8 files changed, 597 insertions, 185 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 784076d..e76d8a4 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -226,16 +226,37 @@ public class BSCharacter : BSPhysObject
         bool ret = false;
         
         // If below the ground, move the avatar up
-        float terrainHeight = Scene.GetTerrainHeightAtXYZ(_position);
-        if (_position.Z < terrainHeight)
+        float terrainHeight = Scene.TerrainManager.GetTerrainHeightAtXYZ(_position);
+        if (Position.Z < terrainHeight)
         {
-            DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},orient={2}", LocalID, _position, _orientation);
-            _position.Z = terrainHeight + 2.0f;
+            DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
+            Vector3 newPos = _position;
+            newPos.Z = terrainHeight + 2.0f;
+            _position = newPos;
             ret = true;
         }
 
         // TODO: check for out of bounds
+        return ret;
+    }
 
+    // A version of the sanity check that also makes sure a new position value is
+    //    pushed back to the physics engine. This routine would be used by anyone
+    //    who is not already pushing the value.
+    private bool PositionSanityCheck2()
+    {
+        bool ret = false;
+        if (PositionSanityCheck())
+        {
+            // The new position value must be pushed into the physics engine but we can't
+            //    just assign to "Position" because of potential call loops.
+            _scene.TaintedObject("BSCharacter.PositionSanityCheck", delegate()
+            {
+                DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
+                BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
+            });
+            ret = true;
+        }
         return ret;
     }
 
@@ -500,9 +521,13 @@ public class BSCharacter : BSPhysObject
         // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
         // base.RequestPhysicsterseUpdate();
 
-        DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
+        // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
+        PositionSanityCheck2();
+
+        float heightHere = Scene.TerrainManager.GetTerrainHeightAtXYZ(_position);   // just for debug
+        DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5},terrain={6}",
                 LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, 
-                entprop.Acceleration, entprop.RotationalVelocity);
+                entprop.Acceleration, entprop.RotationalVelocity, heightHere);
     }
 
     // Called by the scene when a collision with this object is reported
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
index 25084d8..d9270d1 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
@@ -48,11 +48,10 @@ public abstract class BSConstraint : IDisposable
     {
         if (m_enabled)
         {
-            // BulletSimAPI.RemoveConstraint(m_world.ID, m_body1.ID, m_body2.ID);
+            m_enabled = false;
             bool success = BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr);
             m_world.scene.DetailLog("{0},BSConstraint.Dispose,taint,body1={1},body2={2},success={3}", BSScene.DetailLogZero, m_body1.ID, m_body2.ID, success);
             m_constraint.Ptr = System.IntPtr.Zero;
-            m_enabled = false;
         }
     }
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index d7213fc..8169e99 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -465,6 +465,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             }
         }//end SetDefaultsForType
 
+        // One step of the vehicle properties for the next 'pTimestep' seconds.
         internal void Step(float pTimestep)
         {
             if (m_type == Vehicle.TYPE_NONE) return;
@@ -592,9 +593,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             }
 
             // If below the terrain, move us above the ground a little.
-            if (pos.Z < m_prim.Scene.GetTerrainHeightAtXYZ(pos))
+            if (pos.Z < m_prim.Scene.TerrainManager.GetTerrainHeightAtXYZ(pos))
             {
-                pos.Z = m_prim.Scene.GetTerrainHeightAtXYZ(pos) + 2;
+                pos.Z = m_prim.Scene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 2;
                 m_prim.Position = pos;
                 VDetailLog("{0},MoveLinear,terrainHeight,pos={1}", m_prim.LocalID, pos);
             }
@@ -609,7 +610,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 }
                 if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
                 {
-                    m_VhoverTargetHeight = m_prim.Scene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
+                    m_VhoverTargetHeight = m_prim.Scene.TerrainManager.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
                 }
                 if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
                 {
@@ -673,7 +674,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 {
                     grav.Z = (float)(grav.Z * 1.125);
                 }
-                float terraintemp = m_prim.Scene.GetTerrainHeightAtXYZ(pos);
+                float terraintemp = m_prim.Scene.TerrainManager.GetTerrainHeightAtXYZ(pos);
                 float postemp = (pos.Z - terraintemp);
                 if (postemp > 2.5f)
                 {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 6e205a9..ef463ca 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -1,58 +1,60 @@
-/*

- * 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.

-public abstract class BSPhysObject : PhysicsActor

-{

-    public abstract BSLinkset Linkset { get; set; }

-

-    public abstract void Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type,

-            OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth);

-    public abstract void SendCollisions();

-

-    // Return the object mass without calculating it or side effects

-    public abstract float MassRaw { get; }

-

-    public abstract BulletBody Body { get; set; }

-    public abstract void ZeroMotion();

-

-    public abstract void UpdateProperties(EntityProperties entprop);

-

-    public abstract void Destroy();

-}

-}

+/*
+ * 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.
+public abstract class BSPhysObject : PhysicsActor
+{
+    public abstract BSLinkset Linkset { get; set; }
+
+    public abstract void Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type,
+            OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth);
+    public abstract void SendCollisions();
+
+    // Return the object mass without calculating it or side effects
+    public abstract float MassRaw { get; }
+
+    public abstract BulletBody Body { get; set; }
+    public abstract void ZeroMotion();
+
+    public virtual void StepVehicle(float timeStep) { }
+
+    public abstract void UpdateProperties(EntityProperties entprop);
+
+    public abstract void Destroy();
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 036fd4f..6bfce5c 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -377,7 +377,7 @@ public sealed class BSPrim : BSPhysObject
 
     // Called each simulation step to advance vehicle characteristics.
     // Called from Scene when doing simulation step so we're in taint processing time.
-    public void StepVehicle(float timeStep)
+    public override void StepVehicle(float timeStep)
     {
         if (IsPhysical)
             _vehicle.Step(timeStep);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index ce64b9b..f80304d 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -39,8 +39,6 @@ using log4net;
 using OpenMetaverse;
 
 // TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim)
-// Debug linkset 
-// Test with multiple regions in one simulator 
 // Adjust character capsule size when height is adjusted (ScenePresence.SetHeight)
 // Test sculpties
 // Compute physics FPS reasonably
@@ -54,10 +52,8 @@ using OpenMetaverse;
 // Use collision masks for collision with terrain and phantom objects 
 // Check out llVolumeDetect. Must do something for that.
 // Should prim.link() and prim.delink() membership checking happen at taint time?
-// changing the position and orientation of a linked prim must rebuild the constraint with the root.
 // Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once
 // Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect
-// Implement the genCollisions feature in BulletSim::SetObjectProperties (don't pass up unneeded collisions)
 // Implement LockAngularMotion
 // Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation)
 // Does NeedsMeshing() really need to exclude all the different shapes?
@@ -85,18 +81,15 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     //    moved to a better place.
     private HashSet<BSCharacter> m_avatarsWithCollisions = new HashSet<BSCharacter>();
 
-    private List<BSPrim> m_vehicles = new List<BSPrim>();
-
-    private float[] m_heightMap;
-    private float m_waterLevel;
-    private uint m_worldID;
-    public uint WorldID { get { return m_worldID; } }
+    // List of all the objects that have vehicle properties and should be called
+    //    to update each physics step.
+    private List<BSPhysObject> m_vehicles = new List<BSPhysObject>();
 
     // let my minuions use my logger
     public ILog Logger { get { return m_log; } }
 
-    private bool m_initialized = false;
-
+    // If non-zero, the number of simulation steps between calls to the physics
+    //    engine to output detailed physics stats. Debug logging level must be on also.
     private int m_detailedStatsStep = 0;
 
     public IMesher mesher;
@@ -106,29 +99,31 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     public float MeshMegaPrimThreshold { get; private set; }
     public float SculptLOD { get; private set; }
 
-    private BulletSim m_worldSim;
-    public BulletSim World
-    {
-        get { return m_worldSim; }
-    }
-    private BSConstraintCollection m_constraintCollection;
-    public BSConstraintCollection Constraints
-    { 
-        get { return m_constraintCollection; }
-    }
+    public uint WorldID { get; private set; }
+    public BulletSim World { get; private set; }
+
+    // All the constraints that have been allocated in this instance.

+    public BSConstraintCollection Constraints { get; private set; }
 
+    // Simulation parameters
     private int m_maxSubSteps;
     private float m_fixedTimeStep;
     private long m_simulationStep = 0;
     public long SimulationStep { get { return m_simulationStep; } }
 
+    // The length of the last timestep we were asked to simulate.
+    // This is used by the vehicle code. Since the vehicle code is called
+    //    once per simulation step, its constants need to be scaled by this.
     public float LastSimulatedTimestep { get; private set; }
 
     // 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
-    private int m_simulationNowTime;
-    public int SimulationNowTime { get { return m_simulationNowTime; } }
+    // 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;
 
+    // Pinned memory used to pass step information between managed and unmanaged
     private int m_maxCollisionsPerFrame;
     private CollisionDesc[] m_collisionArray;
     private GCHandle m_collisionArrayPinnedHandle;
@@ -145,6 +140,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters
 
     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

+

+    private float m_waterLevel;
+    public BSTerrainManager TerrainManager { get; private set; }
 
     public ConfigurationParameters Params
     {
@@ -155,12 +154,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         get { return new Vector3(0f, 0f, Params.gravity); }
     }
 
-    private float m_maximumObjectMass;
-    public float MaximumObjectMass
-    {
-        get { return m_maximumObjectMass; }
-    }
+    public float MaximumObjectMass { get; private set; }
 
+    // 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
     {
@@ -176,6 +175,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     private Object _taintLock = new Object();
 
     // A pointer to an instance if this structure is passed to the C++ code
+    // Used to pass basic configuration values to the unmanaged code.
     ConfigurationParameters[] m_params;
     GCHandle m_paramsHandle;
 
@@ -189,11 +189,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     private bool m_physicsLoggingEnabled;
     private string m_physicsLoggingDir;
     private string m_physicsLoggingPrefix;
-    private int m_physicsLoggingFileMinutes;
-
-    private bool m_vehicleLoggingEnabled;
-    public bool VehicleLoggingEnabled { get { return m_vehicleLoggingEnabled; } }
+    private int m_physicsLoggingFileMinutes;

+    // 'true' of the vehicle code is to log lots of details

+    public bool VehicleLoggingEnabled { get; private set; }
 
+    #region Construction and Initialization
     public BSScene(string identifier)
     {
         m_initialized = false;
@@ -216,6 +216,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         m_updateArray = new EntityProperties[m_maxUpdatesPerFrame];
         m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned);
 
+        mesher = meshmerizer;
+        _taintedObjects = new List<TaintCallbackEntry>();
+
         // 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.
@@ -228,11 +231,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             PhysicsLogging = new Logging.LogWriter();
         }
 
-        // Get the version of the DLL
-        // TODO: this doesn't work yet. Something wrong with marshaling the returned string.
-        // BulletSimVersion = BulletSimAPI.GetVersion();
-        // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion);
-
         // If Debug logging level, enable logging from the unmanaged code
         if (m_log.IsDebugEnabled || PhysicsLogging.Enabled)
         {
@@ -245,22 +243,32 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             BulletSimAPI.SetDebugLogCallback(m_DebugLogCallbackHandle);
         }
 
-        _taintedObjects = new List<TaintCallbackEntry>();
-
-        mesher = meshmerizer;
+        // Get the version of the DLL
+        // TODO: this doesn't work yet. Something wrong with marshaling the returned string.
+        // BulletSimVersion = BulletSimAPI.GetVersion();
+        // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion);
 
-        // The bounding box for the simulated world
+        // The bounding box for the simulated world. The origin is 0,0,0 unless we're
+        //    a child in a mega-region.
+        // Turns out that Bullet really 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, 8192f);
 
         // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader);
-        m_worldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(),
+        WorldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(),
                                         m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
                                         m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject());
 
         // Initialization to support the transition to a new API which puts most of the logic
         //   into the C# code so it is easier to modify and add to.
-        m_worldSim = new BulletSim(m_worldID, this, BulletSimAPI.GetSimHandle2(m_worldID));
-        m_constraintCollection = new BSConstraintCollection(World);
+        World = new BulletSim(WorldID, this, BulletSimAPI.GetSimHandle2(WorldID));
+
+        Constraints = new BSConstraintCollection(World);
+
+        // Note: choose one of the  two following lines
+        // BulletSimAPI.CreateInitialGroundPlaneAndTerrain(WorldID);

+        TerrainManager = new BSTerrainManager(this);
+        TerrainManager.CreateInitialGroundPlaneAndTerrain();
 
         m_initialized = true;
     }
@@ -288,7 +296,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
                 m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-");
                 m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5);
                 // Very detailed logging for vehicle debugging
-                m_vehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
+                VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
 
                 // Do any replacements in the parameters
                 m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName);
@@ -323,6 +331,38 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         PhysicsLogging.Write("[BULLETS UNMANAGED]:" + msg);
     }
 
+    public override void Dispose()
+    {
+        // m_log.DebugFormat("{0}: Dispose()", LogHeader);
+
+        // make sure no stepping happens while we're deleting stuff
+        m_initialized = false;
+
+        TerrainManager.ReleaseGroundPlaneAndTerrain();
+
+        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;
+        }
+
+        // Anything left in the unmanaged code should be cleaned out
+        BulletSimAPI.Shutdown(WorldID);
+
+        // 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);
@@ -413,6 +453,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     // 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)
     {
@@ -428,7 +471,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
 
         int simulateStartTime = Util.EnvironmentTickCount();
 
-        // update the prim states while we know the physics engine is not busy
+        // update the prim states while we know the physics engine is not busy

+        int numTaints = _taintedObjects.Count;
         ProcessTaints();
 
         // Some of the prims operate with special vehicle properties
@@ -440,14 +484,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         int numSubSteps = 0;
         try
         {
-            numSubSteps = BulletSimAPI.PhysicsStep(m_worldID, timeStep, m_maxSubSteps, m_fixedTimeStep,
+            numSubSteps = BulletSimAPI.PhysicsStep(WorldID, timeStep, m_maxSubSteps, m_fixedTimeStep,
                         out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
-            DetailLog("{0},Simulate,call, substeps={1}, updates={2}, colliders={3}", DetailLogZero, numSubSteps, updatedEntityCount, collidersCount); 
+            DetailLog("{0},Simulate,call, nTaints= {1}, substeps={2}, updates={3}, colliders={4}", 
+                        DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount); 
         }
         catch (Exception e)
         {
-            m_log.WarnFormat("{0},PhysicsStep Exception: substeps={1}, updates={2}, colliders={3}, e={4}", LogHeader, numSubSteps, updatedEntityCount, collidersCount, e);
-            // DetailLog("{0},PhysicsStepException,call, substeps={1}, updates={2}, colliders={3}", DetailLogZero, numSubSteps, updatedEntityCount, collidersCount);
+            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;
         }
@@ -456,7 +503,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in
 
         // Get a value for 'now' so all the collision and update routines don't have to get their own
-        m_simulationNowTime = Util.EnvironmentTickCount();
+        SimulationNowTime = Util.EnvironmentTickCount();
 
         // If there were collisions, process them by sending the event to the prim.
         // Collisions must be processed before updates.
@@ -527,7 +574,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     // Something has collided
     private void SendCollision(uint localID, uint collidingWith, Vector3 collidePoint, Vector3 collideNormal, float penetration)
     {
-        if (localID == TERRAIN_ID || localID == GROUNDPLANE_ID)
+        if (localID <= TerrainManager.HighestTerrainID)
         {
             return;         // don't send collisions to the terrain
         }
@@ -539,7 +586,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         BSPhysObject collidee = null;
 
         ActorTypes type = ActorTypes.Prim;
-        if (collidingWith == TERRAIN_ID || collidingWith == GROUNDPLANE_ID)
+        if (collidingWith <= TerrainManager.HighestTerrainID)
         {
             type = ActorTypes.Ground;
         }
@@ -558,28 +605,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         return;
     }
 
+    #endregion // Simulation
+
     public override void GetResults() { }
 
-    public override void SetTerrain(float[] heightMap) {
-        m_heightMap = heightMap;
-        this.TaintedObject("BSScene.SetTerrain", delegate()
-        {
-            BulletSimAPI.SetHeightmap(m_worldID, m_heightMap);
-        });
-    }
+    #region Terrain
 
-    // Someday we will have complex terrain with caves and tunnels
-    // For the moment, it's flat and convex
-    public float GetTerrainHeightAtXYZ(Vector3 loc)
-    {
-        return GetTerrainHeightAtXY(loc.X, loc.Y);
-    }
-
-    public float GetTerrainHeightAtXY(float tX, float tY)
-    {
-        if (tX < 0 || tX >= Constants.RegionSize || tY < 0 || tY >= Constants.RegionSize)
-            return 30;
-        return m_heightMap[((int)tX) * Constants.RegionSize + ((int)tY)];
+    public override void SetTerrain(float[] heightMap) {

+        TerrainManager.SetTerrain(heightMap);
     }
 
     public override void SetWaterLevel(float baseheight) 
@@ -595,35 +628,29 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     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();

     }
-
-    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 (m_constraintCollection != null)
-        {
-            m_constraintCollection.Dispose();
-            m_constraintCollection = null;
-        }
-
-        // Anything left in the unmanaged code should be cleaned out
-        BulletSimAPI.Shutdown(WorldID);
-
-        // Not logging any more
-        PhysicsLogging.Close();
+    // 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>();
@@ -833,14 +860,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     // no locking because only called when physics engine is not busy
     private void ProcessVehicles(float timeStep)
     {
-        foreach (BSPrim prim in m_vehicles)
+        foreach (BSPhysObject pobj in m_vehicles)
         {
-            prim.StepVehicle(timeStep);
+            pobj.StepVehicle(timeStep);
         }
     }
     #endregion Vehicles
 
-    #region Parameters
+    #region INI and command line parameter processing
 
     delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val);
     delegate float ParamGet(BSScene scene);
@@ -943,9 +970,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ),
         new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)",
             10000.01f,
-            (s,cf,p,v) => { s.m_maximumObjectMass = cf.GetFloat(p, v); },
-            (s) => { return (float)s.m_maximumObjectMass; },
-            (s,p,l,v) => { s.m_maximumObjectMass = v; } ),
+            (s,cf,p,v) => { s.MaximumObjectMass = cf.GetFloat(p, v); },
+            (s) => { return (float)s.MaximumObjectMass; },
+            (s,p,l,v) => { s.MaximumObjectMass = v; } ),
 
         new ParameterDefn("PID_D", "Derivitive factor for motion smoothing",
             2200f,
@@ -1207,6 +1234,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
 
     private 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.
     private void BuildParameterTable()
     {
         if (SettableParameters.Length < ParameterDefinitions.Length)
@@ -1283,7 +1312,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
                 TaintedObject("BSScene.UpdateParameterSet", delegate() {
                     foreach (uint lID in objectIDs)
                     {
-                        BulletSimAPI.UpdateParameter(m_worldID, lID, xparm, xval);
+                        BulletSimAPI.UpdateParameter(WorldID, lID, xparm, xval);
                     }
                 });
                 break;
@@ -1301,7 +1330,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         string xparm = parm.ToLower();
         float xval = val;
         TaintedObject("BSScene.TaintedUpdateParameter", delegate() {
-            BulletSimAPI.UpdateParameter(m_worldID, xlocalID, xparm, xval);
+            BulletSimAPI.UpdateParameter(WorldID, xlocalID, xparm, xval);
         });
     }
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
new file mode 100755
index 0000000..28c1940
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
@@ -0,0 +1,307 @@
+/*
+ * 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 class BSTerrainManager
+{
+    static string LogHeader = "[BULLETSIM TERRAIN MANAGER]";
+
+    BSScene m_physicsScene;
+
+    private BulletBody m_groundPlane;
+    
+    // If doing mega-regions, if we're region zero we will be managing multiple
+    //    region terrains since region zero does the physics for the whole mega-region.
+    private Dictionary<Vector2, BulletBody> m_terrains;
+    private Dictionary<Vector2, BulletHeightMapInfo> m_heightMaps;
+
+    // If we are doing mega-regions, terrains are added from TERRAIN_ID to m_terrainCount.
+    // This is incremented before assigning to new region so it is the last ID allocated.
+    private uint m_terrainCount = BSScene.CHILDTERRAIN_ID - 1;
+    public uint HighestTerrainID { get {return m_terrainCount; } }
+
+    // If doing mega-regions, this holds our offset from region zero of
+    //     the mega-regions. "parentScene" points to the PhysicsScene of region zero.
+    private Vector3 m_worldOffset = Vector3.Zero;
+    public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
+    private PhysicsScene m_parentScene = null;
+
+    public BSTerrainManager(BSScene physicsScene)
+    {
+        m_physicsScene = physicsScene;
+        m_terrains = new Dictionary<Vector2,BulletBody>();
+        m_heightMaps = new Dictionary<Vector2,BulletHeightMapInfo>();
+    }
+
+    // Create the initial instance of terrain and the underlying ground plane.
+    // The objects are allocated in the unmanaged space and the pointers are tracked
+    //    by the managed code.
+    // The terrains and the groundPlane are not added to the list of PhysObjects.
+    // This is called from the initialization routine so we presume it is
+    //    safe to call Bullet in real time. We hope no one is moving around prim yet.
+    public void CreateInitialGroundPlaneAndTerrain()
+    {
+        // The ground plane is here to catch things that are trying to drop to negative infinity
+        m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID, 
+                        BulletSimAPI.CreateGroundPlaneBody2(BSScene.GROUNDPLANE_ID, 1f, 0.4f));
+        BulletSimAPI.AddObjectToWorld2(m_physicsScene.World.Ptr, m_groundPlane.Ptr);
+
+        Vector3 minTerrainCoords = new Vector3(0f, 0f, 24f);
+        Vector3 maxTerrainCoords = new Vector3(Constants.RegionSize, Constants.RegionSize, 25f);
+        int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y;
+        float[] initialMap = new float[totalHeights];
+        for (int ii = 0; ii < totalHeights; ii++)
+        {
+            initialMap[ii] = 25f;
+        }
+        CreateNewTerrainSegment(BSScene.TERRAIN_ID, initialMap, minTerrainCoords, maxTerrainCoords);
+    }
+
+    public void ReleaseGroundPlaneAndTerrain()
+    {
+        if (BulletSimAPI.RemoveObjectFromWorld2(m_physicsScene.World.Ptr, m_groundPlane.Ptr))
+        {
+            BulletSimAPI.DestroyObject2(m_physicsScene.World.Ptr, m_groundPlane.Ptr);
+        }
+        m_groundPlane.Ptr = IntPtr.Zero;
+
+        foreach (KeyValuePair<Vector2, BulletBody> kvp in m_terrains)
+        {
+            if (BulletSimAPI.RemoveObjectFromWorld2(m_physicsScene.World.Ptr, kvp.Value.Ptr))
+            {
+                BulletSimAPI.DestroyObject2(m_physicsScene.World.Ptr, kvp.Value.Ptr);
+                BulletSimAPI.ReleaseHeightmapInfo2(m_heightMaps[kvp.Key].Ptr);
+            }
+        }
+        m_terrains.Clear();
+        m_heightMaps.Clear();
+    }
+
+    // Create a new terrain description. This is used for mega-regions where
+    //    the children of region zero give region zero all of the terrain
+    //    segments since region zero does all the physics for the mega-region.
+    // Call at taint time!!
+    public void CreateNewTerrainSegment(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords)
+    {
+        // The Z coordinates are recalculated to be the min and max height of the terrain
+        //    itself. The caller may have passed us the real region extent.
+        float minZ = float.MaxValue;
+        float maxZ = float.MinValue;
+        int hSize = heightMap.Length;
+        for (int ii = 0; ii < hSize; ii++)
+        {
+            minZ = heightMap[ii] < minZ ? heightMap[ii] : minZ;
+            maxZ = heightMap[ii] > maxZ ? heightMap[ii] : maxZ;
+        }
+        minCoords.Z = minZ;
+        maxCoords.Z = maxZ;
+        // If the terrain is flat, make a difference so we get a good bounding box
+        if (minZ == maxZ) 
+            minZ -= 0.2f;
+        Vector2 terrainRegionBase = new Vector2(minCoords.X, minCoords.Y);
+
+        // Create the heightmap data structure in the unmanaged space
+        BulletHeightMapInfo mapInfo = new BulletHeightMapInfo(
+                            BulletSimAPI.CreateHeightmap2(minCoords, maxCoords, heightMap), heightMap);
+        mapInfo.terrainRegionBase = terrainRegionBase;
+        mapInfo.maxRegionExtent = maxCoords;
+        mapInfo.minZ = minZ;
+        mapInfo.maxZ = maxZ;
+        mapInfo.sizeX = maxCoords.X - minCoords.X;
+        mapInfo.sizeY = maxCoords.Y - minCoords.Y;
+
+        DetailLog("{0},BSScene.CreateNewTerrainSegment,call,minZ={1},maxZ={2},hMapPtr={3},minC={4},maxC={5}",
+                    BSScene.DetailLogZero, minZ, maxZ, mapInfo.Ptr, minCoords, maxCoords);
+        // Create the terrain body from that heightmap
+        BulletBody terrainBody = new BulletBody(id, BulletSimAPI.CreateTerrainBody2(id, mapInfo.Ptr, 0.01f));
+
+        BulletSimAPI.SetFriction2(terrainBody.Ptr, m_physicsScene.Params.terrainFriction);
+        BulletSimAPI.SetHitFraction2(terrainBody.Ptr, m_physicsScene.Params.terrainHitFraction);
+        BulletSimAPI.SetRestitution2(terrainBody.Ptr, m_physicsScene.Params.terrainRestitution);
+        BulletSimAPI.SetCollisionFlags2(terrainBody.Ptr, CollisionFlags.CF_STATIC_OBJECT);
+        BulletSimAPI.Activate2(terrainBody.Ptr, true);
+
+        // Add the new terrain to the dynamics world
+        BulletSimAPI.AddObjectToWorld2(m_physicsScene.World.Ptr, terrainBody.Ptr);
+        BulletSimAPI.UpdateSingleAabb2(m_physicsScene.World.Ptr, terrainBody.Ptr);
+
+
+        // Add the created terrain to the management set. If we are doing mega-regions,
+        //    the terrains of our children will be added.
+        m_terrains.Add(terrainRegionBase, terrainBody);
+        m_heightMaps.Add(terrainRegionBase, mapInfo);
+    }
+
+    public void SetTerrain(float[] heightMap) {
+        if (m_worldOffset != Vector3.Zero && m_parentScene != null)
+        {
+            // If doing the mega-prim stuff and we are the child of the zero region,
+            //    the terrain is really added to our parent
+            if (m_parentScene is BSScene)
+            {
+                ((BSScene)m_parentScene).TerrainManager.SetTerrain(heightMap, m_worldOffset);
+            }
+        }
+        else
+        {
+            // if not doing the mega-prim thing, just change the terrain
+            SetTerrain(heightMap, m_worldOffset);
+        }
+    }
+
+    private void SetTerrain(float[] heightMap, Vector3 tOffset)
+    {
+        float minZ = float.MaxValue;
+        float maxZ = float.MinValue;
+
+        // Copy heightMap local and compute some statistics.
+        // Not really sure if we need to do this deep copy but, given
+        //    the magic that happens to make the closure for taint
+        //    below, I don't want there to be any problem with sharing
+        //    locations of there are multiple calls to this routine
+        //    within one tick.
+        int heightMapSize = heightMap.Length;
+        float[] localHeightMap = new float[heightMapSize];
+        for (int ii = 0; ii < heightMapSize; ii++)
+        {
+            float height = heightMap[ii];
+            if (height < minZ) minZ = height;
+            if (height > maxZ) maxZ = height;
+            localHeightMap[ii] = height;
+        }
+
+        Vector2 terrainRegionBase = new Vector2(tOffset.X, tOffset.Y);
+        BulletHeightMapInfo mapInfo;
+        if (m_heightMaps.TryGetValue(terrainRegionBase, out mapInfo))
+        {
+            // If this is terrain we know about, it's easy to update
+            mapInfo.heightMap = localHeightMap;
+            m_physicsScene.TaintedObject("BSScene.SetTerrain:UpdateExisting", delegate()
+            {
+                DetailLog("{0},SetTerrain:UpdateExisting,baseX={1},baseY={2},minZ={3},maxZ={4}", 
+                                    BSScene.DetailLogZero, tOffset.X, tOffset.Y, minZ, maxZ);
+                BulletSimAPI.UpdateHeightMap2(m_physicsScene.World.Ptr, mapInfo.Ptr, mapInfo.heightMap);
+            });
+        }
+        else
+        {
+            // Our mega-prim child is giving us a new terrain to add to the phys world
+            uint newTerrainID = ++m_terrainCount;
+
+            Vector3 minCoords = tOffset;
+            minCoords.Z = minZ;
+            Vector3 maxCoords = new Vector3(tOffset.X + Constants.RegionSize,
+                                    tOffset.Y + Constants.RegionSize,
+                                    maxZ);
+            m_physicsScene.TaintedObject("BSScene.SetTerrain:NewTerrain", delegate()
+            {
+                DetailLog("{0},SetTerrain:NewTerrain,baseX={1},baseY={2}", BSScene.DetailLogZero, tOffset.X, tOffset.Y);
+                CreateNewTerrainSegment(newTerrainID, heightMap, minCoords, maxCoords);
+            });
+        }
+    }
+
+    // Someday we will have complex terrain with caves and tunnels
+    // For the moment, it's flat and convex
+    public float GetTerrainHeightAtXYZ(Vector3 loc)
+    {
+        return GetTerrainHeightAtXY(loc.X, loc.Y);
+    }
+
+    // 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
+    //    the same size and that is the default.
+    // Once the heightMapInfo is found, we have all the information to
+    //    compute the offset into the array.
+    public float GetTerrainHeightAtXY(float tX, float tY)
+    {
+        float ret = 30f;
+
+        int offsetX = ((int)(tX / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
+        int offsetY = ((int)(tY / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
+        Vector2 terrainBaseXY = new Vector2(offsetX, offsetY);
+
+        BulletHeightMapInfo mapInfo;
+        if (m_heightMaps.TryGetValue(terrainBaseXY, out mapInfo))
+        {
+            float regionX = tX - offsetX;
+            float regionY = tY - offsetY;
+            regionX = regionX > mapInfo.sizeX ? 0 : regionX;
+            regionY = regionY > mapInfo.sizeY ? 0 : regionY;
+            ret = mapInfo.heightMap[(int)(regionX * mapInfo.sizeX + regionY)];
+        }
+        else
+        {
+            m_physicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: x={1}, y={2}",
+                LogHeader, tX, tY);
+        }
+        return ret;
+    }
+
+    // Although no one seems to check this, I do support combining.
+    public bool SupportsCombining()
+    {
+        return true;
+    }
+    // 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 void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
+    {
+        m_worldOffset = offset;
+        WorldExtents = new Vector2(extents.X, extents.Y);
+        m_parentScene = pScene;
+    }
+
+    // Unhook all the combining that I know about.
+    public void UnCombine(PhysicsScene pScene)
+    {
+        // Just like ODE, for the moment a NOP
+    }
+
+
+    private void DetailLog(string msg, params Object[] args)
+    {
+        m_physicsScene.PhysicsLogging.Write(msg, args);
+    }
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index dab2420..3b319fb 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -33,6 +33,9 @@ using OpenMetaverse;
 namespace OpenSim.Region.Physics.BulletSPlugin {
 
 // Classes to allow some type checking for the API
+// These hold pointers to allocated objects in the unmanaged space.
+
+// The physics engine controller class created at initialization
 public struct BulletSim
 {
     public BulletSim(uint id, BSScene bss, IntPtr xx) { ID = id; scene = bss;  Ptr = xx; }
@@ -42,6 +45,7 @@ public struct BulletSim
     public IntPtr Ptr;
 }
 
+// An allocated Bullet btRigidBody
 public struct BulletBody
 {
     public BulletBody(uint id, IntPtr xx) { ID = id;  Ptr = xx; }
@@ -49,12 +53,35 @@ public struct BulletBody
     public uint ID;
 }
 
+// An allocated Bullet btConstraint
 public struct BulletConstraint
 {
     public BulletConstraint(IntPtr xx) { Ptr = xx; }
     public IntPtr Ptr;
 }
 
+// An allocated HeightMapThing which hold various heightmap info
+// Made a class rather than a struct so there would be only one
+//      instance of this and C# will pass around pointers rather
+//      than making copies.
+public class BulletHeightMapInfo
+{
+    public BulletHeightMapInfo(IntPtr xx, float[] hm) { 
+        Ptr = xx;
+        heightMap = hm;
+        terrainRegionBase = new Vector2(0f, 0f);
+        maxRegionExtent = new Vector3(100f, 100f, 25f);
+        minZ = maxZ = 0f;
+        sizeX = sizeY = 256f;
+    }
+    public IntPtr Ptr;
+    public float[] heightMap;
+    public Vector2 terrainRegionBase;
+    public Vector3 maxRegionExtent;
+    public float sizeX, sizeY;
+    public float minZ, maxZ;
+}
+
 // ===============================================================================
 [StructLayout(LayoutKind.Sequential)]
 public struct ConvexHull 
@@ -231,6 +258,9 @@ public static extern uint Initialize(Vector3 maxPosition, IntPtr parms,
                         int maxUpdates, IntPtr updateArray);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void CreateInitialGroundPlaneAndTerrain(uint worldID);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -414,12 +444,23 @@ public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
 
 // =====================================================================================
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateGroundPlaneBody2(uint id, Vector3 center, float collisionMargin);
+public static extern IntPtr CreateGroundPlaneBody2(uint id, float height, float collisionMargin);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern IntPtr CreateTerrainBody2(uint id, 
-                    Vector3 minCoords, Vector3 maxCoords, float collisionMargin,
-                    [MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
+                    IntPtr heightMapInfo,
+                    float collisionMargin);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateHeightmap2(Vector3 minCoords, Vector3 maxCoords, 
+        [MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool ReleaseHeightmapInfo2(IntPtr heightMapInfo);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void UpdateHeightMap2(IntPtr world, IntPtr heightMapInfo, 
+            [MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
 
 // =====================================================================================
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -473,11 +514,16 @@ public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain);
 
+// =====================================================================================
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 AddObjectToWorld2(IntPtr world, IntPtr obj);
+public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 RemoveObjectFromWorld2(IntPtr world, IntPtr obj);
+public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj);
+
+// =====================================================================================
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void Activate2(IntPtr obj, bool forceActivation);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern Vector3 GetPosition2(IntPtr obj);
@@ -522,6 +568,9 @@ public static extern bool SetContactProcessingThreshold2(IntPtr obj, float val);
 public static extern bool SetFriction2(IntPtr obj, float val);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetHitFraction2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern bool SetRestitution2(IntPtr obj, float val);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -564,7 +613,7 @@ public static extern bool SetMargin2(IntPtr obj, float val);
 public static extern bool UpdateSingleAabb2(IntPtr world, IntPtr obj);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool DestroyObject2(IntPtr world, uint id);
+public static extern bool DestroyObject2(IntPtr world, IntPtr obj);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern void DumpPhysicsStatistics2(IntPtr sim);