-
-    public BSConstraintCollection(BulletWorld world)
-    {
-        m_world = world;
-        m_constraints = new List<BSConstraint>();
-    }
-
-    public void Dispose()
-    {
-        this.Clear();
-    }
-
-    public void Clear()
-    {
-        lock (m_constraints)
-        {
-            foreach (BSConstraint cons in m_constraints)
-            {
-                cons.Dispose();
-            }
-            m_constraints.Clear();
-        }
-    }
-
-    public bool AddConstraint(BSConstraint cons)
-    {
-        lock (m_constraints)
-        {
-            // There is only one constraint between any bodies. Remove any old just to make sure.
-            RemoveAndDestroyConstraint(cons.Body1, cons.Body2);
-
-            m_constraints.Add(cons);
-        }
-
-        return true;
-    }
-
-    // Get the constraint between two bodies. There can be only one.
-    // Return 'true' if a constraint was found.
-    public bool TryGetConstraint(BulletBody body1, BulletBody body2, out BSConstraint returnConstraint)
-    {
-        bool found = false;
-        BSConstraint foundConstraint = null;
-
-        uint lookingID1 = body1.ID;
-        uint lookingID2 = body2.ID;
-        lock (m_constraints)
-        {
-            foreach (BSConstraint constrain in m_constraints)
-            {
-                if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2)
-                    || (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1))
-                {
-                    foundConstraint = constrain;
-                    found = true;
-                    break;
-                }
-            }
-        }
-        returnConstraint = foundConstraint;
-        return found;
-    }
-
-    // Remove any constraint between the passed bodies.
-    // Presumed there is only one such constraint possible.
-    // Return 'true' if a constraint was found and destroyed.
-    public bool RemoveAndDestroyConstraint(BulletBody body1, BulletBody body2)
-    {
-        bool ret = false;
-        lock (m_constraints)
-        {
-            BSConstraint constrain;
-            if (this.TryGetConstraint(body1, body2, out constrain))
-            {
-                // remove the constraint from our collection
-                RemoveAndDestroyConstraint(constrain);
-                ret = true;
-            }
-        }
-
-        return ret;
-    }
-
-    // The constraint MUST exist in the collection
-    public bool RemoveAndDestroyConstraint(BSConstraint constrain)
-    {
-        lock (m_constraints)
-        {
-            // remove the constraint from our collection
-            m_constraints.Remove(constrain);
-        }
-        // tell the engine that all its structures need to be freed
-        constrain.Dispose();
-        // we destroyed something
-        return true;
-    }
-
-    // Remove all constraints that reference the passed body.
-    // Return 'true' if any constraints were destroyed.
-    public bool RemoveAndDestroyConstraint(BulletBody body1)
-    {
-        List<BSConstraint> toRemove = new List<BSConstraint>();
-        uint lookingID = body1.ID;
-        lock (m_constraints)
-        {
-            foreach (BSConstraint constrain in m_constraints)
-            {
-                if (constrain.Body1.ID == lookingID || constrain.Body2.ID == lookingID)
-                {
-                    toRemove.Add(constrain);
-                }
-            }
-            foreach (BSConstraint constrain in toRemove)
-            {
-                m_constraints.Remove(constrain);
-                constrain.Dispose();
-            }
-        }
-        return (toRemove.Count > 0);
-    }
-
-    public bool RecalculateAllConstraints()
-    {
-        bool ret = false;
-        lock (m_constraints)
-        {
-            foreach (BSConstraint constrain in m_constraints)
-            {
-                constrain.CalculateTransforms();
-                ret = true;
-            }
-        }
-        return ret;
-    }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
deleted file mode 100644
index 13c2539..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ /dev/null
@@ -1,1383 +0,0 @@
-/*
- * 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 copyright
- *       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.
- *
- * The quotations from http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial
- * are Copyright (c) 2009 Linden Research, Inc and are used under their license
- * of Creative Commons Attribution-Share Alike 3.0
- * (http://creativecommons.org/licenses/by-sa/3.0/).
- */
-
-using System;
-using System.Collections.Generic;
-using System.Reflection;
-using System.Runtime.InteropServices;
-using OpenMetaverse;
-using OpenSim.Region.Physics.Manager;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-    public sealed class BSDynamics
-    {
-        private static string LogHeader = "[BULLETSIM VEHICLE]";
-
-        private BSScene PhysicsScene { get; set; }
-        // the prim this dynamic controller belongs to
-        private BSPrim Prim { get; set; }
-
-        // mass of the vehicle fetched each time we're calles
-        private float m_vehicleMass;
-
-        // Vehicle properties
-        public Vehicle Type { get; set; }
-
-        // private Quaternion m_referenceFrame = Quaternion.Identity;   // Axis modifier
-        private VehicleFlag m_flags = (VehicleFlag) 0;                  // Boolean settings:
-                                                                        // HOVER_TERRAIN_ONLY
-                                                                        // HOVER_GLOBAL_HEIGHT
-                                                                        // NO_DEFLECTION_UP
-                                                                        // HOVER_WATER_ONLY
-                                                                        // HOVER_UP_ONLY
-                                                                        // LIMIT_MOTOR_UP
-                                                                        // LIMIT_ROLL_ONLY
-        private Vector3 m_BlockingEndPoint = Vector3.Zero;
-        private Quaternion m_RollreferenceFrame = Quaternion.Identity;
-        private Quaternion m_referenceFrame = Quaternion.Identity;
-
-        // Linear properties
-        private BSVMotor m_linearMotor = new BSVMotor("LinearMotor");
-        private Vector3 m_linearMotorDirection = Vector3.Zero;          // velocity requested by LSL, decayed by time
-        private Vector3 m_linearMotorOffset = Vector3.Zero;             // the point of force can be offset from the center
-        private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero;   // velocity requested by LSL
-        private Vector3 m_linearFrictionTimescale = Vector3.Zero;
-        private float m_linearMotorDecayTimescale = 0;
-        private float m_linearMotorTimescale = 0;
-        private Vector3 m_lastLinearVelocityVector = Vector3.Zero;
-        private Vector3 m_lastPositionVector = Vector3.Zero;
-        // private bool m_LinearMotorSetLastFrame = false;
-        // private Vector3 m_linearMotorOffset = Vector3.Zero;
-
-        //Angular properties
-        private BSVMotor m_angularMotor = new BSVMotor("AngularMotor");
-        private Vector3 m_angularMotorDirection = Vector3.Zero;         // angular velocity requested by LSL motor
-        // private int m_angularMotorApply = 0;                            // application frame counter
-        private Vector3 m_angularMotorVelocity = Vector3.Zero;          // current angular motor velocity
-        private float m_angularMotorTimescale = 0;                      // motor angular velocity ramp up rate
-        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;
-        private Vector3 m_lastVertAttractor = Vector3.Zero;             // what VA was last applied to body
-
-        //Deflection properties
-        private BSVMotor m_angularDeflectionMotor = new BSVMotor("AngularDeflection");
-        private float m_angularDeflectionEfficiency = 0;
-        private float m_angularDeflectionTimescale = 0;
-        private float m_linearDeflectionEfficiency = 0;
-        private float m_linearDeflectionTimescale = 0;
-
-        //Banking properties
-        private float m_bankingEfficiency = 0;
-        private float m_bankingMix = 0;
-        private float m_bankingTimescale = 0;
-
-        //Hover and Buoyancy properties
-        private BSVMotor m_hoverMotor = new BSVMotor("Hover");
-        private float m_VhoverHeight = 0f;
-        private float m_VhoverEfficiency = 0f;
-        private float m_VhoverTimescale = 0f;
-        private float m_VhoverTargetHeight = -1.0f;     // if <0 then no hover, else its the current target height
-        private float m_VehicleBuoyancy = 0f;           //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle.
-                    // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
-                    // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
-                    // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
-
-        //Attractor properties
-        private BSVMotor m_verticalAttractionMotor = new BSVMotor("VerticalAttraction");
-        private float m_verticalAttractionEfficiency = 1.0f; // damped
-        private float m_verticalAttractionCutoff = 500f;     // per the documentation
-        // Timescale > cutoff  means no vert attractor.
-        private float m_verticalAttractionTimescale = 510f;
-
-        // Just some recomputed constants:
-        static readonly float PIOverFour = ((float)Math.PI) / 4f;
-        static readonly float PIOverTwo = ((float)Math.PI) / 2f;
-
-        public BSDynamics(BSScene myScene, BSPrim myPrim)
-        {
-            PhysicsScene = myScene;
-            Prim = myPrim;
-            Type = Vehicle.TYPE_NONE;
-        }
-
-        // Return 'true' if this vehicle is doing vehicle things
-        public bool IsActive
-        {
-            get { return Type != Vehicle.TYPE_NONE && Prim.IsPhysical; }
-        }
-
-        internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
-        {
-            VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
-            switch (pParam)
-            {
-                case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
-                    m_angularDeflectionEfficiency = Math.Max(pValue, 0.01f);
-                    break;
-                case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
-                    m_angularDeflectionTimescale = Math.Max(pValue, 0.01f);
-                    break;
-                case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
-                    m_angularMotorDecayTimescale = ClampInRange(0.01f, pValue, 120);
-                    m_angularMotor.TargetValueDecayTimeScale = m_angularMotorDecayTimescale;
-                    break;
-                case Vehicle.ANGULAR_MOTOR_TIMESCALE:
-                    m_angularMotorTimescale = Math.Max(pValue, 0.01f);
-                    m_angularMotor.TimeScale = m_angularMotorTimescale;
-                    break;
-                case Vehicle.BANKING_EFFICIENCY:
-                    m_bankingEfficiency = ClampInRange(-1f, pValue, 1f);
-                    break;
-                case Vehicle.BANKING_MIX:
-                    m_bankingMix = Math.Max(pValue, 0.01f);
-                    break;
-                case Vehicle.BANKING_TIMESCALE:
-                    m_bankingTimescale = Math.Max(pValue, 0.01f);
-                    break;
-                case Vehicle.BUOYANCY:
-                    m_VehicleBuoyancy = ClampInRange(-1f, pValue, 1f);
-                    break;
-                case Vehicle.HOVER_EFFICIENCY:
-                    m_VhoverEfficiency = ClampInRange(0f, pValue, 1f);
-                    break;
-                case Vehicle.HOVER_HEIGHT:
-                    m_VhoverHeight = pValue;
-                    break;
-                case Vehicle.HOVER_TIMESCALE:
-                    m_VhoverTimescale = Math.Max(pValue, 0.01f);
-                    break;
-                case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
-                    m_linearDeflectionEfficiency = Math.Max(pValue, 0.01f);
-                    break;
-                case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
-                    m_linearDeflectionTimescale = Math.Max(pValue, 0.01f);
-                    break;
-                case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
-                    m_linearMotorDecayTimescale = ClampInRange(0.01f, pValue, 120);
-                    m_linearMotor.TargetValueDecayTimeScale = m_linearMotorDecayTimescale;
-                    break;
-                case Vehicle.LINEAR_MOTOR_TIMESCALE:
-                    m_linearMotorTimescale = Math.Max(pValue, 0.01f);
-                    m_linearMotor.TimeScale = m_linearMotorTimescale;
-                    break;
-                case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
-                    m_verticalAttractionEfficiency = ClampInRange(0.1f, pValue, 1f);
-                    m_verticalAttractionMotor.Efficiency = m_verticalAttractionEfficiency;
-                    break;
-                case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
-                    m_verticalAttractionTimescale = Math.Max(pValue, 0.01f);
-                    m_verticalAttractionMotor.TimeScale = m_verticalAttractionTimescale;
-                    break;
-
-                // These are vector properties but the engine lets you use a single float value to
-                // set all of the components to the same value
-                case Vehicle.ANGULAR_FRICTION_TIMESCALE:
-                    m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
-                    m_angularMotor.FrictionTimescale = m_angularFrictionTimescale;
-                    break;
-                case Vehicle.ANGULAR_MOTOR_DIRECTION:
-                    m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
-                    m_angularMotor.SetTarget(m_angularMotorDirection);
-                    break;
-                case Vehicle.LINEAR_FRICTION_TIMESCALE:
-                    m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
-                    m_linearMotor.FrictionTimescale = m_linearFrictionTimescale;
-                    break;
-                case Vehicle.LINEAR_MOTOR_DIRECTION:
-                    m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
-                    m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue);
-                    m_linearMotor.SetTarget(m_linearMotorDirection);
-                    break;
-                case Vehicle.LINEAR_MOTOR_OFFSET:
-                    m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
-                    break;
-
-            }
-        }//end ProcessFloatVehicleParam
-
-        internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
-        {
-            VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
-            switch (pParam)
-            {
-                case Vehicle.ANGULAR_FRICTION_TIMESCALE:
-                    m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
-                    m_angularMotor.FrictionTimescale = m_angularFrictionTimescale;
-                    break;
-                case Vehicle.ANGULAR_MOTOR_DIRECTION:
-                    // Limit requested angular speed to 2 rps= 4 pi rads/sec
-                    pValue.X = ClampInRange(-12.56f, pValue.X, 12.56f);
-                    pValue.Y = ClampInRange(-12.56f, pValue.Y, 12.56f);
-                    pValue.Z = ClampInRange(-12.56f, pValue.Z, 12.56f);
-                    m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
-                    m_angularMotor.SetTarget(m_angularMotorDirection);
-                    break;
-                case Vehicle.LINEAR_FRICTION_TIMESCALE:
-                    m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
-                    m_linearMotor.FrictionTimescale = m_linearFrictionTimescale;
-                    break;
-                case Vehicle.LINEAR_MOTOR_DIRECTION:
-                    m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
-                    m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z);
-                    m_linearMotor.SetTarget(m_linearMotorDirection);
-                    break;
-                case Vehicle.LINEAR_MOTOR_OFFSET:
-                    m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
-                    break;
-                case Vehicle.BLOCK_EXIT:
-                    m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z);
-                    break;
-            }
-        }//end ProcessVectorVehicleParam
-
-        internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
-        {
-            VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
-            switch (pParam)
-            {
-                case Vehicle.REFERENCE_FRAME:
-                    m_referenceFrame = pValue;
-                    break;
-                case Vehicle.ROLL_FRAME:
-                    m_RollreferenceFrame = pValue;
-                    break;
-            }
-        }//end ProcessRotationVehicleParam
-
-        internal void ProcessVehicleFlags(int pParam, bool remove)
-        {
-            VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", Prim.LocalID, pParam, remove);
-            VehicleFlag parm = (VehicleFlag)pParam;
-            if (pParam == -1)
-                m_flags = (VehicleFlag)0;
-            else
-            {
-                if (remove)
-                    m_flags &= ~parm;
-                else
-                    m_flags |= parm;
-            }
-        }
-
-        internal void ProcessTypeChange(Vehicle pType)
-        {
-            VDetailLog("{0},ProcessTypeChange,type={1}", Prim.LocalID, pType);
-            // Set Defaults For Type
-            Type = pType;
-            switch (pType)
-            {
-                case Vehicle.TYPE_NONE:
-                    m_linearMotorDirection = Vector3.Zero;
-                    m_linearMotorTimescale = 0;
-                    m_linearMotorDecayTimescale = 0;
-                    m_linearFrictionTimescale = new Vector3(0, 0, 0);
-
-                    m_angularMotorDirection = Vector3.Zero;
-                    m_angularMotorDecayTimescale = 0;
-                    m_angularMotorTimescale = 0;
-                    m_angularFrictionTimescale = new Vector3(0, 0, 0);
-
-                    m_VhoverHeight = 0;
-                    m_VhoverEfficiency = 0;
-                    m_VhoverTimescale = 0;
-                    m_VehicleBuoyancy = 0;
-
-                    m_linearDeflectionEfficiency = 1;
-                    m_linearDeflectionTimescale = 1;
-
-                    m_angularDeflectionEfficiency = 0;
-                    m_angularDeflectionTimescale = 1000;
-
-                    m_verticalAttractionEfficiency = 0;
-                    m_verticalAttractionTimescale = 0;
-
-                    m_bankingEfficiency = 0;
-                    m_bankingTimescale = 1000;
-                    m_bankingMix = 1;
-
-                    m_referenceFrame = Quaternion.Identity;
-                    m_flags = (VehicleFlag)0;
-
-                    break;
-
-                case Vehicle.TYPE_SLED:
-                    m_linearMotorDirection = Vector3.Zero;
-                    m_linearMotorTimescale = 1000;
-                    m_linearMotorDecayTimescale = 120;
-                    m_linearFrictionTimescale = new Vector3(30, 1, 1000);
-
-                    m_angularMotorDirection = Vector3.Zero;
-                    m_angularMotorTimescale = 1000;
-                    m_angularMotorDecayTimescale = 120;
-                    m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
-
-                    m_VhoverHeight = 0;
-                    m_VhoverEfficiency = 10;    // TODO: this looks wrong!!
-                    m_VhoverTimescale = 10;
-                    m_VehicleBuoyancy = 0;
-
-                    m_linearDeflectionEfficiency = 1;
-                    m_linearDeflectionTimescale = 1;
-
-                    m_angularDeflectionEfficiency = 1;
-                    m_angularDeflectionTimescale = 1000;
-
-                    m_verticalAttractionEfficiency = 0;
-                    m_verticalAttractionTimescale = 0;
-
-                    m_bankingEfficiency = 0;
-                    m_bankingTimescale = 10;
-                    m_bankingMix = 1;
-
-                    m_referenceFrame = Quaternion.Identity;
-                    m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
-                                | VehicleFlag.HOVER_TERRAIN_ONLY
-                                | VehicleFlag.HOVER_GLOBAL_HEIGHT
-                                | VehicleFlag.HOVER_UP_ONLY);
-                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP
-                            | VehicleFlag.LIMIT_ROLL_ONLY
-                            | VehicleFlag.LIMIT_MOTOR_UP);
-
-                    break;
-                case Vehicle.TYPE_CAR:
-                    m_linearMotorDirection = Vector3.Zero;
-                    m_linearMotorTimescale = 1;
-                    m_linearMotorDecayTimescale = 60;
-                    m_linearFrictionTimescale = new Vector3(100, 2, 1000);
-
-                    m_angularMotorDirection = Vector3.Zero;
-                    m_angularMotorTimescale = 1;
-                    m_angularMotorDecayTimescale = 0.8f;
-                    m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
-
-                    m_VhoverHeight = 0;
-                    m_VhoverEfficiency = 0;
-                    m_VhoverTimescale = 1000;
-                    m_VehicleBuoyancy = 0;
-
-                    m_linearDeflectionEfficiency = 1;
-                    m_linearDeflectionTimescale = 2;
-
-                    m_angularDeflectionEfficiency = 0;
-                    m_angularDeflectionTimescale = 10;
-
-                    m_verticalAttractionEfficiency = 1f;
-                    m_verticalAttractionTimescale = 10f;
-
-                    m_bankingEfficiency = -0.2f;
-                    m_bankingMix = 1;
-                    m_bankingTimescale = 1;
-
-                    m_referenceFrame = Quaternion.Identity;
-                    m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
-                                | VehicleFlag.HOVER_TERRAIN_ONLY
-                                | VehicleFlag.HOVER_GLOBAL_HEIGHT);
-                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP
-                                | VehicleFlag.LIMIT_ROLL_ONLY
-                                | VehicleFlag.LIMIT_MOTOR_UP
-                                | VehicleFlag.HOVER_UP_ONLY);
-                    break;
-                case Vehicle.TYPE_BOAT:
-                    m_linearMotorDirection = Vector3.Zero;
-                    m_linearMotorTimescale = 5;
-                    m_linearMotorDecayTimescale = 60;
-                    m_linearFrictionTimescale = new Vector3(10, 3, 2);
-
-                    m_angularMotorDirection = Vector3.Zero;
-                    m_angularMotorTimescale = 4;
-                    m_angularMotorDecayTimescale = 4;
-                    m_angularFrictionTimescale = new Vector3(10,10,10);
-
-                    m_VhoverHeight = 0;
-                    m_VhoverEfficiency = 0.5f;
-                    m_VhoverTimescale = 2;
-                    m_VehicleBuoyancy = 1;
-
-                    m_linearDeflectionEfficiency = 0.5f;
-                    m_linearDeflectionTimescale = 3;
-
-                    m_angularDeflectionEfficiency = 0.5f;
-                    m_angularDeflectionTimescale = 5;
-
-                    m_verticalAttractionEfficiency = 0.5f;
-                    m_verticalAttractionTimescale = 5f;
-
-                    m_bankingEfficiency = -0.3f;
-                    m_bankingMix = 0.8f;
-                    m_bankingTimescale = 1;
-
-                    m_referenceFrame = Quaternion.Identity;
-                    m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY
-                                    | VehicleFlag.HOVER_GLOBAL_HEIGHT
-                                    | VehicleFlag.LIMIT_ROLL_ONLY
-                                    | VehicleFlag.HOVER_UP_ONLY);
-                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP
-                                    | VehicleFlag.LIMIT_MOTOR_UP
-                                    | VehicleFlag.HOVER_WATER_ONLY);
-                    break;
-                case Vehicle.TYPE_AIRPLANE:
-                    m_linearMotorDirection = Vector3.Zero;
-                    m_linearMotorTimescale = 2;
-                    m_linearMotorDecayTimescale = 60;
-                    m_linearFrictionTimescale = new Vector3(200, 10, 5);
-
-                    m_angularMotorDirection = Vector3.Zero;
-                    m_angularMotorTimescale = 4;
-                    m_angularMotorDecayTimescale = 4;
-                    m_angularFrictionTimescale = new Vector3(20, 20, 20);
-
-                    m_VhoverHeight = 0;
-                    m_VhoverEfficiency = 0.5f;
-                    m_VhoverTimescale = 1000;
-                    m_VehicleBuoyancy = 0;
-
-                    m_linearDeflectionEfficiency = 0.5f;
-                    m_linearDeflectionTimescale = 3;
-
-                    m_angularDeflectionEfficiency = 1;
-                    m_angularDeflectionTimescale = 2;
-
-                    m_verticalAttractionEfficiency = 0.9f;
-                    m_verticalAttractionTimescale = 2f;
-
-                    m_bankingEfficiency = 1;
-                    m_bankingMix = 0.7f;
-                    m_bankingTimescale = 2;
-
-                    m_referenceFrame = Quaternion.Identity;
-                    m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
-                                    | VehicleFlag.HOVER_TERRAIN_ONLY
-                                    | 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:
-                    m_linearMotorDirection = Vector3.Zero;
-                    m_linearMotorTimescale = 5;
-                    m_linearFrictionTimescale = new Vector3(5, 5, 5);
-                    m_linearMotorDecayTimescale = 60;
-
-                    m_angularMotorDirection = Vector3.Zero;
-                    m_angularMotorTimescale = 6;
-                    m_angularFrictionTimescale = new Vector3(10, 10, 10);
-                    m_angularMotorDecayTimescale = 10;
-
-                    m_VhoverHeight = 5;
-                    m_VhoverEfficiency = 0.8f;
-                    m_VhoverTimescale = 10;
-                    m_VehicleBuoyancy = 1;
-
-                    m_linearDeflectionEfficiency = 0;
-                    m_linearDeflectionTimescale = 5;
-
-                    m_angularDeflectionEfficiency = 0;
-                    m_angularDeflectionTimescale = 5;
-
-                    m_verticalAttractionEfficiency = 1f;
-                    m_verticalAttractionTimescale = 100f;
-
-                    m_bankingEfficiency = 0;
-                    m_bankingMix = 0.7f;
-                    m_bankingTimescale = 5;
-
-                    m_referenceFrame = Quaternion.Identity;
-
-                    m_referenceFrame = Quaternion.Identity;
-                    m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
-                                    | VehicleFlag.HOVER_TERRAIN_ONLY
-                                    | VehicleFlag.HOVER_UP_ONLY
-                                    | VehicleFlag.NO_DEFLECTION_UP
-                                    | VehicleFlag.LIMIT_MOTOR_UP);
-                    m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY
-                                    | VehicleFlag.HOVER_GLOBAL_HEIGHT);
-                    break;
-            }
-
-            // Update any physical parameters based on this type.
-            Refresh();
-
-            m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale,
-                                m_linearMotorDecayTimescale, m_linearFrictionTimescale,
-                                1f);
-            m_linearMotor.PhysicsScene = PhysicsScene;  // DEBUG DEBUG DEBUG (enables detail logging)
-
-            m_angularMotor = new BSVMotor("AngularMotor", m_angularMotorTimescale,
-                                m_angularMotorDecayTimescale, m_angularFrictionTimescale,
-                                1f);
-            m_angularMotor.PhysicsScene = PhysicsScene;  // DEBUG DEBUG DEBUG (enables detail logging)
-
-            m_verticalAttractionMotor = new BSVMotor("VerticalAttraction", m_verticalAttractionTimescale,
-                                BSMotor.Infinite, BSMotor.InfiniteVector,
-                                m_verticalAttractionEfficiency);
-            // Z goes away and we keep X and Y
-            m_verticalAttractionMotor.FrictionTimescale = new Vector3(BSMotor.Infinite, BSMotor.Infinite, 0.1f);
-            m_verticalAttractionMotor.PhysicsScene = PhysicsScene;  // DEBUG DEBUG DEBUG (enables detail logging)
-        }
-
-        // Some of the properties of this prim may have changed.
-        // Do any updating needed for a vehicle
-        public void Refresh()
-        {
-            if (IsActive)
-            {
-                // Remember the mass so we don't have to fetch it every step
-                m_vehicleMass = Prim.Linkset.LinksetMass;
-
-                // Friction affects are handled by this vehicle code
-                float friction = 0f;
-                PhysicsScene.PE.SetFriction(Prim.PhysBody, friction);
-
-                // Moderate angular movement introduced by Bullet.
-                // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle.
-                //     Maybe compute linear and angular factor and damping from params.
-                float angularDamping = BSParam.VehicleAngularDamping;
-                PhysicsScene.PE.SetAngularDamping(Prim.PhysBody, angularDamping);
-
-                // Vehicles report collision events so we know when it's on the ground
-                PhysicsScene.PE.AddToCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
-
-                Vector3 localInertia = PhysicsScene.PE.CalculateLocalInertia(Prim.PhysShape, m_vehicleMass);
-                PhysicsScene.PE.SetMassProps(Prim.PhysBody, m_vehicleMass, localInertia);
-                PhysicsScene.PE.UpdateInertiaTensor(Prim.PhysBody);
-
-                Vector3 grav = PhysicsScene.DefaultGravity * (1f - Prim.Buoyancy);
-                PhysicsScene.PE.SetGravity(Prim.PhysBody, grav);
-
-                VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4}",
-                                Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping);
-            }
-            else
-            {
-                PhysicsScene.PE.RemoveFromCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
-            }
-        }
-
-        public bool RemoveBodyDependencies(BSPhysObject prim)
-        {
-            // If active, we need to add our properties back when the body is rebuilt.
-            return IsActive;
-        }
-
-        public void RestoreBodyDependencies(BSPhysObject prim)
-        {
-            if (Prim.LocalID != prim.LocalID)
-            {
-                // The call should be on us by our prim. Error if not.
-                PhysicsScene.Logger.ErrorFormat("{0} RestoreBodyDependencies: called by not my prim. passedLocalID={1}, vehiclePrimLocalID={2}",
-                                LogHeader, prim.LocalID, Prim.LocalID);
-                return;
-            }
-            Refresh();
-        }
-
-        #region Known vehicle value functions
-        // Vehicle physical parameters that we buffer from constant getting and setting.
-        // The "m_known*" values are unknown until they are fetched and the m_knownHas flag is set.
-        //      Changing is remembered and the parameter is stored back into the physics engine only if updated.
-        //      This does two things: 1) saves continuious calls into unmanaged code, and
-        //      2) signals when a physics property update must happen back to the simulator
-        //      to update values modified for the vehicle.
-        private int m_knownChanged;
-        private int m_knownHas;
-        private float m_knownTerrainHeight;
-        private float m_knownWaterLevel;
-        private Vector3 m_knownPosition;
-        private Vector3 m_knownVelocity;
-        private Vector3 m_knownForce;
-        private Quaternion m_knownOrientation;
-        private Vector3 m_knownRotationalVelocity;
-        private Vector3 m_knownRotationalForce;
-        private Vector3 m_knownForwardVelocity;    // vehicle relative forward speed
-
-        private const int m_knownChangedPosition           = 1 << 0;
-        private const int m_knownChangedVelocity           = 1 << 1;
-        private const int m_knownChangedForce              = 1 << 2;
-        private const int m_knownChangedOrientation        = 1 << 3;
-        private const int m_knownChangedRotationalVelocity = 1 << 4;
-        private const int m_knownChangedRotationalForce    = 1 << 5;
-        private const int m_knownChangedTerrainHeight      = 1 << 6;
-        private const int m_knownChangedWaterLevel         = 1 << 7;
-        private const int m_knownChangedForwardVelocity    = 1 << 8;
-
-        private void ForgetKnownVehicleProperties()
-        {
-            m_knownHas = 0;
-            m_knownChanged = 0;
-        }
-        // Push all the changed values back into the physics engine
-        private void PushKnownChanged()
-        {
-            if (m_knownChanged != 0)
-            {
-                if ((m_knownChanged & m_knownChangedPosition) != 0)
-                    Prim.ForcePosition = m_knownPosition;
-
-                if ((m_knownChanged & m_knownChangedOrientation) != 0)
-                    Prim.ForceOrientation = m_knownOrientation;
-
-                if ((m_knownChanged & m_knownChangedVelocity) != 0)
-                {
-                    Prim.ForceVelocity = m_knownVelocity;
-                    PhysicsScene.PE.SetInterpolationLinearVelocity(Prim.PhysBody, VehicleVelocity);
-                }
-
-                if ((m_knownChanged & m_knownChangedForce) != 0)
-                    Prim.AddForce((Vector3)m_knownForce, false, true);
-
-                if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0)
-                {
-                    Prim.ForceRotationalVelocity = m_knownRotationalVelocity;
-                    // Fake out Bullet by making it think the velocity is the same as last time.
-                    PhysicsScene.PE.SetInterpolationAngularVelocity(Prim.PhysBody, m_knownRotationalVelocity);
-                }
-
-                if ((m_knownChanged & m_knownChangedRotationalForce) != 0)
-                    Prim.AddAngularForce((Vector3)m_knownRotationalForce, false, true);
-
-                // If we set one of the values (ie, the physics engine didn't do it) we must force
-                //      an UpdateProperties event to send the changes up to the simulator.
-                PhysicsScene.PE.PushUpdate(Prim.PhysBody);
-            }
-            m_knownChanged = 0;
-        }
-
-        // Since the computation of terrain height can be a little involved, this routine
-        //    is used to fetch the height only once for each vehicle simulation step.
-        private float GetTerrainHeight(Vector3 pos)
-        {
-            if ((m_knownHas & m_knownChangedTerrainHeight) == 0)
-            {
-                m_knownTerrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos);
-                m_knownHas |= m_knownChangedTerrainHeight;
-            }
-            return m_knownTerrainHeight;
-        }
-
-        // Since the computation of water level can be a little involved, this routine
-        //    is used ot fetch the level only once for each vehicle simulation step.
-        private float GetWaterLevel(Vector3 pos)
-        {
-            if ((m_knownHas & m_knownChangedWaterLevel) == 0)
-            {
-                m_knownWaterLevel = Prim.PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(pos);
-                m_knownHas |= m_knownChangedWaterLevel;
-            }
-            return (float)m_knownWaterLevel;
-        }
-
-        private Vector3 VehiclePosition
-        {
-            get
-            {
-                if ((m_knownHas & m_knownChangedPosition) == 0)
-                {
-                    m_knownPosition = Prim.ForcePosition;
-                    m_knownHas |= m_knownChangedPosition;
-                }
-                return m_knownPosition;
-            }
-            set
-            {
-                m_knownPosition = value;
-                m_knownChanged |= m_knownChangedPosition;
-                m_knownHas |= m_knownChangedPosition;
-            }
-        }
-
-        private Quaternion VehicleOrientation
-        {
-            get
-            {
-                if ((m_knownHas & m_knownChangedOrientation) == 0)
-                {
-                    m_knownOrientation = Prim.ForceOrientation;
-                    m_knownHas |= m_knownChangedOrientation;
-                }
-                return m_knownOrientation;
-            }
-            set
-            {
-                m_knownOrientation = value;
-                m_knownChanged |= m_knownChangedOrientation;
-                m_knownHas |= m_knownChangedOrientation;
-            }
-        }
-
-        private Vector3 VehicleVelocity
-        {
-            get
-            {
-                if ((m_knownHas & m_knownChangedVelocity) == 0)
-                {
-                    m_knownVelocity = Prim.ForceVelocity;
-                    m_knownHas |= m_knownChangedVelocity;
-                }
-                return (Vector3)m_knownVelocity;
-            }
-            set
-            {
-                m_knownVelocity = value;
-                m_knownChanged |= m_knownChangedVelocity;
-                m_knownHas |= m_knownChangedVelocity;
-            }
-        }
-
-        private void VehicleAddForce(Vector3 aForce)
-        {
-            if ((m_knownHas & m_knownChangedForce) == 0)
-            {
-                m_knownForce = Vector3.Zero;
-            }
-            m_knownForce += aForce;
-            m_knownChanged |= m_knownChangedForce;
-            m_knownHas |= m_knownChangedForce;
-        }
-
-        private Vector3 VehicleRotationalVelocity
-        {
-            get
-            {
-                if ((m_knownHas & m_knownChangedRotationalVelocity) == 0)
-                {
-                    m_knownRotationalVelocity = Prim.ForceRotationalVelocity;
-                    m_knownHas |= m_knownChangedRotationalVelocity;
-                }
-                return (Vector3)m_knownRotationalVelocity;
-            }
-            set
-            {
-                m_knownRotationalVelocity = value;
-                m_knownChanged |= m_knownChangedRotationalVelocity;
-                m_knownHas |= m_knownChangedRotationalVelocity;
-            }
-        }
-        private void VehicleAddAngularForce(Vector3 aForce)
-        {
-            if ((m_knownHas & m_knownChangedRotationalForce) == 0)
-            {
-                m_knownRotationalForce = Vector3.Zero;
-            }
-            m_knownRotationalForce += aForce;
-            m_knownChanged |= m_knownChangedRotationalForce;
-            m_knownHas |= m_knownChangedRotationalForce;
-        }
-        // Vehicle relative forward velocity
-        private Vector3 VehicleForwardVelocity
-        {
-            get
-            {
-                if ((m_knownHas & m_knownChangedForwardVelocity) == 0)
-                {
-                    m_knownForwardVelocity = VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleOrientation));
-                    m_knownHas |= m_knownChangedForwardVelocity;
-                }
-                return m_knownForwardVelocity;
-            }
-        }
-        private float VehicleForwardSpeed
-        {
-            get
-            {
-                return VehicleForwardVelocity.X;
-            }
-        }
-
-        #endregion // Known vehicle value functions
-
-        // One step of the vehicle properties for the next 'pTimestep' seconds.
-        internal void Step(float pTimestep)
-        {
-            if (!IsActive) return;
-
-            if (PhysicsScene.VehiclePhysicalLoggingEnabled)
-                PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody);
-
-            ForgetKnownVehicleProperties();
-
-            MoveLinear(pTimestep);
-            MoveAngular(pTimestep);
-
-            LimitRotation(pTimestep);
-
-            // remember the position so next step we can limit absolute movement effects
-            m_lastPositionVector = VehiclePosition;
-
-            // If we forced the changing of some vehicle parameters, update the values and
-            //      for the physics engine to note the changes so an UpdateProperties event will happen.
-            PushKnownChanged();
-
-            if (PhysicsScene.VehiclePhysicalLoggingEnabled)
-                PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody);
-
-            VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}",
-                    Prim.LocalID, VehiclePosition, Prim.Force, VehicleVelocity, VehicleRotationalVelocity);
-        }
-
-        // Apply the effect of the linear motor and other linear motions (like hover and float).
-        private void MoveLinear(float pTimestep)
-        {
-            Vector3 linearMotorContribution = m_linearMotor.Step(pTimestep);
-
-            // The movement computed in the linear motor is relative to the vehicle
-            //     coordinates. Rotate the movement to world coordinates.
-            linearMotorContribution *= VehicleOrientation;
-
-            // ==================================================================
-            // Buoyancy: force to overcome gravity.
-            // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
-            // So, if zero, don't change anything (let gravity happen). If one, negate the effect of gravity.
-            Vector3 buoyancyContribution =  Prim.PhysicsScene.DefaultGravity * m_VehicleBuoyancy;
-
-            Vector3 terrainHeightContribution = ComputeLinearTerrainHeightCorrection(pTimestep);
-
-            Vector3 hoverContribution = ComputeLinearHover(pTimestep);
-
-            ComputeLinearBlockingEndPoint(pTimestep);
-
-            Vector3 limitMotorUpContribution = ComputeLinearMotorUp(pTimestep);
-
-            // ==================================================================
-            Vector3 newVelocity = linearMotorContribution
-                            + terrainHeightContribution
-                            + hoverContribution
-                            + limitMotorUpContribution;
-
-            Vector3 newForce = buoyancyContribution;
-
-            // If not changing some axis, reduce out velocity
-            if ((m_flags & (VehicleFlag.NO_X)) != 0)
-                newVelocity.X = 0;
-            if ((m_flags & (VehicleFlag.NO_Y)) != 0)
-                newVelocity.Y = 0;
-            if ((m_flags & (VehicleFlag.NO_Z)) != 0)
-                newVelocity.Z = 0;
-
-            // ==================================================================
-            // Clamp high or low velocities
-            float newVelocityLengthSq = newVelocity.LengthSquared();
-            if (newVelocityLengthSq > 1000f)
-            {
-                newVelocity /= newVelocity.Length();
-                newVelocity *= 1000f;
-            }
-            else if (newVelocityLengthSq < 0.001f)
-                newVelocity = Vector3.Zero;
-
-            // ==================================================================
-            // Stuff new linear velocity into the vehicle.
-            // Since the velocity is just being set, it is not scaled by pTimeStep. Bullet will do that for us.
-            VehicleVelocity = newVelocity;
-
-            // Other linear forces are applied as forces.
-            Vector3 totalDownForce = newForce * m_vehicleMass;
-            if (!totalDownForce.ApproxEquals(Vector3.Zero, 0.01f))
-            {
-                VehicleAddForce(totalDownForce);
-            }
-
-            VDetailLog("{0},  MoveLinear,done,newVel={1},totDown={2},IsColliding={3}",
-                                Prim.LocalID, newVelocity, totalDownForce, Prim.IsColliding);
-            VDetailLog("{0},  MoveLinear,done,linContrib={1},terrContrib={2},hoverContrib={3},limitContrib={4},buoyContrib={5}",
-                                Prim.LocalID,
-                                linearMotorContribution, terrainHeightContribution, hoverContribution, 
-                                limitMotorUpContribution, buoyancyContribution
-            );
-
-        } // end MoveLinear()
-
-        public Vector3 ComputeLinearTerrainHeightCorrection(float pTimestep)
-        {
-            Vector3 ret = Vector3.Zero;
-            // If below the terrain, move us above the ground a little.
-            // TODO: Consider taking the rotated size of the object or possibly casting a ray.
-            if (VehiclePosition.Z < GetTerrainHeight(VehiclePosition))
-            {
-                // TODO: correct position by applying force rather than forcing position.
-                Vector3 newPosition = VehiclePosition;
-                newPosition.Z = GetTerrainHeight(VehiclePosition) + 1f;
-                VehiclePosition = newPosition;
-                VDetailLog("{0},  MoveLinear,terrainHeight,terrainHeight={1},pos={2}",
-                        Prim.LocalID, GetTerrainHeight(VehiclePosition), VehiclePosition);
-            }
-            return ret;
-        }
-
-        public Vector3 ComputeLinearHover(float pTimestep)
-        {
-            Vector3 ret = Vector3.Zero;
-
-            // m_VhoverEfficiency: 0=bouncy, 1=totally damped
-            // m_VhoverTimescale: time to achieve height
-            if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
-            {
-                // We should hover, get the target height
-                if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
-                {
-                    m_VhoverTargetHeight = GetWaterLevel(VehiclePosition) + m_VhoverHeight;
-                }
-                if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
-                {
-                    m_VhoverTargetHeight = GetTerrainHeight(VehiclePosition) + m_VhoverHeight;
-                }
-                if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
-                {
-                    m_VhoverTargetHeight = m_VhoverHeight;
-                }
-
-                if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0)
-                {
-                    // If body is already heigher, use its height as target height
-                    if (VehiclePosition.Z > m_VhoverTargetHeight)
-                        m_VhoverTargetHeight = VehiclePosition.Z;
-                }
-                
-                if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
-                {
-                    if (Math.Abs(VehiclePosition.Z - m_VhoverTargetHeight) > 0.2f)
-                    {
-                        Vector3 pos = VehiclePosition;
-                        pos.Z = m_VhoverTargetHeight;
-                        VehiclePosition = pos;
-                    }
-                }
-                else
-                {
-                    // Error is positive if below the target and negative if above.
-                    float verticalError = m_VhoverTargetHeight - VehiclePosition.Z;
-                    float verticalCorrectionVelocity = verticalError / m_VhoverTimescale;
-
-                    // TODO: implement m_VhoverEfficiency correctly
-                    if (Math.Abs(verticalError) > m_VhoverEfficiency)
-                    {
-                        ret = new Vector3(0f, 0f, verticalCorrectionVelocity);
-                    }
-                }
-
-                VDetailLog("{0},  MoveLinear,hover,pos={1},ret={2},hoverTS={3},height={4},target={5}",
-                                Prim.LocalID, VehiclePosition, ret, m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight);
-            }
-
-            return ret;
-        }
-
-        public bool ComputeLinearBlockingEndPoint(float pTimestep)
-        {
-            bool changed = false;
-
-            Vector3 pos = VehiclePosition;
-            Vector3 posChange = pos - m_lastPositionVector;
-            if (m_BlockingEndPoint != Vector3.Zero)
-            {
-                if (pos.X >= (m_BlockingEndPoint.X - (float)1))
-                {
-                    pos.X -= posChange.X + 1;
-                    changed = true;
-                }
-                if (pos.Y >= (m_BlockingEndPoint.Y - (float)1))
-                {
-                    pos.Y -= posChange.Y + 1;
-                    changed = true;
-                }
-                if (pos.Z >= (m_BlockingEndPoint.Z - (float)1))
-                {
-                    pos.Z -= posChange.Z + 1;
-                    changed = true;
-                }
-                if (pos.X <= 0)
-                {
-                    pos.X += posChange.X + 1;
-                    changed = true;
-                }
-                if (pos.Y <= 0)
-                {
-                    pos.Y += posChange.Y + 1;
-                    changed = true;
-                }
-                if (changed)
-                {
-                    VehiclePosition = pos;
-                    VDetailLog("{0},  MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}",
-                                Prim.LocalID, m_BlockingEndPoint, posChange, pos);
-                }
-            }
-            return changed;
-        }
-
-        // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
-        //    Prevent ground vehicles from motoring into the sky. This flag has a subtle effect when
-        //    used with conjunction with banking: the strength of the banking will decay when the
-        //    vehicle no longer experiences collisions. The decay timescale is the same as
-        //    VEHICLE_BANKING_TIMESCALE. This is to help prevent ground vehicles from steering
-        //    when they are in mid jump. 
-        // TODO: this code is wrong. Also, what should it do for boats (height from water)?
-        //    This is just using the ground and a general collision check. Should really be using
-        //    a downward raycast to find what is below.
-        public Vector3 ComputeLinearMotorUp(float pTimestep)
-        {
-            Vector3 ret = Vector3.Zero;
-            float distanceAboveGround = 0f;
-
-            if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
-            {
-                float targetHeight = Type == Vehicle.TYPE_BOAT ? GetWaterLevel(VehiclePosition) : GetTerrainHeight(VehiclePosition);
-                distanceAboveGround = VehiclePosition.Z - targetHeight;
-                // Not colliding if the vehicle is off the ground
-                if (!Prim.IsColliding)
-                {
-                    // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale);
-                    ret = new Vector3(0, 0, -distanceAboveGround);
-                }
-                // TODO: this calculation is wrong. From the description at
-                //     (http://wiki.secondlife.com/wiki/Category:LSL_Vehicle), the downForce
-                //     has a decay factor. This says this force should
-                //     be computed with a motor.
-                // TODO: add interaction with banking.
-            }
-            VDetailLog("{0},  MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}",
-                                Prim.LocalID, distanceAboveGround, Prim.IsColliding, ret);
-            return ret;
-        }
-
-        // =======================================================================
-        // =======================================================================
-        // Apply the effect of the angular motor.
-        // The 'contribution' is how much angular correction velocity each function wants.
-        //     All the contributions are added together and the resulting velocity is
-        //     set directly on the vehicle.
-        private void MoveAngular(float pTimestep)
-        {
-            // The user wants this many radians per second angular change?
-            Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep);
-
-            // ==================================================================
-            // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
-            //    This flag prevents linear deflection parallel to world z-axis. This is useful
-            //    for preventing ground vehicles with large linear deflection, like bumper cars,
-            //    from climbing their linear deflection into the sky. 
-            // That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement
-            if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
-            {
-                angularMotorContribution.X = 0f;
-                angularMotorContribution.Y = 0f;
-                VDetailLog("{0},  MoveAngular,noDeflectionUp,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution);
-            }
-
-            Vector3 verticalAttractionContribution = ComputeAngularVerticalAttraction();
-
-            Vector3 deflectionContribution = ComputeAngularDeflection();
-
-            Vector3 bankingContribution = ComputeAngularBanking();
-
-            // ==================================================================
-            m_lastVertAttractor = verticalAttractionContribution;
-
-            m_lastAngularVelocity = angularMotorContribution
-                                    + verticalAttractionContribution
-                                    + deflectionContribution
-                                    + bankingContribution;
-
-            // ==================================================================
-            // Apply the correction velocity.
-            // TODO: Should this be applied as an angular force (torque)?
-            if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
-            {
-                VehicleRotationalVelocity = m_lastAngularVelocity;
-
-                VDetailLog("{0},  MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5}",
-                                    Prim.LocalID,
-                                    angularMotorContribution, verticalAttractionContribution,
-                                    bankingContribution, deflectionContribution,
-                                    m_lastAngularVelocity
-                                    );
-            }
-            else
-            {
-                // The vehicle is not adding anything angular wise.
-                VehicleRotationalVelocity = Vector3.Zero;
-                VDetailLog("{0},  MoveAngular,done,zero", Prim.LocalID);
-            }
-
-            // ==================================================================
-            //Offset section
-            if (m_linearMotorOffset != Vector3.Zero)
-            {
-                //Offset of linear velocity doesn't change the linear velocity,
-                //   but causes a torque to be applied, for example...
-                //
-                //      IIIII     >>>   IIIII
-                //      IIIII     >>>    IIIII
-                //      IIIII     >>>     IIIII
-                //          ^
-                //          |  Applying a force at the arrow will cause the object to move forward, but also rotate
-                //
-                //
-                // The torque created is the linear velocity crossed with the offset
-
-                // TODO: this computation should be in the linear section
-                //    because that is where we know the impulse being applied.
-                Vector3 torqueFromOffset = Vector3.Zero;
-                // torqueFromOffset = Vector3.Cross(m_linearMotorOffset, appliedImpulse);
-                if (float.IsNaN(torqueFromOffset.X))
-                    torqueFromOffset.X = 0;
-                if (float.IsNaN(torqueFromOffset.Y))
-                    torqueFromOffset.Y = 0;
-                if (float.IsNaN(torqueFromOffset.Z))
-                    torqueFromOffset.Z = 0;
-
-                VehicleAddAngularForce(torqueFromOffset * m_vehicleMass);
-                VDetailLog("{0},  BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset);
-            }
-
-        }
-        // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
-        //      Some vehicles, like boats, should always keep their up-side up. This can be done by
-        //      enabling the "vertical attractor" behavior that springs the vehicle's local z-axis to
-        //      the world z-axis (a.k.a. "up"). To take advantage of this feature you would set the
-        //      VEHICLE_VERTICAL_ATTRACTION_TIMESCALE to control the period of the spring frequency,
-        //      and then set the VEHICLE_VERTICAL_ATTRACTION_EFFICIENCY to control the damping. An
-        //      efficiency of 0.0 will cause the spring to wobble around its equilibrium, while an
-        //      efficiency of 1.0 will cause the spring to reach its equilibrium with exponential decay.
-        public Vector3 ComputeAngularVerticalAttraction()
-        {
-            Vector3 ret = Vector3.Zero;
-
-            // If vertical attaction timescale is reasonable
-            if (m_verticalAttractionTimescale < m_verticalAttractionCutoff)
-            {
-                // Take a vector pointing up and convert it from world to vehicle relative coords.
-                Vector3 verticalError = Vector3.UnitZ * VehicleOrientation;
-
-                // If vertical attraction correction is needed, the vector that was pointing up (UnitZ)
-                //    is now:
-                //    leaning to one side: rotated around the X axis with the Y value going
-                //        from zero (nearly straight up) to one (completely to the side)) or
-                //    leaning front-to-back: rotated around the Y axis with the value of X being between
-                //         zero and one.
-                // The value of Z is how far the rotation is off with 1 meaning none and 0 being 90 degrees.
-
-                // Y error means needed rotation around X axis and visa versa.
-                // Since the error goes from zero to one, the asin is the corresponding angle.
-                ret.X = (float)Math.Asin(verticalError.Y);
-                // (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.)
-                ret.Y = -(float)Math.Asin(verticalError.X);
-
-                // If verticalError.Z is negative, the vehicle is upside down. Add additional push.
-                if (verticalError.Z < 0f)
-                {
-                    ret.X += PIOverFour;
-                    ret.Y += PIOverFour;
-                }
-
-                // 'ret' is now the necessary velocity to correct tilt in one second.
-                //     Correction happens over a number of seconds.
-                Vector3 unscaledContrib = ret;
-                ret /= m_verticalAttractionTimescale;
-
-                VDetailLog("{0},  MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},ts={4},vertAttr={5}",
-                                Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, ret);
-            }
-            return ret;
-        }
-
-        // Return the angular correction to correct the direction the vehicle is pointing to be
-        //      the direction is should want to be pointing.
-        // The vehicle is moving in some direction and correct its orientation to it is pointing
-        //     in that direction.
-        // TODO: implement reference frame.
-        public Vector3 ComputeAngularDeflection()
-        {
-            Vector3 ret = Vector3.Zero;
-            return ret;         // DEBUG DEBUG DEBUG
-            // Disable angular deflection for the moment.
-            // Since angularMotorUp and angularDeflection are computed independently, they will calculate
-            //     approximately the same X or Y correction. When added together (when contributions are combined)
-            //     this creates an over-correction and then wabbling as the target is overshot.
-            // TODO: rethink how the different correction computations inter-relate.
-
-            if (m_angularDeflectionEfficiency != 0)
-            {
-                // The direction the vehicle is moving
-                Vector3 movingDirection = VehicleVelocity;
-                movingDirection.Normalize();
-
-                // The direction the vehicle is pointing
-                Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation;
-                pointingDirection.Normalize();
-
-                // The difference between what is and what should be.
-                Vector3 deflectionError = movingDirection - pointingDirection;
-
-                // Don't try to correct very large errors (not our job)
-                if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = 0f;
-                if (Math.Abs(deflectionError.Y) > PIOverFour) deflectionError.Y = 0f;
-                if (Math.Abs(deflectionError.Z) > PIOverFour) deflectionError.Z = 0f;
-
-                // ret = m_angularDeflectionCorrectionMotor(1f, deflectionError);
-
-                // Scale the correction by recovery timescale and efficiency
-                ret = (-deflectionError) * m_angularDeflectionEfficiency;
-                ret /= m_angularDeflectionTimescale;
-
-                VDetailLog("{0},  MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}",
-                    Prim.LocalID, movingDirection, pointingDirection, deflectionError, ret);
-                VDetailLog("{0},  MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3}",
-                    Prim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale);
-            }
-            return ret;
-        }
-
-        // Return an angular change to rotate the vehicle around the Z axis when the vehicle
-        //     is tipped around the X axis.
-        // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
-        //      The vertical attractor feature must be enabled in order for the banking behavior to
-        //      function. The way banking works is this: a rotation around the vehicle's roll-axis will
-        //      produce a angular velocity around the yaw-axis, causing the vehicle to turn. The magnitude
-        //      of the yaw effect will be proportional to the
-        //          VEHICLE_BANKING_EFFICIENCY, the angle of the roll rotation, and sometimes the vehicle's
-        //                 velocity along its preferred axis of motion. 
-        //          The VEHICLE_BANKING_EFFICIENCY can vary between -1 and +1. When it is positive then any
-        //                  positive rotation (by the right-hand rule) about the roll-axis will effect a
-        //                  (negative) torque around the yaw-axis, making it turn to the right--that is the
-        //                  vehicle will lean into the turn, which is how real airplanes and motorcycle's work.
-        //                  Negating the banking coefficient will make it so that the vehicle leans to the
-        //                  outside of the turn (not very "physical" but might allow interesting vehicles so why not?). 
-        //           The VEHICLE_BANKING_MIX is a fake (i.e. non-physical) parameter that is useful for making
-        //                  banking vehicles do what you want rather than what the laws of physics allow.
-        //                  For example, consider a real motorcycle...it must be moving forward in order for
-        //                  it to turn while banking, however video-game motorcycles are often configured
-        //                  to turn in place when at a dead stop--because they are often easier to control
-        //                  that way using the limited interface of the keyboard or game controller. The
-        //                  VEHICLE_BANKING_MIX enables combinations of both realistic and non-realistic
-        //                  banking by functioning as a slider between a banking that is correspondingly
-        //                  totally static (0.0) and totally dynamic (1.0). By "static" we mean that the
-        //                  banking effect depends only on the vehicle's rotation about its roll-axis compared
-        //                  to "dynamic" where the banking is also proportional to its velocity along its
-        //                  roll-axis. Finding the best value of the "mixture" will probably require trial and error. 
-        //      The time it takes for the banking behavior to defeat a preexisting angular velocity about the
-        //      world z-axis is determined by the VEHICLE_BANKING_TIMESCALE. So if you want the vehicle to
-        //      bank quickly then give it a banking timescale of about a second or less, otherwise you can
-        //      make a sluggish vehicle by giving it a timescale of several seconds. 
-        public Vector3 ComputeAngularBanking()
-        {
-            Vector3 ret = Vector3.Zero;
-
-            if (m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
-            {
-                // This works by rotating a unit vector to the orientation of the vehicle. The
-                //    roll (tilt) will be Y component of a tilting Z vector (zero for no tilt
-                //    up to one for full over).
-                Vector3 rollComponents = Vector3.UnitZ * VehicleOrientation;
-
-                // Figure out the yaw value for this much roll.
-                float turnComponent = rollComponents.Y * rollComponents.Y * m_bankingEfficiency;
-                // Keep the sign
-                if (rollComponents.Y < 0f)
-                    turnComponent = -turnComponent;
-
-                // TODO: there must be a better computation of the banking force.
-                float bankingTurnForce = turnComponent;
-
-                //        actual error  =       static turn error            +           dynamic turn error
-                float mixedBankingError = bankingTurnForce * (1f - m_bankingMix) + bankingTurnForce * m_bankingMix * VehicleForwardSpeed;
-                // TODO: the banking effect should not go to infinity but what to limit it to?
-                mixedBankingError = ClampInRange(-20f, mixedBankingError, 20f);
-
-                // Build the force vector to change rotation from what it is to what it should be
-                ret.Z = -mixedBankingError;
-
-                // Don't do it all at once.
-                ret /= m_bankingTimescale;
-
-                VDetailLog("{0},  MoveAngular,Banking,rollComp={1},speed={2},turnComp={3},bankErr={4},mixedBankErr={5},ret={6}",
-                            Prim.LocalID, rollComponents, VehicleForwardSpeed, turnComponent, bankingTurnForce, mixedBankingError, ret);
-            }
-            return ret;
-        }
-
-        // This is from previous instantiations of XXXDynamics.cs.
-        // Applies roll reference frame.
-        // TODO: is this the right way to separate the code to do this operation?
-        //    Should this be in MoveAngular()?
-        internal void LimitRotation(float timestep)
-        {
-            Quaternion rotq = VehicleOrientation;
-            Quaternion m_rot = rotq;
-            if (m_RollreferenceFrame != Quaternion.Identity)
-            {
-                if (rotq.X >= m_RollreferenceFrame.X)
-                {
-                    m_rot.X = rotq.X - (m_RollreferenceFrame.X / 2);
-                }
-                if (rotq.Y >= m_RollreferenceFrame.Y)
-                {
-                    m_rot.Y = rotq.Y - (m_RollreferenceFrame.Y / 2);
-                }
-                if (rotq.X <= -m_RollreferenceFrame.X)
-                {
-                    m_rot.X = rotq.X + (m_RollreferenceFrame.X / 2);
-                }
-                if (rotq.Y <= -m_RollreferenceFrame.Y)
-                {
-                    m_rot.Y = rotq.Y + (m_RollreferenceFrame.Y / 2);
-                }
-            }
-            if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0)
-            {
-                m_rot.X = 0;
-                m_rot.Y = 0;
-            }
-            if (rotq != m_rot)
-            {
-                VehicleOrientation = m_rot;
-                VDetailLog("{0},  LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot);
-            }
-
-        }
-
-        private float ClampInRange(float low, float val, float high)
-        {
-            return Math.Max(low, Math.Min(val, high));
-            // return Utils.Clamp(val, low, high);
-        }
-
-        // Invoke the detailed logger and output something if it's enabled.
-        private void VDetailLog(string msg, params Object[] args)
-        {
-            if (Prim.PhysicsScene.VehicleLoggingEnabled)
-                Prim.PhysicsScene.DetailLog(msg, args);
-        }
-    }
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
deleted file mode 100755
index 756faed..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ /dev/null
@@ -1,329 +0,0 @@
-/*
- * 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;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-
-// A BSPrim can get individual information about its linkedness attached
-//    to it through an instance of a subclass of LinksetInfo.
-// Each type of linkset will define the information needed for its type.
-public abstract class BSLinksetInfo
-{
-    public virtual void Clear() { }
-}
-
-public abstract class BSLinkset
-{
-    // private static string LogHeader = "[BULLETSIM LINKSET]";
-
-    public enum LinksetImplementation
-    {
-        Constraint   = 0,   // linkset tied together with constraints
-        Compound     = 1,   // linkset tied together as a compound object
-        Manual       = 2    // linkset tied together manually (code moves all the pieces)
-    }
-    // Create the correct type of linkset for this child
-    public static BSLinkset Factory(BSScene physScene, BSPhysObject parent)
-    {
-        BSLinkset ret = null;
-
-        switch ((int)BSParam.LinksetImplementation)
-        {
-            case (int)LinksetImplementation.Constraint:
-                ret = new BSLinksetConstraints(physScene, parent);
-                break;
-            case (int)LinksetImplementation.Compound:
-                ret = new BSLinksetCompound(physScene, parent);
-                break;
-            case (int)LinksetImplementation.Manual:
-                // ret = new BSLinksetManual(physScene, parent);
-                break;
-            default:
-                ret = new BSLinksetCompound(physScene, parent);
-                break;
-        }
-        return ret;
-    }
-
-    public BSPhysObject LinksetRoot { get; protected set; }
-
-    public BSScene PhysicsScene { get; private set; }
-
-    static int m_nextLinksetID = 1;
-    public int LinksetID { get; private set; }
-
-    // The children under the root in this linkset.
-    protected HashSet<BSPhysObject> m_children;
-
-    // We lock the diddling of linkset classes to prevent any badness.
-    // This locks the modification of the instances of this class. Changes
-    //    to the physical representation is done via the tainting mechenism.
-    protected object m_linksetActivityLock = new Object();
-
-    // Some linksets have a preferred physical shape.
-    // Returns SHAPE_UNKNOWN if there is no preference. Causes the correct shape to be selected.
-    public virtual BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor)
-    {
-        return BSPhysicsShapeType.SHAPE_UNKNOWN;
-    }
-
-    // We keep the prim's mass in the linkset structure since it could be dependent on other prims
-    public float LinksetMass { get; protected set; }
-
-    public virtual bool LinksetIsColliding { get { return false; } }
-
-    public OMV.Vector3 CenterOfMass
-    {
-        get { return ComputeLinksetCenterOfMass(); }
-    }
-
-    public OMV.Vector3 GeometricCenter
-    {
-        get { return ComputeLinksetGeometricCenter(); }
-    }
-
-    protected BSLinkset(BSScene scene, BSPhysObject parent)
-    {
-        // A simple linkset of one (no children)
-        LinksetID = m_nextLinksetID++;
-        // We create LOTS of linksets.
-        if (m_nextLinksetID <= 0)
-            m_nextLinksetID = 1;
-        PhysicsScene = scene;
-        LinksetRoot = parent;
-        m_children = new HashSet<BSPhysObject>();
-        LinksetMass = parent.RawMass;
-        Rebuilding = false;
-    }
-
-    // Link to a linkset where the child knows the parent.
-    // Parent changing should not happen so do some sanity checking.
-    // We return the parent's linkset so the child can track its membership.
-    // Called at runtime.
-    public BSLinkset AddMeToLinkset(BSPhysObject child)
-    {
-        lock (m_linksetActivityLock)
-        {
-            // Don't add the root to its own linkset
-            if (!IsRoot(child))
-                AddChildToLinkset(child);
-            LinksetMass = ComputeLinksetMass();
-        }
-        return this;
-    }
-
-    // Remove a child from a linkset.
-    // Returns a new linkset for the child which is a linkset of one (just the
-    //    orphened child).
-    // Called at runtime.
-    public BSLinkset RemoveMeFromLinkset(BSPhysObject child)
-    {
-        lock (m_linksetActivityLock)
-        {
-            if (IsRoot(child))
-            {
-                // Cannot remove the root from a linkset.
-                return this;
-            }
-            RemoveChildFromLinkset(child);
-            LinksetMass = ComputeLinksetMass();
-        }
-
-        // The child is down to a linkset of just itself
-        return BSLinkset.Factory(PhysicsScene, child);
-    }
-
-    // Return 'true' if the passed object is the root object of this linkset
-    public bool IsRoot(BSPhysObject requestor)
-    {
-        return (requestor.LocalID == LinksetRoot.LocalID);
-    }
-
-    public int NumberOfChildren { get { return m_children.Count; } }
-
-    // Return 'true' if this linkset has any children (more than the root member)
-    public bool HasAnyChildren { get { return (m_children.Count > 0); } }
-
-    // Return 'true' if this child is in this linkset
-    public bool HasChild(BSPhysObject child)
-    {
-        bool ret = false;
-        lock (m_linksetActivityLock)
-        {
-            ret = m_children.Contains(child);
-            /* Safer version but the above should work
-            foreach (BSPhysObject bp in m_children)
-            {
-                if (child.LocalID == bp.LocalID)
-                {
-                    ret = true;
-                    break;
-                }
-            }
-             */
-        }
-        return ret;
-    }
-
-    // Perform an action on each member of the linkset including root prim.
-    // Depends on the action on whether this should be done at taint time.
-    public delegate bool ForEachMemberAction(BSPhysObject obj);
-    public virtual bool ForEachMember(ForEachMemberAction action)
-    {
-        bool ret = false;
-        lock (m_linksetActivityLock)
-        {
-            action(LinksetRoot);
-            foreach (BSPhysObject po in m_children)
-            {
-                if (action(po))
-                    break;
-            }
-        }
-        return ret;
-    }
-
-    // I am the root of a linkset and a new child is being added
-    // Called while LinkActivity is locked.
-    protected abstract void AddChildToLinkset(BSPhysObject child);
-    
-    // I am the root of a linkset and one of my children is being removed.
-    // Safe to call even if the child is not really in my linkset.
-    protected abstract void RemoveChildFromLinkset(BSPhysObject child);
-
-    // When physical properties are changed the linkset needs to recalculate
-    //   its internal properties.
-    // May be called at runtime or taint-time.
-    public virtual void Refresh(BSPhysObject requestor)
-    {
-        LinksetMass = ComputeLinksetMass();
-    }
-
-    // Flag denoting the linkset is in the process of being rebuilt.
-    // Used to know not the schedule a rebuild in the middle of a rebuild.
-    protected bool Rebuilding { get; set; }
-
-    // The object is going dynamic (physical). Do any setup necessary
-    //     for a dynamic linkset.
-    // Only the state of the passed object can be modified. The rest of the linkset
-    //     has not yet been fully constructed.
-    // Return 'true' if any properties updated on the passed object.
-    // Called at taint-time!
-    public abstract bool MakeDynamic(BSPhysObject child);
-
-    // The object is going static (non-physical). Do any setup necessary
-    //     for a static linkset.
-    // Return 'true' if any properties updated on the passed object.
-    // Called at taint-time!
-    public abstract bool MakeStatic(BSPhysObject child);
-
-    // Called when a parameter update comes from the physics engine for any object
-    //      of the linkset is received.
-    // Passed flag is update came from physics engine (true) or the user (false).
-    // Called at taint-time!!
-    public abstract void UpdateProperties(BSPhysObject physObject, bool physicalUpdate);
-
-    // Routine used when rebuilding the body of the root of the linkset
-    // Destroy all the constraints have have been made to root.
-    // This is called when the root body is changing.
-    // Returns 'true' of something was actually removed and would need restoring
-    // Called at taint-time!!
-    public abstract bool RemoveBodyDependencies(BSPrim child);
-
-    // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
-    //     this routine will restore the removed constraints.
-    // Called at taint-time!!
-    public abstract void RestoreBodyDependencies(BSPrim child);
-
-    // ================================================================
-    protected virtual float ComputeLinksetMass()
-    {
-        float mass = LinksetRoot.RawMass;
-        if (HasAnyChildren)
-        {
-            lock (m_linksetActivityLock)
-            {
-                foreach (BSPhysObject bp in m_children)
-                {
-                    mass += bp.RawMass;
-                }
-            }
-        }
-        return mass;
-    }
-
-    protected virtual OMV.Vector3 ComputeLinksetCenterOfMass()
-    {
-        OMV.Vector3 com;
-        lock (m_linksetActivityLock)
-        {
-            com = LinksetRoot.Position * LinksetRoot.RawMass;
-            float totalMass = LinksetRoot.RawMass;
-
-            foreach (BSPhysObject bp in m_children)
-            {
-                com += bp.Position * bp.RawMass;
-                totalMass += bp.RawMass;
-            }
-            if (totalMass != 0f)
-                com /= totalMass;
-        }
-
-        return com;
-    }
-
-    protected virtual OMV.Vector3 ComputeLinksetGeometricCenter()
-    {
-        OMV.Vector3 com;
-        lock (m_linksetActivityLock)
-        {
-            com = LinksetRoot.Position;
-
-            foreach (BSPhysObject bp in m_children)
-            {
-                com += bp.Position * bp.RawMass;
-            }
-            com /= (m_children.Count + 1);
-        }
-
-        return com;
-    }
-
-    // Invoke the detailed logger and output something if it's enabled.
-    protected void DetailLog(string msg, params Object[] args)
-    {
-        if (PhysicsScene.PhysicsLogging.Enabled)
-            PhysicsScene.DetailLog(msg, args);
-    }
-
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
deleted file mode 100755
index bd03d31..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ /dev/null
@@ -1,392 +0,0 @@
-/*
- * 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 OpenSim.Framework;
-
-using OMV = OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-
-// When a child is linked, the relationship position of the child to the parent
-//    is remembered so the child's world position can be recomputed when it is
-//    removed from the linkset.
-sealed class BSLinksetCompoundInfo : BSLinksetInfo
-{
-    public OMV.Vector3 OffsetPos;
-    public OMV.Quaternion OffsetRot;
-    public BSLinksetCompoundInfo(OMV.Vector3 p, OMV.Quaternion r)
-    {
-        OffsetPos = p;
-        OffsetRot = r;
-    }
-    public override void Clear()
-    {
-        OffsetPos = OMV.Vector3.Zero;
-        OffsetRot = OMV.Quaternion.Identity;
-    }
-    public override string ToString()
-    {
-        StringBuilder buff = new StringBuilder();
-        buff.Append("<p=");
-        buff.Append(OffsetPos.ToString());
-        buff.Append(",r=");
-        buff.Append(OffsetRot.ToString());
-        buff.Append(">");
-        return buff.ToString();
-    }
-};
-
-public sealed class BSLinksetCompound : BSLinkset
-{
-    private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]";
-
-    public BSLinksetCompound(BSScene scene, BSPhysObject parent) : base(scene, parent)
-    {
-    }
-
-    // For compound implimented linksets, if there are children, use compound shape for the root.
-    public override BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor)
-    { 
-        // Returning 'unknown' means we don't have a preference.
-        BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
-        if (IsRoot(requestor) && HasAnyChildren)
-        {
-            ret = BSPhysicsShapeType.SHAPE_COMPOUND;
-        }
-        // DetailLog("{0},BSLinksetCompound.PreferredPhysicalShape,call,shape={1}", LinksetRoot.LocalID, ret);
-        return ret;
-    }
-
-    // When physical properties are changed the linkset needs to recalculate
-    //   its internal properties.
-    public override void Refresh(BSPhysObject requestor)
-    {
-        base.Refresh(requestor);
-
-        // Something changed so do the rebuilding thing
-        // ScheduleRebuild();
-    }
-
-    // Schedule a refresh to happen after all the other taint processing.
-    private void ScheduleRebuild(BSPhysObject requestor)
-    {
-        DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2}", 
-                            requestor.LocalID, Rebuilding, HasAnyChildren);
-        // When rebuilding, it is possible to set properties that would normally require a rebuild.
-        //    If already rebuilding, don't request another rebuild.
-        //    If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding.
-        if (!Rebuilding && HasAnyChildren)
-        {
-            PhysicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate()
-            {
-                if (HasAnyChildren)
-                    RecomputeLinksetCompound();
-            });
-        }
-    }
-
-    // The object is going dynamic (physical). Do any setup necessary for a dynamic linkset.
-    // Only the state of the passed object can be modified. The rest of the linkset
-    //     has not yet been fully constructed.
-    // Return 'true' if any properties updated on the passed object.
-    // Called at taint-time!
-    public override bool MakeDynamic(BSPhysObject child)
-    {
-        bool ret = false;
-        DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child));
-        if (IsRoot(child))
-        {
-            // The root is going dynamic. Rebuild the linkset so parts and mass get computed properly.
-            ScheduleRebuild(LinksetRoot);
-        }
-        else
-        {
-            // The origional prims are removed from the world as the shape of the root compound
-            //     shape takes over.
-            PhysicsScene.PE.AddToCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
-            PhysicsScene.PE.ForceActivationState(child.PhysBody, ActivationState.DISABLE_SIMULATION);
-            // We don't want collisions from the old linkset children.
-            PhysicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
-
-            child.PhysBody.collisionType = CollisionType.LinksetChild;
-
-            ret = true;
-        }
-        return ret;
-    }
-
-    // The object is going static (non-physical). Do any setup necessary for a static linkset.
-    // Return 'true' if any properties updated on the passed object.
-    // This doesn't normally happen -- OpenSim removes the objects from the physical
-    //     world if it is a static linkset.
-    // Called at taint-time!
-    public override bool MakeStatic(BSPhysObject child)
-    {
-        bool ret = false;
-        DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
-        if (IsRoot(child))
-        {
-            ScheduleRebuild(LinksetRoot);
-        }
-        else
-        {
-            // The non-physical children can come back to life.
-            PhysicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
-
-            child.PhysBody.collisionType = CollisionType.LinksetChild;
-
-            // Don't force activation so setting of DISABLE_SIMULATION can stay if used.
-            PhysicsScene.PE.Activate(child.PhysBody, false);
-            ret = true;
-        }
-        return ret;
-    }
-
-    public override void UpdateProperties(BSPhysObject updated, bool physicalUpdate)
-    {
-        // The user moving a child around requires the rebuilding of the linkset compound shape
-        // One problem is this happens when a border is crossed -- the simulator implementation
-        //    is to store the position into the group which causes the move of the object
-        //    but it also means all the child positions get updated.
-        //    What would cause an unnecessary rebuild so we make sure the linkset is in a
-        //    region before bothering to do a rebuild.
-        if (!IsRoot(updated) 
-                && !physicalUpdate 
-                && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))
-        {
-            updated.LinksetInfo = null;
-            ScheduleRebuild(updated);
-        }
-    }
-
-    // Routine called when rebuilding the body of some member of the linkset.
-    // Since we don't keep in world relationships, do nothing unless it's a child changing.
-    // Returns 'true' of something was actually removed and would need restoring
-    // Called at taint-time!!
-    public override bool RemoveBodyDependencies(BSPrim child)
-    {
-        bool ret = false;
-
-        DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}",
-                        child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, IsRoot(child));
-
-        if (!IsRoot(child))
-        {
-            // Because it is a convenient time, recompute child world position and rotation based on
-            //    its position in the linkset.
-            RecomputeChildWorldPosition(child, true);
-        }
-
-        // Cannot schedule a refresh/rebuild here because this routine is called when
-        //     the linkset is being rebuilt.
-        // InternalRefresh(LinksetRoot);
-
-        return ret;
-    }
-
-    // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
-    //     this routine will restore the removed constraints.
-    // Called at taint-time!!
-    public override void RestoreBodyDependencies(BSPrim child)
-    {
-    }
-
-    // When the linkset is built, the child shape is added to the compound shape relative to the
-    //    root shape. The linkset then moves around but this does not move the actual child
-    //    prim. The child prim's location must be recomputed based on the location of the root shape.
-    private void RecomputeChildWorldPosition(BSPhysObject child, bool inTaintTime)
-    {
-        BSLinksetCompoundInfo lci = child.LinksetInfo as BSLinksetCompoundInfo;
-        if (lci != null)
-        {
-            if (inTaintTime)
-            {
-                OMV.Vector3 oldPos = child.RawPosition;
-                child.ForcePosition = LinksetRoot.RawPosition + lci.OffsetPos;
-                child.ForceOrientation = LinksetRoot.RawOrientation * lci.OffsetRot;
-                DetailLog("{0},BSLinksetCompound.RecomputeChildWorldPosition,oldPos={1},lci={2},newPos={3}",
-                                            child.LocalID, oldPos, lci, child.RawPosition);
-            }
-            else
-            {
-                // TaintedObject is not used here so the raw position is set now and not at taint-time.
-                child.Position = LinksetRoot.RawPosition + lci.OffsetPos;
-                child.Orientation = LinksetRoot.RawOrientation * lci.OffsetRot;
-            }
-        }
-        else
-        {
-            // This happens when children have been added to the linkset but the linkset
-            //     has not been constructed yet. So like, at taint time, adding children to a linkset
-            //     and then changing properties of the children (makePhysical, for instance)
-            //     but the post-print action of actually rebuilding the linkset has not yet happened.
-            // PhysicsScene.Logger.WarnFormat("{0} Restoring linkset child position failed because of no relative position computed. ID={1}",
-            //                                 LogHeader, child.LocalID);
-            DetailLog("{0},BSLinksetCompound.recomputeChildWorldPosition,noRelativePositonInfo", child.LocalID);
-        }
-    }
-
-    // ================================================================
-
-    // Add a new child to the linkset.
-    // Called while LinkActivity is locked.
-    protected override void AddChildToLinkset(BSPhysObject child)
-    {
-        if (!HasChild(child))
-        {
-            m_children.Add(child);
-
-            DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
-
-            // Rebuild the compound shape with the new child shape included
-            ScheduleRebuild(child);
-        }
-        return;
-    }
-
-    // Remove the specified child from the linkset.
-    // Safe to call even if the child is not really in the linkset.
-    protected override void RemoveChildFromLinkset(BSPhysObject child)
-    {
-        if (m_children.Remove(child))
-        {
-            DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
-                            child.LocalID,
-                            LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString,
-                            child.LocalID, child.PhysBody.AddrString);
-
-            // Cause the child's body to be rebuilt and thus restored to normal operation
-            RecomputeChildWorldPosition(child, false);
-            child.ForceBodyShapeRebuild(false);
-
-            if (!HasAnyChildren)
-            {
-                // The linkset is now empty. The root needs rebuilding.
-                LinksetRoot.ForceBodyShapeRebuild(false);
-            }
-            else
-            {
-                // Rebuild the compound shape with the child removed
-                ScheduleRebuild(child);
-            }
-        }
-        return;
-    }
-
-    // Called before the simulation step to make sure the compound based linkset
-    //    is all initialized.
-    // Constraint linksets are rebuilt every time.
-    // Note that this works for rebuilding just the root after a linkset is taken apart.
-    // Called at taint time!!
-    private void RecomputeLinksetCompound()
-    {
-        try
-        {
-            // Suppress rebuilding while rebuilding
-            Rebuilding = true;
-
-            // Cause the root shape to be rebuilt as a compound object with just the root in it
-            LinksetRoot.ForceBodyShapeRebuild(true);
-
-            DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}",
-                            LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren);
-
-            // Add a shape for each of the other children in the linkset
-            ForEachMember(delegate(BSPhysObject cPrim)
-            {
-                if (!IsRoot(cPrim))
-                {
-                    // Compute the displacement of the child from the root of the linkset.
-                    // This info is saved in the child prim so the relationship does not
-                    //    change over time and the new child position can be computed
-                    //    when the linkset is being disassembled (the linkset may have moved).
-                    BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo;
-                    if (lci == null)
-                    {
-                        // Each child position and rotation is given relative to the root.
-                        OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation);
-                        OMV.Vector3 displacementPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation;
-                        OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation;
-
-                        // Save relative position for recomputing child's world position after moving linkset.
-                        lci = new BSLinksetCompoundInfo(displacementPos, displacementRot);
-                        cPrim.LinksetInfo = lci;
-                        DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci);
-                    }
-
-                    DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addMemberToShape,mID={1},mShape={2},dispPos={3},dispRot={4}",
-                        LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, lci.OffsetPos, lci.OffsetRot);
-
-                    if (cPrim.PhysShape.isNativeShape)
-                    {
-                        // A native shape is turning into a hull collision shape because native
-                        //    shapes are not shared so we have to hullify it so it will be tracked
-                        //    and freed at the correct time. This also solves the scaling problem
-                        //    (native shapes scaled but hull/meshes are assumed to not be).
-                        // TODO: decide of the native shape can just be used in the compound shape.
-                        //    Use call to CreateGeomNonSpecial().
-                        BulletShape saveShape = cPrim.PhysShape;
-                        cPrim.PhysShape.Clear();        // Don't let the create free the child's shape
-                        // PhysicsScene.Shapes.CreateGeomNonSpecial(true, cPrim, null);
-                        PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null);
-                        BulletShape newShape = cPrim.PhysShape;
-                        cPrim.PhysShape = saveShape;
-                        PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, newShape, lci.OffsetPos, lci.OffsetRot);
-                    }
-                    else
-                    {
-                        // For the shared shapes (meshes and hulls), just use the shape in the child.
-                        // The reference count added here will be decremented when the compound shape
-                        //     is destroyed in BSShapeCollection (the child shapes are looped over and dereferenced).
-                        if (PhysicsScene.Shapes.ReferenceShape(cPrim.PhysShape))
-                        {
-                            PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}",
-                                                LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape);
-                        }
-                        PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, cPrim.PhysShape, lci.OffsetPos, lci.OffsetRot);
-                    }
-                }
-                return false;   // 'false' says to move onto the next child in the list
-            });
-
-            // With all of the linkset packed into the root prim, it has the mass of everyone.
-            LinksetMass = ComputeLinksetMass();
-            LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true);
-        }
-        finally
-        {
-            Rebuilding = false;
-        }
-
-        PhysicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape);
-    }
-}
-}
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
deleted file mode 100755
index d0b2a56..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ /dev/null
@@ -1,312 +0,0 @@
-/*
- * 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;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-public sealed class BSLinksetConstraints : BSLinkset
-{
-    // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]";
-
-    public BSLinksetConstraints(BSScene scene, BSPhysObject parent) : base(scene, parent)
-    {
-    }
-
-    // When physical properties are changed the linkset needs to recalculate
-    //   its internal properties.
-    // This is queued in the 'post taint' queue so the
-    //   refresh will happen once after all the other taints are applied.
-    public override void Refresh(BSPhysObject requestor)
-    {
-        base.Refresh(requestor);
-
-        if (HasAnyChildren && IsRoot(requestor))
-        {
-            // Queue to happen after all the other taint processing
-            PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
-                {
-                    if (HasAnyChildren && IsRoot(requestor))
-                        RecomputeLinksetConstraints();
-                });
-        }
-    }
-
-    // The object is going dynamic (physical). Do any setup necessary
-    //     for a dynamic linkset.
-    // Only the state of the passed object can be modified. The rest of the linkset
-    //     has not yet been fully constructed.
-    // Return 'true' if any properties updated on the passed object.
-    // Called at taint-time!
-    public override bool MakeDynamic(BSPhysObject child)
-    {
-        // What is done for each object in BSPrim is what we want.
-        return false;
-    }
-
-    // The object is going static (non-physical). Do any setup necessary for a static linkset.
-    // Return 'true' if any properties updated on the passed object.
-    // This doesn't normally happen -- OpenSim removes the objects from the physical
-    //     world if it is a static linkset.
-    // Called at taint-time!
-    public override bool MakeStatic(BSPhysObject child)
-    {
-        // What is done for each object in BSPrim is what we want.
-        return false;
-    }
-
-    // Called at taint-time!!
-    public override void UpdateProperties(BSPhysObject updated, bool inTaintTime)
-    {
-        // Nothing to do for constraints on property updates
-    }
-
-    // Routine called when rebuilding the body of some member of the linkset.
-    // Destroy all the constraints have have been made to root and set
-    //     up to rebuild the constraints before the next simulation step.
-    // Returns 'true' of something was actually removed and would need restoring
-    // Called at taint-time!!
-    public override bool RemoveBodyDependencies(BSPrim child)
-    {
-        bool ret = false;
-
-        DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
-                                    child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString);
-
-        lock (m_linksetActivityLock)
-        {
-            // Just undo all the constraints for this linkset. Rebuild at the end of the step.
-            ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
-            // Cause the constraints, et al to be rebuilt before the next simulation step.
-            Refresh(LinksetRoot);
-        }
-        return ret;
-    }
-
-    // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
-    // this routine will restore the removed constraints.
-    // Called at taint-time!!
-    public override void RestoreBodyDependencies(BSPrim child)
-    {
-        // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints.
-    }
-
-    // ================================================================
-
-    // Add a new child to the linkset.
-    // Called while LinkActivity is locked.
-    protected override void AddChildToLinkset(BSPhysObject child)
-    {
-        if (!HasChild(child))
-        {
-            m_children.Add(child);
-
-            DetailLog("{0},BSLinksetConstraints.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
-
-            // Cause constraints and assorted properties to be recomputed before the next simulation step.
-            Refresh(LinksetRoot);
-        }
-        return;
-    }
-
-    // Remove the specified child from the linkset.
-    // Safe to call even if the child is not really in my linkset.
-    protected override void RemoveChildFromLinkset(BSPhysObject child)
-    {
-        if (m_children.Remove(child))
-        {
-            BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
-            BSPhysObject childx = child;
-
-            DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
-                            childx.LocalID,
-                            rootx.LocalID, rootx.PhysBody.AddrString,
-                            childx.LocalID, childx.PhysBody.AddrString);
-
-            PhysicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate()
-            {
-                PhysicallyUnlinkAChildFromRoot(rootx, childx);
-            });
-            // See that the linkset parameters are recomputed at the end of the taint time.
-            Refresh(LinksetRoot);
-        }
-        else
-        {
-            // Non-fatal occurance.
-            // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader);
-        }
-        return;
-    }
-
-    // Create a constraint between me (root of linkset) and the passed prim (the child).
-    // Called at taint time!
-    private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
-    {
-        // Don't build the constraint when asked. Put it off until just before the simulation step.
-        Refresh(rootPrim);
-    }
-
-    private BSConstraint BuildConstraint(BSPhysObject rootPrim, BSPhysObject childPrim)
-    {
-        // Zero motion for children so they don't interpolate
-        childPrim.ZeroMotion(true);
-
-        // Relative position normalized to the root prim
-        // Essentually a vector pointing from center of rootPrim to center of childPrim
-        OMV.Vector3 childRelativePosition = childPrim.Position - rootPrim.Position;
-
-        // real world coordinate of midpoint between the two objects
-        OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2);
-
-        DetailLog("{0},BSLinksetConstraint.BuildConstraint,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
-                                        rootPrim.LocalID,
-                                        rootPrim.LocalID, rootPrim.PhysBody.AddrString,
-                                        childPrim.LocalID, childPrim.PhysBody.AddrString,
-                                        rootPrim.Position, childPrim.Position, midPoint);
-
-        // create a constraint that allows no freedom of movement between the two objects
-        // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
-
-        BSConstraint6Dof constrain = new BSConstraint6Dof(
-                            PhysicsScene.World, rootPrim.PhysBody, childPrim.PhysBody, midPoint, true, true );
-                            // PhysicsScene.World, childPrim.BSBody, rootPrim.BSBody, midPoint, true, true );
-
-        /* NOTE: below is an attempt to build constraint with full frame computation, etc.
-         *     Using the midpoint is easier since it lets the Bullet code manipulate the transforms
-         *     of the objects.
-         * Code left for future programmers.
-        // ==================================================================================
-        // relative position normalized to the root prim
-        OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation);
-        OMV.Vector3 childRelativePosition = (childPrim.Position - rootPrim.Position) * invThisOrientation;
-
-        // relative rotation of the child to the parent
-        OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation;
-        OMV.Quaternion inverseChildRelativeRotation = OMV.Quaternion.Inverse(childRelativeRotation);
-
-        DetailLog("{0},BSLinksetConstraint.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
-        BS6DofConstraint constrain = new BS6DofConstraint(
-                        PhysicsScene.World, rootPrim.Body, childPrim.Body,
-                        OMV.Vector3.Zero,
-                        OMV.Quaternion.Inverse(rootPrim.Orientation),
-                        OMV.Vector3.Zero,
-                        OMV.Quaternion.Inverse(childPrim.Orientation),
-                        true,
-                        true
-                        );
-        // ==================================================================================
-        */
-
-        PhysicsScene.Constraints.AddConstraint(constrain);
-
-        // zero linear and angular limits makes the objects unable to move in relation to each other
-        constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
-        constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
-
-        // tweek the constraint to increase stability
-        constrain.UseFrameOffset(BSParam.BoolNumeric(BSParam.LinkConstraintUseFrameOffset));
-        constrain.TranslationalLimitMotor(BSParam.BoolNumeric(BSParam.LinkConstraintEnableTransMotor),
-                        BSParam.LinkConstraintTransMotorMaxVel,
-                        BSParam.LinkConstraintTransMotorMaxForce);
-        constrain.SetCFMAndERP(BSParam.LinkConstraintCFM, BSParam.LinkConstraintERP);
-        if (BSParam.LinkConstraintSolverIterations != 0f)
-        {
-            constrain.SetSolverIterations(BSParam.LinkConstraintSolverIterations);
-        }
-        return constrain;
-    }
-
-    // Remove linkage between the linkset root and a particular child
-    // The root and child bodies are passed in because we need to remove the constraint between
-    //      the bodies that were present at unlink time.
-    // Called at taint time!
-    private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
-    {
-        bool ret = false;
-        DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
-                            rootPrim.LocalID,
-                            rootPrim.LocalID, rootPrim.PhysBody.AddrString,
-                            childPrim.LocalID, childPrim.PhysBody.AddrString);
-
-        // Find the constraint for this link and get rid of it from the overall collection and from my list
-        if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody))
-        {
-            // Make the child refresh its location
-            PhysicsScene.PE.PushUpdate(childPrim.PhysBody);
-            ret = true;
-        }
-
-        return ret;
-    }
-
-    // Remove linkage between myself and any possible children I might have.
-    // Returns 'true' of any constraints were destroyed.
-    // Called at taint time!
-    private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim)
-    {
-        DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
-
-        return PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody);
-    }
-
-    // Call each of the constraints that make up this linkset and recompute the
-    //    various transforms and variables. Create constraints of not created yet.
-    // Called before the simulation step to make sure the constraint based linkset
-    //    is all initialized.
-    // Called at taint time!!
-    private void RecomputeLinksetConstraints()
-    {
-        float linksetMass = LinksetMass;
-        LinksetRoot.UpdatePhysicalMassProperties(linksetMass, true);
-
-        DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}",
-                            LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, linksetMass);
-
-        foreach (BSPhysObject child in m_children)
-        {
-            // A child in the linkset physically shows the mass of the whole linkset.
-            // This allows Bullet to apply enough force on the child to move the whole linkset.
-            // (Also do the mass stuff before recomputing the constraint so mass is not zero.)
-            child.UpdatePhysicalMassProperties(linksetMass, true);
-
-            BSConstraint constrain;
-            if (!PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain))
-            {
-                // If constraint doesn't exist yet, create it.
-                constrain = BuildConstraint(LinksetRoot, child);
-            }
-            constrain.RecomputeConstraintVariables(linksetMass);
-
-            // PhysicsScene.PE.DumpConstraint(PhysicsScene.World, constrain.Constraint);    // DEBUG DEBUG
-        }
-
-    }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
deleted file mode 100755
index 69ac8cd..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ /dev/null
@@ -1,582 +0,0 @@
-/*
- * 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 OpenSim.Region.Physics.Manager;
-
-using OpenMetaverse;
-using Nini.Config;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-public static class BSParam
-{
-    // Level of Detail values kept as float because that's what the Meshmerizer wants
-    public static float MeshLOD { get; private set; }
-    public static float MeshMegaPrimLOD { get; private set; }
-    public static float MeshMegaPrimThreshold { get; private set; }
-    public static float SculptLOD { get; private set; }
-
-    public static float MinimumObjectMass { get; private set; }
-    public static float MaximumObjectMass { get; private set; }
-
-    public static float LinearDamping { get; private set; }
-    public static float AngularDamping { get; private set; }
-    public static float DeactivationTime { get; private set; }
-    public static float LinearSleepingThreshold { get; private set; }
-    public static float AngularSleepingThreshold { get; private set; }
-        public static float CcdMotionThreshold { get; private set; }
-        public static float CcdSweptSphereRadius { get; private set; }
-    public static float ContactProcessingThreshold { get; private set; }
-
-    public static bool ShouldMeshSculptedPrim { get; private set; }   // cause scuplted prims to get meshed
-    public static bool ShouldForceSimplePrimMeshing { get; private set; }   // if a cube or sphere, let Bullet do internal shapes
-    public static bool ShouldUseHullsForPhysicalObjects { get; private set; }   // 'true' if should create hulls for physical objects
-
-    public static float TerrainImplementation { get; private set; }
-    public static float TerrainFriction { get; private set; }
-    public static float TerrainHitFraction { get; private set; }
-    public static float TerrainRestitution { get; private set; }
-    public static float TerrainCollisionMargin { get; private set; }
-
-    // Avatar parameters
-    public static float AvatarFriction { get; private set; }
-    public static float AvatarStandingFriction { get; private set; }
-    public static float AvatarAlwaysRunFactor { get; private set; }
-    public static float AvatarDensity { get; private set; }
-    public static float AvatarRestitution { get; private set; }
-    public static float AvatarCapsuleWidth { get; private set; }
-    public static float AvatarCapsuleDepth { get; private set; }
-    public static float AvatarCapsuleHeight { get; private set; }
-        public static float AvatarContactProcessingThreshold { get; private set; }
-
-    public static float VehicleAngularDamping { get; private set; }
-
-    public static float LinksetImplementation { get; private set; }
-    public static float LinkConstraintUseFrameOffset { get; private set; }
-    public static float LinkConstraintEnableTransMotor { get; private set; }
-    public static float LinkConstraintTransMotorMaxVel { get; private set; }
-    public static float LinkConstraintTransMotorMaxForce { get; private set; }
-    public static float LinkConstraintERP { get; private set; }
-    public static float LinkConstraintCFM { get; private set; }
-    public static float LinkConstraintSolverIterations { get; private set; }
-
-    public static float PID_D { get; private set; }    // derivative
-    public static float PID_P { get; private set; }    // proportional
-
-    // Various constants that come from that other virtual world that shall not be named
-    public const float MinGravityZ = -1f;
-    public const float MaxGravityZ = 28f;
-    public const float MinFriction = 0f;
-    public const float MaxFriction = 255f;
-    public const float MinDensity = 0f;
-    public const float MaxDensity = 22587f;
-    public const float MinRestitution = 0f;
-    public const float MaxRestitution = 1f;
-    public const float MaxAddForceMagnitude = 20000f;
-
-    // ===========================================================================
-    public delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val);
-    public delegate float ParamGet(BSScene scene);
-    public delegate void ParamSet(BSScene scene, string paramName, uint localID, float val);
-    public delegate void SetOnObject(BSScene scene, BSPhysObject obj, float val);
-
-    public struct ParameterDefn
-    {
-        public string name;         // string name of the parameter
-        public string desc;         // a short description of what the parameter means
-        public float defaultValue;  // default value if not specified anywhere else
-        public ParamUser userParam; // get the value from the configuration file
-        public ParamGet getter;     // return the current value stored for this parameter
-        public ParamSet setter;     // set the current value for this parameter
-        public SetOnObject onObject;    // set the value on an object in the physical domain
-        public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s)
-        {
-            name = n;
-            desc = d;
-            defaultValue = v;
-            userParam = u;
-            getter = g;
-            setter = s;
-            onObject = null;
-        }
-        public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s, SetOnObject o)
-        {
-            name = n;
-            desc = d;
-            defaultValue = v;
-            userParam = u;
-            getter = g;
-            setter = s;
-            onObject = o;
-        }
-    }
-
-    // List of all of the externally visible parameters.
-    // For each parameter, this table maps a text name to getter and setters.
-    // To add a new externally referencable/settable parameter, add the paramter storage
-    //    location somewhere in the program and make an entry in this table with the
-    //    getters and setters.
-    // It is easiest to find an existing definition and copy it.
-    // Parameter values are floats. Booleans are converted to a floating value.
-    //
-    // A ParameterDefn() takes the following parameters:
-    //    -- the text name of the parameter. This is used for console input and ini file.
-    //    -- a short text description of the parameter. This shows up in the console listing.
-    //    -- a default value (float)
-    //    -- a delegate for fetching the parameter from the ini file.
-    //          Should handle fetching the right type from the ini file and converting it.
-    //    -- a delegate for getting the value as a float
-    //    -- a delegate for setting the value from a float
-    //    -- an optional delegate to update the value in the world. Most often used to
-    //          push the new value to an in-world object.
-    //
-    // The single letter parameters for the delegates are:
-    //    s = BSScene
-    //    o = BSPhysObject
-    //    p = string parameter name
-    //    l = localID of referenced object
-    //    v = value (float)
-    //    cf = parameter configuration class (for fetching values from ini file)
-    private static ParameterDefn[] ParameterDefinitions =
-    {
-        new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties",
-            ConfigurationParameters.numericTrue,
-            (s,cf,p,v) => { ShouldMeshSculptedPrim = cf.GetBoolean(p, BSParam.BoolNumeric(v)); },
-            (s) => { return BSParam.NumericBool(ShouldMeshSculptedPrim); },
-            (s,p,l,v) => { ShouldMeshSculptedPrim = BSParam.BoolNumeric(v); } ),
-        new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects",
-            ConfigurationParameters.numericFalse,
-            (s,cf,p,v) => { ShouldForceSimplePrimMeshing = cf.GetBoolean(p, BSParam.BoolNumeric(v)); },
-            (s) => { return BSParam.NumericBool(ShouldForceSimplePrimMeshing); },
-            (s,p,l,v) => { ShouldForceSimplePrimMeshing = BSParam.BoolNumeric(v); } ),
-        new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects",
-            ConfigurationParameters.numericTrue,
-            (s,cf,p,v) => { ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, BSParam.BoolNumeric(v)); },
-            (s) => { return BSParam.NumericBool(ShouldUseHullsForPhysicalObjects); },
-            (s,p,l,v) => { ShouldUseHullsForPhysicalObjects = BSParam.BoolNumeric(v); } ),
-
-        new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)",
-            8f,
-            (s,cf,p,v) => { MeshLOD = (float)cf.GetInt(p, (int)v); },
-            (s) => { return MeshLOD; },
-            (s,p,l,v) => { MeshLOD = v; } ),
-        new ParameterDefn("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters",
-            16f,
-            (s,cf,p,v) => { MeshMegaPrimLOD = (float)cf.GetInt(p, (int)v); },
-            (s) => { return MeshMegaPrimLOD; },
-            (s,p,l,v) => { MeshMegaPrimLOD = v; } ),
-        new ParameterDefn("MeshLevelOfDetailMegaPrimThreshold", "Size (in meters) of a mesh before using MeshMegaPrimLOD",
-            10f,
-            (s,cf,p,v) => { MeshMegaPrimThreshold = (float)cf.GetInt(p, (int)v); },
-            (s) => { return MeshMegaPrimThreshold; },
-            (s,p,l,v) => { MeshMegaPrimThreshold = v; } ),
-        new ParameterDefn("SculptLevelOfDetail", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)",
-            32f,
-            (s,cf,p,v) => { SculptLOD = (float)cf.GetInt(p, (int)v); },
-            (s) => { return SculptLOD; },
-            (s,p,l,v) => { SculptLOD = v; } ),
-
-        new ParameterDefn("MaxSubStep", "In simulation step, maximum number of substeps",
-            10f,
-            (s,cf,p,v) => { s.m_maxSubSteps = cf.GetInt(p, (int)v); },
-            (s) => { return (float)s.m_maxSubSteps; },
-            (s,p,l,v) => { s.m_maxSubSteps = (int)v; } ),
-        new ParameterDefn("FixedTimeStep", "In simulation step, seconds of one substep (1/60)",
-            1f / 60f,
-            (s,cf,p,v) => { s.m_fixedTimeStep = cf.GetFloat(p, v); },
-            (s) => { return (float)s.m_fixedTimeStep; },
-            (s,p,l,v) => { s.m_fixedTimeStep = v; } ),
-        new ParameterDefn("NominalFrameRate", "The base frame rate we claim",
-            55f,
-            (s,cf,p,v) => { s.NominalFrameRate = cf.GetInt(p, (int)v); },
-            (s) => { return (float)s.NominalFrameRate; },
-            (s,p,l,v) => { s.NominalFrameRate = (int)v; } ),
-        new ParameterDefn("MaxCollisionsPerFrame", "Max collisions returned at end of each frame",
-            2048f,
-            (s,cf,p,v) => { s.m_maxCollisionsPerFrame = cf.GetInt(p, (int)v); },
-            (s) => { return (float)s.m_maxCollisionsPerFrame; },
-            (s,p,l,v) => { s.m_maxCollisionsPerFrame = (int)v; } ),
-        new ParameterDefn("MaxUpdatesPerFrame", "Max updates returned at end of each frame",
-            8000f,
-            (s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); },
-            (s) => { return (float)s.m_maxUpdatesPerFrame; },
-            (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ),
-        new ParameterDefn("MaxTaintsToProcessPerStep", "Number of update taints to process before each simulation step",
-            500f,
-            (s,cf,p,v) => { s.m_taintsToProcessPerStep = cf.GetInt(p, (int)v); },
-            (s) => { return (float)s.m_taintsToProcessPerStep; },
-            (s,p,l,v) => { s.m_taintsToProcessPerStep = (int)v; } ),
-        new ParameterDefn("MinObjectMass", "Minimum object mass (0.0001)",
-            0.0001f,
-            (s,cf,p,v) => { MinimumObjectMass = cf.GetFloat(p, v); },
-            (s) => { return (float)MinimumObjectMass; },
-            (s,p,l,v) => { MinimumObjectMass = v; } ),
-        new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)",
-            10000.01f,
-            (s,cf,p,v) => { MaximumObjectMass = cf.GetFloat(p, v); },
-            (s) => { return (float)MaximumObjectMass; },
-            (s,p,l,v) => { MaximumObjectMass = v; } ),
-
-        new ParameterDefn("PID_D", "Derivitive factor for motion smoothing",
-            2200f,
-            (s,cf,p,v) => { PID_D = cf.GetFloat(p, v); },
-            (s) => { return (float)PID_D; },
-            (s,p,l,v) => { PID_D = v; } ),
-        new ParameterDefn("PID_P", "Parameteric factor for motion smoothing",
-            900f,
-            (s,cf,p,v) => { PID_P = cf.GetFloat(p, v); },
-            (s) => { return (float)PID_P; },
-            (s,p,l,v) => { PID_P = v; } ),
-
-        new ParameterDefn("DefaultFriction", "Friction factor used on new objects",
-            0.2f,
-            (s,cf,p,v) => { s.UnmanagedParams[0].defaultFriction = cf.GetFloat(p, v); },
-            (s) => { return s.UnmanagedParams[0].defaultFriction; },
-            (s,p,l,v) => { s.UnmanagedParams[0].defaultFriction = v; } ),
-        new ParameterDefn("DefaultDensity", "Density for new objects" ,
-            10.000006836f,  // Aluminum g/cm3
-            (s,cf,p,v) => { s.UnmanagedParams[0].defaultDensity = cf.GetFloat(p, v); },
-            (s) => { return s.UnmanagedParams[0].defaultDensity; },
-            (s,p,l,v) => { s.UnmanagedParams[0].defaultDensity = v; } ),
-        new ParameterDefn("DefaultRestitution", "Bouncyness of an object" ,
-            0f,
-            (s,cf,p,v) => { s.UnmanagedParams[0].defaultRestitution = cf.GetFloat(p, v); },
-            (s) => { return s.UnmanagedParams[0].defaultRestitution; },
-            (s,p,l,v) => { s.UnmanagedParams[0].defaultRestitution = v; } ),
-        new ParameterDefn("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)",
-            0.04f,
-            (s,cf,p,v) => { s.UnmanagedParams[0].collisionMargin = cf.GetFloat(p, v); },
-            (s) => { return s.UnmanagedParams[0].collisionMargin; },
-            (s,p,l,v) => { s.UnmanagedParams[0].collisionMargin = v; } ),
-        new ParameterDefn("Gravity", "Vertical force of gravity (negative means down)",
-            -9.80665f,
-            (s,cf,p,v) => { s.UnmanagedParams[0].gravity = cf.GetFloat(p, v); },
-            (s) => { return s.UnmanagedParams[0].gravity; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{s.UnmanagedParams[0].gravity=x;}, p, PhysParameterEntry.APPLY_TO_NONE, v); },
-            (s,o,v) => { s.PE.SetGravity(o.PhysBody, new Vector3(0f,0f,v)); } ),
-
-
-        new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)",
-            0f,
-            (s,cf,p,v) => { LinearDamping = cf.GetFloat(p, v); },
-            (s) => { return LinearDamping; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearDamping=x;}, p, l, v); },
-            (s,o,v) => { s.PE.SetDamping(o.PhysBody, v, AngularDamping); } ),
-        new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)",
-            0f,
-            (s,cf,p,v) => { AngularDamping = cf.GetFloat(p, v); },
-            (s) => { return AngularDamping; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularDamping=x;}, p, l, v); },
-            (s,o,v) => { s.PE.SetDamping(o.PhysBody, LinearDamping, v); } ),
-        new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static",
-            0.2f,
-            (s,cf,p,v) => { DeactivationTime = cf.GetFloat(p, v); },
-            (s) => { return DeactivationTime; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{DeactivationTime=x;}, p, l, v); },
-            (s,o,v) => { s.PE.SetDeactivationTime(o.PhysBody, v); } ),
-        new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static",
-            0.8f,
-            (s,cf,p,v) => { LinearSleepingThreshold = cf.GetFloat(p, v); },
-            (s) => { return LinearSleepingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearSleepingThreshold=x;}, p, l, v); },
-            (s,o,v) => { s.PE.SetSleepingThresholds(o.PhysBody, v, v); } ),
-        new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static",
-            1.0f,
-            (s,cf,p,v) => { AngularSleepingThreshold = cf.GetFloat(p, v); },
-            (s) => { return AngularSleepingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularSleepingThreshold=x;}, p, l, v); },
-            (s,o,v) => { s.PE.SetSleepingThresholds(o.PhysBody, v, v); } ),
-        new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ,
-            0f,     // set to zero to disable
-            (s,cf,p,v) => { CcdMotionThreshold = cf.GetFloat(p, v); },
-            (s) => { return CcdMotionThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdMotionThreshold=x;}, p, l, v); },
-            (s,o,v) => { s.PE.SetCcdMotionThreshold(o.PhysBody, v); } ),
-        new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" ,
-            0f,
-            (s,cf,p,v) => { CcdSweptSphereRadius = cf.GetFloat(p, v); },
-            (s) => { return CcdSweptSphereRadius; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdSweptSphereRadius=x;}, p, l, v); },
-            (s,o,v) => { s.PE.SetCcdSweptSphereRadius(o.PhysBody, v); } ),
-        new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" ,
-            0.1f,
-            (s,cf,p,v) => { ContactProcessingThreshold = cf.GetFloat(p, v); },
-            (s) => { return ContactProcessingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{ContactProcessingThreshold=x;}, p, l, v); },
-            (s,o,v) => { s.PE.SetContactProcessingThreshold(o.PhysBody, v); } ),
-
-            new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)",
-            (float)BSTerrainPhys.TerrainImplementation.Mesh,
-            (s,cf,p,v) => { TerrainImplementation = cf.GetFloat(p,v); },
-            (s) => { return TerrainImplementation; },
-            (s,p,l,v) => { TerrainImplementation = v; } ),
-        new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" ,
-            0.3f,
-            (s,cf,p,v) => { TerrainFriction = cf.GetFloat(p, v); },
-            (s) => { return TerrainFriction; },
-            (s,p,l,v) => { TerrainFriction = v;  /* TODO: set on real terrain */} ),
-        new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" ,
-            0.8f,
-            (s,cf,p,v) => { TerrainHitFraction = cf.GetFloat(p, v); },
-            (s) => { return TerrainHitFraction; },
-            (s,p,l,v) => { TerrainHitFraction = v; /* TODO: set on real terrain */ } ),
-        new ParameterDefn("TerrainRestitution", "Bouncyness" ,
-            0f,
-            (s,cf,p,v) => { TerrainRestitution = cf.GetFloat(p, v); },
-            (s) => { return TerrainRestitution; },
-            (s,p,l,v) => { TerrainRestitution = v;  /* TODO: set on real terrain */ } ),
-        new ParameterDefn("TerrainCollisionMargin", "Margin where collision checking starts" ,
-            0.04f,
-            (s,cf,p,v) => { TerrainCollisionMargin = cf.GetFloat(p, v); },
-            (s) => { return TerrainCollisionMargin; },
-            (s,p,l,v) => { TerrainCollisionMargin = v;  /* TODO: set on real terrain */ } ),
-
-        new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.",
-            0.2f,
-            (s,cf,p,v) => { AvatarFriction = cf.GetFloat(p, v); },
-            (s) => { return AvatarFriction; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarFriction=x;}, p, l, v); } ),
-        new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
-            10.0f,
-            (s,cf,p,v) => { AvatarStandingFriction = cf.GetFloat(p, v); },
-            (s) => { return AvatarStandingFriction; },
-            (s,p,l,v) => { AvatarStandingFriction = v; } ),
-        new ParameterDefn("AvatarAlwaysRunFactor", "Speed multiplier if avatar is set to always run",
-            1.3f,
-            (s,cf,p,v) => { AvatarAlwaysRunFactor = cf.GetFloat(p, v); },
-            (s) => { return AvatarAlwaysRunFactor; },
-            (s,p,l,v) => { AvatarAlwaysRunFactor = v; } ),
-        new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
-            3.5f,
-            (s,cf,p,v) => { AvatarDensity = cf.GetFloat(p, v); },
-            (s) => { return AvatarDensity; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarDensity=x;}, p, l, v); } ),
-        new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.",
-            0f,
-            (s,cf,p,v) => { AvatarRestitution = cf.GetFloat(p, v); },
-            (s) => { return AvatarRestitution; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarRestitution=x;}, p, l, v); } ),
-        new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule",
-            0.6f,
-            (s,cf,p,v) => { AvatarCapsuleWidth = cf.GetFloat(p, v); },
-            (s) => { return AvatarCapsuleWidth; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleWidth=x;}, p, l, v); } ),
-        new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule",
-            0.45f,
-            (s,cf,p,v) => { AvatarCapsuleDepth = cf.GetFloat(p, v); },
-            (s) => { return AvatarCapsuleDepth; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleDepth=x;}, p, l, v); } ),
-        new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar",
-            1.5f,
-            (s,cf,p,v) => { AvatarCapsuleHeight = cf.GetFloat(p, v); },
-            (s) => { return AvatarCapsuleHeight; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleHeight=x;}, p, l, v); } ),
-            new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions",
-            0.1f,
-            (s,cf,p,v) => { AvatarContactProcessingThreshold = cf.GetFloat(p, v); },
-            (s) => { return AvatarContactProcessingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarContactProcessingThreshold=x;}, p, l, v); } ),
-
-        new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)",
-            0.95f,
-            (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); },
-            (s) => { return VehicleAngularDamping; },
-            (s,p,l,v) => { VehicleAngularDamping = v; } ),
-
-            new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
-            0f,
-            (s,cf,p,v) => { s.UnmanagedParams[0].maxPersistantManifoldPoolSize = cf.GetFloat(p, v); },
-            (s) => { return s.UnmanagedParams[0].maxPersistantManifoldPoolSize; },
-            (s,p,l,v) => { s.UnmanagedParams[0].maxPersistantManifoldPoolSize = v; } ),
-            new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)",
-            0f,
-            (s,cf,p,v) => { s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); },
-            (s) => { return s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize; },
-            (s,p,l,v) => { s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = v; } ),
-            new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count",
-            ConfigurationParameters.numericFalse,
-            (s,cf,p,v) => { s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
-            (s) => { return s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation; },
-            (s,p,l,v) => { s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = v; } ),
-            new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step",
-            ConfigurationParameters.numericFalse,
-            (s,cf,p,v) => { s.UnmanagedParams[0].shouldForceUpdateAllAabbs = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
-            (s) => { return s.UnmanagedParams[0].shouldForceUpdateAllAabbs; },
-            (s,p,l,v) => { s.UnmanagedParams[0].shouldForceUpdateAllAabbs = v; } ),
-            new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction",
-            ConfigurationParameters.numericTrue,
-            (s,cf,p,v) => { s.UnmanagedParams[0].shouldRandomizeSolverOrder = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
-            (s) => { return s.UnmanagedParams[0].shouldRandomizeSolverOrder; },
-            (s,p,l,v) => { s.UnmanagedParams[0].shouldRandomizeSolverOrder = v; } ),
-            new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands",
-            ConfigurationParameters.numericTrue,
-            (s,cf,p,v) => { s.UnmanagedParams[0].shouldSplitSimulationIslands = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
-            (s) => { return s.UnmanagedParams[0].shouldSplitSimulationIslands; },
-            (s,p,l,v) => { s.UnmanagedParams[0].shouldSplitSimulationIslands = v; } ),
-            new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching",
-            ConfigurationParameters.numericFalse,
-            (s,cf,p,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
-            (s) => { return s.UnmanagedParams[0].shouldEnableFrictionCaching; },
-            (s,p,l,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = v; } ),
-            new ParameterDefn("NumberOfSolverIterations", "Number of internal iterations (0 means default)",
-            0f,     // zero says use Bullet default
-            (s,cf,p,v) => { s.UnmanagedParams[0].numberOfSolverIterations = cf.GetFloat(p, v); },
-            (s) => { return s.UnmanagedParams[0].numberOfSolverIterations; },
-            (s,p,l,v) => { s.UnmanagedParams[0].numberOfSolverIterations = v; } ),
-
-            new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)",
-            (float)BSLinkset.LinksetImplementation.Compound,
-            (s,cf,p,v) => { LinksetImplementation = cf.GetFloat(p,v); },
-            (s) => { return LinksetImplementation; },
-            (s,p,l,v) => { LinksetImplementation = v; } ),
-            new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.",
-            ConfigurationParameters.numericFalse,
-            (s,cf,p,v) => { LinkConstraintUseFrameOffset = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
-            (s) => { return LinkConstraintUseFrameOffset; },
-            (s,p,l,v) => { LinkConstraintUseFrameOffset = v; } ),
-            new ParameterDefn("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints",
-            ConfigurationParameters.numericTrue,
-            (s,cf,p,v) => { LinkConstraintEnableTransMotor = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
-            (s) => { return LinkConstraintEnableTransMotor; },
-            (s,p,l,v) => { LinkConstraintEnableTransMotor = v; } ),
-            new ParameterDefn("LinkConstraintTransMotorMaxVel", "Maximum velocity to be applied by translational motor in linkset constraints",
-            5.0f,
-            (s,cf,p,v) => { LinkConstraintTransMotorMaxVel = cf.GetFloat(p, v); },
-            (s) => { return LinkConstraintTransMotorMaxVel; },
-            (s,p,l,v) => { LinkConstraintTransMotorMaxVel = v; } ),
-            new ParameterDefn("LinkConstraintTransMotorMaxForce", "Maximum force to be applied by translational motor in linkset constraints",
-            0.1f,
-            (s,cf,p,v) => { LinkConstraintTransMotorMaxForce = cf.GetFloat(p, v); },
-            (s) => { return LinkConstraintTransMotorMaxForce; },
-            (s,p,l,v) => { LinkConstraintTransMotorMaxForce = v; } ),
-            new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1",
-            0.1f,
-            (s,cf,p,v) => { LinkConstraintCFM = cf.GetFloat(p, v); },
-            (s) => { return LinkConstraintCFM; },
-            (s,p,l,v) => { LinkConstraintCFM = v; } ),
-            new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2",
-            0.1f,
-            (s,cf,p,v) => { LinkConstraintERP = cf.GetFloat(p, v); },
-            (s) => { return LinkConstraintERP; },
-            (s,p,l,v) => { LinkConstraintERP = v; } ),
-            new ParameterDefn("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)",
-            40,
-            (s,cf,p,v) => { LinkConstraintSolverIterations = cf.GetFloat(p, v); },
-            (s) => { return LinkConstraintSolverIterations; },
-            (s,p,l,v) => { LinkConstraintSolverIterations = v; } ),
-
-        new ParameterDefn("PhysicsMetricFrames", "Frames between outputting detailed phys metrics. (0 is off)",
-            0f,
-            (s,cf,p,v) => { s.PhysicsMetricDumpFrames = cf.GetFloat(p, (int)v); },
-            (s) => { return (float)s.PhysicsMetricDumpFrames; },
-            (s,p,l,v) => { s.PhysicsMetricDumpFrames = (int)v; } ),
-    };
-
-    // Convert a boolean to our numeric true and false values
-    public static float NumericBool(bool b)
-    {
-        return (b ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse);
-    }
-
-    // Convert numeric true and false values to a boolean
-    public static bool BoolNumeric(float b)
-    {
-        return (b == ConfigurationParameters.numericTrue ? true : false);
-    }
-
-    // Search through the parameter definitions and return the matching
-    //    ParameterDefn structure.
-    // Case does not matter as names are compared after converting to lower case.
-    // Returns 'false' if the parameter is not found.
-    internal static bool TryGetParameter(string paramName, out ParameterDefn defn)
-    {
-        bool ret = false;
-        ParameterDefn foundDefn = new ParameterDefn();
-        string pName = paramName.ToLower();
-
-        foreach (ParameterDefn parm in ParameterDefinitions)
-        {
-            if (pName == parm.name.ToLower())
-            {
-                foundDefn = parm;
-                ret = true;
-                break;
-            }
-        }
-        defn = foundDefn;
-        return ret;
-    }
-
-    // Pass through the settable parameters and set the default values
-    internal static void SetParameterDefaultValues(BSScene physicsScene)
-    {
-        foreach (ParameterDefn parm in ParameterDefinitions)
-        {
-            parm.setter(physicsScene, parm.name, PhysParameterEntry.APPLY_TO_NONE, parm.defaultValue);
-        }
-    }
-
-    // Get user set values out of the ini file.
-    internal static void SetParameterConfigurationValues(BSScene physicsScene, IConfig cfg)
-    {
-        foreach (ParameterDefn parm in ParameterDefinitions)
-        {
-            parm.userParam(physicsScene, cfg, parm.name, parm.defaultValue);
-        }
-    }
-
-    internal static PhysParameterEntry[] SettableParameters = new PhysParameterEntry[1];
-
-    // This creates an array in the correct format for returning the list of
-    //    parameters. This is used by the 'list' option of the 'physics' command.
-    internal static void BuildParameterTable()
-    {
-        if (SettableParameters.Length < ParameterDefinitions.Length)
-        {
-            List<PhysParameterEntry> entries = new List<PhysParameterEntry>();
-            for (int ii = 0; ii < ParameterDefinitions.Length; ii++)
-            {
-                ParameterDefn pd = ParameterDefinitions[ii];
-                entries.Add(new PhysParameterEntry(pd.name, pd.desc));
-            }
-
-            // make the list in alphabetical order for estetic reasons
-            entries.Sort(delegate(PhysParameterEntry ppe1, PhysParameterEntry ppe2)
-            {
-                return ppe1.name.CompareTo(ppe2.name);
-            });
-
-            SettableParameters = entries.ToArray();
-        }
-    }
-
-
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
deleted file mode 100755
index e7cb3e0..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ /dev/null
@@ -1,386 +0,0 @@
-/*
- * 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.
- */
-
-/*
- * As of 20121221, the following are the call sequences (going down) for different script physical functions:
- * llApplyImpulse       llApplyRotImpulse           llSetTorque             llSetForce
- * SOP.ApplyImpulse     SOP.ApplyAngularImpulse     SOP.SetAngularImpulse   SOP.SetForce
- * SOG.ApplyImpulse     SOG.ApplyAngularImpulse     SOG.SetAngularImpulse
- * PA.AddForce          PA.AddAngularForce          PA.Torque = v           PA.Force = v
- * BS.ApplyCentralForce BS.ApplyTorque              
- */
-
-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;
-
-        // We don't have any physical representation yet.
-        PhysBody = new BulletBody(localID);
-        PhysShape = new BulletShape();
-
-        // A linkset of just me
-        Linkset = BSLinkset.Factory(PhysicsScene, this);
-        LastAssetBuildFailed = false;
-
-        // Default material type
-        Material = MaterialAttributes.Material.Wood;
-
-        CollisionCollection = new CollisionEventUpdate();
-        SubscribedEventsMs = 0;
-        CollidingStep = 0;
-        CollidingGroundStep = 0;
-    }
-
-    // Tell the object to clean up.
-    public virtual void Destroy()
-    {
-        UnRegisterAllPreStepActions();
-    }
-
-    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; }
-    public BSLinksetInfo LinksetInfo { 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, ...)
-    // 'inWorld' true if the object has already been added to the dynamic world.
-    public abstract void UpdatePhysicalMassProperties(float mass, bool inWorld);
-
-    // 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 BSPhysicsShapeType PreferredPhysicalShape
-    {
-        get { return BSPhysicsShapeType.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 virtual OMV.Vector3 Scale { get; set; }
-    public abstract bool IsSolid { get; }
-    public abstract bool IsStatic { get; }
-
-    // Materialness
-    public MaterialAttributes.Material Material { get; private set; }
-    public override void SetMaterial(int material)
-    {
-        Material = (MaterialAttributes.Material)material;
-    }
-
-    // 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);
-
-    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; }
-
-    // The system is telling us the velocity it wants to move at.
-    // protected OMV.Vector3 m_targetVelocity;  // use the definition in PhysicsActor
-    public override OMV.Vector3 TargetVelocity
-    {
-        get { return m_targetVelocity; }
-        set
-        {
-            m_targetVelocity = value;
-            Velocity = value;
-        }
-    }
-    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 simulation step that last collided with an object
-    protected long CollidingObjectStep { get; set; }
-    // The collision flags we think are set in Bullet
-    protected CollisionFlags CurrentCollisionFlags { get; set; }
-
-    public override bool IsColliding {
-        get { return (CollidingStep == PhysicsScene.SimulationStep); }
-        set {
-            if (value)
-                CollidingStep = PhysicsScene.SimulationStep;
-            else
-                CollidingStep = 0;
-            }
-    }
-    public override bool CollidingGround {
-        get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
-        set
-        {
-            if (value)
-                CollidingGroundStep = PhysicsScene.SimulationStep;
-            else
-                CollidingGroundStep = 0;
-        }
-    }
-    public override bool CollidingObj {
-        get { return (CollidingObjectStep == PhysicsScene.SimulationStep); }
-        set { 
-            if (value)
-                CollidingObjectStep = PhysicsScene.SimulationStep;
-            else
-                CollidingObjectStep = 0;
-        }
-    }
-
-    // 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(), CollidingGround() and CollidingObj work
-        CollidingStep = PhysicsScene.SimulationStep;
-        if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID)
-        {
-            CollidingGroundStep = PhysicsScene.SimulationStep;
-        }
-        else
-        {
-            CollidingObjectStep = 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 instance 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.
-            //    This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here, 
-            //    a race condition is created for the other users of this instance.
-            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()
-            {
-                if (PhysBody.HasPhysicalBody)
-                    CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, 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()
-        {
-            // Make sure there is a body there because sometimes destruction happens in an un-ideal order.
-            if (PhysBody.HasPhysicalBody)
-                CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
-        });
-    }
-    // Return 'true' if the simulator wants collision events
-    public override bool SubscribedEvents() {
-        return (SubscribedEventsMs > 0);
-    }
-
-    #endregion // Collisions
-
-    #region Per Simulation Step actions
-    // There are some actions that must be performed for a physical object before each simulation step.
-    // These actions are optional so, rather than scanning all the physical objects and asking them
-    //     if they have anything to do, a physical object registers for an event call before the step is performed.
-    // This bookkeeping makes it easy to add, remove and clean up after all these registrations.
-    private Dictionary<string, BSScene.PreStepAction> RegisteredActions = new Dictionary<string, BSScene.PreStepAction>();
-    protected void RegisterPreStepAction(string op, uint id, BSScene.PreStepAction actn)
-    {
-        string identifier = op + "-" + id.ToString();
-        RegisteredActions[identifier] = actn;
-        PhysicsScene.BeforeStep += actn;
-        DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier);
-    }
-
-    // Unregister a pre step action. Safe to call if the action has not been registered.
-    protected void UnRegisterPreStepAction(string op, uint id)
-    {
-        string identifier = op + "-" + id.ToString();
-        bool removed = false;
-        if (RegisteredActions.ContainsKey(identifier))
-        {
-            PhysicsScene.BeforeStep -= RegisteredActions[identifier];
-            RegisteredActions.Remove(identifier);
-            removed = true;
-        }
-        DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed);
-    }
-
-    protected void UnRegisterAllPreStepActions()
-    {
-        foreach (KeyValuePair<string, BSScene.PreStepAction> kvp in RegisteredActions)
-        {
-            PhysicsScene.BeforeStep -= kvp.Value;
-        }
-        RegisteredActions.Clear();
-        DetailLog("{0},BSPhysObject.UnRegisterAllPreStepActions,", LocalID);
-    }
-
-    
-    #endregion // Per Simulation Step actions
-
-    // 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);
-    }
-
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs
deleted file mode 100644
index 65be52a..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs
+++ /dev/null
@@ -1,76 +0,0 @@
-/*
- * 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 OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-    /// <summary>
-    /// Entry for a port of Bullet (http://bulletphysics.org/) to OpenSim.
-    /// This module interfaces to an unmanaged C++ library which makes the
-    /// actual calls into the Bullet physics engine.
-    /// The unmanaged library is found in opensim-libs::trunk/unmanaged/BulletSim/.
-    /// The unmanaged library is compiled and linked statically with Bullet
-    /// to create BulletSim.dll and libBulletSim.so (for both 32 and 64 bit).
-    /// </summary>
-public class BSPlugin : IPhysicsPlugin
-{
-    //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
-
-    private BSScene _mScene;
-
-    public BSPlugin()
-    {
-    }
-
-    public bool Init()
-    {
-        return true;
-    }
-
-    public PhysicsScene GetScene(String sceneIdentifier)
-    {
-        if (_mScene == null)
-        {
-            _mScene = new BSScene(sceneIdentifier);
-        }
-        return (_mScene);
-    }
-
-    public string GetName()
-    {
-        return ("BulletSim");
-    }
-
-    public void Dispose()
-    {
-    }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
deleted file mode 100644
index 826261c..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ /dev/null
@@ -1,1513 +0,0 @@
-/*
- * 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.Reflection;
-using System.Collections.Generic;
-using System.Xml;
-using log4net;
-using OMV = OpenMetaverse;
-using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-using OpenSim.Region.Physics.ConvexDecompositionDotNet;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-
-    [Serializable]
-public sealed class BSPrim : BSPhysObject
-{
-    private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
-    private static readonly string LogHeader = "[BULLETS PRIM]";
-
-    // _size is what the user passed. Scale is what we pass to the physics engine with the mesh.
-    private OMV.Vector3 _size;  // the multiplier for each mesh dimension as passed by the user
-
-    private bool _grabbed;
-    private bool _isSelected;
-    private bool _isVolumeDetect;
-    private OMV.Vector3 _position;
-    private float _mass;    // the mass of this object
-    private float _density;
-    private OMV.Vector3 _force;
-    private OMV.Vector3 _velocity;
-    private OMV.Vector3 _torque;
-    private float _collisionScore;
-    private OMV.Vector3 _acceleration;
-    private OMV.Quaternion _orientation;
-    private int _physicsActorType;
-    private bool _isPhysical;
-    private bool _flying;
-    private float _friction;
-    private float _restitution;
-    private bool _setAlwaysRun;
-    private bool _throttleUpdates;
-    private bool _isColliding;
-    private bool _collidingGround;
-    private bool _collidingObj;
-    private bool _floatOnWater;
-    private OMV.Vector3 _rotationalVelocity;
-    private bool _kinematic;
-    private float _buoyancy;
-
-    private BSDynamics _vehicle;
-
-    private OMV.Vector3 _PIDTarget;
-    private bool _usePID;
-    private float _PIDTau;
-    private bool _useHoverPID;
-    private float _PIDHoverHeight;
-    private PIDHoverType _PIDHoverType;
-    private float _PIDHoverTao;
-
-    public BSPrim(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
-                       OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
-            : base(parent_scene, localID, primName, "BSPrim")
-    {
-        // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID);
-        _physicsActorType = (int)ActorTypes.Prim;
-        _position = pos;
-        _size = size;
-        Scale = size;   // prims are the size the user wants them to be (different for BSCharactes).
-        _orientation = rotation;
-        _buoyancy = 0f;
-        _velocity = OMV.Vector3.Zero;
-        _rotationalVelocity = OMV.Vector3.Zero;
-        BaseShape = pbs;
-        _isPhysical = pisPhysical;
-        _isVolumeDetect = false;
-
-        // Someday set default attributes based on the material but, for now, we don't know the prim material yet.
-        // MaterialAttributes primMat = BSMaterials.GetAttributes(Material, pisPhysical);
-        _density = PhysicsScene.Params.defaultDensity;
-        _friction = PhysicsScene.Params.defaultFriction;
-        _restitution = PhysicsScene.Params.defaultRestitution;
-
-        _vehicle = new BSDynamics(PhysicsScene, this);            // add vehicleness
-
-        _mass = CalculateMass();
-
-        // Cause linkset variables to be initialized (like mass)
-        Linkset.Refresh(this);
-
-        DetailLog("{0},BSPrim.constructor,call", LocalID);
-        // do the actual object creation at taint time
-        PhysicsScene.TaintedObject("BSPrim.create", delegate()
-        {
-            CreateGeomAndObject(true);
-
-            CurrentCollisionFlags = PhysicsScene.PE.GetCollisionFlags(PhysBody);
-        });
-    }
-
-    // called when this prim is being destroyed and we should free all the resources
-    public override void Destroy()
-    {
-        // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID);
-        base.Destroy();
-
-        // Undo any links between me and any other object
-        BSPhysObject parentBefore = Linkset.LinksetRoot;
-        int childrenBefore = Linkset.NumberOfChildren;
-
-        Linkset = Linkset.RemoveMeFromLinkset(this);
-
-        DetailLog("{0},BSPrim.Destroy,call,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}",
-            LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
-
-        // Undo any vehicle properties
-        this.VehicleType = (int)Vehicle.TYPE_NONE;
-
-        PhysicsScene.TaintedObject("BSPrim.destroy", delegate()
-        {
-            DetailLog("{0},BSPrim.Destroy,taint,", LocalID);
-            // If there are physical body and shape, release my use of same.
-            PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
-            PhysBody.Clear();
-            PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
-            PhysShape.Clear();
-        });
-    }
-
-    // No one uses this property.
-    public override bool Stopped {
-        get { return false; }
-    }
-    public override OMV.Vector3 Size {
-        get { return _size; }
-        set {
-            // We presume the scale and size are the same. If scale must be changed for
-            //     the physical shape, that is done when the geometry is built.
-            _size = value;
-            Scale = _size;
-            ForceBodyShapeRebuild(false);
-        }
-    }
-
-    public override PrimitiveBaseShape Shape {
-        set {
-            BaseShape = value;
-            ForceBodyShapeRebuild(false);
-        }
-    }
-    // Whatever the linkset wants is what I want.
-    public override BSPhysicsShapeType PreferredPhysicalShape
-        { get { return Linkset.PreferredPhysicalShape(this); } }
-
-    public override bool ForceBodyShapeRebuild(bool inTaintTime)
-    {
-        LastAssetBuildFailed = false;
-        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ForceBodyShapeRebuild", delegate()
-        {
-            _mass = CalculateMass();   // changing the shape changes the mass
-            CreateGeomAndObject(true);
-        });
-        return true;
-    }
-    public override bool Grabbed {
-        set { _grabbed = value;
-        }
-    }
-    public override bool Selected {
-        set
-        {
-            if (value != _isSelected)
-            {
-                _isSelected = value;
-                PhysicsScene.TaintedObject("BSPrim.setSelected", delegate()
-                {
-                    DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected);
-                    SetObjectDynamic(false);
-                });
-            }
-        }
-    }
-    public override void CrossingFailure() { return; }
-
-    // link me to the specified parent
-    public override void link(PhysicsActor obj) {
-        BSPrim parent = obj as BSPrim;
-        if (parent != null)
-        {
-            BSPhysObject parentBefore = Linkset.LinksetRoot;
-            int childrenBefore = Linkset.NumberOfChildren;
-
-            Linkset = parent.Linkset.AddMeToLinkset(this);
-
-            DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}",
-                LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
-        }
-        return;
-    }
-
-    // delink me from my linkset
-    public override void delink() {
-        // TODO: decide if this parent checking needs to happen at taint time
-        // Race condition here: if link() and delink() in same simulation tick, the delink will not happen
-
-        BSPhysObject parentBefore = Linkset.LinksetRoot;
-        int childrenBefore = Linkset.NumberOfChildren;
-
-        Linkset = Linkset.RemoveMeFromLinkset(this);
-
-        DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ",
-            LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
-        return;
-    }
-
-    // Set motion values to zero.
-    // Do it to the properties so the values get set in the physics engine.
-    // Push the setting of the values to the viewer.
-    // Called at taint time!
-    public override void ZeroMotion(bool inTaintTime)
-    {
-        _velocity = OMV.Vector3.Zero;
-        _acceleration = OMV.Vector3.Zero;
-        _rotationalVelocity = OMV.Vector3.Zero;
-
-        // Zero some other properties in the physics engine
-        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
-        {
-            if (PhysBody.HasPhysicalBody)
-                PhysicsScene.PE.ClearAllForces(PhysBody);
-        });
-    }
-    public override void ZeroAngularMotion(bool inTaintTime)
-    {
-        _rotationalVelocity = OMV.Vector3.Zero;
-        // Zero some other properties in the physics engine
-        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
-        {
-            // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity);
-            if (PhysBody.HasPhysicalBody)
-            {
-                PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity);
-                PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
-            }
-        });
-    }
-
-    public override void LockAngularMotion(OMV.Vector3 axis)
-    {
-        DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis);
-        return;
-    }
-
-    public override OMV.Vector3 RawPosition
-    {
-        get { return _position; }
-        set { _position = value; }
-    }
-    public override OMV.Vector3 Position {
-        get {
-            /* NOTE: this refetch is not necessary. The simulator knows about linkset children
-             *    and does not fetch this position info for children. Thus this is commented out.
-            // child prims move around based on their parent. Need to get the latest location
-            if (!Linkset.IsRoot(this))
-                _position = Linkset.PositionGet(this);
-            */
-
-            // don't do the GetObjectPosition for root elements because this function is called a zillion times.
-            // _position = PhysicsScene.PE.GetObjectPosition2(PhysicsScene.World, BSBody);
-            return _position;
-        }
-        set {
-            // If the position must be forced into the physics engine, use ForcePosition.
-            // All positions are given in world positions.
-            if (_position == value)
-            {
-                DetailLog("{0},BSPrim.setPosition,call,positionNotChanging,pos={1},orient={2}", LocalID, _position, _orientation);
-                return;
-            }
-            _position = value;
-            PositionSanityCheck(false);
-
-            // A linkset might need to know if a component information changed.
-            Linkset.UpdateProperties(this, false);
-
-            PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
-            {
-                DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                ForcePosition = _position;
-            });
-        }
-    }
-    public override OMV.Vector3 ForcePosition {
-        get {
-            _position = PhysicsScene.PE.GetPosition(PhysBody);
-            return _position;
-        }
-        set {
-            _position = value;
-            if (PhysBody.HasPhysicalBody)
-            {
-                PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
-                ActivateIfPhysical(false);
-            }
-        }
-    }
-
-    // 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 inTaintTime)
-    {
-        bool ret = false;
-
-        if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(_position))
-        {
-            // The physical object is out of the known/simulated area.
-            // Upper levels of code will handle the transition to other areas so, for
-            //     the time, we just ignore the position.
-            return ret;
-        }
-
-        float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
-        OMV.Vector3 upForce = OMV.Vector3.Zero;
-        if (RawPosition.Z < terrainHeight)
-        {
-            DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
-            float targetHeight = terrainHeight + (Size.Z / 2f);
-            // Upforce proportional to the distance away from the terrain. Correct the error in 1 sec.
-            upForce.Z = (terrainHeight - RawPosition.Z) * 1f;
-            ret = true;
-        }
-
-        if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
-        {
-            float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position);
-            // TODO: a floating motor so object will bob in the water
-            if (Math.Abs(RawPosition.Z - waterHeight) > 0.1f)
-            {
-                // Upforce proportional to the distance away from the water. Correct the error in 1 sec.
-                upForce.Z = (waterHeight - RawPosition.Z) * 1f;
-                ret = true;
-            }
-        }
-
-        // The above code computes a force to apply to correct any out-of-bounds problems. Apply same.
-        // TODO: This should be intergrated with a geneal physics action mechanism.
-        // TODO: This should be moderated with PID'ness.
-        if (ret)
-        {
-            // Apply upforce and overcome gravity.
-            OMV.Vector3 correctionForce = upForce - PhysicsScene.DefaultGravity;
-            DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, _position, upForce, correctionForce);
-            AddForce(correctionForce, false, inTaintTime);
-        }
-        return ret;
-    }
-
-    // Return the effective mass of the object.
-        // The definition of this call is to return the mass of the prim.
-        // If the simulator cares about the mass of the linkset, it will sum it itself.
-    public override float Mass
-    {
-        get
-        {
-            return _mass;
-        }
-    }
-
-    // used when we only want this prim's mass and not the linkset thing
-    public override float RawMass { 
-        get { return _mass; }
-    }
-    // Set the physical mass to the passed mass.
-    // Note that this does not change _mass!
-    public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
-    {
-        if (PhysBody.HasPhysicalBody)
-        {
-            if (IsStatic)
-            {
-                PhysicsScene.PE.SetGravity(PhysBody, PhysicsScene.DefaultGravity);
-                Inertia = OMV.Vector3.Zero;
-                PhysicsScene.PE.SetMassProps(PhysBody, 0f, Inertia);
-                PhysicsScene.PE.UpdateInertiaTensor(PhysBody);
-            }
-            else
-            {
-                OMV.Vector3 grav = ComputeGravity();
-
-                if (inWorld)
-                {
-                    // Changing interesting properties doesn't change proxy and collision cache
-                    //    information. The Bullet solution is to re-add the object to the world
-                    //    after parameters are changed.
-                    PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody);
-                }
-
-                // The computation of mass props requires gravity to be set on the object.
-                PhysicsScene.PE.SetGravity(PhysBody, grav);
-
-                Inertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape, physMass);
-                PhysicsScene.PE.SetMassProps(PhysBody, physMass, Inertia);
-                PhysicsScene.PE.UpdateInertiaTensor(PhysBody);
-
-                // center of mass is at the zero of the object
-                // DEBUG DEBUG PhysicsScene.PE.SetCenterOfMassByPosRot(PhysBody, ForcePosition, ForceOrientation);
-                DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},grav={3},inWorld={4}", LocalID, physMass, Inertia, grav, inWorld);
-
-                if (inWorld)
-                {
-                    AddObjectToPhysicalWorld();
-                }
-
-                // Must set gravity after it has been added to the world because, for unknown reasons,
-                //     adding the object resets the object's gravity to world gravity
-                PhysicsScene.PE.SetGravity(PhysBody, grav);
-
-            }
-        }
-    }
-
-    // Return what gravity should be set to this very moment
-    private OMV.Vector3 ComputeGravity()
-    {
-        OMV.Vector3 ret = PhysicsScene.DefaultGravity;
-
-        if (!IsStatic)
-            ret *= (1f - Buoyancy);
-
-        return ret;
-    }
-
-    // Is this used?
-    public override OMV.Vector3 CenterOfMass
-    {
-        get { return Linkset.CenterOfMass; }
-    }
-
-    // Is this used?
-    public override OMV.Vector3 GeometricCenter
-    {
-        get { return Linkset.GeometricCenter; }
-    }
-
-    public override OMV.Vector3 Force {
-        get { return _force; }
-        set {
-            _force = value;
-            if (_force != OMV.Vector3.Zero)
-            {
-                // If the force is non-zero, it must be reapplied each tick because
-                //    Bullet clears the forces applied last frame.
-                RegisterPreStepAction("BSPrim.setForce", LocalID,
-                    delegate(float timeStep)
-                    {
-                        DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force);
-                        if (PhysBody.HasPhysicalBody)
-                        {
-                            PhysicsScene.PE.ApplyCentralForce(PhysBody, _force);
-                            ActivateIfPhysical(false);
-                        }
-                    }
-                );
-            }
-            else
-            {
-                UnRegisterPreStepAction("BSPrim.setForce", LocalID);
-            }
-        }
-    }
-
-    public override int VehicleType {
-        get {
-            return (int)_vehicle.Type;   // if we are a vehicle, return that type
-        }
-        set {
-            Vehicle type = (Vehicle)value;
-
-            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);
-                ActivateIfPhysical(false);
-
-                // If an active vehicle, register the vehicle code to be called before each step
-                if (_vehicle.Type == Vehicle.TYPE_NONE)
-                    UnRegisterPreStepAction("BSPrim.Vehicle", LocalID);
-                else
-                    RegisterPreStepAction("BSPrim.Vehicle", LocalID, _vehicle.Step);
-            });
-        }
-    }
-    public override void VehicleFloatParam(int param, float value)
-    {
-        PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
-        {
-            _vehicle.ProcessFloatVehicleParam((Vehicle)param, value);
-            ActivateIfPhysical(false);
-        });
-    }
-    public override void VehicleVectorParam(int param, OMV.Vector3 value)
-    {
-        PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
-        {
-            _vehicle.ProcessVectorVehicleParam((Vehicle)param, value);
-            ActivateIfPhysical(false);
-        });
-    }
-    public override void VehicleRotationParam(int param, OMV.Quaternion rotation)
-    {
-        PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate()
-        {
-            _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation);
-            ActivateIfPhysical(false);
-        });
-    }
-    public override void VehicleFlags(int param, bool remove)
-    {
-        PhysicsScene.TaintedObject("BSPrim.VehicleFlags", delegate()
-        {
-            _vehicle.ProcessVehicleFlags(param, remove);
-        });
-    }
-
-    // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
-    public override void SetVolumeDetect(int param) {
-        bool newValue = (param != 0);
-        if (_isVolumeDetect != newValue)
-        {
-            _isVolumeDetect = newValue;
-            PhysicsScene.TaintedObject("BSPrim.SetVolumeDetect", delegate()
-            {
-                // DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect);
-                SetObjectDynamic(true);
-            });
-        }
-        return;
-    }
-    public override OMV.Vector3 Velocity {
-        get { return _velocity; }
-        set {
-            _velocity = value;
-            PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate()
-            {
-                // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
-                ForceVelocity = _velocity;
-            });
-        }
-    }
-    public override OMV.Vector3 ForceVelocity {
-        get { return _velocity; }
-        set {
-            PhysicsScene.AssertInTaintTime("BSPrim.ForceVelocity");
-
-            _velocity = value;
-            if (PhysBody.HasPhysicalBody)
-            {
-                PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity);
-                ActivateIfPhysical(false);
-            }
-        }
-    }
-    public override OMV.Vector3 Torque {
-        get { return _torque; }
-        set {
-            _torque = value;
-            if (_torque != OMV.Vector3.Zero)
-            {
-                // If the torque is non-zero, it must be reapplied each tick because
-                //    Bullet clears the forces applied last frame.
-                RegisterPreStepAction("BSPrim.setTorque", LocalID,
-                    delegate(float timeStep)
-                    {
-                        if (PhysBody.HasPhysicalBody)
-                            AddAngularForce(_torque, false, true);
-                    }
-                );
-            }
-            else
-            {
-                UnRegisterPreStepAction("BSPrim.setTorque", LocalID);
-            }
-            // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
-        }
-    }
-    public override float CollisionScore {
-        get { return _collisionScore; }
-        set { _collisionScore = value;
-        }
-    }
-    public override OMV.Vector3 Acceleration {
-        get { return _acceleration; }
-        set { _acceleration = value; }
-    }
-    public override OMV.Quaternion RawOrientation
-    {
-        get { return _orientation; }
-        set { _orientation = value; }
-    }
-    public override OMV.Quaternion Orientation {
-        get {
-            /* NOTE: this refetch is not necessary. The simulator knows about linkset children
-             *    and does not fetch this position info for children. Thus this is commented out.
-            // Children move around because tied to parent. Get a fresh value.
-            if (!Linkset.IsRoot(this))
-            {
-                _orientation = Linkset.OrientationGet(this);
-            }
-             */
-            return _orientation;
-        }
-        set {
-            if (_orientation == value)
-                return;
-            _orientation = value;
-
-            // A linkset might need to know if a component information changed.
-            Linkset.UpdateProperties(this, false);
-
-            PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
-            {
-                if (PhysBody.HasPhysicalBody)
-                {
-                    // _position = PhysicsScene.PE.GetObjectPosition(PhysicsScene.World, BSBody);
-                    // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                    PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
-                }
-            });
-        }
-    }
-    // Go directly to Bullet to get/set the value.
-    public override OMV.Quaternion ForceOrientation
-    {
-        get
-        {
-            _orientation = PhysicsScene.PE.GetOrientation(PhysBody);
-            return _orientation;
-        }
-        set
-        {
-            _orientation = value;
-            PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
-        }
-    }
-    public override int PhysicsActorType {
-        get { return _physicsActorType; }
-        set { _physicsActorType = value; }
-    }
-    public override bool IsPhysical {
-        get { return _isPhysical; }
-        set {
-            if (_isPhysical != value)
-            {
-                _isPhysical = value;
-                PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate()
-                {
-                    DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
-                    SetObjectDynamic(true);
-                    // whether phys-to-static or static-to-phys, the object is not moving.
-                    ZeroMotion(true);
-                });
-            }
-        }
-    }
-
-    // An object is static (does not move) if selected or not physical
-    public override bool IsStatic
-    {
-        get { return _isSelected || !IsPhysical; }
-    }
-
-    // An object is solid if it's not phantom and if it's not doing VolumeDetect
-    public override bool IsSolid
-    {
-        get { return !IsPhantom && !_isVolumeDetect; }
-    }
-
-    // Make gravity work if the object is physical and not selected
-    // Called at taint-time!!
-    private void SetObjectDynamic(bool forceRebuild)
-    {
-        // Recreate the physical object if necessary
-        CreateGeomAndObject(forceRebuild);
-    }
-
-    // Convert the simulator's physical properties into settings on BulletSim objects.
-    // There are four flags we're interested in:
-    //     IsStatic: Object does not move, otherwise the object has mass and moves
-    //     isSolid: other objects bounce off of this object
-    //     isVolumeDetect: other objects pass through but can generate collisions
-    //     collisionEvents: whether this object returns collision events
-    private void UpdatePhysicalParameters()
-    {
-        // DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape);
-
-        // Mangling all the physical properties requires the object not be in the physical world.
-        // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
-        PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody);
-
-        // Set up the object physicalness (does gravity and collisions move this object)
-        MakeDynamic(IsStatic);
-
-        // Update vehicle specific parameters (after MakeDynamic() so can change physical parameters)
-        _vehicle.Refresh();
-
-        // Arrange for collision events if the simulator wants them
-        EnableCollisions(SubscribedEvents());
-
-        // Make solid or not (do things bounce off or pass through this object).
-        MakeSolid(IsSolid);
-
-        AddObjectToPhysicalWorld();
-
-        // Rebuild its shape
-        PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody);
-
-        // Recompute any linkset parameters.
-        // When going from non-physical to physical, this re-enables the constraints that
-        //     had been automatically disabled when the mass was set to zero.
-        // For compound based linksets, this enables and disables interactions of the children.
-        Linkset.Refresh(this);
-
-        DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},cType={6},body={7},shape={8}",
-                        LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody.collisionType, PhysBody, PhysShape);
-    }
-
-    // "Making dynamic" means changing to and from static.
-    // When static, gravity does not effect the object and it is fixed in space.
-    // When dynamic, the object can fall and be pushed by others.
-    // This is independent of its 'solidness' which controls what passes through
-    //    this object and what interacts with it.
-    private void MakeDynamic(bool makeStatic)
-    {
-        if (makeStatic)
-        {
-            // Become a Bullet 'static' object type
-            CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT);
-            // Stop all movement
-            ZeroMotion(true);
-
-            // Set various physical properties so other object interact properly
-            MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
-            PhysicsScene.PE.SetFriction(PhysBody, matAttrib.friction);
-            PhysicsScene.PE.SetRestitution(PhysBody, matAttrib.restitution);
-
-            // Mass is zero which disables a bunch of physics stuff in Bullet
-            UpdatePhysicalMassProperties(0f, false);
-            // Set collision detection parameters
-            if (BSParam.CcdMotionThreshold > 0f)
-            {
-                PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
-                PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
-            }
-
-            // The activation state is 'disabled' so Bullet will not try to act on it.
-            // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_SIMULATION);
-            // Start it out sleeping and physical actions could wake it up.
-            PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ISLAND_SLEEPING);
-
-            // This collides like a static object
-            PhysBody.collisionType = CollisionType.Static;
-
-            // There can be special things needed for implementing linksets
-            Linkset.MakeStatic(this);
-        }
-        else
-        {
-            // Not a Bullet static object
-            CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT);
-
-            // Set various physical properties so other object interact properly
-            MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, true);
-            PhysicsScene.PE.SetFriction(PhysBody, matAttrib.friction);
-            PhysicsScene.PE.SetRestitution(PhysBody, matAttrib.restitution);
-
-            // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
-            // Since this can be called multiple times, only zero forces when becoming physical
-            // PhysicsScene.PE.ClearAllForces(BSBody);
-
-            // For good measure, make sure the transform is set through to the motion state
-            PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
-
-            // Center of mass is at the center of the object
-            // DEBUG DEBUG PhysicsScene.PE.SetCenterOfMassByPosRot(Linkset.LinksetRoot.PhysBody, _position, _orientation);
-
-            // A dynamic object has mass
-            UpdatePhysicalMassProperties(RawMass, false);
-
-            // Set collision detection parameters
-            if (BSParam.CcdMotionThreshold > 0f)
-            {
-                PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
-                PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
-            }
-
-            // Various values for simulation limits
-            PhysicsScene.PE.SetDamping(PhysBody, BSParam.LinearDamping, BSParam.AngularDamping);
-            PhysicsScene.PE.SetDeactivationTime(PhysBody, BSParam.DeactivationTime);
-            PhysicsScene.PE.SetSleepingThresholds(PhysBody, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold);
-            PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold);
-
-            // This collides like an object.
-            PhysBody.collisionType = CollisionType.Dynamic;
-
-            // Force activation of the object so Bullet will act on it.
-            // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects.
-            PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG);
-
-            // There might be special things needed for implementing linksets.
-            Linkset.MakeDynamic(this);
-        }
-    }
-
-    // "Making solid" means that other object will not pass through this object.
-    // To make transparent, we create a Bullet ghost object.
-    // Note: This expects to be called from the UpdatePhysicalParameters() routine as
-    //     the functions after this one set up the state of a possibly newly created collision body.
-    private void MakeSolid(bool makeSolid)
-    {
-        CollisionObjectTypes bodyType = (CollisionObjectTypes)PhysicsScene.PE.GetBodyType(PhysBody);
-        if (makeSolid)
-        {
-            // Verify the previous code created the correct shape for this type of thing.
-            if ((bodyType & CollisionObjectTypes.CO_RIGID_BODY) == 0)
-            {
-                m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType);
-            }
-            CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
-        }
-        else
-        {
-            if ((bodyType & CollisionObjectTypes.CO_GHOST_OBJECT) == 0)
-            {
-                m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType);
-            }
-            CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
-
-            // Change collision info from a static object to a ghosty collision object
-            PhysBody.collisionType = CollisionType.VolumeDetect;
-        }
-    }
-
-    // Enable physical actions. Bullet will keep sleeping non-moving physical objects so
-    //     they need waking up when parameters are changed.
-    // Called in taint-time!!
-    private void ActivateIfPhysical(bool forceIt)
-    {
-        if (IsPhysical && PhysBody.HasPhysicalBody)
-            PhysicsScene.PE.Activate(PhysBody, forceIt);
-    }
-
-    // Turn on or off the flag controlling whether collision events are returned to the simulator.
-    private void EnableCollisions(bool wantsCollisionEvents)
-    {
-        if (wantsCollisionEvents)
-        {
-            CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
-        }
-        else
-        {
-            CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
-        }
-    }
-
-    // Add me to the physical world.
-    // Object MUST NOT already be in the world.
-    // This routine exists because some assorted properties get mangled by adding to the world.
-    internal void AddObjectToPhysicalWorld()
-    {
-        if (PhysBody.HasPhysicalBody)
-        {
-            PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody);
-        }
-        else
-        {
-            m_log.ErrorFormat("{0} Attempt to add physical object without body. id={1}", LogHeader, LocalID);
-            DetailLog("{0},BSPrim.UpdatePhysicalParameters,addObjectWithoutBody,cType={1}", LocalID, PhysBody.collisionType);
-        }
-    }
-
-    // prims don't fly
-    public override bool Flying {
-        get { return _flying; }
-        set {
-            _flying = value;
-        }
-    }
-    public override bool SetAlwaysRun {
-        get { return _setAlwaysRun; }
-        set { _setAlwaysRun = value; }
-    }
-    public override bool ThrottleUpdates {
-        get { return _throttleUpdates; }
-        set { _throttleUpdates = value; }
-    }
-    public bool IsPhantom {
-        get {
-            // SceneObjectPart removes phantom objects from the physics scene
-            // so, although we could implement touching and such, we never
-            // are invoked as a phantom object
-            return false;
-        }
-    }
-    public override bool FloatOnWater {
-        set {
-            _floatOnWater = value;
-            PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate()
-            {
-                if (_floatOnWater)
-                    CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
-                else
-                    CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
-            });
-        }
-    }
-    public override OMV.Vector3 RotationalVelocity {
-        get {
-            return _rotationalVelocity;
-        }
-        set {
-            _rotationalVelocity = value;
-            // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
-            PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
-            {
-                DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
-                ForceRotationalVelocity = _rotationalVelocity;
-            });
-        }
-    }
-    public override OMV.Vector3 ForceRotationalVelocity {
-        get {
-            return _rotationalVelocity;
-        }
-        set {
-            _rotationalVelocity = value;
-            if (PhysBody.HasPhysicalBody)
-            {
-                PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
-                ActivateIfPhysical(false);
-            }
-        }
-    }
-    public override bool Kinematic {
-        get { return _kinematic; }
-        set { _kinematic = value;
-            // m_log.DebugFormat("{0}: Kinematic={1}", LogHeader, _kinematic);
-        }
-    }
-    public override float Buoyancy {
-        get { return _buoyancy; }
-        set {
-            _buoyancy = value;
-            PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate()
-            {
-                ForceBuoyancy = _buoyancy;
-            });
-        }
-    }
-    public override float ForceBuoyancy {
-        get { return _buoyancy; }
-        set {
-            _buoyancy = value;
-            // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
-            // Force the recalculation of the various inertia,etc variables in the object
-            DetailLog("{0},BSPrim.ForceBuoyancy,buoy={1},mass={2}", LocalID, _buoyancy, _mass);
-            UpdatePhysicalMassProperties(_mass, true);
-            ActivateIfPhysical(false);
-        }
-    }
-
-    // Used for MoveTo
-    public override OMV.Vector3 PIDTarget {
-        set { _PIDTarget = value; }
-    }
-    public override float PIDTau {
-        set { _PIDTau = value; }
-    }
-    public override bool PIDActive {
-        set { _usePID = value; }
-    }
-
-    // Used for llSetHoverHeight and maybe vehicle height
-    // Hover Height will override MoveTo target's Z
-    public override bool PIDHoverActive {
-        set { _useHoverPID = value; }
-    }
-    public override float PIDHoverHeight {
-        set { _PIDHoverHeight = value; }
-    }
-    public override PIDHoverType PIDHoverType {
-        set { _PIDHoverType = value; }
-    }
-    public override float PIDHoverTau {
-        set { _PIDHoverTao = value; }
-    }
-
-    // For RotLookAt
-    public override OMV.Quaternion APIDTarget { set { return; } }
-    public override bool APIDActive { set { return; } }
-    public override float APIDStrength { set { return; } }
-    public override float APIDDamping { set { return; } }
-
-    public override void AddForce(OMV.Vector3 force, bool pushforce) {
-        // Since this force is being applied in only one step, make this a force per second.
-        OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep;
-        AddForce(addForce, pushforce, false);
-    }
-    // Applying a force just adds this to the total force on the object.
-    // This added force will only last the next simulation tick.
-    public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
-        // for an object, doesn't matter if force is a pushforce or not
-        if (force.IsFinite())
-        {
-            float magnitude = force.Length();
-            if (magnitude > BSParam.MaxAddForceMagnitude)
-            {
-                // Force has a limit
-                force = force / magnitude * BSParam.MaxAddForceMagnitude;
-            }
-
-            OMV.Vector3 addForce = force;
-            DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce);
-
-            PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
-            {
-                // Bullet adds this central force to the total force for this tick
-                DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce);
-                if (PhysBody.HasPhysicalBody)
-                {
-                    PhysicsScene.PE.ApplyCentralForce(PhysBody, addForce);
-                    ActivateIfPhysical(false);
-                }
-            });
-        }
-        else
-        {
-            m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
-            return;
-        }
-    }
-
-    public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
-        AddAngularForce(force, pushforce, false);
-    }
-    public void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime)
-    {
-        if (force.IsFinite())
-        {
-            OMV.Vector3 angForce = force;
-            PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate()
-            {
-                if (PhysBody.HasPhysicalBody)
-                {
-                    PhysicsScene.PE.ApplyTorque(PhysBody, angForce);
-                    ActivateIfPhysical(false);
-                }
-            });
-        }
-        else
-        {
-            m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
-            return;
-        }
-    }
-
-    // A torque impulse.
-    // ApplyTorqueImpulse adds torque directly to the angularVelocity.
-    // AddAngularForce accumulates the force and applied it to the angular velocity all at once.
-    // Computed as: angularVelocity += impulse * inertia;
-    public void ApplyTorqueImpulse(OMV.Vector3 impulse, bool inTaintTime)
-    {
-        OMV.Vector3 applyImpulse = impulse;
-        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate()
-        {
-            if (PhysBody.HasPhysicalBody)
-            {
-                PhysicsScene.PE.ApplyTorqueImpulse(PhysBody, applyImpulse);
-                ActivateIfPhysical(false);
-            }
-        });
-    }
-
-    public override void SetMomentum(OMV.Vector3 momentum) {
-        // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
-    }
-    #region Mass Calculation
-
-    private float CalculateMass()
-    {
-        float volume = _size.X * _size.Y * _size.Z; // default
-        float tmp;
-
-        float returnMass = 0;
-        float hollowAmount = (float)BaseShape.ProfileHollow * 2.0e-5f;
-        float hollowVolume = hollowAmount * hollowAmount;
-
-        switch (BaseShape.ProfileShape)
-        {
-            case ProfileShape.Square:
-                // default box
-
-                if (BaseShape.PathCurve == (byte)Extrusion.Straight)
-                    {
-                    if (hollowAmount > 0.0)
-                        {
-                        switch (BaseShape.HollowShape)
-                            {
-                            case HollowShape.Square:
-                            case HollowShape.Same:
-                                break;
-
-                            case HollowShape.Circle:
-
-                                hollowVolume *= 0.78539816339f;
-                                break;
-
-                            case HollowShape.Triangle:
-
-                                hollowVolume *= (0.5f * .5f);
-                                break;
-
-                            default:
-                                hollowVolume = 0;
-                                break;
-                            }
-                        volume *= (1.0f - hollowVolume);
-                        }
-                    }
-
-                else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
-                    {
-                    //a tube
-
-                    volume *= 0.78539816339e-2f * (float)(200 - BaseShape.PathScaleX);
-                    tmp= 1.0f -2.0e-2f * (float)(200 - BaseShape.PathScaleY);
-                    volume -= volume*tmp*tmp;
-
-                    if (hollowAmount > 0.0)
-                        {
-                        hollowVolume *= hollowAmount;
-
-                        switch (BaseShape.HollowShape)
-                            {
-                            case HollowShape.Square:
-                            case HollowShape.Same:
-                                break;
-
-                            case HollowShape.Circle:
-                                hollowVolume *= 0.78539816339f;;
-                                break;
-
-                            case HollowShape.Triangle:
-                                hollowVolume *= 0.5f * 0.5f;
-                                break;
-                            default:
-                                hollowVolume = 0;
-                                break;
-                            }
-                        volume *= (1.0f - hollowVolume);
-                        }
-                    }
-
-                break;
-
-            case ProfileShape.Circle:
-
-                if (BaseShape.PathCurve == (byte)Extrusion.Straight)
-                    {
-                    volume *= 0.78539816339f; // elipse base
-
-                    if (hollowAmount > 0.0)
-                        {
-                        switch (BaseShape.HollowShape)
-                            {
-                            case HollowShape.Same:
-                            case HollowShape.Circle:
-                                break;
-
-                            case HollowShape.Square:
-                                hollowVolume *= 0.5f * 2.5984480504799f;
-                                break;
-
-                            case HollowShape.Triangle:
-                                hollowVolume *= .5f * 1.27323954473516f;
-                                break;
-
-                            default:
-                                hollowVolume = 0;
-                                break;
-                            }
-                        volume *= (1.0f - hollowVolume);
-                        }
-                    }
-
-                else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
-                    {
-                    volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - BaseShape.PathScaleX);
-                    tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY);
-                    volume *= (1.0f - tmp * tmp);
-
-                    if (hollowAmount > 0.0)
-                        {
-
-                        // calculate the hollow volume by it's shape compared to the prim shape
-                        hollowVolume *= hollowAmount;
-
-                        switch (BaseShape.HollowShape)
-                            {
-                            case HollowShape.Same:
-                            case HollowShape.Circle:
-                                break;
-
-                            case HollowShape.Square:
-                                hollowVolume *= 0.5f * 2.5984480504799f;
-                                break;
-
-                            case HollowShape.Triangle:
-                                hollowVolume *= .5f * 1.27323954473516f;
-                                break;
-
-                            default:
-                                hollowVolume = 0;
-                                break;
-                            }
-                        volume *= (1.0f - hollowVolume);
-                        }
-                    }
-                break;
-
-            case ProfileShape.HalfCircle:
-                if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
-                {
-                volume *= 0.52359877559829887307710723054658f;
-                }
-                break;
-
-            case ProfileShape.EquilateralTriangle:
-
-                if (BaseShape.PathCurve == (byte)Extrusion.Straight)
-                    {
-                    volume *= 0.32475953f;
-
-                    if (hollowAmount > 0.0)
-                        {
-
-                        // calculate the hollow volume by it's shape compared to the prim shape
-                        switch (BaseShape.HollowShape)
-                            {
-                            case HollowShape.Same:
-                            case HollowShape.Triangle:
-                                hollowVolume *= .25f;
-                                break;
-
-                            case HollowShape.Square:
-                                hollowVolume *= 0.499849f * 3.07920140172638f;
-                                break;
-
-                            case HollowShape.Circle:
-                                // Hollow shape is a perfect cyllinder in respect to the cube's scale
-                                // Cyllinder hollow volume calculation
-
-                                hollowVolume *= 0.1963495f * 3.07920140172638f;
-                                break;
-
-                            default:
-                                hollowVolume = 0;
-                                break;
-                            }
-                        volume *= (1.0f - hollowVolume);
-                        }
-                    }
-                else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
-                    {
-                    volume *= 0.32475953f;
-                    volume *= 0.01f * (float)(200 - BaseShape.PathScaleX);
-                    tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY);
-                    volume *= (1.0f - tmp * tmp);
-
-                    if (hollowAmount > 0.0)
-                        {
-
-                        hollowVolume *= hollowAmount;
-
-                        switch (BaseShape.HollowShape)
-                            {
-                            case HollowShape.Same:
-                            case HollowShape.Triangle:
-                                hollowVolume *= .25f;
-                                break;
-
-                            case HollowShape.Square:
-                                hollowVolume *= 0.499849f * 3.07920140172638f;
-                                break;
-
-                            case HollowShape.Circle:
-
-                                hollowVolume *= 0.1963495f * 3.07920140172638f;
-                                break;
-
-                            default:
-                                hollowVolume = 0;
-                                break;
-                            }
-                        volume *= (1.0f - hollowVolume);
-                        }
-                    }
-                    break;
-
-            default:
-                break;
-            }
-
-
-
-        float taperX1;
-        float taperY1;
-        float taperX;
-        float taperY;
-        float pathBegin;
-        float pathEnd;
-        float profileBegin;
-        float profileEnd;
-
-        if (BaseShape.PathCurve == (byte)Extrusion.Straight || BaseShape.PathCurve == (byte)Extrusion.Flexible)
-            {
-            taperX1 = BaseShape.PathScaleX * 0.01f;
-            if (taperX1 > 1.0f)
-                taperX1 = 2.0f - taperX1;
-            taperX = 1.0f - taperX1;
-
-            taperY1 = BaseShape.PathScaleY * 0.01f;
-            if (taperY1 > 1.0f)
-                taperY1 = 2.0f - taperY1;
-            taperY = 1.0f - taperY1;
-            }
-        else
-            {
-            taperX = BaseShape.PathTaperX * 0.01f;
-            if (taperX < 0.0f)
-                taperX = -taperX;
-            taperX1 = 1.0f - taperX;
-
-            taperY = BaseShape.PathTaperY * 0.01f;
-            if (taperY < 0.0f)
-                taperY = -taperY;
-            taperY1 = 1.0f - taperY;
-
-            }
-
-
-        volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY);
-
-        pathBegin = (float)BaseShape.PathBegin * 2.0e-5f;
-        pathEnd = 1.0f - (float)BaseShape.PathEnd * 2.0e-5f;
-        volume *= (pathEnd - pathBegin);
-
-        // this is crude aproximation
-        profileBegin = (float)BaseShape.ProfileBegin * 2.0e-5f;
-        profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f;
-        volume *= (profileEnd - profileBegin);
-
-        returnMass = _density * volume;
-
-        /* Comment out code that computes the mass of the linkset. That is done in the Linkset class.
-        if (IsRootOfLinkset)
-        {
-            foreach (BSPrim prim in _childrenPrims)
-            {
-                returnMass += prim.CalculateMass();
-            }
-        }
-         */
-
-        returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass);
-
-        return returnMass;
-    }// end CalculateMass
-    #endregion Mass Calculation
-
-    // Rebuild the geometry and object.
-    // This is called when the shape changes so we need to recreate the mesh/hull.
-    // Called at taint-time!!!
-    public void CreateGeomAndObject(bool forceRebuild)
-    {
-        // If this prim is part of a linkset, we must remove and restore the physical
-        //    links if the body is rebuilt.
-        bool needToRestoreLinkset = false;
-        bool needToRestoreVehicle = false;
-
-        // Create the correct physical representation for this type of object.
-        // Updates PhysBody and PhysShape with the new information.
-        // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
-        PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, null, delegate(BulletBody dBody)
-        {
-            // Called if the current prim body is about to be destroyed.
-            // Remove all the physical dependencies on the old body.
-            // (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...)
-            needToRestoreLinkset = Linkset.RemoveBodyDependencies(this);
-            needToRestoreVehicle = _vehicle.RemoveBodyDependencies(this);
-        });
-
-        if (needToRestoreLinkset)
-        {
-            // If physical body dependencies were removed, restore them
-            Linkset.RestoreBodyDependencies(this);
-        }
-        if (needToRestoreVehicle)
-        {
-            // If physical body dependencies were removed, restore them
-            _vehicle.RestoreBodyDependencies(this);
-        }
-
-        // Make sure the properties are set on the new object
-        UpdatePhysicalParameters();
-        return;
-    }
-
-    // The physics engine says that properties have updated. Update same and inform
-    // the world that things have changed.
-    // TODO: do we really need to check for changed? Maybe just copy values and call RequestPhysicsterseUpdate()
-    enum UpdatedProperties {
-        Position      = 1 << 0,
-        Rotation      = 1 << 1,
-        Velocity      = 1 << 2,
-        Acceleration  = 1 << 3,
-        RotationalVel = 1 << 4
-    }
-
-    const float ROTATION_TOLERANCE = 0.01f;
-    const float VELOCITY_TOLERANCE = 0.001f;
-    const float POSITION_TOLERANCE = 0.05f;
-    const float ACCELERATION_TOLERANCE = 0.01f;
-    const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f;
-
-    public override void UpdateProperties(EntityProperties entprop)
-    {
-        // Updates only for individual prims and for the root object of a linkset.
-        if (Linkset.IsRoot(this))
-        {
-            // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
-            // TODO: handle physics introduced by Bullet with computed vehicle physics.
-            if (_vehicle.IsActive)
-            {
-                entprop.RotationalVelocity = OMV.Vector3.Zero;
-            }
-
-            // Assign directly to the local variables so the normal set action does not happen
-            _position = entprop.Position;
-            _orientation = entprop.Rotation;
-            _velocity = entprop.Velocity;
-            _acceleration = entprop.Acceleration;
-            _rotationalVelocity = entprop.RotationalVelocity;
-
-            // The sanity check can change the velocity and/or position.
-            if (IsPhysical && PositionSanityCheck(true))
-            {
-                entprop.Position = _position;
-                entprop.Velocity = _velocity;
-            }
-
-            OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation;   // DEBUG DEBUG DEBUG
-            DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}",
-                    LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity);
-
-            // remember the current and last set values
-            LastEntityProperties = CurrentEntityProperties;
-            CurrentEntityProperties = entprop;
-
-            base.RequestPhysicsterseUpdate();
-        }
-            /*
-        else
-        {
-            // For debugging, report the movement of children
-            DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
-                    LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
-                    entprop.Acceleration, entprop.RotationalVelocity);
-        }
-             */
-
-        // The linkset implimentation might want to know about this.
-        Linkset.UpdateProperties(this, true);
-    }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
deleted file mode 100644
index 7017194..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ /dev/null
@@ -1,946 +0,0 @@
-/*
- * 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.Reflection;
-using System.Runtime.InteropServices;
-using System.Text;
-using System.Threading;
-using OpenSim.Framework;
-using OpenSim.Region.Framework;
-using OpenSim.Region.CoreModules;
-using Logging = OpenSim.Region.CoreModules.Framework.Statistics.Logging;
-using OpenSim.Region.Physics.Manager;
-using Nini.Config;
-using log4net;
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-public sealed class BSScene : PhysicsScene, IPhysicsParameters
-{
-    internal static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
-    internal static readonly string LogHeader = "[BULLETS SCENE]";
-
-    // The name of the region we're working for.
-    public string RegionName { get; private set; }
-
-    public string BulletSimVersion = "?";
-
-    // The handle to the underlying managed or unmanaged version of Bullet being used.
-    public string BulletEngineName { get; private set; }
-    public BSAPITemplate PE;
-
-    public Dictionary<uint, BSPhysObject> PhysObjects;
-    public BSShapeCollection Shapes;
-
-    // Keeping track of the objects with collisions so we can report begin and end of a collision
-    public HashSet<BSPhysObject> ObjectsWithCollisions = new HashSet<BSPhysObject>();
-    public HashSet<BSPhysObject> ObjectsWithNoMoreCollisions = new HashSet<BSPhysObject>();
-    // Keep track of all the avatars so we can send them a collision event
-    //    every tick so OpenSim will update its animation.
-    private HashSet<BSPhysObject> m_avatars = new HashSet<BSPhysObject>();
-
-    // let my minuions use my logger
-    public ILog Logger { get { return m_log; } }
-
-    public IMesher mesher;
-    public uint WorldID { get; private set; }
-    public BulletWorld World { get; private set; }
-
-    // All the constraints that have been allocated in this instance.
-    public BSConstraintCollection Constraints { get; private set; }
-
-    // Simulation parameters
-    internal int m_maxSubSteps;
-    internal float m_fixedTimeStep;
-    internal long m_simulationStep = 0;
-    internal float NominalFrameRate { get; set; }
-    public long SimulationStep { get { return m_simulationStep; } }
-    internal int m_taintsToProcessPerStep;
-    internal float LastTimeStep { get; private set; }
-
-    // Physical objects can register for prestep or poststep events
-    public delegate void PreStepAction(float timeStep);
-    public delegate void PostStepAction(float timeStep);
-    public event PreStepAction BeforeStep;
-    public event PreStepAction AfterStep;
-
-    // A value of the time now so all the collision and update routines do not have to get their own
-    // Set to 'now' just before all the prims and actors are called for collisions and updates
-    public int SimulationNowTime { get; private set; }
-
-    // True if initialized and ready to do simulation steps
-    private bool m_initialized = false;
-
-    // Flag which is true when processing taints.
-    // Not guaranteed to be correct all the time (don't depend on this) but good for debugging.
-    public bool InTaintTime { get; private set; }
-
-    // Pinned memory used to pass step information between managed and unmanaged
-    internal int m_maxCollisionsPerFrame;
-    internal CollisionDesc[] m_collisionArray;
-
-    internal int m_maxUpdatesPerFrame;
-    internal EntityProperties[] m_updateArray;
-
-    public const uint TERRAIN_ID = 0;       // OpenSim senses terrain with a localID of zero
-    public const uint GROUNDPLANE_ID = 1;
-    public const uint CHILDTERRAIN_ID = 2;  // Terrain allocated based on our mega-prim childre start here
-
-    public float SimpleWaterLevel { get; set; }
-    public BSTerrainManager TerrainManager { get; private set; }
-
-    public ConfigurationParameters Params
-    {
-        get { return UnmanagedParams[0]; }
-    }
-    public Vector3 DefaultGravity
-    {
-        get { return new Vector3(0f, 0f, Params.gravity); }
-    }
-    // Just the Z value of the gravity
-    public float DefaultGravityZ
-    {
-        get { return Params.gravity; }
-    }
-
-    // When functions in the unmanaged code must be called, it is only
-    //   done at a known time just before the simulation step. The taint
-    //   system saves all these function calls and executes them in
-    //   order before the simulation.
-    public delegate void TaintCallback();
-    private struct TaintCallbackEntry
-    {
-        public String ident;
-        public TaintCallback callback;
-        public TaintCallbackEntry(string i, TaintCallback c)
-        {
-            ident = i;
-            callback = c;
-        }
-    }
-    private Object _taintLock = new Object();   // lock for using the next object
-    private List<TaintCallbackEntry> _taintOperations;
-    private Dictionary<string, TaintCallbackEntry> _postTaintOperations;
-    private List<TaintCallbackEntry> _postStepOperations;
-
-    // A pointer to an instance if this structure is passed to the C++ code
-    // Used to pass basic configuration values to the unmanaged code.
-    internal ConfigurationParameters[] UnmanagedParams;
-
-    // Sometimes you just have to log everything.
-    public Logging.LogWriter PhysicsLogging;
-    private bool m_physicsLoggingEnabled;
-    private string m_physicsLoggingDir;
-    private string m_physicsLoggingPrefix;
-    private int m_physicsLoggingFileMinutes;
-    private bool m_physicsLoggingDoFlush;
-    private bool m_physicsPhysicalDumpEnabled;
-    public float PhysicsMetricDumpFrames { get; set; }
-    // 'true' of the vehicle code is to log lots of details
-    public bool VehicleLoggingEnabled { get; private set; }
-    public bool VehiclePhysicalLoggingEnabled { get; private set; }
-
-    #region Construction and Initialization
-    public BSScene(string identifier)
-    {
-        m_initialized = false;
-        // we are passed the name of the region we're working for.
-        RegionName = identifier;
-    }
-
-    public override void Initialise(IMesher meshmerizer, IConfigSource config)
-    {
-        mesher = meshmerizer;
-        _taintOperations = new List<TaintCallbackEntry>();
-        _postTaintOperations = new Dictionary<string, TaintCallbackEntry>();
-        _postStepOperations = new List<TaintCallbackEntry>();
-        PhysObjects = new Dictionary<uint, BSPhysObject>();
-        Shapes = new BSShapeCollection(this);
-
-        // Allocate pinned memory to pass parameters.
-        UnmanagedParams = new ConfigurationParameters[1];
-
-        // Set default values for physics parameters plus any overrides from the ini file
-        GetInitialParameterValues(config);
-
-        // Get the connection to the physics engine (could be native or one of many DLLs)
-        PE = SelectUnderlyingBulletEngine(BulletEngineName);
-
-        // Enable very detailed logging.
-        // By creating an empty logger when not logging, the log message invocation code
-        //     can be left in and every call doesn't have to check for null.
-        if (m_physicsLoggingEnabled)
-        {
-            PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes);
-            PhysicsLogging.ErrorLogger = m_log; // for DEBUG. Let's the logger output error messages.
-        }
-        else
-        {
-            PhysicsLogging = new Logging.LogWriter();
-        }
-
-        // Allocate memory for returning of the updates and collisions from the physics engine
-        m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame];
-        m_updateArray = new EntityProperties[m_maxUpdatesPerFrame];
-
-        // The bounding box for the simulated world. The origin is 0,0,0 unless we're
-        //    a child in a mega-region.
-        // Bullet actually doesn't care about the extents of the simulated
-        //    area. It tracks active objects no matter where they are.
-        Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
-
-        World = PE.Initialize(worldExtent, Params, m_maxCollisionsPerFrame, ref m_collisionArray, m_maxUpdatesPerFrame, ref m_updateArray);
-
-        Constraints = new BSConstraintCollection(World);
-
-        TerrainManager = new BSTerrainManager(this);
-        TerrainManager.CreateInitialGroundPlaneAndTerrain();
-
-        m_log.WarnFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation);
-
-        InTaintTime = false;
-        m_initialized = true;
-    }
-
-    // All default parameter values are set here. There should be no values set in the
-    // variable definitions.
-    private void GetInitialParameterValues(IConfigSource config)
-    {
-        ConfigurationParameters parms = new ConfigurationParameters();
-        UnmanagedParams[0] = parms;
-
-        BSParam.SetParameterDefaultValues(this);
-
-        if (config != null)
-        {
-            // If there are specifications in the ini file, use those values
-            IConfig pConfig = config.Configs["BulletSim"];
-            if (pConfig != null)
-            {
-                BSParam.SetParameterConfigurationValues(this, pConfig);
-
-                // There are two Bullet implementations to choose from
-                BulletEngineName = pConfig.GetString("BulletEngine", "BulletUnmanaged");
-
-                // Very detailed logging for physics debugging
-                // TODO: the boolean values can be moved to the normal parameter processing.
-                m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false);
-                m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", ".");
-                m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-");
-                m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5);
-                m_physicsLoggingDoFlush = pConfig.GetBoolean("PhysicsLoggingDoFlush", false);
-                m_physicsPhysicalDumpEnabled = pConfig.GetBoolean("PhysicsPhysicalDumpEnabled", false);
-                // Very detailed logging for vehicle debugging
-                VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
-                VehiclePhysicalLoggingEnabled = pConfig.GetBoolean("VehiclePhysicalLoggingEnabled", false);
-
-                // Do any replacements in the parameters
-                m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName);
-            }
-
-            // The material characteristics.
-            BSMaterials.InitializeFromDefaults(Params);
-            if (pConfig != null)
-            {
-                // Let the user add new and interesting material property values.
-                BSMaterials.InitializefromParameters(pConfig);
-            }
-        }
-    }
-
-    // A helper function that handles a true/false parameter and returns the proper float number encoding
-    float ParamBoolean(IConfig config, string parmName, float deflt)
-    {
-        float ret = deflt;
-        if (config.Contains(parmName))
-        {
-            ret = ConfigurationParameters.numericFalse;
-            if (config.GetBoolean(parmName, false))
-            {
-                ret = ConfigurationParameters.numericTrue;
-            }
-        }
-        return ret;
-    }
-
-    // Select the connection to the actual Bullet implementation.
-    // The main engine selection is the engineName up to the first hypen.
-    // So "Bullet-2.80-OpenCL-Intel" specifies the 'bullet' class here and the whole name
-    //     is passed to the engine to do its special selection, etc.
-    private BSAPITemplate SelectUnderlyingBulletEngine(string engineName)
-    {
-        // For the moment, do a simple switch statement.
-        // Someday do fancyness with looking up the interfaces in the assembly.
-        BSAPITemplate ret = null;
-
-        string selectionName = engineName.ToLower();
-        int hyphenIndex = engineName.IndexOf("-");
-        if (hyphenIndex > 0)
-            selectionName = engineName.ToLower().Substring(0, hyphenIndex - 1);
-
-        switch (selectionName)
-        {
-            case "bulletunmanaged":
-                ret = new BSAPIUnman(engineName, this);
-                break;
-            case "bulletxna":
-                ret = new BSAPIXNA(engineName, this);
-                break;
-        }
-
-        if (ret == null)
-        {
-            m_log.ErrorFormat("{0) COULD NOT SELECT BULLET ENGINE: '[BulletSim]PhysicsEngine' must be either 'BulletUnmanaged-*' or 'BulletXNA-*'", LogHeader);
-        }
-        else
-        {
-            m_log.WarnFormat("{0} Selected bullet engine {1} -> {2}/{3}", LogHeader, engineName, ret.BulletEngineName, ret.BulletEngineVersion);
-        }
-
-        return ret;
-    }
-
-    public override void Dispose()
-    {
-        // m_log.DebugFormat("{0}: Dispose()", LogHeader);
-
-        // make sure no stepping happens while we're deleting stuff
-        m_initialized = false;
-
-        foreach (KeyValuePair<uint, BSPhysObject> kvp in PhysObjects)
-        {
-            kvp.Value.Destroy();
-        }
-        PhysObjects.Clear();
-
-        // Now that the prims are all cleaned up, there should be no constraints left
-        if (Constraints != null)
-        {
-            Constraints.Dispose();
-            Constraints = null;
-        }
-
-        if (Shapes != null)
-        {
-            Shapes.Dispose();
-            Shapes = null;
-        }
-
-        if (TerrainManager != null)
-        {
-            TerrainManager.ReleaseGroundPlaneAndTerrain();
-            TerrainManager.Dispose();
-            TerrainManager = null;
-        }
-
-        // Anything left in the unmanaged code should be cleaned out
-        PE.Shutdown(World);
-
-        // Not logging any more
-        PhysicsLogging.Close();
-    }
-    #endregion // Construction and Initialization
-
-    #region Prim and Avatar addition and removal
-
-    public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
-    {
-        m_log.ErrorFormat("{0}: CALL TO AddAvatar in BSScene. NOT IMPLEMENTED", LogHeader);
-        return null;
-    }
-
-    public override PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 size, bool isFlying)
-    {
-        // m_log.DebugFormat("{0}: AddAvatar: {1}", LogHeader, avName);
-
-        if (!m_initialized) return null;
-
-        BSCharacter actor = new BSCharacter(localID, avName, this, position, size, isFlying);
-        lock (PhysObjects) PhysObjects.Add(localID, actor);
-
-        // TODO: Remove kludge someday.
-        // We must generate a collision for avatars whether they collide or not.
-        // This is required by OpenSim to update avatar animations, etc.
-        lock (m_avatars) m_avatars.Add(actor);
-
-        return actor;
-    }
-
-    public override void RemoveAvatar(PhysicsActor actor)
-    {
-        // m_log.DebugFormat("{0}: RemoveAvatar", LogHeader);
-
-        if (!m_initialized) return;
-
-        BSCharacter bsactor = actor as BSCharacter;
-        if (bsactor != null)
-        {
-            try
-            {
-                lock (PhysObjects) PhysObjects.Remove(actor.LocalID);
-                // Remove kludge someday
-                lock (m_avatars) m_avatars.Remove(bsactor);
-            }
-            catch (Exception e)
-            {
-                m_log.WarnFormat("{0}: Attempt to remove avatar that is not in physics scene: {1}", LogHeader, e);
-            }
-            bsactor.Destroy();
-            // bsactor.dispose();
-        }
-    }
-
-    public override void RemovePrim(PhysicsActor prim)
-    {
-        if (!m_initialized) return;
-
-        BSPrim bsprim = prim as BSPrim;
-        if (bsprim != null)
-        {
-            DetailLog("{0},RemovePrim,call", bsprim.LocalID);
-            // m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID);
-            try
-            {
-                lock (PhysObjects) PhysObjects.Remove(bsprim.LocalID);
-            }
-            catch (Exception e)
-            {
-                m_log.ErrorFormat("{0}: Attempt to remove prim that is not in physics scene: {1}", LogHeader, e);
-            }
-            bsprim.Destroy();
-            // bsprim.dispose();
-        }
-        else
-        {
-            m_log.ErrorFormat("{0}: Attempt to remove prim that is not a BSPrim type.", LogHeader);
-        }
-    }
-
-    public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
-                                              Vector3 size, Quaternion rotation, bool isPhysical, uint localID)
-    {
-        // m_log.DebugFormat("{0}: AddPrimShape2: {1}", LogHeader, primName);
-
-        if (!m_initialized) return null;
-
-        DetailLog("{0},AddPrimShape,call", localID);
-
-        BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical);
-        lock (PhysObjects) PhysObjects.Add(localID, prim);
-        return prim;
-    }
-
-    // This is a call from the simulator saying that some physical property has been updated.
-    // The BulletSim driver senses the changing of relevant properties so this taint
-    // information call is not needed.
-    public override void AddPhysicsActorTaint(PhysicsActor prim) { }
-
-    #endregion // Prim and Avatar addition and removal
-
-    #region Simulation
-    // Simulate one timestep
-    public override float Simulate(float timeStep)
-    {
-        // prevent simulation until we've been initialized
-        if (!m_initialized) return 5.0f;
-
-        LastTimeStep = timeStep;
-
-        int updatedEntityCount = 0;
-        int collidersCount = 0;
-
-        int beforeTime = 0;
-        int simTime = 0;
-
-        // update the prim states while we know the physics engine is not busy
-        int numTaints = _taintOperations.Count;
-
-        InTaintTime = true; // Only used for debugging so locking is not necessary.
-
-        ProcessTaints();
-
-        // Some of the physical objects requre individual, pre-step calls
-        TriggerPreStepEvent(timeStep);
-
-        // the prestep actions might have added taints
-        numTaints += _taintOperations.Count;
-        ProcessTaints();
-
-        InTaintTime = false; // Only used for debugging so locking is not necessary.
-
-        // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
-        // Only enable this in a limited test world with few objects.
-        if (m_physicsPhysicalDumpEnabled)
-            PE.DumpAllInfo(World);
-
-        // step the physical world one interval
-        m_simulationStep++;
-        int numSubSteps = 0;
-        try
-        {
-            if (PhysicsLogging.Enabled)
-                beforeTime = Util.EnvironmentTickCount();
-
-            numSubSteps = PE.PhysicsStep(World, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out collidersCount);
-
-            if (PhysicsLogging.Enabled)
-            {
-                simTime = Util.EnvironmentTickCountSubtract(beforeTime);
-                DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}",
-                                        DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps,
-                                        updatedEntityCount, collidersCount, ObjectsWithCollisions.Count);
-            }
-        }
-        catch (Exception e)
-        {
-            m_log.WarnFormat("{0},PhysicsStep Exception: nTaints={1}, substeps={2}, updates={3}, colliders={4}, e={5}",
-                        LogHeader, numTaints, numSubSteps, updatedEntityCount, collidersCount, e);
-            DetailLog("{0},PhysicsStepException,call, nTaints={1}, substeps={2}, updates={3}, colliders={4}",
-                        DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount);
-            updatedEntityCount = 0;
-            collidersCount = 0;
-        }
-
-        if ((m_simulationStep % PhysicsMetricDumpFrames) == 0)
-            PE.DumpPhysicsStatistics(World);
-
-        // Get a value for 'now' so all the collision and update routines don't have to get their own.
-        SimulationNowTime = Util.EnvironmentTickCount();
-
-        // If there were collisions, process them by sending the event to the prim.
-        // Collisions must be processed before updates.
-        if (collidersCount > 0)
-        {
-            for (int ii = 0; ii < collidersCount; ii++)
-            {
-                uint cA = m_collisionArray[ii].aID;
-                uint cB = m_collisionArray[ii].bID;
-                Vector3 point = m_collisionArray[ii].point;
-                Vector3 normal = m_collisionArray[ii].normal;
-                SendCollision(cA, cB, point, normal, 0.01f);
-                SendCollision(cB, cA, point, -normal, 0.01f);
-            }
-        }
-
-        // The above SendCollision's batch up the collisions on the objects.
-        //      Now push the collisions into the simulator.
-        if (ObjectsWithCollisions.Count > 0)
-        {
-            foreach (BSPhysObject bsp in ObjectsWithCollisions)
-                if (!bsp.SendCollisions())
-                {
-                    // If the object is done colliding, see that it's removed from the colliding list
-                    ObjectsWithNoMoreCollisions.Add(bsp);
-                }
-        }
-
-        // This is a kludge to get avatar movement updates.
-        // The simulator expects collisions for avatars even if there are have been no collisions.
-        //    The event updates avatar animations and stuff.
-        // If you fix avatar animation updates, remove this overhead and let normal collision processing happen.
-        foreach (BSPhysObject bsp in m_avatars)
-            if (!ObjectsWithCollisions.Contains(bsp))   // don't call avatars twice
-                bsp.SendCollisions();
-
-        // Objects that are done colliding are removed from the ObjectsWithCollisions list.
-        // Not done above because it is inside an iteration of ObjectWithCollisions.
-        // This complex collision processing is required to create an empty collision
-        //     event call after all real collisions have happened on an object. This enables
-        //     the simulator to generate the 'collision end' event.
-        if (ObjectsWithNoMoreCollisions.Count > 0)
-        {
-            foreach (BSPhysObject po in ObjectsWithNoMoreCollisions)
-                ObjectsWithCollisions.Remove(po);
-            ObjectsWithNoMoreCollisions.Clear();
-        }
-        // Done with collisions.
-
-        // If any of the objects had updated properties, tell the object it has been changed by the physics engine
-        if (updatedEntityCount > 0)
-        {
-            for (int ii = 0; ii < updatedEntityCount; ii++)
-            {
-                EntityProperties entprop = m_updateArray[ii];
-                BSPhysObject pobj;
-                if (PhysObjects.TryGetValue(entprop.ID, out pobj))
-                {
-                    pobj.UpdateProperties(entprop);
-                }
-            }
-        }
-
-        TriggerPostStepEvent(timeStep);
-
-        // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
-        // Only enable this in a limited test world with few objects.
-        if (m_physicsPhysicalDumpEnabled)
-            PE.DumpAllInfo(World);
-
-        // The physics engine returns the number of milliseconds it simulated this call.
-        // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
-        // Multiply by a fixed nominal frame rate to give a rate similar to the simulator (usually 55).
-        return (float)numSubSteps * m_fixedTimeStep * 1000f * NominalFrameRate;
-    }
-
-    // Something has collided
-    private void SendCollision(uint localID, uint collidingWith, Vector3 collidePoint, Vector3 collideNormal, float penetration)
-    {
-        if (localID <= TerrainManager.HighestTerrainID)
-        {
-            return;         // don't send collisions to the terrain
-        }
-
-        BSPhysObject collider;
-        if (!PhysObjects.TryGetValue(localID, out collider))
-        {
-            // If the object that is colliding cannot be found, just ignore the collision.
-            DetailLog("{0},BSScene.SendCollision,colliderNotInObjectList,id={1},with={2}", DetailLogZero, localID, collidingWith);
-            return;
-        }
-
-        // The terrain is not in the physical object list so 'collidee' can be null when Collide() is called.
-        BSPhysObject collidee = null;
-        PhysObjects.TryGetValue(collidingWith, out collidee);
-
-        // DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith);
-
-        if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration))
-        {
-            // If a collision was posted, remember to send it to the simulator
-            ObjectsWithCollisions.Add(collider);
-        }
-
-        return;
-    }
-
-    #endregion // Simulation
-
-    public override void GetResults() { }
-
-    #region Terrain
-
-    public override void SetTerrain(float[] heightMap) {
-        TerrainManager.SetTerrain(heightMap);
-    }
-
-    public override void SetWaterLevel(float baseheight)
-    {
-        SimpleWaterLevel = baseheight;
-    }
-
-    public override void DeleteTerrain()
-    {
-        // m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader);
-    }
-
-    // Although no one seems to check this, I do support combining.
-    public override bool SupportsCombining()
-    {
-        return TerrainManager.SupportsCombining();
-    }
-    // This call says I am a child to region zero in a mega-region. 'pScene' is that
-    //    of region zero, 'offset' is my offset from regions zero's origin, and
-    //    'extents' is the largest XY that is handled in my region.
-    public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
-    {
-        TerrainManager.Combine(pScene, offset, extents);
-    }
-
-    // Unhook all the combining that I know about.
-    public override void UnCombine(PhysicsScene pScene)
-    {
-        TerrainManager.UnCombine(pScene);
-    }
-
-    #endregion // Terrain
-
-    public override Dictionary<uint, float> GetTopColliders()
-    {
-        return new Dictionary<uint, float>();
-    }
-
-    public override bool IsThreaded { get { return false;  } }
-
-    #region Taints
-    // The simulation execution order is:
-    // Simulate()
-    //    DoOneTimeTaints
-    //    TriggerPreStepEvent
-    //    DoOneTimeTaints
-    //    Step()
-    //       ProcessAndForwardCollisions
-    //       ProcessAndForwardPropertyUpdates
-    //    TriggerPostStepEvent
-
-    // Calls to the PhysicsActors can't directly call into the physics engine
-    //       because it might be busy. We delay changes to a known time.
-    // We rely on C#'s closure to save and restore the context for the delegate.
-    public void TaintedObject(String ident, TaintCallback callback)
-    {
-        if (!m_initialized) return;
-
-        lock (_taintLock)
-        {
-            _taintOperations.Add(new TaintCallbackEntry(ident, callback));
-        }
-
-        return;
-    }
-
-    // Sometimes a potentially tainted operation can be used in and out of taint time.
-    // This routine executes the command immediately if in taint-time otherwise it is queued.
-    public void TaintedObject(bool inTaintTime, string ident, TaintCallback callback)
-    {
-        if (inTaintTime)
-            callback();
-        else
-            TaintedObject(ident, callback);
-    }
-
-    private void TriggerPreStepEvent(float timeStep)
-    {
-        PreStepAction actions = BeforeStep;
-        if (actions != null)
-            actions(timeStep);
-
-    }
-
-    private void TriggerPostStepEvent(float timeStep)
-    {
-        PreStepAction actions = AfterStep;
-        if (actions != null)
-            actions(timeStep);
-
-    }
-
-    // When someone tries to change a property on a BSPrim or BSCharacter, the object queues
-    // a callback into itself to do the actual property change. That callback is called
-    // here just before the physics engine is called to step the simulation.
-    public void ProcessTaints()
-    {
-        ProcessRegularTaints();
-        ProcessPostTaintTaints();
-    }
-
-    private void ProcessRegularTaints()
-    {
-        if (_taintOperations.Count > 0)  // save allocating new list if there is nothing to process
-        {
-            // swizzle a new list into the list location so we can process what's there
-            List<TaintCallbackEntry> oldList;
-            lock (_taintLock)
-            {
-                oldList = _taintOperations;
-                _taintOperations = new List<TaintCallbackEntry>();
-            }
-
-            foreach (TaintCallbackEntry tcbe in oldList)
-            {
-                try
-                {
-                    DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, tcbe.ident); // DEBUG DEBUG DEBUG
-                    tcbe.callback();
-                }
-                catch (Exception e)
-                {
-                    m_log.ErrorFormat("{0}: ProcessTaints: {1}: Exception: {2}", LogHeader, tcbe.ident, e);
-                }
-            }
-            oldList.Clear();
-        }
-    }
-
-    // Schedule an update to happen after all the regular taints are processed.
-    // Note that new requests for the same operation ("ident") for the same object ("ID")
-    //     will replace any previous operation by the same object.
-    public void PostTaintObject(String ident, uint ID, TaintCallback callback)
-    {
-        string uniqueIdent = ident + "-" + ID.ToString();
-        lock (_taintLock)
-        {
-            _postTaintOperations[uniqueIdent] = new TaintCallbackEntry(uniqueIdent, callback);
-        }
-
-        return;
-    }
-
-    // Taints that happen after the normal taint processing but before the simulation step.
-    private void ProcessPostTaintTaints()
-    {
-        if (_postTaintOperations.Count > 0)
-        {
-            Dictionary<string, TaintCallbackEntry> oldList;
-            lock (_taintLock)
-            {
-                oldList = _postTaintOperations;
-                _postTaintOperations = new Dictionary<string, TaintCallbackEntry>();
-            }
-
-            foreach (KeyValuePair<string,TaintCallbackEntry> kvp in oldList)
-            {
-                try
-                {
-                    DetailLog("{0},BSScene.ProcessPostTaintTaints,doTaint,id={1}", DetailLogZero, kvp.Key); // DEBUG DEBUG DEBUG
-                    kvp.Value.callback();
-                }
-                catch (Exception e)
-                {
-                    m_log.ErrorFormat("{0}: ProcessPostTaintTaints: {1}: Exception: {2}", LogHeader, kvp.Key, e);
-                }
-            }
-            oldList.Clear();
-        }
-    }
-
-    // Only used for debugging. Does not change state of anything so locking is not necessary.
-    public bool AssertInTaintTime(string whereFrom)
-    {
-        if (!InTaintTime)
-        {
-            DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom);
-            m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom);
-            Util.PrintCallStack(DetailLog);
-        }
-        return InTaintTime;
-    }
-
-    #endregion // Taints
-
-    #region INI and command line parameter processing
-
-    #region IPhysicsParameters
-    // Get the list of parameters this physics engine supports
-    public PhysParameterEntry[] GetParameterList()
-    {
-        BSParam.BuildParameterTable();
-        return BSParam.SettableParameters;
-    }
-
-    // Set parameter on a specific or all instances.
-    // Return 'false' if not able to set the parameter.
-    // Setting the value in the m_params block will change the value the physics engine
-    //   will use the next time since it's pinned and shared memory.
-    // Some of the values require calling into the physics engine to get the new
-    //   value activated ('terrainFriction' for instance).
-    public bool SetPhysicsParameter(string parm, float val, uint localID)
-    {
-        bool ret = false;
-        BSParam.ParameterDefn theParam;
-        if (BSParam.TryGetParameter(parm, out theParam))
-        {
-            theParam.setter(this, parm, localID, val);
-            ret = true;
-        }
-        return ret;
-    }
-
-    // update all the localIDs specified
-    // If the local ID is APPLY_TO_NONE, just change the default value
-    // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs
-    // If the localID is a specific object, apply the parameter change to only that object
-    internal delegate void AssignVal(float x);
-    internal void UpdateParameterObject(AssignVal setDefault, string parm, uint localID, float val)
-    {
-        List<uint> objectIDs = new List<uint>();
-        switch (localID)
-        {
-            case PhysParameterEntry.APPLY_TO_NONE:
-                setDefault(val);            // setting only the default value
-                // This will cause a call into the physical world if some operation is specified (SetOnObject).
-                objectIDs.Add(TERRAIN_ID);
-                TaintedUpdateParameter(parm, objectIDs, val);
-                break;
-            case PhysParameterEntry.APPLY_TO_ALL:
-                setDefault(val);  // setting ALL also sets the default value
-                lock (PhysObjects) objectIDs = new List<uint>(PhysObjects.Keys);
-                TaintedUpdateParameter(parm, objectIDs, val);
-                break;
-            default:
-                // setting only one localID
-                objectIDs.Add(localID);
-                TaintedUpdateParameter(parm, objectIDs, val);
-                break;
-        }
-    }
-
-    // schedule the actual updating of the paramter to when the phys engine is not busy
-    private void TaintedUpdateParameter(string parm, List<uint> lIDs, float val)
-    {
-        float xval = val;
-        List<uint> xlIDs = lIDs;
-        string xparm = parm;
-        TaintedObject("BSScene.UpdateParameterSet", delegate() {
-            BSParam.ParameterDefn thisParam;
-            if (BSParam.TryGetParameter(xparm, out thisParam))
-            {
-                if (thisParam.onObject != null)
-                {
-                    foreach (uint lID in xlIDs)
-                    {
-                        BSPhysObject theObject = null;
-                        PhysObjects.TryGetValue(lID, out theObject);
-                        thisParam.onObject(this, theObject, xval);
-                    }
-                }
-            }
-        });
-    }
-
-    // Get parameter.
-    // Return 'false' if not able to get the parameter.
-    public bool GetPhysicsParameter(string parm, out float value)
-    {
-        float val = 0f;
-        bool ret = false;
-        BSParam.ParameterDefn theParam;
-        if (BSParam.TryGetParameter(parm, out theParam))
-        {
-            val = theParam.getter(this);
-            ret = true;
-        }
-        value = val;
-        return ret;
-    }
-
-    #endregion IPhysicsParameters
-
-    #endregion Runtime settable parameters
-
-    // Invoke the detailed logger and output something if it's enabled.
-    public void DetailLog(string msg, params Object[] args)
-    {
-        PhysicsLogging.Write(msg, args);
-        // Add the Flush() if debugging crashes. Gets all the messages written out.
-        if (m_physicsLoggingDoFlush) PhysicsLogging.Flush();
-    }
-    // Used to fill in the LocalID when there isn't one. It's the correct number of characters.
-    public const string DetailLogZero = "0000000000";
-
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
deleted file mode 100755
index d361f18..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ /dev/null
@@ -1,1009 +0,0 @@
-/*
- * 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;
-using OpenSim.Region.Physics.ConvexDecompositionDotNet;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-public sealed class BSShapeCollection : IDisposable
-{
-    private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]";
-
-    private BSScene PhysicsScene { get; set; }
-
-    private Object m_collectionActivityLock = new Object();
-
-    // Description of a Mesh
-    private struct MeshDesc
-    {
-        public BulletShape shape;
-        public int referenceCount;
-        public DateTime lastReferenced;
-        public UInt64 shapeKey;
-    }
-
-    // Description of a hull.
-    // Meshes and hulls have the same shape hash key but we only need hulls for efficient collision calculations.
-    private struct HullDesc
-    {
-        public BulletShape shape;
-        public int referenceCount;
-        public DateTime lastReferenced;
-        public UInt64 shapeKey;
-    }
-
-    // The sharable set of meshes and hulls. Indexed by their shape hash.
-    private Dictionary<System.UInt64, MeshDesc> Meshes = new Dictionary<System.UInt64, MeshDesc>();
-    private Dictionary<System.UInt64, HullDesc> Hulls = new Dictionary<System.UInt64, HullDesc>();
-
-    private bool DDetail = false;
-
-    public BSShapeCollection(BSScene physScene)
-    {
-        PhysicsScene = physScene;
-        // Set the next to 'true' for very detailed shape update detailed logging (detailed details?)
-        // While detailed debugging is still active, this is better than commenting out all the
-        //     DetailLog statements. When debugging slows down, this and the protected logging
-        //     statements can be commented/removed.
-        DDetail = true;
-    }
-
-    public void Dispose()
-    {
-        // TODO!!!!!!!!!
-    }
-
-    // Callbacks called just before either the body or shape is destroyed.
-    // Mostly used for changing bodies out from under Linksets.
-    // Useful for other cases where parameters need saving.
-    // Passing 'null' says no callback.
-    public delegate void ShapeDestructionCallback(BulletShape shape);
-    public delegate void BodyDestructionCallback(BulletBody body);
-
-    // Called to update/change the body and shape for an object.
-    // First checks the shape and updates that if necessary then makes
-    //    sure the body is of the right type.
-    // Return 'true' if either the body or the shape changed.
-    // 'shapeCallback' and 'bodyCallback' are, if non-null, functions called just before
-    //    the current shape or body is destroyed. This allows the caller to remove any
-    //    higher level dependencies on the shape or body. Mostly used for LinkSets to
-    //    remove the physical constraints before the body is destroyed.
-    // Called at taint-time!!
-    public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim,
-                    ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback)
-    {
-        PhysicsScene.AssertInTaintTime("BSShapeCollection.GetBodyAndShape");
-
-        bool ret = false;
-
-        // This lock could probably be pushed down lower but building shouldn't take long
-        lock (m_collectionActivityLock)
-        {
-            // Do we have the correct geometry for this type of object?
-            // Updates prim.BSShape with information/pointers to shape.
-            // Returns 'true' of BSShape is changed to a new shape.
-            bool newGeom = CreateGeom(forceRebuild, prim, shapeCallback);
-            // 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
-            // Returns 'true' if BSBody was changed.
-            bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World,
-                                    prim.PhysShape, bodyCallback);
-            ret = newGeom || newBody;
-        }
-        DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}",
-                                prim.LocalID, forceRebuild, ret, prim.PhysBody, prim.PhysShape);
-
-        return ret;
-    }
-
-    public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim)
-    {
-        return GetBodyAndShape(forceRebuild, sim, prim, null, null);
-    }
-
-    // Track another user of a body.
-    // We presume the caller has allocated the body.
-    // Bodies only have one user so the body is just put into the world if not already there.
-    public void ReferenceBody(BulletBody body, bool inTaintTime)
-    {
-        lock (m_collectionActivityLock)
-        {
-            if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body);
-            PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.ReferenceBody", delegate()
-            {
-                if (!PhysicsScene.PE.IsInWorld(PhysicsScene.World, body))
-                {
-                    PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, body);
-                    if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body);
-                }
-            });
-        }
-    }
-
-    // Release the usage of a body.
-    // Called when releasing use of a BSBody. BSShape is handled separately.
-    public void DereferenceBody(BulletBody body, bool inTaintTime, BodyDestructionCallback bodyCallback )
-    {
-        if (!body.HasPhysicalBody)
-            return;
-
-        lock (m_collectionActivityLock)
-        {
-            PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceBody", delegate()
-            {
-                if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1},inTaintTime={2}",
-                                            body.ID, body, inTaintTime);
-                // If the caller needs to know the old body is going away, pass the event up.
-                if (bodyCallback != null) bodyCallback(body);
-
-                if (PhysicsScene.PE.IsInWorld(PhysicsScene.World, body))
-                {
-                    PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, body);
-                    if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body);
-                }
-
-                // Zero any reference to the shape so it is not freed when the body is deleted.
-                PhysicsScene.PE.SetCollisionShape(PhysicsScene.World, body, null);
-                PhysicsScene.PE.DestroyObject(PhysicsScene.World, body);
-            });
-        }
-    }
-
-    // Track the datastructures and use count for a shape.
-    // When creating a hull, this is called first to reference the mesh
-    //     and then again to reference the hull.
-    // Meshes and hulls for the same shape have the same hash key.
-    // NOTE that native shapes are not added to the mesh list or removed.
-    // Returns 'true' if this is the initial reference to the shape. Otherwise reused.
-    public bool ReferenceShape(BulletShape shape)
-    {
-        bool ret = false;
-        switch (shape.type)
-        {
-            case BSPhysicsShapeType.SHAPE_MESH:
-                MeshDesc meshDesc;
-                if (Meshes.TryGetValue(shape.shapeKey, out meshDesc))
-                {
-                    // There is an existing instance of this mesh.
-                    meshDesc.referenceCount++;
-                    if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,existingMesh,key={1},cnt={2}",
-                                BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
-                }
-                else
-                {
-                    // This is a new reference to a mesh
-                    meshDesc.shape = shape.Clone();
-                    meshDesc.shapeKey = shape.shapeKey;
-                    // We keep a reference to the underlying IMesh data so a hull can be built
-                    meshDesc.referenceCount = 1;
-                    if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newMesh,key={1},cnt={2}",
-                                BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
-                    ret = true;
-                }
-                meshDesc.lastReferenced = System.DateTime.Now;
-                Meshes[shape.shapeKey] = meshDesc;
-                break;
-            case BSPhysicsShapeType.SHAPE_HULL:
-                HullDesc hullDesc;
-                if (Hulls.TryGetValue(shape.shapeKey, out hullDesc))
-                {
-                    // There is an existing instance of this hull.
-                    hullDesc.referenceCount++;
-                    if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,existingHull,key={1},cnt={2}",
-                                BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
-                }
-                else
-                {
-                    // This is a new reference to a hull
-                    hullDesc.shape = shape.Clone();
-                    hullDesc.shapeKey = shape.shapeKey;
-                    hullDesc.referenceCount = 1;
-                    if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}",
-                                BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
-                    ret = true;
-
-                }
-                hullDesc.lastReferenced = System.DateTime.Now;
-                Hulls[shape.shapeKey] = hullDesc;
-                break;
-            case BSPhysicsShapeType.SHAPE_UNKNOWN:
-                break;
-            default:
-                // Native shapes are not tracked and they don't go into any list
-                break;
-        }
-        return ret;
-    }
-
-    // Release the usage of a shape.
-    public void DereferenceShape(BulletShape shape, bool inTaintTime, ShapeDestructionCallback shapeCallback)
-    {
-        if (!shape.HasPhysicalShape)
-            return;
-
-        PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceShape", delegate()
-        {
-            if (shape.HasPhysicalShape)
-            {
-                if (shape.isNativeShape)
-                {
-                    // Native shapes are not tracked and are released immediately
-                    if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
-                                    BSScene.DetailLogZero, shape.AddrString, inTaintTime);
-                    if (shapeCallback != null) shapeCallback(shape);
-                    PhysicsScene.PE.DeleteCollisionShape(PhysicsScene.World, shape);
-                }
-                else
-                {
-                    switch (shape.type)
-                    {
-                        case BSPhysicsShapeType.SHAPE_HULL:
-                            DereferenceHull(shape, shapeCallback);
-                            break;
-                        case BSPhysicsShapeType.SHAPE_MESH:
-                            DereferenceMesh(shape, shapeCallback);
-                            break;
-                        case BSPhysicsShapeType.SHAPE_COMPOUND:
-                            DereferenceCompound(shape, shapeCallback);
-                            break;
-                        case BSPhysicsShapeType.SHAPE_UNKNOWN:
-                            break;
-                        default:
-                            break;
-                    }
-                }
-            }
-        });
-    }
-
-    // Count down the reference count for a mesh shape
-    // Called at taint-time.
-    private void DereferenceMesh(BulletShape shape, ShapeDestructionCallback shapeCallback)
-    {
-        MeshDesc meshDesc;
-        if (Meshes.TryGetValue(shape.shapeKey, out meshDesc))
-        {
-            meshDesc.referenceCount--;
-            // TODO: release the Bullet storage
-            if (shapeCallback != null) shapeCallback(shape);
-            meshDesc.lastReferenced = System.DateTime.Now;
-            Meshes[shape.shapeKey] = meshDesc;
-            if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceMesh,shape={1},refCnt={2}",
-                                BSScene.DetailLogZero, shape, meshDesc.referenceCount);
-
-        }
-    }
-
-    // Count down the reference count for a hull shape
-    // Called at taint-time.
-    private void DereferenceHull(BulletShape shape, ShapeDestructionCallback shapeCallback)
-    {
-        HullDesc hullDesc;
-        if (Hulls.TryGetValue(shape.shapeKey, out hullDesc))
-        {
-            hullDesc.referenceCount--;
-            // TODO: release the Bullet storage (aging old entries?)
-
-            // Tell upper layers that, if they have dependencies on this shape, this link is going away
-            if (shapeCallback != null) shapeCallback(shape);
-
-            hullDesc.lastReferenced = System.DateTime.Now;
-            Hulls[shape.shapeKey] = hullDesc;
-            if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceHull,shape={1},refCnt={2}",
-                    BSScene.DetailLogZero, shape, hullDesc.referenceCount);
-        }
-    }
-
-    // Remove a reference to a compound shape.
-    // Taking a compound shape apart is a little tricky because if you just delete the
-    //      physical shape, it will free all the underlying children. We can't do that because
-    //      they could be shared. So, this removes each of the children from the compound and
-    //      dereferences them separately before destroying the compound collision object itself.
-    // Called at taint-time.
-    private void DereferenceCompound(BulletShape shape, ShapeDestructionCallback shapeCallback)
-    {
-        if (!PhysicsScene.PE.IsCompound(shape))
-        {
-            // Failed the sanity check!!
-            PhysicsScene.Logger.ErrorFormat("{0} Attempt to free a compound shape that is not compound!! type={1}, ptr={2}",
-                                        LogHeader, shape.type, shape.AddrString);
-            if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}",
-                                        BSScene.DetailLogZero, shape.type, shape.AddrString);
-            return;
-        }
-
-        int numChildren = PhysicsScene.PE.GetNumberOfCompoundChildren(shape);
-        if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}", BSScene.DetailLogZero, shape, numChildren);
-
-        for (int ii = numChildren - 1; ii >= 0; ii--)
-        {
-            BulletShape childShape = PhysicsScene.PE.RemoveChildShapeFromCompoundShapeIndex(shape, ii);
-            DereferenceAnonCollisionShape(childShape);
-        }
-        PhysicsScene.PE.DeleteCollisionShape(PhysicsScene.World, shape);
-    }
-
-    // Sometimes we have a pointer to a collision shape but don't know what type it is.
-    // Figure out type and call the correct dereference routine.
-    // Called at taint-time.
-    private void DereferenceAnonCollisionShape(BulletShape shapeInfo)
-    {
-        MeshDesc meshDesc;
-        HullDesc hullDesc;
-
-        if (TryGetMeshByPtr(shapeInfo, out meshDesc))
-        {
-            shapeInfo.type = BSPhysicsShapeType.SHAPE_MESH;
-            shapeInfo.shapeKey = meshDesc.shapeKey;
-        }
-        else
-        {
-            if (TryGetHullByPtr(shapeInfo, out hullDesc))
-            {
-                shapeInfo.type = BSPhysicsShapeType.SHAPE_HULL;
-                shapeInfo.shapeKey = hullDesc.shapeKey;
-            }
-            else
-            {
-                if (PhysicsScene.PE.IsCompound(shapeInfo))
-                {
-                    shapeInfo.type = BSPhysicsShapeType.SHAPE_COMPOUND;
-                }
-                else
-                {
-                    if (PhysicsScene.PE.IsNativeShape(shapeInfo))
-                    {
-                        shapeInfo.isNativeShape = true;
-                        shapeInfo.type = BSPhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter)
-                    }
-                }
-            }
-        }
-
-        if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceAnonCollisionShape,shape={1}", BSScene.DetailLogZero, shapeInfo);
-
-        if (shapeInfo.type != BSPhysicsShapeType.SHAPE_UNKNOWN)
-        {
-            DereferenceShape(shapeInfo, true, null);
-        }
-        else
-        {
-            PhysicsScene.Logger.ErrorFormat("{0} Could not decypher shape type. Region={1}, addr={2}",
-                                    LogHeader, PhysicsScene.RegionName, shapeInfo.AddrString);
-        }
-    }
-
-    // Create the geometry information in Bullet for later use.
-    // The objects needs a hull if it's physical otherwise a mesh is enough.
-    // if 'forceRebuild' is true, the geometry is unconditionally rebuilt. For meshes and hulls,
-    //     shared geometries will be used. If the parameters of the existing shape are the same
-    //     as this request, the shape is not rebuilt.
-    // Info in prim.BSShape is updated to the new shape.
-    // Returns 'true' if the geometry was rebuilt.
-    // Called at taint-time!
-    private bool CreateGeom(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback)
-    {
-        bool ret = false;
-        bool haveShape = false;
-
-        if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE)
-        {
-            // an avatar capsule is close to a native shape (it is not shared)
-            GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_CAPSULE, FixedShapeKey.KEY_CAPSULE, shapeCallback);
-            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape);
-            ret = true;
-            haveShape = true;
-        }
-
-        // Compound shapes are handled special as they are rebuilt from scratch.
-        // This isn't too great a hardship since most of the child shapes will have already been created.
-        if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND)
-        {
-            ret = GetReferenceToCompoundShape(prim, shapeCallback);
-            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, prim.PhysShape);
-            haveShape = true;
-        }
-
-        if (!haveShape)
-        {
-            ret = CreateGeomNonSpecial(forceRebuild, prim, shapeCallback);
-        }
-
-        return ret;
-    }
-
-    // Create a mesh/hull shape or a native shape if 'nativeShapePossible' is 'true'.
-    public bool CreateGeomNonSpecial(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback)
-    {
-        bool ret = false;
-        bool haveShape = false;
-        bool nativeShapePossible = true;
-        PrimitiveBaseShape pbs = prim.BaseShape;
-
-        // If the prim attributes are simple, this could be a simple Bullet native shape
-        if (!haveShape
-                && pbs != null
-                && nativeShapePossible
-                && ((pbs.SculptEntry && !BSParam.ShouldMeshSculptedPrim)
-                    || (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
-                        && pbs.ProfileHollow == 0
-                        && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
-                        && pbs.PathBegin == 0 && pbs.PathEnd == 0
-                        && pbs.PathTaperX == 0 && pbs.PathTaperY == 0
-                        && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
-                        && pbs.PathShearX == 0 && pbs.PathShearY == 0) ) )
-        {
-            // Get the scale of any existing shape so we can see if the new shape is same native type and same size.
-            OMV.Vector3 scaleOfExistingShape = OMV.Vector3.Zero;
-            if (prim.PhysShape.HasPhysicalShape)
-                scaleOfExistingShape = PhysicsScene.PE.GetLocalScaling(prim.PhysShape);
-
-            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,maybeNative,force={1},primScale={2},primSize={3},primShape={4}",
-                        prim.LocalID, forceRebuild, prim.Scale, prim.Size, prim.PhysShape.type);
-
-            // It doesn't look like Bullet scales spheres so make sure the scales are all equal
-            if ((pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1)
-                                && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z)
-            {
-                haveShape = true;
-                if (forceRebuild
-                        || prim.Scale != scaleOfExistingShape
-                        || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_SPHERE
-                        )
-                {
-                    ret = GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_SPHERE,
-                                            FixedShapeKey.KEY_SPHERE, shapeCallback);
-                    if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}",
-                                        prim.LocalID, forceRebuild, prim.PhysShape);
-                }
-            }
-            if (!haveShape && pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
-            {
-                haveShape = true;
-                if (forceRebuild
-                        || prim.Scale != scaleOfExistingShape
-                        || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_BOX
-                        )
-                {
-                    ret = GetReferenceToNativeShape( prim, BSPhysicsShapeType.SHAPE_BOX,
-                                            FixedShapeKey.KEY_BOX, shapeCallback);
-                    if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}",
-                                        prim.LocalID, forceRebuild, prim.PhysShape);
-                }
-            }
-        }
-
-        // If a simple shape is not happening, create a mesh and possibly a hull.
-        if (!haveShape && pbs != null)
-        {
-            ret = CreateGeomMeshOrHull(prim, shapeCallback);
-        }
-
-        return ret;
-    }
-
-    public bool CreateGeomMeshOrHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
-    {
-
-        bool ret = false;
-        // Note that if it's a native shape, the check for physical/non-physical is not
-        //     made. Native shapes work in either case.
-        if (prim.IsPhysical && BSParam.ShouldUseHullsForPhysicalObjects)
-        {
-            // Update prim.BSShape to reference a hull of this shape.
-            ret = GetReferenceToHull(prim,shapeCallback);
-            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}",
-                                    prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X"));
-        }
-        else
-        {
-            ret = GetReferenceToMesh(prim, shapeCallback);
-            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}",
-                                    prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X"));
-        }
-        return ret;
-    }
-
-    // Creates a native shape and assignes it to prim.BSShape.
-    // "Native" shapes are never shared. they are created here and destroyed in DereferenceShape().
-    private bool GetReferenceToNativeShape(BSPhysObject prim,
-                            BSPhysicsShapeType shapeType, FixedShapeKey shapeKey,
-                            ShapeDestructionCallback shapeCallback)
-    {
-        // release any previous shape
-        DereferenceShape(prim.PhysShape, true, shapeCallback);
-
-        BulletShape newShape = BuildPhysicalNativeShape(prim, shapeType, shapeKey);
-
-        // Don't need to do a 'ReferenceShape()' here because native shapes are not shared.
-        if (DDetail) DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}",
-                                prim.LocalID, newShape, prim.Scale);
-
-        // native shapes are scaled by Bullet
-        prim.PhysShape = newShape;
-        return true;
-    }
-
-    private BulletShape BuildPhysicalNativeShape(BSPhysObject prim, BSPhysicsShapeType shapeType,
-                                    FixedShapeKey shapeKey)
-    {
-        BulletShape newShape;
-        // Need to make sure the passed shape information is for the native type.
-        ShapeData nativeShapeData = new ShapeData();
-        nativeShapeData.Type = shapeType;
-        nativeShapeData.ID = prim.LocalID;
-        nativeShapeData.Scale = prim.Scale;
-        nativeShapeData.Size = prim.Scale;  // unneeded, I think.
-        nativeShapeData.MeshKey = (ulong)shapeKey;
-        nativeShapeData.HullKey = (ulong)shapeKey;
-
-        if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE)
-        {
-
-            newShape = PhysicsScene.PE.BuildCapsuleShape(PhysicsScene.World, 1f, 1f, prim.Scale);
-            if (DDetail) DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
-        }
-        else
-        {
-            // Native shapes are scaled in Bullet so set the scaling to the size
-            newShape = PhysicsScene.PE.BuildNativeShape(PhysicsScene.World, nativeShapeData);
-
-        }
-        if (!newShape.HasPhysicalShape)
-        {
-            PhysicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
-                                    LogHeader, prim.LocalID, shapeType);
-        }
-        newShape.shapeKey = (System.UInt64)shapeKey;
-        newShape.isNativeShape = true;
-
-        return newShape;
-    }
-
-    // Builds a mesh shape in the physical world and updates prim.BSShape.
-    // Dereferences previous shape in BSShape and adds a reference for this new shape.
-    // Returns 'true' of a mesh was actually built. Otherwise .
-    // Called at taint-time!
-    private bool GetReferenceToMesh(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
-    {
-        BulletShape newShape = new BulletShape();
-
-        float lod;
-        System.UInt64 newMeshKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
-
-        // if this new shape is the same as last time, don't recreate the mesh
-        if (newMeshKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_MESH)
-            return false;
-
-        if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToMesh,create,oldKey={1},newKey={2}",
-                                prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newMeshKey.ToString("X"));
-
-        // Since we're recreating new, get rid of the reference to the previous shape
-        DereferenceShape(prim.PhysShape, true, shapeCallback);
-
-        newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, prim.BaseShape, prim.Size, lod);
-        // Take evasive action if the mesh was not constructed.
-        newShape = VerifyMeshCreated(newShape, prim);
-
-        ReferenceShape(newShape);
-
-        prim.PhysShape = newShape;
-
-        return true;        // 'true' means a new shape has been added to this prim
-    }
-
-    private BulletShape CreatePhysicalMesh(string objName, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
-    {
-        BulletShape newShape = new BulletShape();
-        IMesh meshData = null;
-
-        MeshDesc meshDesc;
-        if (Meshes.TryGetValue(newMeshKey, out meshDesc))
-        {
-            // If the mesh has already been built just use it.
-            newShape = meshDesc.shape.Clone();
-        }
-        else
-        {
-            meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false);
-
-            if (meshData != null)
-            {
-                int[] indices = meshData.getIndexListAsInt();
-                List<OMV.Vector3> vertices = meshData.getVertexList();
-
-                float[] verticesAsFloats = new float[vertices.Count * 3];
-                int vi = 0;
-                foreach (OMV.Vector3 vv in vertices)
-                {
-                    verticesAsFloats[vi++] = vv.X;
-                    verticesAsFloats[vi++] = vv.Y;
-                    verticesAsFloats[vi++] = vv.Z;
-                }
-
-                // m_log.DebugFormat("{0}: BSShapeCollection.CreatePhysicalMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}",
-                //                  LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count);
-
-                newShape = PhysicsScene.PE.CreateMeshShape(PhysicsScene.World,
-                                    indices.GetLength(0), indices, vertices.Count, verticesAsFloats);
-            }
-        }
-        newShape.shapeKey = newMeshKey;
-
-        return newShape;
-    }
-
-    // See that hull shape exists in the physical world and update prim.BSShape.
-    // We could be creating the hull because scale changed or whatever.
-    private bool GetReferenceToHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
-    {
-        BulletShape newShape;
-
-        float lod;
-        System.UInt64 newHullKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
-
-        // if the hull hasn't changed, don't rebuild it
-        if (newHullKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_HULL)
-            return false;
-
-        if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToHull,create,oldKey={1},newKey={2}",
-                        prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newHullKey.ToString("X"));
-
-        // Remove usage of the previous shape.
-        DereferenceShape(prim.PhysShape, true, shapeCallback);
-
-        newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, prim.BaseShape, prim.Size, lod);
-        newShape = VerifyMeshCreated(newShape, prim);
-
-        ReferenceShape(newShape);
-
-        prim.PhysShape = newShape;
-        return true;        // 'true' means a new shape has been added to this prim
-    }
-
-    List<ConvexResult> m_hulls;
-    private BulletShape CreatePhysicalHull(string objName, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
-    {
-
-        BulletShape newShape = new BulletShape();
-        IntPtr hullPtr = IntPtr.Zero;
-
-        HullDesc hullDesc;
-        if (Hulls.TryGetValue(newHullKey, out hullDesc))
-        {
-            // If the hull shape already is created, just use it.
-            newShape = hullDesc.shape.Clone();
-        }
-        else
-        {
-            // Build a new hull in the physical world
-            // Pass true for physicalness as this creates some sort of bounding box which we don't need
-            IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false);
-            if (meshData != null)
-            {
-
-                int[] indices = meshData.getIndexListAsInt();
-                List<OMV.Vector3> vertices = meshData.getVertexList();
-
-                //format conversion from IMesh format to DecompDesc format
-                List<int> convIndices = new List<int>();
-                List<float3> convVertices = new List<float3>();
-                for (int ii = 0; ii < indices.GetLength(0); ii++)
-                {
-                    convIndices.Add(indices[ii]);
-                }
-                foreach (OMV.Vector3 vv in vertices)
-                {
-                    convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
-                }
-
-                // setup and do convex hull conversion
-                m_hulls = new List<ConvexResult>();
-                DecompDesc dcomp = new DecompDesc();
-                dcomp.mIndices = convIndices;
-                dcomp.mVertices = convVertices;
-                ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
-                // create the hull into the _hulls variable
-                convexBuilder.process(dcomp);
-
-                // Convert the vertices and indices for passing to unmanaged.
-                // The hull information is passed as a large floating point array.
-                // The format is:
-                //  convHulls[0] = number of hulls
-                //  convHulls[1] = number of vertices in first hull
-                //  convHulls[2] = hull centroid X coordinate
-                //  convHulls[3] = hull centroid Y coordinate
-                //  convHulls[4] = hull centroid Z coordinate
-                //  convHulls[5] = first hull vertex X
-                //  convHulls[6] = first hull vertex Y
-                //  convHulls[7] = first hull vertex Z
-                //  convHulls[8] = second hull vertex X
-                //  ...
-                //  convHulls[n] = number of vertices in second hull
-                //  convHulls[n+1] = second hull centroid X coordinate
-                //  ...
-                //
-                // TODO: is is very inefficient. Someday change the convex hull generator to return
-                //   data structures that do not need to be converted in order to pass to Bullet.
-                //   And maybe put the values directly into pinned memory rather than marshaling.
-                int hullCount = m_hulls.Count;
-                int totalVertices = 1;          // include one for the count of the hulls
-                foreach (ConvexResult cr in m_hulls)
-                {
-                    totalVertices += 4;                         // add four for the vertex count and centroid
-                    totalVertices += cr.HullIndices.Count * 3;  // we pass just triangles
-                }
-                float[] convHulls = new float[totalVertices];
-
-                convHulls[0] = (float)hullCount;
-                int jj = 1;
-                foreach (ConvexResult cr in m_hulls)
-                {
-                    // copy vertices for index access
-                    float3[] verts = new float3[cr.HullVertices.Count];
-                    int kk = 0;
-                    foreach (float3 ff in cr.HullVertices)
-                    {
-                        verts[kk++] = ff;
-                    }
-
-                    // add to the array one hull's worth of data
-                    convHulls[jj++] = cr.HullIndices.Count;
-                    convHulls[jj++] = 0f;   // centroid x,y,z
-                    convHulls[jj++] = 0f;
-                    convHulls[jj++] = 0f;
-                    foreach (int ind in cr.HullIndices)
-                    {
-                        convHulls[jj++] = verts[ind].x;
-                        convHulls[jj++] = verts[ind].y;
-                        convHulls[jj++] = verts[ind].z;
-                    }
-                }
-                // create the hull data structure in Bullet
-                newShape = PhysicsScene.PE.CreateHullShape(PhysicsScene.World, hullCount, convHulls);
-            }
-        }
-
-        newShape.shapeKey = newHullKey;
-
-        return newShape;
-    }
-
-    // Callback from convex hull creater with a newly created hull.
-    // Just add it to our collection of hulls for this shape.
-    private void HullReturn(ConvexResult result)
-    {
-        m_hulls.Add(result);
-        return;
-    }
-
-    // Compound shapes are always built from scratch.
-    // This shouldn't be to bad since most of the parts will be meshes that had been built previously.
-    private bool GetReferenceToCompoundShape(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
-    {
-        // Remove reference to the old shape
-        // Don't need to do this as the shape is freed when the new root shape is created below.
-        // DereferenceShape(prim.PhysShape, true, shapeCallback);
-
-
-        BulletShape cShape = PhysicsScene.PE.CreateCompoundShape(PhysicsScene.World, false);
-
-        // Create the shape for the root prim and add it to the compound shape. Cannot be a native shape.
-        CreateGeomMeshOrHull(prim, shapeCallback);
-        PhysicsScene.PE.AddChildShapeToCompoundShape(cShape, prim.PhysShape, OMV.Vector3.Zero, OMV.Quaternion.Identity);
-        if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToCompoundShape,addRootPrim,compShape={1},rootShape={2}",
-                                    prim.LocalID, cShape, prim.PhysShape);
-
-        prim.PhysShape = cShape;
-
-        return true;
-    }
-
-    // Create a hash of all the shape parameters to be used as a key
-    //    for this particular shape.
-    private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs, out float retLod)
-    {
-        // level of detail based on size and type of the object
-        float lod = BSParam.MeshLOD;
-        if (pbs.SculptEntry)
-            lod = BSParam.SculptLOD;
-
-        // Mega prims usually get more detail because one can interact with shape approximations at this size.
-        float maxAxis = Math.Max(size.X, Math.Max(size.Y, size.Z));
-        if (maxAxis > BSParam.MeshMegaPrimThreshold)
-            lod = BSParam.MeshMegaPrimLOD;
-
-        retLod = lod;
-        return pbs.GetMeshKey(size, lod);
-    }
-    // For those who don't want the LOD
-    private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs)
-    {
-        float lod;
-        return ComputeShapeKey(size, pbs, out lod);
-    }
-
-    // The creation of a mesh or hull can fail if an underlying asset is not available.
-    // There are two cases: 1) the asset is not in the cache and it needs to be fetched;
-    //     and 2) the asset cannot be converted (like failed decompression of JPEG2000s).
-    //     The first case causes the asset to be fetched. The second case requires
-    //     us to not loop forever.
-    // Called after creating a physical mesh or hull. If the physical shape was created,
-    //     just return.
-    private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim)
-    {
-        // If the shape was successfully created, nothing more to do
-        if (newShape.HasPhysicalShape)
-            return newShape;
-
-        // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset
-        if (prim.BaseShape.SculptEntry && !prim.LastAssetBuildFailed && prim.BaseShape.SculptTexture != OMV.UUID.Zero)
-        {
-            prim.LastAssetBuildFailed = true;
-            BSPhysObject xprim = prim;
-            DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset,lID={1},lastFailed={2}",
-                            LogHeader, prim.LocalID, prim.LastAssetBuildFailed);
-            Util.FireAndForget(delegate
-                {
-                    RequestAssetDelegate assetProvider = PhysicsScene.RequestAssetMethod;
-                    if (assetProvider != null)
-                    {
-                        BSPhysObject yprim = xprim; // probably not necessary, but, just in case.
-                        assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset)
-                        {
-                            if (!yprim.BaseShape.SculptEntry)
-                                return;
-                            if (yprim.BaseShape.SculptTexture.ToString() != asset.ID)
-                                return;
-
-                            yprim.BaseShape.SculptData = asset.Data;
-                            // This will cause the prim to see that the filler shape is not the right
-                            //    one and try again to build the object.
-                            // No race condition with the normal shape setting since the rebuild is at taint time.
-                            yprim.ForceBodyShapeRebuild(false);
-
-                        });
-                    }
-                });
-        }
-        else
-        {
-            if (prim.LastAssetBuildFailed)
-            {
-                PhysicsScene.Logger.ErrorFormat("{0} Mesh failed to fetch asset. lID={1}, texture={2}",
-                                            LogHeader, prim.LocalID, prim.BaseShape.SculptTexture);
-            }
-        }
-
-        // While we figure out the real problem, stick a simple native shape on the object.
-        BulletShape fillinShape =
-            BuildPhysicalNativeShape(prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
-
-        return fillinShape;
-    }
-
-    // Create a body object in Bullet.
-    // Updates prim.BSBody with the information about the new body if one is created.
-    // Returns 'true' if an object was actually created.
-    // Called at taint-time.
-    private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletWorld sim, BulletShape shape,
-                            BodyDestructionCallback bodyCallback)
-    {
-        bool ret = false;
-
-        // the mesh, hull or native shape must have already been created in Bullet
-        bool mustRebuild = !prim.PhysBody.HasPhysicalBody;
-
-        // If there is an existing body, verify it's of an acceptable type.
-        // If not a solid object, body is a GhostObject. Otherwise a RigidBody.
-        if (!mustRebuild)
-        {
-            CollisionObjectTypes bodyType = (CollisionObjectTypes)PhysicsScene.PE.GetBodyType(prim.PhysBody);
-            if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY
-                || !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT)
-            {
-                // If the collisionObject is not the correct type for solidness, rebuild what's there
-                mustRebuild = true;
-            }
-        }
-
-        if (mustRebuild || forceRebuild)
-        {
-            // Free any old body
-            DereferenceBody(prim.PhysBody, true, bodyCallback);
-
-            BulletBody aBody;
-            if (prim.IsSolid)
-            {
-                aBody = PhysicsScene.PE.CreateBodyFromShape(sim, shape, prim.LocalID, prim.RawPosition, prim.RawOrientation);
-                if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,mesh,body={1}", prim.LocalID, aBody);
-            }
-            else
-            {
-                aBody = PhysicsScene.PE.CreateGhostFromShape(sim, shape, prim.LocalID, prim.RawPosition, prim.RawOrientation);
-                if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,ghost,body={1}", prim.LocalID, aBody);
-            }
-
-            ReferenceBody(aBody, true);
-
-            prim.PhysBody = aBody;
-
-            ret = true;
-        }
-
-        return ret;
-    }
-
-    private bool TryGetMeshByPtr(BulletShape shape, out MeshDesc outDesc)
-    {
-        bool ret = false;
-        MeshDesc foundDesc = new MeshDesc();
-        foreach (MeshDesc md in Meshes.Values)
-        {
-            if (md.shape.ReferenceSame(shape))
-            {
-                foundDesc = md;
-                ret = true;
-                break;
-            }
-
-        }
-        outDesc = foundDesc;
-        return ret;
-    }
-
-    private bool TryGetHullByPtr(BulletShape shape, out HullDesc outDesc)
-    {
-        bool ret = false;
-        HullDesc foundDesc = new HullDesc();
-        foreach (HullDesc hd in Hulls.Values)
-        {
-            if (hd.shape.ReferenceSame(shape))
-            {
-                foundDesc = hd;
-                ret = true;
-                break;
-            }
-
-        }
-        outDesc = foundDesc;
-        return ret;
-    }
-
-    private void DetailLog(string msg, params Object[] args)
-    {
-        if (PhysicsScene.PhysicsLogging.Enabled)
-            PhysicsScene.DetailLog(msg, args);
-    }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
deleted file mode 100755
index c75eb9b..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
+++ /dev/null
@@ -1,232 +0,0 @@
-/*
- * 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.Linq;
-using System.Text;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-public abstract class BSShape
-{
-    public IntPtr ptr { get; set; }
-    public BSPhysicsShapeType type { get; set; }
-    public System.UInt64 key { get; set; }
-    public int referenceCount { get; set; }
-    public DateTime lastReferenced { get; set; }
-
-    public BSShape()
-    {
-        ptr = IntPtr.Zero;
-        type = BSPhysicsShapeType.SHAPE_UNKNOWN;
-        key = 0;
-        referenceCount = 0;
-        lastReferenced = DateTime.Now;
-    }
-
-    // Get a reference to a physical shape. Create if it doesn't exist
-    public static BSShape GetShapeReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
-    {
-        BSShape ret = null;
-
-        if (prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE)
-        {
-            // an avatar capsule is close to a native shape (it is not shared)
-            ret = BSShapeNative.GetReference(physicsScene, prim, BSPhysicsShapeType.SHAPE_CAPSULE,
-                                        FixedShapeKey.KEY_CAPSULE);
-            physicsScene.DetailLog("{0},BSShape.GetShapeReference,avatarCapsule,shape={1}", prim.LocalID, ret);
-        }
-
-        // Compound shapes are handled special as they are rebuilt from scratch.
-        // This isn't too great a hardship since most of the child shapes will already been created.
-        if (ret == null  && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND)
-        {
-            // Getting a reference to a compound shape gets you the compound shape with the root prim shape added
-            ret = BSShapeCompound.GetReference(prim);
-            physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, ret);
-        }
-
-        if (ret == null)
-            ret = GetShapeReferenceNonSpecial(physicsScene, forceRebuild, prim);
-
-        return ret;
-    }
-    public static BSShape GetShapeReferenceNonSpecial(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
-    {
-        return null;
-    }
-    public static BSShape GetShapeReferenceNonNative(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
-    {
-        return null;
-    }
-
-    // Release the use of a physical shape.
-    public abstract void Dereference(BSScene physicsScene);
-
-    // All shapes have a static call to get a reference to the physical shape
-    // protected abstract static BSShape GetReference();
-
-    // Returns a string for debugging that uniquily identifies the memory used by this instance
-    public string AddrString
-    {
-        get { return ptr.ToString("X"); }
-    }
-
-    public override string ToString()
-    {
-        StringBuilder buff = new StringBuilder();
-        buff.Append("<p=");
-        buff.Append(AddrString);
-        buff.Append(",s=");
-        buff.Append(type.ToString());
-        buff.Append(",k=");
-        buff.Append(key.ToString("X"));
-        buff.Append(",c=");
-        buff.Append(referenceCount.ToString());
-        buff.Append(">");
-        return buff.ToString();
-    }
-}
-
-public class BSShapeNull : BSShape
-{
-    public BSShapeNull() : base()
-    {
-    }
-    public static BSShape GetReference() { return new BSShapeNull();  }
-    public override void Dereference(BSScene physicsScene) { /* The magic of garbage collection will make this go away */ }
-}
-
-public class BSShapeNative : BSShape
-{
-    private static string LogHeader = "[BULLETSIM SHAPE NATIVE]";
-    public BSShapeNative() : base()
-    {
-    }
-    public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim, 
-                    BSPhysicsShapeType shapeType, FixedShapeKey shapeKey) 
-    {
-        // Native shapes are not shared and are always built anew.
-        //return new BSShapeNative(physicsScene, prim, shapeType, shapeKey);
-        return null;
-    }
-
-    private BSShapeNative(BSScene physicsScene, BSPhysObject prim,
-                    BSPhysicsShapeType shapeType, FixedShapeKey shapeKey)
-    {
-        ShapeData nativeShapeData = new ShapeData();
-        nativeShapeData.Type = shapeType;
-        nativeShapeData.ID = prim.LocalID;
-        nativeShapeData.Scale = prim.Scale;
-        nativeShapeData.Size = prim.Scale;
-        nativeShapeData.MeshKey = (ulong)shapeKey;
-        nativeShapeData.HullKey = (ulong)shapeKey;
-
-       
-        /*
-        if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE)
-        {
-            ptr = PhysicsScene.PE.BuildCapsuleShape(physicsScene.World, 1f, 1f, prim.Scale);
-            physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
-        }
-        else
-        {
-            ptr = PhysicsScene.PE.BuildNativeShape(physicsScene.World, nativeShapeData);
-        }
-        if (ptr == IntPtr.Zero)
-        {
-            physicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
-                                    LogHeader, prim.LocalID, shapeType);
-        }
-        type = shapeType;
-        key = (UInt64)shapeKey;
-         */
-    }
-    // Make this reference to the physical shape go away since native shapes are not shared.
-    public override void Dereference(BSScene physicsScene)
-    {
-        /*
-        // Native shapes are not tracked and are released immediately
-        physicsScene.DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this);
-        PhysicsScene.PE.DeleteCollisionShape(physicsScene.World, this);
-        ptr = IntPtr.Zero;
-        // Garbage collection will free up this instance.
-         */
-    }
-}
-
-public class BSShapeMesh : BSShape
-{
-    private static string LogHeader = "[BULLETSIM SHAPE MESH]";
-    private static Dictionary<System.UInt64, BSShapeMesh> Meshes = new Dictionary<System.UInt64, BSShapeMesh>();
-
-    public BSShapeMesh() : base()
-    {
-    }
-    public static BSShape GetReference() { return new BSShapeNull();  }
-    public override void Dereference(BSScene physicsScene) { }
-}
-
-public class BSShapeHull : BSShape
-{
-    private static string LogHeader = "[BULLETSIM SHAPE HULL]";
-    private static Dictionary<System.UInt64, BSShapeHull> Hulls = new Dictionary<System.UInt64, BSShapeHull>();
-
-    public BSShapeHull() : base()
-    {
-    }
-    public static BSShape GetReference() { return new BSShapeNull();  }
-    public override void Dereference(BSScene physicsScene) { }
-}
-
-public class BSShapeCompound : BSShape
-{
-    private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]";
-    public BSShapeCompound() : base()
-    {
-    }
-    public static BSShape GetReference(BSPhysObject prim) 
-    { 
-        return new BSShapeNull();
-    }
-    public override void Dereference(BSScene physicsScene) { }
-}
-
-public class BSShapeAvatar : BSShape
-{
-    private static string LogHeader = "[BULLETSIM SHAPE AVATAR]";
-    public BSShapeAvatar() : base()
-    {
-    }
-    public static BSShape GetReference(BSPhysObject prim) 
-    { 
-        return new BSShapeNull();
-    }
-    public override void Dereference(BSScene physicsScene) { }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
deleted file mode 100755
index 1d55ce3..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
+++ /dev/null
@@ -1,265 +0,0 @@
-/*
- * 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 OpenSim.Framework;
-using OpenSim.Region.Framework;
-using OpenSim.Region.CoreModules;
-using OpenSim.Region.Physics.Manager;
-
-using Nini.Config;
-using log4net;
-
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-public sealed class BSTerrainMesh : BSTerrainPhys
-{
-    static string LogHeader = "[BULLETSIM TERRAIN MESH]";
-
-    private float[] m_savedHeightMap;
-    int m_sizeX;
-    int m_sizeY;
-
-    BulletShape m_terrainShape;
-    BulletBody m_terrainBody;
-
-    public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize) 
-        : base(physicsScene, regionBase, id)
-    {
-    }
-
-    public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id /* parameters for making mesh */)
-        : base(physicsScene, regionBase, id)
-    {
-    }
-
-    // Create terrain mesh from a heightmap.
-    public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, 
-                                                    Vector3 minCoords, Vector3 maxCoords)
-        : base(physicsScene, regionBase, id)
-    {
-        int indicesCount;
-        int[] indices;
-        int verticesCount;
-        float[] vertices;
-
-        m_savedHeightMap = initialMap;
-
-        m_sizeX = (int)(maxCoords.X - minCoords.X);
-        m_sizeY = (int)(maxCoords.Y - minCoords.Y);
-
-        if (!BSTerrainMesh.ConvertHeightmapToMesh(PhysicsScene, initialMap,
-                            m_sizeX, m_sizeY,
-                            (float)m_sizeX, (float)m_sizeY,
-                            Vector3.Zero, 1.0f,
-                            out indicesCount, out indices, out verticesCount, out vertices))
-        {
-            // DISASTER!!
-            PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap", ID);
-            PhysicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh! base={1}", LogHeader, TerrainBase);
-            // Something is very messed up and a crash is in our future.
-            return;
-        }
-        PhysicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,indices={1},indSz={2},vertices={3},vertSz={4}", 
-                                ID, indicesCount, indices.Length, verticesCount, vertices.Length);
-
-        m_terrainShape = PhysicsScene.PE.CreateMeshShape(PhysicsScene.World, indicesCount, indices, verticesCount, vertices);
-        if (!m_terrainShape.HasPhysicalShape)
-        {
-            // DISASTER!!
-            PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape", ID);
-            physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain mesh! base={1}", LogHeader, TerrainBase);
-            // Something is very messed up and a crash is in our future.
-            return;
-        }
-
-        Vector3 pos = regionBase;
-        Quaternion rot = Quaternion.Identity;
-
-        m_terrainBody = PhysicsScene.PE.CreateBodyWithDefaultMotionState(m_terrainShape, ID, pos, rot);
-        if (!m_terrainBody.HasPhysicalBody)
-        {
-            // DISASTER!!
-            physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase);
-            // Something is very messed up and a crash is in our future.
-            return;
-        }
-
-        // Set current terrain attributes
-        PhysicsScene.PE.SetFriction(m_terrainBody, BSParam.TerrainFriction);
-        PhysicsScene.PE.SetHitFraction(m_terrainBody, BSParam.TerrainHitFraction);
-        PhysicsScene.PE.SetRestitution(m_terrainBody, BSParam.TerrainRestitution);
-        PhysicsScene.PE.SetCollisionFlags(m_terrainBody, CollisionFlags.CF_STATIC_OBJECT);
-
-        // Static objects are not very massive.
-        PhysicsScene.PE.SetMassProps(m_terrainBody, 0f, Vector3.Zero);
-
-        // Put the new terrain to the world of physical objects
-        PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_terrainBody);
-
-        // Redo its bounding box now that it is in the world
-        PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_terrainBody);
-
-        m_terrainBody.collisionType = CollisionType.Terrain;
-        m_terrainBody.ApplyCollisionMask(PhysicsScene);
-
-        // Make it so the terrain will not move or be considered for movement.
-        PhysicsScene.PE.ForceActivationState(m_terrainBody, ActivationState.DISABLE_SIMULATION);
-    }
-
-    public override void Dispose()
-    {
-        if (m_terrainBody.HasPhysicalBody)
-        {
-            PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_terrainBody);
-            // Frees both the body and the shape.
-            PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_terrainBody);
-        }
-    }
-
-    public override float GetTerrainHeightAtXYZ(Vector3 pos)
-    {
-        // For the moment use the saved heightmap to get the terrain height.
-        // TODO: raycast downward to find the true terrain below the position.
-        float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
-
-        int mapIndex = (int)pos.Y * m_sizeY + (int)pos.X;
-        try
-        {
-            ret = m_savedHeightMap[mapIndex];
-        }
-        catch
-        {
-            // Sometimes they give us wonky values of X and Y. Give a warning and return something.
-            PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}",
-                                                LogHeader, TerrainBase, pos);
-            ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
-        }
-        return ret;
-    }
-
-    // The passed position is relative to the base of the region.
-    public override float GetWaterLevelAtXYZ(Vector3 pos)
-    {
-        return PhysicsScene.SimpleWaterLevel;
-    }
-
-    // Convert the passed heightmap to mesh information suitable for CreateMeshShape2().
-    // Return 'true' if successfully created.
-    public static bool ConvertHeightmapToMesh(
-                                BSScene physicsScene,
-                                float[] heightMap, int sizeX, int sizeY,    // parameters of incoming heightmap
-                                float extentX, float extentY,               // zero based range for output vertices
-                                Vector3 extentBase,                         // base to be added to all vertices
-                                float magnification,                        // number of vertices to create between heightMap coords
-                                out int indicesCountO, out int[] indicesO,
-                                out int verticesCountO, out float[] verticesO)
-    {
-        bool ret = false;
-
-        int indicesCount = 0;
-        int verticesCount = 0;
-        int[] indices = new int[0];
-        float[] vertices = new float[0];
-
-        // Simple mesh creation which assumes magnification == 1.
-        // TODO: do a more general solution that scales, adds new vertices and smoothes the result.
-
-        // Create an array of vertices that is sizeX+1 by sizeY+1 (note the loop
-        //    from zero to <= sizeX). The triangle indices are then generated as two triangles
-        //    per heightmap point. There are sizeX by sizeY of these squares. The extra row and
-        //    column of vertices are used to complete the triangles of the last row and column
-        //    of the heightmap.
-        try
-        {
-            // One vertice per heightmap value plus the vertices off the top and bottom edge.
-            int totalVertices = (sizeX + 1) * (sizeY + 1);
-            vertices = new float[totalVertices * 3];
-            int totalIndices = sizeX * sizeY * 6;
-            indices = new int[totalIndices];
-
-            float magX = (float)sizeX / extentX;
-            float magY = (float)sizeY / extentY;
-            physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2},extentBase={3},magX={4},magY={5}",
-                                    BSScene.DetailLogZero, totalVertices, totalIndices, extentBase, magX, magY);
-            float minHeight = float.MaxValue;
-            // Note that sizeX+1 vertices are created since there is land between this and the next region.
-            for (int yy = 0; yy <= sizeY; yy++)
-            {
-                for (int xx = 0; xx <= sizeX; xx++)     // Hint: the "<=" means we go around sizeX + 1 times
-                {
-                    int offset = yy * sizeX + xx;
-                    // Extend the height with the height from the last row or column
-                    if (yy == sizeY) offset -= sizeX;
-                    if (xx == sizeX) offset -= 1;
-                    float height = heightMap[offset];
-                    minHeight = Math.Min(minHeight, height);
-                    vertices[verticesCount + 0] = (float)xx * magX + extentBase.X;
-                    vertices[verticesCount + 1] = (float)yy * magY + extentBase.Y;
-                    vertices[verticesCount + 2] = height + extentBase.Z;
-                    verticesCount += 3;
-                }
-            }
-            verticesCount = verticesCount / 3;
-
-            for (int yy = 0; yy < sizeY; yy++)
-            {
-                for (int xx = 0; xx < sizeX; xx++)
-                {
-                    int offset = yy * (sizeX + 1) + xx;
-                    // Each vertices is presumed to be the upper left corner of a box of two triangles
-                    indices[indicesCount + 0] = offset;
-                    indices[indicesCount + 1] = offset + 1;
-                    indices[indicesCount + 2] = offset + sizeX + 1; // accounting for the extra column
-                    indices[indicesCount + 3] = offset + 1;
-                    indices[indicesCount + 4] = offset + sizeX + 2;
-                    indices[indicesCount + 5] = offset + sizeX + 1;
-                    indicesCount += 6;
-                }
-            }
-
-            ret = true;
-        }
-        catch (Exception e)
-        {
-            physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh. For={1}/{2}, e={3}",
-                                                LogHeader, physicsScene.RegionName, extentBase, e);
-        }
-
-        indicesCountO = indicesCount;
-        indicesO = indices;
-        verticesCountO = verticesCount;
-        verticesO = vertices;
-
-        return ret;
-    }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/PhysicsModules/BulletS/BSAPIUnman.cs
index 8c6e7d6..c4a923c 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSAPIUnman.cs
@@ -35,7 +35,7 @@ using OpenSim.Framework;
 
 using OpenMetaverse;
 
-namespace OpenSim.Region.Physics.BulletSPlugin
+namespace OpenSim.Region.PhysicsModule.BulletS
 {
 public sealed class BSAPIUnman : BSAPITemplate
 {
@@ -75,11 +75,11 @@ private sealed class BulletBodyUnman : BulletBody
 private sealed class BulletShapeUnman : BulletShape
 {
     public IntPtr ptr;
-    public BulletShapeUnman(IntPtr xx, BSPhysicsShapeType typ) 
+    public BulletShapeUnman(IntPtr xx, BSPhysicsShapeType typ)
         : base()
     {
         ptr = xx;
-        type = typ;
+        shapeType = typ;
     }
     public override bool HasPhysicalShape
     {
@@ -91,7 +91,7 @@ private sealed class BulletShapeUnman : BulletShape
     }
     public override BulletShape Clone()
     {
-        return new BulletShapeUnman(ptr, type);
+        return new BulletShapeUnman(ptr, shapeType);
     }
     public override bool ReferenceSame(BulletShape other)
     {
@@ -166,7 +166,7 @@ public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParamet
 
     // If Debug logging level, enable logging from the unmanaged code
     m_DebugLogCallbackHandle = null;
-    if (BSScene.m_log.IsDebugEnabled || PhysicsScene.PhysicsLogging.Enabled)
+    if (BSScene.m_log.IsDebugEnabled && PhysicsScene.PhysicsLogging.Enabled)
     {
         BSScene.m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", BSScene.LogHeader);
         if (PhysicsScene.PhysicsLogging.Enabled)
@@ -202,7 +202,7 @@ private void BulletLoggerPhysLog(string msg)
 }
 
 public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
-                        out int updatedEntityCount, out int collidersCount)
+                                        out int updatedEntityCount, out int collidersCount)
 {
     BulletWorldUnman worldu = world as BulletWorldUnman;
     return BSAPICPP.PhysicsStep2(worldu.ptr, timeStep, maxSubSteps, fixedTimeStep, out updatedEntityCount, out collidersCount);
@@ -212,6 +212,19 @@ public override void Shutdown(BulletWorld world)
 {
     BulletWorldUnman worldu = world as BulletWorldUnman;
     BSAPICPP.Shutdown2(worldu.ptr);
+
+    if (m_paramsHandle.IsAllocated)
+    {
+        m_paramsHandle.Free();
+    }
+    if (m_collisionArrayPinnedHandle.IsAllocated)
+    {
+        m_collisionArrayPinnedHandle.Free();
+    }
+    if (m_updateArrayPinnedHandle.IsAllocated)
+    {
+        m_updateArrayPinnedHandle.Free();
+    }
 }
 
 public override bool PushUpdate(BulletBody obj)
@@ -238,23 +251,52 @@ public override BulletShape CreateMeshShape(BulletWorld world,
                     BSPhysicsShapeType.SHAPE_MESH);
 }
 
+public override BulletShape CreateGImpactShape(BulletWorld world,
+                int indicesCount, int[] indices,
+                int verticesCount, float[] vertices)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return new BulletShapeUnman(
+                    BSAPICPP.CreateGImpactShape2(worldu.ptr, indicesCount, indices, verticesCount, vertices),
+                    BSPhysicsShapeType.SHAPE_GIMPACT);
+}
+
 public override BulletShape CreateHullShape(BulletWorld world, int hullCount, float[] hulls)
 {
     BulletWorldUnman worldu = world as BulletWorldUnman;
     return new BulletShapeUnman(
-                    BSAPICPP.CreateHullShape2(worldu.ptr, hullCount, hulls), 
+                    BSAPICPP.CreateHullShape2(worldu.ptr, hullCount, hulls),
                     BSPhysicsShapeType.SHAPE_HULL);
 }
 
-public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape)
+public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape, HACDParams parms)
 {
     BulletWorldUnman worldu = world as BulletWorldUnman;
     BulletShapeUnman shapeu = meshShape as BulletShapeUnman;
     return new BulletShapeUnman(
-                    BSAPICPP.BuildHullShapeFromMesh2(worldu.ptr, shapeu.ptr),
+                    BSAPICPP.BuildHullShapeFromMesh2(worldu.ptr, shapeu.ptr, parms),
                     BSPhysicsShapeType.SHAPE_HULL);
 }
 
+public override BulletShape BuildConvexHullShapeFromMesh(BulletWorld world, BulletShape meshShape)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletShapeUnman shapeu = meshShape as BulletShapeUnman;
+    return new BulletShapeUnman(
+                    BSAPICPP.BuildConvexHullShapeFromMesh2(worldu.ptr, shapeu.ptr),
+                    BSPhysicsShapeType.SHAPE_CONVEXHULL);
+}
+
+public override BulletShape CreateConvexHullShape(BulletWorld world,
+                int indicesCount, int[] indices,
+                int verticesCount, float[] vertices)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return new BulletShapeUnman(
+                    BSAPICPP.CreateConvexHullShape2(worldu.ptr, indicesCount, indices, verticesCount, vertices),
+                    BSPhysicsShapeType.SHAPE_CONVEXHULL);
+}
+
 public override BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData)
 {
     BulletWorldUnman worldu = world as BulletWorldUnman;
@@ -273,7 +315,7 @@ public override void SetShapeCollisionMargin(BulletShape shape, float margin)
 {
     BulletShapeUnman shapeu = shape as BulletShapeUnman;
     if (shapeu != null && shapeu.HasPhysicalShape)
-        BSAPICPP.SetShapeCollisionMargin2(shapeu.ptr, margin);
+        BSAPICPP.SetShapeCollisionMargin(shapeu.ptr, margin);
 }
 
 public override BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale)
@@ -327,6 +369,12 @@ public override void RemoveChildShapeFromCompoundShape(BulletShape shape, Bullet
     BSAPICPP.RemoveChildShapeFromCompoundShape2(shapeu.ptr, removeShapeu.ptr);
 }
 
+public override void UpdateChildTransform(BulletShape pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb)
+{
+    BulletShapeUnman shapeu = pShape as BulletShapeUnman;
+    BSAPICPP.UpdateChildTransform2(shapeu.ptr, childIndex, pos, rot, shouldRecalculateLocalAabb);
+}
+
 public override void RecalculateCompoundShapeLocalAabb(BulletShape shape)
 {
     BulletShapeUnman shapeu = shape as BulletShapeUnman;
@@ -337,7 +385,7 @@ public override BulletShape DuplicateCollisionShape(BulletWorld world, BulletSha
 {
     BulletWorldUnman worldu = world as BulletWorldUnman;
     BulletShapeUnman srcShapeu = srcShape as BulletShapeUnman;
-    return new BulletShapeUnman(BSAPICPP.DuplicateCollisionShape2(worldu.ptr, srcShapeu.ptr, id), srcShape.type);
+    return new BulletShapeUnman(BSAPICPP.DuplicateCollisionShape2(worldu.ptr, srcShapeu.ptr, id), srcShape.shapeType);
 }
 
 public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape)
@@ -419,6 +467,28 @@ public override BulletConstraint Create6DofConstraintToPoint(BulletWorld world,
                     joinPoint, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
 }
 
+public override BulletConstraint Create6DofConstraintFixed(BulletWorld world, BulletBody obj1,
+                    Vector3 frameInBloc, Quaternion frameInBrot,
+                    bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
+    return new BulletConstraintUnman(BSAPICPP.Create6DofConstraintFixed2(worldu.ptr, bodyu1.ptr,
+                    frameInBloc, frameInBrot, useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies));
+}
+
+public override BulletConstraint Create6DofSpringConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 frame1loc, Quaternion frame1rot,
+                    Vector3 frame2loc, Quaternion frame2rot,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
+    BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
+    return new BulletConstraintUnman(BSAPICPP.Create6DofSpringConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot,
+                    frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+}
+
 public override BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
                     Vector3 pivotinA, Vector3 pivotinB,
                     Vector3 axisInA, Vector3 axisInB,
@@ -431,6 +501,52 @@ public override BulletConstraint CreateHingeConstraint(BulletWorld world, Bullet
                     pivotinA, pivotinB, axisInA, axisInB, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
 }
 
+public override BulletConstraint CreateSliderConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 frame1loc, Quaternion frame1rot,
+                    Vector3 frame2loc, Quaternion frame2rot,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
+    BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
+    return new BulletConstraintUnman(BSAPICPP.CreateSliderConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot,
+                    frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+}
+
+public override BulletConstraint CreateConeTwistConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 frame1loc, Quaternion frame1rot,
+                    Vector3 frame2loc, Quaternion frame2rot,
+                    bool disableCollisionsBetweenLinkedBodies)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
+    BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
+    return new BulletConstraintUnman(BSAPICPP.CreateConeTwistConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot,
+                                        frame2loc, frame2rot, disableCollisionsBetweenLinkedBodies));
+}
+
+public override BulletConstraint CreateGearConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 axisInA, Vector3 axisInB,
+                    float ratio, bool disableCollisionsBetweenLinkedBodies)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
+    BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
+    return new BulletConstraintUnman(BSAPICPP.CreateGearConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, axisInA, axisInB,
+                                        ratio, disableCollisionsBetweenLinkedBodies));
+}
+
+public override BulletConstraint CreatePoint2PointConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 pivotInA, Vector3 pivotInB,
+                    bool disableCollisionsBetweenLinkedBodies)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
+    BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
+    return new BulletConstraintUnman(BSAPICPP.CreatePoint2PointConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, pivotInA, pivotInB,
+                                        disableCollisionsBetweenLinkedBodies));
+}
+
 public override void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse)
 {
     BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
@@ -480,6 +596,60 @@ public override bool SetBreakingImpulseThreshold(BulletConstraint constrain, flo
     return BSAPICPP.SetBreakingImpulseThreshold2(constrainu.ptr, threshold);
 }
 
+public override bool HingeSetLimits(BulletConstraint constrain, float low, float high, float softness, float bias, float relaxation)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.HingeSetLimits2(constrainu.ptr, low, high, softness, bias, relaxation);
+}
+
+public override bool SpringEnable(BulletConstraint constrain, int index, float numericTrueFalse)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.ConstraintSpringEnable2(constrainu.ptr, index, numericTrueFalse);
+}
+
+public override bool SpringSetEquilibriumPoint(BulletConstraint constrain, int index, float equilibriumPoint)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.ConstraintSpringSetEquilibriumPoint2(constrainu.ptr, index, equilibriumPoint);
+}
+
+public override bool SpringSetStiffness(BulletConstraint constrain, int index, float stiffnesss)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.ConstraintSpringSetStiffness2(constrainu.ptr, index, stiffnesss);
+}
+
+public override bool SpringSetDamping(BulletConstraint constrain, int index, float damping)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.ConstraintSpringSetDamping2(constrainu.ptr, index, damping);
+}
+
+public override bool SliderSetLimits(BulletConstraint constrain, int lowerUpper, int linAng, float val)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.SliderSetLimits2(constrainu.ptr, lowerUpper, linAng, val);
+}
+
+public override bool SliderSet(BulletConstraint constrain, int softRestDamp, int dirLimOrtho, int linAng, float val)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.SliderSet2(constrainu.ptr, softRestDamp, dirLimOrtho, linAng, val);
+}
+
+public override bool SliderMotorEnable(BulletConstraint constrain, int linAng, float numericTrueFalse)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.SliderMotorEnable2(constrainu.ptr, linAng, numericTrueFalse);
+}
+
+public override bool SliderMotor(BulletConstraint constrain, int forceVel, int linAng, float val)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.SliderMotor2(constrainu.ptr, forceVel, linAng, val);
+}
+
 public override bool CalculateTransforms(BulletConstraint constrain)
 {
     BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
@@ -530,12 +700,12 @@ public override void SetForceUpdateAllAabbs(BulletWorld world, bool force)
 // btDynamicsWorld entries
 public override bool AddObjectToWorld(BulletWorld world, BulletBody obj)
 {
-    // Bullet resets several variables when an object is added to the world.
-    //   Gravity is reset to world default depending on the static/dynamic
-    //   type. Of course, the collision flags in the broadphase proxy are initialized to default.
     BulletWorldUnman worldu = world as BulletWorldUnman;
     BulletBodyUnman bodyu = obj as BulletBodyUnman;
 
+    // Bullet resets several variables when an object is added to the world.
+    //   Gravity is reset to world default depending on the static/dynamic
+    //   type. Of course, the collision flags in the broadphase proxy are initialized to default.
     Vector3 origGrav = BSAPICPP.GetGravity2(bodyu.ptr);
 
     bool ret = BSAPICPP.AddObjectToWorld2(worldu.ptr, bodyu.ptr);
@@ -555,6 +725,13 @@ public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj)
     return BSAPICPP.RemoveObjectFromWorld2(worldu.ptr, bodyu.ptr);
 }
 
+public override bool ClearCollisionProxyCache(BulletWorld world, BulletBody obj)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.ClearCollisionProxyCache2(worldu.ptr, bodyu.ptr);
+}
+
 public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects)
 {
     BulletWorldUnman worldu = world as BulletWorldUnman;
@@ -921,6 +1098,7 @@ public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quater
 }
 
 // Add a force to the object as if its mass is one.
+// Deep down in Bullet: m_totalForce += force*m_linearFactor;
 public override void ApplyCentralForce(BulletBody obj, Vector3 force)
 {
     BulletBodyUnman bodyu = obj as BulletBodyUnman;
@@ -964,6 +1142,7 @@ public override void SetSleepingThresholds(BulletBody obj, float lin_threshold,
     BSAPICPP.SetSleepingThresholds2(bodyu.ptr, lin_threshold, ang_threshold);
 }
 
+// Deep down in Bullet: m_totalTorque += torque*m_angularFactor;
 public override void ApplyTorque(BulletBody obj, Vector3 torque)
 {
     BulletBodyUnman bodyu = obj as BulletBodyUnman;
@@ -971,6 +1150,8 @@ public override void ApplyTorque(BulletBody obj, Vector3 torque)
 }
 
 // Apply force at the given point. Will add torque to the object.
+// Deep down in Bullet: applyCentralForce(force);
+//                              applyTorque(rel_pos.cross(force*m_linearFactor));
 public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos)
 {
     BulletBodyUnman bodyu = obj as BulletBodyUnman;
@@ -978,6 +1159,7 @@ public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos)
 }
 
 // Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
+// Deep down in Bullet: m_linearVelocity += impulse *m_linearFactor * m_inverseMass;
 public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp)
 {
     BulletBodyUnman bodyu = obj as BulletBodyUnman;
@@ -985,6 +1167,7 @@ public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp)
 }
 
 // Apply impulse to the object's torque. Force is scaled by object's mass.
+// Deep down in Bullet: m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor;
 public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp)
 {
     BulletBodyUnman bodyu = obj as BulletBodyUnman;
@@ -992,6 +1175,8 @@ public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp)
 }
 
 // Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
+// Deep down in Bullet: applyCentralImpulse(impulse);
+//                              applyTorqueImpulse(rel_pos.cross(impulse*m_linearFactor));
 public override void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos)
 {
     BulletBodyUnman bodyu = obj as BulletBodyUnman;
@@ -1259,6 +1444,16 @@ public override void DumpPhysicsStatistics(BulletWorld world)
     BulletWorldUnman worldu = world as BulletWorldUnman;
     BSAPICPP.DumpPhysicsStatistics2(worldu.ptr);
 }
+public override void ResetBroadphasePool(BulletWorld world)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BSAPICPP.ResetBroadphasePool(worldu.ptr);
+}
+public override void ResetConstraintSolver(BulletWorld world)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BSAPICPP.ResetConstraintSolver(worldu.ptr);
+}
 
 // =====================================================================================
 // =====================================================================================
@@ -1302,11 +1497,24 @@ public static extern IntPtr CreateMeshShape2(IntPtr world,
                 int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices );
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateGImpactShape2(IntPtr world,
+                int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
+                int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices );
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern IntPtr CreateHullShape2(IntPtr world,
                 int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape);
+public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape, HACDParams parms);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr BuildConvexHullShapeFromMesh2(IntPtr world, IntPtr meshShape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateConvexHullShape2(IntPtr world,
+                int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
+                int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices );
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData);
@@ -1315,7 +1523,7 @@ public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData)
 public static extern bool IsNativeShape2(IntPtr shape);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetShapeCollisionMargin2(IntPtr shape, float margin);
+public static extern void SetShapeCollisionMargin(IntPtr shape, float margin);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale);
@@ -1339,6 +1547,9 @@ public static extern IntPtr RemoveChildShapeFromCompoundShapeIndex2(IntPtr cShap
 public static extern void RemoveChildShapeFromCompoundShape2(IntPtr cShape, IntPtr removeShape);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void UpdateChildTransform2(IntPtr pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern void RecalculateCompoundShapeLocalAabb2(IntPtr cShape);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -1368,7 +1579,7 @@ public static extern void DestroyObject2(IntPtr sim, IntPtr obj);
 public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateTerrainShape2(uint id, Vector3 size, float minHeight, float maxHeight, 
+public static extern IntPtr CreateTerrainShape2(uint id, Vector3 size, float minHeight, float maxHeight,
                                             [MarshalAs(UnmanagedType.LPArray)] float[] heightMap,
                                             float scaleFactor, float collisionMargin);
 
@@ -1386,12 +1597,46 @@ public static extern IntPtr Create6DofConstraintToPoint2(IntPtr world, IntPtr ob
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr Create6DofConstraintFixed2(IntPtr world, IntPtr obj1,
+                    Vector3 frameInBloc, Quaternion frameInBrot,
+                    bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr Create6DofSpringConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
+                    Vector3 frame1loc, Quaternion frame1rot,
+                    Vector3 frame2loc, Quaternion frame2rot,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
                     Vector3 pivotinA, Vector3 pivotinB,
                     Vector3 axisInA, Vector3 axisInB,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateSliderConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
+                    Vector3 frameInAloc, Quaternion frameInArot,
+                    Vector3 frameInBloc, Quaternion frameInBrot,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateConeTwistConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
+                    Vector3 frameInAloc, Quaternion frameInArot,
+                    Vector3 frameInBloc, Quaternion frameInBrot,
+                    bool disableCollisionsBetweenLinkedBodies);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateGearConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
+                    Vector3 axisInA, Vector3 axisInB,
+                    float ratio, bool disableCollisionsBetweenLinkedBodies);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreatePoint2PointConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
+                    Vector3 pivotInA, Vector3 pivotInB,
+                    bool disableCollisionsBetweenLinkedBodies);
+
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -1417,6 +1662,33 @@ public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enabl
 public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool HingeSetLimits2(IntPtr constrain, float low, float high, float softness, float bias, float relaxation);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool ConstraintSpringEnable2(IntPtr constrain, int index, float numericTrueFalse);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool ConstraintSpringSetEquilibriumPoint2(IntPtr constrain, int index, float equilibriumPoint);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool ConstraintSpringSetStiffness2(IntPtr constrain, int index, float stiffness);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool ConstraintSpringSetDamping2(IntPtr constrain, int index, float damping);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SliderSetLimits2(IntPtr constrain, int lowerUpper, int linAng, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SliderSet2(IntPtr constrain, int softRestDamp, int dirLimOrtho, int linAng, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SliderMotorEnable2(IntPtr constrain, int linAng, float numericTrueFalse);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SliderMotor2(IntPtr constrain, int forceVel, int linAng, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern bool CalculateTransforms2(IntPtr constrain);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -1448,6 +1720,9 @@ public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj);
 public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool ClearCollisionProxyCache2(IntPtr world, IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -1832,6 +2107,12 @@ public static extern void DumpAllInfo2(IntPtr sim);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern void DumpPhysicsStatistics2(IntPtr sim);
 
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ResetBroadphasePool(IntPtr sim);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ResetConstraintSolver(IntPtr sim);
+
 }
 
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/PhysicsModules/BulletS/BSApiTemplate.cs
index 8ad78ca..7756b10 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSApiTemplate.cs
@@ -6,7 +6,7 @@
  * 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
+ *     * Redistributions in binary form must reproduce the above copyright
  *       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
@@ -31,7 +31,7 @@ using System.Security;
 using System.Text;
 using OpenMetaverse;
 
-namespace OpenSim.Region.Physics.BulletSPlugin {
+namespace OpenSim.Region.PhysicsModule.BulletS {
 
     // Constraint type values as defined by Bullet
 public enum ConstraintType : int
@@ -43,7 +43,11 @@ public enum ConstraintType : int
         SLIDER_CONSTRAINT_TYPE,
         CONTACT_CONSTRAINT_TYPE,
         D6_SPRING_CONSTRAINT_TYPE,
-        MAX_CONSTRAINT_TYPE
+        GEAR_CONSTRAINT_TYPE,           // added in Bullet 2.82
+        FIXED_CONSTRAINT_TYPE,          // added in Bullet 2.82
+        MAX_CONSTRAINT_TYPE,            // last type defined by Bullet
+    //
+    BS_FIXED_CONSTRAINT_TYPE = 1234    // BulletSim constraint that is fixed and unmoving
 }
 
 // ===============================================================================
@@ -70,6 +74,8 @@ public enum BSPhysicsShapeType
         SHAPE_COMPOUND  = 22,
         SHAPE_HEIGHTMAP = 23,
     SHAPE_AVATAR    = 24,
+    SHAPE_CONVEXHULL= 25,
+    SHAPE_GIMPACT   = 26,
 };
 
 // The native shapes have predefined shape hash keys
@@ -87,7 +93,7 @@ public enum FixedShapeKey : ulong
 [StructLayout(LayoutKind.Sequential)]
 public struct ShapeData
 {
-    public uint ID;
+    public UInt32 ID;
     public BSPhysicsShapeType Type;
     public Vector3 Position;
     public Quaternion Rotation;
@@ -111,7 +117,7 @@ public struct ShapeData
 [StructLayout(LayoutKind.Sequential)]
 public struct SweepHit
 {
-    public uint ID;
+    public UInt32 ID;
     public float Fraction;
     public Vector3 Normal;
     public Vector3 Point;
@@ -119,27 +125,47 @@ public struct SweepHit
 [StructLayout(LayoutKind.Sequential)]
 public struct RaycastHit
 {
-    public uint ID;
+    public UInt32 ID;
     public float Fraction;
     public Vector3 Normal;
 }
 [StructLayout(LayoutKind.Sequential)]
 public struct CollisionDesc
 {
-    public uint aID;
-    public uint bID;
+    public UInt32 aID;
+    public UInt32 bID;
     public Vector3 point;
     public Vector3 normal;
+    public float penetration;
 }
 [StructLayout(LayoutKind.Sequential)]
 public struct EntityProperties
 {
-    public uint ID;
+    public UInt32 ID;
     public Vector3 Position;
     public Quaternion Rotation;
     public Vector3 Velocity;
     public Vector3 Acceleration;
     public Vector3 RotationalVelocity;
+
+    public override string ToString()
+    {
+        StringBuilder buff = new StringBuilder();
+        buff.Append("<i=");
+        buff.Append(ID.ToString());
+        buff.Append(",p=");
+        buff.Append(Position.ToString());
+        buff.Append(",r=");
+        buff.Append(Rotation.ToString());
+        buff.Append(",v=");
+        buff.Append(Velocity.ToString());
+        buff.Append(",a=");
+        buff.Append(Acceleration.ToString());
+        buff.Append(",rv=");
+        buff.Append(RotationalVelocity.ToString());
+        buff.Append(">");
+        return buff.ToString();
+    }
 }
 
 // Format of this structure must match the definition in the C++ code
@@ -154,32 +180,6 @@ public struct ConfigurationParameters
     public float collisionMargin;
     public float gravity;
 
-    public float XlinearDamping;
-    public float XangularDamping;
-    public float XdeactivationTime;
-    public float XlinearSleepingThreshold;
-    public float XangularSleepingThreshold;
-        public float XccdMotionThreshold;
-        public float XccdSweptSphereRadius;
-    public float XcontactProcessingThreshold;
-
-    public float XterrainImplementation;
-    public float XterrainFriction;
-    public float XterrainHitFraction;
-    public float XterrainRestitution;
-    public float XterrainCollisionMargin;
-
-    public float XavatarFriction;
-    public float XavatarStandingFriction;
-    public float XavatarDensity;
-    public float XavatarRestitution;
-    public float XavatarCapsuleWidth;
-    public float XavatarCapsuleDepth;
-    public float XavatarCapsuleHeight;
-        public float XavatarContactProcessingThreshold;
-
-    public float XvehicleAngularDamping;
-
         public float maxPersistantManifoldPoolSize;
         public float maxCollisionAlgorithmPoolSize;
         public float shouldDisableContactPoolDynamicAllocation;
@@ -188,22 +188,45 @@ public struct ConfigurationParameters
         public float shouldSplitSimulationIslands;
         public float shouldEnableFrictionCaching;
         public float numberOfSolverIterations;
+    public float useSingleSidedMeshes;
+        public float globalContactBreakingThreshold;
 
-    public float XlinksetImplementation;
-    public float XlinkConstraintUseFrameOffset;
-    public float XlinkConstraintEnableTransMotor;
-    public float XlinkConstraintTransMotorMaxVel;
-    public float XlinkConstraintTransMotorMaxForce;
-    public float XlinkConstraintERP;
-    public float XlinkConstraintCFM;
-    public float XlinkConstraintSolverIterations;
-
-    public float XphysicsLoggingFrames;
+    public float physicsLoggingFrames;
 
     public const float numericTrue = 1f;
     public const float numericFalse = 0f;
 }
 
+// Parameters passed for the conversion of a mesh to a hull using Bullet's HACD library.
+[StructLayout(LayoutKind.Sequential)]
+public struct HACDParams
+{
+                                            // usual default values
+        public float maxVerticesPerHull;                // 100
+        public float minClusters;                               // 2
+        public float compacityWeight;                   // 0.1
+        public float volumeWeight;                              // 0.0
+        public float concavity;                             // 100
+        public float addExtraDistPoints;                // false
+        public float addNeighboursDistPoints;   // false
+        public float addFacesPoints;                    // false
+        public float shouldAdjustCollisionMargin;       // false
+    // VHACD
+        public float whichHACD;                             // zero if Bullet HACD, non-zero says VHACD
+        // http://kmamou.blogspot.ca/2014/12/v-hacd-20-parameters-description.html
+        public float vHACDresolution;                   // 100,000 max number of voxels generated during voxelization stage
+        public float vHACDdepth;                                // 20 max number of clipping stages
+        public float vHACDconcavity;                    // 0.0025 maximum concavity
+        public float vHACDplaneDownsampling;    // 4 granularity of search for best clipping plane
+        public float vHACDconvexHullDownsampling;       // 4 precision of hull gen process
+        public float vHACDalpha;                                // 0.05 bias toward clipping along symmetry planes
+        public float vHACDbeta;                             // 0.05 bias toward clipping along revolution axis
+        public float vHACDgamma;                                // 0.00125 max concavity when merging
+        public float vHACDpca;                                  // 0 on/off normalizing mesh before decomp
+        public float vHACDmode;                             // 0 0:voxel based, 1: tetrahedron based
+        public float vHACDmaxNumVerticesPerCH;  // 64 max triangles per convex hull
+        public float vHACDminVolumePerCH;               // 0.0001 sampling of generated convex hulls
+}
 
 // The states a bullet collision object can have
 public enum ActivationState : uint
@@ -238,11 +261,12 @@ public enum CollisionFlags : uint
     CF_DISABLE_VISUALIZE_OBJECT      = 1 << 5,
     CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
     // Following used by BulletSim to control collisions and updates
-    BS_SUBSCRIBE_COLLISION_EVENTS    = 1 << 10,
-    BS_FLOATS_ON_WATER               = 1 << 11,
-    BS_VEHICLE_COLLISIONS            = 1 << 12,
+    BS_SUBSCRIBE_COLLISION_EVENTS    = 1 << 10, // return collision events from unmanaged to managed
+    BS_FLOATS_ON_WATER               = 1 << 11, // the object should float at water level
+    BS_VEHICLE_COLLISIONS            = 1 << 12, // return collisions for vehicle ground checking
+    BS_RETURN_ROOT_COMPOUND_SHAPE    = 1 << 13, // return the pos/rot of the root shape in a compound shape
     BS_NONE                          = 0,
-    BS_ALL                           = 0xFFFFFFFF
+    BS_ALL                           = 0x7FFF   // collision flags are a signed short
 };
 
 // Values f collisions groups and masks
@@ -258,14 +282,14 @@ public enum CollisionFilterGroups : uint
     BDebrisGroup            = 1 << 3,   // 0008
     BSensorTrigger          = 1 << 4,   // 0010
     BCharacterGroup         = 1 << 5,   // 0020
-    BAllGroup               = 0x000FFFFF,
+    BAllGroup               = 0x0007FFF,        // collision flags are a signed short
     // Filter groups defined by BulletSim
-    BGroundPlaneGroup       = 1 << 10,  // 0400
-    BTerrainGroup           = 1 << 11,  // 0800
-    BRaycastGroup           = 1 << 12,  // 1000
-    BSolidGroup             = 1 << 13,  // 2000
+    BGroundPlaneGroup       = 1 << 8,  // 0400
+    BTerrainGroup           = 1 << 9,  // 0800
+    BRaycastGroup           = 1 << 10,  // 1000
+    BSolidGroup             = 1 << 11,  // 2000
     // BLinksetGroup        = xx  // a linkset proper is either static or dynamic
-    BLinksetChildGroup      = 1 << 14,  // 4000
+    BLinksetChildGroup      = 1 << 12,  // 4000
 };
 
 // CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
@@ -285,7 +309,7 @@ public enum ConstraintParamAxis : int
     AXIS_ANGULAR_X,
     AXIS_ANGULAR_Y,
     AXIS_ANGULAR_Z,
-    AXIS_LINEAR_ALL = 20,    // these last three added by BulletSim so we don't have to do zillions of calls
+    AXIS_LINEAR_ALL = 20,    // added by BulletSim so we don't have to do zillions of calls
     AXIS_ANGULAR_ALL,
     AXIS_ALL
 };
@@ -294,7 +318,7 @@ public abstract class BSAPITemplate
 {
 // Returns the name of the underlying Bullet engine
 public abstract string BulletEngineName { get; }
-public abstract string BulletEngineVersion { get; protected set;} 
+public abstract string BulletEngineVersion { get; protected set;}
 
 // Initialization and simulation
 public abstract BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
@@ -305,7 +329,7 @@ public abstract BulletWorld Initialize(Vector3 maxPosition, ConfigurationParamet
 public abstract int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
                         out int updatedEntityCount, out int collidersCount);
 
-public abstract bool UpdateParameter(BulletWorld world, uint localID, String parm, float value);
+public abstract bool UpdateParameter(BulletWorld world, UInt32 localID, String parm, float value);
 
 public abstract void Shutdown(BulletWorld sim);
 
@@ -317,10 +341,20 @@ public abstract BulletShape CreateMeshShape(BulletWorld world,
                 int indicesCount, int[] indices,
                 int verticesCount, float[] vertices );
 
+public abstract BulletShape CreateGImpactShape(BulletWorld world,
+                int indicesCount, int[] indices,
+                int verticesCount, float[] vertices );
+
 public abstract BulletShape CreateHullShape(BulletWorld world,
                 int hullCount, float[] hulls);
 
-public abstract BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape);
+public abstract BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape, HACDParams parms);
+
+public abstract BulletShape BuildConvexHullShapeFromMesh(BulletWorld world, BulletShape meshShape);
+
+public abstract BulletShape CreateConvexHullShape(BulletWorld world,
+                int indicesCount, int[] indices,
+                int verticesCount, float[] vertices );
 
 public abstract BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData);
 
@@ -342,26 +376,28 @@ public abstract BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape c
 
 public abstract void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape);
 
+public abstract void UpdateChildTransform(BulletShape pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb);
+
 public abstract void RecalculateCompoundShapeLocalAabb(BulletShape cShape);
 
-public abstract BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id);
+public abstract BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, UInt32 id);
 
 public abstract bool DeleteCollisionShape(BulletWorld world, BulletShape shape);
 
 public abstract CollisionObjectTypes GetBodyType(BulletBody obj);
 
-public abstract BulletBody CreateBodyFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot);
+public abstract BulletBody CreateBodyFromShape(BulletWorld sim, BulletShape shape, UInt32 id, Vector3 pos, Quaternion rot);
 
-public abstract BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, uint id, Vector3 pos, Quaternion rot);
+public abstract BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, UInt32 id, Vector3 pos, Quaternion rot);
 
-public abstract BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot);
+public abstract BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, UInt32 id, Vector3 pos, Quaternion rot);
 
 public abstract void DestroyObject(BulletWorld sim, BulletBody obj);
 
 // =====================================================================================
-public abstract BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin);
+public abstract BulletShape CreateGroundPlaneShape(UInt32 id, float height, float collisionMargin);
 
-public abstract BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, 
+public abstract BulletShape CreateTerrainShape(UInt32 id, Vector3 size, float minHeight, float maxHeight, float[] heightMap,
                                                                 float scaleFactor, float collisionMargin);
 
 // =====================================================================================
@@ -375,11 +411,38 @@ public abstract BulletConstraint Create6DofConstraintToPoint(BulletWorld world,
                     Vector3 joinPoint,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
 
+public abstract BulletConstraint Create6DofConstraintFixed(BulletWorld world, BulletBody obj1,
+                    Vector3 frameInBloc, Quaternion frameInBrot,
+                    bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies);
+
+public abstract BulletConstraint Create6DofSpringConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 frame1loc, Quaternion frame1rot,
+                    Vector3 frame2loc, Quaternion frame2rot,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
+
 public abstract BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
                     Vector3 pivotinA, Vector3 pivotinB,
                     Vector3 axisInA, Vector3 axisInB,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
 
+public abstract BulletConstraint CreateSliderConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 frameInAloc, Quaternion frameInArot,
+                    Vector3 frameInBloc, Quaternion frameInBrot,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
+
+public abstract BulletConstraint CreateConeTwistConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 frameInAloc, Quaternion frameInArot,
+                    Vector3 frameInBloc, Quaternion frameInBrot,
+                    bool disableCollisionsBetweenLinkedBodies);
+
+public abstract BulletConstraint CreateGearConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 axisInA, Vector3 axisInB,
+                    float ratio, bool disableCollisionsBetweenLinkedBodies);
+
+public abstract BulletConstraint CreatePoint2PointConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 pivotInA, Vector3 pivotInB,
+                    bool disableCollisionsBetweenLinkedBodies);
+
 public abstract void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse);
 
 public abstract void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations);
@@ -397,6 +460,38 @@ public abstract bool TranslationalLimitMotor(BulletConstraint constrain, float e
 
 public abstract bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold);
 
+public const int HINGE_NOT_SPECIFIED = -1;
+public abstract bool HingeSetLimits(BulletConstraint constrain, float low, float high, float softness, float bias, float relaxation);
+
+public abstract bool SpringEnable(BulletConstraint constrain, int index, float numericTrueFalse);
+
+public const int SPRING_NOT_SPECIFIED = -1;
+public abstract bool SpringSetEquilibriumPoint(BulletConstraint constrain, int index, float equilibriumPoint);
+
+public abstract bool SpringSetStiffness(BulletConstraint constrain, int index, float stiffnesss);
+
+public abstract bool SpringSetDamping(BulletConstraint constrain, int index, float damping);
+
+public const int SLIDER_LOWER_LIMIT = 0;
+public const int SLIDER_UPPER_LIMIT = 1;
+public const int SLIDER_LINEAR = 2;
+public const int SLIDER_ANGULAR = 3;
+public abstract bool SliderSetLimits(BulletConstraint constrain, int lowerUpper, int linAng, float val);
+
+public const int SLIDER_SET_SOFTNESS = 4;
+public const int SLIDER_SET_RESTITUTION = 5;
+public const int SLIDER_SET_DAMPING = 6;
+public const int SLIDER_SET_DIRECTION = 7;
+public const int SLIDER_SET_LIMIT = 8;
+public const int SLIDER_SET_ORTHO = 9;
+public abstract bool SliderSet(BulletConstraint constrain, int softRestDamp, int dirLimOrtho, int linAng, float val);
+
+public abstract bool SliderMotorEnable(BulletConstraint constrain, int linAng, float numericTrueFalse);
+
+public const int SLIDER_MOTOR_VELOCITY = 10;
+public const int SLIDER_MAX_MOTOR_FORCE = 11;
+public abstract bool SliderMotor(BulletConstraint constrain, int forceVel, int linAng, float val);
+
 public abstract bool CalculateTransforms(BulletConstraint constrain);
 
 public abstract bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
@@ -420,6 +515,8 @@ public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj);
 
 public abstract bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj);
 
+public abstract bool ClearCollisionProxyCache(BulletWorld world, BulletBody obj);
+
 public abstract bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects);
 
 public abstract bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain);
@@ -607,7 +704,7 @@ public abstract BulletConstraint GetConstraintRef(BulletBody obj, int index);
 
 public abstract int GetNumConstraintRefs(BulletBody obj);
 
-public abstract bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask);
+public abstract bool SetCollisionGroupMask(BulletBody body, UInt32 filter, UInt32 mask);
 
 // =====================================================================================
 // btCollisionShape entries
@@ -646,17 +743,21 @@ public abstract float GetMargin(BulletShape shape);
 
 // =====================================================================================
 // Debugging
-public abstract void DumpRigidBody(BulletWorld sim, BulletBody collisionObject);
+public virtual void DumpRigidBody(BulletWorld sim, BulletBody collisionObject) { }
+
+public virtual void DumpCollisionShape(BulletWorld sim, BulletShape collisionShape) { }
+
+public virtual void DumpConstraint(BulletWorld sim, BulletConstraint constrain) { }
 
-public abstract void DumpCollisionShape(BulletWorld sim, BulletShape collisionShape);
+public virtual void DumpActivationInfo(BulletWorld sim) { }
 
-public abstract void DumpConstraint(BulletWorld sim, BulletConstraint constrain);
+public virtual void DumpAllInfo(BulletWorld sim) { }
 
-public abstract void DumpActivationInfo(BulletWorld sim);
+public virtual void DumpPhysicsStatistics(BulletWorld sim) { }
 
-public abstract void DumpAllInfo(BulletWorld sim);
+public virtual void ResetBroadphasePool(BulletWorld sim) { }
 
-public abstract void DumpPhysicsStatistics(BulletWorld sim);
+public virtual void ResetConstraintSolver(BulletWorld sim) { }
 
 };
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs
index 103d8fc..83fc3a6 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs
@@ -1,4 +1,4 @@
-/*
+/*
  * Copyright (c) Contributors, http://opensimulator.org/
  * See CONTRIBUTORS.TXT for a full list of copyright holders.
  *
@@ -30,9 +30,9 @@ using System.Reflection;
 using log4net;
 using OMV = OpenMetaverse;
 using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
+using OpenSim.Region.PhysicsModules.SharedBase;
 
-namespace OpenSim.Region.Physics.BulletSPlugin
+namespace OpenSim.Region.PhysicsModule.BulletS
 {
 public sealed class BSCharacter : BSPhysObject
 {
@@ -43,53 +43,52 @@ public sealed class BSCharacter : BSPhysObject
     private OMV.Vector3 _size;
     private bool _grabbed;
     private bool _selected;
-    private OMV.Vector3 _position;
     private float _mass;
-    private float _avatarDensity;
     private float _avatarVolume;
-    private OMV.Vector3 _force;
-    private OMV.Vector3 _velocity;
-    private OMV.Vector3 _torque;
     private float _collisionScore;
     private OMV.Vector3 _acceleration;
-    private OMV.Quaternion _orientation;
     private int _physicsActorType;
     private bool _isPhysical;
     private bool _flying;
     private bool _setAlwaysRun;
     private bool _throttleUpdates;
-    private bool _isColliding;
-    private bool _collidingObj;
     private bool _floatOnWater;
     private OMV.Vector3 _rotationalVelocity;
     private bool _kinematic;
     private float _buoyancy;
 
-    // The friction and velocity of the avatar is modified depending on whether walking or not.
-    private float _currentFriction;         // the friction currently being used (changed by setVelocity).
-
-    private BSVMotor _velocityMotor;
+    private BSActorAvatarMove m_moveActor;
+    private const string AvatarMoveActorName = "BSCharacter.AvatarMove";
 
     private OMV.Vector3 _PIDTarget;
-    private bool _usePID;
     private float _PIDTau;
-    private bool _useHoverPID;
-    private float _PIDHoverHeight;
-    private PIDHoverType _PIDHoverType;
-    private float _PIDHoverTao;
 
-    public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying)
+//        public override OMV.Vector3 RawVelocity 
+//        { get { return base.RawVelocity; } 
+//            set { 
+//                if (value != base.RawVelocity)
+//                    Util.PrintCallStack();
+//                Console.WriteLine("Set rawvel to {0}", value);
+//                base.RawVelocity = value; }
+//        }
+
+    // Avatars are always complete (in the physics engine sense)
+    public override bool IsIncomplete { get { return false; } }
+
+    public BSCharacter(
+            uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 vel, OMV.Vector3 size, bool isFlying)
+
             : base(parent_scene, localID, avName, "BSCharacter")
     {
         _physicsActorType = (int)ActorTypes.Agent;
-        _position = pos;
+        RawPosition = pos;        
 
         _flying = isFlying;
-        _orientation = OMV.Quaternion.Identity;
-        _velocity = OMV.Vector3.Zero;
+        RawOrientation = OMV.Quaternion.Identity;
+        RawVelocity = vel;
         _buoyancy = ComputeBuoyancyFromFlying(isFlying);
-        _currentFriction = BSParam.AvatarStandingFriction;
-        _avatarDensity = BSParam.AvatarDensity;
+        Friction = BSParam.AvatarStandingFriction;
+        Density = BSParam.AvatarDensity;
 
         // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
         //     replace with the default values.
@@ -103,19 +102,28 @@ public sealed class BSCharacter : BSPhysObject
         // set _avatarVolume and _mass based on capsule size, _density and Scale
         ComputeAvatarVolumeAndMass();
 
-        SetupMovementMotor();
-
-        DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}",
-                            LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass);
+        DetailLog(
+            "{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5},pos={6},vel={7}",
+            LocalID, _size, Scale, Density, _avatarVolume, RawMass, pos, vel);
 
         // do actual creation in taint time
-        PhysicsScene.TaintedObject("BSCharacter.create", delegate()
+        PhysScene.TaintedObject(LocalID, "BSCharacter.create", delegate()
         {
             DetailLog("{0},BSCharacter.create,taint", LocalID);
+
             // New body and shape into PhysBody and PhysShape
-            PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this);
+            PhysScene.Shapes.GetBodyAndShape(true, PhysScene.World, this);
+
+            // The avatar's movement is controlled by this motor that speeds up and slows down
+            //    the avatar seeking to reach the motor's target speed.
+            // This motor runs as a prestep action for the avatar so it will keep the avatar
+            //    standing as well as moving. Destruction of the avatar will destroy the pre-step action.
+            m_moveActor = new BSActorAvatarMove(PhysScene, this, AvatarMoveActorName);
+            PhysicalActors.Add(AvatarMoveActorName, m_moveActor);
 
             SetPhysicalProperties();
+
+            IsInitialized = true;
         });
         return;
     }
@@ -123,122 +131,77 @@ public sealed class BSCharacter : BSPhysObject
     // called when this character is being destroyed and the resources should be released
     public override void Destroy()
     {
+        IsInitialized = false;
+
         base.Destroy();
 
         DetailLog("{0},BSCharacter.Destroy", LocalID);
-        PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
+        PhysScene.TaintedObject(LocalID, "BSCharacter.destroy", delegate()
         {
-            PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
+            PhysScene.Shapes.DereferenceBody(PhysBody, null /* bodyCallback */);
             PhysBody.Clear();
-            PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
-            PhysShape.Clear();
+            PhysShape.Dereference(PhysScene);
+            PhysShape = new BSShapeNull();
         });
     }
 
     private void SetPhysicalProperties()
     {
-        PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody);
+        PhysScene.PE.RemoveObjectFromWorld(PhysScene.World, PhysBody);
+
+        ForcePosition = RawPosition;
 
-        ZeroMotion(true);
-        ForcePosition = _position;
+        // Set the velocity
+        if (m_moveActor != null)
+            m_moveActor.SetVelocityAndTarget(RawVelocity, RawVelocity, false);
 
-        // Set the velocity and compute the proper friction
-        _velocityMotor.Reset();
-        _velocityMotor.SetTarget(_velocity);
-        _velocityMotor.SetCurrent(_velocity);
-        ForceVelocity = _velocity;
+        ForceVelocity = RawVelocity;
+        TargetVelocity = RawVelocity;
 
         // This will enable or disable the flying buoyancy of the avatar.
         // Needs to be reset especially when an avatar is recreated after crossing a region boundry.
         Flying = _flying;
 
-        PhysicsScene.PE.SetRestitution(PhysBody, BSParam.AvatarRestitution);
-        PhysicsScene.PE.SetMargin(PhysShape, PhysicsScene.Params.collisionMargin);
-        PhysicsScene.PE.SetLocalScaling(PhysShape, Scale);
-        PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold);
+        PhysScene.PE.SetRestitution(PhysBody, BSParam.AvatarRestitution);
+        PhysScene.PE.SetMargin(PhysShape.physShapeInfo, PhysScene.Params.collisionMargin);
+        PhysScene.PE.SetLocalScaling(PhysShape.physShapeInfo, Scale);
+        PhysScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold);
         if (BSParam.CcdMotionThreshold > 0f)
         {
-            PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
-            PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
+            PhysScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
+            PhysScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
         }
 
         UpdatePhysicalMassProperties(RawMass, false);
 
         // Make so capsule does not fall over
-        PhysicsScene.PE.SetAngularFactorV(PhysBody, OMV.Vector3.Zero);
+        PhysScene.PE.SetAngularFactorV(PhysBody, OMV.Vector3.Zero);
 
-        PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_CHARACTER_OBJECT);
+        // The avatar mover sets some parameters.
+        PhysicalActors.Refresh();
 
-        PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody);
+        PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_CHARACTER_OBJECT);
+
+        PhysScene.PE.AddObjectToWorld(PhysScene.World, PhysBody);
 
         // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG);
-        PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_DEACTIVATION);
-        PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody);
+        PhysScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_DEACTIVATION);
+        PhysScene.PE.UpdateSingleAabb(PhysScene.World, PhysBody);
 
         // Do this after the object has been added to the world
-        PhysBody.collisionType = CollisionType.Avatar;
-        PhysBody.ApplyCollisionMask(PhysicsScene);
-    }
-
-    // The avatar's movement is controlled by this motor that speeds up and slows down
-    //    the avatar seeking to reach the motor's target speed.
-    // This motor runs as a prestep action for the avatar so it will keep the avatar
-    //    standing as well as moving. Destruction of the avatar will destroy the pre-step action.
-    private void SetupMovementMotor()
-    {
-
-        // Someday, use a PID motor for asymmetric speed up and slow down
-        // _velocityMotor = new BSPIDVMotor("BSCharacter.Velocity", 3f, 5f, BSMotor.InfiniteVector, 1f);
-
-        // Infinite decay and timescale values so motor only changes current to target values.
-        _velocityMotor = new BSVMotor("BSCharacter.Velocity", 
-                                            0.2f,                       // time scale
-                                            BSMotor.Infinite,           // decay time scale
-                                            BSMotor.InfiniteVector,     // friction timescale
-                                            1f                          // efficiency
-        );
-        // _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
-
-        RegisterPreStepAction("BSCharactor.Movement", LocalID, delegate(float timeStep)
-        {
-            // TODO: Decide if the step parameters should be changed depending on the avatar's
-            //     state (flying, colliding, ...). There is code in ODE to do this.
-
-            OMV.Vector3 stepVelocity = _velocityMotor.Step(timeStep);
-
-            // If falling, we keep the world's downward vector no matter what the other axis specify.
-            if (!Flying && !IsColliding)
-            {
-                stepVelocity.Z = _velocity.Z;
-                // DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity);
-            }
-
-            // 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force.
-            OMV.Vector3 moveForce = (stepVelocity - _velocity) * Mass / PhysicsScene.LastTimeStep;
+        if (BSParam.AvatarToAvatarCollisionsByDefault)
+            PhysBody.collisionType = CollisionType.Avatar;
+        else
+            PhysBody.collisionType = CollisionType.PhantomToOthersAvatar;
 
-            /*
-            // If moveForce is very small, zero things so we don't keep sending microscopic updates to the user
-            float moveForceMagnitudeSquared = moveForce.LengthSquared();
-            if (moveForceMagnitudeSquared < 0.0001)
-            {
-                DetailLog("{0},BSCharacter.MoveMotor,zeroMovement,stepVel={1},vel={2},mass={3},magSq={4},moveForce={5}",
-                                        LocalID, stepVelocity, _velocity, Mass, moveForceMagnitudeSquared, moveForce);
-                ForceVelocity = OMV.Vector3.Zero;
-            }
-            else
-            {
-                AddForce(moveForce, false, true);
-            }
-            */
-            // DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce);
-            AddForce(moveForce, false, true);
-        });
+        PhysBody.ApplyCollisionMask(PhysScene);
     }
 
     public override void RequestPhysicsterseUpdate()
     {
         base.RequestPhysicsterseUpdate();
     }
+
     // No one calls this method so I don't know what it could possibly mean
     public override bool Stopped { get { return false; } }
 
@@ -250,6 +213,10 @@ public sealed class BSCharacter : BSPhysObject
         }
 
         set {
+            // This is how much the avatar size is changing. Positive means getting bigger.
+            // The avatar altitude must be adjusted for this change.
+            float heightChange = value.Z - _size.Z;
+
             _size = value;
             // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
             //     replace with the default values.
@@ -259,16 +226,20 @@ public sealed class BSCharacter : BSPhysObject
             Scale = ComputeAvatarScale(_size);
             ComputeAvatarVolumeAndMass();
             DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}",
-                            LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass);
+                            LocalID, _size, Scale, Density, _avatarVolume, RawMass);
 
-            PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
+            PhysScene.TaintedObject(LocalID, "BSCharacter.setSize", delegate()
             {
-                if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape)
+                if (PhysBody.HasPhysicalBody && PhysShape.physShapeInfo.HasPhysicalShape)
                 {
-                    PhysicsScene.PE.SetLocalScaling(PhysShape, Scale);
+                    PhysScene.PE.SetLocalScaling(PhysShape.physShapeInfo, Scale);
                     UpdatePhysicalMassProperties(RawMass, true);
+
+                    // Adjust the avatar's position to account for the increase/decrease in size
+                    ForcePosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, RawPosition.Z + heightChange / 2f);
+
                     // Make sure this change appears as a property update event
-                    PhysicsScene.PE.PushUpdate(PhysBody);
+                    PhysScene.PE.PushUpdate(PhysBody);
                 }
             });
 
@@ -279,11 +250,6 @@ public sealed class BSCharacter : BSPhysObject
     {
         set { BaseShape = value; }
     }
-    // I want the physics engine to make an avatar capsule
-    public override BSPhysicsShapeType PreferredPhysicalShape
-    {
-        get {return BSPhysicsShapeType.SHAPE_CAPSULE; }
-    }
 
     public override bool Grabbed {
         set { _grabbed = value; }
@@ -291,6 +257,10 @@ public sealed class BSCharacter : BSPhysObject
     public override bool Selected {
         set { _selected = value; }
     }
+    public override bool IsSelected
+    {
+        get { return _selected; }
+    }
     public override void CrossingFailure() { return; }
     public override void link(PhysicsActor obj) { return; }
     public override void delink() { return; }
@@ -301,29 +271,30 @@ public sealed class BSCharacter : BSPhysObject
     // Called at taint time!
     public override void ZeroMotion(bool inTaintTime)
     {
-        _velocity = OMV.Vector3.Zero;
+        RawVelocity = OMV.Vector3.Zero;
         _acceleration = OMV.Vector3.Zero;
         _rotationalVelocity = OMV.Vector3.Zero;
 
         // Zero some other properties directly into the physics engine
-        PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
+        PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.ZeroMotion", delegate()
         {
             if (PhysBody.HasPhysicalBody)
-                PhysicsScene.PE.ClearAllForces(PhysBody);
+                PhysScene.PE.ClearAllForces(PhysBody);
         });
     }
+
     public override void ZeroAngularMotion(bool inTaintTime)
     {
         _rotationalVelocity = OMV.Vector3.Zero;
 
-        PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
+        PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.ZeroMotion", delegate()
         {
             if (PhysBody.HasPhysicalBody)
             {
-                PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, OMV.Vector3.Zero);
-                PhysicsScene.PE.SetAngularVelocity(PhysBody, OMV.Vector3.Zero);
+                PhysScene.PE.SetInterpolationAngularVelocity(PhysBody, OMV.Vector3.Zero);
+                PhysScene.PE.SetAngularVelocity(PhysBody, OMV.Vector3.Zero);
                 // The next also get rid of applied linear force but the linear velocity is untouched.
-                PhysicsScene.PE.ClearForces(PhysBody);
+                PhysScene.PE.ClearForces(PhysBody);
             }
         });
     }
@@ -331,38 +302,34 @@ public sealed class BSCharacter : BSPhysObject
 
     public override void LockAngularMotion(OMV.Vector3 axis) { return; }
 
-    public override OMV.Vector3 RawPosition
-    {
-        get { return _position; }
-        set { _position = value; }
-    }
     public override OMV.Vector3 Position {
         get {
             // Don't refetch the position because this function is called a zillion times
-            // _position = PhysicsScene.PE.GetObjectPosition(Scene.World, LocalID);
-            return _position;
+            // RawPosition = PhysicsScene.PE.GetObjectPosition(Scene.World, LocalID);
+            return RawPosition;
         }
         set {
-            _position = value;
-            PositionSanityCheck();
+            RawPosition = value;
 
-            PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate()
+            PhysScene.TaintedObject(LocalID, "BSCharacter.setPosition", delegate()
             {
-                DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                if (PhysBody.HasPhysicalBody)
-                    PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
+                DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation);
+                PositionSanityCheck();
+                ForcePosition = RawPosition;
             });
         }
     }
     public override OMV.Vector3 ForcePosition {
         get {
-            _position = PhysicsScene.PE.GetPosition(PhysBody);
-            return _position;
+            RawPosition = PhysScene.PE.GetPosition(PhysBody);
+            return RawPosition;
         }
         set {
-            _position = value;
-            PositionSanityCheck();
-            PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
+            RawPosition = value;
+            if (PhysBody.HasPhysicalBody)
+            {
+                PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation);
+            }
         }
     }
 
@@ -375,28 +342,30 @@ public sealed class BSCharacter : BSPhysObject
         bool ret = false;
 
         // TODO: check for out of bounds
-        if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(_position))
+        if (!PhysScene.TerrainManager.IsWithinKnownTerrain(RawPosition))
         {
             // The character is out of the known/simulated area.
-            // Upper levels of code will handle the transition to other areas so, for
-            //     the time, we just ignore the position.
-            return ret;
+            // Force the avatar position to be within known. ScenePresence will use the position
+            //    plus the velocity to decide if the avatar is moving out of the region.
+            RawPosition = PhysScene.TerrainManager.ClampPositionIntoKnownTerrain(RawPosition);
+            DetailLog("{0},BSCharacter.PositionSanityCheck,notWithinKnownTerrain,clampedPos={1}", LocalID, RawPosition);
+            return true;
         }
 
         // If below the ground, move the avatar up
-        float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
+        float terrainHeight = PhysScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition);
         if (Position.Z < terrainHeight)
         {
-            DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
-            _position.Z = terrainHeight + 2.0f;
+            DetailLog("{0},BSCharacter.PositionSanityCheck,adjustForUnderGround,pos={1},terrain={2}", LocalID, RawPosition, terrainHeight);
+            RawPosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, terrainHeight + BSParam.AvatarBelowGroundUpCorrectionMeters);
             ret = true;
         }
         if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
         {
-            float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position);
+            float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(RawPosition);
             if (Position.Z < waterHeight)
             {
-                _position.Z = waterHeight;
+                RawPosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, waterHeight);
                 ret = true;
             }
         }
@@ -414,11 +383,10 @@ public sealed class BSCharacter : BSPhysObject
         {
             // 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(inTaintTime, "BSCharacter.PositionSanityCheck", delegate()
+            PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.PositionSanityCheck", delegate()
             {
-                DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                if (PhysBody.HasPhysicalBody)
-                    PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
+                DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation);
+                ForcePosition = RawPosition;
             });
             ret = true;
         }
@@ -428,25 +396,25 @@ public sealed class BSCharacter : BSPhysObject
     public override float Mass { get { return _mass; } }
 
     // used when we only want this prim's mass and not the linkset thing
-    public override float RawMass { 
+    public override float RawMass {
         get {return _mass; }
     }
     public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
     {
-        OMV.Vector3 localInertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape, physMass);
-        PhysicsScene.PE.SetMassProps(PhysBody, physMass, localInertia);
+        OMV.Vector3 localInertia = PhysScene.PE.CalculateLocalInertia(PhysShape.physShapeInfo, physMass);
+        PhysScene.PE.SetMassProps(PhysBody, physMass, localInertia);
     }
 
     public override OMV.Vector3 Force {
-        get { return _force; }
+        get { return RawForce; }
         set {
-            _force = value;
+            RawForce = value;
             // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force);
-            PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate()
+            PhysScene.TaintedObject(LocalID, "BSCharacter.SetForce", delegate()
             {
-                DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force);
+                DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, RawForce);
                 if (PhysBody.HasPhysicalBody)
-                    PhysicsScene.PE.SetObjectForce(PhysBody, _force);
+                    PhysScene.PE.SetObjectForce(PhysBody, RawForce);
             });
         }
     }
@@ -460,6 +428,7 @@ public sealed class BSCharacter : BSPhysObject
 
     // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
     public override void SetVolumeDetect(int param) { return; }
+    public override bool IsVolumeDetect { get { return false; } }
 
     public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } }
     public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } }
@@ -469,79 +438,59 @@ public sealed class BSCharacter : BSPhysObject
     {
         get
         {
-            return _velocityMotor.TargetValue;
+            return base.m_targetVelocity;
         }
         set
         {
             DetailLog("{0},BSCharacter.setTargetVelocity,call,vel={1}", LocalID, value);
+            m_targetVelocity = value;
             OMV.Vector3 targetVel = value;
-            if (_setAlwaysRun)
-                targetVel *= BSParam.AvatarAlwaysRunFactor;
+            if (_setAlwaysRun && !_flying)
+                targetVel *= new OMV.Vector3(BSParam.AvatarAlwaysRunFactor, BSParam.AvatarAlwaysRunFactor, 1f);
 
-            PhysicsScene.TaintedObject("BSCharacter.setTargetVelocity", delegate()
-            {
-                _velocityMotor.Reset();
-                _velocityMotor.SetTarget(targetVel);
-                _velocityMotor.SetCurrent(_velocity);
-                _velocityMotor.Enabled = true;
-            });
+            if (m_moveActor != null)
+                m_moveActor.SetVelocityAndTarget(RawVelocity, targetVel, false /* inTaintTime */);
         }
     }
     // Directly setting velocity means this is what the user really wants now.
     public override OMV.Vector3 Velocity {
-        get { return _velocity; }
+        get { return RawVelocity; }
         set {
-            _velocity = value;
-            // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity);
-            PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate()
+            RawVelocity = value;
+                OMV.Vector3 vel = RawVelocity;
+
+            DetailLog("{0}: set Velocity = {1}", LocalID, value);
+
+            PhysScene.TaintedObject(LocalID, "BSCharacter.setVelocity", delegate()
             {
-                _velocityMotor.Reset();
-                _velocityMotor.SetCurrent(_velocity);
-                _velocityMotor.SetTarget(_velocity);
-                // Even though the motor is initialized, it's not used and the velocity goes straight into the avatar.
-                _velocityMotor.Enabled = false;
-
-                DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
-                ForceVelocity = _velocity;
+                if (m_moveActor != null)
+                    m_moveActor.SetVelocityAndTarget(vel, vel, true /* inTaintTime */);
+
+                DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, vel);
+                ForceVelocity = vel;
             });
         }
     }
+
     public override OMV.Vector3 ForceVelocity {
-        get { return _velocity; }
+        get { return RawVelocity; }
         set {
-            PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity");
+            PhysScene.AssertInTaintTime("BSCharacter.ForceVelocity");
+//                Util.PrintCallStack();
+            DetailLog("{0}: set ForceVelocity = {1}", LocalID, value);
 
-            _velocity = value;
-            // Depending on whether the avatar is moving or not, change the friction
-            //    to keep the avatar from slipping around
-            if (_velocity.Length() == 0)
-            {
-                if (_currentFriction != BSParam.AvatarStandingFriction)
-                {
-                    _currentFriction = BSParam.AvatarStandingFriction;
-                    if (PhysBody.HasPhysicalBody)
-                        PhysicsScene.PE.SetFriction(PhysBody, _currentFriction);
-                }
-            }
-            else
-            {
-                if (_currentFriction != BSParam.AvatarFriction)
-                {
-                    _currentFriction = BSParam.AvatarFriction;
-                    if (PhysBody.HasPhysicalBody)
-                        PhysicsScene.PE.SetFriction(PhysBody, _currentFriction);
-                }
-            }
-
-            PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity);
-            PhysicsScene.PE.Activate(PhysBody, true);
+            RawVelocity = value;
+            PhysScene.PE.SetLinearVelocity(PhysBody, RawVelocity);
+            PhysScene.PE.Activate(PhysBody, true);
         }
     }
+
     public override OMV.Vector3 Torque {
-        get { return _torque; }
-        set { _torque = value;
+        get { return RawTorque; }
+        set { RawTorque = value;
         }
     }
+
     public override float CollisionScore {
         get { return _collisionScore; }
         set { _collisionScore = value;
@@ -551,22 +500,27 @@ public sealed class BSCharacter : BSPhysObject
         get { return _acceleration; }
         set { _acceleration = value; }
     }
-    public override OMV.Quaternion RawOrientation
-    {
-        get { return _orientation; }
-        set { _orientation = value; }
-    }
     public override OMV.Quaternion Orientation {
-        get { return _orientation; }
+        get { return RawOrientation; }
         set {
             // Orientation is set zillions of times when an avatar is walking. It's like
             //      the viewer doesn't trust us.
-            if (_orientation != value)
+            if (RawOrientation != value)
             {
-                _orientation = value;
-                PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate()
+                RawOrientation = value;
+                PhysScene.TaintedObject(LocalID, "BSCharacter.setOrientation", delegate()
                 {
-                    ForceOrientation = _orientation;
+                    // Bullet assumes we know what we are doing when forcing orientation
+                    //    so it lets us go against all the rules and just compensates for them later.
+                    // This forces rotation to be only around the Z axis and doesn't change any of the other axis.
+                    // This keeps us from flipping the capsule over which the veiwer does not understand.
+                    float oRoll, oPitch, oYaw;
+                    RawOrientation.GetEulerAngles(out oRoll, out oPitch, out oYaw);
+                    OMV.Quaternion trimmedOrientation = OMV.Quaternion.CreateFromEulers(0f, 0f, oYaw);
+                    // DetailLog("{0},BSCharacter.setOrientation,taint,val={1},valDir={2},conv={3},convDir={4}",
+                    //                 LocalID, RawOrientation, OMV.Vector3.UnitX * RawOrientation,
+                    //                 trimmedOrientation, OMV.Vector3.UnitX * trimmedOrientation);
+                    ForceOrientation = trimmedOrientation;
                 });
             }
         }
@@ -576,16 +530,16 @@ public sealed class BSCharacter : BSPhysObject
     {
         get
         {
-            _orientation = PhysicsScene.PE.GetOrientation(PhysBody);
-            return _orientation;
+            RawOrientation = PhysScene.PE.GetOrientation(PhysBody);
+            return RawOrientation;
         }
         set
         {
-            _orientation = value;
+            RawOrientation = value;
             if (PhysBody.HasPhysicalBody)
             {
-                // _position = PhysicsScene.PE.GetPosition(BSBody);
-                PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
+                // RawPosition = PhysicsScene.PE.GetPosition(BSBody);
+                PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation);
             }
         }
     }
@@ -605,6 +559,9 @@ public sealed class BSCharacter : BSPhysObject
     public override bool IsStatic {
         get { return false; }
     }
+    public override bool IsPhysicallyActive {
+        get { return true; }
+    }
     public override bool Flying {
         get { return _flying; }
         set {
@@ -631,14 +588,14 @@ public sealed class BSCharacter : BSPhysObject
     public override bool FloatOnWater {
         set {
             _floatOnWater = value;
-            PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate()
+            PhysScene.TaintedObject(LocalID, "BSCharacter.setFloatOnWater", delegate()
             {
                 if (PhysBody.HasPhysicalBody)
                 {
                     if (_floatOnWater)
-                        CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
+                        CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
                     else
-                        CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
+                        CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
                 }
             });
         }
@@ -659,7 +616,7 @@ public sealed class BSCharacter : BSPhysObject
     public override float Buoyancy {
         get { return _buoyancy; }
         set { _buoyancy = value;
-            PhysicsScene.TaintedObject("BSCharacter.setBuoyancy", delegate()
+            PhysScene.TaintedObject(LocalID, "BSCharacter.setBuoyancy", delegate()
             {
                 DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
                 ForceBuoyancy = _buoyancy;
@@ -668,15 +625,16 @@ public sealed class BSCharacter : BSPhysObject
     }
     public override float ForceBuoyancy {
         get { return _buoyancy; }
-        set { 
-            PhysicsScene.AssertInTaintTime("BSCharacter.ForceBuoyancy");
+        set {
+            PhysScene.AssertInTaintTime("BSCharacter.ForceBuoyancy");
 
             _buoyancy = value;
             DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
             // Buoyancy is faked by changing the gravity applied to the object
-            float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
+            float  grav = BSParam.Gravity * (1f - _buoyancy);
+            Gravity = new OMV.Vector3(0f, 0f, grav);
             if (PhysBody.HasPhysicalBody)
-                PhysicsScene.PE.SetGravity(PhysBody, new OMV.Vector3(0f, 0f, grav));
+                PhysScene.PE.SetGravity(PhysBody, Gravity);
         }
     }
 
@@ -684,60 +642,32 @@ public sealed class BSCharacter : BSPhysObject
     public override OMV.Vector3 PIDTarget {
         set { _PIDTarget = value; }
     }
-    public override bool PIDActive {
-        set { _usePID = value; }
-    }
+
+    public override bool PIDActive { get; set; }
+
     public override float PIDTau {
         set { _PIDTau = value; }
     }
 
-    // Used for llSetHoverHeight and maybe vehicle height
-    // Hover Height will override MoveTo target's Z
-    public override bool PIDHoverActive {
-        set { _useHoverPID = value; }
-    }
-    public override float PIDHoverHeight {
-        set { _PIDHoverHeight = value; }
-    }
-    public override PIDHoverType PIDHoverType {
-        set { _PIDHoverType = value; }
-    }
-    public override float PIDHoverTau {
-        set { _PIDHoverTao = value; }
-    }
-
-    // For RotLookAt
-    public override OMV.Quaternion APIDTarget { set { return; } }
-    public override bool APIDActive { set { return; } }
-    public override float APIDStrength { set { return; } }
-    public override float APIDDamping { set { return; } }
-
     public override void AddForce(OMV.Vector3 force, bool pushforce)
     {
         // Since this force is being applied in only one step, make this a force per second.
-        OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep;
+        OMV.Vector3 addForce = force / PhysScene.LastTimeStep;
         AddForce(addForce, pushforce, false);
     }
-    private void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
+    public override void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
         if (force.IsFinite())
         {
-            float magnitude = force.Length();
-            if (magnitude > BSParam.MaxAddForceMagnitude)
-            {
-                // Force has a limit
-                force = force / magnitude * BSParam.MaxAddForceMagnitude;
-            }
-
-            OMV.Vector3 addForce = force;
+            OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
             // DetailLog("{0},BSCharacter.addForce,call,force={1}", LocalID, addForce);
 
-            PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.AddForce", delegate()
+            PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.AddForce", delegate()
             {
                 // Bullet adds this central force to the total force for this tick
                 // DetailLog("{0},BSCharacter.addForce,taint,force={1}", LocalID, addForce);
                 if (PhysBody.HasPhysicalBody)
                 {
-                    PhysicsScene.PE.ApplyCentralForce(PhysBody, addForce);
+                    PhysScene.PE.ApplyCentralForce(PhysBody, addForce);
                 }
             });
         }
@@ -748,35 +678,66 @@ public sealed class BSCharacter : BSPhysObject
         }
     }
 
-    public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
+    public override void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
     }
     public override void SetMomentum(OMV.Vector3 momentum) {
     }
 
     private OMV.Vector3 ComputeAvatarScale(OMV.Vector3 size)
     {
-        OMV.Vector3 newScale;
-        
+        OMV.Vector3 newScale = size;
+
         // Bullet's capsule total height is the "passed height + radius * 2";
-        // The base capsule is 1 diameter and 2 height (passed radius=0.5, passed height = 1)
+        // The base capsule is 1 unit in diameter and 2 units in height (passed radius=0.5, passed height = 1)
         // The number we pass in for 'scaling' is the multiplier to get that base
         //     shape to be the size desired.
         // So, when creating the scale for the avatar height, we take the passed height
         //     (size.Z) and remove the caps.
-        // Another oddity of the Bullet capsule implementation is that it presumes the Y
+        // An oddity of the Bullet capsule implementation is that it presumes the Y
         //     dimension is the radius of the capsule. Even though some of the code allows
         //     for a asymmetrical capsule, other parts of the code presume it is cylindrical.
 
         // Scale is multiplier of radius with one of "0.5"
-        newScale.X = size.X / 2f;
-        newScale.Y = size.Y / 2f;
 
-        // The total scale height is the central cylindar plus the caps on the two ends.
-        newScale.Z = (size.Z + (Math.Min(size.X, size.Y) * 2)) / 2f;
+        float heightAdjust = BSParam.AvatarHeightMidFudge;
+        if (BSParam.AvatarHeightLowFudge != 0f || BSParam.AvatarHeightHighFudge != 0f)
+        {
+            const float AVATAR_LOW = 1.1f;
+            const float AVATAR_MID = 1.775f; // 1.87f
+            const float AVATAR_HI = 2.45f;
+            // An avatar is between 1.1 and 2.45 meters. Midpoint is 1.775m.
+            float midHeightOffset = size.Z - AVATAR_MID;
+            if (midHeightOffset < 0f)
+            {
+                // Small avatar. Add the adjustment based on the distance from midheight
+                heightAdjust += ((-1f * midHeightOffset) / (AVATAR_MID - AVATAR_LOW)) * BSParam.AvatarHeightLowFudge;
+            }
+            else
+            {
+                // Large avatar. Add the adjustment based on the distance from midheight
+                heightAdjust += ((midHeightOffset) / (AVATAR_HI - AVATAR_MID)) * BSParam.AvatarHeightHighFudge;
+            }
+        }
+        if (BSParam.AvatarShape == BSShapeCollection.AvatarShapeCapsule)
+        {
+            newScale.X = size.X / 2f;
+            newScale.Y = size.Y / 2f;
+            // The total scale height is the central cylindar plus the caps on the two ends.
+            newScale.Z = (size.Z + (Math.Min(size.X, size.Y) * 2) + heightAdjust) / 2f;
+        }
+        else
+        {
+            newScale.Z = size.Z + heightAdjust;
+        }
+        // m_log.DebugFormat("{0} ComputeAvatarScale: size={1},adj={2},scale={3}", LogHeader, size, heightAdjust, newScale);
+
         // If smaller than the endcaps, just fake like we're almost that small
         if (newScale.Z < 0)
             newScale.Z = 0.1f;
 
+        DetailLog("{0},BSCharacter.ComputerAvatarScale,size={1},lowF={2},midF={3},hiF={4},adj={5},newScale={6}",
+            LocalID, size, BSParam.AvatarHeightLowFudge, BSParam.AvatarHeightMidFudge, BSParam.AvatarHeightHighFudge, heightAdjust, newScale);
+
         return newScale;
     }
 
@@ -794,34 +755,59 @@ public sealed class BSCharacter : BSPhysObject
                         * Math.Min(Size.X, Size.Y) / 2
                         * Size.Y / 2f    // plus the volume of the capsule end caps
                         );
-        _mass = _avatarDensity * _avatarVolume;
+        _mass = Density * BSParam.DensityScaleFactor * _avatarVolume;
     }
 
     // The physics engine says that properties have updated. Update same and inform
     // the world that things have changed.
     public override void UpdateProperties(EntityProperties entprop)
     {
-        _position = entprop.Position;
-        _orientation = entprop.Rotation;
-        _velocity = entprop.Velocity;
+        // Let anyone (like the actors) modify the updated properties before they are pushed into the object and the simulator.
+        TriggerPreUpdatePropertyAction(ref entprop);
+
+        RawPosition = entprop.Position;
+        RawOrientation = entprop.Rotation;
+
+        // Smooth velocity. OpenSimulator is VERY sensitive to changes in velocity of the avatar
+        //    and will send agent updates to the clients if velocity changes by more than
+        //    0.001m/s. Bullet introduces a lot of jitter in the velocity which causes many
+        //    extra updates.
+        //
+        // XXX: Contrary to the above comment, setting an update threshold here above 0.4 actually introduces jitter to 
+        // avatar movement rather than removes it.  The larger the threshold, the bigger the jitter.
+        // This is most noticeable in level flight and can be seen with
+        // the "show updates" option in a viewer.  With an update threshold, the RawVelocity cycles between a lower
+        // bound and an upper bound, where the difference between the two is enough to trigger a large delta v update
+        // and subsequently trigger an update in ScenePresence.SendTerseUpdateToAllClients().  The cause of this cycle (feedback?)
+        // has not yet been identified.
+        //
+        // If there is a threshold below 0.4 or no threshold check at all (as in ODE), then RawVelocity stays constant and extra
+        // updates are not triggered in ScenePresence.SendTerseUpdateToAllClients().
+//        if (!entprop.Velocity.ApproxEquals(RawVelocity, 0.1f))
+            RawVelocity = entprop.Velocity;
+
         _acceleration = entprop.Acceleration;
         _rotationalVelocity = entprop.RotationalVelocity;
 
         // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
-        PositionSanityCheck(true);
+        if (PositionSanityCheck(true))
+        {
+            DetailLog("{0},BSCharacter.UpdateProperties,updatePosForSanity,pos={1}", LocalID, RawPosition);
+            entprop.Position = RawPosition;
+        }
 
         // remember the current and last set values
         LastEntityProperties = CurrentEntityProperties;
         CurrentEntityProperties = entprop;
 
         // Tell the linkset about value changes
-        Linkset.UpdateProperties(this, true);
+        // Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
 
         // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
-        // base.RequestPhysicsterseUpdate();
+        // PhysScene.PostUpdate(this);
 
         DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
-                LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
+                LocalID, RawPosition, RawOrientation, RawVelocity, _acceleration, _rotationalVelocity);
     }
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/PhysicsModules/BulletS/BSConstraint.cs
index b813974..e42e868 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSConstraint.cs
@@ -29,7 +29,7 @@ using System.Collections.Generic;
 using System.Text;
 using OpenMetaverse;
 
-namespace OpenSim.Region.Physics.BulletSPlugin
+namespace OpenSim.Region.PhysicsModule.BulletS
 {
 
 public abstract class BSConstraint : IDisposable
@@ -64,7 +64,7 @@ public abstract class BSConstraint : IDisposable
             {
                 bool success = PhysicsScene.PE.DestroyConstraint(m_world, m_constraint);
                 m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}",
-                                    BSScene.DetailLogZero,
+                                    m_body1.ID,
                                     m_body1.ID, m_body1.AddrString,
                                     m_body2.ID, m_body2.AddrString,
                                     success);
@@ -77,7 +77,10 @@ public abstract class BSConstraint : IDisposable
     {
         bool ret = false;
         if (m_enabled)
+        {
+            m_world.physicsScene.DetailLog("{0},BSConstraint.SetLinearLimits,taint,low={1},high={2}", m_body1.ID, low, high);
             ret = PhysicsScene.PE.SetLinearLimits(m_constraint, low, high);
+        }
         return ret;
     }
 
@@ -85,7 +88,10 @@ public abstract class BSConstraint : IDisposable
     {
         bool ret = false;
         if (m_enabled)
+        {
+            m_world.physicsScene.DetailLog("{0},BSConstraint.SetAngularLimits,taint,low={1},high={2}", m_body1.ID, low, high);
             ret = PhysicsScene.PE.SetAngularLimits(m_constraint, low, high);
+        }
         return ret;
     }
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs b/OpenSim/Region/PhysicsModules/BulletS/BSConstraint6Dof.cs
index ecb1b32..4bcde2b 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSConstraint6Dof.cs
@@ -29,15 +29,22 @@ using System.Collections.Generic;
 using System.Text;
 using OpenMetaverse;
 
-namespace OpenSim.Region.Physics.BulletSPlugin
+namespace OpenSim.Region.PhysicsModule.BulletS
 {
 
-public sealed class BSConstraint6Dof : BSConstraint
+public class BSConstraint6Dof : BSConstraint
 {
     private static string LogHeader = "[BULLETSIM 6DOF CONSTRAINT]";
 
     public override ConstraintType Type { get { return ConstraintType.D6_CONSTRAINT_TYPE; } }
 
+    public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2) :base(world)
+    {
+        m_body1 = obj1;
+        m_body2 = obj2;
+        m_enabled = false;
+    }
+
     // Create a btGeneric6DofConstraint
     public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
                     Vector3 frame1, Quaternion frame1rot,
@@ -52,11 +59,14 @@ public sealed class BSConstraint6Dof : BSConstraint
                                 frame2, frame2rot,
                                 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
         m_enabled = true;
-        world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
-                            BSScene.DetailLogZero, world.worldID,
+        PhysicsScene.DetailLog("{0},BS6DofConstraint,create,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
+                            m_body1.ID, world.worldID,
                             obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
+        PhysicsScene.DetailLog("{0},BS6DofConstraint,create,  f1Loc={1},f1Rot={2},f2Loc={3},f2Rot={4},usefA={5},disCol={6}",
+                            m_body1.ID, frame1, frame1rot, frame2, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
     }
 
+    // 6 Dof constraint based on a midpoint between the two constrained bodies
     public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
                     Vector3 joinPoint,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
@@ -78,9 +88,11 @@ public sealed class BSConstraint6Dof : BSConstraint
             m_constraint = PhysicsScene.PE.Create6DofConstraintToPoint(m_world, m_body1, m_body2,
                                     joinPoint,
                                     useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
+
             PhysicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}",
-                                BSScene.DetailLogZero, world.worldID, m_constraint.AddrString,
+                                m_body1.ID, world.worldID, m_constraint.AddrString,
                                 obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
+
             if (!m_constraint.HasPhysicalConstraint)
             {
                 world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}",
@@ -94,6 +106,23 @@ public sealed class BSConstraint6Dof : BSConstraint
         }
     }
 
+    // A 6 Dof constraint that is fixed in the world and constrained to a on-the-fly created static object
+    public BSConstraint6Dof(BulletWorld world, BulletBody obj1, Vector3 frameInBloc, Quaternion frameInBrot,
+                    bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies)
+        : base(world)
+    {
+        m_body1 = obj1;
+        m_body2 = obj1; // Look out for confusion down the road
+        m_constraint = PhysicsScene.PE.Create6DofConstraintFixed(m_world, m_body1,
+                                frameInBloc, frameInBrot,
+                                useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies);
+        m_enabled = true;
+        PhysicsScene.DetailLog("{0},BS6DofConstraint,createFixed,wID={1},rID={2},rBody={3}",
+                                    m_body1.ID, world.worldID, obj1.ID, obj1.AddrString);
+        PhysicsScene.DetailLog("{0},BS6DofConstraint,createFixed,  fBLoc={1},fBRot={2},usefA={3},disCol={4}",
+                            m_body1.ID, frameInBloc, frameInBrot, useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies);
+    }
+
     public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot)
     {
         bool ret = false;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs b/OpenSim/Region/PhysicsModules/BulletS/BSConstraintHinge.cs
index 7714a03..d20538d 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSConstraintHinge.cs
@@ -29,7 +29,7 @@ using System.Collections.Generic;
 using System.Text;
 using OpenMetaverse;
 
-namespace OpenSim.Region.Physics.BulletSPlugin
+namespace OpenSim.Region.PhysicsModule.BulletS
 {
 
 public sealed class BSConstraintHinge : BSConstraint
@@ -45,7 +45,7 @@ public sealed class BSConstraintHinge : BSConstraint
         m_body1 = obj1;
         m_body2 = obj2;
         m_constraint = PhysicsScene.PE.CreateHingeConstraint(world, obj1, obj2,
-                                pivotInA, pivotInB, axisInA, axisInB, 
+                                pivotInA, pivotInB, axisInA, axisInB,
                                 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
         m_enabled = true;
     }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs b/OpenSim/Region/PhysicsModules/BulletS/BSMaterials.cs
index 92d62ff..0e44d03 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSMaterials.cs
@@ -30,7 +30,7 @@ using System.Text;
 using System.Reflection;
 using Nini.Config;
 
-namespace OpenSim.Region.Physics.BulletSPlugin
+namespace OpenSim.Region.PhysicsModule.BulletS
 {
 
 public struct MaterialAttributes
@@ -180,11 +180,14 @@ public static class BSMaterials
     // Use reflection to set the value in the attribute structure.
     private static void SetAttributeValue(int matType, string attribName, float val)
     {
+        // Get the current attribute values for this material
         MaterialAttributes thisAttrib = Attributes[matType];
+        // Find the field for the passed attribute name (eg, find field named 'friction')
         FieldInfo fieldInfo = thisAttrib.GetType().GetField(attribName.ToLower());
         if (fieldInfo != null)
         {
             fieldInfo.SetValue(thisAttrib, val);
+            // Copy new attributes back to array -- since MaterialAttributes is 'struct', passed by value, not reference.
             Attributes[matType] = thisAttrib;
         }
     }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/PhysicsModules/BulletS/BSMotors.cs
index 817a5f7..2faf2d4 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSMotors.cs
@@ -31,7 +31,7 @@ using System.Text;
 using OpenMetaverse;
 using OpenSim.Framework;
 
-namespace OpenSim.Region.Physics.BulletSPlugin
+namespace OpenSim.Region.PhysicsModule.BulletS
 {
 public abstract class BSMotor
 {
@@ -59,22 +59,17 @@ public abstract class BSMotor
     {
         if (PhysicsScene != null)
         {
-            if (PhysicsScene.VehicleLoggingEnabled)
-            {
-                PhysicsScene.DetailLog(msg, parms);
-            }
+            PhysicsScene.DetailLog(msg, parms);
         }
     }
 }
 
 // Motor which moves CurrentValue to TargetValue over TimeScale seconds.
-// The TargetValue decays in TargetValueDecayTimeScale and
-//     the CurrentValue will be held back by FrictionTimeScale.
+// The TargetValue decays in TargetValueDecayTimeScale.
 // This motor will "zero itself" over time in that the targetValue will
 //    decay to zero and the currentValue will follow it to that zero.
 //    The overall effect is for the returned correction value to go from large
-//    values (the total difference between current and target minus friction)
-//    to small and eventually zero values.
+//    values to small and eventually zero values.
 // TimeScale and TargetDelayTimeScale may be 'infinite' which means no decay.
 
 // For instance, if something is moving at speed X and the desired speed is Y,
@@ -91,7 +86,6 @@ public class BSVMotor : BSMotor
 
     public virtual float TimeScale { get; set; }
     public virtual float TargetValueDecayTimeScale { get; set; }
-    public virtual Vector3 FrictionTimescale { get; set; }
     public virtual float Efficiency { get; set; }
 
     public virtual float ErrorZeroThreshold { get; set; }
@@ -100,10 +94,13 @@ public class BSVMotor : BSMotor
     public virtual Vector3 CurrentValue { get; protected set; }
     public virtual Vector3 LastError { get; protected set; }
 
-    public virtual bool ErrorIsZero
-    { get {
-        return (LastError == Vector3.Zero || LastError.LengthSquared() <= ErrorZeroThreshold);
-        }
+    public virtual bool ErrorIsZero()
+    {
+        return ErrorIsZero(LastError);
+    }
+    public virtual bool ErrorIsZero(Vector3 err)
+    {
+        return (err == Vector3.Zero || err.ApproxEquals(Vector3.Zero, ErrorZeroThreshold));
     }
 
     public BSVMotor(string useName)
@@ -111,16 +108,14 @@ public class BSVMotor : BSMotor
     {
         TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite;
         Efficiency = 1f;
-        FrictionTimescale = BSMotor.InfiniteVector;
         CurrentValue = TargetValue = Vector3.Zero;
         ErrorZeroThreshold = 0.001f;
     }
-    public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) 
+    public BSVMotor(string useName, float timeScale, float decayTimeScale, float efficiency)
         : this(useName)
     {
         TimeScale = timeScale;
         TargetValueDecayTimeScale = decayTimeScale;
-        FrictionTimescale = frictionTimeScale;
         Efficiency = efficiency;
         CurrentValue = TargetValue = Vector3.Zero;
     }
@@ -138,7 +133,8 @@ public class BSVMotor : BSMotor
         CurrentValue = TargetValue = Vector3.Zero;
     }
 
-    // Compute the next step and return the new current value
+    // Compute the next step and return the new current value.
+    // Returns the correction needed to move 'current' to 'target'.
     public virtual Vector3 Step(float timeStep)
     {
         if (!Enabled) return TargetValue;
@@ -148,9 +144,9 @@ public class BSVMotor : BSMotor
 
         Vector3 correction = Vector3.Zero;
         Vector3 error = TargetValue - CurrentValue;
-        if (!error.ApproxEquals(Vector3.Zero, ErrorZeroThreshold))
+        if (!ErrorIsZero(error))
         {
-            correction = Step(timeStep, error);
+            correction = StepError(timeStep, error);
 
             CurrentValue += correction;
 
@@ -163,44 +159,43 @@ public class BSVMotor : BSMotor
                 TargetValue *= (1f - decayFactor);
             }
 
-            // The amount we can correct the error is reduced by the friction
-            Vector3 frictionFactor = Vector3.Zero;
-            if (FrictionTimescale != BSMotor.InfiniteVector)
-            {
-                // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep;
-                // Individual friction components can be 'infinite' so compute each separately.
-                frictionFactor.X = (FrictionTimescale.X == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.X);
-                frictionFactor.Y = (FrictionTimescale.Y == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.Y);
-                frictionFactor.Z = (FrictionTimescale.Z == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.Z);
-                frictionFactor *= timeStep;
-                CurrentValue *= (Vector3.One - frictionFactor);
-            }
-
             MDetailLog("{0},  BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},err={5},corr={6}",
                                 BSScene.DetailLogZero, UseName, origCurrVal, origTarget,
                                 timeStep, error, correction);
-            MDetailLog("{0},  BSVMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},frictTS={4},frictFact={5},tgt={6},curr={7}",
-                                BSScene.DetailLogZero, UseName,
-                                TargetValueDecayTimeScale, decayFactor, FrictionTimescale, frictionFactor,
-                                TargetValue, CurrentValue);
+            MDetailLog("{0},  BSVMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},tgt={4},curr={5}",
+                                BSScene.DetailLogZero, UseName, TargetValueDecayTimeScale, decayFactor, TargetValue, CurrentValue);
         }
         else
         {
             // Difference between what we have and target is small. Motor is done.
+            if (TargetValue.ApproxEquals(Vector3.Zero, ErrorZeroThreshold))
+            {
+                // The target can step down to nearly zero but not get there.  If close to zero
+                //     it is really zero.
+                TargetValue = Vector3.Zero;
+            }
             CurrentValue = TargetValue;
-            MDetailLog("{0},  BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}",
-                        BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue);
+            MDetailLog("{0},  BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},currTgt={4},currCurr={5}",
+                        BSScene.DetailLogZero, UseName, origCurrVal, origTarget, TargetValue, CurrentValue);
         }
+        LastError = error;
 
-        return CurrentValue;
+        return correction;
+    }
+    // version of step that sets the current value before doing the step
+    public virtual Vector3 Step(float timeStep, Vector3 current)
+    {
+        CurrentValue = current;
+        return Step(timeStep);
     }
-    public virtual Vector3 Step(float timeStep, Vector3 error)
+    // Given and error, computer a correction for this step.
+    // Simple scaling of the error by the timestep.
+    public virtual Vector3 StepError(float timeStep, Vector3 error)
     {
         if (!Enabled) return Vector3.Zero;
 
-        LastError = error;
         Vector3 returnCorrection = Vector3.Zero;
-        if (!error.ApproxEquals(Vector3.Zero, ErrorZeroThreshold))
+        if (!ErrorIsZero(error))
         {
             // correction =  error / secondsItShouldTakeToCorrect
             Vector3 correctionAmount;
@@ -222,57 +217,155 @@ public class BSVMotor : BSMotor
         // maximum number of outputs to generate.
         int maxOutput = 50;
         MDetailLog("{0},BSVMotor.Test,{1},===================================== BEGIN Test Output", BSScene.DetailLogZero, UseName);
-        MDetailLog("{0},BSVMotor.Test,{1},timeScale={2},targDlyTS={3},frictTS={4},eff={5},curr={6},tgt={7}",
+        MDetailLog("{0},BSVMotor.Test,{1},timeScale={2},targDlyTS={3},eff={4},curr={5},tgt={6}",
                                 BSScene.DetailLogZero, UseName,
-                                TimeScale, TargetValueDecayTimeScale, FrictionTimescale, Efficiency, 
+                                TimeScale, TargetValueDecayTimeScale, Efficiency,
                                 CurrentValue, TargetValue);
 
         LastError = BSMotor.InfiniteVector;
-        while (maxOutput-- > 0 && !LastError.ApproxEquals(Vector3.Zero, ErrorZeroThreshold))
+        while (maxOutput-- > 0 && !ErrorIsZero())
         {
             Vector3 lastStep = Step(timeStep);
             MDetailLog("{0},BSVMotor.Test,{1},cur={2},tgt={3},lastError={4},lastStep={5}",
                             BSScene.DetailLogZero, UseName, CurrentValue, TargetValue, LastError, lastStep);
         }
         MDetailLog("{0},BSVMotor.Test,{1},===================================== END Test Output", BSScene.DetailLogZero, UseName);
-        
+
 
     }
 
     public override string ToString()
     {
-        return String.Format("<{0},curr={1},targ={2},lastErr={3},decayTS={4},frictTS={5}>",
-            UseName, CurrentValue, TargetValue, LastError, TargetValueDecayTimeScale, FrictionTimescale);
+        return String.Format("<{0},curr={1},targ={2},lastErr={3},decayTS={4}>",
+            UseName, CurrentValue, TargetValue, LastError, TargetValueDecayTimeScale);
     }
 }
 
+// ============================================================================
+// ============================================================================
 public class BSFMotor : BSMotor
 {
-    public float TimeScale { get; set; }
-    public float DecayTimeScale { get; set; }
-    public float Friction { get; set; }
-    public float Efficiency { get; set; }
+    public virtual float TimeScale { get; set; }
+    public virtual float TargetValueDecayTimeScale { get; set; }
+    public virtual float Efficiency { get; set; }
+
+    public virtual float ErrorZeroThreshold { get; set; }
+
+    public virtual float TargetValue { get; protected set; }
+    public virtual float CurrentValue { get; protected set; }
+    public virtual float LastError { get; protected set; }
 
-    public float Target { get; private set; }
-    public float CurrentValue { get; private set; }
+    public virtual bool ErrorIsZero()
+    {
+        return ErrorIsZero(LastError);
+    }
+    public virtual bool ErrorIsZero(float err)
+    {
+        return (err >= -ErrorZeroThreshold && err <= ErrorZeroThreshold);
+    }
 
-    public BSFMotor(string useName, float timeScale, float decayTimescale, float friction, float efficiency)
+    public BSFMotor(string useName, float timeScale, float decayTimescale, float efficiency)
         : base(useName)
     {
+        TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite;
+        Efficiency = 1f;
+        CurrentValue = TargetValue = 0f;
+        ErrorZeroThreshold = 0.01f;
     }
-    public void SetCurrent(float target)
+    public void SetCurrent(float current)
     {
+        CurrentValue = current;
     }
     public void SetTarget(float target)
     {
+        TargetValue = target;
+    }
+    public override void Zero()
+    {
+        base.Zero();
+        CurrentValue = TargetValue = 0f;
     }
+
     public virtual float Step(float timeStep)
     {
-        return 0f;
+        if (!Enabled) return TargetValue;
+
+        float origTarget = TargetValue;       // DEBUG
+        float origCurrVal = CurrentValue;     // DEBUG
+
+        float correction = 0f;
+        float error = TargetValue - CurrentValue;
+        if (!ErrorIsZero(error))
+        {
+            correction = StepError(timeStep, error);
+
+            CurrentValue += correction;
+
+            // The desired value reduces to zero which also reduces the difference with current.
+            // If the decay time is infinite, don't decay at all.
+            float decayFactor = 0f;
+            if (TargetValueDecayTimeScale != BSMotor.Infinite)
+            {
+                decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
+                TargetValue *= (1f - decayFactor);
+            }
+
+            MDetailLog("{0},  BSFMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},err={5},corr={6}",
+                                BSScene.DetailLogZero, UseName, origCurrVal, origTarget,
+                                timeStep, error, correction);
+            MDetailLog("{0},  BSFMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},tgt={4},curr={5}",
+                                BSScene.DetailLogZero, UseName, TargetValueDecayTimeScale, decayFactor, TargetValue, CurrentValue);
+        }
+        else
+        {
+            // Difference between what we have and target is small. Motor is done.
+            if (Util.InRange<float>(TargetValue, -ErrorZeroThreshold, ErrorZeroThreshold))
+            {
+                // The target can step down to nearly zero but not get there.  If close to zero
+                //     it is really zero.
+                TargetValue = 0f;
+            }
+            CurrentValue = TargetValue;
+            MDetailLog("{0},  BSFMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}",
+                        BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue);
+        }
+        LastError = error;
+
+        return CurrentValue;
     }
+
+    public virtual float StepError(float timeStep, float error)
+    {
+        if (!Enabled) return 0f;
+
+        float returnCorrection = 0f;
+        if (!ErrorIsZero(error))
+        {
+            // correction =  error / secondsItShouldTakeToCorrect
+            float correctionAmount;
+            if (TimeScale == 0f || TimeScale == BSMotor.Infinite)
+                correctionAmount = error * timeStep;
+            else
+                correctionAmount = error / TimeScale * timeStep;
+
+            returnCorrection = correctionAmount;
+            MDetailLog("{0},  BSFMotor.Step,nonZero,{1},timeStep={2},timeScale={3},err={4},corr={5}",
+                                    BSScene.DetailLogZero, UseName, timeStep, TimeScale, error, correctionAmount);
+        }
+        return returnCorrection;
+    }
+
+    public override string ToString()
+    {
+        return String.Format("<{0},curr={1},targ={2},lastErr={3},decayTS={4}>",
+            UseName, CurrentValue, TargetValue, LastError, TargetValueDecayTimeScale);
+    }
+
 }
 
-// Proportional, Integral, Derivitive Motor
+// ============================================================================
+// ============================================================================
+// Proportional, Integral, Derivitive ("PID") Motor
 // Good description at http://www.answers.com/topic/pid-controller . Includes processes for choosing p, i and d factors.
 public class BSPIDVMotor : BSVMotor
 {
@@ -281,6 +374,11 @@ public class BSPIDVMotor : BSVMotor
     public Vector3 integralFactor { get; set; }
     public Vector3 derivFactor { get; set; }
 
+    // The factors are vectors for the three dimensions. This is the proportional of each
+    //    that is applied. This could be multiplied through the actual factors but it
+    //    is sometimes easier to manipulate the factors and their mix separately.
+    public Vector3 FactorMix;
+
     // Arbritrary factor range.
     // EfficiencyHigh means move quickly to the correct number. EfficiencyLow means might over correct.
     public float EfficiencyHigh = 0.4f;
@@ -295,6 +393,7 @@ public class BSPIDVMotor : BSVMotor
         proportionFactor = new Vector3(1.00f, 1.00f, 1.00f);
         integralFactor = new Vector3(1.00f, 1.00f, 1.00f);
         derivFactor = new Vector3(1.00f, 1.00f, 1.00f);
+        FactorMix = new Vector3(0.5f, 0.25f, 0.25f);
         RunningIntegration = Vector3.Zero;
         LastError = Vector3.Zero;
     }
@@ -310,20 +409,24 @@ public class BSPIDVMotor : BSVMotor
         set
         {
             base.Efficiency = Util.Clamp(value, 0f, 1f);
+
             // Compute factors based on efficiency.
             // If efficiency is high (1f), use a factor value that moves the error value to zero with little overshoot.
             // If efficiency is low (0f), use a factor value that overcorrects.
             // TODO: might want to vary contribution of different factor depending on efficiency.
-            float factor = ((1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow) / 3f;
-            // float factor = (1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow;
+            // float factor = ((1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow) / 3f;
+            float factor = (1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow;
+
             proportionFactor = new Vector3(factor, factor, factor);
             integralFactor = new Vector3(factor, factor, factor);
             derivFactor = new Vector3(factor, factor, factor);
+
+            MDetailLog("{0},  BSPIDVMotor.setEfficiency,eff={1},factor={2}", BSScene.DetailLogZero, Efficiency, factor);
         }
     }
 
-    // Ignore Current and Target Values and just advance the PID computation on this error.
-    public override Vector3 Step(float timeStep, Vector3 error)
+    // Advance the PID computation on this error.
+    public override Vector3 StepError(float timeStep, Vector3 error)
     {
         if (!Enabled) return Vector3.Zero;
 
@@ -331,15 +434,16 @@ public class BSPIDVMotor : BSVMotor
         RunningIntegration += error * timeStep;
 
         // A simple derivitive is the rate of change from the last error.
-        Vector3 derivFactor = (error - LastError) * timeStep;
-        LastError = error;
+        Vector3 derivitive = (error - LastError) * timeStep;
+
+        // Correction = (proportionOfPresentError + accumulationOfPastError + rateOfChangeOfError)
+        Vector3 ret   =   error / TimeScale * timeStep   * proportionFactor * FactorMix.X
+                        + RunningIntegration / TimeScale * integralFactor   * FactorMix.Y
+                        + derivitive / TimeScale         * derivFactor      * FactorMix.Z
+                        ;
 
-        // Correction = -(proportionOfPresentError +      accumulationOfPastError    +     rateOfChangeOfError)
-        Vector3 ret   = -(
-                          error * proportionFactor
-                        + RunningIntegration * integralFactor 
-                        + derivFactor * derivFactor
-                        );
+        MDetailLog("{0},  BSPIDVMotor.step,ts={1},err={2},lerr={3},runnInt={4},deriv={5},ret={6}",
+                        BSScene.DetailLogZero, timeStep, error, LastError, RunningIntegration, derivitive, ret);
 
         return ret;
     }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/PhysicsModules/BulletS/BSTerrainHeightmap.cs
index e4fecc3..42fc11b 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSTerrainHeightmap.cs
@@ -30,15 +30,14 @@ using System.Text;
 
 using OpenSim.Framework;
 using OpenSim.Region.Framework;
-using OpenSim.Region.CoreModules;
-using OpenSim.Region.Physics.Manager;
+using OpenSim.Region.PhysicsModules.SharedBase;
 
 using Nini.Config;
 using log4net;
 
 using OpenMetaverse;
 
-namespace OpenSim.Region.Physics.BulletSPlugin
+namespace OpenSim.Region.PhysicsModule.BulletS
 {
 public sealed class BSTerrainHeightmap : BSTerrainPhys
 {
@@ -58,7 +57,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
         {
             initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION;
         }
-        m_mapInfo = new BulletHMapInfo(id, initialMap);
+        m_mapInfo = new BulletHMapInfo(id, initialMap, regionSize.X, regionSize.Y);
         m_mapInfo.minCoords = minTerrainCoords;
         m_mapInfo.maxCoords = maxTerrainCoords;
         m_mapInfo.terrainRegionBase = TerrainBase;
@@ -68,11 +67,11 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
 
     // This minCoords and maxCoords passed in give the size of the terrain (min and max Z
     //         are the high and low points of the heightmap).
-    public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, 
+    public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap,
                                                     Vector3 minCoords, Vector3 maxCoords)
         : base(physicsScene, regionBase, id)
     {
-        m_mapInfo = new BulletHMapInfo(id, initialMap);
+        m_mapInfo = new BulletHMapInfo(id, initialMap, maxCoords.X - minCoords.X, maxCoords.Y - minCoords.Y);
         m_mapInfo.minCoords = minCoords;
         m_mapInfo.maxCoords = maxCoords;
         m_mapInfo.minZ = minCoords.Z;
@@ -92,7 +91,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
     private void BuildHeightmapTerrain()
     {
         // Create the terrain shape from the mapInfo
-        m_mapInfo.terrainShape = PhysicsScene.PE.CreateTerrainShape( m_mapInfo.ID, 
+        m_mapInfo.terrainShape = m_physicsScene.PE.CreateTerrainShape( m_mapInfo.ID,
                                 new Vector3(m_mapInfo.sizeX, m_mapInfo.sizeY, 0), m_mapInfo.minZ, m_mapInfo.maxZ,
                                 m_mapInfo.heightMap, 1f, BSParam.TerrainCollisionMargin);
 
@@ -103,26 +102,25 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
         centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f);
         centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f);
 
-        m_mapInfo.terrainBody = PhysicsScene.PE.CreateBodyWithDefaultMotionState(m_mapInfo.terrainShape, 
+        m_mapInfo.terrainBody = m_physicsScene.PE.CreateBodyWithDefaultMotionState(m_mapInfo.terrainShape,
                                 m_mapInfo.ID, centerPos, Quaternion.Identity);
 
         // Set current terrain attributes
-        PhysicsScene.PE.SetFriction(m_mapInfo.terrainBody, BSParam.TerrainFriction);
-        PhysicsScene.PE.SetHitFraction(m_mapInfo.terrainBody, BSParam.TerrainHitFraction);
-        PhysicsScene.PE.SetRestitution(m_mapInfo.terrainBody, BSParam.TerrainRestitution);
-        PhysicsScene.PE.SetCollisionFlags(m_mapInfo.terrainBody, CollisionFlags.CF_STATIC_OBJECT);
+        m_physicsScene.PE.SetFriction(m_mapInfo.terrainBody, BSParam.TerrainFriction);
+        m_physicsScene.PE.SetHitFraction(m_mapInfo.terrainBody, BSParam.TerrainHitFraction);
+        m_physicsScene.PE.SetRestitution(m_mapInfo.terrainBody, BSParam.TerrainRestitution);
+        m_physicsScene.PE.SetCollisionFlags(m_mapInfo.terrainBody, CollisionFlags.CF_STATIC_OBJECT);
+
+        m_mapInfo.terrainBody.collisionType = CollisionType.Terrain;
 
         // Return the new terrain to the world of physical objects
-        PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_mapInfo.terrainBody);
+        m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, m_mapInfo.terrainBody);
 
         // redo its bounding box now that it is in the world
-        PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_mapInfo.terrainBody);
-
-        m_mapInfo.terrainBody.collisionType = CollisionType.Terrain;
-        m_mapInfo.terrainBody.ApplyCollisionMask(PhysicsScene);
+        m_physicsScene.PE.UpdateSingleAabb(m_physicsScene.World, m_mapInfo.terrainBody);
 
         // Make it so the terrain will not move or be considered for movement.
-        PhysicsScene.PE.ForceActivationState(m_mapInfo.terrainBody, ActivationState.DISABLE_SIMULATION);
+        m_physicsScene.PE.ForceActivationState(m_mapInfo.terrainBody, ActivationState.DISABLE_SIMULATION);
 
         return;
     }
@@ -134,9 +132,9 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
         {
             if (m_mapInfo.terrainBody.HasPhysicalBody)
             {
-                PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_mapInfo.terrainBody);
+                m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, m_mapInfo.terrainBody);
                 // Frees both the body and the shape.
-                PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_mapInfo.terrainBody);
+                m_physicsScene.PE.DestroyObject(m_physicsScene.World, m_mapInfo.terrainBody);
             }
         }
         m_mapInfo = null;
@@ -155,7 +153,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
         catch
         {
             // Sometimes they give us wonky values of X and Y. Give a warning and return something.
-            PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}",
+            m_physicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}",
                                 LogHeader, m_mapInfo.terrainRegionBase, pos);
             ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
         }
@@ -165,7 +163,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
     // The passed position is relative to the base of the region.
     public override float GetWaterLevelAtXYZ(Vector3 pos)
     {
-        return PhysicsScene.SimpleWaterLevel;
+        return m_physicsScene.SimpleWaterLevel;
     }
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/PhysicsModules/BulletS/BSTerrainManager.cs
index 2e9db39..d11baa6 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSTerrainManager.cs
@@ -1,4 +1,4 @@
-/*
+/*
  * Copyright (c) Contributors, http://opensimulator.org/
  * See CONTRIBUTORS.TXT for a full list of copyright holders.
  *
@@ -30,15 +30,14 @@ using System.Text;
 
 using OpenSim.Framework;
 using OpenSim.Region.Framework;
-using OpenSim.Region.CoreModules;
-using OpenSim.Region.Physics.Manager;
+using OpenSim.Region.PhysicsModules.SharedBase;
 
 using Nini.Config;
 using log4net;
 
 using OpenMetaverse;
 
-namespace OpenSim.Region.Physics.BulletSPlugin
+namespace OpenSim.Region.PhysicsModule.BulletS
 {
 
 // The physical implementation of the terrain is wrapped in this class.
@@ -50,14 +49,14 @@ public abstract class BSTerrainPhys : IDisposable
         Mesh        = 1
     }
 
-    public BSScene PhysicsScene { get; private set; }
+    protected BSScene m_physicsScene { get; private set; }
     // Base of the region in world coordinates. Coordinates inside the region are relative to this.
     public Vector3 TerrainBase { get; private set; }
     public uint ID { get; private set; }
 
     public BSTerrainPhys(BSScene physicsScene, Vector3 regionBase, uint id)
     {
-        PhysicsScene = physicsScene;
+        m_physicsScene = physicsScene;
         TerrainBase = regionBase;
         ID = id;
     }
@@ -86,7 +85,7 @@ public sealed class BSTerrainManager : IDisposable
     public Vector3 DefaultRegionSize = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
 
     // The scene that I am part of
-    private BSScene PhysicsScene { get; set; }
+    private BSScene m_physicsScene { get; set; }
 
     // The ground plane created to keep thing from falling to infinity.
     private BulletBody m_groundPlane;
@@ -111,9 +110,11 @@ public sealed class BSTerrainManager : IDisposable
     private Vector3 m_worldMax;
     private PhysicsScene MegaRegionParentPhysicsScene { get; set; }
 
-    public BSTerrainManager(BSScene physicsScene)
+    public BSTerrainManager(BSScene physicsScene, Vector3 regionSize)
     {
-        PhysicsScene = physicsScene;
+        m_physicsScene = physicsScene;
+        DefaultRegionSize = regionSize;
+
         m_terrains = new Dictionary<Vector3,BSTerrainPhys>();
 
         // Assume one region of default size
@@ -132,32 +133,39 @@ public sealed class BSTerrainManager : IDisposable
     //    safe to call Bullet in real time. We hope no one is moving prims around yet.
     public void CreateInitialGroundPlaneAndTerrain()
     {
+        DetailLog("{0},BSTerrainManager.CreateInitialGroundPlaneAndTerrain,region={1}", BSScene.DetailLogZero, m_physicsScene.RegionName);
         // The ground plane is here to catch things that are trying to drop to negative infinity
-        BulletShape groundPlaneShape = PhysicsScene.PE.CreateGroundPlaneShape(BSScene.GROUNDPLANE_ID, 1f, BSParam.TerrainCollisionMargin);
-        m_groundPlane = PhysicsScene.PE.CreateBodyWithDefaultMotionState(groundPlaneShape, 
-                                        BSScene.GROUNDPLANE_ID, Vector3.Zero, Quaternion.Identity);
+        BulletShape groundPlaneShape = m_physicsScene.PE.CreateGroundPlaneShape(BSScene.GROUNDPLANE_ID, 1f, BSParam.TerrainCollisionMargin);
+        Vector3 groundPlaneAltitude = new Vector3(0f, 0f, BSParam.TerrainGroundPlane);
+        m_groundPlane = m_physicsScene.PE.CreateBodyWithDefaultMotionState(groundPlaneShape,
+                                        BSScene.GROUNDPLANE_ID, groundPlaneAltitude, Quaternion.Identity);
 
-        PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_groundPlane);
-        PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_groundPlane);
-        // Ground plane does not move
-        PhysicsScene.PE.ForceActivationState(m_groundPlane, ActivationState.DISABLE_SIMULATION);
         // Everything collides with the ground plane.
         m_groundPlane.collisionType = CollisionType.Groundplane;
-        m_groundPlane.ApplyCollisionMask(PhysicsScene);
 
-        // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain.
-        BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize);
-        m_terrains.Add(Vector3.Zero, initialTerrain);
+        m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, m_groundPlane);
+        m_physicsScene.PE.UpdateSingleAabb(m_physicsScene.World, m_groundPlane);
+
+        // Ground plane does not move
+        m_physicsScene.PE.ForceActivationState(m_groundPlane, ActivationState.DISABLE_SIMULATION);
+
+        BSTerrainPhys initialTerrain = new BSTerrainHeightmap(m_physicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize);
+        lock (m_terrains)
+        {
+            // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain.
+            m_terrains.Add(Vector3.Zero, initialTerrain);
+        }
     }
 
     // Release all the terrain structures we might have allocated
     public void ReleaseGroundPlaneAndTerrain()
     {
+        DetailLog("{0},BSTerrainManager.ReleaseGroundPlaneAndTerrain,region={1}", BSScene.DetailLogZero, m_physicsScene.RegionName);
         if (m_groundPlane.HasPhysicalBody)
         {
-            if (PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_groundPlane))
+            if (m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, m_groundPlane))
             {
-                PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_groundPlane);
+                m_physicsScene.PE.DestroyObject(m_physicsScene.World, m_groundPlane);
             }
             m_groundPlane.Clear();
         }
@@ -183,7 +191,7 @@ public sealed class BSTerrainManager : IDisposable
         float[] localHeightMap = heightMap;
         // If there are multiple requests for changes to the same terrain between ticks,
         //      only do that last one.
-        PhysicsScene.PostTaintObject("TerrainManager.SetTerrain-"+ m_worldOffset.ToString(), 0, delegate()
+        m_physicsScene.PostTaintObject("TerrainManager.SetTerrain-"+ m_worldOffset.ToString(), 0, delegate()
         {
             if (m_worldOffset != Vector3.Zero && MegaRegionParentPhysicsScene != null)
             {
@@ -193,11 +201,9 @@ public sealed class BSTerrainManager : IDisposable
                 //    the terrain is added to our parent
                 if (MegaRegionParentPhysicsScene is BSScene)
                 {
-                    DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}",
-                                    BSScene.DetailLogZero, m_worldOffset, m_worldMax);
-                    ((BSScene)MegaRegionParentPhysicsScene).TerrainManager.UpdateTerrain(
-                                    BSScene.CHILDTERRAIN_ID, localHeightMap, 
-                                    m_worldOffset, m_worldOffset + DefaultRegionSize, true);
+                    DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}", BSScene.DetailLogZero, m_worldOffset, m_worldMax);
+                    ((BSScene)MegaRegionParentPhysicsScene).TerrainManager.AddMegaRegionChildTerrain(
+                                        BSScene.CHILDTERRAIN_ID, localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize);
                 }
             }
             else
@@ -205,27 +211,34 @@ public sealed class BSTerrainManager : IDisposable
                 // If not doing the mega-prim thing, just change the terrain
                 DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero);
 
-                UpdateTerrain(BSScene.TERRAIN_ID, localHeightMap,
-                                    m_worldOffset, m_worldOffset + DefaultRegionSize, true);
+                UpdateTerrain(BSScene.TERRAIN_ID, localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize);
             }
         });
     }
 
-    // If called with no mapInfo for the terrain, this will create a new mapInfo and terrain
+    // Another region is calling this region and passing a terrain.
+    // A region that is not the mega-region root will pass its terrain to the root region so the root region
+    //      physics engine will have all the terrains.
+    private void AddMegaRegionChildTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords)
+    {
+        // Since we are called by another region's thread, the action must be rescheduled onto our processing thread.
+        m_physicsScene.PostTaintObject("TerrainManager.AddMegaRegionChild" + minCoords.ToString(), id, delegate()
+        {
+            UpdateTerrain(id, heightMap, minCoords, maxCoords);
+        });
+    }
+
+    // If called for terrain has has not been previously allocated, a new terrain will be built
     //     based on the passed information. The 'id' should be either the terrain id or
     //     BSScene.CHILDTERRAIN_ID. If the latter, a new child terrain ID will be allocated and used.
     //     The latter feature is for creating child terrains for mega-regions.
-    // If called with a mapInfo in m_heightMaps and there is an existing terrain body, a new
+    // If there is an existing terrain body, a new
     //     terrain shape is created and added to the body.
     //     This call is most often used to update the heightMap and parameters of the terrain.
     // (The above does suggest that some simplification/refactoring is in order.)
     // Called during taint-time.
-    private void UpdateTerrain(uint id, float[] heightMap, 
-                            Vector3 minCoords, Vector3 maxCoords, bool inTaintTime)
+    private void UpdateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords)
     {
-        DetailLog("{0},BSTerrainManager.UpdateTerrain,call,minC={1},maxC={2},inTaintTime={3}",
-                            BSScene.DetailLogZero, minCoords, maxCoords, inTaintTime);
-
         // Find high and low points of passed heightmap.
         // The min and max passed in is usually the area objects can be in (maximum
         //     object height, for instance). The terrain wants the bounding box for the
@@ -245,6 +258,9 @@ public sealed class BSTerrainManager : IDisposable
         minCoords.Z = minZ;
         maxCoords.Z = maxZ;
 
+        DetailLog("{0},BSTerrainManager.UpdateTerrain,call,id={1},minC={2},maxC={3}",
+                            BSScene.DetailLogZero, id, minCoords, maxCoords);
+
         Vector3 terrainRegionBase = new Vector3(minCoords.X, minCoords.Y, 0f);
 
         lock (m_terrains)
@@ -253,8 +269,8 @@ public sealed class BSTerrainManager : IDisposable
             if (m_terrains.TryGetValue(terrainRegionBase, out terrainPhys))
             {
                 // There is already a terrain in this spot. Free the old and build the new.
-                DetailLog("{0},UpdateTerrain:UpdateExisting,call,id={1},base={2},minC={3},maxC={4}",
-                                BSScene.DetailLogZero, id, terrainRegionBase, minCoords, minCoords);
+                DetailLog("{0},BSTerrainManager.UpdateTerrain:UpdateExisting,call,id={1},base={2},minC={3},maxC={4}",
+                                BSScene.DetailLogZero, id, terrainRegionBase, minCoords, maxCoords);
 
                 // Remove old terrain from the collection
                 m_terrains.Remove(terrainRegionBase);
@@ -263,6 +279,7 @@ public sealed class BSTerrainManager : IDisposable
 
                 if (MegaRegionParentPhysicsScene == null)
                 {
+                    // This terrain is not part of the mega-region scheme. Create vanilla terrain.
                     BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords);
                     m_terrains.Add(terrainRegionBase, newTerrainPhys);
 
@@ -291,8 +308,8 @@ public sealed class BSTerrainManager : IDisposable
                 if (newTerrainID >= BSScene.CHILDTERRAIN_ID)
                     newTerrainID = ++m_terrainCount;
 
-                DetailLog("{0},UpdateTerrain:NewTerrain,taint,newID={1},minCoord={2},maxCoord={3}",
-                                            BSScene.DetailLogZero, newTerrainID, minCoords, minCoords);
+                DetailLog("{0},BSTerrainManager.UpdateTerrain:NewTerrain,taint,newID={1},minCoord={2},maxCoord={3}",
+                                            BSScene.DetailLogZero, newTerrainID, minCoords, maxCoords);
                 BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords);
                 m_terrains.Add(terrainRegionBase, newTerrainPhys);
 
@@ -304,26 +321,26 @@ public sealed class BSTerrainManager : IDisposable
     // TODO: redo terrain implementation selection to allow other base types than heightMap.
     private BSTerrainPhys BuildPhysicalTerrain(Vector3 terrainRegionBase, uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords)
     {
-        PhysicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}", 
-                                            LogHeader, PhysicsScene.RegionName, terrainRegionBase, 
+        m_physicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}",
+                                            LogHeader, m_physicsScene.RegionName, terrainRegionBase,
                                             (BSTerrainPhys.TerrainImplementation)BSParam.TerrainImplementation);
         BSTerrainPhys newTerrainPhys = null;
         switch ((int)BSParam.TerrainImplementation)
         {
             case (int)BSTerrainPhys.TerrainImplementation.Heightmap:
-                newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, terrainRegionBase, id,
+                newTerrainPhys = new BSTerrainHeightmap(m_physicsScene, terrainRegionBase, id,
                                             heightMap, minCoords, maxCoords);
                 break;
             case (int)BSTerrainPhys.TerrainImplementation.Mesh:
-                newTerrainPhys = new BSTerrainMesh(PhysicsScene, terrainRegionBase, id,
+                newTerrainPhys = new BSTerrainMesh(m_physicsScene, terrainRegionBase, id,
                                             heightMap, minCoords, maxCoords);
                 break;
             default:
-                PhysicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. Type={1}/{2},Region={3}/{4}",
-                                            LogHeader, 
-                                            (int)BSParam.TerrainImplementation, 
+                m_physicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. Type={1}/{2},Region={3}/{4}",
+                                            LogHeader,
+                                            (int)BSParam.TerrainImplementation,
                                             BSParam.TerrainImplementation,
-                                            PhysicsScene.RegionName, terrainRegionBase);
+                                            m_physicsScene.RegionName, terrainRegionBase);
                 break;
         }
         return newTerrainPhys;
@@ -337,6 +354,64 @@ public sealed class BSTerrainManager : IDisposable
         return GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ);
     }
 
+    // Return a new position that is over known terrain if the position is outside our terrain.
+    public Vector3 ClampPositionIntoKnownTerrain(Vector3 pPos)
+    {
+        float edgeEpsilon = 0.1f;
+
+        Vector3 ret = pPos;
+
+        // First, base addresses are never negative so correct for that possible problem.
+        if (ret.X < 0f || ret.Y < 0f)
+        {
+            ret.X = Util.Clamp<float>(ret.X, 0f, 1000000f);
+            ret.Y = Util.Clamp<float>(ret.Y, 0f, 1000000f);
+            DetailLog("{0},BSTerrainManager.ClampPositionToKnownTerrain,zeroingNegXorY,oldPos={1},newPos={2}",
+                                        BSScene.DetailLogZero, pPos, ret);
+        }
+
+        // Can't do this function if we don't know about any terrain.
+        if (m_terrains.Count == 0)
+            return ret;
+
+        int loopPrevention = 10;
+        Vector3 terrainBaseXYZ;
+        BSTerrainPhys physTerrain;
+        while (!GetTerrainPhysicalAtXYZ(ret, out physTerrain, out terrainBaseXYZ))
+        {
+            // The passed position is not within a known terrain area.
+            // NOTE that GetTerrainPhysicalAtXYZ will set 'terrainBaseXYZ' to the base of the unfound region.
+
+            // Must be off the top of a region. Find an adjacent region to move into.
+            //     The returned terrain is always 'lower'. That is, closer to <0,0>.
+            Vector3 adjacentTerrainBase = FindAdjacentTerrainBase(terrainBaseXYZ);
+
+            if (adjacentTerrainBase.X < terrainBaseXYZ.X)
+            {
+                // moving down into a new region in the X dimension. New position will be the max in the new base.
+                ret.X = adjacentTerrainBase.X + DefaultRegionSize.X - edgeEpsilon;
+            }
+            if (adjacentTerrainBase.Y < terrainBaseXYZ.Y)
+            {
+                // moving down into a new region in the X dimension. New position will be the max in the new base.
+                ret.Y = adjacentTerrainBase.Y + DefaultRegionSize.Y - edgeEpsilon;
+            }
+            DetailLog("{0},BSTerrainManager.ClampPositionToKnownTerrain,findingAdjacentRegion,adjacentRegBase={1},oldPos={2},newPos={3}",
+                                        BSScene.DetailLogZero, adjacentTerrainBase, pPos, ret);
+
+            if (loopPrevention-- < 0f)
+            {
+                // The 'while' is a little dangerous so this prevents looping forever if the
+                //    mapping of the terrains ever gets messed up (like nothing at <0,0>) or
+                //    the list of terrains is in transition.
+                DetailLog("{0},BSTerrainManager.ClampPositionToKnownTerrain,suppressingFindAdjacentRegionLoop", BSScene.DetailLogZero);
+                break;
+            }
+        }
+
+        return ret;
+    }
+
     // Given an X and Y, find the height of the terrain.
     // Since we could be handling multiple terrains for a mega-region,
     //    the base of the region is calcuated assuming all regions are
@@ -368,8 +443,8 @@ public sealed class BSTerrainManager : IDisposable
         }
         else
         {
-            PhysicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}",
-                    LogHeader, PhysicsScene.RegionName, tX, tY);
+            m_physicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}",
+                    LogHeader, m_physicsScene.RegionName, tX, tY);
             DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXYZ,terrainNotFound,pos={1},base={2}",
                                 BSScene.DetailLogZero, pos, terrainBaseXYZ);
         }
@@ -390,8 +465,8 @@ public sealed class BSTerrainManager : IDisposable
         }
         else
         {
-            PhysicsScene.Logger.ErrorFormat("{0} GetWaterHeightAtXY: terrain not found: pos={1}, terrainBase={2}, height={3}",
-                    LogHeader, PhysicsScene.RegionName, pos, terrainBaseXYZ, ret);
+            m_physicsScene.Logger.ErrorFormat("{0} GetWaterHeightAtXY: terrain not found: pos={1}, terrainBase={2}, height={3}",
+                    LogHeader, m_physicsScene.RegionName, pos, terrainBaseXYZ, ret);
         }
         return ret;
     }
@@ -400,18 +475,69 @@ public sealed class BSTerrainManager : IDisposable
     //    the descriptor class and the 'base' fo the addresses therein.
     private bool GetTerrainPhysicalAtXYZ(Vector3 pos, out BSTerrainPhys outPhysTerrain, out Vector3 outTerrainBase)
     {
-        int offsetX = ((int)(pos.X / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X;
-        int offsetY = ((int)(pos.Y / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y;
-        Vector3 terrainBaseXYZ = new Vector3(offsetX, offsetY, 0f);
+        bool ret = false;
+
+        Vector3 terrainBaseXYZ = Vector3.Zero;
+        if (pos.X < 0f || pos.Y < 0f)
+        {
+            // We don't handle negative addresses so just make up a base that will not be found.
+            terrainBaseXYZ = new Vector3(-DefaultRegionSize.X, -DefaultRegionSize.Y, 0f);
+        }
+        else
+        {
+            int offsetX = ((int)(pos.X / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X;
+            int offsetY = ((int)(pos.Y / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y;
+            terrainBaseXYZ = new Vector3(offsetX, offsetY, 0f);
+        }
 
         BSTerrainPhys physTerrain = null;
         lock (m_terrains)
         {
-            m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain);
+            ret = m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain);
         }
         outTerrainBase = terrainBaseXYZ;
         outPhysTerrain = physTerrain;
-        return (physTerrain != null);
+        return ret;
+    }
+
+    // Given a terrain base, return a terrain base for a terrain that is closer to <0,0> than
+    //   this one. Usually used to return an out of bounds object to a known place.
+    private Vector3 FindAdjacentTerrainBase(Vector3 pTerrainBase)
+    {
+        Vector3 ret = pTerrainBase;
+
+        // Can't do this function if we don't know about any terrain.
+        if (m_terrains.Count == 0)
+            return ret;
+
+        // Just some sanity
+        ret.X = Util.Clamp<float>(ret.X, 0f, 1000000f);
+        ret.Y = Util.Clamp<float>(ret.Y, 0f, 1000000f);
+        ret.Z = 0f;
+
+        lock (m_terrains)
+        {
+            // Once down to the <0,0> region, we have to be done.
+            while (ret.X > 0f || ret.Y > 0f)
+            {
+                if (ret.X > 0f)
+                {
+                    ret.X = Math.Max(0f, ret.X - DefaultRegionSize.X);
+                    DetailLog("{0},BSTerrainManager.FindAdjacentTerrainBase,reducingX,terrainBase={1}", BSScene.DetailLogZero, ret);
+                    if (m_terrains.ContainsKey(ret))
+                        break;
+                }
+                if (ret.Y > 0f)
+                {
+                    ret.Y = Math.Max(0f, ret.Y - DefaultRegionSize.Y);
+                    DetailLog("{0},BSTerrainManager.FindAdjacentTerrainBase,reducingY,terrainBase={1}", BSScene.DetailLogZero, ret);
+                    if (m_terrains.ContainsKey(ret))
+                        break;
+                }
+            }
+        }
+
+        return ret;
     }
 
     // Although no one seems to check this, I do support combining.
@@ -452,7 +578,7 @@ public sealed class BSTerrainManager : IDisposable
 
     private void DetailLog(string msg, params Object[] args)
     {
-        PhysicsScene.PhysicsLogging.Write(msg, args);
+        m_physicsScene.PhysicsLogging.Write(msg, args);
     }
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/PhysicsModules/BulletS/BulletSimData.cs
index 662dd68..3329395 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BulletSimData.cs
@@ -29,7 +29,7 @@ using System.Collections.Generic;
 using System.Text;
 using OMV = OpenMetaverse;
 
-namespace OpenSim.Region.Physics.BulletSPlugin
+namespace OpenSim.Region.PhysicsModule.BulletS
 {
 // Classes to allow some type checking for the API
 // These hold pointers to allocated objects in the unmanaged space.
@@ -104,18 +104,20 @@ public class BulletShape
 {
     public BulletShape()
     {
-        type = BSPhysicsShapeType.SHAPE_UNKNOWN;
+        shapeType = BSPhysicsShapeType.SHAPE_UNKNOWN;
         shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE;
         isNativeShape = false;
     }
-    public BSPhysicsShapeType type;
+    public BSPhysicsShapeType shapeType;
     public System.UInt64 shapeKey;
     public bool isNativeShape;
 
     public virtual void Clear() { }
     public virtual bool HasPhysicalShape { get { return false; } }
+
     // Make another reference to this physical object.
     public virtual BulletShape Clone() { return new BulletShape(); }
+
     // Return 'true' if this and other refer to the same physical object
     public virtual bool ReferenceSame(BulletShape xx) { return false; }
 
@@ -131,7 +133,7 @@ public class BulletShape
         buff.Append("<p=");
         buff.Append(AddrString);
         buff.Append(",s=");
-        buff.Append(type.ToString());
+        buff.Append(shapeType.ToString());
         buff.Append(",k=");
         buff.Append(shapeKey.ToString("X"));
         buff.Append(",n=");
@@ -163,14 +165,15 @@ public class BulletConstraint
 //      than making copies.
 public class BulletHMapInfo
 {
-    public BulletHMapInfo(uint id, float[] hm) {
+    public BulletHMapInfo(uint id, float[] hm, float pSizeX, float pSizeY) {
         ID = id;
         heightMap = hm;
         terrainRegionBase = OMV.Vector3.Zero;
         minCoords = new OMV.Vector3(100f, 100f, 25f);
         maxCoords = new OMV.Vector3(101f, 101f, 26f);
         minZ = maxZ = 0f;
-        sizeX = sizeY = 256f;
+        sizeX = pSizeX;
+        sizeY = pSizeY;
     }
     public uint ID;
     public float[] heightMap;
@@ -187,6 +190,7 @@ public class BulletHMapInfo
 public enum CollisionType
 {
     Avatar,
+    PhantomToOthersAvatar, // An avatar that it phantom to other avatars but not to anything else
     Groundplane,
     Terrain,
     Static,
@@ -215,45 +219,55 @@ public static class BulletSimData
 {
 
 // Map of collisionTypes to flags for collision groups and masks.
+// An object's 'group' is the collison groups this object belongs to
+// An object's 'filter' is the groups another object has to belong to in order to collide with me
+// A collision happens if ((obj1.group & obj2.filter) != 0) || ((obj2.group & obj1.filter) != 0)
+//
 // As mentioned above, don't use the CollisionFilterGroups definitions directly in the code
 //     but, instead, use references to this dictionary. Finding and debugging
 //     collision flag problems will be made easier.
-public static Dictionary<CollisionType, CollisionTypeFilterGroup> CollisionTypeMasks 
+public static Dictionary<CollisionType, CollisionTypeFilterGroup> CollisionTypeMasks
             = new Dictionary<CollisionType, CollisionTypeFilterGroup>()
 {
-    { CollisionType.Avatar, 
-                new CollisionTypeFilterGroup(CollisionType.Avatar, 
-                                (uint)CollisionFilterGroups.BCharacterGroup, 
-                                (uint)CollisionFilterGroups.BAllGroup)
+    { CollisionType.Avatar,
+                new CollisionTypeFilterGroup(CollisionType.Avatar,
+                                (uint)CollisionFilterGroups.BCharacterGroup,
+                                (uint)(CollisionFilterGroups.BAllGroup))
     },
-    { CollisionType.Groundplane, 
-                new CollisionTypeFilterGroup(CollisionType.Groundplane, 
-                                (uint)CollisionFilterGroups.BGroundPlaneGroup, 
-                                (uint)CollisionFilterGroups.BAllGroup)
+    { CollisionType.PhantomToOthersAvatar,
+        new CollisionTypeFilterGroup(CollisionType.PhantomToOthersAvatar,
+                                     (uint)CollisionFilterGroups.BCharacterGroup,
+                                     (uint)(CollisionFilterGroups.BAllGroup & ~CollisionFilterGroups.BCharacterGroup))
+    },
+    { CollisionType.Groundplane,
+                new CollisionTypeFilterGroup(CollisionType.Groundplane,
+                                (uint)CollisionFilterGroups.BGroundPlaneGroup,
+                                // (uint)CollisionFilterGroups.BAllGroup)
+                                (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup))
     },
-    { CollisionType.Terrain, 
-                new CollisionTypeFilterGroup(CollisionType.Terrain, 
-                                (uint)CollisionFilterGroups.BTerrainGroup, 
+    { CollisionType.Terrain,
+                new CollisionTypeFilterGroup(CollisionType.Terrain,
+                                (uint)CollisionFilterGroups.BTerrainGroup,
                                 (uint)(CollisionFilterGroups.BAllGroup & ~CollisionFilterGroups.BStaticGroup))
     },
-    { CollisionType.Static, 
-                new CollisionTypeFilterGroup(CollisionType.Static, 
-                                (uint)CollisionFilterGroups.BStaticGroup, 
+    { CollisionType.Static,
+                new CollisionTypeFilterGroup(CollisionType.Static,
+                                (uint)CollisionFilterGroups.BStaticGroup,
                                 (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup))
     },
-    { CollisionType.Dynamic, 
-                new CollisionTypeFilterGroup(CollisionType.Dynamic, 
-                                (uint)CollisionFilterGroups.BSolidGroup, 
+    { CollisionType.Dynamic,
+                new CollisionTypeFilterGroup(CollisionType.Dynamic,
+                                (uint)CollisionFilterGroups.BSolidGroup,
                                 (uint)(CollisionFilterGroups.BAllGroup))
     },
-    { CollisionType.VolumeDetect, 
-                new CollisionTypeFilterGroup(CollisionType.VolumeDetect, 
-                                (uint)CollisionFilterGroups.BSensorTrigger, 
+    { CollisionType.VolumeDetect,
+                new CollisionTypeFilterGroup(CollisionType.VolumeDetect,
+                                (uint)CollisionFilterGroups.BSensorTrigger,
                                 (uint)(~CollisionFilterGroups.BSensorTrigger))
     },
     { CollisionType.LinksetChild,
-                new CollisionTypeFilterGroup(CollisionType.LinksetChild, 
-                                (uint)CollisionFilterGroups.BLinksetChildGroup, 
+                new CollisionTypeFilterGroup(CollisionType.LinksetChild,
+                                (uint)CollisionFilterGroups.BLinksetChildGroup,
                                 (uint)(CollisionFilterGroups.BNoneGroup))
                                 // (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup))
     },
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/PhysicsModules/BulletS/BulletSimTODO.txt
index a8a4ff5..0453376 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/PhysicsModules/BulletS/BulletSimTODO.txt
@@ -1,93 +1,107 @@
-CURRENT PRIORITIES
+CURRENT PROBLEMS TO FIX AND/OR LOOK AT
 =================================================
-Redo BulletSimAPI to allow native C# implementation of Bullet option.
-Avatar movement
-        flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle
-        walking up stairs is not calibrated correctly (stairs out of Kepler cabin)
-        avatar capsule rotation completed
-llMoveToTarget
+Vehicle buoyancy. Computed correctly? Possibly creating very large effective mass.
+    Interaction of llSetBuoyancy and vehicle buoyancy. Should be additive?
+    Negative buoyancy computed correctly
+Center-of-gravity
+Computation of mesh mass. How done? How should it be done?
 Enable vehicle border crossings (at least as poorly as ODE)
         Terrain skirts
         Avatar created in previous region and not new region when crossing border
         Vehicle recreated in new sim at small Z value (offset from root value?) (DONE)
-Vehicle movement on terrain smoothness
+User settable terrain mesh
+        Allow specifying as convex or concave and use different getHeight functions depending
+Boats, when turning nose down into the water
+        Acts like rotation around Z is also effecting rotation around X and Y
+Deleting a linkset while standing on the root will leave the physical shape of the root behind.
+        Not sure if it is because standing on it. Done with large prim linksets.
+Linkset child rotations.
+        Nebadon spiral tube has middle sections which are rotated wrong.
+        Select linked spiral tube. Delink and note where the middle section ends up.
+Teravus llMoveToTarget script debug
+        Mixing of hover, buoyancy/gravity, moveToTarget, into one force
+        Setting hover height to zero disables hover even if hover flags are on (from SL wiki)
+limitMotorUp calibration (more down?)
+llRotLookAt
+llLookAt
+Convert to avatar mesh capsule. Include rotation of capsule.
 Vehicle script tuning/debugging
         Avanti speed script
         Weapon shooter script
-limitMotorUp calibration (more down?)
-Boats float low in the water
-Add material densities to the material types.
-
-CRASHES
-=================================================
-20121129.1411: editting/moving phys object across region boundries causes crash
-    getPos-> btRigidBody::upcast -> getBodyType -> BOOM
-20121128.1600: mesh object not rezzing (no physics mesh).
-    Causes many errors. Doesn't stop after first error with box shape.
-    Eventually crashes when deleting the object.
-20121206.1434: rez Sam-pan into OSGrid BulletSim11 region
-        Immediate simulator crash. Mono does not output any stacktrace and
-        log just stops after reporting taint-time linking of the linkset.
+Move material definitions (friction, ...) into simulator.
+osGetPhysicsEngineVerion() and create a version code for the C++ DLL
+One sided meshes? Should terrain be built into a closed shape?
+        When meshes get partially wedged into the terrain, they cannot push themselves out.
+        It is possible that Bullet processes collisions whether entering or leaving a mesh.
+        Ref: http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4869
+Small physical objects do not interact correctly
+    Create chain of .5x.5x.1 torui and make all but top physical so to hang.
+        The chain will fall apart and pairs will dance around on ground
+    Chains of 1x1x.2 will stay connected but will dance.
+    Chains above 2x2x.4 are more stable and get stablier as torui get larger.
 
 VEHICLES TODO LIST:
 =================================================
-Angular motor direction is global coordinates rather than local coordinates
-Border crossing with linked vehicle causes crash
-Vehicles (Move smoothly)
-Add vehicle collisions so IsColliding is properly reported.
-        Needed for banking, limitMotorUp, movementLimiting, ...
-VehicleAddForce is not scaled by the simulation step but it is only
-        applied for one step. Should it be scaled?
+LINEAR_MOTOR_DIRECTION values should be clamped to reasonable numbers.
+        What are the limits in SL?
+        Same for other velocity settings.
+UBit improvements to remove rubber-banding of avatars sitting on vehicle child prims:
+        https://github.com/UbitUmarov/Ubit-opensim
 Some vehicles should not be able to turn if no speed or off ground.
 Cannot edit/move a vehicle being ridden: it jumps back to the origional position.
 Neb car jiggling left and right
         Happens on terrain and any other mesh object. Flat cubes are much smoother.
         This has been reduced but not eliminated.
 Implement referenceFrame for all the motion routines.
-Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE.
-        Verify that angular motion specified around Z moves in the vehicle coordinates.
 Verify llGetVel() is returning a smooth and good value for vehicle movement.
 llGetVel() should return the root's velocity if requested in a child prim.
 Implement function efficiency for lineaar and angular motion.
-After getting off a vehicle, the root prim is phantom (can be walked through)
-    Need to force a position update for the root prim after compound shape destruction
 Linkset explosion after three "rides" on Nebadon lite vehicle (LinksetConstraint)
-For limitMotorUp, use raycast down to find if vehicle is in the air.
 Remove vehicle angular velocity zeroing in BSPrim.UpdateProperties().
         A kludge that isn't fixing the real problem of Bullet adding extra motion.
 Incorporate inter-relationship of angular corrections. For instance, angularDeflection
         and angularMotorUp will compute same X or Y correction. When added together
         creates over-correction and over-shoot and wabbling.
+Vehicle attributes are not restored when a vehicle is rezzed on region creation
+        Create vehicle, setup vehicle properties, restart region, vehicle is not reinitialized.
+What to do if vehicle and prim buoyancy differ?
 
-BULLETSIM TODO LIST:
+GENERAL TODO LIST:
 =================================================
+Resitution of a prim works on another prim but not on terrain.
+        The dropped prim doesn't bounce properly on the terrain.
+Add a sanity check for PIDTarget location.
+Level-of-detail for mesh creation. Prims with circular interiors require lod of 32.
+        Is much saved with lower LODs? At the moment, all set to 32.
+Collisions are inconsistant: arrows are supposed to hit and report collision. Often don't.
+        If arrow show at prim, collision reported about 1/3 of time. If collision reported,
+        both arrow and prim report it. The arrow bounces off the prim 9 out of 10 times.
+        Shooting 5m sphere "arrows" at 60m/s.
+llMoveToTarget objects are not effected by gravity until target is removed.
+Compute CCD parameters based on body size
+Can solver iterations be changed per body/shape? Can be for constraints but what
+        about regular vehicles?
+Implement llSetPhysicalMaterial.
+        extend it with Center-of-mass, rolling friction, density
+Implement llSetForceAndTorque.
+Change BSPrim.moveToTarget to used forces rather than changing position
+        Changing position allows one to move through walls
 Implement an avatar mesh shape. The Bullet capsule is way too limited.
         Consider just hand creating a vertex/index array in a new BSShapeAvatar.
+Verify/fix phantom, volume-detect objects do not fall to infinity. Should stop at terrain.
 Revisit CollisionMargin. Builders notice the 0.04 spacing between prims.
 Duplicating a physical prim causes old prim to jump away
         Dup a phys prim and the original become unselected and thus interacts w/ selected prim.
 Scenes with hundred of thousands of static objects take a lot of physics CPU time.
-BSPrim.Force should set a continious force on the prim. The force should be
-        applied each tick.  Some limits?
 Gun sending shooter flying.
 Collision margin (gap between physical objects lying on each other)
 Boundry checking (crashes related to crossing boundry)
     Add check for border edge position for avatars and objects.
     Verify the events are created for border crossings.
-Avatar rotation (check out changes to ScenePresence for physical rotation)
-Avatar running (what does phys engine need to do?)
-Small physical objects do not interact correctly
-    Create chain of .5x.5x.1 torui and make all but top physical so to hang.
-        The chain will fall apart and pairs will dance around on ground
-    Chains of 1x1x.2 will stay connected but will dance.
-    Chains above 2x2x.4 are more stable and get stablier as torui get larger.
-Add PID motor for avatar movement (slow to stop, ...)
-setForce should set a constant force. Different than AddImpulse.
-Implement raycast.
 Implement ShapeCollection.Dispose()
-Implement water as a plain so raycasting and collisions can happen with same.
-Add osGetPhysicsEngineName() so scripters can tell whether BulletSim or ODE
-        Also osGetPhysicsEngineVerion() maybe.
+Implement water as a plain or mesh so raycasting and collisions can happen with same.
+Add collision penetration return
+        Add field passed back by BulletSim.dll and fill with info in ManifoldConstact.GetDistance()
 Linkset.Position and Linkset.Orientation requre rewrite to properly return
         child position. LinksetConstraint acts like it's at taint time!!
 Implement LockAngularMotion -- implements llSetStatus(ROTATE_AXIS_*, T/F)
@@ -99,14 +113,17 @@ Selecting and deselecting physical objects causes CPU processing time to jump
 Re-implement buoyancy as a separate force on the object rather than diddling gravity.
         Register a pre-step event to add the force.
 More efficient memory usage when passing hull information from BSPrim to BulletSim
-Avatar movement motor check for zero or small movement. Somehow suppress small movements
-        when avatar has stopped and is just standing. Simple test for near zero has
-        the problem of preventing starting up (increase from zero) especially when falling.
 Physical and phantom will drop through the terrain
 
 
 LINKSETS
 ======================================================
+Child prims do not report collisions
+Allow children of a linkset to be phantom:
+        http://opensim-dev.2196679.n2.nabble.com/Setting-a-single-child-prim-to-Phantom-tp7578513.html
+        Add OS_STATUS_PHANTOM_PRIM to llSetLinkPrimitaveParamsFast.
+Editing a child of a linkset causes the child to go phantom
+        Move a child prim once when it is physical and can never move it again without it going phantom
 Offset the center of the linkset to be the geometric center of all the prims
         Not quite the same as the center-of-gravity
 Linksets should allow collisions to individual children
@@ -117,11 +134,9 @@ LinksetCompound: when one of the children changes orientation (like tires
 Verify/think through scripts in children of linksets. What do they reference
         and return when getting position, velocity, ...
 Confirm constraint linksets still work after making all the changes for compound linksets.
+Use PostTaint callback to do rebuilds for constraint linksets to reduce rebuilding
 Add 'changed' flag or similar to reduce the number of times a linkset is rebuilt.
         For compound linksets, add ability to remove or reposition individual child shapes.
-Disable activity of passive linkset children.
-        Since the linkset is a compound object, the old prims are left lying
-        around and need to be phantomized so they don't collide, ...
 Speed up creation of large physical linksets
         For instance, sitting in Neb's car (130 prims) takes several seconds to become physical.
         REALLY bad for very large physical linksets (freezes the sim for many seconds).
@@ -131,25 +146,27 @@ Eliminate collisions between objects in a linkset. (LinksetConstraint)
 
 MORE
 ======================================================
-Test avatar walking up stairs. How does compare with SL.
-    Radius of the capsule affects ability to climb edges.
+Compute avatar size and scale correctly. Now it is a bit off from the capsule size.
+Create tests for different interface components
+        Have test objects/scripts measure themselves and turn color if correct/bad
+        Test functions in SL and calibrate correctness there
+        Create auto rezzer and tracker to run through the tests
+Do we need to do convex hulls all the time? Can complex meshes be left meshes?
+        There is some problem with meshes and collisions
+        Hulls are not as detailed as meshes. Hulled vehicles insides are different shape.
 Debounce avatar contact so legs don't keep folding up when standing.
-Implement LSL physics controls. Like STATUS_ROTATE_X.
 Add border extensions to terrain to help region crossings and objects leaving region.
 Use a different capsule shape for avatar when sitting
         LL uses a pyrimidal shape scaled by the avatar's bounding box
         http://wiki.secondlife.com/wiki/File:Avmeshforms.png
-
 Performance test with lots of avatars. Can BulletSim support a thousand?
 Optimize collisions in C++: only send up to the object subscribed to collisions.
     Use collision subscription and remove the collsion(A,B) and collision(B,A)
 Check whether SimMotionState needs large if statement (see TODO).
-
 Implement 'top colliders' info.
 Avatar jump
 Performance measurement and changes to make quicker.
 Implement detailed physics stats (GetStats()).
-
 Measure performance improvement from hulls
 Test not using ghost objects for volume detect implementation.
 Performance of closures and delegates for taint processing
@@ -157,9 +174,7 @@ Performance of closures and delegates for taint processing
         Is any slowdown introduced by the existing implementation significant?
 Is there are more efficient method of implementing pre and post step actions?
         See http://www.codeproject.com/Articles/29922/Weak-Events-in-C
-
 Physics Arena central pyramid: why is one side permiable?
-
 In SL, perfect spheres don't seem to have rolling friction. Add special case.
 Enforce physical parameter min/max:
         Gravity: [-1, 28]
@@ -168,6 +183,7 @@ Enforce physical parameter min/max:
         Restitution [0, 1]
         http://wiki.secondlife.com/wiki/Physics_Material_Settings_test
 Avatar attachments have no mass? http://forums-archive.secondlife.com/54/f0/31796/1.html
+Keep avatar scaling correct. http://pennycow.blogspot.fr/2011/07/matter-of-scale.html
 
 INTERNAL IMPROVEMENT/CLEANUP
 =================================================
@@ -190,22 +206,19 @@ Generalize Dynamics and PID with standardized motors.
 Generalize Linkset and vehicles into PropertyManagers
     Methods for Refresh, RemoveBodyDependencies, RestoreBodyDependencies
         Potentially add events for shape destruction, etc.
-Complete implemention of preStepActions
-        Replace vehicle step call with prestep event.
-        Is there a need for postStepActions? postStepTaints?
+Better mechanism for resetting linkset set and vehicle parameters when body rebuilt.
+        BSPrim.CreateGeomAndObject is kludgy with the callbacks, etc.
 Implement linkset by setting position of children when root updated. (LinksetManual)
         Linkset implementation using manual prim movement.
 LinkablePrim class? Would that simplify/centralize the linkset logic?
 BSScene.UpdateParameterSet() is broken. How to set params on objects?
-Remove HeightmapInfo from terrain specification
-    Since C++ code does not need terrain height, this structure et al are not needed.
 Add floating motor for BS_FLOATS_ON_WATER so prim and avatar will
-    bob at the water level. BSPrim.PositionSanityCheck().
+    bob at the water level. BSPrim.PositionSanityCheck()
 Should taints check for existance or activeness of target?
         When destroying linksets/etc, taints can be generated for objects that are
         actually gone when the taint happens. Crashes don't happen because the taint closure
         keeps the object from being freed, but that is just an accident.
-        Possibly have and 'active' flag that is checked by the taint processor?
+        Possibly have an 'active' flag that is checked by the taint processor?
 Parameters for physics logging should be moved from BSScene to BSParam (at least boolean ones)
 Can some of the physical wrapper classes (BulletBody, BulletWorld, BulletShape) be 'sealed'?
 There are TOO MANY interfaces from BulletSim core to Bullet itself
@@ -270,3 +283,97 @@ llSetBuoyancy()	(DONE)
         (Resolution: Bullet resets object gravity when added to world. Moved set gravity)
 Avatar density is WAY off. Compare and calibrate with what's in SL. (DONE)
         (Resolution: set default density to 3.5 (from 60) which is closer to SL)
+Redo BulletSimAPI to allow native C# implementation of Bullet option (DONE)
+        (Resolution: added BSAPITemplate and then interfaces for C++ Bullet and C# BulletXNA
+Meshes rendering as bounding boxes (DONE)
+        (Resolution: Added test for mesh/sculpties in native shapes so it didn't think it was a box)
+llMoveToTarget (Resolution: added simple motor to update the position.)
+Angular motor direction is global coordinates rather than local coordinates (DONE)
+Add vehicle collisions so IsColliding is properly reported. (DONE)
+        Needed for banking, limitMotorUp, movementLimiting, ...
+        (Resolution: added CollisionFlags.BS_VEHICLE_COLLISION and code to use it)
+VehicleAddForce is not scaled by the simulation step but it is only
+        applied for one step. Should it be scaled? (DONE)
+        (Resolution: use force for timed things, Impulse for immediate, non-timed things)
+Complete implemention of preStepActions (DONE)
+        Replace vehicle step call with prestep event.
+        Is there a need for postStepActions? postStepTaints?
+Disable activity of passive linkset children. (DONE)
+        Since the linkset is a compound object, the old prims are left lying
+        around and need to be phantomized so they don't collide, ...
+Remove HeightmapInfo from terrain specification (DONE)
+    Since C++ code does not need terrain height, this structure et al are not needed.
+Surfboard go wonky when turning (DONE)
+        Angular motor direction is global coordinates rather than local coordinates?
+        (Resolution: made angular motor direction correct coordinate system)
+Mantis 6040 script http://opensimulator.org/mantis/view.php?id=6040 (DONE)
+        Msg Kayaker on OSGrid when working
+        (Resolution: LINEAR_DIRECTION is in vehicle coords. Test script does the
+        same in SL as in OS/BulletSim)
+Boats float low in the water (DONE)
+Boats floating at proper level (DONE)
+When is force introduced by SetForce removed? The prestep action could go forever. (DONE)
+        (Resolution: setForce registers a prestep action which keeps applying the force)
+Child movement in linkset (don't rebuild linkset) (DONE 20130122))
+Avatar standing on a moving object should start to move with the object. (DONE 20130125)
+Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE.
+        Verify that angular motion specified around Z moves in the vehicle coordinates.
+        DONE 20130120: BulletSim properly applies force in vehicle relative coordinates.
+Nebadon vehicles turning funny in arena (DONE)
+Lock axis (DONE 20130401)
+Terrain detail: double terrain mesh detail (DONE)
+Use the HACD convex hull routine in Bullet rather than the C# version.  
+        Speed up hullifying large meshes. (DONE)
+Vehicle ride, get up, ride again. Second time vehicle does not act correctly.
+        Have to rez new vehicle and delete the old to fix situation.
+        (DONE 20130520: normalize rotations)
+Hitting RESET on Nebadon's vehicle while riding causes vehicle to get into odd
+        position state where it will not settle onto ground properly, etc
+        (DONE 20130520: normalize rotations)
+Two of Nebadon vehicles in a sim max the CPU. This is new.
+        (DONE 20130520: two problems: if asset failed to mesh, constantly refetched
+        asset; vehicle was sending too many messages to all linkset members)
+Add material densities to the material types. (WILL NOT BE DONE: not how it is done)
+Avatars walking up stairs (DONE)
+Avatar movement
+        flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE)
+        walking up stairs is not calibrated correctly (stairs out of Kepler cabin) (DONE)
+        avatar capsule rotation completed (NOT DONE - Bullet's capsule shape is not the solution)
+After getting off a vehicle, the root prim is phantom (can be walked through)
+    Need to force a position update for the root prim after compound shape destruction
+        (DONE)
+Explore btGImpactMeshShape as alternative to convex hulls for simplified physical objects.
+        Regular triangle meshes don't do physical collisions.
+        (DONE: discovered GImpact is VERY CPU intensive)
+Script changing rotation of child prim while vehicle moving (eg turning wheel) causes
+        the wheel to appear to jump back. Looks like sending position from previous update.
+        (DONE: redo of compound linksets fixed problem)
+Refarb compound linkset creation to create a pseudo-root for center-of-mass
+        Let children change their shape to physical indendently and just add shapes to compound
+        (DONE: redo of compound linkset fixed problem)
+Vehicle angular vertical attraction     (DONE: vegaslon code)
+vehicle angular banking (DONE: vegaslon code)
+Vehicle angular deflection      (DONE: vegaslon code)
+        Preferred orientation angular correction fix
+Vehicles (Move smoothly)
+For limitMotorUp, use raycast down to find if vehicle is in the air.
+        (WILL NOT BE DONE: gravity does the job well enough)
+BSPrim.Force should set a continious force on the prim. The force should be
+        applied each tick.  Some limits?
+        (DONE: added physical actors. Implemented SetForce, SetTorque, ...)
+Implement LSL physics controls. Like STATUS_ROTATE_X. (DONE)
+Add osGetPhysicsEngineName() so scripters can tell whether BulletSim or ODE
+Avatar rotation (check out changes to ScenePresence for physical rotation) (DONE)
+Avatar running (what does phys engine need to do?) (DONE: multiplies run factor by walking force)
+setForce should set a constant force. Different than AddImpulse. (DONE)
+Add PID motor for avatar movement (slow to stop, ...) (WNBD: current works ok)
+Avatar movement motor check for zero or small movement. Somehow suppress small movements
+        when avatar has stopped and is just standing. Simple test for near zero has
+        the problem of preventing starting up (increase from zero) especially when falling.
+        (DONE: avatar movement actor knows if standing on stationary object and zeros motion)
+Can the 'inTaintTime' flag be cleaned up and used? For instance, a call to
+        BSScene.TaintedObject() could immediately execute the callback if already in taint time.
+        (DONE)
+
+
+
diff --git a/OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs b/OpenSim/Region/PhysicsModules/BulletS/Properties/AssemblyInfo.cs
index 0d1db3b..698be39 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/Properties/AssemblyInfo.cs
@@ -1,6 +1,7 @@
 using System.Reflection;
 using System.Runtime.CompilerServices;
 using System.Runtime.InteropServices;
+using Mono.Addins;
 
 // General Information about an assembly is controlled through the following 
 // set of attributes. Change these attribute values to modify the information
@@ -29,5 +30,7 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
-[assembly: AssemblyFileVersion("1.0.0.0")]
+[assembly: AssemblyVersion("0.8.3.*")]
+
+[assembly: Addin("OpenSim.Region.PhysicsModule.BulletS", OpenSim.VersionInfo.VersionNumber)]
+[assembly: AddinDependency("OpenSim.Region.Framework", OpenSim.VersionInfo.VersionNumber)]