28 files changed, 4584 insertions, 1731 deletions

diff --git a/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcRouterModule.cs b/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcRouterModule.cs
index 9d373ef..32549d6 100644
--- a/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcRouterModule.cs
+++ b/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcRouterModule.cs
@@ -110,12 +110,12 @@ namespace OpenSim.Region.OptionalModules.Scripting.XmlRpcRouterModule
 
         public void ScriptRemoved(UUID itemID)
         {
-            System.Console.WriteLine("TEST Script Removed!");
+            // System.Console.WriteLine("TEST Script Removed!");
         }
 
         public void ObjectRemoved(UUID objectID)
         {
-            System.Console.WriteLine("TEST Obj Removed!");
+            // System.Console.WriteLine("TEST Obj Removed!");
         }
     }
 }
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs
index 9c4ba30..aadb5b2 100644
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs
@@ -111,10 +111,6 @@ public sealed class BSPrim : BSPhysObject
 
         _mass = CalculateMass();
 
-        // No body or shape yet
-        PhysBody = new BulletBody(LocalID);
-        PhysShape = new BulletShape();
-
         Linkset.Refresh(this);
 
         DetailLog("{0},BSPrim.constructor,call", LocalID);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
new file mode 100755
index 0000000..8c6e7d6
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -0,0 +1,1839 @@
+/*
+ * 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.Security;
+using System.Text;
+
+using OpenSim.Framework;
+
+using OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public sealed class BSAPIUnman : BSAPITemplate
+{
+
+private sealed class BulletWorldUnman : BulletWorld
+{
+    public IntPtr ptr;
+    public BulletWorldUnman(uint id, BSScene physScene, IntPtr xx)
+        : base(id, physScene)
+    {
+        ptr = xx;
+    }
+}
+
+private sealed class BulletBodyUnman : BulletBody
+{
+    public IntPtr ptr;
+    public BulletBodyUnman(uint id, IntPtr xx)
+        : base(id)
+    {
+        ptr = xx;
+    }
+    public override bool HasPhysicalBody
+    {
+        get { return ptr != IntPtr.Zero; }
+    }
+    public override void Clear()
+    {
+        ptr = IntPtr.Zero;
+    }
+    public override string AddrString
+    {
+        get { return ptr.ToString("X"); }
+    }
+}
+
+private sealed class BulletShapeUnman : BulletShape
+{
+    public IntPtr ptr;
+    public BulletShapeUnman(IntPtr xx, BSPhysicsShapeType typ) 
+        : base()
+    {
+        ptr = xx;
+        type = typ;
+    }
+    public override bool HasPhysicalShape
+    {
+        get { return ptr != IntPtr.Zero; }
+    }
+    public override void Clear()
+    {
+        ptr = IntPtr.Zero;
+    }
+    public override BulletShape Clone()
+    {
+        return new BulletShapeUnman(ptr, type);
+    }
+    public override bool ReferenceSame(BulletShape other)
+    {
+        BulletShapeUnman otheru = other as BulletShapeUnman;
+        return (otheru != null) && (this.ptr == otheru.ptr);
+
+    }
+    public override string AddrString
+    {
+        get { return ptr.ToString("X"); }
+    }
+}
+private sealed class BulletConstraintUnman : BulletConstraint
+{
+    public BulletConstraintUnman(IntPtr xx) : base()
+    {
+        ptr = xx;
+    }
+    public IntPtr ptr;
+
+    public override void Clear()
+    {
+        ptr = IntPtr.Zero;
+    }
+    public override bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } }
+
+    // Used for log messages for a unique display of the memory/object allocated to this instance
+    public override string AddrString
+    {
+        get { return ptr.ToString("X"); }
+    }
+}
+
+// We pin the memory passed between the managed and unmanaged code.
+GCHandle m_paramsHandle;
+private GCHandle m_collisionArrayPinnedHandle;
+private GCHandle m_updateArrayPinnedHandle;
+
+// Handle to the callback used by the unmanaged code to call into the managed code.
+// Used for debug logging.
+// Need to store the handle in a persistant variable so it won't be freed.
+private BSAPICPP.DebugLogCallback m_DebugLogCallbackHandle;
+
+private BSScene PhysicsScene { get; set; }
+
+public override string BulletEngineName { get { return "BulletUnmanaged"; } }
+public override string BulletEngineVersion { get; protected set; }
+
+public BSAPIUnman(string paramName, BSScene physScene)
+{
+    PhysicsScene = physScene;
+
+    // Do something fancy with the paramName to get the right DLL implementation
+    //     like "Bullet-2.80-OpenCL-Intel" loading the version for Intel based OpenCL implementation, etc.
+    if (Util.IsWindows())
+        Util.LoadArchSpecificWindowsDll("BulletSim.dll");
+    // If not Windows, loading is performed by the
+    // Mono loader as specified in
+    // "bin/Physics/OpenSim.Region.Physics.BulletSPlugin.dll.config".
+}
+
+// Initialization and simulation
+public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
+                                                                                        int maxCollisions,  ref CollisionDesc[] collisionArray,
+                                                                                        int maxUpdates, ref EntityProperties[] updateArray
+                                            )
+{
+    // Pin down the memory that will be used to pass object collisions and updates back from unmanaged code
+    m_paramsHandle = GCHandle.Alloc(parms, GCHandleType.Pinned);
+    m_collisionArrayPinnedHandle = GCHandle.Alloc(collisionArray, GCHandleType.Pinned);
+    m_updateArrayPinnedHandle = GCHandle.Alloc(updateArray, GCHandleType.Pinned);
+
+    // If Debug logging level, enable logging from the unmanaged code
+    m_DebugLogCallbackHandle = null;
+    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)
+            // The handle is saved in a variable to make sure it doesn't get freed after this call
+            m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLoggerPhysLog);
+        else
+            m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLogger);
+    }
+
+    // Get the version of the DLL
+    // TODO: this doesn't work yet. Something wrong with marshaling the returned string.
+    // BulletEngineVersion = BulletSimAPI.GetVersion2();
+    BulletEngineVersion = "";
+
+    // Call the unmanaged code with the buffers and other information
+    return new BulletWorldUnman(0, PhysicsScene, BSAPICPP.Initialize2(maxPosition, m_paramsHandle.AddrOfPinnedObject(),
+                                    maxCollisions, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
+                                    maxUpdates, m_updateArrayPinnedHandle.AddrOfPinnedObject(),
+                                    m_DebugLogCallbackHandle));
+
+}
+
+// Called directly from unmanaged code so don't do much
+private void BulletLogger(string msg)
+{
+    BSScene.m_log.Debug("[BULLETS UNMANAGED]:" + msg);
+}
+
+// Called directly from unmanaged code so don't do much
+private void BulletLoggerPhysLog(string msg)
+{
+    PhysicsScene.DetailLog("[BULLETS UNMANAGED]:" + msg);
+}
+
+public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
+                        out int updatedEntityCount, out int collidersCount)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return BSAPICPP.PhysicsStep2(worldu.ptr, timeStep, maxSubSteps, fixedTimeStep, out updatedEntityCount, out collidersCount);
+}
+
+public override void Shutdown(BulletWorld world)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BSAPICPP.Shutdown2(worldu.ptr);
+}
+
+public override bool PushUpdate(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.PushUpdate2(bodyu.ptr);
+}
+
+public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return BSAPICPP.UpdateParameter2(worldu.ptr, localID, parm, value);
+}
+
+// =====================================================================================
+// Mesh, hull, shape and body creation helper routines
+public override BulletShape CreateMeshShape(BulletWorld world,
+                int indicesCount, int[] indices,
+                int verticesCount, float[] vertices)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return new BulletShapeUnman(
+                    BSAPICPP.CreateMeshShape2(worldu.ptr, indicesCount, indices, verticesCount, vertices),
+                    BSPhysicsShapeType.SHAPE_MESH);
+}
+
+public override BulletShape CreateHullShape(BulletWorld world, int hullCount, float[] hulls)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return new BulletShapeUnman(
+                    BSAPICPP.CreateHullShape2(worldu.ptr, hullCount, hulls), 
+                    BSPhysicsShapeType.SHAPE_HULL);
+}
+
+public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletShapeUnman shapeu = meshShape as BulletShapeUnman;
+    return new BulletShapeUnman(
+                    BSAPICPP.BuildHullShapeFromMesh2(worldu.ptr, shapeu.ptr),
+                    BSPhysicsShapeType.SHAPE_HULL);
+}
+
+public override BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return new BulletShapeUnman(BSAPICPP.BuildNativeShape2(worldu.ptr, shapeData), shapeData.Type);
+}
+
+public override bool IsNativeShape(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    if (shapeu != null && shapeu.HasPhysicalShape)
+        return BSAPICPP.IsNativeShape2(shapeu.ptr);
+    return false;
+}
+
+public override void SetShapeCollisionMargin(BulletShape shape, float margin)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    if (shapeu != null && shapeu.HasPhysicalShape)
+        BSAPICPP.SetShapeCollisionMargin2(shapeu.ptr, margin);
+}
+
+public override BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return new BulletShapeUnman(
+                   BSAPICPP.BuildCapsuleShape2(worldu.ptr, radius, height, scale),
+                   BSPhysicsShapeType.SHAPE_CAPSULE);
+}
+
+public override BulletShape CreateCompoundShape(BulletWorld world, bool enableDynamicAabbTree)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return new BulletShapeUnman(
+                    BSAPICPP.CreateCompoundShape2(worldu.ptr, enableDynamicAabbTree),
+                    BSPhysicsShapeType.SHAPE_COMPOUND);
+
+}
+
+public override int GetNumberOfCompoundChildren(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    if (shapeu != null && shapeu.HasPhysicalShape)
+        return BSAPICPP.GetNumberOfCompoundChildren2(shapeu.ptr);
+    return 0;
+}
+
+public override void AddChildShapeToCompoundShape(BulletShape shape, BulletShape addShape, Vector3 pos, Quaternion rot)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    BulletShapeUnman addShapeu = addShape as BulletShapeUnman;
+    BSAPICPP.AddChildShapeToCompoundShape2(shapeu.ptr, addShapeu.ptr, pos, rot);
+}
+
+public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape shape, int indx)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return new BulletShapeUnman(BSAPICPP.GetChildShapeFromCompoundShapeIndex2(shapeu.ptr, indx), BSPhysicsShapeType.SHAPE_UNKNOWN);
+}
+
+public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape shape, int indx)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return new BulletShapeUnman(BSAPICPP.RemoveChildShapeFromCompoundShapeIndex2(shapeu.ptr, indx), BSPhysicsShapeType.SHAPE_UNKNOWN);
+}
+
+public override void RemoveChildShapeFromCompoundShape(BulletShape shape, BulletShape removeShape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    BulletShapeUnman removeShapeu = removeShape as BulletShapeUnman;
+    BSAPICPP.RemoveChildShapeFromCompoundShape2(shapeu.ptr, removeShapeu.ptr);
+}
+
+public override void RecalculateCompoundShapeLocalAabb(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    BSAPICPP.RecalculateCompoundShapeLocalAabb2(shapeu.ptr);
+}
+
+public override BulletShape DuplicateCollisionShape(BulletWorld world, BulletShape srcShape, uint id)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletShapeUnman srcShapeu = srcShape as BulletShapeUnman;
+    return new BulletShapeUnman(BSAPICPP.DuplicateCollisionShape2(worldu.ptr, srcShapeu.ptr, id), srcShape.type);
+}
+
+public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.DeleteCollisionShape2(worldu.ptr, shapeu.ptr);
+}
+
+public override CollisionObjectTypes GetBodyType(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return (CollisionObjectTypes)BSAPICPP.GetBodyType2(bodyu.ptr);
+}
+
+public override BulletBody CreateBodyFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return new BulletBodyUnman(id, BSAPICPP.CreateBodyFromShape2(worldu.ptr, shapeu.ptr, id, pos, rot));
+}
+
+public override BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, uint id, Vector3 pos, Quaternion rot)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return new BulletBodyUnman(id, BSAPICPP.CreateBodyWithDefaultMotionState2(shapeu.ptr, id, pos, rot));
+}
+
+public override BulletBody CreateGhostFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return new BulletBodyUnman(id, BSAPICPP.CreateGhostFromShape2(worldu.ptr, shapeu.ptr, id, pos, rot));
+}
+
+public override void DestroyObject(BulletWorld world, BulletBody obj)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.DestroyObject2(worldu.ptr, bodyu.ptr);
+}
+
+// =====================================================================================
+// Terrain creation and helper routines
+public override BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin)
+{
+    return new BulletShapeUnman(BSAPICPP.CreateGroundPlaneShape2(id, height, collisionMargin), BSPhysicsShapeType.SHAPE_GROUNDPLANE);
+}
+
+public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap,
+                                float scaleFactor, float collisionMargin)
+{
+    return new BulletShapeUnman(BSAPICPP.CreateTerrainShape2(id, size, minHeight, maxHeight, heightMap, scaleFactor, collisionMargin),
+                                                BSPhysicsShapeType.SHAPE_TERRAIN);
+}
+
+// =====================================================================================
+// Constraint creation and helper routines
+public override BulletConstraint Create6DofConstraint(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.Create6DofConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot,
+                    frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+}
+
+public override BulletConstraint Create6DofConstraintToPoint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 joinPoint,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
+    BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
+    return new BulletConstraintUnman(BSAPICPP.Create6DofConstraintToPoint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr,
+                    joinPoint, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+}
+
+public override BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 pivotinA, Vector3 pivotinB,
+                    Vector3 axisInA, Vector3 axisInB,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
+    BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
+    return new BulletConstraintUnman(BSAPICPP.CreateHingeConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr,
+                    pivotinA, pivotinB, axisInA, axisInB, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+}
+
+public override void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    BSAPICPP.SetConstraintEnable2(constrainu.ptr, numericTrueFalse);
+}
+
+public override void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    BSAPICPP.SetConstraintNumSolverIterations2(constrainu.ptr, iterations);
+}
+
+public override bool SetFrames(BulletConstraint constrain,
+                Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.SetFrames2(constrainu.ptr, frameA, frameArot, frameB, frameBrot);
+}
+
+public override bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.SetLinearLimits2(constrainu.ptr, low, hi);
+}
+
+public override bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.SetAngularLimits2(constrainu.ptr, low, hi);
+}
+
+public override bool UseFrameOffset(BulletConstraint constrain, float enable)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.UseFrameOffset2(constrainu.ptr, enable);
+}
+
+public override bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.TranslationalLimitMotor2(constrainu.ptr, enable, targetVel, maxMotorForce);
+}
+
+public override bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.SetBreakingImpulseThreshold2(constrainu.ptr, threshold);
+}
+
+public override bool CalculateTransforms(BulletConstraint constrain)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.CalculateTransforms2(constrainu.ptr);
+}
+
+public override bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.SetConstraintParam2(constrainu.ptr, paramIndex, value, axis);
+}
+
+public override bool DestroyConstraint(BulletWorld world, BulletConstraint constrain)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.DestroyConstraint2(worldu.ptr, constrainu.ptr);
+}
+
+// =====================================================================================
+// btCollisionWorld entries
+public override void UpdateSingleAabb(BulletWorld world, BulletBody obj)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.UpdateSingleAabb2(worldu.ptr, bodyu.ptr);
+}
+
+public override void UpdateAabbs(BulletWorld world)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BSAPICPP.UpdateAabbs2(worldu.ptr);
+}
+
+public override bool GetForceUpdateAllAabbs(BulletWorld world)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return BSAPICPP.GetForceUpdateAllAabbs2(worldu.ptr);
+}
+
+public override void SetForceUpdateAllAabbs(BulletWorld world, bool force)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BSAPICPP.SetForceUpdateAllAabbs2(worldu.ptr, 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;
+
+    Vector3 origGrav = BSAPICPP.GetGravity2(bodyu.ptr);
+
+    bool ret = BSAPICPP.AddObjectToWorld2(worldu.ptr, bodyu.ptr);
+
+    if (ret)
+    {
+        BSAPICPP.SetGravity2(bodyu.ptr, origGrav);
+        obj.ApplyCollisionMask(world.physicsScene);
+    }
+    return ret;
+}
+
+public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.RemoveObjectFromWorld2(worldu.ptr, bodyu.ptr);
+}
+
+public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.AddConstraintToWorld2(worldu.ptr, constrainu.ptr, disableCollisionsBetweenLinkedObjects);
+}
+
+public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.RemoveConstraintFromWorld2(worldu.ptr, constrainu.ptr);
+}
+// =====================================================================================
+// btCollisionObject entries
+public override Vector3 GetAnisotripicFriction(BulletConstraint constrain)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.GetAnisotripicFriction2(constrainu.ptr);
+}
+
+public override Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.SetAnisotripicFriction2(constrainu.ptr, frict);
+}
+
+public override bool HasAnisotripicFriction(BulletConstraint constrain)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.HasAnisotripicFriction2(constrainu.ptr);
+}
+
+public override void SetContactProcessingThreshold(BulletBody obj, float val)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetContactProcessingThreshold2(bodyu.ptr, val);
+}
+
+public override float GetContactProcessingThreshold(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetContactProcessingThreshold2(bodyu.ptr);
+}
+
+public override bool IsStaticObject(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.IsStaticObject2(bodyu.ptr);
+}
+
+public override bool IsKinematicObject(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.IsKinematicObject2(bodyu.ptr);
+}
+
+public override bool IsStaticOrKinematicObject(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.IsStaticOrKinematicObject2(bodyu.ptr);
+}
+
+public override bool HasContactResponse(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.HasContactResponse2(bodyu.ptr);
+}
+
+public override void SetCollisionShape(BulletWorld world, BulletBody obj, BulletShape shape)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    if (worldu != null && bodyu != null)
+    {
+        // Special case to allow the caller to zero out the reference to any physical shape
+        if (shapeu != null)
+            BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, shapeu.ptr);
+        else
+            BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, IntPtr.Zero);
+    }
+}
+
+public override BulletShape GetCollisionShape(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return new BulletShapeUnman(BSAPICPP.GetCollisionShape2(bodyu.ptr), BSPhysicsShapeType.SHAPE_UNKNOWN);
+}
+
+public override int GetActivationState(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetActivationState2(bodyu.ptr);
+}
+
+public override void SetActivationState(BulletBody obj, int state)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetActivationState2(bodyu.ptr, state);
+}
+
+public override void SetDeactivationTime(BulletBody obj, float dtime)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetDeactivationTime2(bodyu.ptr, dtime);
+}
+
+public override float GetDeactivationTime(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetDeactivationTime2(bodyu.ptr);
+}
+
+public override void ForceActivationState(BulletBody obj, ActivationState state)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ForceActivationState2(bodyu.ptr, state);
+}
+
+public override void Activate(BulletBody obj, bool forceActivation)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.Activate2(bodyu.ptr, forceActivation);
+}
+
+public override bool IsActive(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.IsActive2(bodyu.ptr);
+}
+
+public override void SetRestitution(BulletBody obj, float val)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetRestitution2(bodyu.ptr, val);
+}
+
+public override float GetRestitution(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetRestitution2(bodyu.ptr);
+}
+
+public override void SetFriction(BulletBody obj, float val)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetFriction2(bodyu.ptr, val);
+}
+
+public override float GetFriction(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetFriction2(bodyu.ptr);
+}
+
+public override Vector3 GetPosition(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetPosition2(bodyu.ptr);
+}
+
+public override Quaternion GetOrientation(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetOrientation2(bodyu.ptr);
+}
+
+public override void SetTranslation(BulletBody obj, Vector3 position, Quaternion rotation)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetTranslation2(bodyu.ptr, position, rotation);
+}
+
+    /*
+public override IntPtr GetBroadphaseHandle(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetBroadphaseHandle2(bodyu.ptr);
+}
+
+public override void SetBroadphaseHandle(BulletBody obj, IntPtr handle)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetUserPointer2(bodyu.ptr, handle);
+}
+     */
+
+public override void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetInterpolationLinearVelocity2(bodyu.ptr, vel);
+}
+
+public override void SetInterpolationAngularVelocity(BulletBody obj, Vector3 vel)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetInterpolationAngularVelocity2(bodyu.ptr, vel);
+}
+
+public override void SetInterpolationVelocity(BulletBody obj, Vector3 linearVel, Vector3 angularVel)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetInterpolationVelocity2(bodyu.ptr, linearVel, angularVel);
+}
+
+public override float GetHitFraction(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetHitFraction2(bodyu.ptr);
+}
+
+public override void SetHitFraction(BulletBody obj, float val)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetHitFraction2(bodyu.ptr, val);
+}
+
+public override CollisionFlags GetCollisionFlags(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetCollisionFlags2(bodyu.ptr);
+}
+
+public override CollisionFlags SetCollisionFlags(BulletBody obj, CollisionFlags flags)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.SetCollisionFlags2(bodyu.ptr, flags);
+}
+
+public override CollisionFlags AddToCollisionFlags(BulletBody obj, CollisionFlags flags)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.AddToCollisionFlags2(bodyu.ptr, flags);
+}
+
+public override CollisionFlags RemoveFromCollisionFlags(BulletBody obj, CollisionFlags flags)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.RemoveFromCollisionFlags2(bodyu.ptr, flags);
+}
+
+public override float GetCcdMotionThreshold(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetCcdMotionThreshold2(bodyu.ptr);
+}
+
+
+public override void SetCcdMotionThreshold(BulletBody obj, float val)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetCcdMotionThreshold2(bodyu.ptr, val);
+}
+
+public override float GetCcdSweptSphereRadius(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetCcdSweptSphereRadius2(bodyu.ptr);
+}
+
+public override void SetCcdSweptSphereRadius(BulletBody obj, float val)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetCcdSweptSphereRadius2(bodyu.ptr, val);
+}
+
+public override IntPtr GetUserPointer(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetUserPointer2(bodyu.ptr);
+}
+
+public override void SetUserPointer(BulletBody obj, IntPtr val)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetUserPointer2(bodyu.ptr, val);
+}
+
+// =====================================================================================
+// btRigidBody entries
+public override void ApplyGravity(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ApplyGravity2(bodyu.ptr);
+}
+
+public override void SetGravity(BulletBody obj, Vector3 val)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetGravity2(bodyu.ptr, val);
+}
+
+public override Vector3 GetGravity(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetGravity2(bodyu.ptr);
+}
+
+public override void SetDamping(BulletBody obj, float lin_damping, float ang_damping)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetDamping2(bodyu.ptr, lin_damping, ang_damping);
+}
+
+public override void SetLinearDamping(BulletBody obj, float lin_damping)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetLinearDamping2(bodyu.ptr, lin_damping);
+}
+
+public override void SetAngularDamping(BulletBody obj, float ang_damping)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetAngularDamping2(bodyu.ptr, ang_damping);
+}
+
+public override float GetLinearDamping(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetLinearDamping2(bodyu.ptr);
+}
+
+public override float GetAngularDamping(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetAngularDamping2(bodyu.ptr);
+}
+
+public override float GetLinearSleepingThreshold(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetLinearSleepingThreshold2(bodyu.ptr);
+}
+
+public override void ApplyDamping(BulletBody obj, float timeStep)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ApplyDamping2(bodyu.ptr, timeStep);
+}
+
+public override void SetMassProps(BulletBody obj, float mass, Vector3 inertia)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetMassProps2(bodyu.ptr, mass, inertia);
+}
+
+public override Vector3 GetLinearFactor(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetLinearFactor2(bodyu.ptr);
+}
+
+public override void SetLinearFactor(BulletBody obj, Vector3 factor)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetLinearFactor2(bodyu.ptr, factor);
+}
+
+public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetCenterOfMassByPosRot2(bodyu.ptr, pos, rot);
+}
+
+// Add a force to the object as if its mass is one.
+public override void ApplyCentralForce(BulletBody obj, Vector3 force)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ApplyCentralForce2(bodyu.ptr, force);
+}
+
+// Set the force being applied to the object as if its mass is one.
+public override void SetObjectForce(BulletBody obj, Vector3 force)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetObjectForce2(bodyu.ptr, force);
+}
+
+public override Vector3 GetTotalForce(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetTotalForce2(bodyu.ptr);
+}
+
+public override Vector3 GetTotalTorque(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetTotalTorque2(bodyu.ptr);
+}
+
+public override Vector3 GetInvInertiaDiagLocal(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetInvInertiaDiagLocal2(bodyu.ptr);
+}
+
+public override void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetInvInertiaDiagLocal2(bodyu.ptr, inert);
+}
+
+public override void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetSleepingThresholds2(bodyu.ptr, lin_threshold, ang_threshold);
+}
+
+public override void ApplyTorque(BulletBody obj, Vector3 torque)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ApplyTorque2(bodyu.ptr, torque);
+}
+
+// Apply force at the given point. Will add torque to the object.
+public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ApplyForce2(bodyu.ptr, force, pos);
+}
+
+// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
+public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ApplyCentralImpulse2(bodyu.ptr, imp);
+}
+
+// Apply impulse to the object's torque. Force is scaled by object's mass.
+public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ApplyTorqueImpulse2(bodyu.ptr, imp);
+}
+
+// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
+public override void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ApplyImpulse2(bodyu.ptr, imp, pos);
+}
+
+public override void ClearForces(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ClearForces2(bodyu.ptr);
+}
+
+public override void ClearAllForces(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ClearAllForces2(bodyu.ptr);
+}
+
+public override void UpdateInertiaTensor(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.UpdateInertiaTensor2(bodyu.ptr);
+}
+
+public override Vector3 GetLinearVelocity(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetLinearVelocity2(bodyu.ptr);
+}
+
+public override Vector3 GetAngularVelocity(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetAngularVelocity2(bodyu.ptr);
+}
+
+public override void SetLinearVelocity(BulletBody obj, Vector3 vel)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetLinearVelocity2(bodyu.ptr, vel);
+}
+
+public override void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetAngularVelocity2(bodyu.ptr, angularVelocity);
+}
+
+public override Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetVelocityInLocalPoint2(bodyu.ptr, pos);
+}
+
+public override void Translate(BulletBody obj, Vector3 trans)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.Translate2(bodyu.ptr, trans);
+}
+
+public override void UpdateDeactivation(BulletBody obj, float timeStep)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.UpdateDeactivation2(bodyu.ptr, timeStep);
+}
+
+public override bool WantsSleeping(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.WantsSleeping2(bodyu.ptr);
+}
+
+public override void SetAngularFactor(BulletBody obj, float factor)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetAngularFactor2(bodyu.ptr, factor);
+}
+
+public override void SetAngularFactorV(BulletBody obj, Vector3 factor)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetAngularFactorV2(bodyu.ptr, factor);
+}
+
+public override Vector3 GetAngularFactor(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetAngularFactor2(bodyu.ptr);
+}
+
+public override bool IsInWorld(BulletWorld world, BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.IsInWorld2(bodyu.ptr);
+}
+
+public override void AddConstraintRef(BulletBody obj, BulletConstraint constrain)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    BSAPICPP.AddConstraintRef2(bodyu.ptr, constrainu.ptr);
+}
+
+public override void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    BSAPICPP.RemoveConstraintRef2(bodyu.ptr, constrainu.ptr);
+}
+
+public override BulletConstraint GetConstraintRef(BulletBody obj, int index)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return new BulletConstraintUnman(BSAPICPP.GetConstraintRef2(bodyu.ptr, index));
+}
+
+public override int GetNumConstraintRefs(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetNumConstraintRefs2(bodyu.ptr);
+}
+
+public override bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask)
+{
+    BulletBodyUnman bodyu = body as BulletBodyUnman;
+    return BSAPICPP.SetCollisionGroupMask2(bodyu.ptr, filter, mask);
+}
+
+// =====================================================================================
+// btCollisionShape entries
+
+public override float GetAngularMotionDisc(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.GetAngularMotionDisc2(shapeu.ptr);
+}
+
+public override float GetContactBreakingThreshold(BulletShape shape, float defaultFactor)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.GetContactBreakingThreshold2(shapeu.ptr, defaultFactor);
+}
+
+public override bool IsPolyhedral(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.IsPolyhedral2(shapeu.ptr);
+}
+
+public override bool IsConvex2d(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.IsConvex2d2(shapeu.ptr);
+}
+
+public override bool IsConvex(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.IsConvex2(shapeu.ptr);
+}
+
+public override bool IsNonMoving(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.IsNonMoving2(shapeu.ptr);
+}
+
+public override bool IsConcave(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.IsConcave2(shapeu.ptr);
+}
+
+public override bool IsCompound(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.IsCompound2(shapeu.ptr);
+}
+
+public override bool IsSoftBody(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.IsSoftBody2(shapeu.ptr);
+}
+
+public override bool IsInfinite(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.IsInfinite2(shapeu.ptr);
+}
+
+public override void SetLocalScaling(BulletShape shape, Vector3 scale)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    BSAPICPP.SetLocalScaling2(shapeu.ptr, scale);
+}
+
+public override Vector3 GetLocalScaling(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.GetLocalScaling2(shapeu.ptr);
+}
+
+public override Vector3 CalculateLocalInertia(BulletShape shape, float mass)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.CalculateLocalInertia2(shapeu.ptr, mass);
+}
+
+public override int GetShapeType(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.GetShapeType2(shapeu.ptr);
+}
+
+public override void SetMargin(BulletShape shape, float val)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    BSAPICPP.SetMargin2(shapeu.ptr, val);
+}
+
+public override float GetMargin(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.GetMargin2(shapeu.ptr);
+}
+
+// =====================================================================================
+// Debugging
+public override void DumpRigidBody(BulletWorld world, BulletBody collisionObject)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu = collisionObject as BulletBodyUnman;
+    BSAPICPP.DumpRigidBody2(worldu.ptr, bodyu.ptr);
+}
+
+public override void DumpCollisionShape(BulletWorld world, BulletShape collisionShape)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletShapeUnman shapeu = collisionShape as BulletShapeUnman;
+    BSAPICPP.DumpCollisionShape2(worldu.ptr, shapeu.ptr);
+}
+
+public override void DumpConstraint(BulletWorld world, BulletConstraint constrain)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    BSAPICPP.DumpConstraint2(worldu.ptr, constrainu.ptr);
+}
+
+public override void DumpActivationInfo(BulletWorld world)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BSAPICPP.DumpActivationInfo2(worldu.ptr);
+}
+
+public override void DumpAllInfo(BulletWorld world)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BSAPICPP.DumpAllInfo2(worldu.ptr);
+}
+
+public override void DumpPhysicsStatistics(BulletWorld world)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BSAPICPP.DumpPhysicsStatistics2(worldu.ptr);
+}
+
+// =====================================================================================
+// =====================================================================================
+// =====================================================================================
+// =====================================================================================
+// =====================================================================================
+// The actual interface to the unmanaged code
+static class BSAPICPP
+{
+// ===============================================================================
+// Link back to the managed code for outputting log messages
+[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
+public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
+
+// ===============================================================================
+// Initialization and simulation
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
+                                                                                        int maxCollisions,  IntPtr collisionArray,
+                                                                                        int maxUpdates, IntPtr updateArray,
+                                            DebugLogCallback logRoutine);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
+                        out int updatedEntityCount, out int collidersCount);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void Shutdown2(IntPtr sim);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool PushUpdate2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
+
+// =====================================================================================
+// Mesh, hull, shape and body creation helper routines
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateMeshShape2(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);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsNativeShape2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetShapeCollisionMargin2(IntPtr shape, float margin);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateCompoundShape2(IntPtr sim, bool enableDynamicAabbTree);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int GetNumberOfCompoundChildren2(IntPtr cShape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void AddChildShapeToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr GetChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr RemoveChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void RemoveChildShapeFromCompoundShape2(IntPtr cShape, IntPtr removeShape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void RecalculateCompoundShapeLocalAabb2(IntPtr cShape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int GetBodyType2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DestroyObject2(IntPtr sim, IntPtr obj);
+
+// =====================================================================================
+// Terrain creation and helper routines
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+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, 
+                                            [MarshalAs(UnmanagedType.LPArray)] float[] heightMap,
+                                            float scaleFactor, float collisionMargin);
+
+// =====================================================================================
+// Constraint creation and helper routines
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr Create6DofConstraint2(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 Create6DofConstraintToPoint2(IntPtr world, IntPtr obj1, IntPtr obj2,
+                    Vector3 joinPoint,
+                    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 void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetFrames2(IntPtr constrain,
+                Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetAngularLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool UseFrameOffset2(IntPtr constrain, float enable);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool CalculateTransforms2(IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain);
+
+// =====================================================================================
+// btCollisionWorld entries
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void UpdateSingleAabb2(IntPtr world, IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void UpdateAabbs2(IntPtr world);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool GetForceUpdateAllAabbs2(IntPtr world);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetForceUpdateAllAabbs2(IntPtr world, bool force);
+
+// =====================================================================================
+// btDynamicsWorld entries
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool RemoveObjectFromWorld2(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]
+public static extern bool RemoveConstraintFromWorld2(IntPtr world, IntPtr constrain);
+// =====================================================================================
+// btCollisionObject entries
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetAnisotripicFriction2(IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 SetAnisotripicFriction2(IntPtr constrain, Vector3 frict);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool HasAnisotripicFriction2(IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetContactProcessingThreshold2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetContactProcessingThreshold2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsStaticObject2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsKinematicObject2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsStaticOrKinematicObject2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool HasContactResponse2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr GetCollisionShape2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int GetActivationState2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetActivationState2(IntPtr obj, int state);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetDeactivationTime2(IntPtr obj, float dtime);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetDeactivationTime2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ForceActivationState2(IntPtr obj, ActivationState state);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void Activate2(IntPtr obj, bool forceActivation);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsActive2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetRestitution2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetRestitution2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetFriction2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetFriction2(IntPtr obj);
+
+    /* Haven't defined the type 'Transform'
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Transform GetWorldTransform2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void setWorldTransform2(IntPtr obj, Transform trans);
+     */
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetPosition2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Quaternion GetOrientation2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr GetBroadphaseHandle2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle);
+
+    /*
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Transform GetInterpolationWorldTransform2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetInterpolationWorldTransform2(IntPtr obj, Transform trans);
+     */
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetHitFraction2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetHitFraction2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern CollisionFlags GetCollisionFlags2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetCcdMotionThreshold2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetCcdMotionThreshold2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetCcdSweptSphereRadius2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetCcdSweptSphereRadius2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr GetUserPointer2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetUserPointer2(IntPtr obj, IntPtr val);
+
+// =====================================================================================
+// btRigidBody entries
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyGravity2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetGravity2(IntPtr obj, Vector3 val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetGravity2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetLinearDamping2(IntPtr obj, float lin_damping);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetAngularDamping2(IntPtr obj, float ang_damping);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetLinearDamping2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetAngularDamping2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetLinearSleepingThreshold2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetAngularSleepingThreshold2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyDamping2(IntPtr obj, float timeStep);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetMassProps2(IntPtr obj, float mass, Vector3 inertia);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetLinearFactor2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor);
+
+    /*
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans);
+     */
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetCenterOfMassByPosRot2(IntPtr obj, Vector3 pos, Quaternion rot);
+
+// Add a force to the object as if its mass is one.
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyCentralForce2(IntPtr obj, Vector3 force);
+
+// Set the force being applied to the object as if its mass is one.
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetObjectForce2(IntPtr obj, Vector3 force);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetTotalForce2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetTotalTorque2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyTorque2(IntPtr obj, Vector3 torque);
+
+// Apply force at the given point. Will add torque to the object.
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyForce2(IntPtr obj, Vector3 force, Vector3 pos);
+
+// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyCentralImpulse2(IntPtr obj, Vector3 imp);
+
+// Apply impulse to the object's torque. Force is scaled by object's mass.
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyTorqueImpulse2(IntPtr obj, Vector3 imp);
+
+// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyImpulse2(IntPtr obj, Vector3 imp, Vector3 pos);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ClearForces2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ClearAllForces2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void UpdateInertiaTensor2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetCenterOfMassPosition2(IntPtr obj);
+
+    /*
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Transform GetCenterOfMassTransform2(IntPtr obj);
+     */
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetLinearVelocity2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetAngularVelocity2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void Translate2(IntPtr obj, Vector3 trans);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void UpdateDeactivation2(IntPtr obj, float timeStep);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool WantsSleeping2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetAngularFactor2(IntPtr obj, float factor);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetAngularFactor2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsInWorld2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr GetConstraintRef2(IntPtr obj, int index);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int GetNumConstraintRefs2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetCollisionGroupMask2(IntPtr body, uint filter, uint mask);
+
+// =====================================================================================
+// btCollisionShape entries
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetAngularMotionDisc2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetContactBreakingThreshold2(IntPtr shape, float defaultFactor);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsPolyhedral2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsConvex2d2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsConvex2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsNonMoving2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsConcave2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsCompound2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsSoftBody2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsInfinite2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetLocalScaling2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 CalculateLocalInertia2(IntPtr shape, float mass);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int GetShapeType2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetMargin2(IntPtr shape, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetMargin2(IntPtr shape);
+
+// =====================================================================================
+// Debugging
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpActivationInfo2(IntPtr sim);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpAllInfo2(IntPtr sim);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpPhysicsStatistics2(IntPtr sim);
+
+}
+
+}
+
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
new file mode 100755
index 0000000..30a7bee
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
@@ -0,0 +1,1622 @@
+/*
+ * 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/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
new file mode 100644
index 0000000..8ad78ca
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
@@ -0,0 +1,662 @@
+/*
+ * 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.Runtime.InteropServices;
+using System.Security;
+using System.Text;
+using OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin {
+
+    // Constraint type values as defined by Bullet
+public enum ConstraintType : int
+{
+        POINT2POINT_CONSTRAINT_TYPE = 3,
+        HINGE_CONSTRAINT_TYPE,
+        CONETWIST_CONSTRAINT_TYPE,
+        D6_CONSTRAINT_TYPE,
+        SLIDER_CONSTRAINT_TYPE,
+        CONTACT_CONSTRAINT_TYPE,
+        D6_SPRING_CONSTRAINT_TYPE,
+        MAX_CONSTRAINT_TYPE
+}
+
+// ===============================================================================
+[StructLayout(LayoutKind.Sequential)]
+public struct ConvexHull
+{
+        Vector3 Offset;
+        int VertexCount;
+        Vector3[] Vertices;
+}
+public enum BSPhysicsShapeType
+{
+        SHAPE_UNKNOWN   = 0,
+        SHAPE_CAPSULE   = 1,
+        SHAPE_BOX       = 2,
+        SHAPE_CONE      = 3,
+        SHAPE_CYLINDER  = 4,
+        SHAPE_SPHERE    = 5,
+        SHAPE_MESH      = 6,
+        SHAPE_HULL      = 7,
+    // following defined by BulletSim
+        SHAPE_GROUNDPLANE  = 20,
+        SHAPE_TERRAIN   = 21,
+        SHAPE_COMPOUND  = 22,
+        SHAPE_HEIGHTMAP = 23,
+    SHAPE_AVATAR    = 24,
+};
+
+// The native shapes have predefined shape hash keys
+public enum FixedShapeKey : ulong
+{
+    KEY_NONE        = 0,
+    KEY_BOX         = 1,
+    KEY_SPHERE      = 2,
+    KEY_CONE        = 3,
+    KEY_CYLINDER    = 4,
+    KEY_CAPSULE     = 5,
+    KEY_AVATAR      = 6,
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct ShapeData
+{
+    public uint ID;
+    public BSPhysicsShapeType Type;
+    public Vector3 Position;
+    public Quaternion Rotation;
+    public Vector3 Velocity;
+    public Vector3 Scale;
+    public float Mass;
+    public float Buoyancy;
+    public System.UInt64 HullKey;
+    public System.UInt64 MeshKey;
+    public float Friction;
+    public float Restitution;
+    public float Collidable;    // true of things bump into this
+    public float Static;        // true if a static object. Otherwise gravity, etc.
+    public float Solid;         // true if object cannot be passed through
+    public Vector3 Size;
+
+    // note that bools are passed as floats since bool size changes by language and architecture
+    public const float numericTrue = 1f;
+    public const float numericFalse = 0f;
+}
+[StructLayout(LayoutKind.Sequential)]
+public struct SweepHit
+{
+    public uint ID;
+    public float Fraction;
+    public Vector3 Normal;
+    public Vector3 Point;
+}
+[StructLayout(LayoutKind.Sequential)]
+public struct RaycastHit
+{
+    public uint ID;
+    public float Fraction;
+    public Vector3 Normal;
+}
+[StructLayout(LayoutKind.Sequential)]
+public struct CollisionDesc
+{
+    public uint aID;
+    public uint bID;
+    public Vector3 point;
+    public Vector3 normal;
+}
+[StructLayout(LayoutKind.Sequential)]
+public struct EntityProperties
+{
+    public uint ID;
+    public Vector3 Position;
+    public Quaternion Rotation;
+    public Vector3 Velocity;
+    public Vector3 Acceleration;
+    public Vector3 RotationalVelocity;
+}
+
+// Format of this structure must match the definition in the C++ code
+// NOTE: adding the X causes compile breaks if used. These are unused symbols
+//      that can be removed from both here and the unmanaged definition of this structure.
+[StructLayout(LayoutKind.Sequential)]
+public struct ConfigurationParameters
+{
+    public float defaultFriction;
+    public float defaultDensity;
+    public float defaultRestitution;
+    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;
+        public float shouldForceUpdateAllAabbs;
+        public float shouldRandomizeSolverOrder;
+        public float shouldSplitSimulationIslands;
+        public float shouldEnableFrictionCaching;
+        public float numberOfSolverIterations;
+
+    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 const float numericTrue = 1f;
+    public const float numericFalse = 0f;
+}
+
+
+// The states a bullet collision object can have
+public enum ActivationState : uint
+{
+    ACTIVE_TAG = 1,
+    ISLAND_SLEEPING,
+    WANTS_DEACTIVATION,
+    DISABLE_DEACTIVATION,
+    DISABLE_SIMULATION,
+}
+
+public enum CollisionObjectTypes : int
+{
+    CO_COLLISION_OBJECT             = 1 << 0,
+    CO_RIGID_BODY                   = 1 << 1,
+    CO_GHOST_OBJECT                 = 1 << 2,
+    CO_SOFT_BODY                    = 1 << 3,
+    CO_HF_FLUID                     = 1 << 4,
+    CO_USER_TYPE                    = 1 << 5,
+}
+
+// Values used by Bullet and BulletSim to control object properties.
+// Bullet's "CollisionFlags" has more to do with operations on the
+//    object (if collisions happen, if gravity effects it, ...).
+public enum CollisionFlags : uint
+{
+    CF_STATIC_OBJECT                 = 1 << 0,
+    CF_KINEMATIC_OBJECT              = 1 << 1,
+    CF_NO_CONTACT_RESPONSE           = 1 << 2,
+    CF_CUSTOM_MATERIAL_CALLBACK      = 1 << 3,
+    CF_CHARACTER_OBJECT              = 1 << 4,
+    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_NONE                          = 0,
+    BS_ALL                           = 0xFFFFFFFF
+};
+
+// Values f collisions groups and masks
+public enum CollisionFilterGroups : uint
+{
+    // Don't use the bit definitions!!  Define the use in a
+    //   filter/mask definition below. This way collision interactions
+    //   are more easily found and debugged.
+    BNoneGroup              = 0,
+    BDefaultGroup           = 1 << 0,   // 0001
+    BStaticGroup            = 1 << 1,   // 0002
+    BKinematicGroup         = 1 << 2,   // 0004
+    BDebrisGroup            = 1 << 3,   // 0008
+    BSensorTrigger          = 1 << 4,   // 0010
+    BCharacterGroup         = 1 << 5,   // 0020
+    BAllGroup               = 0x000FFFFF,
+    // Filter groups defined by BulletSim
+    BGroundPlaneGroup       = 1 << 10,  // 0400
+    BTerrainGroup           = 1 << 11,  // 0800
+    BRaycastGroup           = 1 << 12,  // 1000
+    BSolidGroup             = 1 << 13,  // 2000
+    // BLinksetGroup        = xx  // a linkset proper is either static or dynamic
+    BLinksetChildGroup      = 1 << 14,  // 4000
+};
+
+// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
+// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2.
+public enum ConstraintParams : int
+{
+    BT_CONSTRAINT_ERP = 1,  // this one is not used in Bullet as of 20120730
+    BT_CONSTRAINT_STOP_ERP,
+    BT_CONSTRAINT_CFM,
+    BT_CONSTRAINT_STOP_CFM,
+};
+public enum ConstraintParamAxis : int
+{
+    AXIS_LINEAR_X = 0,
+    AXIS_LINEAR_Y,
+    AXIS_LINEAR_Z,
+    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_ANGULAR_ALL,
+    AXIS_ALL
+};
+
+public abstract class BSAPITemplate
+{
+// Returns the name of the underlying Bullet engine
+public abstract string BulletEngineName { get; }
+public abstract string BulletEngineVersion { get; protected set;} 
+
+// Initialization and simulation
+public abstract BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
+                                                                                        int maxCollisions,  ref CollisionDesc[] collisionArray,
+                                                                                        int maxUpdates, ref EntityProperties[] updateArray
+                                            );
+
+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 void Shutdown(BulletWorld sim);
+
+public abstract bool PushUpdate(BulletBody obj);
+
+// =====================================================================================
+// Mesh, hull, shape and body creation helper routines
+public abstract BulletShape CreateMeshShape(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 BuildNativeShape(BulletWorld world, ShapeData shapeData);
+
+public abstract bool IsNativeShape(BulletShape shape);
+
+public abstract void SetShapeCollisionMargin(BulletShape shape, float margin);
+
+public abstract BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale);
+
+public abstract BulletShape CreateCompoundShape(BulletWorld sim, bool enableDynamicAabbTree);
+
+public abstract int GetNumberOfCompoundChildren(BulletShape cShape);
+
+public abstract void AddChildShapeToCompoundShape(BulletShape cShape, BulletShape addShape, Vector3 pos, Quaternion rot);
+
+public abstract BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx);
+
+public abstract BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx);
+
+public abstract void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape);
+
+public abstract void RecalculateCompoundShapeLocalAabb(BulletShape cShape);
+
+public abstract BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint 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 CreateBodyWithDefaultMotionState(BulletShape shape, uint id, Vector3 pos, Quaternion rot);
+
+public abstract BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, uint 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 CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, 
+                                                                float scaleFactor, float collisionMargin);
+
+// =====================================================================================
+// Constraint creation and helper routines
+public abstract BulletConstraint Create6DofConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 frame1loc, Quaternion frame1rot,
+                    Vector3 frame2loc, Quaternion frame2rot,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
+
+public abstract BulletConstraint Create6DofConstraintToPoint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 joinPoint,
+                    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 void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse);
+
+public abstract void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations);
+
+public abstract bool SetFrames(BulletConstraint constrain,
+                Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
+
+public abstract bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi);
+
+public abstract bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi);
+
+public abstract bool UseFrameOffset(BulletConstraint constrain, float enable);
+
+public abstract bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce);
+
+public abstract bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold);
+
+public abstract bool CalculateTransforms(BulletConstraint constrain);
+
+public abstract bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
+
+public abstract bool DestroyConstraint(BulletWorld world, BulletConstraint constrain);
+
+// =====================================================================================
+// btCollisionWorld entries
+public abstract void UpdateSingleAabb(BulletWorld world, BulletBody obj);
+
+public abstract void UpdateAabbs(BulletWorld world);
+
+public abstract bool GetForceUpdateAllAabbs(BulletWorld world);
+
+public abstract void SetForceUpdateAllAabbs(BulletWorld world, bool force);
+
+// =====================================================================================
+// btDynamicsWorld entries
+// public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj, Vector3 pos, Quaternion rot);
+public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj);
+
+public abstract bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj);
+
+public abstract bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects);
+
+public abstract bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain);
+// =====================================================================================
+// btCollisionObject entries
+public abstract Vector3 GetAnisotripicFriction(BulletConstraint constrain);
+
+public abstract Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict);
+
+public abstract bool HasAnisotripicFriction(BulletConstraint constrain);
+
+public abstract void SetContactProcessingThreshold(BulletBody obj, float val);
+
+public abstract float GetContactProcessingThreshold(BulletBody obj);
+
+public abstract bool IsStaticObject(BulletBody obj);
+
+public abstract bool IsKinematicObject(BulletBody obj);
+
+public abstract bool IsStaticOrKinematicObject(BulletBody obj);
+
+public abstract bool HasContactResponse(BulletBody obj);
+
+public abstract void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletShape shape);
+
+public abstract BulletShape GetCollisionShape(BulletBody obj);
+
+public abstract int GetActivationState(BulletBody obj);
+
+public abstract void SetActivationState(BulletBody obj, int state);
+
+public abstract void SetDeactivationTime(BulletBody obj, float dtime);
+
+public abstract float GetDeactivationTime(BulletBody obj);
+
+public abstract void ForceActivationState(BulletBody obj, ActivationState state);
+
+public abstract void Activate(BulletBody obj, bool forceActivation);
+
+public abstract bool IsActive(BulletBody obj);
+
+public abstract void SetRestitution(BulletBody obj, float val);
+
+public abstract float GetRestitution(BulletBody obj);
+
+public abstract void SetFriction(BulletBody obj, float val);
+
+public abstract float GetFriction(BulletBody obj);
+
+public abstract Vector3 GetPosition(BulletBody obj);
+
+public abstract Quaternion GetOrientation(BulletBody obj);
+
+public abstract void SetTranslation(BulletBody obj, Vector3 position, Quaternion rotation);
+
+// public abstract IntPtr GetBroadphaseHandle(BulletBody obj);
+
+// public abstract void SetBroadphaseHandle(BulletBody obj, IntPtr handle);
+
+public abstract void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel);
+
+public abstract void SetInterpolationAngularVelocity(BulletBody obj, Vector3 vel);
+
+public abstract void SetInterpolationVelocity(BulletBody obj, Vector3 linearVel, Vector3 angularVel);
+
+public abstract float GetHitFraction(BulletBody obj);
+
+public abstract void SetHitFraction(BulletBody obj, float val);
+
+public abstract CollisionFlags GetCollisionFlags(BulletBody obj);
+
+public abstract CollisionFlags SetCollisionFlags(BulletBody obj, CollisionFlags flags);
+
+public abstract CollisionFlags AddToCollisionFlags(BulletBody obj, CollisionFlags flags);
+
+public abstract CollisionFlags RemoveFromCollisionFlags(BulletBody obj, CollisionFlags flags);
+
+public abstract float GetCcdMotionThreshold(BulletBody obj);
+
+public abstract void SetCcdMotionThreshold(BulletBody obj, float val);
+
+public abstract float GetCcdSweptSphereRadius(BulletBody obj);
+
+public abstract void SetCcdSweptSphereRadius(BulletBody obj, float val);
+
+public abstract IntPtr GetUserPointer(BulletBody obj);
+
+public abstract void SetUserPointer(BulletBody obj, IntPtr val);
+
+// =====================================================================================
+// btRigidBody entries
+public abstract void ApplyGravity(BulletBody obj);
+
+public abstract void SetGravity(BulletBody obj, Vector3 val);
+
+public abstract Vector3 GetGravity(BulletBody obj);
+
+public abstract void SetDamping(BulletBody obj, float lin_damping, float ang_damping);
+
+public abstract void SetLinearDamping(BulletBody obj, float lin_damping);
+
+public abstract void SetAngularDamping(BulletBody obj, float ang_damping);
+
+public abstract float GetLinearDamping(BulletBody obj);
+
+public abstract float GetAngularDamping(BulletBody obj);
+
+public abstract float GetLinearSleepingThreshold(BulletBody obj);
+
+public abstract void ApplyDamping(BulletBody obj, float timeStep);
+
+public abstract void SetMassProps(BulletBody obj, float mass, Vector3 inertia);
+
+public abstract Vector3 GetLinearFactor(BulletBody obj);
+
+public abstract void SetLinearFactor(BulletBody obj, Vector3 factor);
+
+public abstract void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot);
+
+// Add a force to the object as if its mass is one.
+public abstract void ApplyCentralForce(BulletBody obj, Vector3 force);
+
+// Set the force being applied to the object as if its mass is one.
+public abstract void SetObjectForce(BulletBody obj, Vector3 force);
+
+public abstract Vector3 GetTotalForce(BulletBody obj);
+
+public abstract Vector3 GetTotalTorque(BulletBody obj);
+
+public abstract Vector3 GetInvInertiaDiagLocal(BulletBody obj);
+
+public abstract void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert);
+
+public abstract void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold);
+
+public abstract void ApplyTorque(BulletBody obj, Vector3 torque);
+
+// Apply force at the given point. Will add torque to the object.
+public abstract void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos);
+
+// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
+public abstract void ApplyCentralImpulse(BulletBody obj, Vector3 imp);
+
+// Apply impulse to the object's torque. Force is scaled by object's mass.
+public abstract 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.
+public abstract void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos);
+
+public abstract void ClearForces(BulletBody obj);
+
+public abstract void ClearAllForces(BulletBody obj);
+
+public abstract void UpdateInertiaTensor(BulletBody obj);
+
+public abstract Vector3 GetLinearVelocity(BulletBody obj);
+
+public abstract Vector3 GetAngularVelocity(BulletBody obj);
+
+public abstract void SetLinearVelocity(BulletBody obj, Vector3 val);
+
+public abstract void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity);
+
+public abstract Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos);
+
+public abstract void Translate(BulletBody obj, Vector3 trans);
+
+public abstract void UpdateDeactivation(BulletBody obj, float timeStep);
+
+public abstract bool WantsSleeping(BulletBody obj);
+
+public abstract void SetAngularFactor(BulletBody obj, float factor);
+
+public abstract void SetAngularFactorV(BulletBody obj, Vector3 factor);
+
+public abstract Vector3 GetAngularFactor(BulletBody obj);
+
+public abstract bool IsInWorld(BulletWorld world, BulletBody obj);
+
+public abstract void AddConstraintRef(BulletBody obj, BulletConstraint constrain);
+
+public abstract void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain);
+
+public abstract BulletConstraint GetConstraintRef(BulletBody obj, int index);
+
+public abstract int GetNumConstraintRefs(BulletBody obj);
+
+public abstract bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask);
+
+// =====================================================================================
+// btCollisionShape entries
+
+public abstract float GetAngularMotionDisc(BulletShape shape);
+
+public abstract float GetContactBreakingThreshold(BulletShape shape, float defaultFactor);
+
+public abstract bool IsPolyhedral(BulletShape shape);
+
+public abstract bool IsConvex2d(BulletShape shape);
+
+public abstract bool IsConvex(BulletShape shape);
+
+public abstract bool IsNonMoving(BulletShape shape);
+
+public abstract bool IsConcave(BulletShape shape);
+
+public abstract bool IsCompound(BulletShape shape);
+
+public abstract bool IsSoftBody(BulletShape shape);
+
+public abstract bool IsInfinite(BulletShape shape);
+
+public abstract void SetLocalScaling(BulletShape shape, Vector3 scale);
+
+public abstract Vector3 GetLocalScaling(BulletShape shape);
+
+public abstract Vector3 CalculateLocalInertia(BulletShape shape, float mass);
+
+public abstract int GetShapeType(BulletShape shape);
+
+public abstract void SetMargin(BulletShape shape, float val);
+
+public abstract float GetMargin(BulletShape shape);
+
+// =====================================================================================
+// Debugging
+public abstract void DumpRigidBody(BulletWorld sim, BulletBody collisionObject);
+
+public abstract void DumpCollisionShape(BulletWorld sim, BulletShape collisionShape);
+
+public abstract void DumpConstraint(BulletWorld sim, BulletConstraint constrain);
+
+public abstract void DumpActivationInfo(BulletWorld sim);
+
+public abstract void DumpAllInfo(BulletWorld sim);
+
+public abstract void DumpPhysicsStatistics(BulletWorld sim);
+
+};
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 3b77e49..103d8fc 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -137,7 +137,7 @@ public sealed class BSCharacter : BSPhysObject
 
     private void SetPhysicalProperties()
     {
-        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
+        PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody);
 
         ZeroMotion(true);
         ForcePosition = _position;
@@ -152,32 +152,32 @@ public sealed class BSCharacter : BSPhysObject
         // Needs to be reset especially when an avatar is recreated after crossing a region boundry.
         Flying = _flying;
 
-        BulletSimAPI.SetRestitution2(PhysBody.ptr, BSParam.AvatarRestitution);
-        BulletSimAPI.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin);
-        BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
-        BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, BSParam.ContactProcessingThreshold);
+        PhysicsScene.PE.SetRestitution(PhysBody, BSParam.AvatarRestitution);
+        PhysicsScene.PE.SetMargin(PhysShape, PhysicsScene.Params.collisionMargin);
+        PhysicsScene.PE.SetLocalScaling(PhysShape, Scale);
+        PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold);
         if (BSParam.CcdMotionThreshold > 0f)
         {
-            BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold);
-            BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius);
+            PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
+            PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
         }
 
         UpdatePhysicalMassProperties(RawMass, false);
 
         // Make so capsule does not fall over
-        BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero);
+        PhysicsScene.PE.SetAngularFactorV(PhysBody, OMV.Vector3.Zero);
 
-        BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT);
+        PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_CHARACTER_OBJECT);
 
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
+        PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody);
 
-        // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG);
-        BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_DEACTIVATION);
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
+        // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG);
+        PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_DEACTIVATION);
+        PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody);
 
         // Do this after the object has been added to the world
         PhysBody.collisionType = CollisionType.Avatar;
-        PhysBody.ApplyCollisionMask();
+        PhysBody.ApplyCollisionMask(PhysicsScene);
     }
 
     // The avatar's movement is controlled by this motor that speeds up and slows down
@@ -210,8 +210,7 @@ public sealed class BSCharacter : BSPhysObject
             if (!Flying && !IsColliding)
             {
                 stepVelocity.Z = _velocity.Z;
-                DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}",
-                            LocalID, stepVelocity);
+                // 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.
@@ -231,8 +230,7 @@ public sealed class BSCharacter : BSPhysObject
                 AddForce(moveForce, false, true);
             }
             */
-            DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}",
-                                    LocalID, stepVelocity, _velocity, Mass, moveForce);
+            // DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce);
             AddForce(moveForce, false, true);
         });
     }
@@ -267,10 +265,10 @@ public sealed class BSCharacter : BSPhysObject
             {
                 if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape)
                 {
-                    BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
+                    PhysicsScene.PE.SetLocalScaling(PhysShape, Scale);
                     UpdatePhysicalMassProperties(RawMass, true);
                     // Make sure this change appears as a property update event
-                    BulletSimAPI.PushUpdate2(PhysBody.ptr);
+                    PhysicsScene.PE.PushUpdate(PhysBody);
                 }
             });
 
@@ -311,7 +309,7 @@ public sealed class BSCharacter : BSPhysObject
         PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
         {
             if (PhysBody.HasPhysicalBody)
-                BulletSimAPI.ClearAllForces2(PhysBody.ptr);
+                PhysicsScene.PE.ClearAllForces(PhysBody);
         });
     }
     public override void ZeroAngularMotion(bool inTaintTime)
@@ -322,10 +320,10 @@ public sealed class BSCharacter : BSPhysObject
         {
             if (PhysBody.HasPhysicalBody)
             {
-                BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
-                BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
+                PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, OMV.Vector3.Zero);
+                PhysicsScene.PE.SetAngularVelocity(PhysBody, OMV.Vector3.Zero);
                 // The next also get rid of applied linear force but the linear velocity is untouched.
-                BulletSimAPI.ClearForces2(PhysBody.ptr);
+                PhysicsScene.PE.ClearForces(PhysBody);
             }
         });
     }
@@ -341,7 +339,7 @@ public sealed class BSCharacter : BSPhysObject
     public override OMV.Vector3 Position {
         get {
             // Don't refetch the position because this function is called a zillion times
-            // _position = BulletSimAPI.GetObjectPosition2(Scene.World.ptr, LocalID);
+            // _position = PhysicsScene.PE.GetObjectPosition(Scene.World, LocalID);
             return _position;
         }
         set {
@@ -352,19 +350,19 @@ public sealed class BSCharacter : BSPhysObject
             {
                 DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 if (PhysBody.HasPhysicalBody)
-                    BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+                    PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
             });
         }
     }
     public override OMV.Vector3 ForcePosition {
         get {
-            _position = BulletSimAPI.GetPosition2(PhysBody.ptr);
+            _position = PhysicsScene.PE.GetPosition(PhysBody);
             return _position;
         }
         set {
             _position = value;
             PositionSanityCheck();
-            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+            PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
         }
     }
 
@@ -420,7 +418,7 @@ public sealed class BSCharacter : BSPhysObject
             {
                 DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 if (PhysBody.HasPhysicalBody)
-                    BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+                    PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
             });
             ret = true;
         }
@@ -435,8 +433,8 @@ public sealed class BSCharacter : BSPhysObject
     }
     public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
     {
-        OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
-        BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia);
+        OMV.Vector3 localInertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape, physMass);
+        PhysicsScene.PE.SetMassProps(PhysBody, physMass, localInertia);
     }
 
     public override OMV.Vector3 Force {
@@ -448,7 +446,7 @@ public sealed class BSCharacter : BSPhysObject
             {
                 DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force);
                 if (PhysBody.HasPhysicalBody)
-                    BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
+                    PhysicsScene.PE.SetObjectForce(PhysBody, _force);
             });
         }
     }
@@ -522,7 +520,7 @@ public sealed class BSCharacter : BSPhysObject
                 {
                     _currentFriction = BSParam.AvatarStandingFriction;
                     if (PhysBody.HasPhysicalBody)
-                        BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
+                        PhysicsScene.PE.SetFriction(PhysBody, _currentFriction);
                 }
             }
             else
@@ -531,12 +529,12 @@ public sealed class BSCharacter : BSPhysObject
                 {
                     _currentFriction = BSParam.AvatarFriction;
                     if (PhysBody.HasPhysicalBody)
-                        BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
+                        PhysicsScene.PE.SetFriction(PhysBody, _currentFriction);
                 }
             }
 
-            BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
-            BulletSimAPI.Activate2(PhysBody.ptr, true);
+            PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity);
+            PhysicsScene.PE.Activate(PhysBody, true);
         }
     }
     public override OMV.Vector3 Torque {
@@ -578,7 +576,7 @@ public sealed class BSCharacter : BSPhysObject
     {
         get
         {
-            _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr);
+            _orientation = PhysicsScene.PE.GetOrientation(PhysBody);
             return _orientation;
         }
         set
@@ -586,8 +584,8 @@ public sealed class BSCharacter : BSPhysObject
             _orientation = value;
             if (PhysBody.HasPhysicalBody)
             {
-                // _position = BulletSimAPI.GetPosition2(BSBody.ptr);
-                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+                // _position = PhysicsScene.PE.GetPosition(BSBody);
+                PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
             }
         }
     }
@@ -638,9 +636,9 @@ public sealed class BSCharacter : BSPhysObject
                 if (PhysBody.HasPhysicalBody)
                 {
                     if (_floatOnWater)
-                        CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+                        CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
                     else
-                        CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+                        CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
                 }
             });
         }
@@ -678,7 +676,7 @@ public sealed class BSCharacter : BSPhysObject
             // Buoyancy is faked by changing the gravity applied to the object
             float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
             if (PhysBody.HasPhysicalBody)
-                BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
+                PhysicsScene.PE.SetGravity(PhysBody, new OMV.Vector3(0f, 0f, grav));
         }
     }
 
@@ -736,10 +734,10 @@ public sealed class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.AddForce", delegate()
             {
                 // Bullet adds this central force to the total force for this tick
-                DetailLog("{0},BSCharacter.addForce,taint,force={1}", LocalID, addForce);
+                // DetailLog("{0},BSCharacter.addForce,taint,force={1}", LocalID, addForce);
                 if (PhysBody.HasPhysicalBody)
                 {
-                    BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, addForce);
+                    PhysicsScene.PE.ApplyCentralForce(PhysBody, addForce);
                 }
             });
         }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
index 59584b2..b813974 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
@@ -37,6 +37,7 @@ public abstract class BSConstraint : IDisposable
     private static string LogHeader = "[BULLETSIM CONSTRAINT]";
 
     protected BulletWorld m_world;
+    protected BSScene PhysicsScene;
     protected BulletBody m_body1;
     protected BulletBody m_body2;
     protected BulletConstraint m_constraint;
@@ -48,8 +49,10 @@ public abstract class BSConstraint : IDisposable
     public abstract ConstraintType Type { get; }
     public bool IsEnabled { get { return m_enabled; } }
 
-    public BSConstraint()
+    public BSConstraint(BulletWorld world)
     {
+        m_world = world;
+        PhysicsScene = m_world.physicsScene;
     }
 
     public virtual void Dispose()
@@ -59,11 +62,11 @@ public abstract class BSConstraint : IDisposable
             m_enabled = false;
             if (m_constraint.HasPhysicalConstraint)
             {
-                bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr);
+                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.ptr.ToString("X"),
-                                    m_body2.ID, m_body2.ptr.ToString("X"),
+                                    m_body1.ID, m_body1.AddrString,
+                                    m_body2.ID, m_body2.AddrString,
                                     success);
                 m_constraint.Clear();
             }
@@ -74,7 +77,7 @@ public abstract class BSConstraint : IDisposable
     {
         bool ret = false;
         if (m_enabled)
-            ret = BulletSimAPI.SetLinearLimits2(m_constraint.ptr, low, high);
+            ret = PhysicsScene.PE.SetLinearLimits(m_constraint, low, high);
         return ret;
     }
 
@@ -82,7 +85,7 @@ public abstract class BSConstraint : IDisposable
     {
         bool ret = false;
         if (m_enabled)
-            ret = BulletSimAPI.SetAngularLimits2(m_constraint.ptr, low, high);
+            ret = PhysicsScene.PE.SetAngularLimits(m_constraint, low, high);
         return ret;
     }
 
@@ -91,7 +94,7 @@ public abstract class BSConstraint : IDisposable
         bool ret = false;
         if (m_enabled)
         {
-            BulletSimAPI.SetConstraintNumSolverIterations2(m_constraint.ptr, cnt);
+            PhysicsScene.PE.SetConstraintNumSolverIterations(m_constraint, cnt);
             ret = true;
         }
         return ret;
@@ -103,7 +106,7 @@ public abstract class BSConstraint : IDisposable
         if (m_enabled)
         {
             // Recompute the internal transforms
-            BulletSimAPI.CalculateTransforms2(m_constraint.ptr);
+            PhysicsScene.PE.CalculateTransforms(m_constraint);
             ret = true;
         }
         return ret;
@@ -122,7 +125,7 @@ public abstract class BSConstraint : IDisposable
                 // Setting an object's mass to zero (making it static like when it's selected)
                 //     automatically disables the constraints.
                 // If the link is enabled, be sure to set the constraint itself to enabled.
-                BulletSimAPI.SetConstraintEnable2(m_constraint.ptr, BSParam.NumericBool(true));
+                PhysicsScene.PE.SetConstraintEnable(m_constraint, BSParam.NumericBool(true));
             }
             else
             {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
index b946870..ecb1b32 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
@@ -43,46 +43,44 @@ public sealed class BSConstraint6Dof : BSConstraint
                     Vector3 frame1, Quaternion frame1rot,
                     Vector3 frame2, Quaternion frame2rot,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+        : base(world)
     {
-        m_world = world;
         m_body1 = obj1;
         m_body2 = obj2;
-        m_constraint = new BulletConstraint(
-                            BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
+        m_constraint = PhysicsScene.PE.Create6DofConstraint(m_world, m_body1, m_body2,
                                 frame1, frame1rot,
                                 frame2, frame2rot,
-                                useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+                                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,
-                            obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
+                            obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
     }
 
     public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
                     Vector3 joinPoint,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+        : base(world)
     {
-        m_world = world;
         m_body1 = obj1;
         m_body2 = obj2;
         if (!obj1.HasPhysicalBody || !obj2.HasPhysicalBody)
         {
             world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
                             BSScene.DetailLogZero, world.worldID,
-                            obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
+                            obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
             world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
-                            LogHeader, world.worldID, obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
+                            LogHeader, world.worldID, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
             m_enabled = false;
         }
         else
         {
-            m_constraint = new BulletConstraint(
-                                BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
+            m_constraint = PhysicsScene.PE.Create6DofConstraintToPoint(m_world, m_body1, m_body2,
                                     joinPoint,
-                                    useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
-            world.physicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}",
-                                BSScene.DetailLogZero, world.worldID, m_constraint.ptr.ToString("X"),
-                                obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
+                                    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,
+                                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}",
@@ -101,7 +99,7 @@ public sealed class BSConstraint6Dof : BSConstraint
         bool ret = false;
         if (m_enabled)
         {
-            BulletSimAPI.SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
+            PhysicsScene.PE.SetFrames(m_constraint, frameA, frameArot, frameB, frameBrot);
             ret = true;
         }
         return ret;
@@ -112,9 +110,9 @@ public sealed class BSConstraint6Dof : BSConstraint
         bool ret = false;
         if (m_enabled)
         {
-            BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
-            BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
-            BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
+            PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
+            PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
+            PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
             ret = true;
         }
         return ret;
@@ -125,7 +123,7 @@ public sealed class BSConstraint6Dof : BSConstraint
         bool ret = false;
         float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
         if (m_enabled)
-            ret = BulletSimAPI.UseFrameOffset2(m_constraint.ptr, onOff);
+            ret = PhysicsScene.PE.UseFrameOffset(m_constraint, onOff);
         return ret;
     }
 
@@ -135,7 +133,7 @@ public sealed class BSConstraint6Dof : BSConstraint
         float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
         if (m_enabled)
         {
-            ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.ptr, onOff, targetVelocity, maxMotorForce);
+            ret = PhysicsScene.PE.TranslationalLimitMotor(m_constraint, onOff, targetVelocity, maxMotorForce);
             m_world.physicsScene.DetailLog("{0},BS6DOFConstraint,TransLimitMotor,enable={1},vel={2},maxForce={3}",
                             BSScene.DetailLogZero, enable, targetVelocity, maxMotorForce);
         }
@@ -146,7 +144,7 @@ public sealed class BSConstraint6Dof : BSConstraint
     {
         bool ret = false;
         if (m_enabled)
-            ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.ptr, threshold);
+            ret = PhysicsScene.PE.SetBreakingImpulseThreshold(m_constraint, threshold);
         return ret;
     }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs
index a5378b9..7714a03 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs
@@ -40,15 +40,13 @@ public sealed class BSConstraintHinge : BSConstraint
                     Vector3 pivotInA, Vector3 pivotInB,
                     Vector3 axisInA, Vector3 axisInB,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+        : base(world)
     {
-        m_world = world;
         m_body1 = obj1;
         m_body2 = obj2;
-        m_constraint = new BulletConstraint(
-                            BulletSimAPI.CreateHingeConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
-                                pivotInA, pivotInB,
-                                axisInA, axisInB,
-                                useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+        m_constraint = PhysicsScene.PE.CreateHingeConstraint(world, obj1, obj2,
+                                pivotInA, pivotInB, axisInA, axisInB, 
+                                useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
         m_enabled = true;
     }
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 0bdfbe3..13c2539 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -558,30 +558,30 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
                 // Friction affects are handled by this vehicle code
                 float friction = 0f;
-                BulletSimAPI.SetFriction2(Prim.PhysBody.ptr, friction);
+                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;
-                BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping);
+                PhysicsScene.PE.SetAngularDamping(Prim.PhysBody, angularDamping);
 
                 // Vehicles report collision events so we know when it's on the ground
-                BulletSimAPI.AddToCollisionFlags2(Prim.PhysBody.ptr, CollisionFlags.BS_VEHICLE_COLLISIONS);
+                PhysicsScene.PE.AddToCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
 
-                Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(Prim.PhysShape.ptr, m_vehicleMass);
-                BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia);
-                BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr);
+                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);
-                BulletSimAPI.SetGravity2(Prim.PhysBody.ptr, grav);
+                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
             {
-                BulletSimAPI.RemoveFromCollisionFlags2(Prim.PhysBody.ptr, CollisionFlags.BS_VEHICLE_COLLISIONS);
+                PhysicsScene.PE.RemoveFromCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
             }
         }
 
@@ -651,7 +651,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 if ((m_knownChanged & m_knownChangedVelocity) != 0)
                 {
                     Prim.ForceVelocity = m_knownVelocity;
-                    BulletSimAPI.SetInterpolationLinearVelocity2(Prim.PhysBody.ptr, VehicleVelocity);
+                    PhysicsScene.PE.SetInterpolationLinearVelocity(Prim.PhysBody, VehicleVelocity);
                 }
 
                 if ((m_knownChanged & m_knownChangedForce) != 0)
@@ -661,7 +661,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 {
                     Prim.ForceRotationalVelocity = m_knownRotationalVelocity;
                     // Fake out Bullet by making it think the velocity is the same as last time.
-                    BulletSimAPI.SetInterpolationAngularVelocity2(Prim.PhysBody.ptr, m_knownRotationalVelocity);
+                    PhysicsScene.PE.SetInterpolationAngularVelocity(Prim.PhysBody, m_knownRotationalVelocity);
                 }
 
                 if ((m_knownChanged & m_knownChangedRotationalForce) != 0)
@@ -669,7 +669,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
                 // 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.
-                BulletSimAPI.PushUpdate2(Prim.PhysBody.ptr);
+                PhysicsScene.PE.PushUpdate(Prim.PhysBody);
             }
             m_knownChanged = 0;
         }
@@ -823,7 +823,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             if (!IsActive) return;
 
             if (PhysicsScene.VehiclePhysicalLoggingEnabled)
-                BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, Prim.PhysBody.ptr);
+                PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody);
 
             ForgetKnownVehicleProperties();
 
@@ -840,7 +840,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             PushKnownChanged();
 
             if (PhysicsScene.VehiclePhysicalLoggingEnabled)
-                BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, Prim.PhysBody.ptr);
+                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);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 19ce62b..bd03d31 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -131,10 +131,10 @@ public sealed class BSLinksetCompound : BSLinkset
         {
             // The origional prims are removed from the world as the shape of the root compound
             //     shape takes over.
-            BulletSimAPI.AddToCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
-            BulletSimAPI.ForceActivationState2(child.PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
+            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.
-            BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            PhysicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
 
             child.PhysBody.collisionType = CollisionType.LinksetChild;
 
@@ -159,12 +159,12 @@ public sealed class BSLinksetCompound : BSLinkset
         else
         {
             // The non-physical children can come back to life.
-            BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            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.
-            BulletSimAPI.Activate2(child.PhysBody.ptr, false);
+            PhysicsScene.PE.Activate(child.PhysBody, false);
             ret = true;
         }
         return ret;
@@ -196,7 +196,7 @@ public sealed class BSLinksetCompound : BSLinkset
         bool ret = false;
 
         DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}",
-                        child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), IsRoot(child));
+                        child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, IsRoot(child));
 
         if (!IsRoot(child))
         {
@@ -280,8 +280,8 @@ public sealed class BSLinksetCompound : BSLinkset
         {
             DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
                             child.LocalID,
-                            LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"),
-                            child.LocalID, child.PhysBody.ptr.ToString("X"));
+                            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);
@@ -359,7 +359,7 @@ public sealed class BSLinksetCompound : BSLinkset
                         PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null);
                         BulletShape newShape = cPrim.PhysShape;
                         cPrim.PhysShape = saveShape;
-                        BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, newShape.ptr, lci.OffsetPos, lci.OffsetRot);
+                        PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, newShape, lci.OffsetPos, lci.OffsetRot);
                     }
                     else
                     {
@@ -371,7 +371,7 @@ public sealed class BSLinksetCompound : BSLinkset
                             PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}",
                                                 LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape);
                         }
-                        BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, cPrim.PhysShape.ptr, lci.OffsetPos, lci.OffsetRot);
+                        PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, cPrim.PhysShape, lci.OffsetPos, lci.OffsetRot);
                     }
                 }
                 return false;   // 'false' says to move onto the next child in the list
@@ -386,12 +386,7 @@ public sealed class BSLinksetCompound : BSLinkset
             Rebuilding = false;
         }
 
-        BulletSimAPI.RecalculateCompoundShapeLocalAabb2(LinksetRoot.PhysShape.ptr);
-
-        // DEBUG: see of inter-linkset collisions are causing problems for constraint linksets.
-        // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, 
-        //                     (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
-
+        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
index 6b592e7..d0b2a56 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -48,12 +48,15 @@ public sealed class BSLinksetConstraints : BSLinkset
     {
         base.Refresh(requestor);
 
-        // Queue to happen after all the other taint processing
-        PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
-            {
-                if (HasAnyChildren && IsRoot(requestor))
-                    RecomputeLinksetConstraints();
-            });
+        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
@@ -95,7 +98,7 @@ public sealed class BSLinksetConstraints : BSLinkset
         bool ret = false;
 
         DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
-                                    child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"));
+                                    child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString);
 
         lock (m_linksetActivityLock)
         {
@@ -144,8 +147,8 @@ public sealed class BSLinksetConstraints : BSLinkset
 
             DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
                             childx.LocalID,
-                            rootx.LocalID, rootx.PhysBody.ptr.ToString("X"),
-                            childx.LocalID, childx.PhysBody.ptr.ToString("X"));
+                            rootx.LocalID, rootx.PhysBody.AddrString,
+                            childx.LocalID, childx.PhysBody.AddrString);
 
             PhysicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate()
             {
@@ -184,8 +187,8 @@ public sealed class BSLinksetConstraints : BSLinkset
 
         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.ptr.ToString("X"),
-                                        childPrim.LocalID, childPrim.PhysBody.ptr.ToString("X"),
+                                        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
@@ -249,14 +252,14 @@ public sealed class BSLinksetConstraints : BSLinkset
         bool ret = false;
         DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
                             rootPrim.LocalID,
-                            rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString("X"),
-                            childPrim.LocalID, childPrim.PhysBody.ptr.ToString("X"));
+                            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
-            BulletSimAPI.PushUpdate2(childPrim.PhysBody.ptr);
+            PhysicsScene.PE.PushUpdate(childPrim.PhysBody);
             ret = true;
         }
 
@@ -283,11 +286,8 @@ public sealed class BSLinksetConstraints : BSLinkset
         float linksetMass = LinksetMass;
         LinksetRoot.UpdatePhysicalMassProperties(linksetMass, true);
 
-        // DEBUG: see of inter-linkset collisions are causing problems
-        // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, 
-        //                     (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
         DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}",
-                            LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), linksetMass);
+                            LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, linksetMass);
 
         foreach (BSPhysObject child in m_children)
         {
@@ -304,11 +304,7 @@ public sealed class BSLinksetConstraints : BSLinkset
             }
             constrain.RecomputeConstraintVariables(linksetMass);
 
-            // DEBUG: see of inter-linkset collisions are causing problems
-            // BulletSimAPI.SetCollisionFilterMask2(child.BSBody.ptr, 
-            //                 (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
-
-            // BulletSimAPI.DumpConstraint2(PhysicsScene.World.ptr, constrain.Constraint.ptr);    // DEBUG DEBUG
+            // 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
index 5c8553a..69ac8cd 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -280,7 +280,7 @@ public static class BSParam
             (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) => { BulletSimAPI.SetGravity2(s.World.ptr, new Vector3(0f,0f,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)",
@@ -288,49 +288,49 @@ public static class BSParam
             (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) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, AngularDamping); } ),
+            (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) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, LinearDamping, 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) => { BulletSimAPI.SetDeactivationTime2(o.PhysBody.ptr, 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) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, 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) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, 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) => { BulletSimAPI.SetCcdMotionThreshold2(o.PhysBody.ptr, 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) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.PhysBody.ptr, 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) => { BulletSimAPI.SetContactProcessingThreshold2(o.PhysBody.ptr, 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,
@@ -492,11 +492,11 @@ public static class BSParam
             (s) => { return LinkConstraintSolverIterations; },
             (s,p,l,v) => { LinkConstraintSolverIterations = v; } ),
 
-        new ParameterDefn("LogPhysicsStatisticsFrames", "Frames between outputting detailed phys stats. (0 is off)",
+        new ParameterDefn("PhysicsMetricFrames", "Frames between outputting detailed phys metrics. (0 is off)",
             0f,
-            (s,cf,p,v) => { s.UnmanagedParams[0].physicsLoggingFrames = cf.GetInt(p, (int)v); },
-            (s) => { return (float)s.UnmanagedParams[0].physicsLoggingFrames; },
-            (s,p,l,v) => { s.UnmanagedParams[0].physicsLoggingFrames = (int)v; } ),
+            (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
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 73b5764..e7cb3e0 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -67,6 +67,11 @@ public abstract class BSPhysObject : PhysicsActor
         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;
 
@@ -303,7 +308,7 @@ public abstract class BSPhysObject : PhysicsActor
             PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate()
             {
                 if (PhysBody.HasPhysicalBody)
-                    CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+                    CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
             });
         }
         else
@@ -319,7 +324,7 @@ public abstract class BSPhysObject : PhysicsActor
         {
             // Make sure there is a body there because sometimes destruction happens in an un-ideal order.
             if (PhysBody.HasPhysicalBody)
-                CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+                CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
         });
     }
     // Return 'true' if the simulator wants collision events
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs
index 20f5180..65be52a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs
@@ -59,12 +59,6 @@ public class BSPlugin : IPhysicsPlugin
     {
         if (_mScene == null)
         {
-            if (Util.IsWindows())
-                Util.LoadArchSpecificWindowsDll("BulletSim.dll");
-            // If not Windows, loading is performed by the
-            // Mono loader as specified in
-            // "bin/Physics/OpenSim.Region.Physics.BulletSPlugin.dll.config".
-
             _mScene = new BSScene(sceneIdentifier);
         }
         return (_mScene);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 5f3f0d1..826261c 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -111,10 +111,7 @@ public sealed class BSPrim : BSPhysObject
 
         _mass = CalculateMass();
 
-        // No body or shape yet
-        PhysBody = new BulletBody(LocalID);
-        PhysShape = new BulletShape();
-
+        // Cause linkset variables to be initialized (like mass)
         Linkset.Refresh(this);
 
         DetailLog("{0},BSPrim.constructor,call", LocalID);
@@ -123,7 +120,7 @@ public sealed class BSPrim : BSPhysObject
         {
             CreateGeomAndObject(true);
 
-            CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(PhysBody.ptr);
+            CurrentCollisionFlags = PhysicsScene.PE.GetCollisionFlags(PhysBody);
         });
     }
 
@@ -256,7 +253,7 @@ public sealed class BSPrim : BSPhysObject
         PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
         {
             if (PhysBody.HasPhysicalBody)
-                BulletSimAPI.ClearAllForces2(PhysBody.ptr);
+                PhysicsScene.PE.ClearAllForces(PhysBody);
         });
     }
     public override void ZeroAngularMotion(bool inTaintTime)
@@ -268,8 +265,8 @@ public sealed class BSPrim : BSPhysObject
             // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity);
             if (PhysBody.HasPhysicalBody)
             {
-                BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
-                BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+                PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity);
+                PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
             }
         });
     }
@@ -295,7 +292,7 @@ public sealed class BSPrim : BSPhysObject
             */
 
             // don't do the GetObjectPosition for root elements because this function is called a zillion times.
-            // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
+            // _position = PhysicsScene.PE.GetObjectPosition2(PhysicsScene.World, BSBody);
             return _position;
         }
         set {
@@ -303,7 +300,7 @@ public sealed class BSPrim : BSPhysObject
             // All positions are given in world positions.
             if (_position == value)
             {
-                DetailLog("{0},BSPrim.setPosition,taint,positionNotChanging,pos={1},orient={2}", LocalID, _position, _orientation);
+                DetailLog("{0},BSPrim.setPosition,call,positionNotChanging,pos={1},orient={2}", LocalID, _position, _orientation);
                 return;
             }
             _position = value;
@@ -321,14 +318,14 @@ public sealed class BSPrim : BSPhysObject
     }
     public override OMV.Vector3 ForcePosition {
         get {
-            _position = BulletSimAPI.GetPosition2(PhysBody.ptr);
+            _position = PhysicsScene.PE.GetPosition(PhysBody);
             return _position;
         }
         set {
             _position = value;
             if (PhysBody.HasPhysicalBody)
             {
-                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+                PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
                 ActivateIfPhysical(false);
             }
         }
@@ -408,10 +405,10 @@ public sealed class BSPrim : BSPhysObject
         {
             if (IsStatic)
             {
-                BulletSimAPI.SetGravity2(PhysBody.ptr, PhysicsScene.DefaultGravity);
+                PhysicsScene.PE.SetGravity(PhysBody, PhysicsScene.DefaultGravity);
                 Inertia = OMV.Vector3.Zero;
-                BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia);
-                BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
+                PhysicsScene.PE.SetMassProps(PhysBody, 0f, Inertia);
+                PhysicsScene.PE.UpdateInertiaTensor(PhysBody);
             }
             else
             {
@@ -422,18 +419,18 @@ public sealed class BSPrim : BSPhysObject
                     // 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.
-                    BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
+                    PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody);
                 }
 
                 // The computation of mass props requires gravity to be set on the object.
-                BulletSimAPI.SetGravity2(PhysBody.ptr, grav);
+                PhysicsScene.PE.SetGravity(PhysBody, grav);
 
-                Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
-                BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia);
-                BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
+                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 BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation);
+                // 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)
@@ -443,7 +440,7 @@ public sealed class BSPrim : BSPhysObject
 
                 // 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
-                BulletSimAPI.SetGravity2(PhysBody.ptr, grav);
+                PhysicsScene.PE.SetGravity(PhysBody, grav);
 
             }
         }
@@ -486,7 +483,7 @@ public sealed class BSPrim : BSPhysObject
                         DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force);
                         if (PhysBody.HasPhysicalBody)
                         {
-                            BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, _force);
+                            PhysicsScene.PE.ApplyCentralForce(PhysBody, _force);
                             ActivateIfPhysical(false);
                         }
                     }
@@ -586,7 +583,7 @@ public sealed class BSPrim : BSPhysObject
             _velocity = value;
             if (PhysBody.HasPhysicalBody)
             {
-                BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
+                PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity);
                 ActivateIfPhysical(false);
             }
         }
@@ -652,9 +649,9 @@ public sealed class BSPrim : BSPhysObject
             {
                 if (PhysBody.HasPhysicalBody)
                 {
-                    // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
+                    // _position = PhysicsScene.PE.GetObjectPosition(PhysicsScene.World, BSBody);
                     // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                    BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+                    PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
                 }
             });
         }
@@ -664,13 +661,13 @@ public sealed class BSPrim : BSPhysObject
     {
         get
         {
-            _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr);
+            _orientation = PhysicsScene.PE.GetOrientation(PhysBody);
             return _orientation;
         }
         set
         {
             _orientation = value;
-            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+            PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
         }
     }
     public override int PhysicsActorType {
@@ -726,7 +723,7 @@ public sealed class BSPrim : BSPhysObject
 
         // 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).
-        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
+        PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody);
 
         // Set up the object physicalness (does gravity and collisions move this object)
         MakeDynamic(IsStatic);
@@ -743,7 +740,7 @@ public sealed class BSPrim : BSPhysObject
         AddObjectToPhysicalWorld();
 
         // Rebuild its shape
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
+        PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody);
 
         // Recompute any linkset parameters.
         // When going from non-physical to physical, this re-enables the constraints that
@@ -765,28 +762,28 @@ public sealed class BSPrim : BSPhysObject
         if (makeStatic)
         {
             // Become a Bullet 'static' object type
-            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
+            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);
-            BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction);
-            BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution);
+            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)
             {
-                BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold);
-                BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius);
+                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.
-            // BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
+            // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_SIMULATION);
             // Start it out sleeping and physical actions could wake it up.
-            BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ISLAND_SLEEPING);
+            PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ISLAND_SLEEPING);
 
             // This collides like a static object
             PhysBody.collisionType = CollisionType.Static;
@@ -797,22 +794,22 @@ public sealed class BSPrim : BSPhysObject
         else
         {
             // Not a Bullet static object
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_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);
-            BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction);
-            BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution);
+            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
-            // BulletSimAPI.ClearAllForces2(BSBody.ptr);
+            // PhysicsScene.PE.ClearAllForces(BSBody);
 
             // For good measure, make sure the transform is set through to the motion state
-            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+            PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
 
             // Center of mass is at the center of the object
-            // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation);
+            // DEBUG DEBUG PhysicsScene.PE.SetCenterOfMassByPosRot(Linkset.LinksetRoot.PhysBody, _position, _orientation);
 
             // A dynamic object has mass
             UpdatePhysicalMassProperties(RawMass, false);
@@ -820,22 +817,22 @@ public sealed class BSPrim : BSPhysObject
             // Set collision detection parameters
             if (BSParam.CcdMotionThreshold > 0f)
             {
-                BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold);
-                BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius);
+                PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
+                PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
             }
 
             // Various values for simulation limits
-            BulletSimAPI.SetDamping2(PhysBody.ptr, BSParam.LinearDamping, BSParam.AngularDamping);
-            BulletSimAPI.SetDeactivationTime2(PhysBody.ptr, BSParam.DeactivationTime);
-            BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold);
-            BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, BSParam.ContactProcessingThreshold);
+            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.
-            BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG);
+            PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG);
 
             // There might be special things needed for implementing linksets.
             Linkset.MakeDynamic(this);
@@ -848,7 +845,7 @@ public sealed class BSPrim : BSPhysObject
     //     the functions after this one set up the state of a possibly newly created collision body.
     private void MakeSolid(bool makeSolid)
     {
-        CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(PhysBody.ptr);
+        CollisionObjectTypes bodyType = (CollisionObjectTypes)PhysicsScene.PE.GetBodyType(PhysBody);
         if (makeSolid)
         {
             // Verify the previous code created the correct shape for this type of thing.
@@ -856,7 +853,7 @@ public sealed class BSPrim : BSPhysObject
             {
                 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType);
             }
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
         }
         else
         {
@@ -864,7 +861,7 @@ public sealed class BSPrim : BSPhysObject
             {
                 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType);
             }
-            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            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;
@@ -877,7 +874,7 @@ public sealed class BSPrim : BSPhysObject
     private void ActivateIfPhysical(bool forceIt)
     {
         if (IsPhysical && PhysBody.HasPhysicalBody)
-            BulletSimAPI.Activate2(PhysBody.ptr, forceIt);
+            PhysicsScene.PE.Activate(PhysBody, forceIt);
     }
 
     // Turn on or off the flag controlling whether collision events are returned to the simulator.
@@ -885,11 +882,11 @@ public sealed class BSPrim : BSPhysObject
     {
         if (wantsCollisionEvents)
         {
-            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
         }
         else
         {
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
         }
     }
 
@@ -900,18 +897,12 @@ public sealed class BSPrim : BSPhysObject
     {
         if (PhysBody.HasPhysicalBody)
         {
-            BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
-
-            // TODO: Fix this. Total kludge because adding object to world resets its gravity to default.
-            // Replace this when the new AddObjectToWorld function is complete.
-            BulletSimAPI.SetGravity2(PhysBody.ptr, ComputeGravity());
-
-            // Collision filter can be set only when the object is in the world
-            if (!PhysBody.ApplyCollisionMask())
-            {
-                m_log.ErrorFormat("{0} Failed setting object collision mask: id={1}", LogHeader, LocalID);
-                DetailLog("{0},BSPrim.UpdatePhysicalParameters,failedSetMaskGroup,cType={1}", LocalID, PhysBody.collisionType);
-            }
+            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);
         }
     }
 
@@ -944,9 +935,9 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate()
             {
                 if (_floatOnWater)
-                    CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+                    CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
                 else
-                    CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+                    CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
             });
         }
     }
@@ -972,7 +963,7 @@ public sealed class BSPrim : BSPhysObject
             _rotationalVelocity = value;
             if (PhysBody.HasPhysicalBody)
             {
-                BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+                PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
                 ActivateIfPhysical(false);
             }
         }
@@ -1064,7 +1055,7 @@ public sealed class BSPrim : BSPhysObject
                 DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce);
                 if (PhysBody.HasPhysicalBody)
                 {
-                    BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, addForce);
+                    PhysicsScene.PE.ApplyCentralForce(PhysBody, addForce);
                     ActivateIfPhysical(false);
                 }
             });
@@ -1088,7 +1079,7 @@ public sealed class BSPrim : BSPhysObject
             {
                 if (PhysBody.HasPhysicalBody)
                 {
-                    BulletSimAPI.ApplyTorque2(PhysBody.ptr, angForce);
+                    PhysicsScene.PE.ApplyTorque(PhysBody, angForce);
                     ActivateIfPhysical(false);
                 }
             });
@@ -1111,7 +1102,7 @@ public sealed class BSPrim : BSPhysObject
         {
             if (PhysBody.HasPhysicalBody)
             {
-                BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse);
+                PhysicsScene.PE.ApplyTorqueImpulse(PhysBody, applyImpulse);
                 ActivateIfPhysical(false);
             }
         });
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 4133107..7017194 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -26,6 +26,7 @@
  */
 using System;
 using System.Collections.Generic;
+using System.Reflection;
 using System.Runtime.InteropServices;
 using System.Text;
 using System.Threading;
@@ -42,14 +43,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 {
 public sealed class BSScene : PhysicsScene, IPhysicsParameters
 {
-    private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
-    private static readonly string LogHeader = "[BULLETS SCENE]";
+    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;
 
@@ -99,11 +104,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     // Pinned memory used to pass step information between managed and unmanaged
     internal int m_maxCollisionsPerFrame;
     internal CollisionDesc[] m_collisionArray;
-    internal GCHandle m_collisionArrayPinnedHandle;
 
     internal int m_maxUpdatesPerFrame;
     internal EntityProperties[] m_updateArray;
-    internal GCHandle m_updateArrayPinnedHandle;
 
     public const uint TERRAIN_ID = 0;       // OpenSim senses terrain with a localID of zero
     public const uint GROUNDPLANE_ID = 1;
@@ -149,12 +152,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     // 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;
-    GCHandle m_paramsHandle;
-
-    // Handle to the callback used by the unmanaged code to call into the managed code.
-    // Used for debug logging.
-    // Need to store the handle in a persistant variable so it won't be freed.
-    private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle;
 
     // Sometimes you just have to log everything.
     public Logging.LogWriter PhysicsLogging;
@@ -164,6 +161,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     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; }
@@ -187,16 +185,12 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
 
         // Allocate pinned memory to pass parameters.
         UnmanagedParams = new ConfigurationParameters[1];
-        m_paramsHandle = GCHandle.Alloc(UnmanagedParams, GCHandleType.Pinned);
 
         // Set default values for physics parameters plus any overrides from the ini file
         GetInitialParameterValues(config);
 
-        // allocate more pinned memory close to the above in an attempt to get the memory all together
-        m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame];
-        m_collisionArrayPinnedHandle = GCHandle.Alloc(m_collisionArray, GCHandleType.Pinned);
-        m_updateArray = new EntityProperties[m_maxUpdatesPerFrame];
-        m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned);
+        // 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
@@ -211,22 +205,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             PhysicsLogging = new Logging.LogWriter();
         }
 
-        // If Debug logging level, enable logging from the unmanaged code
-        m_DebugLogCallbackHandle = null;
-        if (m_log.IsDebugEnabled || PhysicsLogging.Enabled)
-        {
-            m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader);
-            if (PhysicsLogging.Enabled)
-                // The handle is saved in a variable to make sure it doesn't get freed after this call
-                m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLoggerPhysLog);
-            else
-                m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger);
-        }
-
-        // 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);
+        // 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.
@@ -234,11 +215,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         //    area. It tracks active objects no matter where they are.
         Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
 
-        // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader);
-        World = new BulletWorld(0, this, BulletSimAPI.Initialize2(worldExtent, m_paramsHandle.AddrOfPinnedObject(),
-                                        m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
-                                        m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject(),
-                                        m_DebugLogCallbackHandle));
+        World = PE.Initialize(worldExtent, Params, m_maxCollisionsPerFrame, ref m_collisionArray, m_maxUpdatesPerFrame, ref m_updateArray);
 
         Constraints = new BSConstraintCollection(World);
 
@@ -268,6 +245,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             {
                 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);
@@ -309,16 +289,41 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         return ret;
     }
 
-    // Called directly from unmanaged code so don't do much
-    private void BulletLogger(string msg)
+    // 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)
     {
-        m_log.Debug("[BULLETS UNMANAGED]:" + msg);
-    }
+        // For the moment, do a simple switch statement.
+        // Someday do fancyness with looking up the interfaces in the assembly.
+        BSAPITemplate ret = null;
 
-    // Called directly from unmanaged code so don't do much
-    private void BulletLoggerPhysLog(string msg)
-    {
-        DetailLog("[BULLETS UNMANAGED]:" + msg);
+        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()
@@ -355,7 +360,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         }
 
         // Anything left in the unmanaged code should be cleaned out
-        BulletSimAPI.Shutdown2(World.ptr);
+        PE.Shutdown(World);
 
         // Not logging any more
         PhysicsLogging.Close();
@@ -468,9 +473,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         LastTimeStep = timeStep;
 
         int updatedEntityCount = 0;
-        IntPtr updatedEntitiesPtr;
         int collidersCount = 0;
-        IntPtr collidersPtr;
 
         int beforeTime = 0;
         int simTime = 0;
@@ -486,6 +489,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         TriggerPreStepEvent(timeStep);
 
         // the prestep actions might have added taints
+        numTaints += _taintOperations.Count;
         ProcessTaints();
 
         InTaintTime = false; // Only used for debugging so locking is not necessary.
@@ -493,23 +497,25 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         // 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)
-            BulletSimAPI.DumpAllInfo2(World.ptr);
+            PE.DumpAllInfo(World);
 
         // step the physical world one interval
         m_simulationStep++;
         int numSubSteps = 0;
-
         try
         {
-            if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
+            if (PhysicsLogging.Enabled)
+                beforeTime = Util.EnvironmentTickCount();
 
-            numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
-                        out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
+            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);
+            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)
         {
@@ -521,7 +527,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             collidersCount = 0;
         }
 
-        // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in.
+        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();
@@ -564,7 +571,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         // 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 collisions have happened on an object. This enables
+        //     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)
         {
@@ -593,11 +600,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         // 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)
-            BulletSimAPI.DumpAllInfo2(World.ptr);
+            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 55 to give a nominal frame rate of 55.
+        // Multiply by a fixed nominal frame rate to give a rate similar to the simulator (usually 55).
         return (float)numSubSteps * m_fixedTimeStep * 1000f * NominalFrameRate;
     }
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index 4008ff6..a7855f0 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -45,7 +45,7 @@ public sealed class BSShapeCollection : IDisposable
     // Description of a Mesh
     private struct MeshDesc
     {
-        public IntPtr ptr;
+        public BulletShape shape;
         public int referenceCount;
         public DateTime lastReferenced;
         public UInt64 shapeKey;
@@ -55,7 +55,7 @@ public sealed class BSShapeCollection : IDisposable
     // Meshes and hulls have the same shape hash key but we only need hulls for efficient collision calculations.
     private struct HullDesc
     {
-        public IntPtr ptr;
+        public BulletShape shape;
         public int referenceCount;
         public DateTime lastReferenced;
         public UInt64 shapeKey;
@@ -141,9 +141,9 @@ public sealed class BSShapeCollection : IDisposable
             if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body);
             PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.ReferenceBody", delegate()
             {
-                if (!BulletSimAPI.IsInWorld2(body.ptr))
+                if (!PhysicsScene.PE.IsInWorld(PhysicsScene.World, body))
                 {
-                    BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr);
+                    PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, body);
                     if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body);
                 }
             });
@@ -166,15 +166,15 @@ public sealed class BSShapeCollection : IDisposable
                 // If the caller needs to know the old body is going away, pass the event up.
                 if (bodyCallback != null) bodyCallback(body);
 
-                if (BulletSimAPI.IsInWorld2(body.ptr))
+                if (PhysicsScene.PE.IsInWorld(PhysicsScene.World, body))
                 {
-                    BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr);
+                    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.
-                BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero);
-                BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr);
+                PhysicsScene.PE.SetCollisionShape(PhysicsScene.World, body, null);
+                PhysicsScene.PE.DestroyObject(PhysicsScene.World, body);
             });
         }
     }
@@ -202,7 +202,7 @@ public sealed class BSShapeCollection : IDisposable
                 else
                 {
                     // This is a new reference to a mesh
-                    meshDesc.ptr = shape.ptr;
+                    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;
@@ -225,7 +225,7 @@ public sealed class BSShapeCollection : IDisposable
                 else
                 {
                     // This is a new reference to a hull
-                    hullDesc.ptr = shape.ptr;
+                    hullDesc.shape = shape.Clone();
                     hullDesc.shapeKey = shape.shapeKey;
                     hullDesc.referenceCount = 1;
                     if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}",
@@ -259,9 +259,9 @@ public sealed class BSShapeCollection : IDisposable
                 {
                     // Native shapes are not tracked and are released immediately
                     if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
-                                    BSScene.DetailLogZero, shape.ptr.ToString("X"), inTaintTime);
+                                    BSScene.DetailLogZero, shape.AddrString, inTaintTime);
                     if (shapeCallback != null) shapeCallback(shape);
-                    BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
+                    PhysicsScene.PE.DeleteCollisionShape(PhysicsScene.World, shape);
                 }
                 else
                 {
@@ -332,57 +332,56 @@ public sealed class BSShapeCollection : IDisposable
     // Called at taint-time.
     private void DereferenceCompound(BulletShape shape, ShapeDestructionCallback shapeCallback)
     {
-        if (!BulletSimAPI.IsCompound2(shape.ptr))
+        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.ptr.ToString("X"));
+                                        LogHeader, shape.type, shape.AddrString);
             if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}",
-                                        BSScene.DetailLogZero, shape.type, shape.ptr.ToString("X"));
+                                        BSScene.DetailLogZero, shape.type, shape.AddrString);
             return;
         }
 
-        int numChildren = BulletSimAPI.GetNumberOfCompoundChildren2(shape.ptr);
+        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--)
         {
-            IntPtr childShape = BulletSimAPI.RemoveChildShapeFromCompoundShapeIndex2(shape.ptr, ii);
+            BulletShape childShape = PhysicsScene.PE.RemoveChildShapeFromCompoundShapeIndex(shape, ii);
             DereferenceAnonCollisionShape(childShape);
         }
-        BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
+        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(IntPtr cShape)
+    private void DereferenceAnonCollisionShape(BulletShape shapeInfo)
     {
         MeshDesc meshDesc;
         HullDesc hullDesc;
 
-        BulletShape shapeInfo = new BulletShape(cShape);
-        if (TryGetMeshByPtr(cShape, out meshDesc))
+        if (TryGetMeshByPtr(shapeInfo, out meshDesc))
         {
             shapeInfo.type = BSPhysicsShapeType.SHAPE_MESH;
             shapeInfo.shapeKey = meshDesc.shapeKey;
         }
         else
         {
-            if (TryGetHullByPtr(cShape, out hullDesc))
+            if (TryGetHullByPtr(shapeInfo, out hullDesc))
             {
                 shapeInfo.type = BSPhysicsShapeType.SHAPE_HULL;
                 shapeInfo.shapeKey = hullDesc.shapeKey;
             }
             else
             {
-                if (BulletSimAPI.IsCompound2(cShape))
+                if (PhysicsScene.PE.IsCompound(shapeInfo))
                 {
                     shapeInfo.type = BSPhysicsShapeType.SHAPE_COMPOUND;
                 }
                 else
                 {
-                    if (BulletSimAPI.IsNativeShape2(cShape))
+                    if (PhysicsScene.PE.IsNativeShape(shapeInfo))
                     {
                         shapeInfo.isNativeShape = true;
                         shapeInfo.type = BSPhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter)
@@ -400,7 +399,7 @@ public sealed class BSShapeCollection : IDisposable
         else
         {
             PhysicsScene.Logger.ErrorFormat("{0} Could not decypher shape type. Region={1}, addr={2}",
-                                    LogHeader, PhysicsScene.RegionName, cShape.ToString("X"));
+                                    LogHeader, PhysicsScene.RegionName, shapeInfo.AddrString);
         }
     }
 
@@ -467,7 +466,7 @@ public sealed class BSShapeCollection : IDisposable
             // 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 = BulletSimAPI.GetLocalScaling2(prim.PhysShape.ptr);
+                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);
@@ -570,19 +569,15 @@ public sealed class BSShapeCollection : IDisposable
 
         if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE)
         {
-            // The proper scale has been calculated in the prim.
-            newShape = new BulletShape(
-                        // Bullet's capsule total height is the passed "height + (radius * 2)" so, the base
-                        //     capsule is radius of 0.5f (1 diameter) and height of two (1.0f + 0.5f * 2)".
-                        //     This must be taken into account when computing the scaling of the capsule.
-                        BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, prim.Scale)
-                        , shapeType);
+
+            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 = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, nativeShapeData), shapeType);
+            newShape = PhysicsScene.PE.BuildNativeShape(PhysicsScene.World, nativeShapeData);
+
         }
         if (!newShape.HasPhysicalShape)
         {
@@ -629,13 +624,14 @@ public sealed class BSShapeCollection : IDisposable
 
     private BulletShape CreatePhysicalMesh(string objName, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
     {
+        BulletShape newShape = new BulletShape();
         IMesh meshData = null;
-        IntPtr meshPtr = IntPtr.Zero;
+
         MeshDesc meshDesc;
         if (Meshes.TryGetValue(newMeshKey, out meshDesc))
         {
             // If the mesh has already been built just use it.
-            meshPtr = meshDesc.ptr;
+            newShape = meshDesc.shape.Clone();
         }
         else
         {
@@ -658,11 +654,10 @@ public sealed class BSShapeCollection : IDisposable
                 // m_log.DebugFormat("{0}: BSShapeCollection.CreatePhysicalMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}",
                 //                  LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count);
 
-                meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
+                newShape = PhysicsScene.PE.CreateMeshShape(PhysicsScene.World,
                                     indices.GetLength(0), indices, vertices.Count, verticesAsFloats);
             }
         }
-        BulletShape newShape = new BulletShape(meshPtr, BSPhysicsShapeType.SHAPE_MESH);
         newShape.shapeKey = newMeshKey;
 
         return newShape;
@@ -700,12 +695,14 @@ public sealed class BSShapeCollection : IDisposable
     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.
-            hullPtr = hullDesc.ptr;
+            newShape = hullDesc.shape.Clone();
         }
         else
         {
@@ -793,11 +790,10 @@ public sealed class BSShapeCollection : IDisposable
                     }
                 }
                 // create the hull data structure in Bullet
-                hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls);
+                newShape = PhysicsScene.PE.CreateHullShape(PhysicsScene.World, hullCount, convHulls);
             }
         }
 
-        BulletShape newShape = new BulletShape(hullPtr, BSPhysicsShapeType.SHAPE_HULL);
         newShape.shapeKey = newHullKey;
 
         return newShape;
@@ -819,12 +815,12 @@ public sealed class BSShapeCollection : IDisposable
         // 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 = new BulletShape(
-            BulletSimAPI.CreateCompoundShape2(PhysicsScene.World.ptr, false), BSPhysicsShapeType.SHAPE_COMPOUND);
+
+        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);
-        BulletSimAPI.AddChildShapeToCompoundShape2(cShape.ptr, prim.PhysShape.ptr, OMV.Vector3.Zero, OMV.Quaternion.Identity);
+        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);
 
@@ -932,7 +928,7 @@ public sealed class BSShapeCollection : IDisposable
         // If not a solid object, body is a GhostObject. Otherwise a RigidBody.
         if (!mustRebuild)
         {
-            CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(prim.PhysBody.ptr);
+            CollisionObjectTypes bodyType = (CollisionObjectTypes)PhysicsScene.PE.GetBodyType(prim.PhysBody);
             if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY
                 || !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT)
             {
@@ -947,20 +943,16 @@ public sealed class BSShapeCollection : IDisposable
             DereferenceBody(prim.PhysBody, true, bodyCallback);
 
             BulletBody aBody;
-            IntPtr bodyPtr = IntPtr.Zero;
             if (prim.IsSolid)
             {
-                bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr,
-                                        prim.LocalID, prim.RawPosition, prim.RawOrientation);
-                if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
+                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
             {
-                bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr,
-                                        prim.LocalID, prim.RawPosition, prim.RawOrientation);
-                if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
+                aBody = PhysicsScene.PE.CreateGhostFromShape(sim, shape, prim.LocalID, prim.RawPosition, prim.RawOrientation);
+                if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,ghost,body={1}", prim.LocalID, aBody);
             }
-            aBody = new BulletBody(prim.LocalID, bodyPtr);
 
             ReferenceBody(aBody, true);
 
@@ -972,13 +964,13 @@ public sealed class BSShapeCollection : IDisposable
         return ret;
     }
 
-    private bool TryGetMeshByPtr(IntPtr addr, out MeshDesc outDesc)
+    private bool TryGetMeshByPtr(BulletShape shape, out MeshDesc outDesc)
     {
         bool ret = false;
         MeshDesc foundDesc = new MeshDesc();
         foreach (MeshDesc md in Meshes.Values)
         {
-            if (md.ptr == addr)
+            if (md.shape.ReferenceSame(shape))
             {
                 foundDesc = md;
                 ret = true;
@@ -990,13 +982,13 @@ public sealed class BSShapeCollection : IDisposable
         return ret;
     }
 
-    private bool TryGetHullByPtr(IntPtr addr, out HullDesc outDesc)
+    private bool TryGetHullByPtr(BulletShape shape, out HullDesc outDesc)
     {
         bool ret = false;
         HullDesc foundDesc = new HullDesc();
         foreach (HullDesc hd in Hulls.Values)
         {
-            if (hd.ptr == addr)
+            if (hd.shape.ReferenceSame(shape))
             {
                 foundDesc = hd;
                 ret = true;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
index c7885c6..c75eb9b 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
@@ -91,11 +91,17 @@ public abstract class BSShape
     // 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(ptr.ToString("X"));
+        buff.Append(AddrString);
         buff.Append(",s=");
         buff.Append(type.ToString());
         buff.Append(",k=");
@@ -126,7 +132,8 @@ public class BSShapeNative : BSShape
                     BSPhysicsShapeType shapeType, FixedShapeKey shapeKey) 
     {
         // Native shapes are not shared and are always built anew.
-        return new BSShapeNative(physicsScene, prim, shapeType, shapeKey);
+        //return new BSShapeNative(physicsScene, prim, shapeType, shapeKey);
+        return null;
     }
 
     private BSShapeNative(BSScene physicsScene, BSPhysObject prim,
@@ -141,14 +148,15 @@ public class BSShapeNative : BSShape
         nativeShapeData.HullKey = (ulong)shapeKey;
 
        
+        /*
         if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE)
         {
-            ptr = BulletSimAPI.BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale);
+            ptr = PhysicsScene.PE.BuildCapsuleShape(physicsScene.World, 1f, 1f, prim.Scale);
             physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
         }
         else
         {
-            ptr = BulletSimAPI.BuildNativeShape2(physicsScene.World.ptr, nativeShapeData);
+            ptr = PhysicsScene.PE.BuildNativeShape(physicsScene.World, nativeShapeData);
         }
         if (ptr == IntPtr.Zero)
         {
@@ -157,15 +165,18 @@ public class BSShapeNative : BSShape
         }
         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);
-        BulletSimAPI.DeleteCollisionShape2(physicsScene.World.ptr, ptr);
+        PhysicsScene.PE.DeleteCollisionShape(physicsScene.World, this);
         ptr = IntPtr.Zero;
         // Garbage collection will free up this instance.
+         */
     }
 }
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
index 07a9fd8..e4fecc3 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
@@ -44,7 +44,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
 {
     static string LogHeader = "[BULLETSIM TERRAIN HEIGHTMAP]";
 
-    BulletHeightMapInfo m_mapInfo = null;
+    BulletHMapInfo m_mapInfo = null;
 
     // Constructor to build a default, flat heightmap terrain.
     public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize)
@@ -58,7 +58,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
         {
             initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION;
         }
-        m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero);
+        m_mapInfo = new BulletHMapInfo(id, initialMap);
         m_mapInfo.minCoords = minTerrainCoords;
         m_mapInfo.maxCoords = maxTerrainCoords;
         m_mapInfo.terrainRegionBase = TerrainBase;
@@ -72,7 +72,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
                                                     Vector3 minCoords, Vector3 maxCoords)
         : base(physicsScene, regionBase, id)
     {
-        m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero);
+        m_mapInfo = new BulletHMapInfo(id, initialMap);
         m_mapInfo.minCoords = minCoords;
         m_mapInfo.maxCoords = maxCoords;
         m_mapInfo.minZ = minCoords.Z;
@@ -91,13 +91,11 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
     // Using the information in m_mapInfo, create the physical representation of the heightmap.
     private void BuildHeightmapTerrain()
     {
-        m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID,
-                                m_mapInfo.minCoords, m_mapInfo.maxCoords, 
-                                m_mapInfo.heightMap, BSParam.TerrainCollisionMargin);
-
         // Create the terrain shape from the mapInfo
-        m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr),
-                                                    BSPhysicsShapeType.SHAPE_TERRAIN);
+        m_mapInfo.terrainShape = 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);
+
 
         // The terrain object initial position is at the center of the object
         Vector3 centerPos;
@@ -105,27 +103,26 @@ 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 = new BulletBody(m_mapInfo.ID,
-                BulletSimAPI.CreateBodyWithDefaultMotionState2(m_mapInfo.terrainShape.ptr,
-                                            m_mapInfo.ID, centerPos, Quaternion.Identity));
+        m_mapInfo.terrainBody = PhysicsScene.PE.CreateBodyWithDefaultMotionState(m_mapInfo.terrainShape, 
+                                m_mapInfo.ID, centerPos, Quaternion.Identity);
 
         // Set current terrain attributes
-        BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, BSParam.TerrainFriction);
-        BulletSimAPI.SetHitFraction2(m_mapInfo.terrainBody.ptr, BSParam.TerrainHitFraction);
-        BulletSimAPI.SetRestitution2(m_mapInfo.terrainBody.ptr, BSParam.TerrainRestitution);
-        BulletSimAPI.SetCollisionFlags2(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
+        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);
 
         // Return the new terrain to the world of physical objects
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
+        PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_mapInfo.terrainBody);
 
         // redo its bounding box now that it is in the world
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
+        PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_mapInfo.terrainBody);
 
         m_mapInfo.terrainBody.collisionType = CollisionType.Terrain;
-        m_mapInfo.terrainBody.ApplyCollisionMask();
+        m_mapInfo.terrainBody.ApplyCollisionMask(PhysicsScene);
 
         // Make it so the terrain will not move or be considered for movement.
-        BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
+        PhysicsScene.PE.ForceActivationState(m_mapInfo.terrainBody, ActivationState.DISABLE_SIMULATION);
 
         return;
     }
@@ -137,10 +134,9 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
         {
             if (m_mapInfo.terrainBody.HasPhysicalBody)
             {
-                BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
+                PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_mapInfo.terrainBody);
                 // Frees both the body and the shape.
-                BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
-                BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr);
+                PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_mapInfo.terrainBody);
             }
         }
         m_mapInfo = null;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
index 86ccfbb..2e9db39 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
@@ -133,20 +133,17 @@ public sealed class BSTerrainManager : IDisposable
     public void CreateInitialGroundPlaneAndTerrain()
     {
         // The ground plane is here to catch things that are trying to drop to negative infinity
-        BulletShape groundPlaneShape = new BulletShape(
-                    BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, 
-                                    BSParam.TerrainCollisionMargin),
-                    BSPhysicsShapeType.SHAPE_GROUNDPLANE);
-        m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID,
-                        BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID,
-                                                            Vector3.Zero, Quaternion.Identity));
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr);
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_groundPlane.ptr);
+        BulletShape groundPlaneShape = PhysicsScene.PE.CreateGroundPlaneShape(BSScene.GROUNDPLANE_ID, 1f, BSParam.TerrainCollisionMargin);
+        m_groundPlane = PhysicsScene.PE.CreateBodyWithDefaultMotionState(groundPlaneShape, 
+                                        BSScene.GROUNDPLANE_ID, Vector3.Zero, Quaternion.Identity);
+
+        PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_groundPlane);
+        PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_groundPlane);
         // Ground plane does not move
-        BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION);
+        PhysicsScene.PE.ForceActivationState(m_groundPlane, ActivationState.DISABLE_SIMULATION);
         // Everything collides with the ground plane.
         m_groundPlane.collisionType = CollisionType.Groundplane;
-        m_groundPlane.ApplyCollisionMask();
+        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);
@@ -158,9 +155,9 @@ public sealed class BSTerrainManager : IDisposable
     {
         if (m_groundPlane.HasPhysicalBody)
         {
-            if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr))
+            if (PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_groundPlane))
             {
-                BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_groundPlane.ptr);
+                PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_groundPlane);
             }
             m_groundPlane.Clear();
         }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
index 061e232..1d55ce3 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
@@ -91,9 +91,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys
         PhysicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,indices={1},indSz={2},vertices={3},vertSz={4}", 
                                 ID, indicesCount, indices.Length, verticesCount, vertices.Length);
 
-        m_terrainShape = new BulletShape(BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
-                                                    indicesCount, indices, verticesCount, vertices),
-                                        BSPhysicsShapeType.SHAPE_MESH);
+        m_terrainShape = PhysicsScene.PE.CreateMeshShape(PhysicsScene.World, indicesCount, indices, verticesCount, vertices);
         if (!m_terrainShape.HasPhysicalShape)
         {
             // DISASTER!!
@@ -106,7 +104,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys
         Vector3 pos = regionBase;
         Quaternion rot = Quaternion.Identity;
 
-        m_terrainBody = new BulletBody(id, BulletSimAPI.CreateBodyWithDefaultMotionState2( m_terrainShape.ptr, ID, pos, rot));
+        m_terrainBody = PhysicsScene.PE.CreateBodyWithDefaultMotionState(m_terrainShape, ID, pos, rot);
         if (!m_terrainBody.HasPhysicalBody)
         {
             // DISASTER!!
@@ -116,34 +114,34 @@ public sealed class BSTerrainMesh : BSTerrainPhys
         }
 
         // Set current terrain attributes
-        BulletSimAPI.SetFriction2(m_terrainBody.ptr, BSParam.TerrainFriction);
-        BulletSimAPI.SetHitFraction2(m_terrainBody.ptr, BSParam.TerrainHitFraction);
-        BulletSimAPI.SetRestitution2(m_terrainBody.ptr, BSParam.TerrainRestitution);
-        BulletSimAPI.SetCollisionFlags2(m_terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
+        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.
-        BulletSimAPI.SetMassProps2(m_terrainBody.ptr, 0f, Vector3.Zero);
+        PhysicsScene.PE.SetMassProps(m_terrainBody, 0f, Vector3.Zero);
 
         // Put the new terrain to the world of physical objects
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr);
+        PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_terrainBody);
 
         // Redo its bounding box now that it is in the world
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr);
+        PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_terrainBody);
 
         m_terrainBody.collisionType = CollisionType.Terrain;
-        m_terrainBody.ApplyCollisionMask();
+        m_terrainBody.ApplyCollisionMask(PhysicsScene);
 
         // Make it so the terrain will not move or be considered for movement.
-        BulletSimAPI.ForceActivationState2(m_terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
+        PhysicsScene.PE.ForceActivationState(m_terrainBody, ActivationState.DISABLE_SIMULATION);
     }
 
     public override void Dispose()
     {
         if (m_terrainBody.HasPhysicalBody)
         {
-            BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr);
+            PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_terrainBody);
             // Frees both the body and the shape.
-            BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_terrainBody.ptr);
+            PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_terrainBody);
         }
     }
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
deleted file mode 100644
index b361498..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ /dev/null
@@ -1,1276 +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.Runtime.InteropServices;
-using System.Security;
-using System.Text;
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSPlugin {
-
-    // Constraint type values as defined by Bullet
-public enum ConstraintType : int
-{
-        POINT2POINT_CONSTRAINT_TYPE = 3,
-        HINGE_CONSTRAINT_TYPE,
-        CONETWIST_CONSTRAINT_TYPE,
-        D6_CONSTRAINT_TYPE,
-        SLIDER_CONSTRAINT_TYPE,
-        CONTACT_CONSTRAINT_TYPE,
-        D6_SPRING_CONSTRAINT_TYPE,
-        MAX_CONSTRAINT_TYPE
-}
-
-// ===============================================================================
-[StructLayout(LayoutKind.Sequential)]
-public struct ConvexHull
-{
-        Vector3 Offset;
-        int VertexCount;
-        Vector3[] Vertices;
-}
-public enum BSPhysicsShapeType
-{
-        SHAPE_UNKNOWN   = 0,
-        SHAPE_CAPSULE   = 1,
-        SHAPE_BOX       = 2,
-        SHAPE_CONE      = 3,
-        SHAPE_CYLINDER  = 4,
-        SHAPE_SPHERE    = 5,
-        SHAPE_MESH      = 6,
-        SHAPE_HULL      = 7,
-    // following defined by BulletSim
-        SHAPE_GROUNDPLANE  = 20,
-        SHAPE_TERRAIN   = 21,
-        SHAPE_COMPOUND  = 22,
-        SHAPE_HEIGHTMAP = 23,
-    SHAPE_AVATAR    = 24,
-};
-
-// The native shapes have predefined shape hash keys
-public enum FixedShapeKey : ulong
-{
-    KEY_NONE        = 0,
-    KEY_BOX         = 1,
-    KEY_SPHERE      = 2,
-    KEY_CONE        = 3,
-    KEY_CYLINDER    = 4,
-    KEY_CAPSULE     = 5,
-    KEY_AVATAR      = 6,
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public struct ShapeData
-{
-    public uint ID;
-    public BSPhysicsShapeType Type;
-    public Vector3 Position;
-    public Quaternion Rotation;
-    public Vector3 Velocity;
-    public Vector3 Scale;
-    public float Mass;
-    public float Buoyancy;
-    public System.UInt64 HullKey;
-    public System.UInt64 MeshKey;
-    public float Friction;
-    public float Restitution;
-    public float Collidable;    // true of things bump into this
-    public float Static;        // true if a static object. Otherwise gravity, etc.
-    public float Solid;         // true if object cannot be passed through
-    public Vector3 Size;
-
-    // note that bools are passed as floats since bool size changes by language and architecture
-    public const float numericTrue = 1f;
-    public const float numericFalse = 0f;
-}
-[StructLayout(LayoutKind.Sequential)]
-public struct SweepHit
-{
-    public uint ID;
-    public float Fraction;
-    public Vector3 Normal;
-    public Vector3 Point;
-}
-[StructLayout(LayoutKind.Sequential)]
-public struct RaycastHit
-{
-    public uint ID;
-    public float Fraction;
-    public Vector3 Normal;
-}
-[StructLayout(LayoutKind.Sequential)]
-public struct CollisionDesc
-{
-    public uint aID;
-    public uint bID;
-    public Vector3 point;
-    public Vector3 normal;
-}
-[StructLayout(LayoutKind.Sequential)]
-public struct EntityProperties
-{
-    public uint ID;
-    public Vector3 Position;
-    public Quaternion Rotation;
-    public Vector3 Velocity;
-    public Vector3 Acceleration;
-    public Vector3 RotationalVelocity;
-}
-
-// Format of this structure must match the definition in the C++ code
-// NOTE: adding the X causes compile breaks if used. These are unused symbols
-//      that can be removed from both here and the unmanaged definition of this structure.
-[StructLayout(LayoutKind.Sequential)]
-public struct ConfigurationParameters
-{
-    public float defaultFriction;
-    public float defaultDensity;
-    public float defaultRestitution;
-    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;
-        public float shouldForceUpdateAllAabbs;
-        public float shouldRandomizeSolverOrder;
-        public float shouldSplitSimulationIslands;
-        public float shouldEnableFrictionCaching;
-        public float numberOfSolverIterations;
-
-    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 physicsLoggingFrames;
-
-    public const float numericTrue = 1f;
-    public const float numericFalse = 0f;
-}
-
-
-// The states a bullet collision object can have
-public enum ActivationState : uint
-{
-    ACTIVE_TAG = 1,
-    ISLAND_SLEEPING,
-    WANTS_DEACTIVATION,
-    DISABLE_DEACTIVATION,
-    DISABLE_SIMULATION,
-}
-
-public enum CollisionObjectTypes : int
-{
-    CO_COLLISION_OBJECT             = 1 << 0,
-    CO_RIGID_BODY                   = 1 << 1,
-    CO_GHOST_OBJECT                 = 1 << 2,
-    CO_SOFT_BODY                    = 1 << 3,
-    CO_HF_FLUID                     = 1 << 4,
-    CO_USER_TYPE                    = 1 << 5,
-}
-
-// Values used by Bullet and BulletSim to control object properties.
-// Bullet's "CollisionFlags" has more to do with operations on the
-//    object (if collisions happen, if gravity effects it, ...).
-public enum CollisionFlags : uint
-{
-    CF_STATIC_OBJECT                 = 1 << 0,
-    CF_KINEMATIC_OBJECT              = 1 << 1,
-    CF_NO_CONTACT_RESPONSE           = 1 << 2,
-    CF_CUSTOM_MATERIAL_CALLBACK      = 1 << 3,
-    CF_CHARACTER_OBJECT              = 1 << 4,
-    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_NONE                          = 0,
-    BS_ALL                           = 0xFFFFFFFF
-};
-
-// Values f collisions groups and masks
-public enum CollisionFilterGroups : uint
-{
-    // Don't use the bit definitions!!  Define the use in a
-    //   filter/mask definition below. This way collision interactions
-    //   are more easily found and debugged.
-    BNoneGroup              = 0,
-    BDefaultGroup           = 1 << 0,   // 0001
-    BStaticGroup            = 1 << 1,   // 0002
-    BKinematicGroup         = 1 << 2,   // 0004
-    BDebrisGroup            = 1 << 3,   // 0008
-    BSensorTrigger          = 1 << 4,   // 0010
-    BCharacterGroup         = 1 << 5,   // 0020
-    BAllGroup               = 0x000FFFFF,
-    // Filter groups defined by BulletSim
-    BGroundPlaneGroup       = 1 << 10,  // 0400
-    BTerrainGroup           = 1 << 11,  // 0800
-    BRaycastGroup           = 1 << 12,  // 1000
-    BSolidGroup             = 1 << 13,  // 2000
-    // BLinksetGroup        = xx  // a linkset proper is either static or dynamic
-    BLinksetChildGroup      = 1 << 14,  // 4000
-};
-
-// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
-// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2.
-public enum ConstraintParams : int
-{
-    BT_CONSTRAINT_ERP = 1,  // this one is not used in Bullet as of 20120730
-    BT_CONSTRAINT_STOP_ERP,
-    BT_CONSTRAINT_CFM,
-    BT_CONSTRAINT_STOP_CFM,
-};
-public enum ConstraintParamAxis : int
-{
-    AXIS_LINEAR_X = 0,
-    AXIS_LINEAR_Y,
-    AXIS_LINEAR_Z,
-    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_ANGULAR_ALL,
-    AXIS_ALL
-};
-
-public abstract class BulletSimAPITemplate
-{
-// Initialization and simulation
-public abstract BulletWorld Initialize2(Vector3 maxPosition, IntPtr parms,
-                                                                                        int maxCollisions,  IntPtr collisionArray,
-                                                                                        int maxUpdates, IntPtr updateArray
-                                            );
-
-public abstract bool UpdateParameter2(BulletWorld world, uint localID, String parm, float value);
-
-public abstract void SetHeightMap2(BulletWorld world, float[] heightmap);
-
-public abstract void Shutdown2(BulletWorld sim);
-
-public abstract int PhysicsStep2(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
-                        out int updatedEntityCount,
-                        out IntPtr updatedEntitiesPtr,
-                        out int collidersCount,
-                        out IntPtr collidersPtr);
-
-public abstract bool PushUpdate2(BulletBody obj);
-
-// =====================================================================================
-// Mesh, hull, shape and body creation helper routines
-public abstract BulletShape CreateMeshShape2(BulletWorld world,
-                int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
-                int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices );
-
-public abstract BulletShape CreateHullShape2(BulletWorld world,
-                int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls);
-
-public abstract BulletShape BuildHullShapeFromMesh2(BulletWorld world, BulletShape meshShape);
-
-public abstract BulletShape BuildNativeShape2(BulletWorld world, ShapeData shapeData);
-
-public abstract bool IsNativeShape2(BulletShape shape);
-
-public abstract void SetShapeCollisionMargin(BulletShape shape, float margin);
-
-public abstract BulletShape BuildCapsuleShape2(BulletWorld world, float radius, float height, Vector3 scale);
-
-public abstract BulletShape CreateCompoundShape2(BulletWorld sim, bool enableDynamicAabbTree);
-
-public abstract int GetNumberOfCompoundChildren2(BulletShape cShape);
-
-public abstract void AddChildShapeToCompoundShape2(BulletShape cShape, BulletShape addShape, Vector3 pos, Quaternion rot);
-
-public abstract BulletShape GetChildShapeFromCompoundShapeIndex2(BulletShape cShape, int indx);
-
-public abstract BulletShape RemoveChildShapeFromCompoundShapeIndex2(BulletShape cShape, int indx);
-
-public abstract void RemoveChildShapeFromCompoundShape2(BulletShape cShape, BulletShape removeShape);
-
-public abstract void RecalculateCompoundShapeLocalAabb2(BulletShape cShape);
-
-public abstract BulletShape DuplicateCollisionShape2(BulletWorld sim, BulletShape srcShape, uint id);
-
-public abstract BulletBody CreateBodyFromShapeAndInfo2(BulletWorld sim, BulletShape shape, uint id, IntPtr constructionInfo);
-
-public abstract bool DeleteCollisionShape2(BulletWorld world, BulletShape shape);
-
-public abstract int GetBodyType2(BulletBody obj);
-
-public abstract BulletBody CreateBodyFromShape2(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot);
-
-public abstract BulletBody CreateBodyWithDefaultMotionState2(BulletShape shape, uint id, Vector3 pos, Quaternion rot);
-
-public abstract BulletBody CreateGhostFromShape2(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot);
-
-public abstract IntPtr AllocateBodyInfo2(BulletBody obj);
-
-public abstract void ReleaseBodyInfo2(IntPtr obj);
-
-public abstract void DestroyObject2(BulletWorld sim, BulletBody obj);
-
-// =====================================================================================
-// Terrain creation and helper routines
-public abstract IntPtr CreateHeightMapInfo2(BulletWorld sim, uint id, Vector3 minCoords, Vector3 maxCoords,
-        [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
-
-public abstract IntPtr FillHeightMapInfo2(BulletWorld sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords,
-        [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
-
-public abstract bool ReleaseHeightMapInfo2(IntPtr heightMapInfo);
-
-public abstract BulletBody CreateGroundPlaneShape2(uint id, float height, float collisionMargin);
-
-public abstract BulletBody CreateTerrainShape2(IntPtr mapInfo);
-
-// =====================================================================================
-// Constraint creation and helper routines
-public abstract BulletConstraint Create6DofConstraint2(BulletWorld world, BulletBody obj1, BulletBody obj2,
-                    Vector3 frame1loc, Quaternion frame1rot,
-                    Vector3 frame2loc, Quaternion frame2rot,
-                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
-
-public abstract BulletConstraint Create6DofConstraintToPoint2(BulletWorld world, BulletBody obj1, BulletBody obj2,
-                    Vector3 joinPoint,
-                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
-
-public abstract BulletConstraint CreateHingeConstraint2(BulletWorld world, BulletBody obj1, BulletBody obj2,
-                    Vector3 pivotinA, Vector3 pivotinB,
-                    Vector3 axisInA, Vector3 axisInB,
-                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
-
-public abstract void SetConstraintEnable2(BulletConstraint constrain, float numericTrueFalse);
-
-public abstract void SetConstraintNumSolverIterations2(BulletConstraint constrain, float iterations);
-
-public abstract bool SetFrames2(BulletConstraint constrain,
-                Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
-
-public abstract bool SetLinearLimits2(BulletConstraint constrain, Vector3 low, Vector3 hi);
-
-public abstract bool SetAngularLimits2(BulletConstraint constrain, Vector3 low, Vector3 hi);
-
-public abstract bool UseFrameOffset2(BulletConstraint constrain, float enable);
-
-public abstract bool TranslationalLimitMotor2(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce);
-
-public abstract bool SetBreakingImpulseThreshold2(BulletConstraint constrain, float threshold);
-
-public abstract bool CalculateTransforms2(BulletConstraint constrain);
-
-public abstract bool SetConstraintParam2(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
-
-public abstract bool DestroyConstraint2(BulletWorld world, BulletConstraint constrain);
-
-// =====================================================================================
-// btCollisionWorld entries
-public abstract void UpdateSingleAabb2(BulletWorld world, BulletBody obj);
-
-public abstract void UpdateAabbs2(BulletWorld world);
-
-public abstract bool GetForceUpdateAllAabbs2(BulletWorld world);
-
-public abstract void SetForceUpdateAllAabbs2(BulletWorld world, bool force);
-
-// =====================================================================================
-// btDynamicsWorld entries
-public abstract bool AddObjectToWorld2(BulletWorld world, BulletBody obj);
-
-public abstract bool RemoveObjectFromWorld2(BulletWorld world, BulletBody obj);
-
-public abstract bool AddConstraintToWorld2(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects);
-
-public abstract bool RemoveConstraintFromWorld2(BulletWorld world, BulletConstraint constrain);
-// =====================================================================================
-// btCollisionObject entries
-public abstract Vector3 GetAnisotripicFriction2(BulletConstraint constrain);
-
-public abstract Vector3 SetAnisotripicFriction2(BulletConstraint constrain, Vector3 frict);
-
-public abstract bool HasAnisotripicFriction2(BulletConstraint constrain);
-
-public abstract void SetContactProcessingThreshold2(BulletBody obj, float val);
-
-public abstract float GetContactProcessingThreshold2(BulletBody obj);
-
-public abstract bool IsStaticObject2(BulletBody obj);
-
-public abstract bool IsKinematicObject2(BulletBody obj);
-
-public abstract bool IsStaticOrKinematicObject2(BulletBody obj);
-
-public abstract bool HasContactResponse2(BulletBody obj);
-
-public abstract void SetCollisionShape2(BulletWorld sim, BulletBody obj, BulletBody shape);
-
-public abstract BulletShape GetCollisionShape2(BulletBody obj);
-
-public abstract int GetActivationState2(BulletBody obj);
-
-public abstract void SetActivationState2(BulletBody obj, int state);
-
-public abstract void SetDeactivationTime2(BulletBody obj, float dtime);
-
-public abstract float GetDeactivationTime2(BulletBody obj);
-
-public abstract void ForceActivationState2(BulletBody obj, ActivationState state);
-
-public abstract void Activate2(BulletBody obj, bool forceActivation);
-
-public abstract bool IsActive2(BulletBody obj);
-
-public abstract void SetRestitution2(BulletBody obj, float val);
-
-public abstract float GetRestitution2(BulletBody obj);
-
-public abstract void SetFriction2(BulletBody obj, float val);
-
-public abstract float GetFriction2(BulletBody obj);
-
-    /* Haven't defined the type 'Transform'
-public abstract Transform GetWorldTransform2(BulletBody obj);
-
-public abstract void setWorldTransform2(BulletBody obj, Transform trans);
-     */
-
-public abstract Vector3 GetPosition2(BulletBody obj);
-
-public abstract Quaternion GetOrientation2(BulletBody obj);
-
-public abstract void SetTranslation2(BulletBody obj, Vector3 position, Quaternion rotation);
-
-public abstract IntPtr GetBroadphaseHandle2(BulletBody obj);
-
-public abstract void SetBroadphaseHandle2(BulletBody obj, IntPtr handle);
-
-    /*
-public abstract Transform GetInterpolationWorldTransform2(IntPtr obj);
-
-public abstract void SetInterpolationWorldTransform2(IntPtr obj, Transform trans);
-     */
-
-public abstract void SetInterpolationLinearVelocity2(BulletBody obj, Vector3 vel);
-
-public abstract void SetInterpolationAngularVelocity2(BulletBody obj, Vector3 vel);
-
-public abstract void SetInterpolationVelocity2(BulletBody obj, Vector3 linearVel, Vector3 angularVel);
-
-public abstract float GetHitFraction2(BulletBody obj);
-
-public abstract void SetHitFraction2(BulletBody obj, float val);
-
-public abstract CollisionFlags GetCollisionFlags2(BulletBody obj);
-
-public abstract CollisionFlags SetCollisionFlags2(BulletBody obj, CollisionFlags flags);
-
-public abstract CollisionFlags AddToCollisionFlags2(BulletBody obj, CollisionFlags flags);
-
-public abstract CollisionFlags RemoveFromCollisionFlags2(BulletBody obj, CollisionFlags flags);
-
-public abstract float GetCcdMotionThreshold2(BulletBody obj);
-
-public abstract void SetCcdMotionThreshold2(BulletBody obj, float val);
-
-public abstract float GetCcdSweptSphereRadius2(BulletBody obj);
-
-public abstract void SetCcdSweptSphereRadius2(BulletBody obj, float val);
-
-public abstract IntPtr GetUserPointer2(BulletBody obj);
-
-public abstract void SetUserPointer2(BulletBody obj, IntPtr val);
-
-// =====================================================================================
-// btRigidBody entries
-public abstract void ApplyGravity2(BulletBody obj);
-
-public abstract void SetGravity2(BulletBody obj, Vector3 val);
-
-public abstract Vector3 GetGravity2(BulletBody obj);
-
-public abstract void SetDamping2(BulletBody obj, float lin_damping, float ang_damping);
-
-public abstract void SetLinearDamping2(BulletBody obj, float lin_damping);
-
-public abstract void SetAngularDamping2(BulletBody obj, float ang_damping);
-
-public abstract float GetLinearDamping2(BulletBody obj);
-
-public abstract float GetAngularDamping2(BulletBody obj);
-
-public abstract float GetLinearSleepingThreshold2(BulletBody obj);
-
-
-public abstract void ApplyDamping2(BulletBody obj, float timeStep);
-
-public abstract void SetMassProps2(BulletBody obj, float mass, Vector3 inertia);
-
-public abstract Vector3 GetLinearFactor2(BulletBody obj);
-
-public abstract void SetLinearFactor2(BulletBody obj, Vector3 factor);
-
-    /*
-public abstract void SetCenterOfMassTransform2(BulletBody obj, Transform trans);
-     */
-
-public abstract void SetCenterOfMassByPosRot2(BulletBody obj, Vector3 pos, Quaternion rot);
-
-// Add a force to the object as if its mass is one.
-public abstract void ApplyCentralForce2(BulletBody obj, Vector3 force);
-
-// Set the force being applied to the object as if its mass is one.
-public abstract void SetObjectForce2(BulletBody obj, Vector3 force);
-
-public abstract Vector3 GetTotalForce2(BulletBody obj);
-
-public abstract Vector3 GetTotalTorque2(BulletBody obj);
-
-public abstract Vector3 GetInvInertiaDiagLocal2(BulletBody obj);
-
-public abstract void SetInvInertiaDiagLocal2(BulletBody obj, Vector3 inert);
-
-public abstract void SetSleepingThresholds2(BulletBody obj, float lin_threshold, float ang_threshold);
-
-public abstract void ApplyTorque2(BulletBody obj, Vector3 torque);
-
-// Apply force at the given point. Will add torque to the object.
-public abstract void ApplyForce2(BulletBody obj, Vector3 force, Vector3 pos);
-
-// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
-public abstract void ApplyCentralImpulse2(BulletBody obj, Vector3 imp);
-
-// Apply impulse to the object's torque. Force is scaled by object's mass.
-public abstract void ApplyTorqueImpulse2(BulletBody obj, Vector3 imp);
-
-// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
-public abstract void ApplyImpulse2(BulletBody obj, Vector3 imp, Vector3 pos);
-
-public abstract void ClearForces2(BulletBody obj);
-
-public abstract void ClearAllForces2(BulletBody obj);
-
-public abstract void UpdateInertiaTensor2(BulletBody obj);
-
-
-    /*
-public abstract Transform GetCenterOfMassTransform2(BulletBody obj);
-     */
-
-public abstract Vector3 GetLinearVelocity2(BulletBody obj);
-
-public abstract Vector3 GetAngularVelocity2(BulletBody obj);
-
-public abstract void SetLinearVelocity2(BulletBody obj, Vector3 val);
-
-public abstract void SetAngularVelocity2(BulletBody obj, Vector3 angularVelocity);
-
-public abstract Vector3 GetVelocityInLocalPoint2(BulletBody obj, Vector3 pos);
-
-public abstract void Translate2(BulletBody obj, Vector3 trans);
-
-public abstract void UpdateDeactivation2(BulletBody obj, float timeStep);
-
-public abstract bool WantsSleeping2(BulletBody obj);
-
-public abstract void SetAngularFactor2(BulletBody obj, float factor);
-
-public abstract void SetAngularFactorV2(BulletBody obj, Vector3 factor);
-
-public abstract Vector3 GetAngularFactor2(BulletBody obj);
-
-public abstract bool IsInWorld2(BulletBody obj);
-
-public abstract void AddConstraintRef2(BulletBody obj, BulletConstraint constrain);
-
-public abstract void RemoveConstraintRef2(BulletBody obj, BulletConstraint constrain);
-
-public abstract BulletConstraint GetConstraintRef2(BulletBody obj, int index);
-
-public abstract int GetNumConstraintRefs2(BulletBody obj);
-
-public abstract bool SetCollisionGroupMask2(BulletBody body, uint filter, uint mask);
-
-// =====================================================================================
-// btCollisionShape entries
-
-public abstract float GetAngularMotionDisc2(BulletShape shape);
-
-public abstract float GetContactBreakingThreshold2(BulletShape shape, float defaultFactor);
-
-public abstract bool IsPolyhedral2(BulletShape shape);
-
-public abstract bool IsConvex2d2(BulletShape shape);
-
-public abstract bool IsConvex2(BulletShape shape);
-
-public abstract bool IsNonMoving2(BulletShape shape);
-
-public abstract bool IsConcave2(BulletShape shape);
-
-public abstract bool IsCompound2(BulletShape shape);
-
-public abstract bool IsSoftBody2(BulletShape shape);
-
-public abstract bool IsInfinite2(BulletShape shape);
-
-public abstract void SetLocalScaling2(BulletShape shape, Vector3 scale);
-
-public abstract Vector3 GetLocalScaling2(BulletShape shape);
-
-public abstract Vector3 CalculateLocalInertia2(BulletShape shape, float mass);
-
-public abstract int GetShapeType2(BulletShape shape);
-
-public abstract void SetMargin2(BulletShape shape, float val);
-
-public abstract float GetMargin2(BulletShape shape);
-
-};
-
-// ===============================================================================
-static class BulletSimAPI {
-// ===============================================================================
-// Link back to the managed code for outputting log messages
-[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
-public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
-
-// ===============================================================================
-// Initialization and simulation
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
-                                                                                        int maxCollisions,  IntPtr collisionArray,
-                                                                                        int maxUpdates, IntPtr updateArray,
-                                            DebugLogCallback logRoutine);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetHeightMap2(IntPtr world, float[] heightmap);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void Shutdown2(IntPtr sim);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
-                        out int updatedEntityCount,
-                        out IntPtr updatedEntitiesPtr,
-                        out int collidersCount,
-                        out IntPtr collidersPtr);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool PushUpdate2(IntPtr obj);
-
-// =====================================================================================
-// Mesh, hull, shape and body creation helper routines
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateMeshShape2(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);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsNativeShape2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-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);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateCompoundShape2(IntPtr sim, bool enableDynamicAabbTree);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int GetNumberOfCompoundChildren2(IntPtr cShape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void AddChildShapeToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr GetChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr RemoveChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void RemoveChildShapeFromCompoundShape2(IntPtr cShape, IntPtr removeShape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void RecalculateCompoundShapeLocalAabb2(IntPtr cShape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, uint id, IntPtr constructionInfo);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int GetBodyType2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr AllocateBodyInfo2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ReleaseBodyInfo2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DestroyObject2(IntPtr sim, IntPtr obj);
-
-// =====================================================================================
-// Terrain creation and helper routines
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords,
-        [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords,
-        [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool ReleaseHeightMapInfo2(IntPtr heightMapInfo);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo);
-
-// =====================================================================================
-// Constraint creation and helper routines
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr Create6DofConstraint2(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 Create6DofConstraintToPoint2(IntPtr world, IntPtr obj1, IntPtr obj2,
-                    Vector3 joinPoint,
-                    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 void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetFrames2(IntPtr constrain,
-                Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetAngularLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool UseFrameOffset2(IntPtr constrain, float enable);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool CalculateTransforms2(IntPtr constrain);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain);
-
-// =====================================================================================
-// btCollisionWorld entries
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void UpdateSingleAabb2(IntPtr world, IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void UpdateAabbs2(IntPtr world);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool GetForceUpdateAllAabbs2(IntPtr world);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetForceUpdateAllAabbs2(IntPtr world, bool force);
-
-// =====================================================================================
-// btDynamicsWorld entries
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool RemoveObjectFromWorld2(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]
-public static extern bool RemoveConstraintFromWorld2(IntPtr world, IntPtr constrain);
-// =====================================================================================
-// btCollisionObject entries
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetAnisotripicFriction2(IntPtr constrain);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 SetAnisotripicFriction2(IntPtr constrain, Vector3 frict);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool HasAnisotripicFriction2(IntPtr constrain);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetContactProcessingThreshold2(IntPtr obj, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetContactProcessingThreshold2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsStaticObject2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsKinematicObject2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsStaticOrKinematicObject2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool HasContactResponse2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr GetCollisionShape2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int GetActivationState2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetActivationState2(IntPtr obj, int state);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetDeactivationTime2(IntPtr obj, float dtime);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetDeactivationTime2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ForceActivationState2(IntPtr obj, ActivationState state);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void Activate2(IntPtr obj, bool forceActivation);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsActive2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetRestitution2(IntPtr obj, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetRestitution2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetFriction2(IntPtr obj, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetFriction2(IntPtr obj);
-
-    /* Haven't defined the type 'Transform'
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Transform GetWorldTransform2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void setWorldTransform2(IntPtr obj, Transform trans);
-     */
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetPosition2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Quaternion GetOrientation2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr GetBroadphaseHandle2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle);
-
-    /*
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Transform GetInterpolationWorldTransform2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetInterpolationWorldTransform2(IntPtr obj, Transform trans);
-     */
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetHitFraction2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetHitFraction2(IntPtr obj, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern CollisionFlags GetCollisionFlags2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetCcdMotionThreshold2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCcdMotionThreshold2(IntPtr obj, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetCcdSweptSphereRadius2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCcdSweptSphereRadius2(IntPtr obj, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr GetUserPointer2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetUserPointer2(IntPtr obj, IntPtr val);
-
-// =====================================================================================
-// btRigidBody entries
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyGravity2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetGravity2(IntPtr obj, Vector3 val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetGravity2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetLinearDamping2(IntPtr obj, float lin_damping);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetAngularDamping2(IntPtr obj, float ang_damping);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetLinearDamping2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetAngularDamping2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetLinearSleepingThreshold2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetAngularSleepingThreshold2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyDamping2(IntPtr obj, float timeStep);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetMassProps2(IntPtr obj, float mass, Vector3 inertia);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetLinearFactor2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor);
-
-    /*
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans);
-     */
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCenterOfMassByPosRot2(IntPtr obj, Vector3 pos, Quaternion rot);
-
-// Add a force to the object as if its mass is one.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyCentralForce2(IntPtr obj, Vector3 force);
-
-// Set the force being applied to the object as if its mass is one.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetObjectForce2(IntPtr obj, Vector3 force);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetTotalForce2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetTotalTorque2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyTorque2(IntPtr obj, Vector3 torque);
-
-// Apply force at the given point. Will add torque to the object.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyForce2(IntPtr obj, Vector3 force, Vector3 pos);
-
-// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyCentralImpulse2(IntPtr obj, Vector3 imp);
-
-// Apply impulse to the object's torque. Force is scaled by object's mass.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyTorqueImpulse2(IntPtr obj, Vector3 imp);
-
-// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyImpulse2(IntPtr obj, Vector3 imp, Vector3 pos);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ClearForces2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ClearAllForces2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void UpdateInertiaTensor2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetCenterOfMassPosition2(IntPtr obj);
-
-    /*
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Transform GetCenterOfMassTransform2(IntPtr obj);
-     */
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetLinearVelocity2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetAngularVelocity2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void Translate2(IntPtr obj, Vector3 trans);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void UpdateDeactivation2(IntPtr obj, float timeStep);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool WantsSleeping2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetAngularFactor2(IntPtr obj, float factor);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetAngularFactor2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsInWorld2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr GetConstraintRef2(IntPtr obj, int index);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int GetNumConstraintRefs2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetCollisionGroupMask2(IntPtr body, uint filter, uint mask);
-
-// =====================================================================================
-// btCollisionShape entries
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetAngularMotionDisc2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetContactBreakingThreshold2(IntPtr shape, float defaultFactor);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsPolyhedral2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsConvex2d2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsConvex2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsNonMoving2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsConcave2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsCompound2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsSoftBody2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsInfinite2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetLocalScaling2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 CalculateLocalInertia2(IntPtr shape, float mass);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int GetShapeType2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetMargin2(IntPtr shape, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetMargin2(IntPtr shape);
-
-// =====================================================================================
-// Debugging
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpActivationInfo2(IntPtr sim);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpAllInfo2(IntPtr sim);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpPhysicsStatistics2(IntPtr sim);
-
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
index 5ad6746..662dd68 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
@@ -33,62 +33,66 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 {
 // Classes to allow some type checking for the API
 // These hold pointers to allocated objects in the unmanaged space.
+// These classes are subclassed by the various physical implementations of
+// objects. In particular, there is a version for physical instances in
+// unmanaged memory ("unman") and one for in managed memory ("XNA").
 
-// The physics engine controller class created at initialization
-public struct BulletWorld
+// Currently, the instances of these classes are a reference to a
+// physical representation and this has no releationship to other
+// instances. Someday, refarb the usage of these classes so each instance
+// refers to a particular physical instance and this class controls reference
+// counts and such. This should be done along with adding BSShapes.
+
+public class BulletWorld
 {
-    public BulletWorld(uint worldId, BSScene bss, IntPtr xx)
+    public BulletWorld(uint worldId, BSScene bss)
     {
-        ptr = xx;
         worldID = worldId;
         physicsScene = bss;
     }
-    public IntPtr ptr;
     public uint worldID;
     // The scene is only in here so very low level routines have a handle to print debug/error messages
     public BSScene physicsScene;
 }
 
 // An allocated Bullet btRigidBody
-public struct BulletBody
+public class BulletBody
 {
-    public BulletBody(uint id) : this(id, IntPtr.Zero)
-    {
-    }
-    public BulletBody(uint id, IntPtr xx)
+    public BulletBody(uint id)
     {
         ID = id;
-        ptr = xx;
         collisionType = CollisionType.Static;
     }
-    public IntPtr ptr;
     public uint ID;
     public CollisionType collisionType;
 
-    public void Clear()
-    {
-        ptr = IntPtr.Zero;
-    }
-    public bool HasPhysicalBody { get { return ptr != IntPtr.Zero; } }
+    public virtual void Clear() { }
+    public virtual bool HasPhysicalBody { get { return false; } }
 
     // Apply the specificed collision mask into the physical world
-    public bool ApplyCollisionMask()
+    public virtual bool ApplyCollisionMask(BSScene physicsScene)
     {
         // Should assert the body has been added to the physical world.
         // (The collision masks are stored in the collision proxy cache which only exists for
         //    a collision body that is in the world.)
-        return BulletSimAPI.SetCollisionGroupMask2(ptr,
+        return physicsScene.PE.SetCollisionGroupMask(this,
                                 BulletSimData.CollisionTypeMasks[collisionType].group,
                                 BulletSimData.CollisionTypeMasks[collisionType].mask);
     }
 
+    // Used for log messages for a unique display of the memory/object allocated to this instance
+    public virtual string AddrString
+    {
+        get { return "unknown"; }
+    }
+
     public override string ToString()
     {
         StringBuilder buff = new StringBuilder();
         buff.Append("<id=");
         buff.Append(ID.ToString());
         buff.Append(",p=");
-        buff.Append(ptr.ToString("X"));
+        buff.Append(AddrString);
         buff.Append(",c=");
         buff.Append(collisionType);
         buff.Append(">");
@@ -96,34 +100,36 @@ public struct BulletBody
     }
 }
 
-public struct BulletShape
+public class BulletShape
 {
-    public BulletShape(IntPtr xx) : this(xx, BSPhysicsShapeType.SHAPE_UNKNOWN)
+    public BulletShape()
     {
-    }
-    public BulletShape(IntPtr xx, BSPhysicsShapeType typ)
-    {
-        ptr = xx;
-        type = typ;
+        type = BSPhysicsShapeType.SHAPE_UNKNOWN;
         shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE;
         isNativeShape = false;
     }
-    public IntPtr ptr;
     public BSPhysicsShapeType type;
     public System.UInt64 shapeKey;
     public bool isNativeShape;
 
-    public void Clear()
+    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; }
+
+    // Used for log messages for a unique display of the memory/object allocated to this instance
+    public virtual string AddrString
     {
-        ptr = IntPtr.Zero;
+        get { return "unknown"; }
     }
-    public bool HasPhysicalShape { get { return ptr != IntPtr.Zero; } }
 
     public override string ToString()
     {
         StringBuilder buff = new StringBuilder();
         buff.Append("<p=");
-        buff.Append(ptr.ToString("X"));
+        buff.Append(AddrString);
         buff.Append(",s=");
         buff.Append(type.ToString());
         buff.Append(",k=");
@@ -136,30 +142,29 @@ public struct BulletShape
 }
 
 // An allocated Bullet btConstraint
-public struct BulletConstraint
+public class BulletConstraint
 {
-    public BulletConstraint(IntPtr xx)
+    public BulletConstraint()
     {
-        ptr = xx;
     }
-    public IntPtr ptr;
+    public virtual void Clear() { }
+    public virtual bool HasPhysicalConstraint { get { return false; } }
 
-    public void Clear()
+    // Used for log messages for a unique display of the memory/object allocated to this instance
+    public virtual string AddrString
     {
-        ptr = IntPtr.Zero;
+        get { return "unknown"; }
     }
-    public bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } }
 }
 
 // An allocated HeightMapThing which holds 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 class BulletHMapInfo
 {
-    public BulletHeightMapInfo(uint id, float[] hm, IntPtr xx) {
+    public BulletHMapInfo(uint id, float[] hm) {
         ID = id;
-        Ptr = xx;
         heightMap = hm;
         terrainRegionBase = OMV.Vector3.Zero;
         minCoords = new OMV.Vector3(100f, 100f, 25f);
@@ -168,7 +173,6 @@ public class BulletHeightMapInfo
         sizeX = sizeY = 256f;
     }
     public uint ID;
-    public IntPtr Ptr;
     public float[] heightMap;
     public OMV.Vector3 terrainRegionBase;
     public OMV.Vector3 minCoords;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
index f805836..a8a4ff5 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -31,6 +31,7 @@ CRASHES
 
 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.
@@ -60,7 +61,8 @@ Incorporate inter-relationship of angular corrections. For instance, angularDefl
 
 BULLETSIM TODO LIST:
 =================================================
-Avatar density is WAY off. Compare and calibrate with what's in SL.
+Implement an avatar mesh shape. The Bullet capsule is way too limited.
+        Consider just hand creating a vertex/index array in a new BSShapeAvatar.
 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.
@@ -78,7 +80,7 @@ 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 move stable and get stablier as torui get larger.
+    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.
@@ -97,9 +99,16 @@ 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
 ======================================================
+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
         Add LocalID to children shapes in LinksetCompound and create events for individuals
 LinksetCompound: when one of the children changes orientation (like tires
@@ -162,6 +171,9 @@ Avatar attachments have no mass? http://forums-archive.secondlife.com/54/f0/3179
 
 INTERNAL IMPROVEMENT/CLEANUP
 =================================================
+Create the physical wrapper classes (BulletBody, BulletShape) by methods on
+        BSAPITemplate and make their actual implementation Bullet engine specific.
+        For the short term, just call the existing functions in ShapeCollection.
 Consider moving prim/character body and shape destruction in destroy()
         to postTimeTime rather than protecting all the potential sets that
         might have been queued up.
@@ -195,6 +207,9 @@ Should taints check for existance or activeness of target?
         keeps the object from being freed, but that is just an accident.
         Possibly have and '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
+        Think of something to eliminate one or more of the layers
 
 THREADING
 =================================================
@@ -253,3 +268,5 @@ llApplyImpulse()
         (Resolution: tested on SL and OS. AddForce scales the force for timestep)
 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)
diff --git a/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs b/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs
index 8587a2b..8ccfda5 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs
@@ -30,7 +30,7 @@ using System.Collections.Generic;
 using System.IO;
 using System.Reflection;
 using Nini.Config;
-using log4net;

+using log4net;
 using OpenSim.Framework;
 
 namespace OpenSim.Region.Physics.Manager
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
index 30bacc6..253d193 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
@@ -100,6 +100,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         protected float m_ScriptDelayFactor = 1.0f;
         protected float m_ScriptDistanceFactor = 1.0f;
         protected float m_MinTimerInterval = 0.5f;
+        protected float m_recoilScaleFactor = 0.0f;
 
         protected DateTime m_timer = DateTime.Now;
         protected bool m_waitingForScriptAnswer = false;
@@ -187,6 +188,10 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                 // there's an smtp config, so load in the snooze time.
                 EMAIL_PAUSE_TIME = SMTPConfig.GetInt("email_pause_time", EMAIL_PAUSE_TIME);
             }
+            // Rezzing an object with a velocity can create recoil. This feature seems to have been
+            //    removed from recent versions of SL. The code computes recoil (vel*mass) and scales
+            //    it by this factor. May be zero to turn off recoil all together.
+            m_recoilScaleFactor = m_ScriptEngine.Config.GetFloat("RecoilScaleFactor", m_recoilScaleFactor);
         }
 
         public override Object InitializeLifetimeService()
@@ -3108,11 +3113,15 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
                 PhysicsActor pa = new_group.RootPart.PhysActor;
 
+                //Recoil.
                 if (pa != null && pa.IsPhysical && (Vector3)vel != Vector3.Zero)
                 {
                     float groupmass = new_group.GetMass();
-                    vel *= -groupmass;
-                    llApplyImpulse(vel, 0);
+                    Vector3 recoil = -vel * groupmass * m_recoilScaleFactor;
+                    if (recoil != Vector3.Zero)
+                    {
+                        llApplyImpulse(recoil, 0);
+                    }
                 }
                 // Variable script delay? (see (http://wiki.secondlife.com/wiki/LSL_Delay)
                 return;
diff --git a/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs b/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs
index 0bd9a06..05dd7ab 100644
--- a/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs
+++ b/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs
@@ -1576,6 +1576,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine
             startInfo.StartSuspended = true;
 
             m_ThreadPool = new SmartThreadPool(startInfo);
+            m_ThreadPool.Name = "XEngine";
         }
 
         //