21 files changed, 774 insertions, 374 deletions
diff --git a/OpenSim/Region/Application/OpenSim.cs b/OpenSim/Region/Application/OpenSim.cs
index ba8aa9f..6255515 100644
--- a/OpenSim/Region/Application/OpenSim.cs
+++ b/OpenSim/Region/Application/OpenSim.cs
@@ -294,14 +294,13 @@ namespace OpenSim
                                          "save oar [-h|--home=<url>] [--noassets] [--publish] [--perm=<permissions>] [<OAR path>]",
                                          "Save a region's data to an OAR archive.",
 //                                          "-v|--version=<N> generates scene objects as per older versions of the serialization (e.g. -v=0)" + Environment.NewLine
-                                          "-h|--home=<url> adds the url of the profile service to the saved user information." + Environment.NewLine
+                                          "-h|--home=<url> adds the url of the profile service to the saved user information.\n"
-                                          + "--noassets stops assets being saved to the OAR." + Environment.NewLine
+                                          + "--noassets stops assets being saved to the OAR.\n"
-                                          + "--publish saves an OAR stripped of owner and last owner information." + Environment.NewLine
+                                          + "--publish saves an OAR stripped of owner and last owner information.\n"
-                                          + "   on reload, the estate owner will be the owner of all objects" + Environment.NewLine
+                                          + "   on reload, the estate owner will be the owner of all objects\n"
-                                          + "   this is useful if you're making oars generally available that might be reloaded to the same grid from which you published" + Environment.NewLine
+                                          + "   this is useful if you're making oars generally available that might be reloaded to the same grid from which you published\n"
-                                          + "   this option is EXPERIMENTAL" + Environment.NewLine
+                                          + "--perm=<permissions> stops objects with insufficient permissions from being saved to the OAR.\n"
-                                          + "--perm=<permissions> stops objects with insufficient permissions from being saved to the OAR." + Environment.NewLine
+                                          + "   <permissions> can contain one or more of these characters: \"C\" = Copy, \"T\" = Transfer\n"
-                                          + "   <permissions> can contain one or more of these characters: \"C\" = Copy, \"T\" = Transfer" + Environment.NewLine
                                          + "The OAR path must be a filesystem path."
                                          + " If this is not given then the oar is saved to region.oar in the current directory.",
                                          SaveOar);
diff --git a/OpenSim/Region/ClientStack/Linden/Caps/BunchOfCaps/BunchOfCaps.cs b/OpenSim/Region/ClientStack/Linden/Caps/BunchOfCaps/BunchOfCaps.cs
index d397893..88c4d7f 100644
--- a/OpenSim/Region/ClientStack/Linden/Caps/BunchOfCaps/BunchOfCaps.cs
+++ b/OpenSim/Region/ClientStack/Linden/Caps/BunchOfCaps/BunchOfCaps.cs
@@ -126,9 +126,14 @@ namespace OpenSim.Region.ClientStack.Linden
                IConfig sconfig = config.Configs["Startup"];
                if (sconfig != null)
                {
-                    m_persistBakedTextures = sconfig.GetBoolean("PersistBakedTextures", m_persistBakedTextures);
                    m_levelUpload = sconfig.GetInt("LevelUpload", 0);
                }
+                IConfig appearanceConfig = config.Configs["Appearance"];
+                if (appearanceConfig != null)
+                {
+                    m_persistBakedTextures = appearanceConfig.GetBoolean("PersistBakedTextures", m_persistBakedTextures);
+                }
            }
            m_assetService = m_Scene.AssetService;
diff --git a/OpenSim/Region/ClientStack/Linden/Caps/UploadBakedTextureModule.cs b/OpenSim/Region/ClientStack/Linden/Caps/UploadBakedTextureModule.cs
index b3d61a8..6aac591 100644
--- a/OpenSim/Region/ClientStack/Linden/Caps/UploadBakedTextureModule.cs
+++ b/OpenSim/Region/ClientStack/Linden/Caps/UploadBakedTextureModule.cs
@@ -66,9 +66,9 @@ namespace OpenSim.Region.ClientStack.Linden
        public void Initialise(IConfigSource source)
        {
-            IConfig sconfig = source.Configs["Startup"];
+            IConfig appearanceConfig = source.Configs["Appearance"];
-            if (sconfig != null)
+            if (appearanceConfig != null)
-                m_persistBakedTextures = sconfig.GetBoolean("PersistBakedTextures", m_persistBakedTextures);
+                m_persistBakedTextures = appearanceConfig.GetBoolean("PersistBakedTextures", m_persistBakedTextures);
        }
        public void AddRegion(Scene s)
diff --git a/OpenSim/Region/CoreModules/Avatar/Attachments/AttachmentsModule.cs b/OpenSim/Region/CoreModules/Avatar/Attachments/AttachmentsModule.cs
index b588704..88ca9db 100644
--- a/OpenSim/Region/CoreModules/Avatar/Attachments/AttachmentsModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/Attachments/AttachmentsModule.cs
@@ -284,7 +284,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments
            sp.ClearAttachments();
        }
        
-        public bool AttachObject(IScenePresence sp, SceneObjectGroup group, uint attachmentPt, bool silent, bool useAttachData)
+        public bool AttachObject(IScenePresence sp, SceneObjectGroup group, uint attachmentPt, bool silent, bool useAttachData, bool temp)
        {
            lock (sp.AttachmentsSyncLock)
            {
@@ -361,7 +361,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments
                group.AbsolutePosition = attachPos;
                if (sp.PresenceType != PresenceType.Npc)
-                    UpdateUserInventoryWithAttachment(sp, group, attachmentPt);
+                    UpdateUserInventoryWithAttachment(sp, group, attachmentPt, temp);
    
                AttachToAgent(sp, group, attachmentPt, attachPos, silent);
            }
@@ -369,7 +369,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments
            return true;
        }
-        private void UpdateUserInventoryWithAttachment(IScenePresence sp, SceneObjectGroup group, uint attachmentPt)
+        private void UpdateUserInventoryWithAttachment(IScenePresence sp, SceneObjectGroup group, uint attachmentPt, bool temp)
        {
            // Remove any previous attachments
            List<SceneObjectGroup> attachments = sp.GetAttachments(attachmentPt);
@@ -379,18 +379,22 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments
            {
                if (attachments[0].FromItemID != UUID.Zero)
                    DetachSingleAttachmentToInvInternal(sp, attachments[0]);
-                else
+            // Error logging commented because UUID.Zero now means temp attachment
-                    m_log.WarnFormat(
+//                else
-                        "[ATTACHMENTS MODULE]: When detaching existing attachment {0} {1} at point {2} to make way for {3} {4} for {5}, couldn't find the associated item ID to adjust inventory attachment record!",
+//                    m_log.WarnFormat(
-                        attachments[0].Name, attachments[0].LocalId, attachmentPt, group.Name, group.LocalId, sp.Name);
+//                        "[ATTACHMENTS MODULE]: When detaching existing attachment {0} {1} at point {2} to make way for {3} {4} for {5}, couldn't find the associated item ID to adjust inventory attachment record!",
+//                        attachments[0].Name, attachments[0].LocalId, attachmentPt, group.Name, group.LocalId, sp.Name);
            }
            // Add the new attachment to inventory if we don't already have it.
-            UUID newAttachmentItemID = group.FromItemID;
+            if (!temp)
-            if (newAttachmentItemID == UUID.Zero)
+            {
-                newAttachmentItemID = AddSceneObjectAsNewAttachmentInInv(sp, group).ID;
+                UUID newAttachmentItemID = group.FromItemID;
+                if (newAttachmentItemID == UUID.Zero)
+                    newAttachmentItemID = AddSceneObjectAsNewAttachmentInInv(sp, group).ID;
-            ShowAttachInUserInventory(sp, attachmentPt, newAttachmentItemID, group);
+                ShowAttachInUserInventory(sp, attachmentPt, newAttachmentItemID, group);
+            }
        }
        public ISceneEntity RezSingleAttachmentFromInventory(IScenePresence sp, UUID itemID, uint AttachmentPt)
@@ -474,6 +478,10 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments
            UUID inventoryID = so.FromItemID;
+            // As per Linden spec, drop is disabled for temp attachs
+            if (inventoryID == UUID.Zero)
+                return;
 //            m_log.DebugFormat(
 //                "[ATTACHMENTS MODULE]: In DetachSingleAttachmentToGround(), object is {0} {1}, associated item is {2}",
 //                so.Name, so.LocalId, inventoryID);
@@ -484,7 +492,9 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments
                    so.PrimCount, sp.UUID, sp.AbsolutePosition))
                    return;
-                bool changed = sp.Appearance.DetachAttachment(inventoryID);
+                bool changed = false;
+                if (inventoryID != UUID.Zero)
+                    changed = sp.Appearance.DetachAttachment(inventoryID);
                if (changed && m_scene.AvatarFactory != null)
                    m_scene.AvatarFactory.QueueAppearanceSave(sp.UUID);
@@ -516,6 +526,10 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments
        public void DetachSingleAttachmentToInv(IScenePresence sp, SceneObjectGroup so)
        {
+            // As per Linden spec, detach (take) is disabled for temp attachs
+            if (so.FromItemID == UUID.Zero)
+                return;
            lock (sp.AttachmentsSyncLock)
            {
                // Save avatar attachment information
@@ -589,6 +603,13 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments
        /// <param name="saveAllScripted"></param>
        private void UpdateKnownItem(IScenePresence sp, SceneObjectGroup grp, string scriptedState)
        {
+            if (grp.FromItemID == UUID.Zero)
+            {
+                // We can't save temp attachments
+                grp.HasGroupChanged = false;
+                return;
+            }
            // Saving attachments for NPCs messes them up for the real owner!
            INPCModule module = m_scene.RequestModuleInterface<INPCModule>();
            if (module != null)
@@ -845,7 +866,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments
                    // This will throw if the attachment fails
                    try
                    {
-                        AttachObject(sp, objatt, attachmentPt, false, false);
+                        AttachObject(sp, objatt, attachmentPt, false, false, false);
                    }
                    catch (Exception e)
                    {
@@ -1005,7 +1026,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments
                AttachmentPt &= 0x7f;
                // Calls attach with a Zero position
-                if (AttachObject(sp, part.ParentGroup, AttachmentPt, false, true))
+                if (AttachObject(sp, part.ParentGroup, AttachmentPt, false, true, false))
                {
 //                    m_log.Debug(
 //                        "[ATTACHMENTS MODULE]: Saving avatar attachment. AgentID: " + remoteClient.AgentId
diff --git a/OpenSim/Region/CoreModules/Avatar/Attachments/Tests/AttachmentsModuleTests.cs b/OpenSim/Region/CoreModules/Avatar/Attachments/Tests/AttachmentsModuleTests.cs
index 273e290..d9a619d 100644
--- a/OpenSim/Region/CoreModules/Avatar/Attachments/Tests/AttachmentsModuleTests.cs
+++ b/OpenSim/Region/CoreModules/Avatar/Attachments/Tests/AttachmentsModuleTests.cs
@@ -189,7 +189,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments.Tests
            SceneObjectGroup so = SceneHelpers.AddSceneObject(scene, attName, sp.UUID);
-            scene.AttachmentsModule.AttachObject(sp, so, (uint)AttachmentPoint.Chest, false, false);
+            scene.AttachmentsModule.AttachObject(sp, so, (uint)AttachmentPoint.Chest, false, false, false);
            // Check status on scene presence
            Assert.That(sp.HasAttachments(), Is.True);
@@ -243,7 +243,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments.Tests
            sp2.AbsolutePosition = new Vector3(0, 0, 0);
            sp2.HandleAgentRequestSit(sp2.ControllingClient, sp2.UUID, so.UUID, Vector3.Zero);
-            scene.AttachmentsModule.AttachObject(sp, so, (uint)AttachmentPoint.Chest, false, false);
+            scene.AttachmentsModule.AttachObject(sp, so, (uint)AttachmentPoint.Chest, false, false, false);
            Assert.That(sp.HasAttachments(), Is.False);
            Assert.That(scene.GetSceneObjectGroups().Count, Is.EqualTo(1));
diff --git a/OpenSim/Region/CoreModules/Avatar/AvatarFactory/AvatarFactoryModule.cs b/OpenSim/Region/CoreModules/Avatar/AvatarFactory/AvatarFactoryModule.cs
index 89cc4f6..bd7bd82 100644
--- a/OpenSim/Region/CoreModules/Avatar/AvatarFactory/AvatarFactoryModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/AvatarFactory/AvatarFactoryModule.cs
@@ -66,11 +66,11 @@ namespace OpenSim.Region.CoreModules.Avatar.AvatarFactory
            scene.RegisterModuleInterface<IAvatarFactoryModule>(this);
            scene.EventManager.OnNewClient += SubscribeToClientEvents;
-            IConfig sconfig = config.Configs["Startup"];
+            IConfig appearanceConfig = config.Configs["Appearance"];
-            if (sconfig != null)
+            if (appearanceConfig != null)
            {
-                m_savetime = Convert.ToInt32(sconfig.GetString("DelayBeforeAppearanceSave",Convert.ToString(m_savetime)));
+                m_savetime = Convert.ToInt32(appearanceConfig.GetString("DelayBeforeAppearanceSave",Convert.ToString(m_savetime)));
-                m_sendtime = Convert.ToInt32(sconfig.GetString("DelayBeforeAppearanceSend",Convert.ToString(m_sendtime)));
+                m_sendtime = Convert.ToInt32(appearanceConfig.GetString("DelayBeforeAppearanceSend",Convert.ToString(m_sendtime)));
                // m_log.InfoFormat("[AVFACTORY] configured for {0} save and {1} send",m_savetime,m_sendtime);
            }
diff --git a/OpenSim/Region/CoreModules/Scripting/VectorRender/VectorRenderModule.cs b/OpenSim/Region/CoreModules/Scripting/VectorRender/VectorRenderModule.cs
index ae4d52a..8b2f2f8 100644
--- a/OpenSim/Region/CoreModules/Scripting/VectorRender/VectorRenderModule.cs
+++ b/OpenSim/Region/CoreModules/Scripting/VectorRender/VectorRenderModule.cs
@@ -596,9 +596,14 @@ namespace OpenSim.Region.CoreModules.Scripting.VectorRender
                                    }
                                    break;
                                case "R":
-                                    Font anewFont = new Font(myFont, FontStyle.Regular);
+                                    // We need to place this newFont inside its own context so that the .NET compiler
-                                    myFont.Dispose();
+                                    // doesn't complain about a redefinition of an existing newFont, even though there is none
-                                    myFont = anewFont;
+                                    // The mono compiler doesn't produce this error.
+                                    {
+                                        Font newFont = new Font(myFont, FontStyle.Regular);
+                                        myFont.Dispose();
+                                        myFont = newFont;
+                                    }
                                    break;
                            }
                        }
@@ -768,4 +773,4 @@ namespace OpenSim.Region.CoreModules.Scripting.VectorRender
            return null;
        }
    }
-}
-\ No newline at end of file
+}
diff --git a/OpenSim/Region/CoreModules/World/Archiver/ArchiveWriteRequestExecution.cs b/OpenSim/Region/CoreModules/World/Archiver/ArchiveWriteRequestExecution.cs
index c179a34..0780d86 100644
--- a/OpenSim/Region/CoreModules/World/Archiver/ArchiveWriteRequestExecution.cs
+++ b/OpenSim/Region/CoreModules/World/Archiver/ArchiveWriteRequestExecution.cs
@@ -124,7 +124,7 @@ namespace OpenSim.Region.CoreModules.World.Archiver
                LandData landData = lo.LandData;
                string landDataPath = String.Format("{0}{1}.xml", ArchiveConstants.LANDDATA_PATH, 
                                                    landData.GlobalID.ToString());
-                m_archiveWriter.WriteFile(landDataPath, LandDataSerializer.Serialize(landData));
+                m_archiveWriter.WriteFile(landDataPath, LandDataSerializer.Serialize(landData, m_options));
            }
            m_log.InfoFormat("[ARCHIVER]: Adding terrain information to archive.");
diff --git a/OpenSim/Region/Framework/Interfaces/IAttachmentsModule.cs b/OpenSim/Region/Framework/Interfaces/IAttachmentsModule.cs
index 11a13e1..90a13a7 100644
--- a/OpenSim/Region/Framework/Interfaces/IAttachmentsModule.cs
+++ b/OpenSim/Region/Framework/Interfaces/IAttachmentsModule.cs
@@ -84,7 +84,7 @@ namespace OpenSim.Region.Framework.Interfaces
        /// <param name="AttachmentPt"></param>
        /// <param name="silent"></param>
        /// <returns>true if the object was successfully attached, false otherwise</returns>
-        bool AttachObject(IScenePresence sp, SceneObjectGroup grp, uint AttachmentPt, bool silent, bool useAttachmentInfo);
+        bool AttachObject(IScenePresence sp, SceneObjectGroup grp, uint AttachmentPt, bool silent, bool useAttachmentInfo, bool temp);
        /// <summary>
        /// Rez an attachment from user inventory and change inventory status to match.
diff --git a/OpenSim/Region/Framework/Scenes/Scene.cs b/OpenSim/Region/Framework/Scenes/Scene.cs
index 3db7c7d..1fc4c52 100644
--- a/OpenSim/Region/Framework/Scenes/Scene.cs
+++ b/OpenSim/Region/Framework/Scenes/Scene.cs
@@ -842,7 +842,6 @@ namespace OpenSim.Region.Framework.Scenes
                    m_update_presences        = startupConfig.GetInt(   "UpdateAgentsEveryNFrames",          m_update_presences);
                    m_update_terrain          = startupConfig.GetInt(   "UpdateTerrainEveryNFrames",         m_update_terrain);
                    m_update_temp_cleaning    = startupConfig.GetInt(   "UpdateTempCleaningEveryNFrames",    m_update_temp_cleaning);
-                    SendPeriodicAppearanceUpdates = startupConfig.GetBoolean("SendPeriodicAppearanceUpdates", SendPeriodicAppearanceUpdates);
                }
            }
            catch (Exception e)
@@ -850,6 +849,14 @@ namespace OpenSim.Region.Framework.Scenes
                m_log.Error("[SCENE]: Failed to load StartupConfig: " + e.ToString());
            }
+            // FIXME: Ultimately this should be in a module.
+            IConfig appearanceConfig = m_config.Configs["Appearance"];
+            if (appearanceConfig != null)
+            {
+                SendPeriodicAppearanceUpdates
+                    = appearanceConfig.GetBoolean("ResendAppearanceUpdates", SendPeriodicAppearanceUpdates);
+            }
            #endregion Region Config
            #region Interest Management
@@ -2748,7 +2755,7 @@ namespace OpenSim.Region.Framework.Scenes
                    RootPrim.RemFlag(PrimFlags.TemporaryOnRez);
                    
                    if (AttachmentsModule != null)
-                        AttachmentsModule.AttachObject(sp, grp, 0, false, false);
+                        AttachmentsModule.AttachObject(sp, grp, 0, false, false, false);
                }
                else
                {
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
index d51281d..d837adb 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
@@ -951,7 +951,7 @@ namespace OpenSim.Region.Framework.Scenes
        /// its existing localID and UUID.
        /// </summary>
        /// <param name='part'>Root part for this scene object.</param>
-        public SceneObjectGroup(SceneObjectPart part)
+        public SceneObjectGroup(SceneObjectPart part) : this()
        {
            SetRootPart(part);
        }
diff --git a/OpenSim/Region/OptionalModules/Avatar/Attachments/TempAttachmentsModule.cs b/OpenSim/Region/OptionalModules/Avatar/Attachments/TempAttachmentsModule.cs
new file mode 100644
index 0000000..b166588
--- /dev/null
+++ b/OpenSim/Region/OptionalModules/Avatar/Attachments/TempAttachmentsModule.cs
@@ -0,0 +1,126 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Reflection;
+using System.Text;
+using log4net;
+using Mono.Addins;
+using Nini.Config;
+using OpenMetaverse;
+using OpenSim.Framework;
+using OpenSim.Framework.Console;
+using OpenSim.Framework.Monitoring;
+using OpenSim.Region.ClientStack.LindenUDP;
+using OpenSim.Region.Framework.Interfaces;
+using OpenSim.Region.Framework.Scenes;
+namespace OpenSim.Region.OptionalModules.Avatar.Attachments
+{
+    /// <summary>
+    /// A module that just holds commands for inspecting avatar appearance.
+    /// </summary>
+    [Extension(Path = "/OpenSim/RegionModules", NodeName = "RegionModule", Id = "TempAttachmentsModule")]
+    public class TempAttachmentsModule : INonSharedRegionModule
+    {
+        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+        private Scene m_scene;
+        public void Initialise(IConfigSource configSource)
+        {
+        }
+        public void AddRegion(Scene scene)
+        {
+            m_scene = scene;
+            IScriptModuleComms comms = scene.RequestModuleInterface<IScriptModuleComms>();
+            if (comms != null)
+            {
+                comms.RegisterScriptInvocation( this, "llAttachToAvatarTemp");
+                m_log.DebugFormat("[TEMP ATTACHS]: Registered script functions");
+            }
+            else
+            {
+                m_log.ErrorFormat("[TEMP ATTACHS]: Failed to register script functions");
+            }
+        }
+        public void RemoveRegion(Scene scene)
+        {
+        }
+        public void RegionLoaded(Scene scene)
+        {
+        }
+        public void Close()
+        {
+        }
+        public Type ReplaceableInterface
+        {
+            get { return null; }
+        }
+        public string Name
+        {
+            get { return "TempAttachmentsModule"; }
+        }
+        private void llAttachToAvatarTemp(UUID host, UUID script, int attachmentPoint)
+        {
+            SceneObjectPart hostPart = m_scene.GetSceneObjectPart(host);
+            if (hostPart == null)
+                return;
+            if (hostPart.ParentGroup.IsAttachment)
+                return;
+            IAttachmentsModule attachmentsModule = m_scene.RequestModuleInterface<IAttachmentsModule>();
+            if (attachmentsModule == null)
+                return;
+            TaskInventoryItem item = hostPart.Inventory.GetInventoryItem(script);
+            if (item == null)
+                return;
+            if ((item.PermsMask & 32) == 0) // PERMISSION_ATTACH
+                return;
+            ScenePresence target;
+            if (!m_scene.TryGetScenePresence(item.PermsGranter, out target))
+                return;
+            
+            attachmentsModule.AttachObject(target, hostPart.ParentGroup, (uint)attachmentPoint, false, true, true);
+        }
+    }
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs
new file mode 100755
index 0000000..72df6b9
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs
@@ -0,0 +1,80 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Text;
+using OpenMetaverse;
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public class BS6DofConstraint : BSConstraint
+{
+    // Create a btGeneric6DofConstraint
+    public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
+                    Vector3 frame1, Quaternion frame1rot,
+                    Vector3 frame2, Quaternion frame2rot )
+    {
+        m_world = world;
+        m_body1 = obj1;
+        m_body2 = obj2;
+        m_constraint = new BulletConstraint(
+                            BulletSimAPI.Create6DofConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr,
+                                frame1, frame1rot,
+                                frame2, frame2rot,
+                                true /*useLinearReferenceFrameA*/, true /*disableCollisionsBetweenLinkedBodies*/));
+        m_enabled = true;
+    }
+    public bool SetCFMAndERP(float cfm, float erp)
+    {
+        bool ret = true;
+        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);
+        return ret;
+    }
+    public bool UseFrameOffset(bool useOffset)
+    {
+        bool ret = false;
+        float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
+        if (m_enabled)
+            ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff);
+        return ret;
+    }
+    public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce)
+    {
+        bool ret = false;
+        float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
+        if (m_enabled)
+            ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce);
+        return ret;
+    }
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 09e1f0c..f164afe 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -40,6 +40,7 @@ public class BSCharacter : PhysicsActor
    private static readonly string LogHeader = "[BULLETS CHAR]";
    private BSScene _scene;
+    public BSScene Scene { get { return _scene; } }
    private String _avName;
    // private bool _stopped;
    private Vector3 _size;
@@ -73,6 +74,12 @@ public class BSCharacter : PhysicsActor
    private bool _kinematic;
    private float _buoyancy;
+    private BulletBody m_body;
+    public BulletBody Body { 
+        get { return m_body; }
+        set { m_body = value; }
+    }
    private int _subscribedEventsMs = 0;
    private int _nextCollisionOkTime = 0;
@@ -95,7 +102,9 @@ public class BSCharacter : PhysicsActor
        _orientation = Quaternion.Identity;
        _velocity = Vector3.Zero;
        _buoyancy = ComputeBuoyancyFromFlying(isFlying);
-        _scale = new Vector3(1f, 1f, 1f);
+        // The dimensions of the avatar capsule are kept in the scale.
+        // Physics creates a unit capsule which is scaled by the physics engine.
+        _scale = new Vector3(_scene.Params.avatarCapsuleRadius, _scene.Params.avatarCapsuleRadius, size.Z);
        _density = _scene.Params.avatarDensity;
        ComputeAvatarVolumeAndMass();   // set _avatarVolume and _mass based on capsule size, _density and _scale
@@ -113,9 +122,13 @@ public class BSCharacter : PhysicsActor
        shapeData.Restitution = _scene.Params.avatarRestitution;
        // do actual create at taint time
-        _scene.TaintedObject(delegate()
+        _scene.TaintedObject("BSCharacter.create", delegate()
        {
            BulletSimAPI.CreateObject(parent_scene.WorldID, shapeData);
+            m_body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID));
+            // avatars get all collisions no matter what
+            BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
        });
            
        return;
@@ -124,7 +137,8 @@ public class BSCharacter : PhysicsActor
    // called when this character is being destroyed and the resources should be released
    public void Destroy()
    {
-        _scene.TaintedObject(delegate()
+        // DetailLog("{0},Destroy", LocalID);
+        _scene.TaintedObject("BSCharacter.destroy", delegate()
        {
            BulletSimAPI.DestroyObject(_scene.WorldID, _localID);
        });
@@ -138,9 +152,28 @@ public class BSCharacter : PhysicsActor
    public override bool Stopped { 
        get { return false; } 
    }
-    public override Vector3 Size { 
+    public override Vector3 Size {
-        get { return _size; } 
+        get
-        set { _size = value;
+        {
+            // Avatar capsule size is kept in the scale parameter.
+            return new Vector3(_scale.X * 2, _scale.Y * 2, _scale.Z);
+        }
+        set { 
+            // When an avatar's size is set, only the height is changed
+            //    and that really only depends on the radius.
+            _size = value;
+            _scale.Z = (_size.Z * 1.15f) - (_scale.X + _scale.Y);
+            // TODO: something has to be done with the avatar's vertical position
+            ComputeAvatarVolumeAndMass();
+            _scene.TaintedObject("BSCharacter.setSize", delegate()
+            {
+                BulletSimAPI.SetObjectScaleMass(_scene.WorldID, LocalID, _scale, _mass, true);
+            });
        } 
    }
    public override PrimitiveBaseShape Shape { 
@@ -172,12 +205,37 @@ public class BSCharacter : PhysicsActor
        } 
        set {
            _position = value;
-            _scene.TaintedObject(delegate()
+            PositionSanityCheck();
+            _scene.TaintedObject("BSCharacter.setPosition", delegate()
            {
+                DetailLog("{0},SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
            });
        } 
    }
+    // Check that the current position is sane and, if not, modify the position to make it so.
+    // Check for being below terrain and being out of bounds.
+    // Returns 'true' of the position was made sane by some action.
+    private bool PositionSanityCheck()
+    {
+        bool ret = false;
+        
+        // If below the ground, move the avatar up
+        float terrainHeight = Scene.GetTerrainHeightAtXYZ(_position);
+        if (_position.Z < terrainHeight)
+        {
+            DetailLog("{0},PositionAdjustUnderGround,call,pos={1},orient={2}", LocalID, _position, _orientation);
+            _position.Z = terrainHeight + 2.0f;
+            ret = true;
+        }
+        // TODO: check for out of bounds
+        return ret;
+    }
    public override float Mass { 
        get { 
            return _mass; 
@@ -188,9 +246,10 @@ public class BSCharacter : PhysicsActor
        set {
            _force = value;
            // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force);
-            _scene.TaintedObject(delegate()
+            Scene.TaintedObject("BSCharacter.SetForce", delegate()
            {
-                BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
+                DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force);
+                BulletSimAPI.SetObjectForce(Scene.WorldID, LocalID, _force);
            });
        } 
    }
@@ -214,8 +273,9 @@ public class BSCharacter : PhysicsActor
        set {
            _velocity = value;
            // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity);
-            _scene.TaintedObject(delegate()
+            _scene.TaintedObject("BSCharacter.setVelocity", delegate()
            {
+                DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
                BulletSimAPI.SetObjectVelocity(_scene.WorldID, _localID, _velocity);
            });
        } 
@@ -239,7 +299,7 @@ public class BSCharacter : PhysicsActor
        set {
            _orientation = value;
            // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation);
-            _scene.TaintedObject(delegate()
+            _scene.TaintedObject("BSCharacter.setOrientation", delegate()
            {
                // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
                BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
@@ -259,9 +319,12 @@ public class BSCharacter : PhysicsActor
    public override bool Flying { 
        get { return _flying; } 
        set {
-            _flying = value;
+            if (_flying != value)
-            // simulate flying by changing the effect of gravity
+            {
-            this.Buoyancy = ComputeBuoyancyFromFlying(_flying);
+                _flying = value;
+                // simulate flying by changing the effect of gravity
+                this.Buoyancy = ComputeBuoyancyFromFlying(_flying);
+            }
        } 
    }
    private float ComputeBuoyancyFromFlying(bool ifFlying) {
@@ -303,8 +366,9 @@ public class BSCharacter : PhysicsActor
    public override float Buoyancy { 
        get { return _buoyancy; } 
        set { _buoyancy = value; 
-            _scene.TaintedObject(delegate()
+            _scene.TaintedObject("BSCharacter.setBuoyancy", delegate()
            {
+                DetailLog("{0},setBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
                BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _buoyancy);
            });
        } 
@@ -349,9 +413,10 @@ public class BSCharacter : PhysicsActor
            _force.Y += force.Y;
            _force.Z += force.Z;
            // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force);
-            _scene.TaintedObject(delegate()
+            _scene.TaintedObject("BSCharacter.AddForce", delegate()
            {
-                BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
+                DetailLog("{0},setAddForce,taint,addedForce={1}", LocalID, _force);
+                BulletSimAPI.AddObjectForce2(Body.Ptr, _force);
            });
        }
        else
@@ -369,11 +434,25 @@ public class BSCharacter : PhysicsActor
    // Turn on collision events at a rate no faster than one every the given milliseconds
    public override void SubscribeEvents(int ms) {
        _subscribedEventsMs = ms;
-        _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs; // make first collision happen
+        if (ms > 0)
+        {
+            // make sure first collision happens
+            _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs;
+            Scene.TaintedObject("BSCharacter.SubscribeEvents", delegate()
+            {
+                BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            });
+        }
    }
    // Stop collision events
    public override void UnSubscribeEvents() { 
        _subscribedEventsMs = 0;
+        // Avatars get all their collision events
+        // Scene.TaintedObject("BSCharacter.UnSubscribeEvents", delegate()
+        // {
+        //     BulletSimAPI.RemoveFromCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+        // });
    }
    // Return 'true' if someone has subscribed to events
    public override bool SubscribedEvents() {
@@ -385,9 +464,15 @@ public class BSCharacter : PhysicsActor
    {
        _avatarVolume = (float)(
                        Math.PI
-                        * _scene.Params.avatarCapsuleRadius * _scale.X
+                        * _scale.X
-                        * _scene.Params.avatarCapsuleRadius * _scale.Y
+                        * _scale.Y  // the area of capsule cylinder
-                        * _scene.Params.avatarCapsuleHeight * _scale.Z);
+                        * _scale.Z  // times height of capsule cylinder
+                      + 1.33333333f
+                        * Math.PI
+                        * _scale.X
+                        * Math.Min(_scale.X, _scale.Y)
+                        * _scale.Y  // plus the volume of the capsule end caps
+                        );
        _mass = _density * _avatarVolume;
    }
@@ -395,43 +480,17 @@ public class BSCharacter : PhysicsActor
    // the world that things have changed.
    public void UpdateProperties(EntityProperties entprop)
    {
-        /*
-        bool changed = false;
-        // we assign to the local variables so the normal set action does not happen
-        if (_position != entprop.Position) {
-            _position = entprop.Position;
-            changed = true;
-        }
-        if (_orientation != entprop.Rotation) {
-            _orientation = entprop.Rotation;
-            changed = true;
-        }
-        if (_velocity != entprop.Velocity) {
-            _velocity = entprop.Velocity;
-            changed = true;
-        }
-        if (_acceleration != entprop.Acceleration) {
-            _acceleration = entprop.Acceleration;
-            changed = true;
-        }
-        if (_rotationalVelocity != entprop.RotationalVelocity) {
-            _rotationalVelocity = entprop.RotationalVelocity;
-            changed = true;
-        }
-        if (changed) {
-            // m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation);
-            // Avatar movement is not done by generating this event. There is code in the heartbeat
-            //   loop that updates avatars.
-            // base.RequestPhysicsterseUpdate();
-        }
-        */
        _position = entprop.Position;
        _orientation = entprop.Rotation;
        _velocity = entprop.Velocity;
        _acceleration = entprop.Acceleration;
        _rotationalVelocity = entprop.RotationalVelocity;
-        // Avatars don't report theirr changes the usual way. Changes are checked for in the heartbeat loop.
+        // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
        // base.RequestPhysicsterseUpdate();
+        DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
+                LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, 
+                entprop.Acceleration, entprop.RotationalVelocity);
    }
    // Called by the scene when a collision with this object is reported
@@ -480,5 +539,10 @@ public class BSCharacter : PhysicsActor
        // End kludge
    }
+    // Invoke the detailed logger and output something if it's enabled.
+    private void DetailLog(string msg, params Object[] args)
+    {
+        Scene.PhysicsLogging.Write(msg, args);
+    }
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
index ea3093a..da26b72 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
@@ -32,35 +32,26 @@ using OpenMetaverse;
 namespace OpenSim.Region.Physics.BulletSPlugin
 {
-public class BSConstraint : IDisposable
+public abstract class BSConstraint : IDisposable
 {
-    private BulletSim m_world;
+    protected BulletSim m_world;
-    private BulletBody m_body1;
+    protected BulletBody m_body1;
-    private BulletBody m_body2;
+    protected BulletBody m_body2;
-    private BulletConstraint m_constraint;
+    protected BulletConstraint m_constraint;
-    private bool m_enabled = false;
+    protected bool m_enabled = false;
-    public BSConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
+    public BSConstraint()
-                    Vector3 frame1, Quaternion frame1rot,
-                    Vector3 frame2, Quaternion frame2rot
-        )
    {
-        m_world = world;
-        m_body1 = obj1;
-        m_body2 = obj2;
-        m_constraint = new BulletConstraint(BulletSimAPI.CreateConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr,
-                            frame1, frame1rot,
-                            frame2, frame2rot,
-                            true /*useLinearReferenceFrameA*/, true /*disableCollisionsBetweenLinkedBodies*/));
-        m_enabled = true;
    }
-    public void Dispose()
+    public virtual void Dispose()
    {
        if (m_enabled)
        {
            // BulletSimAPI.RemoveConstraint(m_world.ID, m_body1.ID, m_body2.ID);
-            BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr);
+            bool success = BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr);
+            m_world.scene.DetailLog("{0},BSConstraint.Dispose,taint,body1={1},body2={2},success={3}", BSScene.DetailLogZero, m_body1.ID, m_body2.ID, success);
+            m_constraint.Ptr = System.IntPtr.Zero;
            m_enabled = false;
        }
    }
@@ -68,7 +59,7 @@ public class BSConstraint : IDisposable
    public BulletBody Body1 { get { return m_body1; } }
    public BulletBody Body2 { get { return m_body2; } }
-    public bool SetLinearLimits(Vector3 low, Vector3 high)
+    public virtual bool SetLinearLimits(Vector3 low, Vector3 high)
    {
        bool ret = false;
        if (m_enabled)
@@ -76,7 +67,7 @@ public class BSConstraint : IDisposable
        return ret;
    }
-    public bool SetAngularLimits(Vector3 low, Vector3 high)
+    public virtual bool SetAngularLimits(Vector3 low, Vector3 high)
    {
        bool ret = false;
        if (m_enabled)
@@ -84,34 +75,7 @@ public class BSConstraint : IDisposable
        return ret;
    }
-    public bool SetCFMAndERP(float cfm, float erp)
+    public virtual bool CalculateTransforms()
-    {
-        bool ret = true;
-        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);
-        return ret;
-    }
-    public bool UseFrameOffset(bool useOffset)
-    {
-        bool ret = false;
-        float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
-        if (m_enabled)
-            ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff);
-        return ret;
-    }
-    public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce)
-    {
-        bool ret = false;
-        float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
-        if (m_enabled)
-            ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce);
-        return ret;
-    }
-    public bool CalculateTransforms()
    {
        bool ret = false;
        if (m_enabled)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs
index c88e645..3df2ddc 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs
@@ -63,21 +63,13 @@ public class BSConstraintCollection : IDisposable
        m_constraints.Clear();
    }
-    public BSConstraint CreateConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
-                    Vector3 frame1, Quaternion frame1rot,
-                    Vector3 frame2, Quaternion frame2rot)
-    {
-        BSConstraint constrain = new BSConstraint(world, obj1, obj2, frame1, frame1rot, frame2, frame2rot);
-        this.AddConstraint(constrain);
-        return constrain;
-    }
    public bool AddConstraint(BSConstraint cons)
    {
        // There is only one constraint between any bodies. Remove any old just to make sure.
        RemoveAndDestroyConstraint(cons.Body1, cons.Body2);
+        m_world.scene.DetailLog("{0},BSConstraintCollection.AddConstraint,call,body1={1},body2={2}", BSScene.DetailLogZero, cons.Body1.ID, cons.Body2.ID);
        m_constraints.Add(cons);
        return true;
@@ -118,6 +110,7 @@ public class BSConstraintCollection : IDisposable
        if (this.TryGetConstraint(body1, body2, out constrain))
        {
+            m_world.scene.DetailLog("{0},BSConstraintCollection.RemoveAndDestroyConstraint,taint,body1={1},body2={2}", BSScene.DetailLogZero, body1.ID, body2.ID);
            // remove the constraint from our collection
            m_constraints.Remove(constrain);
            // tell the engine that all its structures need to be freed
@@ -158,10 +151,11 @@ public class BSConstraintCollection : IDisposable
    public bool RecalculateAllConstraints()
    {
-        foreach (BSConstraint constrain in m_constraints)
+        ForEachConstraint(delegate(BSConstraint constrain)
        {
            constrain.CalculateTransforms();
-        }
+            return false;
+        });
        return true;
    }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 6f8430c..4a71612 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -40,6 +40,7 @@ public class BSLinkset
    public BSPrim Root { get { return m_linksetRoot; } }
    private BSScene m_scene;
+    public BSScene Scene { get { return m_scene; } }
    private List<BSPrim> m_children;
@@ -80,14 +81,14 @@ public class BSLinkset
    // Link to a linkset where the child knows the parent.
    // Parent changing should not happen so do some sanity checking.
-    // We return the parent's linkset so the child can track it's membership.
+    // We return the parent's linkset so the child can track its membership.
-    public BSLinkset AddMeToLinkset(BSPrim child, BSPrim parent)
+    public BSLinkset AddMeToLinkset(BSPrim child)
    {
        lock (m_linksetActivityLock)
        {
-            parent.Linkset.AddChildToLinkset(child);
+            AddChildToLinkset(child);
        }
-        return parent.Linkset;
+        return this;
    }
    public BSLinkset RemoveMeFromLinkset(BSPrim child)
@@ -101,7 +102,7 @@ public class BSLinkset
                {
                    // Note that we don't do a foreach because the remove routine
                    //    takes it out of the list.
-                    RemoveChildFromLinkset(m_children[0]);
+                    RemoveChildFromOtherLinkset(m_children[0]);
                }
                m_children.Clear(); // just to make sure
            }
@@ -113,9 +114,10 @@ public class BSLinkset
        }
        // The child is down to a linkset of just itself
-        return new BSLinkset(m_scene, child);
+        return new BSLinkset(Scene, child);
    }
+    /* DEPRECATED: this is really bad in that it trys to unlink other prims.
    // An existing linkset had one of its members rebuilt or something.
    // Go through the linkset and rebuild the pointers to the bodies of the linkset members.
    public BSLinkset RefreshLinkset(BSPrim requestor)
@@ -124,6 +126,7 @@ public class BSLinkset
        lock (m_linksetActivityLock)
        {
+            // The body pointer is refetched in case anything has moved.
            System.IntPtr aPtr = BulletSimAPI.GetBodyHandle2(m_scene.World.Ptr, m_linksetRoot.LocalID);
            if (aPtr == System.IntPtr.Zero)
            {
@@ -155,13 +158,14 @@ public class BSLinkset
                }
                foreach (BSPrim bsp in toRemove)
                {
-                    RemoveChildFromLinkset(bsp);
+                    RemoveChildFromOtherLinkset(bsp);
                }
            }
        }
        return ret;
    }
+     */
    // Return 'true' if the passed object is the root object of this linkset
@@ -170,6 +174,8 @@ public class BSLinkset
        return (requestor.LocalID == m_linksetRoot.LocalID);
    }
+    public int NumberOfChildren { get { return m_children.Count; } }
    // Return 'true' if this linkset has any children (more than the root member)
    public bool HasAnyChildren { get { return (m_children.Count > 0); } }
@@ -208,7 +214,8 @@ public class BSLinkset
            com += bp.Position * bp.MassRaw;
            totalMass += bp.MassRaw;
        }
-        com /= totalMass;
+        if (totalMass != 0f)
+            com /= totalMass;
        return com;
    }
@@ -221,51 +228,54 @@ public class BSLinkset
        {
            com += bp.Position * bp.MassRaw;
        }
-        com /= m_children.Count + 1;
+        com /= (m_children.Count + 1);
        return com;
    }
    // I am the root of a linkset and a new child is being added
-    public void AddChildToLinkset(BSPrim pchild)
+    // Called while LinkActivity is locked.
+    public void AddChildToLinkset(BSPrim child)
    {
-        BSPrim child = pchild;
        if (!HasChild(child))
        {
            m_children.Add(child);
-            m_scene.TaintedObject(delegate()
+            BSPrim root = Root; // capture the root as of now
+            m_scene.TaintedObject("AddChildToLinkset", delegate()
            {
                DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, m_linksetRoot.LocalID);
-                DetailLog("{0},AddChildToLinkset,child={1}", m_linksetRoot.LocalID, pchild.LocalID);
+                DetailLog("{0},AddChildToLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID);
-                PhysicallyLinkAChildToRoot(pchild);     // build the physical binding between me and the child
+                PhysicallyLinkAChildToRoot(root, child);     // build the physical binding between me and the child
            });
        }
        return;
    }
+    // Forcefully removing a child from a linkset.
+    // This is not being called by the child so we have to make sure the child doesn't think
+    //    it's still connected to the linkset.
+    // Normal OpenSimulator operation will never do this because other SceneObjectPart information
+    //    has to be updated also (like pointer to prim's parent).
+    public void RemoveChildFromOtherLinkset(BSPrim pchild)
+    {
+        pchild.Linkset = new BSLinkset(m_scene, pchild);
+        RemoveChildFromLinkset(pchild);
+    }
    // I am the root of a linkset and one of my children is being removed.
    // Safe to call even if the child is not really in my linkset.
-    public void RemoveChildFromLinkset(BSPrim pchild)
+    public void RemoveChildFromLinkset(BSPrim child)
    {
-        BSPrim child = pchild;
        if (m_children.Remove(child))
        {
-            m_scene.TaintedObject(delegate()
+            BSPrim root = Root; // capture the root as of now
+            m_scene.TaintedObject("RemoveChildFromLinkset", delegate()
            {
                DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID);
-                DetailLog("{0},RemoveChildFromLinkset,child={1}", m_linksetRoot.LocalID, pchild.LocalID);
+                DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID);
-                if (m_children.Count == 0)
+                PhysicallyUnlinkAChildFromRoot(root, child);
-                {
-                    // if the linkset is empty, make sure all linkages have been removed
-                    PhysicallyUnlinkAllChildrenFromRoot();
-                }
-                else
-                {
-                    PhysicallyUnlinkAChildFromRoot(pchild);
-                }
            });
        }
        else
@@ -278,14 +288,14 @@ public class BSLinkset
    // Create a constraint between me (root of linkset) and the passed prim (the child).
    // Called at taint time!
-    private void PhysicallyLinkAChildToRoot(BSPrim childPrim)
+    private void PhysicallyLinkAChildToRoot(BSPrim rootPrim, BSPrim childPrim)
    {
        // Zero motion for children so they don't interpolate
        childPrim.ZeroMotion();
        // relative position normalized to the root prim
-        OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(m_linksetRoot.Orientation);
+        OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation);
-        OMV.Vector3 childRelativePosition = (childPrim.Position - m_linksetRoot.Position) * invThisOrientation;
+        OMV.Vector3 childRelativePosition = (childPrim.Position - rootPrim.Position) * invThisOrientation;
        // relative rotation of the child to the parent
        OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation;
@@ -293,16 +303,17 @@ public class BSLinkset
        // create a constraint that allows no freedom of movement between the two objects
        // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
        // DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID);
-        DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID);
+        DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
-        BSConstraint constrain = m_scene.Constraints.CreateConstraint(
+        BS6DofConstraint constrain = new BS6DofConstraint(
-                        m_scene.World, m_linksetRoot.Body, childPrim.Body,
+                        m_scene.World, rootPrim.Body, childPrim.Body,
-                        // childRelativePosition,
+                        childRelativePosition,
-                        // childRelativeRotation,
+                        childRelativeRotation,
-                        OMV.Vector3.Zero,
-                        OMV.Quaternion.Identity,
                        OMV.Vector3.Zero,
-                        OMV.Quaternion.Identity
+                        -childRelativeRotation
                        );
+        m_scene.Constraints.AddConstraint(constrain);
+        // zero linear and angular limits makes the objects unable to move in relation to each other
        constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
        constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
@@ -317,29 +328,32 @@ public class BSLinkset
    // Remove linkage between myself and a particular child
    // Called at taint time!
-    private void PhysicallyUnlinkAChildFromRoot(BSPrim childPrim)
+    private void PhysicallyUnlinkAChildFromRoot(BSPrim rootPrim, BSPrim childPrim)
    {
-        DebugLog("{0}: PhysicallyUnlinkAChildFromRoot: RemoveConstraint between root prim {1} and child prim {2}", 
+        // DebugLog("{0}: PhysicallyUnlinkAChildFromRoot: RemoveConstraint between root prim {1} and child prim {2}", 
-                    LogHeader, m_linksetRoot.LocalID, childPrim.LocalID);
+        //             LogHeader, rootPrim.LocalID, childPrim.LocalID);
-        DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID);
+        DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
-        // BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, childPrim.LocalID);
-        m_scene.Constraints.RemoveAndDestroyConstraint(m_linksetRoot.Body, childPrim.Body);
+        m_scene.Constraints.RemoveAndDestroyConstraint(rootPrim.Body, childPrim.Body);
+        // Make the child refresh its location
+        BulletSimAPI.PushUpdate2(childPrim.Body.Ptr);
    }
    // Remove linkage between myself and any possible children I might have
    // Called at taint time!
-    private void PhysicallyUnlinkAllChildrenFromRoot()
+    private void PhysicallyUnlinkAllChildrenFromRoot(BSPrim rootPrim)
    {
        // DebugLog("{0}: PhysicallyUnlinkAllChildren:", LogHeader);
-        DetailLog("{0},PhysicallyUnlinkAllChildren,taint", m_linksetRoot.LocalID);
+        DetailLog("{0},PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
-        m_scene.Constraints.RemoveAndDestroyConstraint(m_linksetRoot.Body);
-        // BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID);
+        m_scene.Constraints.RemoveAndDestroyConstraint(rootPrim.Body);
    }
    // Invoke the detailed logger and output something if it's enabled.
    private void DebugLog(string msg, params Object[] args)
    {
-        m_scene.Logger.DebugFormat(msg, args);
+        if (m_scene.ShouldDebugLog)
+            m_scene.Logger.DebugFormat(msg, args);
    }
    // Invoke the detailed logger and output something if it's enabled.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index ebfd85b..05cc822 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -42,7 +42,7 @@ public sealed class BSPrim : PhysicsActor
    private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
    private static readonly string LogHeader = "[BULLETS PRIM]";
-    private void DebugLog(string mm, params Object[] xx) { if (_scene.shouldDebugLog) m_log.DebugFormat(mm, xx); }
+    private void DebugLog(string mm, params Object[] xx) { if (_scene.ShouldDebugLog) m_log.DebugFormat(mm, xx); }
    private IMesh _mesh;
    private PrimitiveBaseShape _pbs;
@@ -138,14 +138,15 @@ public sealed class BSPrim : PhysicsActor
        _isPhysical = pisPhysical;
        _isVolumeDetect = false;
        _subscribedEventsMs = 0;
-        _friction = _scene.Params.defaultFriction; // TODO: compute based on object material
+        _friction = _scene.Params.defaultFriction;  // TODO: compute based on object material
-        _density = _scene.Params.defaultDensity; // TODO: compute based on object material
+        _density = _scene.Params.defaultDensity;    // TODO: compute based on object material
        _restitution = _scene.Params.defaultRestitution;
        _linkset = new BSLinkset(_scene, this);     // a linkset of one
-        _vehicle = new BSDynamics(this);    // add vehicleness
+        _vehicle = new BSDynamics(this);            // add vehicleness
        _mass = CalculateMass();
        // do the actual object creation at taint time
-        _scene.TaintedObject(delegate()
+        DetailLog("{0},BSPrim.constructor,call", LocalID);
+        _scene.TaintedObject("BSPrim.create", delegate()
        {
            RecreateGeomAndObject();
@@ -160,17 +161,22 @@ public sealed class BSPrim : PhysicsActor
    public void Destroy()
    {
        // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID);
-        // DetailLog("{0},Destroy", LocalID);
+        // Undo any links between me and any other object
+        BSPrim parentBefore = _linkset.Root;
+        int childrenBefore = _linkset.NumberOfChildren;
+        _linkset = _linkset.RemoveMeFromLinkset(this);
+        DetailLog("{0},BSPrim.Destroy,call,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}",
+            LocalID, parentBefore.LocalID, childrenBefore, _linkset.Root.LocalID, _linkset.NumberOfChildren);
        // Undo any vehicle properties
-        _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE);
+        this.VehicleType = (int)Vehicle.TYPE_NONE;
-        _scene.RemoveVehiclePrim(this);     // just to make sure
-        _scene.TaintedObject(delegate()
+        _scene.TaintedObject("BSPrim.destroy", delegate()
        {
-            // Undo any links between me and any other object
+            DetailLog("{0},BSPrim.Destroy,taint,", LocalID);
-            _linkset = _linkset.RemoveMeFromLinkset(this);
            // everything in the C# world will get garbage collected. Tell the C++ world to free stuff.
            BulletSimAPI.DestroyObject(_scene.WorldID, LocalID);
        });
@@ -183,11 +189,11 @@ public sealed class BSPrim : PhysicsActor
        get { return _size; } 
        set {
            _size = value;
-            _scene.TaintedObject(delegate()
+            _scene.TaintedObject("BSPrim.setSize", delegate()
            {
                _mass = CalculateMass();   // changing size changes the mass
                BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, (IsPhysical ? _mass : 0f), IsPhysical);
-                DetailLog("{0}: setSize: size={1}, mass={2}, physical={3}", LocalID, _size, _mass, IsPhysical);
+                // DetailLog("{0}: BSPrim.setSize: size={1}, mass={2}, physical={3}", LocalID, _size, _mass, IsPhysical);
                RecreateGeomAndObject();
            });
        } 
@@ -195,7 +201,7 @@ public sealed class BSPrim : PhysicsActor
    public override PrimitiveBaseShape Shape { 
        set {
            _pbs = value;
-            _scene.TaintedObject(delegate()
+            _scene.TaintedObject("BSPrim.setShape", delegate()
            {
                _mass = CalculateMass();   // changing the shape changes the mass
                RecreateGeomAndObject();
@@ -213,7 +219,7 @@ public sealed class BSPrim : PhysicsActor
    public override bool Selected { 
        set {
            _isSelected = value;
-            _scene.TaintedObject(delegate()
+            _scene.TaintedObject("BSPrim.setSelected", delegate()
            {
                SetObjectDynamic();
            });
@@ -224,10 +230,17 @@ public sealed class BSPrim : PhysicsActor
    // link me to the specified parent
    public override void link(PhysicsActor obj) {
        BSPrim parent = obj as BSPrim;
-        DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID);
+        if (parent != null)
-        DetailLog("{0},link,parent={1}", LocalID, obj.LocalID);
+        {
+            DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, parent.LocalID);
+            BSPrim parentBefore = _linkset.Root;
+            int childrenBefore = _linkset.NumberOfChildren;
+            _linkset = parent.Linkset.AddMeToLinkset(this);
-        _linkset = _linkset.AddMeToLinkset(this, parent);
+            DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}", 
+                LocalID, parentBefore.LocalID, childrenBefore, _linkset.Root.LocalID, _linkset.NumberOfChildren);
+        }
        return; 
    }
@@ -237,9 +250,14 @@ public sealed class BSPrim : PhysicsActor
        // Race condition here: if link() and delink() in same simulation tick, the delink will not happen
        DebugLog("{0}: delink {1}/{2}. Parent={3}", LogHeader, _avName, _localID, 
                            _linkset.Root._avName+"/"+_linkset.Root.LocalID.ToString());
-        DetailLog("{0},delink,parent={1}", LocalID, _linkset.Root.LocalID.ToString());
-        _linkset.RemoveMeFromLinkset(this);
+        BSPrim parentBefore = _linkset.Root;
+        int childrenBefore = _linkset.NumberOfChildren;
+        
+        _linkset = _linkset.RemoveMeFromLinkset(this);
+        DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ", 
+            LocalID, parentBefore.LocalID, childrenBefore, _linkset.Root.LocalID, _linkset.NumberOfChildren);
        return; 
    }
@@ -262,7 +280,7 @@ public sealed class BSPrim : PhysicsActor
    public override void LockAngularMotion(OMV.Vector3 axis)
    { 
-        DetailLog("{0},LockAngularMotion,call,axis={1}", LocalID, axis);
+        DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis);
        return;
    }
@@ -279,9 +297,9 @@ public sealed class BSPrim : PhysicsActor
        set {
            _position = value;
            // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint?
-            _scene.TaintedObject(delegate()
+            _scene.TaintedObject("BSPrim.setPosition", delegate()
            {
-                DetailLog("{0},SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
+                DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
            });
        } 
@@ -316,9 +334,9 @@ public sealed class BSPrim : PhysicsActor
        get { return _force; } 
        set {
            _force = value;
-            _scene.TaintedObject(delegate()
+            _scene.TaintedObject("BSPrim.setForce", delegate()
            {
-                DetailLog("{0},SetForce,taint,force={1}", LocalID, _force);
+                DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
                // BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
                BulletSimAPI.SetObjectForce2(Body.Ptr, _force);
            });
@@ -331,53 +349,41 @@ public sealed class BSPrim : PhysicsActor
        } 
        set {
            Vehicle type = (Vehicle)value;
-            _scene.TaintedObject(delegate()
+            BSPrim vehiclePrim = this;
+            _scene.TaintedObject("setVehicleType", delegate()
            {
-                DetailLog("{0},SetVehicleType,taint,type={1}", LocalID, type);
+                // Done at taint time so we're sure the physics engine is not using the variables
+                // Vehicle code changes the parameters for this vehicle type.
                _vehicle.ProcessTypeChange(type);
-                if (type == Vehicle.TYPE_NONE)
+                // Tell the scene about the vehicle so it will get processing each frame.
-                {
+                _scene.VehicleInSceneTypeChanged(this, type);
-                    _scene.RemoveVehiclePrim(this);
-                }
-                else
-                {
-                    _scene.TaintedObject(delegate()
-                    {
-                        // Tell the physics engine to clear state
-                        BulletSimAPI.ClearForces2(this.Body.Ptr);
-                    });
-                    // make it so the scene will call us each tick to do vehicle things
-                    _scene.AddVehiclePrim(this);
-                }
-                return;
            });
        } 
    }
    public override void VehicleFloatParam(int param, float value) 
    {
-        _scene.TaintedObject(delegate()
+        _scene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
        {
            _vehicle.ProcessFloatVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep);
        });
    }
    public override void VehicleVectorParam(int param, OMV.Vector3 value) 
    {
-        _scene.TaintedObject(delegate()
+        _scene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
        {
            _vehicle.ProcessVectorVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep);
        });
    }
    public override void VehicleRotationParam(int param, OMV.Quaternion rotation) 
    {
-        _scene.TaintedObject(delegate()
+        _scene.TaintedObject("BSPrim.VehicleRotationParam", delegate()
        {
            _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation);
        });
    }
    public override void VehicleFlags(int param, bool remove) 
    {
-        _scene.TaintedObject(delegate()
+        _scene.TaintedObject("BSPrim.VehicleFlags", delegate()
        {
            _vehicle.ProcessVehicleFlags(param, remove);
        });
@@ -395,7 +401,7 @@ public sealed class BSPrim : PhysicsActor
    public override void SetVolumeDetect(int param) {
        bool newValue = (param != 0);
        _isVolumeDetect = newValue;
-        _scene.TaintedObject(delegate()
+        _scene.TaintedObject("BSPrim.SetVolumeDetect", delegate()
        {
            SetObjectDynamic();
        });
@@ -406,9 +412,9 @@ public sealed class BSPrim : PhysicsActor
        get { return _velocity; } 
        set {
            _velocity = value;
-            _scene.TaintedObject(delegate()
+            _scene.TaintedObject("BSPrim.setVelocity", delegate()
            {
-                DetailLog("{0},SetVelocity,taint,vel={1}", LocalID, _velocity);
+                DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
                BulletSimAPI.SetObjectVelocity(_scene.WorldID, LocalID, _velocity);
            });
        } 
@@ -416,7 +422,7 @@ public sealed class BSPrim : PhysicsActor
    public override OMV.Vector3 Torque { 
        get { return _torque; } 
        set { _torque = value; 
-            DetailLog("{0},SetTorque,call,torque={1}", LocalID, _torque);
+            DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
        } 
    }
    public override float CollisionScore { 
@@ -440,10 +446,10 @@ public sealed class BSPrim : PhysicsActor
        set {
            _orientation = value;
            // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint?
-            _scene.TaintedObject(delegate()
+            _scene.TaintedObject("BSPrim.setOrientation", delegate()
            {
                // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
-                DetailLog("{0},SetOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
+                DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
            });
        } 
@@ -457,7 +463,7 @@ public sealed class BSPrim : PhysicsActor
        get { return _isPhysical; } 
        set {
            _isPhysical = value;
-            _scene.TaintedObject(delegate()
+            _scene.TaintedObject("BSPrim.setIsPhysical", delegate()
            {
                SetObjectDynamic();
            });
@@ -478,7 +484,6 @@ public sealed class BSPrim : PhysicsActor
    // Make gravity work if the object is physical and not selected
    // No locking here because only called when it is safe
-    // Only called at taint time so it is save to call into Bullet.
    private void SetObjectDynamic()
    {
        // RA: remove this for the moment.
@@ -487,13 +492,13 @@ public sealed class BSPrim : PhysicsActor
        //    Maybe a VerifyCorrectPhysicalShape() routine?
        // RecreateGeomAndObject();
-        float mass = _mass;
+        // Bullet wants static objects to have a mass of zero
-        // Bullet wants static objects have a mass of zero
+        float mass = IsStatic ? 0f : _mass;
-        if (IsStatic) 
-            mass = 0f;
-        DetailLog("{0},SetObjectDynamic,taint,static={1},solid={2},mass={3}", LocalID, IsStatic, IsSolid, mass);
        BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass);
+        CollisionFlags cf = BulletSimAPI.GetCollisionFlags2(Body.Ptr);
+        DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, cf);
    }
    // prims don't fly
@@ -548,9 +553,9 @@ public sealed class BSPrim : PhysicsActor
        set {
            _rotationalVelocity = value;
            // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
-            _scene.TaintedObject(delegate()
+            _scene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
            {
-                DetailLog("{0},SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
+                DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
                BulletSimAPI.SetObjectAngularVelocity(_scene.WorldID, LocalID, _rotationalVelocity);
            });
        } 
@@ -565,9 +570,9 @@ public sealed class BSPrim : PhysicsActor
        get { return _buoyancy; } 
        set {
            _buoyancy = value;
-            _scene.TaintedObject(delegate()
+            _scene.TaintedObject("BSPrim.setBuoyancy", delegate()
            {
-                DetailLog("{0},SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
+                DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
                BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy);
            });
        } 
@@ -607,6 +612,7 @@ public sealed class BSPrim : PhysicsActor
    private List<OMV.Vector3> m_accumulatedForces = new List<OMV.Vector3>();
    public override void AddForce(OMV.Vector3 force, bool pushforce) {
+        // for an object, doesn't matter if force is a pushforce or not
        if (force.IsFinite())
        {
            // _force += force;
@@ -618,40 +624,48 @@ public sealed class BSPrim : PhysicsActor
            m_log.WarnFormat("{0}: Got a NaN force applied to a Character", LogHeader);
            return;
        }
-        _scene.TaintedObject(delegate()
+        _scene.TaintedObject("BSPrim.AddForce", delegate()
        {
+            OMV.Vector3 fSum = OMV.Vector3.Zero;
            lock (m_accumulatedForces)
            {
-                if (m_accumulatedForces.Count > 0)
+                foreach (OMV.Vector3 v in m_accumulatedForces)
                {
-                    OMV.Vector3 fSum = OMV.Vector3.Zero;
+                    fSum += v;
-                    foreach (OMV.Vector3 v in m_accumulatedForces)
-                    {
-                        fSum += v;
-                    }
-                    m_accumulatedForces.Clear();
-                    DetailLog("{0},SetObjectForce,taint,force={1}", LocalID, fSum);
-                    BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, fSum);
                }
+                m_accumulatedForces.Clear();
            }
+            DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, _force);
+            BulletSimAPI.AddObjectForce2(Body.Ptr, fSum);
        });
    }
    public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { 
-        DetailLog("{0},AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce);
+        DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce);
        // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce);
    }
    public override void SetMomentum(OMV.Vector3 momentum) { 
-        DetailLog("{0},SetMomentum,call,mom={1}", LocalID, momentum);
+        DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
    }
    public override void SubscribeEvents(int ms) { 
        _subscribedEventsMs = ms;
-        // make sure first collision happens
+        if (ms > 0)
-        _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs;
+        {
+            // make sure first collision happens
+            _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs;
+            Scene.TaintedObject("BSPrim.SubscribeEvents", delegate()
+            {
+                BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            });
+        }
    }
    public override void UnSubscribeEvents() { 
        _subscribedEventsMs = 0;
+        Scene.TaintedObject("BSPrim.UnSubscribeEvents", delegate()
+        {
+            BulletSimAPI.RemoveFromCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+        });
    }
    public override bool SubscribedEvents() { 
        return (_subscribedEventsMs > 0);
@@ -970,26 +984,26 @@ public sealed class BSPrim : PhysicsActor
        {
            if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1)
            {
-                if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z)
+                // if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z)
-                {
+                // {
                    // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size);
                    if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE))
                    {
-                        DetailLog("{0},CreateGeom,sphere", LocalID);
+                        DetailLog("{0},BSPrim.CreateGeom,sphere (force={1}", LocalID, forceRebuild);
                        _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE;
                        // Bullet native objects are scaled by the Bullet engine so pass the size in
                        _scale = _size;
                        // TODO: do we need to check for and destroy a mesh or hull that might have been left from before?
                        ret = true;
                    }
-                }
+                // }
            }
            else
            {
                // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, type={2}, size={3}", LogHeader, LocalID, _shapeType, _size);
                if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX))
                {
-                    DetailLog("{0},CreateGeom,box", LocalID);
+                    DetailLog("{0},BSPrim.CreateGeom,box (force={1})", LocalID, forceRebuild);
                    _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX;
                    _scale = _size;
                    // TODO: do we need to check for and destroy a mesh or hull that might have been left from before?
@@ -1032,12 +1046,12 @@ public sealed class BSPrim : PhysicsActor
        // if this new shape is the same as last time, don't recreate the mesh
        if (_meshKey == newMeshKey) return;
-        DetailLog("{0},CreateGeomMesh,create,key={1}", LocalID, _meshKey);
+        DetailLog("{0},BSPrim.CreateGeomMesh,create,key={1}", LocalID, newMeshKey);
        // Since we're recreating new, get rid of any previously generated shape
        if (_meshKey != 0)
        {
            // m_log.DebugFormat("{0}: CreateGeom: deleting old mesh. lID={1}, Key={2}", LogHeader, _localID, _meshKey);
-            DetailLog("{0},CreateGeomMesh,deleteOld,key={1}", LocalID, _meshKey);
+            DetailLog("{0},BSPrim.CreateGeomMesh,deleteOld,key={1}", LocalID, _meshKey);
            BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey);
            _mesh = null;
            _meshKey = 0;
@@ -1067,7 +1081,7 @@ public sealed class BSPrim : PhysicsActor
        _shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH;
        // meshes are already scaled by the meshmerizer
        _scale = new OMV.Vector3(1f, 1f, 1f);
-        DetailLog("{0},CreateGeomMesh,done", LocalID);
+        DetailLog("{0},BSPrim.CreateGeomMesh,done", LocalID);
        return;
    }
@@ -1081,17 +1095,17 @@ public sealed class BSPrim : PhysicsActor
        // if the hull hasn't changed, don't rebuild it
        if (newHullKey == _hullKey) return;
-        DetailLog("{0},CreateGeomHull,create,key={1}", LocalID, _meshKey);
+        DetailLog("{0},BSPrim.CreateGeomHull,create,key={1}", LocalID, _meshKey);
        
        // Since we're recreating new, get rid of any previously generated shape
        if (_hullKey != 0)
        {
            // m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey);
-            DetailLog("{0},CreateGeomHull,deleteOldHull,key={1}", LocalID, _meshKey);
+            DetailLog("{0},BSPrim.CreateGeomHull,deleteOldHull,key={1}", LocalID, _meshKey);
            BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey);
            _hullKey = 0;
            _hulls.Clear();
-            DetailLog("{0},CreateGeomHull,deleteOldMesh,key={1}", LocalID, _meshKey);
+            DetailLog("{0},BSPrim.CreateGeomHull,deleteOldMesh,key={1}", LocalID, _meshKey);
            BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey);
            _mesh = null;   // the mesh cannot match either
            _meshKey = 0;
@@ -1188,7 +1202,7 @@ public sealed class BSPrim : PhysicsActor
        _shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL;
        // meshes are already scaled by the meshmerizer
        _scale = new OMV.Vector3(1f, 1f, 1f);
-        DetailLog("{0},CreateGeomHull,done", LocalID);
+        DetailLog("{0},BSPrim.CreateGeomHull,done", LocalID);
        return;
    }
@@ -1214,7 +1228,7 @@ public sealed class BSPrim : PhysicsActor
        bool ret = BulletSimAPI.CreateObject(_scene.WorldID, shape);
        // the CreateObject() may have recreated the rigid body. Make sure we have the latest.
-        m_body.Ptr = BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID);
+        Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID));
        return ret;
    }
@@ -1326,20 +1340,18 @@ public sealed class BSPrim : PhysicsActor
            // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}, vel={5}, acc={6}, rvel={7}", 
            //         LogHeader, LocalID, changed, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
-            DetailLog("{0},UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
+            DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
                    LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
            base.RequestPhysicsterseUpdate();
        }
-            /*
        else
        {
            // For debugging, we also report the movement of children
-            DetailLog("{0},UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
+            DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
                    LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, 
                    entprop.Acceleration, entprop.RotationalVelocity);
        }
-             */
    }
    // I've collided with something
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 011033c..beaea1f 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -73,7 +73,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
    private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
    private static readonly string LogHeader = "[BULLETS SCENE]";
-    public void DebugLog(string mm, params Object[] xx) { if (shouldDebugLog) m_log.DebugFormat(mm, xx); }
+    public void DebugLog(string mm, params Object[] xx) { if (ShouldDebugLog) m_log.DebugFormat(mm, xx); }
    public string BulletSimVersion = "?";
@@ -162,14 +162,24 @@ public class BSScene : PhysicsScene, IPhysicsParameters
    }
    public delegate void TaintCallback();
-    private List<TaintCallback> _taintedObjects;
+    private struct TaintCallbackEntry
+    {
+        public String ident;
+        public TaintCallback callback;
+        public TaintCallbackEntry(string i, TaintCallback c)
+        {
+            ident = i;
+            callback = c;
+        }
+    }
+    private List<TaintCallbackEntry> _taintedObjects;
    private Object _taintLock = new Object();
    // A pointer to an instance if this structure is passed to the C++ code
    ConfigurationParameters[] m_params;
    GCHandle m_paramsHandle;
-    public bool shouldDebugLog { get; private set; }
+    public bool ShouldDebugLog { get; private set; }
    private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle;
@@ -232,7 +242,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
            BulletSimAPI.SetDebugLogCallback(m_DebugLogCallbackHandle);
        }
-        _taintedObjects = new List<TaintCallback>();
+        _taintedObjects = new List<TaintCallbackEntry>();
        mesher = meshmerizer;
        // The bounding box for the simulated world
@@ -245,7 +255,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
        // Initialization to support the transition to a new API which puts most of the logic
        //   into the C# code so it is easier to modify and add to.
-        m_worldSim = new BulletSim(m_worldID, BulletSimAPI.GetSimHandle2(m_worldID));
+        m_worldSim = new BulletSim(m_worldID, this, BulletSimAPI.GetSimHandle2(m_worldID));
        m_constraintCollection = new BSConstraintCollection(World);
        m_initialized = true;
@@ -352,7 +362,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
        BSPrim bsprim = prim as BSPrim;
        if (bsprim != null)
        {
-            m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID);
+            DetailLog("{0},RemovePrim,call", bsprim.LocalID);
+            // m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID);
            try
            {
                lock (m_prims) m_prims.Remove(bsprim.LocalID);
@@ -377,6 +388,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
        if (!m_initialized) return null;
+        DetailLog("{0},AddPrimShape,call", localID);
        BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical);
        lock (m_prims) m_prims.Add(localID, prim);
        return prim;
@@ -416,12 +429,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters
        {
            numSubSteps = BulletSimAPI.PhysicsStep(m_worldID, timeStep, m_maxSubSteps, m_fixedTimeStep,
                        out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
-            DetailLog("{0},Simulate,call, substeps={1}, updates={2}, colliders={3}", "0000000000", numSubSteps, updatedEntityCount, collidersCount); 
+            DetailLog("{0},Simulate,call, substeps={1}, updates={2}, colliders={3}", DetailLogZero, numSubSteps, updatedEntityCount, collidersCount); 
        }
        catch (Exception e)
        {
            m_log.WarnFormat("{0},PhysicsStep Exception: substeps={1}, updates={2}, colliders={3}, e={4}", LogHeader, numSubSteps, updatedEntityCount, collidersCount, e);
-            DetailLog("{0},PhysicsStepException,call, substeps={1}, updates={2}, colliders={3}", "0000000000", numSubSteps, updatedEntityCount, collidersCount);
+            DetailLog("{0},PhysicsStepException,call, substeps={1}, updates={2}, colliders={3}", DetailLogZero, numSubSteps, updatedEntityCount, collidersCount);
            // updatedEntityCount = 0;
            collidersCount = 0;
        }
@@ -535,7 +548,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
    public override void SetTerrain(float[] heightMap) {
        m_heightMap = heightMap;
-        this.TaintedObject(delegate()
+        this.TaintedObject("BSScene.SetTerrain", delegate()
        {
            BulletSimAPI.SetHeightmap(m_worldID, m_heightMap);
        });
@@ -727,12 +740,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters
    // Calls to the PhysicsActors can't directly call into the physics engine
    // because it might be busy. We delay changes to a known time.
    // We rely on C#'s closure to save and restore the context for the delegate.
-    public void TaintedObject(TaintCallback callback)
+    public void TaintedObject(String ident, TaintCallback callback)
    {
        if (!m_initialized) return;
        lock (_taintLock)
-            _taintedObjects.Add(callback);
+            _taintedObjects.Add(new TaintCallbackEntry(ident, callback));
        return;
    }
@@ -744,22 +757,22 @@ public class BSScene : PhysicsScene, IPhysicsParameters
        if (_taintedObjects.Count > 0)  // save allocating new list if there is nothing to process
        {
            // swizzle a new list into the list location so we can process what's there
-            List<TaintCallback> oldList;
+            List<TaintCallbackEntry> oldList;
            lock (_taintLock)
            {
                oldList = _taintedObjects;
-                _taintedObjects = new List<TaintCallback>();
+                _taintedObjects = new List<TaintCallbackEntry>();
            }
-            foreach (TaintCallback callback in oldList)
+            foreach (TaintCallbackEntry tcbe in oldList)
            {
                try
                {
-                    callback();
+                    tcbe.callback();
                }
                catch (Exception e)
                {
-                    m_log.ErrorFormat("{0}: ProcessTaints: Exception: {1}", LogHeader, e);
+                    m_log.ErrorFormat("{0}: ProcessTaints: {1}: Exception: {2}", LogHeader, tcbe.ident, e);
                }
            }
            oldList.Clear();
@@ -767,6 +780,20 @@ public class BSScene : PhysicsScene, IPhysicsParameters
    }
    #region Vehicles
+    public void VehicleInSceneTypeChanged(BSPrim vehic, Vehicle newType)
+    {
+        if (newType == Vehicle.TYPE_NONE)
+        {
+            RemoveVehiclePrim(vehic);
+        }
+        else
+        {
+            // make it so the scene will call us each tick to do vehicle things
+           AddVehiclePrim(vehic);
+        }
+    }
    // Make so the scene will call this prim for vehicle actions each tick.
    // Safe to call if prim is already in the vehicle list.
    public void AddVehiclePrim(BSPrim vehicle)
@@ -812,12 +839,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters
    private struct ParameterDefn
    {
-        public string name;
+        public string name;         // string name of the parameter
-        public string desc;
+        public string desc;         // a short description of what the parameter means
-        public float defaultValue;
+        public float defaultValue;  // default value if not specified anywhere else
-        public ParamUser userParam;
+        public ParamUser userParam; // get the value from the configuration file
-        public ParamGet getter;
+        public ParamGet getter;     // return the current value stored for this parameter
-        public ParamSet setter;
+        public ParamSet setter;     // set the current value for this parameter
        public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s)
        {
            name = n;
@@ -834,7 +861,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
    // To add a new externally referencable/settable parameter, add the paramter storage
    //    location somewhere in the program and make an entry in this table with the
    //    getters and setters.
-    // To add a new variable, it is easiest to find an existing definition and copy it.
+    // It is easiest to find an existing definition and copy it.
    // Parameter values are floats. Booleans are converted to a floating value.
    // 
    // A ParameterDefn() takes the following parameters:
@@ -870,7 +897,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
            (s) => { return (float)s.m_meshLOD; },
            (s,p,l,v) => { s.m_meshLOD = (int)v; } ),
        new ParameterDefn("SculptLOD", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)",
-            32,
+            32f,
            (s,cf,p,v) => { s.m_sculptLOD = cf.GetInt(p, (int)v); },
            (s) => { return (float)s.m_sculptLOD; },
            (s,p,l,v) => { s.m_sculptLOD = (int)v; } ),
@@ -1027,14 +1054,19 @@ public class BSScene : PhysicsScene, IPhysicsParameters
            (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarContactProcessingThreshold, p, l, v); } ),
-            new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default)",
+            new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
            0f,     // zero to disable
            (s,cf,p,v) => { s.m_params[0].maxPersistantManifoldPoolSize = cf.GetFloat(p, v); },
            (s) => { return s.m_params[0].maxPersistantManifoldPoolSize; },
            (s,p,l,v) => { s.m_params[0].maxPersistantManifoldPoolSize = v; } ),
+            new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)",
+            0f,     // zero to disable
+            (s,cf,p,v) => { s.m_params[0].maxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); },
+            (s) => { return s.m_params[0].maxCollisionAlgorithmPoolSize; },
+            (s,p,l,v) => { s.m_params[0].maxCollisionAlgorithmPoolSize = v; } ),
            new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count",
-            ConfigurationParameters.numericTrue,
+            ConfigurationParameters.numericFalse,
-            (s,cf,p,v) => { s.m_params[0].maxPersistantManifoldPoolSize = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
+            (s,cf,p,v) => { s.m_params[0].shouldDisableContactPoolDynamicAllocation = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
            (s) => { return s.m_params[0].shouldDisableContactPoolDynamicAllocation; },
            (s,p,l,v) => { s.m_params[0].shouldDisableContactPoolDynamicAllocation = v; } ),
            new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step",
@@ -1101,9 +1133,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
            (s,p,l,v) => { s.m_detailedStatsStep = (int)v; } ),
        new ParameterDefn("ShouldDebugLog", "Enables detailed DEBUG log statements",
            ConfigurationParameters.numericFalse,
-            (s,cf,p,v) => { s.shouldDebugLog = cf.GetBoolean(p, s.BoolNumeric(v)); },
+            (s,cf,p,v) => { s.ShouldDebugLog = cf.GetBoolean(p, s.BoolNumeric(v)); },
-            (s) => { return s.NumericBool(s.shouldDebugLog); },
+            (s) => { return s.NumericBool(s.ShouldDebugLog); },
-            (s,p,l,v) => { s.shouldDebugLog = s.BoolNumeric(v); } ),
+            (s,p,l,v) => { s.ShouldDebugLog = s.BoolNumeric(v); } ),
    };
@@ -1243,7 +1275,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
                List<uint> objectIDs = lIDs;
                string xparm = parm.ToLower();
                float xval = val;
-                TaintedObject(delegate() {
+                TaintedObject("BSScene.UpdateParameterSet", delegate() {
                    foreach (uint lID in objectIDs)
                    {
                        BulletSimAPI.UpdateParameter(m_worldID, lID, xparm, xval);
@@ -1263,7 +1295,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
        uint xlocalID = localID;
        string xparm = parm.ToLower();
        float xval = val;
-        TaintedObject(delegate() {
+        TaintedObject("BSScene.TaintedUpdateParameter", delegate() {
            BulletSimAPI.UpdateParameter(m_worldID, xlocalID, xparm, xval);
        });
    }
@@ -1289,10 +1321,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters
    #endregion Runtime settable parameters
    // Invoke the detailed logger and output something if it's enabled.
-    private void DetailLog(string msg, params Object[] args)
+    public void DetailLog(string msg, params Object[] args)
    {
        PhysicsLogging.Write(msg, args);
    }
+    // used to fill in the LocalID when there isn't one
+    public const string DetailLogZero = "0000000000";
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index 0ffbc94..6800b96 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -35,9 +35,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin {
 // Classes to allow some type checking for the API
 public struct BulletSim
 {
-    public BulletSim(uint id, IntPtr xx) { ID = id;  Ptr = xx; }
+    public BulletSim(uint id, BSScene bss, IntPtr xx) { ID = id; scene = bss;  Ptr = xx; }
-    public IntPtr Ptr;
    public uint ID;
+    // The scene is only in here so very low level routines have a handle to print debug/error messages
+    public BSScene scene;
+    public IntPtr Ptr;
 }
 public struct BulletBody
@@ -158,6 +160,7 @@ public struct ConfigurationParameters
        public float avatarContactProcessingThreshold;
        public float maxPersistantManifoldPoolSize;
+        public float maxCollisionAlgorithmPoolSize;
        public float shouldDisableContactPoolDynamicAllocation;
        public float shouldForceUpdateAllAabbs;
        public float shouldRandomizeSolverOrder;
@@ -179,17 +182,18 @@ public struct ConfigurationParameters
 // Values used by Bullet and BulletSim to control collisions
 public enum CollisionFlags : uint
 {
-    STATIC_OBJECT                 = 1 << 0,
+    CF_STATIC_OBJECT                 = 1 << 0,
-    KINEMATIC_OBJECT              = 1 << 1,
+    CF_KINEMATIC_OBJECT              = 1 << 1,
-    NO_CONTACT_RESPONSE           = 1 << 2,
+    CF_NO_CONTACT_RESPONSE           = 1 << 2,
-    CUSTOM_MATERIAL_CALLBACK      = 1 << 3,
+    CF_CUSTOM_MATERIAL_CALLBACK      = 1 << 3,
-    CHARACTER_OBJECT              = 1 << 4,
+    CF_CHARACTER_OBJECT              = 1 << 4,
-    DISABLE_VISUALIZE_OBJECT      = 1 << 5,
+    CF_DISABLE_VISUALIZE_OBJECT      = 1 << 5,
-    DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
+    CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
    // Following used by BulletSim to control collisions
-    VOLUME_DETECT_OBJECT          = 1 << 10,
+    BS_SUBSCRIBE_COLLISION_EVENTS    = 1 << 10,
-    PHANTOM_OBJECT                = 1 << 11,
+    BS_VOLUME_DETECT_OBJECT          = 1 << 11,
-    PHYSICAL_OBJECT               = 1 << 12,
+    BS_PHANTOM_OBJECT                = 1 << 12,
+    BS_PHYSICAL_OBJECT               = 1 << 13,
 };
 // CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
@@ -361,7 +365,7 @@ public static extern IntPtr GetSimHandle2(uint worldID);
 public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr GetBodyHandle2(IntPtr sim, uint id);
+public static extern IntPtr GetBodyHandle2(IntPtr world, uint id);
 // ===============================================================================
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -370,40 +374,43 @@ public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
                                                                                        int maxUpdates, IntPtr updateArray);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool UpdateParameter2(IntPtr sim, uint localID, String parm, float value);
+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 sim, float[] heightmap);
+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 sim, float timeStep, int maxSubSteps, float fixedTimeStep,
+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);
 /*
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateMesh2(IntPtr sim, int indicesCount, int* indices, int verticesCount, float* vertices );
+public static extern IntPtr CreateMesh2(IntPtr world, int indicesCount, int* indices, int verticesCount, float* vertices );
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool BuildHull2(IntPtr sim, IntPtr mesh);
+public static extern bool BuildHull2(IntPtr world, IntPtr mesh);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool ReleaseHull2(IntPtr sim, IntPtr mesh);
+public static extern bool ReleaseHull2(IntPtr world, IntPtr mesh);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool DestroyMesh2(IntPtr sim, IntPtr mesh);
+public static extern bool DestroyMesh2(IntPtr world, IntPtr mesh);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateObject2(IntPtr sim, ShapeData shapeData);
+public static extern IntPtr CreateObject2(IntPtr world, ShapeData shapeData);
 */
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateConstraint2(IntPtr sim, IntPtr obj1, IntPtr obj2,
+public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
                    Vector3 frame1loc, Quaternion frame1rot,
                    Vector3 frame2loc, Quaternion frame2rot,
                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
@@ -427,7 +434,13 @@ public static extern bool CalculateTransforms2(IntPtr constrain);
 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 sim, IntPtr constrain);
+public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain);
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 AddObjectToWorld2(IntPtr world, IntPtr obj);
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 RemoveObjectFromWorld2(IntPtr world, IntPtr obj);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern Vector3 GetPosition2(IntPtr obj);
@@ -448,6 +461,9 @@ public static extern bool SetAngularVelocity2(IntPtr obj, Vector3 angularVelocit
 public static extern bool SetObjectForce2(IntPtr obj, Vector3 force);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool AddObjectForce2(IntPtr obj, Vector3 force);
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern bool SetCcdMotionThreshold2(IntPtr obj, float val);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -478,13 +494,16 @@ public static extern bool SetLinearVelocity2(IntPtr obj, Vector3 val);
 public static extern bool SetInterpolation2(IntPtr obj, Vector3 lin, Vector3 ang);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr SetCollisionFlags2(IntPtr obj, uint flags);
+public static extern CollisionFlags GetCollisionFlags2(IntPtr obj);
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr SetCollisionFlags2(IntPtr obj, CollisionFlags flags);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr AddToCollisionFlags2(IntPtr obj, uint flags);
+public static extern IntPtr AddToCollisionFlags2(IntPtr obj, CollisionFlags flags);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr RemoveFromCollisionFlags2(IntPtr obj, uint flags);
+public static extern IntPtr RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern bool SetMassProps2(IntPtr obj, float mass, Vector3 inertia);
@@ -505,12 +524,6 @@ public static extern bool SetMargin2(IntPtr obj, float val);
 public static extern bool UpdateSingleAabb2(IntPtr world, IntPtr obj);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool 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 DestroyObject2(IntPtr world, uint id);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
index 7237d1d..54cb214 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
@@ -3346,7 +3346,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
            IAttachmentsModule attachmentsModule = m_ScriptEngine.World.AttachmentsModule;
            if (attachmentsModule != null)
-                return attachmentsModule.AttachObject(presence, grp, (uint)attachmentPoint, false, true);
+                return attachmentsModule.AttachObject(presence, grp, (uint)attachmentPoint, false, true, false);
            else
                return false;
        }
@@ -5375,12 +5375,21 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
            {
                return 0;
            }
+            // Vectors & Rotations always return zero in SL, but
+            //  keys don't always return zero, it seems to be a bit complex.
+            else if (src.Data[index] is LSL_Vector ||
+                    src.Data[index] is LSL_Rotation)
+            {
+                return 0;
+            }
            try
            {
                if (src.Data[index] is LSL_Integer)
-                    return (LSL_Integer) src.Data[index];
+                    return (LSL_Integer)src.Data[index];
                else if (src.Data[index] is LSL_Float)
-                    return Convert.ToInt32(((LSL_Float) src.Data[index]).value);
+                    return Convert.ToInt32(((LSL_Float)src.Data[index]).value);
                return new LSL_Integer(src.Data[index].ToString());
            }
            catch (FormatException)
@@ -5400,12 +5409,28 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
            {
                return 0.0;
            }
+            // Vectors & Rotations always return zero in SL
+            else if (src.Data[index] is LSL_Vector ||
+                    src.Data[index] is LSL_Rotation)
+            {
+                return 0;
+            }
+            // valid keys seem to get parsed as integers then converted to floats
+            else
+            {
+                UUID uuidt;
+                if (src.Data[index] is LSL_Key && UUID.TryParse(src.Data[index].ToString(), out uuidt))
+                {
+                    return Convert.ToDouble(new LSL_Integer(src.Data[index].ToString()).value);
+                }
+            }
            try
            {
                if (src.Data[index] is LSL_Integer)
-                    return Convert.ToDouble(((LSL_Integer) src.Data[index]).value);
+                    return Convert.ToDouble(((LSL_Integer)src.Data[index]).value);
                else if (src.Data[index] is LSL_Float)
-                    return Convert.ToDouble(((LSL_Float) src.Data[index]).value);
+                    return Convert.ToDouble(((LSL_Float)src.Data[index]).value);
                else if (src.Data[index] is LSL_String)
                {
                    string str = ((LSL_String) src.Data[index]).m_string;
@@ -5443,17 +5468,30 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
            return src.Data[index].ToString();
        }
-        public LSL_String llList2Key(LSL_List src, int index)
+        public LSL_Key llList2Key(LSL_List src, int index)
        {
            m_host.AddScriptLPS(1);
            if (index < 0)
            {
                index = src.Length + index;
            }
            if (index >= src.Length || index < 0)
            {
                return "";
            }
+            // SL spits out an empty string for types other than key & string
+            // At the time of patching, LSL_Key is currently LSL_String,
+            // so the OR check may be a little redundant, but it's being done
+            // for completion and should LSL_Key ever be implemented 
+            // as it's own struct
+            else if (!(src.Data[index] is LSL_String ||
+                    src.Data[index] is LSL_Key))
+            {
+                return "";
+            }
            return src.Data[index].ToString();
        }
@@ -5472,6 +5510,18 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
            {
                return (LSL_Vector)src.Data[index];
            }
+            // SL spits always out ZERO_VECTOR for anything other than
+            // strings or vectors. Although keys always return ZERO_VECTOR,
+            // it is currently difficult to make the distinction between
+            // a string, a key as string and a string that by coincidence
+            // is a string, so we're going to leave that up to the
+            // LSL_Vector constructor.
+            else if (!(src.Data[index] is LSL_String ||
+                    src.Data[index] is LSL_Vector))
+            {
+                return new LSL_Vector(0, 0, 0);
+            }
            else
            {
                return new LSL_Vector(src.Data[index].ToString());
@@ -5489,7 +5539,19 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
            {
                return new LSL_Rotation(0, 0, 0, 1);
            }
-            if (src.Data[index].GetType() == typeof(LSL_Rotation))
+            // SL spits always out ZERO_ROTATION for anything other than
+            // strings or vectors. Although keys always return ZERO_ROTATION,
+            // it is currently difficult to make the distinction between
+            // a string, a key as string and a string that by coincidence
+            // is a string, so we're going to leave that up to the
+            // LSL_Rotation constructor.
+            else if (!(src.Data[index] is LSL_String ||
+                    src.Data[index] is LSL_Rotation))
+            {
+                return new LSL_Rotation(0, 0, 0, 1);
+            }
+            else if (src.Data[index].GetType() == typeof(LSL_Rotation))
            {
                return (LSL_Rotation)src.Data[index];
            }