12 files changed, 182 insertions, 74 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
index 75ff24e..bdf4bc0 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
@@ -50,7 +50,8 @@ public class BSActorMoveToTarget : BSActor
     // BSActor.isActive
     public override bool isActive
     {
-        get { return Enabled; }
+        // MoveToTarget only works on physical prims
+        get { return Enabled && m_controllingPrim.IsPhysicallyActive; }
     }
 
     // Release any connections and resources used by the actor.
@@ -102,16 +103,28 @@ public class BSActorMoveToTarget : BSActor
             // We're taking over after this.
             m_controllingPrim.ZeroMotion(true);
 
-            m_targetMotor = new BSVMotor("BSActorMoveToTargget.Activate",
-                                        m_controllingPrim.MoveToTargetTau,                    // timeScale
-                                        BSMotor.Infinite,           // decay time scale
-                                        1f                          // efficiency
+            /* Someday use the PID controller
+            m_targetMotor = new BSPIDVMotor("BSActorMoveToTarget-" + m_controllingPrim.LocalID.ToString());
+            m_targetMotor.TimeScale = m_controllingPrim.MoveToTargetTau;
+            m_targetMotor.Efficiency = 1f;
+             */
+            m_targetMotor = new BSVMotor("BSActorMoveToTarget-" + m_controllingPrim.LocalID.ToString(),
+                                        m_controllingPrim.MoveToTargetTau,  // timeScale
+                                        BSMotor.Infinite,                   // decay time scale
+                                        1f                                  // efficiency
             );
             m_targetMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG so motor will output detail log messages.
             m_targetMotor.SetTarget(m_controllingPrim.MoveToTargetTarget);
             m_targetMotor.SetCurrent(m_controllingPrim.RawPosition);
 
-            m_physicsScene.BeforeStep += Mover;
+            // m_physicsScene.BeforeStep += Mover;
+            m_physicsScene.BeforeStep += Mover2;
+        }
+        else
+        {
+            // If already allocated, make sure the target and other paramters are current
+            m_targetMotor.SetTarget(m_controllingPrim.MoveToTargetTarget);
+            m_targetMotor.SetCurrent(m_controllingPrim.RawPosition);
         }
     }
 
@@ -119,12 +132,16 @@ public class BSActorMoveToTarget : BSActor
     {
         if (m_targetMotor != null)
         {
-            m_physicsScene.BeforeStep -= Mover;
+            // m_physicsScene.BeforeStep -= Mover;
+            m_physicsScene.BeforeStep -= Mover2;
             m_targetMotor = null;
         }
     }
 
-    // Called just before the simulation step. Update the vertical position for hoverness.
+    // Origional mover that set the objects position to move to the target.
+    // The problem was that gravity would keep trying to push the object down so
+    //    the overall downward velocity would increase to infinity.
+    // Called just before the simulation step.
     private void Mover(float timeStep)
     {
         // Don't do hovering while the object is selected.
@@ -142,6 +159,7 @@ public class BSActorMoveToTarget : BSActor
             m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,zeroMovement,movePos={1},pos={2},mass={3}",
                                     m_controllingPrim.LocalID, movePosition, m_controllingPrim.RawPosition, m_controllingPrim.Mass);
             m_controllingPrim.ForcePosition = m_targetMotor.TargetValue;
+            m_controllingPrim.ForceVelocity = OMV.Vector3.Zero;
             // Setting the position does not cause the physics engine to generate a property update. Force it.
             m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody);
         }
@@ -151,7 +169,51 @@ public class BSActorMoveToTarget : BSActor
             // Setting the position does not cause the physics engine to generate a property update. Force it.
             m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody);
         }
-        m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,move,fromPos={1},movePos={2}", m_controllingPrim.LocalID, origPosition, movePosition);
+        m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,move,fromPos={1},movePos={2}",
+                                        m_controllingPrim.LocalID, origPosition, movePosition);
+    }
+
+    // Version of mover that applies forces to move the physical object to the target.
+    // Also overcomes gravity so the object doesn't just drop to the ground.
+    // Called just before the simulation step.
+    private void Mover2(float timeStep)
+    {
+        // Don't do hovering while the object is selected.
+        if (!isActive)
+            return;
+
+        OMV.Vector3 origPosition = m_controllingPrim.RawPosition;     // DEBUG DEBUG (for printout below)
+        OMV.Vector3 addedForce = OMV.Vector3.Zero;
+
+        // CorrectionVector is the movement vector required this step
+        OMV.Vector3 correctionVector = m_targetMotor.Step(timeStep, m_controllingPrim.RawPosition);
+
+        // If we are very close to our target, turn off the movement motor.
+        if (m_targetMotor.ErrorIsZero())
+        {
+            m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover3,zeroMovement,pos={1},mass={2}",
+                                    m_controllingPrim.LocalID, m_controllingPrim.RawPosition, m_controllingPrim.Mass);
+            m_controllingPrim.ForcePosition = m_targetMotor.TargetValue;
+            m_controllingPrim.ForceVelocity = OMV.Vector3.Zero;
+            // Setting the position does not cause the physics engine to generate a property update. Force it.
+            m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody);
+        }
+        else
+        {
+            // First force to move us there -- the motor return a timestep scaled value.
+            addedForce = correctionVector / timeStep;
+            // Remove the existing velocity (only the moveToTarget force counts)
+            addedForce -= m_controllingPrim.RawVelocity;
+            // Overcome gravity. 
+            addedForce -= m_controllingPrim.Gravity;
+
+            // Add enough force to overcome the mass of the object
+            addedForce *= m_controllingPrim.Mass;
+
+            m_controllingPrim.AddForce(addedForce, false /* pushForce */, true /* inTaintTime */);
+        }
+        m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover3,move,fromPos={1},addedForce={2}",
+                                        m_controllingPrim.LocalID, origPosition, addedForce);
     }
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 48f842e..5ef6992 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -626,7 +626,7 @@ public sealed class BSCharacter : BSPhysObject
         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())
         {
             OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 07e87d1..aa247dd 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -1276,7 +1276,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
             VehicleAddForce(appliedGravity);
 
-            VDetailLog("{0},  MoveLinear,applyGravity,vehGrav={1},collid={2},fudge={3},mass={4},appliedForce={3}",
+            VDetailLog("{0},  MoveLinear,applyGravity,vehGrav={1},collid={2},fudge={3},mass={4},appliedForce={5}",
                             ControllingPrim.LocalID, m_VehicleGravity,
                             ControllingPrim.IsColliding, BSParam.VehicleGroundGravityFudge, m_vehicleMass, appliedGravity);
         }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 76c2187..ad8e10f 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -33,14 +33,6 @@ 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]";
@@ -56,15 +48,15 @@ public abstract class BSLinkset
     {
         BSLinkset ret = null;
 
-        switch ((int)BSParam.LinksetImplementation)
+        switch (parent.LinksetType)
         {
-            case (int)LinksetImplementation.Constraint:
+            case LinksetImplementation.Constraint:
                 ret = new BSLinksetConstraints(physScene, parent);
                 break;
-            case (int)LinksetImplementation.Compound:
+            case LinksetImplementation.Compound:
                 ret = new BSLinksetCompound(physScene, parent);
                 break;
-            case (int)LinksetImplementation.Manual:
+            case LinksetImplementation.Manual:
                 // ret = new BSLinksetManual(physScene, parent);
                 break;
             default:
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 350a5d1..308cf13 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -238,7 +238,6 @@ public sealed class BSLinksetCompound : BSLinkset
                     //    there will already be a rebuild scheduled.
                     DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild.schedulingRebuild,whichUpdated={1}",
                                                                     updated.LocalID, whichUpdated);
-                    updated.LinksetInfo = null; // setting to 'null' causes relative position to be recomputed.
                     ScheduleRebuild(updated);
                 }
             }
@@ -294,7 +293,6 @@ public sealed class BSLinksetCompound : BSLinkset
                             child.LocalID, child.PhysBody.AddrString);
 
             // Cause the child's body to be rebuilt and thus restored to normal operation
-            child.LinksetInfo = null;
             child.ForceBodyShapeRebuild(false);
 
             if (!HasAnyChildren)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
index ef662b5..1214703 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
@@ -144,7 +144,6 @@ public class BSVMotor : BSMotor
 
         Vector3 correction = Vector3.Zero;
         Vector3 error = TargetValue - CurrentValue;
-        LastError = error;
         if (!ErrorIsZero(error))
         {
             correction = StepError(timeStep, error);
@@ -179,6 +178,7 @@ public class BSVMotor : BSMotor
             MDetailLog("{0},  BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},currTgt={4},currCurr={5}",
                         BSScene.DetailLogZero, UseName, origCurrVal, origTarget, TargetValue, CurrentValue);
         }
+        LastError = error;
 
         return correction;
     }
@@ -293,7 +293,6 @@ public class BSFMotor : BSMotor
 
         float correction = 0f;
         float error = TargetValue - CurrentValue;
-        LastError = error;
         if (!ErrorIsZero(error))
         {
             correction = StepError(timeStep, error);
@@ -328,6 +327,7 @@ public class BSFMotor : BSMotor
             MDetailLog("{0},  BSFMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}",
                         BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue);
         }
+        LastError = error;
 
         return CurrentValue;
     }
@@ -363,7 +363,7 @@ public class BSFMotor : BSMotor
 
 // ============================================================================
 // ============================================================================
-// 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
 {
@@ -434,15 +434,14 @@ public class BSPIDVMotor : BSVMotor
 
         // A simple derivitive is the rate of change from the last error.
         Vector3 derivitive = (error - LastError) * timeStep;
-        LastError = error;
 
         // Correction = (proportionOfPresentError + accumulationOfPastError + rateOfChangeOfError)
-        Vector3 ret   =   error * timeStep   * proportionFactor * FactorMix.X
-                        + RunningIntegration * integralFactor   * FactorMix.Y
-                        + derivitive         * derivFactor      * FactorMix.Z
+        Vector3 ret   =   error / TimeScale * timeStep   * proportionFactor * FactorMix.X
+                        + RunningIntegration / TimeScale * integralFactor   * FactorMix.Y
+                        + derivitive / TimeScale         * derivFactor      * FactorMix.Z
                         ;
 
-        MDetailLog("{0},BSPIDVMotor.step,ts={1},err={2},runnInt={3},deriv={4},ret={5}",
+        MDetailLog("{0},  BSPIDVMotor.step,ts={1},err={2},runnInt={3},deriv={4},ret={5}",
                         BSScene.DetailLogZero, timeStep, error, RunningIntegration, derivitive, ret);
 
         return ret;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index 6437b04..d17c8e7 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -706,7 +706,7 @@ public static class BSParam
         new ParameterDefn<float>("ResetBroadphasePool", "Setting this is any value resets the broadphase collision pool",
             0f,
             (s) => { return 0f; },
-            (s,v) => { BSParam.ResetBroadphasePoolTainted(s, v); } ),
+            (s,v) => { BSParam.ResetBroadphasePoolTainted(s, v, false /* inTaintTime */); } ),
         new ParameterDefn<float>("ResetConstraintSolver", "Setting this is any value resets the constraint solver",
             0f,
             (s) => { return 0f; },
@@ -792,10 +792,10 @@ public static class BSParam
     // =====================================================================
     // There are parameters that, when set, cause things to happen in the physics engine.
     // This causes the broadphase collision cache to be cleared.
-    private static void ResetBroadphasePoolTainted(BSScene pPhysScene, float v)
+    private static void ResetBroadphasePoolTainted(BSScene pPhysScene, float v, bool inTaintTime)
     {
         BSScene physScene = pPhysScene;
-        physScene.TaintedObject("BSParam.ResetBroadphasePoolTainted", delegate()
+        physScene.TaintedObject(inTaintTime, "BSParam.ResetBroadphasePoolTainted", delegate()
         {
             physScene.PE.ResetBroadphasePool(physScene.World);
         });
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index a4c5e08..a0d5c42 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -210,6 +210,7 @@ public abstract class BSPhysObject : PhysicsActor
         AddAngularForce(force, pushforce, false);
     }
     public abstract void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime);
+    public abstract void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime);
 
     public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 95bdc7b..b2947c6 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -70,18 +70,17 @@ public class BSPrim : BSPhysObject
     private int CrossingFailures { get; set; }
 
     // Keep a handle to the vehicle actor so it is easy to set parameters on same.
-    public BSDynamics VehicleActor;
     public const string VehicleActorName = "BasicVehicle";
 
     // Parameters for the hover actor
-    public const string HoverActorName = "HoverActor";
+    public const string HoverActorName = "BSPrim.HoverActor";
     // Parameters for the axis lock actor
     public const String LockedAxisActorName = "BSPrim.LockedAxis";
     // Parameters for the move to target actor
-    public const string MoveToTargetActorName = "MoveToTargetActor";
+    public const string MoveToTargetActorName = "BSPrim.MoveToTargetActor";
     // Parameters for the setForce and setTorque actors
-    public const string SetForceActorName = "SetForceActor";
-    public const string SetTorqueActorName = "SetTorqueActor";
+    public const string SetForceActorName = "BSPrim.SetForceActor";
+    public const string SetTorqueActorName = "BSPrim.SetTorqueActor";
 
     public BSPrim(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
                        OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
@@ -100,9 +99,8 @@ public class BSPrim : BSPhysObject
         _isPhysical = pisPhysical;
         _isVolumeDetect = false;
 
-        // We keep a handle to the vehicle actor so we can set vehicle parameters later.
-        VehicleActor = new BSDynamics(PhysScene, this, VehicleActorName);
-        PhysicalActors.Add(VehicleActorName, VehicleActor);
+        // Add a dynamic vehicle to our set of actors that can move this prim.
+        PhysicalActors.Add(VehicleActorName, new BSDynamics(PhysScene, this, VehicleActorName));
 
         _mass = CalculateMass();
 
@@ -450,6 +448,9 @@ public class BSPrim : BSPhysObject
                 Gravity = ComputeGravity(Buoyancy);
                 PhysScene.PE.SetGravity(PhysBody, Gravity);
 
+                OMV.Vector3 currentScale = PhysScene.PE.GetLocalScaling(PhysShape.physShapeInfo);   // DEBUG DEBUG
+                DetailLog("{0},BSPrim.UpdateMassProperties,currentScale{1},shape={2}", LocalID, currentScale, PhysShape.physShapeInfo);   // DEBUG DEBUG
+
                 Inertia = PhysScene.PE.CalculateLocalInertia(PhysShape.physShapeInfo, physMass);
                 PhysScene.PE.SetMassProps(PhysBody, physMass, Inertia);
                 PhysScene.PE.UpdateInertiaTensor(PhysBody);
@@ -502,9 +503,25 @@ public class BSPrim : BSPhysObject
         }
     }
 
+        // Find and return a handle to the current vehicle actor.
+        // Return 'null' if there is no vehicle actor.
+    public BSDynamics GetVehicleActor()
+    {
+        BSDynamics ret = null;
+        BSActor actor;
+        if (PhysicalActors.TryGetActor(VehicleActorName, out actor))
+        {
+            ret = actor as BSDynamics;
+        }
+        return ret;
+    }
     public override int VehicleType {
         get {
-            return (int)VehicleActor.Type;
+            int ret = (int)Vehicle.TYPE_NONE;
+            BSDynamics vehicleActor = GetVehicleActor();
+            if (vehicleActor != null)
+                ret = (int)vehicleActor.Type;
+            return ret;
         }
         set {
             Vehicle type = (Vehicle)value;
@@ -515,8 +532,12 @@ public class BSPrim : BSPhysObject
                 //    change all the parameters. Like a plane changing to CAR when on the
                 //    ground. In this case, don't want to zero motion.
                 // ZeroMotion(true /* inTaintTime */);
-                VehicleActor.ProcessTypeChange(type);
-                ActivateIfPhysical(false);
+                BSDynamics vehicleActor = GetVehicleActor();
+                if (vehicleActor != null)
+                {
+                    vehicleActor.ProcessTypeChange(type);
+                    ActivateIfPhysical(false);
+                }
             });
         }
     }
@@ -524,31 +545,47 @@ public class BSPrim : BSPhysObject
     {
         PhysScene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
         {
-            VehicleActor.ProcessFloatVehicleParam((Vehicle)param, value);
-            ActivateIfPhysical(false);
+            BSDynamics vehicleActor = GetVehicleActor();
+            if (vehicleActor != null)
+            {
+                vehicleActor.ProcessFloatVehicleParam((Vehicle)param, value);
+                ActivateIfPhysical(false);
+            }
         });
     }
     public override void VehicleVectorParam(int param, OMV.Vector3 value)
     {
         PhysScene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
         {
-            VehicleActor.ProcessVectorVehicleParam((Vehicle)param, value);
-            ActivateIfPhysical(false);
+            BSDynamics vehicleActor = GetVehicleActor();
+            if (vehicleActor != null)
+            {
+                vehicleActor.ProcessVectorVehicleParam((Vehicle)param, value);
+                ActivateIfPhysical(false);
+            }
         });
     }
     public override void VehicleRotationParam(int param, OMV.Quaternion rotation)
     {
         PhysScene.TaintedObject("BSPrim.VehicleRotationParam", delegate()
         {
-            VehicleActor.ProcessRotationVehicleParam((Vehicle)param, rotation);
-            ActivateIfPhysical(false);
+            BSDynamics vehicleActor = GetVehicleActor();
+            if (vehicleActor != null)
+            {
+                vehicleActor.ProcessRotationVehicleParam((Vehicle)param, rotation);
+                ActivateIfPhysical(false);
+            }
         });
     }
     public override void VehicleFlags(int param, bool remove)
     {
         PhysScene.TaintedObject("BSPrim.VehicleFlags", delegate()
         {
-            VehicleActor.ProcessVehicleFlags(param, remove);
+            BSDynamics vehicleActor = GetVehicleActor();
+            if (vehicleActor != null)
+            {
+                vehicleActor.ProcessVehicleFlags(param, remove);
+            }
         });
     }
 
@@ -1040,6 +1077,20 @@ public class BSPrim : BSPhysObject
         }
     }
 
+    public override OMV.Vector3 PIDTarget
+    {
+        set
+        {
+            base.PIDTarget = value;
+            BSActor actor;
+            if (PhysicalActors.TryGetActor(MoveToTargetActorName, out actor))
+            {
+                // if the actor exists, tell it to refresh its values.
+                actor.Refresh();
+            }
+            
+        }
+    }
     // Used for llSetHoverHeight and maybe vehicle height
     // Hover Height will override MoveTo target's Z
     public override bool PIDHoverActive {
@@ -1063,7 +1114,7 @@ public class BSPrim : BSPhysObject
 
     // 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) {
+    public override void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
         // for an object, doesn't matter if force is a pushforce or not
         if (IsPhysicallyActive)
         {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
index 235da78..87eed98 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
@@ -41,12 +41,15 @@ public class BSPrimLinkable : BSPrimDisplaced
     // The index of this child prim.
     public int LinksetChildIndex { get; set; }
 
-    public BSLinksetInfo LinksetInfo { get; set; }
+    public BSLinkset.LinksetImplementation LinksetType { get; set; }
 
     public BSPrimLinkable(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
                        OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
         : base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
     {
+        // Default linkset implementation for this prim
+        LinksetType = (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation;
+
         Linkset = BSLinkset.Factory(PhysScene, this);
 
         PhysScene.TaintedObject("BSPrimLinksetCompound.Refresh", delegate()
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index dec6b6f..1645c98 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -223,8 +223,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         //     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.
+            PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes, m_physicsLoggingDoFlush);
+            PhysicsLogging.ErrorLogger = m_log; // for DEBUG. Let's the logger output its own error messages.
         }
         else
         {
@@ -1106,8 +1106,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     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/Tests/BasicVehicles.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs
index b040e21..583c436 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs
@@ -114,21 +114,25 @@ public class BasicVehicles : OpenSimTestCase
         //    Instead the appropriate values are set and calls are made just the parts of the
         //    controller we want to exercise. Stepping the physics engine then applies
         //    the actions of that one feature.
-        TestVehicle.VehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, efficiency);
-        TestVehicle.VehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_TIMESCALE, timeScale);
-        TestVehicle.VehicleActor.enableAngularVerticalAttraction = true;
-
-        TestVehicle.IsPhysical = true;
-        PhysicsScene.ProcessTaints();
-
-        // Step the simulator a bunch of times and vertical attraction should orient the vehicle up
-        for (int ii = 0; ii < simSteps; ii++)
+        BSDynamics vehicleActor = TestVehicle.GetVehicleActor();
+        if (vehicleActor != null)
         {
-            TestVehicle.VehicleActor.ForgetKnownVehicleProperties();
-            TestVehicle.VehicleActor.ComputeAngularVerticalAttraction();
-            TestVehicle.VehicleActor.PushKnownChanged();
-
-            PhysicsScene.Simulate(simulationTimeStep);
+            vehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, efficiency);
+            vehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_TIMESCALE, timeScale);
+            vehicleActor.enableAngularVerticalAttraction = true;
+
+            TestVehicle.IsPhysical = true;
+            PhysicsScene.ProcessTaints();
+
+            // Step the simulator a bunch of times and vertical attraction should orient the vehicle up
+            for (int ii = 0; ii < simSteps; ii++)
+            {
+                vehicleActor.ForgetKnownVehicleProperties();
+                vehicleActor.ComputeAngularVerticalAttraction();
+                vehicleActor.PushKnownChanged();
+
+                PhysicsScene.Simulate(simulationTimeStep);
+            }
         }
 
         TestVehicle.IsPhysical = false;