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diff --git a/OpenSim/Region/PhysicsModules/BulletS/Tests/BasicVehicles.cs b/OpenSim/Region/PhysicsModules/BulletS/Tests/BasicVehicles.cs
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+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above 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.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+
+using NUnit.Framework;
+using log4net;
+
+using OpenSim.Framework;
+using OpenSim.Region.PhysicsModule.BulletS;
+using OpenSim.Region.PhysicsModules.SharedBase;
+using OpenSim.Tests.Common;
+
+using OpenMetaverse;
+
+namespace OpenSim.Region.PhysicsModule.BulletS.Tests
+{
+[TestFixture]
+public class BasicVehicles : OpenSimTestCase
+{
+    // Documentation on attributes: http://www.nunit.org/index.php?p=attributes&r=2.6.1
+    // Documentation on assertions: http://www.nunit.org/index.php?p=assertions&r=2.6.1
+
+    BSScene PhysicsScene { get; set; }
+    BSPrim TestVehicle { get; set; }
+    Vector3 TestVehicleInitPosition { get; set; }
+    float simulationTimeStep = 0.089f;
+
+    [TestFixtureSetUp]
+    public void Init()
+    {
+        Dictionary<string, string> engineParams = new Dictionary<string, string>();
+        engineParams.Add("VehicleEnableAngularVerticalAttraction", "true");
+        engineParams.Add("VehicleAngularVerticalAttractionAlgorithm", "1");
+        PhysicsScene = BulletSimTestsUtil.CreateBasicPhysicsEngine(engineParams);
+
+        PrimitiveBaseShape pbs = PrimitiveBaseShape.CreateSphere();
+        Vector3 pos = new Vector3(100.0f, 100.0f, 0f);
+        pos.Z = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 2f;
+        TestVehicleInitPosition = pos;
+        Vector3 size = new Vector3(1f, 1f, 1f);
+        pbs.Scale = size;
+        Quaternion rot = Quaternion.Identity;
+        bool isPhys = false;
+        uint localID = 123;
+
+        PhysicsScene.AddPrimShape("testPrim", pbs, pos, size, rot, isPhys, localID);
+        TestVehicle = (BSPrim)PhysicsScene.PhysObjects[localID];
+        // The actual prim shape creation happens at taint time
+        PhysicsScene.ProcessTaints();
+
+    }
+
+    [TestFixtureTearDown]
+    public void TearDown()
+    {
+        if (PhysicsScene != null)
+        {
+            // The Dispose() will also free any physical objects in the scene
+            PhysicsScene.Dispose();
+            PhysicsScene = null;
+        }
+    }
+
+    [TestCase(2f, 0.2f,  0.25f,  0.25f,  0.25f)]
+    [TestCase(2f, 0.2f, -0.25f,  0.25f,  0.25f)]
+    [TestCase(2f, 0.2f,  0.25f, -0.25f,  0.25f)]
+    [TestCase(2f, 0.2f, -0.25f, -0.25f,  0.25f)]
+    // [TestCase(2f, 0.2f, 0.785f,   0.0f,  0.25f) /*, "Leaning 45 degrees to the side" */]
+    // [TestCase(2f, 0.2f, 1.650f,   0.0f,  0.25f) /*, "Leaning more than 90 degrees to the side" */]
+    // [TestCase(2f, 0.2f, 2.750f,   0.0f,  0.25f) /*, "Almost upside down, tipped right" */]
+    // [TestCase(2f, 0.2f,-2.750f,   0.0f,  0.25f) /*, "Almost upside down, tipped left" */]
+    // [TestCase(2f, 0.2f,   0.0f, 0.785f,  0.25f) /*, "Tipped back 45 degrees" */]
+    // [TestCase(2f, 0.2f,   0.0f, 1.650f,  0.25f) /*, "Tipped back more than 90 degrees" */]
+    // [TestCase(2f, 0.2f,   0.0f, 2.750f,  0.25f) /*, "Almost upside down, tipped back" */]
+    // [TestCase(2f, 0.2f,   0.0f,-2.750f,  0.25f) /*, "Almost upside down, tipped forward" */]
+    public void AngularVerticalAttraction(float timeScale, float efficiency, float initRoll, float initPitch, float initYaw)
+    {
+        // Enough simulation steps to cover the timescale the operation should take
+        int simSteps = (int)(timeScale / simulationTimeStep) + 1;
+
+        // Tip the vehicle
+        Quaternion initOrientation = Quaternion.CreateFromEulers(initRoll, initPitch, initYaw);
+        TestVehicle.Orientation = initOrientation;
+
+        TestVehicle.Position = TestVehicleInitPosition;
+
+        // The vehicle controller is not enabled directly (by setting a vehicle type).
+        //    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.
+        BSDynamics vehicleActor = TestVehicle.GetVehicleActor(true /* createIfNone */);
+        if (vehicleActor != null)
+        {
+            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;
+        PhysicsScene.ProcessTaints();
+
+        // After these steps, the vehicle should be upright
+        /*
+        float finalRoll, finalPitch, finalYaw;
+        TestVehicle.Orientation.GetEulerAngles(out finalRoll, out finalPitch, out finalYaw);
+        Assert.That(finalRoll, Is.InRange(-0.01f, 0.01f));
+        Assert.That(finalPitch, Is.InRange(-0.01f, 0.01f));
+        Assert.That(finalYaw, Is.InRange(initYaw - 0.1f, initYaw + 0.1f));
+         */
+
+        Vector3 upPointer = Vector3.UnitZ * TestVehicle.Orientation;
+        Assert.That(upPointer.Z, Is.GreaterThan(0.99f));
+    }
+}
+}
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