39 files changed, 1474 insertions, 759 deletions
diff --git a/OpenSim/Region/CoreModules/Asset/Tests/FlotsamAssetCacheTests.cs b/OpenSim/Region/CoreModules/Asset/Tests/FlotsamAssetCacheTests.cs
index 0872cc8..fd02b08 100644
--- a/OpenSim/Region/CoreModules/Asset/Tests/FlotsamAssetCacheTests.cs
+++ b/OpenSim/Region/CoreModules/Asset/Tests/FlotsamAssetCacheTests.cs
@@ -53,8 +53,10 @@ namespace OpenSim.Region.CoreModules.Asset.Tests
        protected FlotsamAssetCache m_cache;
        [SetUp]
-        public void SetUp()
+        public override void SetUp()
        {
+            base.SetUp();
            IConfigSource config = new IniConfigSource();
            config.AddConfig("Modules");
diff --git a/OpenSim/Region/CoreModules/Avatar/Groups/GroupsModule.cs b/OpenSim/Region/CoreModules/Avatar/Groups/GroupsModule.cs
index af54c1a..b735c61 100644
--- a/OpenSim/Region/CoreModules/Avatar/Groups/GroupsModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/Groups/GroupsModule.cs
@@ -81,7 +81,10 @@ namespace OpenSim.Region.CoreModules.Avatar.Groups
                }
                if (groupsConfig.GetString("Module", "Default") != "Default")
+                {
+                    m_Enabled = false;
                    return;
+                }
            }
        }
diff --git a/OpenSim/Region/CoreModules/Avatar/InstantMessage/MessageTransferModule.cs b/OpenSim/Region/CoreModules/Avatar/InstantMessage/MessageTransferModule.cs
index 3983369..fa935cd 100644
--- a/OpenSim/Region/CoreModules/Avatar/InstantMessage/MessageTransferModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/InstantMessage/MessageTransferModule.cs
@@ -146,7 +146,7 @@ namespace OpenSim.Region.CoreModules.Avatar.InstantMessage
                if (sp != null && !sp.IsChildAgent)
                {
                    // Local message
-                    m_log.DebugFormat("[INSTANT MESSAGE]: Delivering IM to root agent {0} {1}", sp.Name, toAgentID);
+//                    m_log.DebugFormat("[INSTANT MESSAGE]: Delivering IM to root agent {0} {1}", sp.Name, toAgentID);
                    sp.ControllingClient.SendInstantMessage(im);
@@ -159,14 +159,14 @@ namespace OpenSim.Region.CoreModules.Avatar.InstantMessage
            // try child avatar second
            foreach (Scene scene in m_Scenes)
            {
-                m_log.DebugFormat(
+//                m_log.DebugFormat(
-                    "[INSTANT MESSAGE]: Looking for child of {0} in {1}", toAgentID, scene.RegionInfo.RegionName);
+//                    "[INSTANT MESSAGE]: Looking for child of {0} in {1}", toAgentID, scene.RegionInfo.RegionName);
                ScenePresence sp = scene.GetScenePresence(toAgentID);
                if (sp != null)
                {
                    // Local message
-                    m_log.DebugFormat("[INSTANT MESSAGE]: Delivering IM to child agent {0} {1}", sp.Name, toAgentID);
+//                    m_log.DebugFormat("[INSTANT MESSAGE]: Delivering IM to child agent {0} {1}", sp.Name, toAgentID);
                    sp.ControllingClient.SendInstantMessage(im);
@@ -176,7 +176,7 @@ namespace OpenSim.Region.CoreModules.Avatar.InstantMessage
                }
            }
-            m_log.DebugFormat("[INSTANT MESSAGE]: Delivering IM to {0} via XMLRPC", im.toAgentID);
+//            m_log.DebugFormat("[INSTANT MESSAGE]: Delivering IM to {0} via XMLRPC", im.toAgentID);
            SendGridInstantMessageViaXMLRPC(im, result);
        }
diff --git a/OpenSim/Region/CoreModules/Avatar/InstantMessage/OfflineMessageModule.cs b/OpenSim/Region/CoreModules/Avatar/InstantMessage/OfflineMessageModule.cs
index 4aaf1fe..7d763fa 100644
--- a/OpenSim/Region/CoreModules/Avatar/InstantMessage/OfflineMessageModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/InstantMessage/OfflineMessageModule.cs
@@ -186,17 +186,21 @@ namespace OpenSim.Region.CoreModules.Avatar.InstantMessage
                foreach (GridInstantMessage im in msglist)
                {
-                    // client.SendInstantMessage(im);
+                    if (im.dialog == (byte)InstantMessageDialog.InventoryOffered)
+                        // send it directly or else the item will be given twice
-                    // Send through scene event manager so all modules get a chance
+                        client.SendInstantMessage(im);
-                    // to look at this message before it gets delivered.
+                    else
-                    //
+                    {
-                    // Needed for proper state management for stored group
+                        // Send through scene event manager so all modules get a chance
-                    // invitations
+                        // to look at this message before it gets delivered.
-                    //
+                        //
-                    Scene s = FindScene(client.AgentId);
+                        // Needed for proper state management for stored group
-                    if (s != null)
+                        // invitations
-                        s.EventManager.TriggerIncomingInstantMessage(im);
+                        //
+                        Scene s = FindScene(client.AgentId);
+                        if (s != null)
+                            s.EventManager.TriggerIncomingInstantMessage(im);
+                    }
                }
            }
        }
@@ -215,7 +219,7 @@ namespace OpenSim.Region.CoreModules.Avatar.InstantMessage
            if (!m_ForwardOfflineGroupMessages)
            {
                if (im.dialog == (byte)InstantMessageDialog.GroupNotice ||
-                    im.dialog != (byte)InstantMessageDialog.GroupInvitation)
+                    im.dialog == (byte)InstantMessageDialog.GroupInvitation)
                    return;
            }
diff --git a/OpenSim/Region/CoreModules/Framework/InventoryAccess/Tests/InventoryAccessModuleTests.cs b/OpenSim/Region/CoreModules/Framework/InventoryAccess/Tests/InventoryAccessModuleTests.cs
index b768257..ac25a93 100644
--- a/OpenSim/Region/CoreModules/Framework/InventoryAccess/Tests/InventoryAccessModuleTests.cs
+++ b/OpenSim/Region/CoreModules/Framework/InventoryAccess/Tests/InventoryAccessModuleTests.cs
@@ -57,8 +57,10 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess.Tests
        protected TestClient m_tc;
            
        [SetUp]
-        public void SetUp()
+        public override void SetUp()
        {
+            base.SetUp();
            m_iam = new BasicInventoryAccessModule();
            IConfigSource config = new IniConfigSource();
diff --git a/OpenSim/Region/CoreModules/ServiceConnectorsOut/Presence/Tests/PresenceConnectorsTests.cs b/OpenSim/Region/CoreModules/ServiceConnectorsOut/Presence/Tests/PresenceConnectorsTests.cs
index 7e365ca..69bac82 100644
--- a/OpenSim/Region/CoreModules/ServiceConnectorsOut/Presence/Tests/PresenceConnectorsTests.cs
+++ b/OpenSim/Region/CoreModules/ServiceConnectorsOut/Presence/Tests/PresenceConnectorsTests.cs
@@ -46,8 +46,11 @@ namespace OpenSim.Region.CoreModules.ServiceConnectorsOut.Presence.Tests
    public class PresenceConnectorsTests : OpenSimTestCase
    {
        LocalPresenceServicesConnector m_LocalConnector;
-        private void SetUp()
+        public override void SetUp()
        {
+            base.SetUp();
            IConfigSource config = new IniConfigSource();
            config.AddConfig("Modules");
            config.AddConfig("PresenceService");
diff --git a/OpenSim/Region/CoreModules/World/Land/Tests/PrimCountModuleTests.cs b/OpenSim/Region/CoreModules/World/Land/Tests/PrimCountModuleTests.cs
index 14eca42..0945b43 100644
--- a/OpenSim/Region/CoreModules/World/Land/Tests/PrimCountModuleTests.cs
+++ b/OpenSim/Region/CoreModules/World/Land/Tests/PrimCountModuleTests.cs
@@ -60,8 +60,10 @@ namespace OpenSim.Region.CoreModules.World.Land.Tests
        protected ILandObject m_lo2;        
            
        [SetUp]
-        public void SetUp()
+        public override void SetUp()
        {
+            base.SetUp();
            m_pcm = new PrimCountModule();
            LandManagementModule lmm = new LandManagementModule();
            m_scene = new SceneHelpers().SetupScene();            
diff --git a/OpenSim/Region/CoreModules/World/Media/Moap/Tests/MoapTests.cs b/OpenSim/Region/CoreModules/World/Media/Moap/Tests/MoapTests.cs
index ba4b041..03a96a4 100644
--- a/OpenSim/Region/CoreModules/World/Media/Moap/Tests/MoapTests.cs
+++ b/OpenSim/Region/CoreModules/World/Media/Moap/Tests/MoapTests.cs
@@ -50,8 +50,10 @@ namespace OpenSim.Region.CoreModules.World.Media.Moap.Tests
        protected MoapModule m_module;
            
        [SetUp]
-        public void SetUp()
+        public override void SetUp()
        {
+            base.SetUp();
            m_module = new MoapModule();
            m_scene = new SceneHelpers().SetupScene();
            SceneHelpers.SetupSceneModules(m_scene, m_module);            
diff --git a/OpenSim/Region/CoreModules/World/Objects/Commands/ObjectCommandsModule.cs b/OpenSim/Region/CoreModules/World/Objects/Commands/ObjectCommandsModule.cs
index ab8f143..7b235ae 100644
--- a/OpenSim/Region/CoreModules/World/Objects/Commands/ObjectCommandsModule.cs
+++ b/OpenSim/Region/CoreModules/World/Objects/Commands/ObjectCommandsModule.cs
@@ -365,7 +365,8 @@ namespace OpenSim.Region.CoreModules.World.Objects.Commands
            if (mainParams.Count < 4)
            {
-                m_console.OutputFormat("Usage: show part id [--full] <UUID-or-localID>");
+                //m_console.OutputFormat("Usage: show part id [--full] <UUID-or-localID>");
+                m_console.OutputFormat("Usage: show part id <UUID-or-localID>");
                return;
            }
@@ -405,6 +406,7 @@ namespace OpenSim.Region.CoreModules.World.Objects.Commands
            if (mainParams.Count < 5)
            {
+                //m_console.OutputFormat("Usage: show part pos <start-coord> to <end-coord>");
                m_console.OutputFormat("Usage: show part pos [--full] <start-coord> to <end-coord>");
                return;
            }
@@ -445,7 +447,8 @@ namespace OpenSim.Region.CoreModules.World.Objects.Commands
            if (mainParams.Count < 4)
            {
-                m_console.OutputFormat("Usage: show part name [--full] [--regex] <name>");
+                m_console.OutputFormat("Usage: show part name [--regex] <name>");
+                //m_console.OutputFormat("Usage: show part name [--full] [--regex] <name>");
                return;
            }
@@ -577,6 +580,58 @@ namespace OpenSim.Region.CoreModules.World.Objects.Commands
            cdl.AddRow("Link number", sop.LinkNum);
            cdl.AddRow("Flags", sop.Flags);
+            if (showFull)
+            {
+                PrimitiveBaseShape s = sop.Shape;
+                cdl.AddRow("FlexiDrag", s.FlexiDrag);
+                cdl.AddRow("FlexiEntry", s.FlexiEntry);
+                cdl.AddRow("FlexiForce", string.Format("<{0},{1},{2}>", s.FlexiForceX, s.FlexiForceY, s.FlexiForceZ));
+                cdl.AddRow("FlexiGravity", s.FlexiGravity);
+                cdl.AddRow("FlexiSoftness", s.FlexiSoftness);
+                cdl.AddRow("HollowShape", s.HollowShape);
+                cdl.AddRow(
+                    "LightColor", 
+                    string.Format("<{0},{1},{2},{3}>", s.LightColorR, s.LightColorB, s.LightColorG, s.LightColorA));
+                cdl.AddRow("FlexiDrag", s.LightCutoff);
+                cdl.AddRow("FlexiDrag", s.LightEntry);
+                cdl.AddRow("FlexiDrag", s.LightFalloff);
+                cdl.AddRow("FlexiDrag", s.LightIntensity);
+                cdl.AddRow("FlexiDrag", s.LightRadius);
+                cdl.AddRow("Media", string.Format("{0} entries", s.Media != null ? s.Media.Count.ToString() : "n/a"));
+                cdl.AddRow("PathBegin", s.PathBegin);
+                cdl.AddRow("PathEnd", s.PathEnd);
+                cdl.AddRow("PathCurve", s.PathCurve);
+                cdl.AddRow("PathRadiusOffset", s.PathRadiusOffset);
+                cdl.AddRow("PathRevolutions", s.PathRevolutions);
+                cdl.AddRow("PathScale", string.Format("<{0},{1}>", s.PathScaleX, s.PathScaleY));
+                cdl.AddRow("PathSkew", string.Format("<{0},{1}>", s.PathShearX, s.PathShearY));
+                cdl.AddRow("FlexiDrag", s.PathSkew);
+                cdl.AddRow("PathTaper", string.Format("<{0},{1}>", s.PathTaperX, s.PathTaperY));
+                cdl.AddRow("PathTwist", s.PathTwist);
+                cdl.AddRow("PathTwistBegin", s.PathTwistBegin);
+                cdl.AddRow("PCode", s.PCode);
+                cdl.AddRow("ProfileBegin", s.ProfileBegin);
+                cdl.AddRow("ProfileEnd", s.ProfileEnd);
+                cdl.AddRow("ProfileHollow", s.ProfileHollow);
+                cdl.AddRow("ProfileShape", s.ProfileShape);
+                cdl.AddRow("ProjectionAmbiance", s.ProjectionAmbiance);
+                cdl.AddRow("ProjectionEntry", s.ProjectionEntry);
+                cdl.AddRow("ProjectionFocus", s.ProjectionFocus);
+                cdl.AddRow("ProjectionFOV", s.ProjectionFOV);
+                cdl.AddRow("ProjectionTextureUUID", s.ProjectionTextureUUID);
+                cdl.AddRow("Scale", s.Scale);
+                cdl.AddRow(
+                    "SculptData", 
+                    string.Format("{0} bytes", s.SculptData != null ? s.SculptData.Length.ToString() : "n/a"));
+                cdl.AddRow("SculptEntry", s.SculptEntry);
+                cdl.AddRow("SculptTexture", s.SculptTexture);
+                cdl.AddRow("SculptType", s.SculptType);
+                cdl.AddRow("State", s.State);
+                // TODO, unpack and display texture entries
+                //cdl.AddRow("Textures", string.Format("{0} entries", s.Textures.
+            }
            object itemsOutput;
            if (showFull)
            {
@@ -588,7 +643,6 @@ namespace OpenSim.Region.CoreModules.World.Objects.Commands
                itemsOutput = sop.Inventory.Count;
            }
            cdl.AddRow("Items", itemsOutput);
            return sb.Append(cdl.ToString());
diff --git a/OpenSim/Region/Framework/Interfaces/IXmlRpcRouter.cs b/OpenSim/Region/Framework/Interfaces/IXmlRpcRouter.cs
index 6db6674..093d3f0 100644
--- a/OpenSim/Region/Framework/Interfaces/IXmlRpcRouter.cs
+++ b/OpenSim/Region/Framework/Interfaces/IXmlRpcRouter.cs
@@ -34,5 +34,6 @@ namespace OpenSim.Region.Framework.Interfaces
        void RegisterNewReceiver(IScriptModule scriptEngine, UUID channelID, UUID objectID, UUID itemID, string url);
        void ScriptRemoved(UUID itemID);
        void ObjectRemoved(UUID objectID);
+        void UnRegisterReceiver(string channelID, UUID itemID);
    }
 }
diff --git a/OpenSim/Region/Framework/Scenes/EntityManager.cs b/OpenSim/Region/Framework/Scenes/EntityManager.cs
index b788a3c..7181313 100644
--- a/OpenSim/Region/Framework/Scenes/EntityManager.cs
+++ b/OpenSim/Region/Framework/Scenes/EntityManager.cs
@@ -31,6 +31,7 @@ using System.Collections.Generic;
 using System.Reflection;
 using log4net;
 using OpenMetaverse;
+using OpenSim.Framework;
 namespace OpenSim.Region.Framework.Scenes
 {
@@ -38,7 +39,8 @@ namespace OpenSim.Region.Framework.Scenes
    {
 //        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
        
-        private readonly DoubleDictionary<UUID, uint, EntityBase> m_entities = new DoubleDictionary<UUID, uint, EntityBase>();
+        private readonly DoubleDictionaryThreadAbortSafe<UUID, uint, EntityBase> m_entities 
+            = new DoubleDictionaryThreadAbortSafe<UUID, uint, EntityBase>();
        public int Count
        {
diff --git a/OpenSim/Region/Framework/Scenes/Scene.cs b/OpenSim/Region/Framework/Scenes/Scene.cs
index 1ad5edd..cca295c 100644
--- a/OpenSim/Region/Framework/Scenes/Scene.cs
+++ b/OpenSim/Region/Framework/Scenes/Scene.cs
@@ -5638,10 +5638,17 @@ namespace OpenSim.Region.Framework.Scenes
            return m_SpawnPoint - 1;
        }
-        // Wrappers to get physics modules retrieve assets. Has to be done this way
+        /// <summary>
-        // because we can't assign the asset service to physics directly - at the
+        /// Wrappers to get physics modules retrieve assets. 
-        // time physics are instantiated it's not registered but it will be by
+        /// </summary>
-        // the time the first prim exists.
+        /// <remarks>
+        /// Has to be done this way
+        /// because we can't assign the asset service to physics directly - at the
+        /// time physics are instantiated it's not registered but it will be by
+        /// the time the first prim exists.
+        /// </remarks>
+        /// <param name="assetID"></param>
+        /// <param name="callback"></param>
        public void PhysicsRequestAsset(UUID assetID, AssetReceivedDelegate callback)
        {
            AssetService.Get(assetID.ToString(), callback, PhysicsAssetReceived);
diff --git a/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcGridRouterModule.cs b/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcGridRouterModule.cs
index 6120a81..709d389 100644
--- a/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcGridRouterModule.cs
+++ b/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcGridRouterModule.cs
@@ -46,6 +46,7 @@ namespace OpenSim.Region.OptionalModules.Scripting.XmlRpcGridRouterModule
 {
    public class XmlRpcInfo
    {
+        public UUID item;
        public UUID channel;
        public string uri;
    }
@@ -88,6 +89,14 @@ namespace OpenSim.Region.OptionalModules.Scripting.XmlRpcGridRouterModule
                return;
            scene.RegisterModuleInterface<IXmlRpcRouter>(this);
+            IScriptModule scriptEngine = scene.RequestModuleInterface<IScriptModule>();
+            if ( scriptEngine != null )
+            {
+                scriptEngine.OnScriptRemoved += this.ScriptRemoved;
+                scriptEngine.OnObjectRemoved += this.ObjectRemoved;
+          
+            }
        }
        public void RegionLoaded(Scene scene)
@@ -120,22 +129,36 @@ namespace OpenSim.Region.OptionalModules.Scripting.XmlRpcGridRouterModule
        public void RegisterNewReceiver(IScriptModule scriptEngine, UUID channel, UUID objectID, UUID itemID, string uri)
        {
-            if (!m_Channels.ContainsKey(itemID))
+            if (!m_Enabled)
-            {
+                return;
-                XmlRpcInfo info = new XmlRpcInfo();
-                info.channel = channel;
-                info.uri = uri;
-                bool success = SynchronousRestObjectRequester.MakeRequest<XmlRpcInfo, bool>(
+            m_log.InfoFormat("[XMLRPC GRID ROUTER]: New receiver Obj: {0} Ch: {1} ID: {2} URI: {3}", 
-                        "POST", m_ServerURI+"/RegisterChannel/", info);
+                                objectID.ToString(), channel.ToString(), itemID.ToString(), uri);
-                if (!success)
+            XmlRpcInfo info = new XmlRpcInfo();
-                {
+            info.channel = channel;
-                    m_log.Error("[XMLRPC GRID ROUTER] Error contacting server");
+            info.uri = uri;
-                }
+            info.item = itemID;
+            bool success = SynchronousRestObjectRequester.MakeRequest<XmlRpcInfo, bool>(
+                    "POST", m_ServerURI+"/RegisterChannel/", info);
-                m_Channels[itemID] = channel;
+            if (!success)
+            {
+                m_log.Error("[XMLRPC GRID ROUTER] Error contacting server");
            }
+            m_Channels[itemID] = channel;
+        }
+        public void UnRegisterReceiver(string channelID, UUID itemID)
+        {
+            if (!m_Enabled)
+                return;
+            RemoveChannel(itemID);
        }
        public void ScriptRemoved(UUID itemID)
@@ -143,10 +166,33 @@ namespace OpenSim.Region.OptionalModules.Scripting.XmlRpcGridRouterModule
            if (!m_Enabled)
                return;
-            if (m_Channels.ContainsKey(itemID))
+            RemoveChannel(itemID);
+        }
+        public void ObjectRemoved(UUID objectID)
+        {
+            // m_log.InfoFormat("[XMLRPC GRID ROUTER]: Object Removed {0}",objectID.ToString());
+        }
+        private bool RemoveChannel(UUID itemID)
+        {
+            if(!m_Channels.ContainsKey(itemID))
+            {
+                m_log.InfoFormat("[XMLRPC GRID ROUTER]: Attempted to unregister non-existing Item: {0}", itemID.ToString());
+                return false;
+            }
+            XmlRpcInfo info = new XmlRpcInfo();
+            info.channel = m_Channels[itemID];
+            info.item = itemID;
+            info.uri = "http://0.0.0.0:00";
+            if (info != null)
            {
-                bool success = SynchronousRestObjectRequester.MakeRequest<UUID, bool>(
+                bool success = SynchronousRestObjectRequester.MakeRequest<XmlRpcInfo, bool>(
-                        "POST", m_ServerURI+"/RemoveChannel/", m_Channels[itemID]);
+                        "POST", m_ServerURI+"/RemoveChannel/", info);
                if (!success)
                {
@@ -154,11 +200,9 @@ namespace OpenSim.Region.OptionalModules.Scripting.XmlRpcGridRouterModule
                }
                m_Channels.Remove(itemID);
+                return true;
            }
-        }
+            return false;
-        public void ObjectRemoved(UUID objectID)
-        {
        }
    }
 }
diff --git a/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcRouterModule.cs b/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcRouterModule.cs
index 4783f4c..ad0b83d 100644
--- a/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcRouterModule.cs
+++ b/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcRouterModule.cs
@@ -101,12 +101,18 @@ namespace OpenSim.Region.OptionalModules.Scripting.XmlRpcRouterModule
            scriptEngine.PostScriptEvent(itemID, "xmlrpc_uri", new Object[] {uri});
        }
+        public void UnRegisterReceiver(string channelID, UUID itemID)
+        {
+        }
        public void ScriptRemoved(UUID itemID)
        {
+            System.Console.WriteLine("TEST Script Removed!");
        }
        public void ObjectRemoved(UUID objectID)
        {
+            System.Console.WriteLine("TEST Obj Removed!");
        }
    }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 4c195e1..21aa9be 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -165,8 +165,8 @@ public sealed class BSCharacter : BSPhysObject
        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
        // Do this after the object has been added to the world
-        BulletSimAPI.SetCollisionFilterMask2(PhysBody.ptr,
+        BulletSimAPI.SetCollisionGroupMask2(PhysBody.ptr,
-                        (uint)CollisionFilterGroups.AvatarFilter,
+                        (uint)CollisionFilterGroups.AvatarGroup,
                        (uint)CollisionFilterGroups.AvatarMask);
    }
@@ -307,7 +307,7 @@ public sealed class BSCharacter : BSPhysObject
        }
        if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
        {
-            float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position);
+            float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position);
            if (Position.Z < waterHeight)
            {
                _position.Z = waterHeight;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 95a4134..fa3110c 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -24,30 +24,17 @@
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
+ * The quotations from http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial
-/* RA: June 14, 2011. Copied from ODEDynamics.cs and converted to
+ * are Copyright (c) 2009 Linden Research, Inc and are used under their license
- * call the BulletSim system.
+ * of Creative Commons Attribution-Share Alike 3.0
- */
+ * (http://creativecommons.org/licenses/by-sa/3.0/).
-/* Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces
- * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
- * ODEPrim.cs contains methods dealing with Prim editing, Prim
- * characteristics and Kinetic motion.
- * ODEDynamics.cs contains methods dealing with Prim Physical motion
- * (dynamics) and the associated settings. Old Linear and angular
- * motors for dynamic motion have been replace with  MoveLinear()
- * and MoveAngular(); 'Physical' is used only to switch ODE dynamic
- * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
- * switch between 'VEHICLE' parameter use and general dynamics
- * settings use.
 */
 using System;
 using System.Collections.Generic;
 using System.Reflection;
 using System.Runtime.InteropServices;
-using log4net;
 using OpenMetaverse;
-using OpenSim.Framework;
 using OpenSim.Region.Physics.Manager;
 namespace OpenSim.Region.Physics.BulletSPlugin
@@ -100,7 +87,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
        private float m_angularMotorTimescale = 0;                      // motor angular velocity ramp up rate
        private float m_angularMotorDecayTimescale = 0;                 // motor angular velocity decay rate
        private Vector3 m_angularFrictionTimescale = Vector3.Zero;      // body angular velocity  decay rate
-        private Vector3 m_lastAngularVelocity = Vector3.Zero;           // what was last applied to body
+        private Vector3 m_lastAngularCorrection = Vector3.Zero;
        private Vector3 m_lastVertAttractor = Vector3.Zero;             // what VA was last applied to body
        //Deflection properties
@@ -125,8 +112,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                    // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
        //Attractor properties
-        private float m_verticalAttractionEfficiency = 1.0f;        // damped
+        private BSVMotor m_verticalAttractionMotor = new BSVMotor("VerticalAttraction");
-        private float m_verticalAttractionTimescale = 500f;         // Timescale > 300  means no vert attractor.
+        private float m_verticalAttractionEfficiency = 1.0f; // damped
+        private float m_verticalAttractionCutoff = 500f;     // per the documentation
+        // Timescale > cutoff  means no vert attractor.
+        private float m_verticalAttractionTimescale = 510f;
        public BSDynamics(BSScene myScene, BSPrim myPrim)
        {
@@ -153,7 +143,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                    m_angularDeflectionTimescale = Math.Max(pValue, 0.01f);
                    break;
                case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
-                    m_angularMotorDecayTimescale = Math.Max(0.01f, Math.Min(pValue,120));
+                    m_angularMotorDecayTimescale = ClampInRange(0.01f, pValue, 120);
                    m_angularMotor.TargetValueDecayTimeScale = m_angularMotorDecayTimescale;
                    break;
                case Vehicle.ANGULAR_MOTOR_TIMESCALE:
@@ -161,7 +151,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                    m_angularMotor.TimeScale = m_angularMotorTimescale;
                    break;
                case Vehicle.BANKING_EFFICIENCY:
-                    m_bankingEfficiency = Math.Max(-1f, Math.Min(pValue, 1f));
+                    m_bankingEfficiency = ClampInRange(-1f, pValue, 1f);
                    break;
                case Vehicle.BANKING_MIX:
                    m_bankingMix = Math.Max(pValue, 0.01f);
@@ -170,10 +160,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                    m_bankingTimescale = Math.Max(pValue, 0.01f);
                    break;
                case Vehicle.BUOYANCY:
-                    m_VehicleBuoyancy = Math.Max(-1f, Math.Min(pValue, 1f));
+                    m_VehicleBuoyancy = ClampInRange(-1f, pValue, 1f);
                    break;
                case Vehicle.HOVER_EFFICIENCY:
-                    m_VhoverEfficiency = Math.Max(0f, Math.Min(pValue, 1f));
+                    m_VhoverEfficiency = ClampInRange(0f, pValue, 1f);
                    break;
                case Vehicle.HOVER_HEIGHT:
                    m_VhoverHeight = pValue;
@@ -188,7 +178,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                    m_linearDeflectionTimescale = Math.Max(pValue, 0.01f);
                    break;
                case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
-                    m_linearMotorDecayTimescale = Math.Max(0.01f, Math.Min(pValue,120));
+                    m_linearMotorDecayTimescale = ClampInRange(0.01f, pValue, 120);
                    m_linearMotor.TargetValueDecayTimeScale = m_linearMotorDecayTimescale;
                    break;
                case Vehicle.LINEAR_MOTOR_TIMESCALE:
@@ -196,10 +186,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                    m_linearMotor.TimeScale = m_linearMotorTimescale;
                    break;
                case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
-                    m_verticalAttractionEfficiency = Math.Max(0.1f, Math.Min(pValue, 1f));
+                    m_verticalAttractionEfficiency = ClampInRange(0.1f, pValue, 1f);
+                    m_verticalAttractionMotor.Efficiency = m_verticalAttractionEfficiency;
                    break;
                case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
                    m_verticalAttractionTimescale = Math.Max(pValue, 0.01f);
+                    m_verticalAttractionMotor.TimeScale = m_verticalAttractionTimescale;
                    break;
                // These are vector properties but the engine lets you use a single float value to
@@ -239,9 +231,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                    break;
                case Vehicle.ANGULAR_MOTOR_DIRECTION:
                    // Limit requested angular speed to 2 rps= 4 pi rads/sec
-                    pValue.X = Math.Max(-12.56f, Math.Min(pValue.X, 12.56f));
+                    pValue.X = ClampInRange(-12.56f, pValue.X, 12.56f);
-                    pValue.Y = Math.Max(-12.56f, Math.Min(pValue.Y, 12.56f));
+                    pValue.Y = ClampInRange(-12.56f, pValue.Y, 12.56f);
-                    pValue.Z = Math.Max(-12.56f, Math.Min(pValue.Z, 12.56f));
+                    pValue.Z = ClampInRange(-12.56f, pValue.Z, 12.56f);
                    m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
                    m_angularMotor.SetTarget(m_angularMotorDirection);
                    break;
@@ -314,7 +306,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                    m_VhoverEfficiency = 0;
                    m_VhoverTimescale = 0;
                    m_VehicleBuoyancy = 0;
-                    
                    m_linearDeflectionEfficiency = 1;
                    m_linearDeflectionTimescale = 1;
@@ -363,13 +355,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                    m_bankingMix = 1;
                    m_referenceFrame = Quaternion.Identity;
-                    m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY 
+                    m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
-                                | VehicleFlag.HOVER_TERRAIN_ONLY 
+                                | VehicleFlag.HOVER_TERRAIN_ONLY
                                | VehicleFlag.HOVER_GLOBAL_HEIGHT
                                | VehicleFlag.HOVER_UP_ONLY);
                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP
                            | VehicleFlag.LIMIT_ROLL_ONLY
                            | VehicleFlag.LIMIT_MOTOR_UP);
                    break;
                case Vehicle.TYPE_CAR:
                    m_linearMotorDirection = Vector3.Zero;
@@ -513,6 +506,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                    m_bankingEfficiency = 0;
                    m_bankingMix = 0.7f;
                    m_bankingTimescale = 5;
                    m_referenceFrame = Quaternion.Identity;
                    m_referenceFrame = Quaternion.Identity;
@@ -530,13 +524,21 @@ namespace OpenSim.Region.Physics.BulletSPlugin
            Refresh();
            m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale,
-                                m_linearMotorDecayTimescale, m_linearFrictionTimescale, 1f);
+                                m_linearMotorDecayTimescale, m_linearFrictionTimescale,
+                                1f);
            m_linearMotor.PhysicsScene = PhysicsScene;  // DEBUG DEBUG DEBUG (enables detail logging)
            m_angularMotor = new BSVMotor("AngularMotor", m_angularMotorTimescale,
-                                m_angularMotorDecayTimescale, m_angularFrictionTimescale, 1f);
+                                m_angularMotorDecayTimescale, m_angularFrictionTimescale,
+                                1f);
            m_angularMotor.PhysicsScene = PhysicsScene;  // DEBUG DEBUG DEBUG (enables detail logging)
-            // m_bankingMotor = new BSVMotor("BankingMotor", ...);
+            m_verticalAttractionMotor = new BSVMotor("VerticalAttraction", m_verticalAttractionTimescale,
+                                BSMotor.Infinite, BSMotor.InfiniteVector,
+                                m_verticalAttractionEfficiency);
+            // Z goes away and we keep X and Y
+            m_verticalAttractionMotor.FrictionTimescale = new Vector3(BSMotor.Infinite, BSMotor.Infinite, 0.1f);
+            m_verticalAttractionMotor.PhysicsScene = PhysicsScene;  // DEBUG DEBUG DEBUG (enables detail logging)
        }
        // Some of the properties of this prim may have changed.
@@ -545,9 +547,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
        {
            if (IsActive)
            {
+                // Remember the mass so we don't have to fetch it every step
                m_vehicleMass = Prim.Linkset.LinksetMass;
-                // Friction effects are handled by this vehicle code
+                // Friction affects are handled by this vehicle code
                float friction = 0f;
                BulletSimAPI.SetFriction2(Prim.PhysBody.ptr, friction);
@@ -557,14 +560,23 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                float angularDamping = PhysicsScene.Params.vehicleAngularDamping;
                BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping);
+                // Vehicles report collision events so we know when it's on the ground
+                BulletSimAPI.AddToCollisionFlags2(Prim.PhysBody.ptr, CollisionFlags.BS_VEHICLE_COLLISIONS);
                // DEBUG DEBUG DEBUG: use uniform inertia to smooth movement added by Bullet
                // Vector3 localInertia = new Vector3(1f, 1f, 1f);
-                Vector3 localInertia = new Vector3(m_vehicleMass, m_vehicleMass, m_vehicleMass);
+                // Vector3 localInertia = new Vector3(m_vehicleMass, m_vehicleMass, m_vehicleMass);
+                Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(Prim.PhysShape.ptr, m_vehicleMass);
                BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia);
+                BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr);
-                VDetailLog("{0},BSDynamics.Refresh,frict={1},inert={2},aDamp={3}", 
+                VDetailLog("{0},BSDynamics.Refresh,frict={1},inert={2},aDamp={3}",
                                Prim.LocalID, friction, localInertia, angularDamping);
            }
+            else
+            {
+                BulletSimAPI.RemoveFromCollisionFlags2(Prim.PhysBody.ptr, CollisionFlags.BS_VEHICLE_COLLISIONS);
+            }
        }
        public bool RemoveBodyDependencies(BSPhysObject prim)
@@ -585,60 +597,288 @@ namespace OpenSim.Region.Physics.BulletSPlugin
            Refresh();
        }
+        #region Known vehicle value functions
+        // Vehicle physical parameters that we buffer from constant getting and setting.
+        // The "m_known*" variables are initialized to 'null', fetched only if referenced
+        //      and stored back into the physics engine only if updated.
+        //      This does two things: 1) saves continuious calls into unmanaged code, and
+        //      2) signals when a physics property update must happen back to the simulator
+        //      to update values modified for the vehicle.
+        private int m_knownChanged;
+        private float? m_knownTerrainHeight;
+        private float? m_knownWaterLevel;
+        private Vector3? m_knownPosition;
+        private Vector3? m_knownVelocity;
+        private Vector3 m_knownForce;
+        private Quaternion? m_knownOrientation;
+        private Vector3? m_knownRotationalVelocity;
+        private Vector3 m_knownRotationalForce;
+        private float? m_knownForwardSpeed;
+        private const int m_knownChangedPosition           = 1 << 0;
+        private const int m_knownChangedVelocity           = 1 << 1;
+        private const int m_knownChangedForce              = 1 << 2;
+        private const int m_knownChangedOrientation        = 1 << 3;
+        private const int m_knownChangedRotationalVelocity = 1 << 4;
+        private const int m_knownChangedRotationalForce    = 1 << 5;
+        private void ForgetKnownVehicleProperties()
+        {
+            m_knownTerrainHeight = null;
+            m_knownWaterLevel = null;
+            m_knownPosition = null;
+            m_knownVelocity = null;
+            m_knownForce = Vector3.Zero;
+            m_knownOrientation = null;
+            m_knownRotationalVelocity = null;
+            m_knownRotationalForce = Vector3.Zero;
+            m_knownForwardSpeed = null;
+            m_knownChanged = 0;
+        }
+        private void PushKnownChanged()
+        {
+            if (m_knownChanged != 0)
+            {
+                if ((m_knownChanged & m_knownChangedPosition) != 0)
+                    Prim.ForcePosition = VehiclePosition;
+                if ((m_knownChanged & m_knownChangedOrientation) != 0)
+                    Prim.ForceOrientation = VehicleOrientation;
+                if ((m_knownChanged & m_knownChangedVelocity) != 0)
+                {
+                    Prim.ForceVelocity = VehicleVelocity;
+                    BulletSimAPI.SetInterpolationLinearVelocity2(Prim.PhysBody.ptr, VehicleVelocity);
+                }
+                if ((m_knownChanged & m_knownChangedForce) != 0)
+                    Prim.AddForce((Vector3)m_knownForce, false, true);
+                if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0)
+                {
+                    Prim.ForceRotationalVelocity = VehicleRotationalVelocity;
+                    // Fake out Bullet by making it think the velocity is the same as last time.
+                    BulletSimAPI.SetInterpolationAngularVelocity2(Prim.PhysBody.ptr, VehicleRotationalVelocity);
+                }
+                if ((m_knownChanged & m_knownChangedRotationalForce) != 0)
+                    Prim.AddAngularForce((Vector3)m_knownRotationalForce, false, true);
+                // If we set one of the values (ie, the physics engine didn't do it) we must force
+                //      an UpdateProperties event to send the changes up to the simulator.
+                BulletSimAPI.PushUpdate2(Prim.PhysBody.ptr);
+            }
+        }
+        // Since the computation of terrain height can be a little involved, this routine
+        //    is used ot fetch the height only once for each vehicle simulation step.
+        private float GetTerrainHeight(Vector3 pos)
+        {
+            if (m_knownTerrainHeight == null)
+                m_knownTerrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos);
+            return (float)m_knownTerrainHeight;
+        }
+        // Since the computation of water level can be a little involved, this routine
+        //    is used ot fetch the level only once for each vehicle simulation step.
+        private float GetWaterLevel(Vector3 pos)
+        {
+            if (m_knownWaterLevel == null)
+                m_knownWaterLevel = Prim.PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(pos);
+            return (float)m_knownWaterLevel;
+        }
+        private Vector3 VehiclePosition
+        {
+            get
+            {
+                if (m_knownPosition == null)
+                    m_knownPosition = Prim.ForcePosition;
+                return (Vector3)m_knownPosition;
+            }
+            set
+            {
+                m_knownPosition = value;
+                m_knownChanged |= m_knownChangedPosition;
+            }
+        }
+        private Quaternion VehicleOrientation
+        {
+            get
+            {
+                if (m_knownOrientation == null)
+                    m_knownOrientation = Prim.ForceOrientation;
+                return (Quaternion)m_knownOrientation;
+            }
+            set
+            {
+                m_knownOrientation = value;
+                m_knownChanged |= m_knownChangedOrientation;
+            }
+        }
+        private Vector3 VehicleVelocity
+        {
+            get
+            {
+                if (m_knownVelocity == null)
+                    m_knownVelocity = Prim.ForceVelocity;
+                return (Vector3)m_knownVelocity;
+            }
+            set
+            {
+                m_knownVelocity = value;
+                m_knownChanged |= m_knownChangedVelocity;
+            }
+        }
+        private void VehicleAddForce(Vector3 aForce)
+        {
+            m_knownForce += aForce;
+            m_knownChanged |= m_knownChangedForce;
+        }
+        private Vector3 VehicleRotationalVelocity
+        {
+            get
+            {
+                if (m_knownRotationalVelocity == null)
+                    m_knownRotationalVelocity = Prim.ForceRotationalVelocity;
+                return (Vector3)m_knownRotationalVelocity;
+            }
+            set
+            {
+                m_knownRotationalVelocity = value;
+                m_knownChanged |= m_knownChangedRotationalVelocity;
+            }
+        }
+        private void VehicleAddAngularForce(Vector3 aForce)
+        {
+            m_knownRotationalForce += aForce;
+            m_knownChanged |= m_knownChangedRotationalForce;
+        }
+        private float VehicleForwardSpeed
+        {
+            get
+            {
+                if (m_knownForwardSpeed == null)
+                    m_knownForwardSpeed = (VehicleVelocity * Quaternion.Inverse(VehicleOrientation)).X;
+                return (float)m_knownForwardSpeed;
+            }
+        }
+        #endregion // Known vehicle value functions
        // One step of the vehicle properties for the next 'pTimestep' seconds.
        internal void Step(float pTimestep)
        {
            if (!IsActive) return;
+            ForgetKnownVehicleProperties();
            MoveLinear(pTimestep);
            MoveAngular(pTimestep);
            LimitRotation(pTimestep);
            // remember the position so next step we can limit absolute movement effects
-            m_lastPositionVector = Prim.ForcePosition;
+            m_lastPositionVector = VehiclePosition;
+            // If we forced the changing of some vehicle parameters, update the values and
+            //      for the physics engine to note the changes so an UpdateProperties event will happen.
+            PushKnownChanged();
            VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}",
-                    Prim.LocalID, Prim.ForcePosition, Prim.Force, Prim.ForceVelocity, Prim.RotationalVelocity);
+                    Prim.LocalID, VehiclePosition, Prim.Force, VehicleVelocity, VehicleRotationalVelocity);
        }
-        // Apply the effect of the linear motor.
+        // Apply the effect of the linear motor and other linear motions (like hover and float).
-        // Also does hover and float.
        private void MoveLinear(float pTimestep)
        {
            Vector3 linearMotorContribution = m_linearMotor.Step(pTimestep);
-            // Rotate new object velocity from vehicle relative to world coordinates
+            // The movement computed in the linear motor is relative to the vehicle
-            linearMotorContribution *= Prim.ForceOrientation;
+            //     coordinates. Rotate the movement to world coordinates.
+            linearMotorContribution *= VehicleOrientation;
            // ==================================================================
-            // Gravity and Buoyancy
+            // Buoyancy: force to overcome gravity.
-            // There is some gravity, make a gravity force vector that is applied after object velocity.
            // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
-            Vector3 grav = Prim.PhysicsScene.DefaultGravity * (1f - m_VehicleBuoyancy);
+            // So, if zero, don't change anything (let gravity happen). If one, negate the effect of gravity.
+            Vector3 buoyancyContribution =  Prim.PhysicsScene.DefaultGravity * m_VehicleBuoyancy;
+            Vector3 terrainHeightContribution = ComputeLinearTerrainHeightCorrection(pTimestep);
+            Vector3 hoverContribution = ComputeLinearHover(pTimestep);
+            ComputeLinearBlockingEndPoint(pTimestep);
+            Vector3 limitMotorUpContribution = ComputeLinearMotorUp(pTimestep);
+            // ==================================================================
+            Vector3 newVelocity = linearMotorContribution
+                            + terrainHeightContribution
+                            + hoverContribution
+                            + limitMotorUpContribution;
+            // If not changing some axis, reduce out velocity
+            if ((m_flags & (VehicleFlag.NO_X)) != 0)
+                newVelocity.X = 0;
+            if ((m_flags & (VehicleFlag.NO_Y)) != 0)
+                newVelocity.Y = 0;
+            if ((m_flags & (VehicleFlag.NO_Z)) != 0)
+                newVelocity.Z = 0;
-            // Current vehicle position
+            // ==================================================================
-            Vector3 pos = Prim.ForcePosition;
+            // Clamp high or low velocities
+            float newVelocityLengthSq = newVelocity.LengthSquared();
+            // if (newVelocityLengthSq > 1e6f)
+            if (newVelocityLengthSq > 1000f)
+            {
+                newVelocity /= newVelocity.Length();
+                newVelocity *= 1000f;
+            }
+            // else if (newVelocityLengthSq < 1e-6f)
+            else if (newVelocityLengthSq < 0.001f)
+                newVelocity = Vector3.Zero;
            // ==================================================================
-            Vector3 terrainHeightContribution = Vector3.Zero;
+            // Stuff new linear velocity into the vehicle.
+            // Since the velocity is just being set, it is not scaled by pTimeStep. Bullet will do that for us.
+            VehicleVelocity = newVelocity;
+            // Other linear forces are applied as forces.
+            Vector3 totalDownForce = buoyancyContribution * m_vehicleMass;
+            if (!totalDownForce.ApproxEquals(Vector3.Zero, 0.01f))
+            {
+                VehicleAddForce(totalDownForce);
+            }
+            VDetailLog("{0},  MoveLinear,done,newVel={1},totDown={2},IsColliding={3}",
+                                Prim.LocalID, newVelocity, totalDownForce, Prim.IsColliding);
+            VDetailLog("{0},  MoveLinear,done,linContrib={1},terrContrib={2},hoverContrib={3},limitContrib={4},buoyContrib={5}",
+                                Prim.LocalID,
+                                linearMotorContribution, terrainHeightContribution, hoverContribution, 
+                                limitMotorUpContribution, buoyancyContribution
+            );
+        } // end MoveLinear()
+        public Vector3 ComputeLinearTerrainHeightCorrection(float pTimestep)
+        {
+            Vector3 ret = Vector3.Zero;
            // If below the terrain, move us above the ground a little.
-            float terrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos);
+            // TODO: Consider taking the rotated size of the object or possibly casting a ray.
-            // Taking the rotated size doesn't work here because m_prim.Size is the size of the root prim and not the linkset.
+            if (VehiclePosition.Z < GetTerrainHeight(VehiclePosition))
-            //     TODO: Add a m_prim.LinkSet.Size similar to m_prim.LinkSet.Mass.
-            // Vector3 rotatedSize = m_prim.Size * m_prim.ForceOrientation;
-            // if (rotatedSize.Z < terrainHeight)
-            if (pos.Z < terrainHeight)
            {
                // TODO: correct position by applying force rather than forcing position.
-                pos.Z = terrainHeight + 2;
+                VehiclePosition += new Vector3(0f, 0f, GetTerrainHeight(VehiclePosition) + 2f);
-                Prim.ForcePosition = pos;
+                VDetailLog("{0},  MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, GetTerrainHeight(VehiclePosition), VehiclePosition);
-                VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, terrainHeight, pos);
            }
+            return ret;
+        }
+        public Vector3 ComputeLinearHover(float pTimestep)
+        {
+            Vector3 ret = Vector3.Zero;
-            // ==================================================================
-            Vector3 hoverContribution = Vector3.Zero;
-            // Check if hovering
            // m_VhoverEfficiency: 0=bouncy, 1=totally damped
            // m_VhoverTimescale: time to achieve height
            if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
@@ -646,11 +886,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                // We should hover, get the target height
                if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
                {
-                    m_VhoverTargetHeight = Prim.PhysicsScene.GetWaterLevelAtXYZ(pos) + m_VhoverHeight;
+                    m_VhoverTargetHeight = GetWaterLevel(VehiclePosition) + m_VhoverHeight;
                }
                if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
                {
-                    m_VhoverTargetHeight = terrainHeight + m_VhoverHeight;
+                    m_VhoverTargetHeight = GetTerrainHeight(VehiclePosition) + m_VhoverHeight;
                }
                if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
                {
@@ -660,43 +900,47 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0)
                {
                    // If body is already heigher, use its height as target height
-                    if (pos.Z > m_VhoverTargetHeight)
+                    if (VehiclePosition.Z > m_VhoverTargetHeight)
-                        m_VhoverTargetHeight = pos.Z;
+                        m_VhoverTargetHeight = VehiclePosition.Z;
                }
+                
                if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
                {
-                    if (Math.Abs(pos.Z - m_VhoverTargetHeight) > 0.2f)
+                    if (Math.Abs(VehiclePosition.Z - m_VhoverTargetHeight) > 0.2f)
                    {
+                        Vector3 pos = VehiclePosition;
                        pos.Z = m_VhoverTargetHeight;
-                        Prim.ForcePosition = pos;
+                        VehiclePosition = pos;
                    }
                }
                else
                {
-                    float verticalError = pos.Z - m_VhoverTargetHeight;
+                    // Error is positive if below the target and negative if above.
-                    // RA: where does the 50 come from?
+                    float verticalError = m_VhoverTargetHeight - VehiclePosition.Z;
-                    float verticalCorrectionVelocity = pTimestep * ((verticalError * 50.0f) / m_VhoverTimescale);
+                    float verticalCorrectionVelocity = verticalError / m_VhoverTimescale;
-                    // Replace Vertical speed with correction figure if significant
-                    if (verticalError > 0.01f)
+                    // TODO: implement m_VhoverEfficiency correctly
-                    {
+                    if (Math.Abs(verticalError) > m_VhoverEfficiency)
-                        hoverContribution = new Vector3(0f, 0f, verticalCorrectionVelocity);
-                        //KF: m_VhoverEfficiency is not yet implemented
-                    }
-                    else if (verticalError < -0.01)
                    {
-                        hoverContribution = new Vector3(0f, 0f, -verticalCorrectionVelocity);
+                        ret = new Vector3(0f, 0f, verticalCorrectionVelocity);
                    }
                }
-                VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}",
+                VDetailLog("{0},  MoveLinear,hover,pos={1},ret={2},hoverTS={3},height={4},target={5}",
-                                Prim.LocalID, pos, hoverContribution, m_VhoverHeight, m_VhoverTargetHeight);
+                                Prim.LocalID, VehiclePosition, ret, m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight);
            }
-            // ==================================================================
+            return ret;
+        }
+        public bool ComputeLinearBlockingEndPoint(float pTimestep)
+        {
+            bool changed = false;
+            Vector3 pos = VehiclePosition;
            Vector3 posChange = pos - m_lastPositionVector;
            if (m_BlockingEndPoint != Vector3.Zero)
            {
-                bool changed = false;
                if (pos.X >= (m_BlockingEndPoint.X - (float)1))
                {
                    pos.X -= posChange.X + 1;
@@ -724,240 +968,111 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                }
                if (changed)
                {
-                    Prim.ForcePosition = pos;
+                    VehiclePosition = pos;
-                    VDetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}",
+                    VDetailLog("{0},  MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}",
                                Prim.LocalID, m_BlockingEndPoint, posChange, pos);
                }
            }
+            return changed;
+        }
+        // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
+        //    Prevent ground vehicles from motoring into the sky. This flag has a subtle effect when
+        //    used with conjunction with banking: the strength of the banking will decay when the
+        //    vehicle no longer experiences collisions. The decay timescale is the same as
+        //    VEHICLE_BANKING_TIMESCALE. This is to help prevent ground vehicles from steering
+        //    when they are in mid jump. 
+        // TODO: this code is wrong. Also, what should it do for boats (height from water)?
+        //    This is just using the ground and a general collision check. Should really be using
+        //    a downward raycast to find what is below.
+        public Vector3 ComputeLinearMotorUp(float pTimestep)
+        {
+            Vector3 ret = Vector3.Zero;
-            // ==================================================================
-            Vector3 limitMotorUpContribution = Vector3.Zero;
            if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
            {
                // If the vehicle is motoring into the sky, get it going back down.
-                float distanceAboveGround = pos.Z - terrainHeight;
+                float distanceAboveGround = VehiclePosition.Z - GetTerrainHeight(VehiclePosition);
-                if (distanceAboveGround > 1f)
+                // Not colliding if the vehicle is off the ground
+                if (!Prim.IsColliding)
                {
                    // downForce = new Vector3(0, 0, (-distanceAboveGround / m_bankingTimescale) * pTimestep);
                    // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale);
-                    limitMotorUpContribution = new Vector3(0, 0, -distanceAboveGround);
+                    ret = new Vector3(0, 0, -distanceAboveGround);
                }
-                // TODO: this calculation is all wrong. From the description at
+                // TODO: this calculation is wrong. From the description at
                //     (http://wiki.secondlife.com/wiki/Category:LSL_Vehicle), the downForce
                //     has a decay factor. This says this force should
                //     be computed with a motor.
-                VDetailLog("{0},MoveLinear,limitMotorUp,distAbove={1},downForce={2}", 
+                // TODO: add interaction with banking.
-                                    Prim.LocalID, distanceAboveGround, limitMotorUpContribution);
+                VDetailLog("{0},  MoveLinear,limitMotorUp,distAbove={1},downForce={2}",
-            }
+                                    Prim.LocalID, distanceAboveGround, ret);
-            // ==================================================================
-            Vector3 newVelocity = linearMotorContribution 
-                            + terrainHeightContribution 
-                            + hoverContribution
-                            + limitMotorUpContribution;
-            // If not changing some axis, reduce out velocity
-            if ((m_flags & (VehicleFlag.NO_X)) != 0)
-                newVelocity.X = 0;
-            if ((m_flags & (VehicleFlag.NO_Y)) != 0)
-                newVelocity.Y = 0;
-            if ((m_flags & (VehicleFlag.NO_Z)) != 0)
-                newVelocity.Z = 0;
-            // ==================================================================
-            // Clamp REALLY high or low velocities
-            float newVelocityLengthSq = newVelocity.LengthSquared();
-            if (newVelocityLengthSq > 1e6f)
-            {
-                newVelocity /= newVelocity.Length();
-                newVelocity *= 1000f;
-            }
-            else if (newVelocityLengthSq < 1e-6f)
-                newVelocity = Vector3.Zero;
-            // ==================================================================
-            // Stuff new linear velocity into the vehicle
-            Prim.ForceVelocity = newVelocity;
-            // Prim.ApplyForceImpulse((m_newVelocity - Prim.Velocity) * m_vehicleMass, false);    // DEBUG DEBUG
-            // Other linear forces are applied as forces.
-            Vector3 totalDownForce = grav * m_vehicleMass;
-            if (totalDownForce != Vector3.Zero)
-            {
-                Prim.AddForce(totalDownForce, false);
            }
+            return ret;
-            VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},primVel={4},totalDown={5}",
+        }
-                                Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, 
-                                newVelocity, Prim.Velocity, totalDownForce);
-        } // end MoveLinear()
        // =======================================================================
        // =======================================================================
        // Apply the effect of the angular motor.
+        // The 'contribution' is how much angular correction velocity each function wants.
+        //     All the contributions are added together and the resulting velocity is
+        //     set directly on the vehicle.
        private void MoveAngular(float pTimestep)
        {
-            // m_angularMotorDirection         // angular velocity requested by LSL motor
+            // The user wants how many radians per second angular change?
-            // m_angularMotorVelocity          // current angular motor velocity (ramps up and down)
-            // m_angularMotorTimescale         // motor angular velocity ramp up time
-            // m_angularMotorDecayTimescale    // motor angular velocity decay rate
-            // m_angularFrictionTimescale      // body angular velocity  decay rate
-            // m_lastAngularVelocity           // what was last applied to body
-            if (m_angularMotorDirection.LengthSquared() > 0.0001)
-            {
-                Vector3 origVel = m_angularMotorVelocity;
-                Vector3 origDir = m_angularMotorDirection;
-                //       new velocity    +=                      error                       /  (  time to get there   / step interval)
-                //                           requested direction   - current vehicle direction
-                m_angularMotorVelocity += (m_angularMotorDirection - m_angularMotorVelocity) /  (m_angularMotorTimescale / pTimestep);
-                // decay requested direction
-                m_angularMotorDirection *= (1.0f - (pTimestep * 1.0f/m_angularMotorDecayTimescale));
-                VDetailLog("{0},MoveAngular,angularMotorApply,angTScale={1},timeStep={2},origvel={3},origDir={4},vel={5}",
-                        Prim.LocalID, m_angularMotorTimescale, pTimestep, origVel, origDir, m_angularMotorVelocity);
-            }
-            else
-            {
-                m_angularMotorVelocity = Vector3.Zero;
-            }
            Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep);
            // ==================================================================
-            Vector3 verticalAttractionContribution = Vector3.Zero;
+            // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
-            // If vertical attaction timescale is reasonable and we applied an angular force last time...
+            //    This flag prevents linear deflection parallel to world z-axis. This is useful
-            if (m_verticalAttractionTimescale < 300 && m_lastAngularVelocity != Vector3.Zero)
+            //    for preventing ground vehicles with large linear deflection, like bumper cars,
+            //    from climbing their linear deflection into the sky. 
+            // That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement
+            if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
            {
-                float VAservo = pTimestep * 0.2f / m_verticalAttractionTimescale;
+                angularMotorContribution.X = 0f;
-                if (Prim.IsColliding)
+                angularMotorContribution.Y = 0f;
-                    VAservo = pTimestep * 0.05f / m_verticalAttractionTimescale;
+                VDetailLog("{0},  MoveAngular,noDeflectionUp,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution);
+            }
-                VAservo *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
-                // Create a vector of the vehicle "up" in world coordinates
-                Vector3 verticalError = Vector3.UnitZ * Prim.ForceOrientation;
-                // verticalError.X and .Y are the World error amounts. They are 0 when there is no
-                //      error (Vehicle Body is 'vertical'), and .Z will be 1. As the body leans to its
-                //      side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall
-                //      and .Z will go // negative. Similar for tilt and |.Y|. .X and .Y must be
-                //      modulated to prevent a stable inverted body.
-                // Error is 0 (no error) to +/- 2 (max error)
-                if (verticalError.Z < 0.0f)
-                {
-                    verticalError.X = 2.0f - verticalError.X;
-                    verticalError.Y = 2.0f - verticalError.Y;
-                }
-                // scale it by VAservo (timestep and timescale)
-                verticalError = verticalError * VAservo;
-                // As the body rotates around the X axis, then verticalError.Y increases; Rotated around Y
+            Vector3 verticalAttractionContribution = ComputeAngularVerticalAttraction();
-                //     then .X increases, so change  Body angular velocity  X based on Y, and Y based on X.
-                //     Z is not changed.
-                verticalAttractionContribution.X =    verticalError.Y;
-                verticalAttractionContribution.Y =  - verticalError.X;
-                verticalAttractionContribution.Z = 0f;
-                // scaling appears better usingsquare-law
+            Vector3 deflectionContribution = ComputeAngularDeflection();
-                Vector3 angularVelocity = Prim.ForceRotationalVelocity;
-                float bounce = 1.0f - (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
-                verticalAttractionContribution.X += bounce * angularVelocity.X;
-                verticalAttractionContribution.Y += bounce * angularVelocity.Y;
-                VDetailLog("{0},MoveAngular,verticalAttraction,VAservo={1},effic={2},verticalError={3},bounce={4},vertattr={5}",
+            Vector3 bankingContribution = ComputeAngularBanking();
-                            Prim.LocalID, VAservo, m_verticalAttractionEfficiency, verticalError, bounce, verticalAttractionContribution);
-            }
+            // ==================================================================
+            m_lastVertAttractor = verticalAttractionContribution;
+            // Sum corrections
+            m_lastAngularCorrection = angularMotorContribution
+                                    + verticalAttractionContribution
+                                    + deflectionContribution
+                                    + bankingContribution;
            // ==================================================================
-            Vector3 deflectionContribution = Vector3.Zero;
+            // Apply the correction velocity.
-            if (m_angularDeflectionEfficiency != 0)
+            // TODO: Should this be applied as an angular force (torque)?
+            if (!m_lastAngularCorrection.ApproxEquals(Vector3.Zero, 0.01f))
            {
-                // Compute a scaled vector that points in the preferred axis (X direction)
+                Vector3 scaledCorrection = m_lastAngularCorrection * pTimestep;
-                Vector3 scaledDefaultDirection =
+                VehicleRotationalVelocity = scaledCorrection;
-                    new Vector3((pTimestep * 10 * (m_angularDeflectionEfficiency / m_angularDeflectionTimescale)), 0, 0);
-                // Adding the current vehicle orientation and reference frame displaces the orientation to the frame.
+                VDetailLog("{0},  MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5},scaledCorr={6}",
-                // Rotate the scaled default axix relative to the actual vehicle direction giving where it should point.
+                                    Prim.LocalID,
-                Vector3 preferredAxisOfMotion = scaledDefaultDirection * Quaternion.Add(Prim.ForceOrientation, m_referenceFrame);
+                                    angularMotorContribution, verticalAttractionContribution,
+                                    bankingContribution, deflectionContribution,
-                // Scale by efficiency and timescale
+                                    m_lastAngularCorrection, scaledCorrection
-                deflectionContribution = (preferredAxisOfMotion * (m_angularDeflectionEfficiency) / m_angularDeflectionTimescale) * pTimestep;
+                                    );
-                VDetailLog("{0},MoveAngular,Deflection,perfAxis={1},deflection={2}", 
-                                        Prim.LocalID, preferredAxisOfMotion, deflectionContribution);
-                // This deflection computation is not correct.
-                deflectionContribution = Vector3.Zero;
            }
+            else
-            // ==================================================================
-            Vector3 bankingContribution = Vector3.Zero;
-            if (m_bankingEfficiency != 0)
            {
-                Vector3 dir = Vector3.One * Prim.ForceOrientation;
+                // The vehicle is not adding anything angular wise.
-                float mult = (m_bankingMix*m_bankingMix)*-1*(m_bankingMix < 0 ? -1 : 1);
+                VehicleRotationalVelocity = Vector3.Zero;
-                    //Changes which way it banks in and out of turns
+                VDetailLog("{0},  MoveAngular,done,zero", Prim.LocalID);
-                //Use the square of the efficiency, as it looks much more how SL banking works
-                float effSquared = (m_bankingEfficiency*m_bankingEfficiency);
-                if (m_bankingEfficiency < 0)
-                    effSquared *= -1; //Keep the negative!
-                float mix = Math.Abs(m_bankingMix);
-                if (m_angularMotorVelocity.X == 0)
-                {
-                    // The vehicle is stopped
-                    /*if (!parent.Orientation.ApproxEquals(this.m_referenceFrame, 0.25f))
-                    {
-                        Vector3 axisAngle;
-                        float angle;
-                        parent.Orientation.GetAxisAngle(out axisAngle, out angle);
-                        Vector3 rotatedVel = parent.Velocity * parent.Orientation;
-                        if ((rotatedVel.X < 0 && axisAngle.Y > 0) || (rotatedVel.X > 0 && axisAngle.Y < 0))
-                            m_angularMotorVelocity.X += (effSquared * (mult * mix)) * (1f) * 10;
-                        else
-                            m_angularMotorVelocity.X += (effSquared * (mult * mix)) * (-1f) * 10;
-                    }*/
-                }
-                else
-                {
-                    bankingContribution.Z += (effSquared * (mult * mix)) * (m_angularMotorVelocity.X) * 4;
-                }
-                //If they are colliding, we probably shouldn't shove the prim around... probably
-                if (!Prim.IsColliding && Math.Abs(m_angularMotorVelocity.X) > mix)
-                {
-                    float angVelZ = m_angularMotorVelocity.X*-1;
-                    /*if(angVelZ > mix)
-                        angVelZ = mix;
-                    else if(angVelZ < -mix)
-                        angVelZ = -mix;*/
-                    //This controls how fast and how far the banking occurs
-                    Vector3 bankingRot = new Vector3(angVelZ*(effSquared*mult), 0, 0);
-                    if (bankingRot.X > 3)
-                        bankingRot.X = 3;
-                    else if (bankingRot.X < -3)
-                        bankingRot.X = -3;
-                    bankingRot *= Prim.ForceOrientation;
-                    bankingContribution += bankingRot;
-                }
-                m_angularMotorVelocity.X *= m_bankingEfficiency == 1 ? 0.0f : 1 - m_bankingEfficiency;
-                VDetailLog("{0},MoveAngular,Banking,bEff={1},angMotVel={2},effSq={3},mult={4},mix={5},banking={6}", 
-                                Prim.LocalID, m_bankingEfficiency, m_angularMotorVelocity, effSquared, mult, mix, bankingContribution);
            }
            // ==================================================================
-            m_lastVertAttractor = verticalAttractionContribution;
-            // Sum velocities
-            m_lastAngularVelocity = angularMotorContribution 
-                                    + verticalAttractionContribution
-                                    + bankingContribution
-                                    + deflectionContribution;
-            // ==================================================================
            //Offset section
            if (m_linearMotorOffset != Vector3.Zero)
            {
@@ -983,41 +1098,166 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                    torqueFromOffset.Y = 0;
                if (float.IsNaN(torqueFromOffset.Z))
                    torqueFromOffset.Z = 0;
-                torqueFromOffset *= m_vehicleMass;
-                Prim.ApplyTorqueImpulse(torqueFromOffset, true);
+                VehicleAddAngularForce(torqueFromOffset * m_vehicleMass);
-                VDetailLog("{0},BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset);
+                VDetailLog("{0},  BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset);
            }
-            // ==================================================================
+        }
-            // NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement
+        // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
-            if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
+        //      Some vehicles, like boats, should always keep their up-side up. This can be done by
+        //      enabling the "vertical attractor" behavior that springs the vehicle's local z-axis to
+        //      the world z-axis (a.k.a. "up"). To take advantage of this feature you would set the
+        //      VEHICLE_VERTICAL_ATTRACTION_TIMESCALE to control the period of the spring frequency,
+        //      and then set the VEHICLE_VERTICAL_ATTRACTION_EFFICIENCY to control the damping. An
+        //      efficiency of 0.0 will cause the spring to wobble around its equilibrium, while an
+        //      efficiency of 1.0 will cause the spring to reach its equilibrium with exponential decay.
+        public Vector3 ComputeAngularVerticalAttraction()
+        {
+            Vector3 ret = Vector3.Zero;
+            // If vertical attaction timescale is reasonable and we applied an angular force last time...
+            if (m_verticalAttractionTimescale < m_verticalAttractionCutoff)
            {
-                m_lastAngularVelocity.X = 0;
+                // Take a vector pointing up and convert it from world to vehicle relative coords.
-                m_lastAngularVelocity.Y = 0;
+                Vector3 verticalError = Vector3.UnitZ * VehicleOrientation;
-                VDetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity);
+                verticalError.Normalize();
+                // If vertical attraction correction is needed, the vector that was pointing up (UnitZ)
+                //    is now leaning to one side (rotated around the X axis) and the Y value will
+                //    go from zero (nearly straight up) to one (completely to the side) or leaning
+                //    front-to-back (rotated around the Y axis) and the value of X will be between
+                //    zero and one.
+                // The value of Z is how far the rotation is off with 1 meaning none and 0 being 90 degrees.
+                // If verticalError.Z is negative, the vehicle is upside down. Add additional push.
+                if (verticalError.Z < 0f)
+                {
+                    verticalError.X = 2f - verticalError.X;
+                    verticalError.Y = 2f - verticalError.Y;
+                }
+                // Y error means needed rotation around X axis and visa versa.
+                ret.X =    verticalError.Y;
+                ret.Y =  - verticalError.X;
+                ret.Z = 0f;
+                // Scale the correction force by how far we're off from vertical.
+                // Z error of one says little error. As Z gets smaller, the vehicle is leaning farther over.
+                float clampedSqrZError = ClampInRange(0.01f, verticalError.Z * verticalError.Z, 1f);
+                float vertForce = 1f / clampedSqrZError;
+                ret *= vertForce;
+                // Correction happens over a number of seconds.
+                Vector3 unscaledContrib = ret;
+                ret /= m_verticalAttractionTimescale;
+                VDetailLog("{0},  MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},vertForce={3},eff={4},vertAttr={5}",
+                                Prim.LocalID, verticalError, unscaledContrib, vertForce, m_verticalAttractionEfficiency, ret);
            }
+            return ret;
+        }
-            // ==================================================================
+        // Return the angular correction to correct the direction the vehicle is pointing to be
-            if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
+        //      the direction is should want to be pointing.
+        // The vehicle is moving in some direction and correct its orientation to it is pointing
+        //     in that direction.
+        // TODO: implement reference frame.
+        public Vector3 ComputeAngularDeflection()
+        {
+            Vector3 ret = Vector3.Zero;
+            return ret;     // DEBUG DEBUG DEBUG  debug one force at a time
+            if (m_angularDeflectionEfficiency != 0)
            {
-                m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero.
+                // The direction the vehicle is moving
-                Prim.ZeroAngularMotion(true);
+                Vector3 movingDirection = VehicleVelocity;
-                VDetailLog("{0},MoveAngular,zeroAngularMotion,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity);
+                movingDirection.Normalize();
+                // The direction the vehicle is pointing
+                Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation;
+                pointingDirection.Normalize();
+                // The difference between what is and what should be
+                Vector3 deflectionError = movingDirection - pointingDirection;
+                // Scale the correction by recovery timescale and efficiency
+                ret = (-deflectionError * VehicleForwardSpeed) * m_angularDeflectionEfficiency;
+                ret /= m_angularDeflectionTimescale;
+                VDetailLog("{0},  MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}",
+                    Prim.LocalID, movingDirection, pointingDirection, deflectionError, ret);
            }
-            else
+            return ret;
+        }
+        // Return an angular change to rotate the vehicle around the Z axis when the vehicle
+        //     is tipped around the X axis.
+        // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
+        //      The vertical attractor feature must be enabled in order for the banking behavior to
+        //      function. The way banking works is this: a rotation around the vehicle's roll-axis will
+        //      produce a angular velocity around the yaw-axis, causing the vehicle to turn. The magnitude
+        //      of the yaw effect will be proportional to the
+        //          VEHICLE_BANKING_EFFICIENCY, the angle of the roll rotation, and sometimes the vehicle's
+        //                 velocity along its preferred axis of motion. 
+        //          The VEHICLE_BANKING_EFFICIENCY can vary between -1 and +1. When it is positive then any
+        //                  positive rotation (by the right-hand rule) about the roll-axis will effect a
+        //                  (negative) torque around the yaw-axis, making it turn to the right--that is the
+        //                  vehicle will lean into the turn, which is how real airplanes and motorcycle's work.
+        //                  Negating the banking coefficient will make it so that the vehicle leans to the
+        //                  outside of the turn (not very "physical" but might allow interesting vehicles so why not?). 
+        //           The VEHICLE_BANKING_MIX is a fake (i.e. non-physical) parameter that is useful for making
+        //                  banking vehicles do what you want rather than what the laws of physics allow.
+        //                  For example, consider a real motorcycle...it must be moving forward in order for
+        //                  it to turn while banking, however video-game motorcycles are often configured
+        //                  to turn in place when at a dead stop--because they are often easier to control
+        //                  that way using the limited interface of the keyboard or game controller. The
+        //                  VEHICLE_BANKING_MIX enables combinations of both realistic and non-realistic
+        //                  banking by functioning as a slider between a banking that is correspondingly
+        //                  totally static (0.0) and totally dynamic (1.0). By "static" we mean that the
+        //                  banking effect depends only on the vehicle's rotation about its roll-axis compared
+        //                  to "dynamic" where the banking is also proportional to its velocity along its
+        //                  roll-axis. Finding the best value of the "mixture" will probably require trial and error. 
+        //      The time it takes for the banking behavior to defeat a preexisting angular velocity about the
+        //      world z-axis is determined by the VEHICLE_BANKING_TIMESCALE. So if you want the vehicle to
+        //      bank quickly then give it a banking timescale of about a second or less, otherwise you can
+        //      make a sluggish vehicle by giving it a timescale of several seconds. 
+        public Vector3 ComputeAngularBanking()
+        {
+            Vector3 ret = Vector3.Zero;
+            if (m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
            {
-                // Apply to the body.
+                // This works by rotating a unit vector to the orientation of the vehicle. The
-                // The above calculates the absolute angular velocity needed. Angular velocity is massless.
+                //    roll (tilt) will be Y component of a tilting Z vector (zero for no tilt
-                // Since we are stuffing the angular velocity directly into the object, the computed
+                //    up to one for full over).
-                //     velocity needs to be scaled by the timestep.
+                Vector3 rollComponents = Vector3.UnitZ * VehicleOrientation;
-                // Also remove any motion that is on the object so added motion is only from vehicle.
-                Vector3 applyAngularForce = ((m_lastAngularVelocity * pTimestep) 
+                // Figure out the yaw value for this much roll.
-                                                - Prim.ForceRotationalVelocity);
+                float turnComponent = rollComponents.Y * rollComponents.Y * m_bankingEfficiency;
-                Prim.ForceRotationalVelocity = applyAngularForce;
+                // Keep the sign
+                if (rollComponents.Y < 0f)
-                VDetailLog("{0},MoveAngular,done,newRotVel={1},lastAngular={2}", 
+                    turnComponent = -turnComponent;
-                                    Prim.LocalID, applyAngularForce, m_lastAngularVelocity);
+                // TODO: there must be a better computation of the banking force.
+                float bankingTurnForce = turnComponent;
+                //        actual error  =       static turn error            +           dynamic turn error
+                float mixedBankingError = bankingTurnForce * (1f - m_bankingMix) + bankingTurnForce * m_bankingMix * VehicleForwardSpeed;
+                // TODO: the banking effect should not go to infinity but what to limit it to?
+                mixedBankingError = ClampInRange(-20f, mixedBankingError, 20f);
+                // Build the force vector to change rotation from what it is to what it should be
+                ret.Z = -mixedBankingError;
+                // Don't do it all at once.
+                ret /= m_bankingTimescale;
+                VDetailLog("{0},  MoveAngular,Banking,rollComp={1},speed={2},turnComp={3},bankErr={4},mixedBankErr={5},ret={6}",
+                            Prim.LocalID, rollComponents, VehicleForwardSpeed, turnComponent, bankingTurnForce, mixedBankingError, ret);
            }
+            return ret;
        }
        // This is from previous instantiations of XXXDynamics.cs.
@@ -1026,7 +1266,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
        //    Should this be in MoveAngular()?
        internal void LimitRotation(float timestep)
        {
-            Quaternion rotq = Prim.ForceOrientation;
+            Quaternion rotq = VehicleOrientation;
            Quaternion m_rot = rotq;
            if (m_RollreferenceFrame != Quaternion.Identity)
            {
@@ -1054,12 +1294,17 @@ namespace OpenSim.Region.Physics.BulletSPlugin
            }
            if (rotq != m_rot)
            {
-                Prim.ForceOrientation = m_rot;
+                VehicleOrientation = m_rot;
-                VDetailLog("{0},LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot);
+                VDetailLog("{0},  LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot);
            }
        }
+        private float ClampInRange(float low, float val, float high)
+        {
+            return Math.Max(low, Math.Min(val, high));
+        }
        // Invoke the detailed logger and output something if it's enabled.
        private void VDetailLog(string msg, params Object[] args)
        {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs
index 663b6f4..390c2f9 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs
@@ -1,191 +1,185 @@
-/*
+/*
- * Copyright (c) Contributors, http://opensimulator.org/
+ * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
+ *
- * Redistribution and use in source and binary forms, with or without
+ * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
+ * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
+ *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
+ *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
+ *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
+ *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
+ *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
+ *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
+ *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
+ *       derived from this software without specific prior written permission.
- *
+ *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * 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
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
+ */
-using System;
+using System;
-using System.Collections.Generic;
+using System.Collections.Generic;
-using System.Text;
+using System.Text;
-using System.Reflection;
+using System.Reflection;
-using Nini.Config;
+using Nini.Config;
-namespace OpenSim.Region.Physics.BulletSPlugin
+namespace OpenSim.Region.Physics.BulletSPlugin
-{
+{
-public struct MaterialAttributes
+public struct MaterialAttributes
-{
+{
-    // Material type values that correspond with definitions for LSL
+    // Material type values that correspond with definitions for LSL
-    public enum Material : int
+    public enum Material : int
-    {
+    {
-        Stone = 0,
+        Stone = 0,
-        Metal,
+        Metal,
-        Glass,
+        Glass,
-        Wood,
+        Wood,
-        Flesh,
+        Flesh,
-        Plastic,
+        Plastic,
-        Rubber,
+        Rubber,
-        Light,
+        Light,
-        // Hereafter are BulletSim additions
+        // Hereafter are BulletSim additions
-        Avatar,
+        Avatar,
-        NumberOfTypes   // the count of types in the enum.
+        NumberOfTypes   // the count of types in the enum.
-    }
+    }
-    // Names must be in the order of the above enum.
+    // Names must be in the order of the above enum.
-    public static string[] MaterialNames = { "Stone", "Metal", "Glass", "Wood", 
+    public static string[] MaterialNames = { "Stone", "Metal", "Glass", "Wood", 
-                                     "Flesh", "Plastic", "Rubber", "Light", "Avatar" };
+                                     "Flesh", "Plastic", "Rubber", "Light", "Avatar" };
-    public static string[] MaterialAttribs = { "Density", "Friction", "Restitution", 
+    public static string[] MaterialAttribs = { "Density", "Friction", "Restitution"};
-                                   "ccdMotionThreshold", "ccdSweptSphereRadius" };
+    public MaterialAttributes(string t, float d, float f, float r)
-    public MaterialAttributes(string t, float d, float f, float r, float ccdM, float ccdS)
+    {
-    {
+        type = t;
-        type = t;
+        density = d;
-        density = d;
+        friction = f;
-        friction = f;
+        restitution = r;
-        restitution = r;
+    }
-        ccdMotionThreshold = ccdM;
+    public string type;
-        ccdSweptSphereRadius = ccdS;
+    public float density;
-    }
+    public float friction;
-    public string type;
+    public float restitution;
-    public float density;
+}
-    public float friction;
-    public float restitution;
+public static class BSMaterials
-    public float ccdMotionThreshold;
+{
-    public float ccdSweptSphereRadius;
+    public static MaterialAttributes[] Attributes;
-}
+    static BSMaterials()
-public static class BSMaterials
+    {
-{
+        // Attribute sets for both the non-physical and physical instances of materials.
-    public static MaterialAttributes[] Attributes;
+        Attributes = new MaterialAttributes[(int)MaterialAttributes.Material.NumberOfTypes * 2];
+    }
-    static BSMaterials()
-    {
+    // This is where all the default material attributes are defined.
-        // Attribute sets for both the non-physical and physical instances of materials.
+    public static void InitializeFromDefaults(ConfigurationParameters parms)
-        Attributes = new MaterialAttributes[(int)MaterialAttributes.Material.NumberOfTypes * 2];
+    {
-    }
+        // Values from http://wiki.secondlife.com/wiki/PRIM_MATERIAL
+        // public static string[] MaterialNames = { "Stone", "Metal", "Glass", "Wood", 
-    // This is where all the default material attributes are defined.
+      //                                "Flesh", "Plastic", "Rubber", "Light", "Avatar" };
-    public static void InitializeFromDefaults(ConfigurationParameters parms)
+        float dFriction = parms.defaultFriction;
-    {
+        float dRestitution = parms.defaultRestitution;
-    // public static string[] MaterialNames = { "Stone", "Metal", "Glass", "Wood", 
+        float dDensity = parms.defaultDensity;
-      //                                "Flesh", "Plastic", "Rubber", "Light", "Avatar" };
+        Attributes[(int)MaterialAttributes.Material.Stone] =
-        float dFriction = parms.defaultFriction;
+            new MaterialAttributes("stone",dDensity, 0.8f, 0.4f);
-        float dRestitution = parms.defaultRestitution;
+        Attributes[(int)MaterialAttributes.Material.Metal] =
-        float dDensity = parms.defaultDensity;
+            new MaterialAttributes("metal",dDensity, 0.3f, 0.4f);
-        float dCcdM = parms.ccdMotionThreshold;
+        Attributes[(int)MaterialAttributes.Material.Glass] =
-        float dCcdS = parms.ccdSweptSphereRadius;
+            new MaterialAttributes("glass",dDensity, 0.2f, 0.7f);
-        Attributes[(int)MaterialAttributes.Material.Stone] =
+        Attributes[(int)MaterialAttributes.Material.Wood] =
-            new MaterialAttributes("stone",dDensity,dFriction,dRestitution, dCcdM, dCcdS);
+            new MaterialAttributes("wood",dDensity, 0.6f, 0.5f);
-        Attributes[(int)MaterialAttributes.Material.Metal] =
+        Attributes[(int)MaterialAttributes.Material.Flesh] =
-            new MaterialAttributes("metal",dDensity,dFriction,dRestitution, dCcdM, dCcdS);
+            new MaterialAttributes("flesh",dDensity, 0.9f, 0.3f);
-        Attributes[(int)MaterialAttributes.Material.Glass] =
+        Attributes[(int)MaterialAttributes.Material.Plastic] =
-            new MaterialAttributes("glass",dDensity,dFriction,dRestitution, dCcdM, dCcdS);
+            new MaterialAttributes("plastic",dDensity, 0.4f, 0.7f);
-        Attributes[(int)MaterialAttributes.Material.Wood] =
+        Attributes[(int)MaterialAttributes.Material.Rubber] =
-            new MaterialAttributes("wood",dDensity,dFriction,dRestitution, dCcdM, dCcdS);
+            new MaterialAttributes("rubber",dDensity, 0.9f, 0.9f);
-        Attributes[(int)MaterialAttributes.Material.Flesh] =
+        Attributes[(int)MaterialAttributes.Material.Light] =
-            new MaterialAttributes("flesh",dDensity,dFriction,dRestitution, dCcdM, dCcdS);
+            new MaterialAttributes("light",dDensity, dFriction, dRestitution);
-        Attributes[(int)MaterialAttributes.Material.Plastic] =
+        Attributes[(int)MaterialAttributes.Material.Avatar] =
-            new MaterialAttributes("plastic",dDensity,dFriction,dRestitution, dCcdM, dCcdS);
+            new MaterialAttributes("avatar",60f, 0.2f, 0f);
-        Attributes[(int)MaterialAttributes.Material.Rubber] =
-            new MaterialAttributes("rubber",dDensity,dFriction,dRestitution, dCcdM, dCcdS);
+        Attributes[(int)MaterialAttributes.Material.Stone + (int)MaterialAttributes.Material.NumberOfTypes] =
-        Attributes[(int)MaterialAttributes.Material.Light] =
+            new MaterialAttributes("stonePhysical",dDensity, 0.8f, 0.4f);
-            new MaterialAttributes("light",dDensity,dFriction,dRestitution, dCcdM, dCcdS);
+        Attributes[(int)MaterialAttributes.Material.Metal + (int)MaterialAttributes.Material.NumberOfTypes] =
-        Attributes[(int)MaterialAttributes.Material.Avatar] =
+            new MaterialAttributes("metalPhysical",dDensity, 0.8f, 0.4f);
-            new MaterialAttributes("avatar",dDensity,dFriction,dRestitution, dCcdM, dCcdS);
+        Attributes[(int)MaterialAttributes.Material.Glass + (int)MaterialAttributes.Material.NumberOfTypes] =
+            new MaterialAttributes("glassPhysical",dDensity, 0.8f, 0.7f);
-        Attributes[(int)MaterialAttributes.Material.Stone + (int)MaterialAttributes.Material.NumberOfTypes] =
+        Attributes[(int)MaterialAttributes.Material.Wood + (int)MaterialAttributes.Material.NumberOfTypes] =
-            new MaterialAttributes("stonePhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS);
+            new MaterialAttributes("woodPhysical",dDensity, 0.8f, 0.5f);
-        Attributes[(int)MaterialAttributes.Material.Metal + (int)MaterialAttributes.Material.NumberOfTypes] =
+        Attributes[(int)MaterialAttributes.Material.Flesh + (int)MaterialAttributes.Material.NumberOfTypes] =
-            new MaterialAttributes("metalPhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS);
+            new MaterialAttributes("fleshPhysical",dDensity, 0.8f, 0.3f);
-        Attributes[(int)MaterialAttributes.Material.Glass + (int)MaterialAttributes.Material.NumberOfTypes] =
+        Attributes[(int)MaterialAttributes.Material.Plastic + (int)MaterialAttributes.Material.NumberOfTypes] =
-            new MaterialAttributes("glassPhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS);
+            new MaterialAttributes("plasticPhysical",dDensity, 0.8f, 0.7f);
-        Attributes[(int)MaterialAttributes.Material.Wood + (int)MaterialAttributes.Material.NumberOfTypes] =
+        Attributes[(int)MaterialAttributes.Material.Rubber + (int)MaterialAttributes.Material.NumberOfTypes] =
-            new MaterialAttributes("woodPhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS);
+            new MaterialAttributes("rubberPhysical",dDensity, 0.8f, 0.9f);
-        Attributes[(int)MaterialAttributes.Material.Flesh + (int)MaterialAttributes.Material.NumberOfTypes] =
+        Attributes[(int)MaterialAttributes.Material.Light + (int)MaterialAttributes.Material.NumberOfTypes] =
-            new MaterialAttributes("fleshPhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS);
+            new MaterialAttributes("lightPhysical",dDensity, dFriction, dRestitution);
-        Attributes[(int)MaterialAttributes.Material.Plastic + (int)MaterialAttributes.Material.NumberOfTypes] =
+        Attributes[(int)MaterialAttributes.Material.Avatar + (int)MaterialAttributes.Material.NumberOfTypes] =
-            new MaterialAttributes("plasticPhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS);
+            new MaterialAttributes("avatarPhysical",60f, 0.2f, 0f);
-        Attributes[(int)MaterialAttributes.Material.Rubber + (int)MaterialAttributes.Material.NumberOfTypes] =
+    }
-            new MaterialAttributes("rubberPhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS);
-        Attributes[(int)MaterialAttributes.Material.Light + (int)MaterialAttributes.Material.NumberOfTypes] =
+    // Under the [BulletSim] section, one can change the individual material
-            new MaterialAttributes("lightPhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS);
+    //    attribute values. The format of the configuration parameter is:
-        Attributes[(int)MaterialAttributes.Material.Avatar + (int)MaterialAttributes.Material.NumberOfTypes] =
+    //        <materialName><Attribute>["Physical"] = floatValue
-            new MaterialAttributes("avatarPhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS);
+    //    For instance:
-    }
+    //        [BulletSim]
+    //             StoneFriction = 0.2
-    // Under the [BulletSim] section, one can change the individual material
+    //             FleshRestitutionPhysical = 0.8
-    //    attribute values. The format of the configuration parameter is:
+    // Materials can have different parameters for their static and
-    //        <materialName><Attribute>["Physical"] = floatValue
+    //    physical instantiations. When setting the non-physical value,
-    //    For instance:
+    //    both values are changed. Setting the physical value only changes
-    //        [BulletSim]
+    //    the physical value.
-    //             StoneFriction = 0.2
+    public static void InitializefromParameters(IConfig pConfig)
-    //             FleshRestitutionPhysical = 0.8
+    {
-    // Materials can have different parameters for their static and
+        int matType = 0;
-    //    physical instantiations. When setting the non-physical value,
+        foreach (string matName in MaterialAttributes.MaterialNames)
-    //    both values are changed. Setting the physical value only changes
+        {
-    //    the physical value.
+            foreach (string attribName in MaterialAttributes.MaterialAttribs)
-    public static void InitializefromParameters(IConfig pConfig)
+            {
-    {
+                string paramName = matName + attribName;
-        int matType = 0;
+                if (pConfig.Contains(paramName))
-        foreach (string matName in MaterialAttributes.MaterialNames)
+                {
-        {
+                    float paramValue = pConfig.GetFloat(paramName);
-            foreach (string attribName in MaterialAttributes.MaterialAttribs)
+                    SetAttributeValue(matType, attribName, paramValue);
-            {
+                    // set the physical value also
-                string paramName = matName + attribName;
+                    SetAttributeValue(matType + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue);
-                if (pConfig.Contains(paramName))
+                }
-                {
+                paramName += "Physical";
-                    float paramValue = pConfig.GetFloat(paramName);
+                if (pConfig.Contains(paramName))
-                    SetAttributeValue(matType, attribName, paramValue);
+                {
-                    // set the physical value also
+                    float paramValue = pConfig.GetFloat(paramName);
-                    SetAttributeValue(matType + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue);
+                    SetAttributeValue(matType + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue);
-                }
+                }
-                paramName += "Physical";
+            }
-                if (pConfig.Contains(paramName))
+            matType++;
-                {
+        }
-                    float paramValue = pConfig.GetFloat(paramName);
+    }
-                    SetAttributeValue(matType + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue);
-                }
+    private static void SetAttributeValue(int matType, string attribName, float val)
-            }
+    {
-            matType++;
+        MaterialAttributes thisAttrib = Attributes[matType];
-        }
+        FieldInfo fieldInfo = thisAttrib.GetType().GetField(attribName);
-    }
+        if (fieldInfo != null)
+        {
-    private static void SetAttributeValue(int matType, string attribName, float val)
+            fieldInfo.SetValue(thisAttrib, val);
-    {
+            Attributes[matType] = thisAttrib;
-        MaterialAttributes thisAttrib = Attributes[matType];
+        }
-        FieldInfo fieldInfo = thisAttrib.GetType().GetField(attribName);
+    }
-        if (fieldInfo != null)
-        {
+    public static MaterialAttributes GetAttributes(MaterialAttributes.Material type, bool isPhysical)
-            fieldInfo.SetValue(thisAttrib, val);
+    {
-            Attributes[matType] = thisAttrib;
+        int ind = (int)type;
-        }
+        if (isPhysical) ind += (int)MaterialAttributes.Material.NumberOfTypes;
-    }
+        return Attributes[ind];
+    }
-    public static MaterialAttributes GetAttributes(MaterialAttributes.Material type, bool isPhysical)
-    {
+}
-        int ind = (int)type;
+}
-        if (isPhysical) ind += (int)MaterialAttributes.Material.NumberOfTypes;
-        return Attributes[ind];
-    }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
index 480da2c..851d508 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
@@ -1,3 +1,30 @@
+/*
+ * 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.Text;
@@ -7,6 +34,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 {
 public abstract class BSMotor
 {
+    // Timescales and other things can be turned off by setting them to 'infinite'.
+    public const float Infinite = 12345f;
+    public readonly static Vector3 InfiniteVector = new Vector3(BSMotor.Infinite, BSMotor.Infinite, BSMotor.Infinite);
    public BSMotor(string useName)
    {
        UseName = useName;
@@ -15,7 +46,9 @@ public abstract class BSMotor
    public virtual void Reset() { }
    public virtual void Zero() { }
+    // A name passed at motor creation for easily identifyable debugging messages.
    public string UseName { get; private set; }
    // Used only for outputting debug information. Might not be set so check for null.
    public BSScene PhysicsScene { get; set; }
    protected void MDetailLog(string msg, params Object[] parms)
@@ -30,10 +63,23 @@ public abstract class BSMotor
    }
 }
 // Can all the incremental stepping be replaced with motor classes?
+// Motor which moves CurrentValue to TargetValue over TimeScale seconds.
+// The TargetValue is decays in TargetValueDecayTimeScale and
+//     the CurrentValue will be held back by FrictionTimeScale.
+// TimeScale and TargetDelayTimeScale may be 'infinite' which means go decay.
+// For instance, if something is moving at speed X and the desired speed is Y,
+//    CurrentValue is X and TargetValue is Y. As the motor is stepped, new
+//    values of CurrentValue are returned that approach the TargetValue.
+// The feature of decaying TargetValue is so vehicles will eventually
+//    come to a stop rather than run forever. This can be disabled by
+//    setting TargetValueDecayTimescale to 'infinite'.
+// The change from CurrentValue to TargetValue is linear over TimeScale seconds.
 public class BSVMotor : BSMotor
 {
-    public Vector3 FrameOfReference { get; set; }
+    // public Vector3 FrameOfReference { get; set; }
-    public Vector3 Offset { get; set; }
+    // public Vector3 Offset { get; set; }
    public float TimeScale { get; set; }
    public float TargetValueDecayTimeScale { get; set; }
@@ -46,8 +92,9 @@ public class BSVMotor : BSMotor
    public BSVMotor(string useName)
        : base(useName)
    {
-        TimeScale = TargetValueDecayTimeScale = Efficiency = 1f;
+        TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite;
-        FrictionTimescale = Vector3.Zero;
+        Efficiency = 1f;
+        FrictionTimescale = BSMotor.InfiniteVector;
        CurrentValue = TargetValue = Vector3.Zero;
    }
    public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) 
@@ -67,6 +114,14 @@ public class BSVMotor : BSMotor
    {
        TargetValue = target;
    }
+    // A form of stepping that does not take the time quantum into account.
+    // The caller must do the right thing later.
+    public Vector3 Step()
+    {
+        return Step(1f);
+    }
    public Vector3 Step(float timeStep)
    {
        Vector3 returnCurrent = Vector3.Zero;
@@ -78,23 +133,36 @@ public class BSVMotor : BSMotor
            // Addition =  (desiredVector - currentAppliedVector) / secondsItShouldTakeToComplete
            Vector3 addAmount = (TargetValue - CurrentValue)/TimeScale * timeStep;
            CurrentValue += addAmount;
            returnCurrent = CurrentValue;
-            // The desired value reduces to zero when also reduces the difference with current.
+            // The desired value reduces to zero which also reduces the difference with current.
-            float decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
+            // If the decay time is infinite, don't decay at all.
-            TargetValue *= (1f - decayFactor);
+            float decayFactor = 0f;
+            if (TargetValueDecayTimeScale != BSMotor.Infinite)
+            {
+                decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
+                TargetValue *= (1f - decayFactor);
+            }
            Vector3 frictionFactor = Vector3.Zero;
-            frictionFactor = (Vector3.One / FrictionTimescale) * timeStep;
+            if (FrictionTimescale != BSMotor.InfiniteVector)
-            CurrentValue *= (Vector3.One - frictionFactor);
+            {
+                // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep;
+                // Individual friction components can be 'infinite' so compute each separately.
+                frictionFactor.X = FrictionTimescale.X == BSMotor.Infinite ? 0f : (1f / FrictionTimescale.X) * timeStep;
+                frictionFactor.Y = FrictionTimescale.Y == BSMotor.Infinite ? 0f : (1f / FrictionTimescale.Y) * timeStep;
+                frictionFactor.Z = FrictionTimescale.Z == BSMotor.Infinite ? 0f : (1f / FrictionTimescale.Z) * timeStep;
+                CurrentValue *= (Vector3.One - frictionFactor);
+            }
-            MDetailLog("{0},BSVMotor.Step,nonZero,{1},origTarget={2},origCurr={3},timeStep={4},timeScale={5},addAmnt={6},targetDecay={7},decayFact={8},fricTS={9},frictFact={10}",
+            MDetailLog("{0},  BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},timeScale={5},addAmnt={6},targetDecay={7},decayFact={8},fricTS={9},frictFact={10}",
-                                BSScene.DetailLogZero, UseName, origTarget, origCurrVal,
+                                BSScene.DetailLogZero, UseName, origCurrVal, origTarget,
                                timeStep, TimeScale, addAmount,
                                TargetValueDecayTimeScale, decayFactor,
                                FrictionTimescale, frictionFactor);
-            MDetailLog("{0},BSVMotor.Step,nonZero,{1},curr={2},target={3},add={4},decay={5},frict={6},ret={7}",
+            MDetailLog("{0},  BSVMotor.Step,nonZero,{1},curr={2},target={3},add={4},decay={5},frict={6},ret={7}",
-                                    BSScene.DetailLogZero, UseName, TargetValue, CurrentValue, 
+                                    BSScene.DetailLogZero, UseName, CurrentValue, TargetValue,
                                    addAmount, decayFactor, frictionFactor, returnCurrent);
        }
        else
@@ -103,7 +171,7 @@ public class BSVMotor : BSMotor
            CurrentValue = Vector3.Zero;
            TargetValue = Vector3.Zero;
-            MDetailLog("{0},BSVMotor.Step,zero,{1},curr={2},target={3},ret={4}",
+            MDetailLog("{0},  BSVMotor.Step,zero,{1},curr={2},target={3},ret={4}",
                                    BSScene.DetailLogZero, UseName, TargetValue, CurrentValue, returnCurrent);
        }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index caa6c46..62aaf80 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -253,8 +253,9 @@ public sealed class BSPrim : BSPhysObject
        // Zero some other properties in the physics engine
        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
        {
-            BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
+            // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity);
-            BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
+            BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+            BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
        });
    }
@@ -329,7 +330,7 @@ public sealed class BSPrim : BSPhysObject
        if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
        {
-            float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position);
+            float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position);
            // TODO: a floating motor so object will bob in the water
            if (Math.Abs(Position.Z - waterHeight) > 0.1f)
            {
@@ -347,7 +348,9 @@ public sealed class BSPrim : BSPhysObject
        if (ret)
        {
            // Apply upforce and overcome gravity.
-            AddForce(upForce - PhysicsScene.DefaultGravity, false, inTaintTime);
+            OMV.Vector3 correctionForce = upForce - PhysicsScene.DefaultGravity;
+            DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, _position, upForce, correctionForce);
+            AddForce(correctionForce, false, inTaintTime);
        }
        return ret;
    }
@@ -643,9 +646,13 @@ public sealed class BSPrim : BSPhysObject
        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
        // Collision filter can be set only when the object is in the world
-        if (PhysBody.collisionFilter != 0 || PhysBody.collisionMask != 0)
+        if (PhysBody.collisionGroup != 0 || PhysBody.collisionMask != 0)
        {
-            BulletSimAPI.SetCollisionFilterMask2(PhysBody.ptr, (uint)PhysBody.collisionFilter, (uint)PhysBody.collisionMask);
+            if (!BulletSimAPI.SetCollisionGroupMask2(PhysBody.ptr, (uint)PhysBody.collisionGroup, (uint)PhysBody.collisionMask))
+            {
+                PhysicsScene.Logger.ErrorFormat("{0} Failure setting prim collision mask. localID={1}, grp={2:X}, mask={3:X}",
+                                LogHeader, LocalID, PhysBody.collisionGroup, PhysBody.collisionMask);
+            }
        }
        // Recompute any linkset parameters.
@@ -684,11 +691,11 @@ public sealed class BSPrim : BSPhysObject
            // There can be special things needed for implementing linksets
            Linkset.MakeStatic(this);
            // The activation state is 'disabled' so Bullet will not try to act on it.
-            BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
+            // BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
            // Start it out sleeping and physical actions could wake it up.
-            // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
+            BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ISLAND_SLEEPING);
-            PhysBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter;
+            PhysBody.collisionGroup = CollisionFilterGroups.StaticObjectGroup;
            PhysBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
        }
        else
@@ -734,7 +741,7 @@ public sealed class BSPrim : BSPhysObject
            BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG);
            // BulletSimAPI.Activate2(BSBody.ptr, true);
-            PhysBody.collisionFilter = CollisionFilterGroups.ObjectFilter;
+            PhysBody.collisionGroup = CollisionFilterGroups.ObjectGroup;
            PhysBody.collisionMask = CollisionFilterGroups.ObjectMask;
        }
    }
@@ -762,7 +769,7 @@ public sealed class BSPrim : BSPhysObject
                m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType);
            }
            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
-            PhysBody.collisionFilter = CollisionFilterGroups.VolumeDetectFilter;
+            PhysBody.collisionGroup = CollisionFilterGroups.VolumeDetectGroup;
            PhysBody.collisionMask = CollisionFilterGroups.VolumeDetectMask;
        }
    }
@@ -838,15 +845,6 @@ public sealed class BSPrim : BSPhysObject
    }
    public override OMV.Vector3 RotationalVelocity {
        get {
-            /*
-            OMV.Vector3 pv = OMV.Vector3.Zero;
-            // if close to zero, report zero
-            // This is copied from ODE but I'm not sure why it returns zero but doesn't
-            //    zero the property in the physics engine.
-            if (_rotationalVelocity.ApproxEquals(pv, 0.2f))
-                return pv;
-             */
            return _rotationalVelocity;
        }
        set {
@@ -1012,6 +1010,9 @@ public sealed class BSPrim : BSPhysObject
        });
    }
    // A torque impulse.
+    // ApplyTorqueImpulse adds torque directly to the angularVelocity.
+    // AddAngularForce accumulates the force and applied it to the angular velocity all at once.
+    // Computed as: angularVelocity += impulse * inertia;
    public void ApplyTorqueImpulse(OMV.Vector3 impulse, bool inTaintTime)
    {
        OMV.Vector3 applyImpulse = impulse;
@@ -1380,54 +1381,16 @@ public sealed class BSPrim : BSPhysObject
    public override void UpdateProperties(EntityProperties entprop)
    {
-        /*
+        // Updates only for individual prims and for the root object of a linkset.
-        UpdatedProperties changed = 0;
+        if (Linkset.IsRoot(this))
-        // assign to the local variables so the normal set action does not happen
-        // if (_position != entprop.Position)
-        if (!_position.ApproxEquals(entprop.Position, POSITION_TOLERANCE))
-        {
-            _position = entprop.Position;
-            changed |= UpdatedProperties.Position;
-        }
-        // if (_orientation != entprop.Rotation)
-        if (!_orientation.ApproxEquals(entprop.Rotation, ROTATION_TOLERANCE))
-        {
-            _orientation = entprop.Rotation;
-            changed |= UpdatedProperties.Rotation;
-        }
-        // if (_velocity != entprop.Velocity)
-        if (!_velocity.ApproxEquals(entprop.Velocity, VELOCITY_TOLERANCE))
-        {
-            _velocity = entprop.Velocity;
-            changed |= UpdatedProperties.Velocity;
-        }
-        // if (_acceleration != entprop.Acceleration)
-        if (!_acceleration.ApproxEquals(entprop.Acceleration, ACCELERATION_TOLERANCE))
-        {
-            _acceleration = entprop.Acceleration;
-            changed |= UpdatedProperties.Acceleration;
-        }
-        // if (_rotationalVelocity != entprop.RotationalVelocity)
-        if (!_rotationalVelocity.ApproxEquals(entprop.RotationalVelocity, ROTATIONAL_VELOCITY_TOLERANCE))
-        {
-            _rotationalVelocity = entprop.RotationalVelocity;
-            changed |= UpdatedProperties.RotationalVel;
-        }
-        if (changed != 0)
        {
-            // Only update the position of single objects and linkset roots
+            // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
-            if (Linkset.IsRoot(this))
+            // TODO: handle physics introduced by Bullet with computed vehicle physics.
+            if (_vehicle.IsActive)
            {
-                base.RequestPhysicsterseUpdate();
+                entprop.RotationalVelocity = OMV.Vector3.Zero;
            }
-        }
-        */
-        // Don't check for damping here -- it's done in BulletSim and SceneObjectPart.
-        // Updates only for individual prims and for the root object of a linkset.
-        if (Linkset.IsRoot(this))
-        {
            // Assign directly to the local variables so the normal set action does not happen
            _position = entprop.Position;
            _orientation = entprop.Rotation;
@@ -1436,7 +1399,7 @@ public sealed class BSPrim : BSPhysObject
            _rotationalVelocity = entprop.RotationalVelocity;
            // The sanity check can change the velocity and/or position.
-            if (PositionSanityCheck(true))
+            if (IsPhysical && PositionSanityCheck(true))
            {
                entprop.Position = _position;
                entprop.Velocity = _velocity;
@@ -1446,12 +1409,10 @@ public sealed class BSPrim : BSPhysObject
            LastEntityProperties = CurrentEntityProperties;
            CurrentEntityProperties = entprop;
-            OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation;
+            OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation;   // DEBUG DEBUG DEBUG
            DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}",
                    LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity);
-            // BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, BSBody.ptr);   // DEBUG DEBUG DEBUG
            base.RequestPhysicsterseUpdate();
        }
            /*
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 805e670..f72bd74 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -96,6 +96,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
    public long SimulationStep { get { return m_simulationStep; } }
    private int m_taintsToProcessPerStep;
+    public delegate void PreStepAction(float timeStep);
+    public event PreStepAction BeforeStep;
    // A value of the time now so all the collision and update routines do not have to get their own
    // Set to 'now' just before all the prims and actors are called for collisions and updates
    public int SimulationNowTime { get; private set; }
@@ -127,7 +130,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
    public const uint GROUNDPLANE_ID = 1;
    public const uint CHILDTERRAIN_ID = 2;  // Terrain allocated based on our mega-prim childre start here
-    private float m_waterLevel;
+    public float SimpleWaterLevel { get; set; }
    public BSTerrainManager TerrainManager { get; private set; }
    public ConfigurationParameters Params
@@ -182,6 +185,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
    private string m_physicsLoggingDir;
    private string m_physicsLoggingPrefix;
    private int m_physicsLoggingFileMinutes;
+    private bool m_physicsLoggingDoFlush;
    // 'true' of the vehicle code is to log lots of details
    public bool VehicleLoggingEnabled { get; private set; }
@@ -290,6 +294,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
                m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", ".");
                m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-");
                m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5);
+                m_physicsLoggingDoFlush = pConfig.GetBoolean("PhysicsLoggingDoFlush", false);
                // Very detailed logging for vehicle debugging
                VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
@@ -485,8 +490,10 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
        ProcessTaints();
        // Some of the prims operate with special vehicle properties
-        ProcessVehicles(timeStep);
+        DoPreStepActions(timeStep);
-        ProcessTaints();    // the vehicles might have added taints
+        // the prestep actions might have added taints
+        ProcessTaints();
        // step the physical world one interval
        m_simulationStep++;
@@ -515,9 +522,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
            collidersCount = 0;
        }
-        // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in
+        // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in.
-        // Get a value for 'now' so all the collision and update routines don't have to get their own
+        // Get a value for 'now' so all the collision and update routines don't have to get their own.
        SimulationNowTime = Util.EnvironmentTickCount();
        // If there were collisions, process them by sending the event to the prim.
@@ -563,6 +570,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
                ObjectsWithCollisions.Remove(po);
            ObjectsWithNoMoreCollisions.Clear();
        }
+        // Done with collisions.
        // If any of the objects had updated properties, tell the object it has been changed by the physics engine
        if (updatedEntityCount > 0)
@@ -586,9 +594,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
        // The physics engine returns the number of milliseconds it simulated this call.
        // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
-        // We multiply by 55 to give a recognizable running rate (55 or less).
+        // Multiply by 55 to give a nominal frame rate of 55.
-        return numSubSteps * m_fixedTimeStep * 1000 * 55;
+        return (float)numSubSteps * m_fixedTimeStep * 1000f * 55f;
-        // return timeStep * 1000 * 55;
    }
    // Something has collided
@@ -634,12 +641,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
    public override void SetWaterLevel(float baseheight)
    {
-        m_waterLevel = baseheight;
+        SimpleWaterLevel = baseheight;
-    }
-    // Someday....
-    public float GetWaterLevelAtXYZ(Vector3 loc)
-    {
-        return m_waterLevel;
    }
    public override void DeleteTerrain()
@@ -910,6 +912,16 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
        }
    }
+    private void DoPreStepActions(float timeStep)
+    {
+        ProcessVehicles(timeStep);
+        PreStepAction actions = BeforeStep;
+        if (actions != null)
+            actions(timeStep);
+    }
    // Some prims have extra vehicle actions
    // Called at taint time!
    private void ProcessVehicles(float timeStep)
@@ -974,6 +986,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
    //          Should handle fetching the right type from the ini file and converting it.
    //    -- a delegate for getting the value as a float
    //    -- a delegate for setting the value from a float
+    //    -- an optional delegate to update the value in the world. Most often used to
+    //          push the new value to an in-world object.
    //
    // The single letter parameters for the delegates are:
    //    s = BSScene
@@ -1172,7 +1186,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
            (s) => { return s.m_params[0].avatarFriction; },
            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarFriction, p, l, v); } ),
        new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
-            0.99f,
+            10.0f,
            (s,cf,p,v) => { s.m_params[0].avatarStandingFriction = cf.GetFloat(p, v); },
            (s) => { return s.m_params[0].avatarStandingFriction; },
            (s,p,l,v) => { s.m_params[0].avatarStandingFriction = v; } ),
@@ -1493,7 +1507,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
    {
        PhysicsLogging.Write(msg, args);
        // Add the Flush() if debugging crashes. Gets all the messages written out.
-        // PhysicsLogging.Flush();
+        if (m_physicsLoggingDoFlush) PhysicsLogging.Flush();
    }
    // Used to fill in the LocalID when there isn't one. It's the correct number of characters.
    public const string DetailLogZero = "0000000000";
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index 892c34b..e77b6ba 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -65,9 +65,16 @@ public sealed class BSShapeCollection : IDisposable
    private Dictionary<System.UInt64, MeshDesc> Meshes = new Dictionary<System.UInt64, MeshDesc>();
    private Dictionary<System.UInt64, HullDesc> Hulls = new Dictionary<System.UInt64, HullDesc>();
+    private bool DDetail = false;
    public BSShapeCollection(BSScene physScene)
    {
        PhysicsScene = physScene;
+        // Set the next to 'true' for very detailed shape update detailed logging (detailed details?)
+        // While detailed debugging is still active, this is better than commenting out all the
+        //     DetailLog statements. When debugging slows down, this and the protected logging
+        //     statements can be commented/removed.
+        DDetail = true;
    }
    public void Dispose()
@@ -126,13 +133,13 @@ public sealed class BSShapeCollection : IDisposable
    {
        lock (m_collectionActivityLock)
        {
-            DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body);
+            if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body);
            PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.ReferenceBody", delegate()
            {
                if (!BulletSimAPI.IsInWorld2(body.ptr))
                {
                    BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr);
-                    DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body);
+                    if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body);
                }
            });
        }
@@ -149,7 +156,7 @@ public sealed class BSShapeCollection : IDisposable
        {
            PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceBody", delegate()
            {
-                DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1},inTaintTime={2}",
+                if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1},inTaintTime={2}",
                                            body.ID, body, inTaintTime);
                // If the caller needs to know the old body is going away, pass the event up.
                if (bodyCallback != null) bodyCallback(body);
@@ -157,7 +164,7 @@ public sealed class BSShapeCollection : IDisposable
                if (BulletSimAPI.IsInWorld2(body.ptr))
                {
                    BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr);
-                    DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body);
+                    if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body);
                }
                // Zero any reference to the shape so it is not freed when the body is deleted.
@@ -184,7 +191,7 @@ public sealed class BSShapeCollection : IDisposable
                {
                    // There is an existing instance of this mesh.
                    meshDesc.referenceCount++;
-                    DetailLog("{0},BSShapeCollection.ReferenceShape,existingMesh,key={1},cnt={2}",
+                    if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,existingMesh,key={1},cnt={2}",
                                BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
                }
                else
@@ -194,7 +201,7 @@ public sealed class BSShapeCollection : IDisposable
                    meshDesc.shapeKey = shape.shapeKey;
                    // We keep a reference to the underlying IMesh data so a hull can be built
                    meshDesc.referenceCount = 1;
-                    DetailLog("{0},BSShapeCollection.ReferenceShape,newMesh,key={1},cnt={2}",
+                    if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newMesh,key={1},cnt={2}",
                                BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
                    ret = true;
                }
@@ -207,7 +214,7 @@ public sealed class BSShapeCollection : IDisposable
                {
                    // There is an existing instance of this hull.
                    hullDesc.referenceCount++;
-                    DetailLog("{0},BSShapeCollection.ReferenceShape,existingHull,key={1},cnt={2}",
+                    if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,existingHull,key={1},cnt={2}",
                                BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
                }
                else
@@ -216,7 +223,7 @@ public sealed class BSShapeCollection : IDisposable
                    hullDesc.ptr = shape.ptr;
                    hullDesc.shapeKey = shape.shapeKey;
                    hullDesc.referenceCount = 1;
-                    DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}",
+                    if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}",
                                BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
                    ret = true;
@@ -246,7 +253,7 @@ public sealed class BSShapeCollection : IDisposable
                if (shape.isNativeShape)
                {
                    // Native shapes are not tracked and are released immediately
-                    DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
+                    if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
                                    BSScene.DetailLogZero, shape.ptr.ToString("X"), inTaintTime);
                    if (shapeCallback != null) shapeCallback(shape);
                    BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
@@ -286,7 +293,7 @@ public sealed class BSShapeCollection : IDisposable
            if (shapeCallback != null) shapeCallback(shape);
            meshDesc.lastReferenced = System.DateTime.Now;
            Meshes[shape.shapeKey] = meshDesc;
-            DetailLog("{0},BSShapeCollection.DereferenceMesh,shape={1},refCnt={2}",
+            if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceMesh,shape={1},refCnt={2}",
                                BSScene.DetailLogZero, shape, meshDesc.referenceCount);
        }
@@ -307,7 +314,7 @@ public sealed class BSShapeCollection : IDisposable
            hullDesc.lastReferenced = System.DateTime.Now;
            Hulls[shape.shapeKey] = hullDesc;
-            DetailLog("{0},BSShapeCollection.DereferenceHull,shape={1},refCnt={2}",
+            if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceHull,shape={1},refCnt={2}",
                    BSScene.DetailLogZero, shape, hullDesc.referenceCount);
        }
    }
@@ -325,13 +332,13 @@ public sealed class BSShapeCollection : IDisposable
            // Failed the sanity check!!
            PhysicsScene.Logger.ErrorFormat("{0} Attempt to free a compound shape that is not compound!! type={1}, ptr={2}",
                                        LogHeader, shape.type, shape.ptr.ToString("X"));
-            DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}",
+            if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}",
                                        BSScene.DetailLogZero, shape.type, shape.ptr.ToString("X"));
            return;
        }
        int numChildren = BulletSimAPI.GetNumberOfCompoundChildren2(shape.ptr);
-        DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}", BSScene.DetailLogZero, shape, numChildren);
+        if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}", BSScene.DetailLogZero, shape, numChildren);
        for (int ii = numChildren - 1; ii >= 0; ii--)
        {
@@ -379,7 +386,7 @@ public sealed class BSShapeCollection : IDisposable
            }
        }
-        DetailLog("{0},BSShapeCollection.DereferenceAnonCollisionShape,shape={1}", BSScene.DetailLogZero, shapeInfo);
+        if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceAnonCollisionShape,shape={1}", BSScene.DetailLogZero, shapeInfo);
        if (shapeInfo.type != BSPhysicsShapeType.SHAPE_UNKNOWN)
        {
@@ -410,7 +417,7 @@ public sealed class BSShapeCollection : IDisposable
            // an avatar capsule is close to a native shape (it is not shared)
            ret = GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_CAPSULE,
                            FixedShapeKey.KEY_CAPSULE, shapeCallback);
-            DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape);
+            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape);
            ret = true;
            haveShape = true;
        }
@@ -420,7 +427,7 @@ public sealed class BSShapeCollection : IDisposable
        if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND)
        {
            ret = GetReferenceToCompoundShape(prim, shapeCallback);
-            DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, prim.PhysShape);
+            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, prim.PhysShape);
            haveShape = true;
        }
@@ -465,7 +472,7 @@ public sealed class BSShapeCollection : IDisposable
                {
                    ret = GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_SPHERE,
                                            FixedShapeKey.KEY_SPHERE, shapeCallback);
-                    DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}",
+                    if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}",
                                        prim.LocalID, forceRebuild, prim.PhysShape);
                }
            }
@@ -479,7 +486,7 @@ public sealed class BSShapeCollection : IDisposable
                {
                    ret = GetReferenceToNativeShape( prim, BSPhysicsShapeType.SHAPE_BOX,
                                            FixedShapeKey.KEY_BOX, shapeCallback);
-                    DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}",
+                    if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}",
                                        prim.LocalID, forceRebuild, prim.PhysShape);
                }
            }
@@ -504,13 +511,13 @@ public sealed class BSShapeCollection : IDisposable
        {
            // Update prim.BSShape to reference a hull of this shape.
            ret = GetReferenceToHull(prim,shapeCallback);
-            DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}",
+            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}",
                                    prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X"));
        }
        else
        {
            ret = GetReferenceToMesh(prim, shapeCallback);
-            DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}",
+            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}",
                                    prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X"));
        }
        return ret;
@@ -528,7 +535,7 @@ public sealed class BSShapeCollection : IDisposable
        BulletShape newShape = BuildPhysicalNativeShape(prim, shapeType, shapeKey);
        // Don't need to do a 'ReferenceShape()' here because native shapes are not shared.
-        DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}",
+        if (DDetail) DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}",
                                prim.LocalID, newShape, prim.Scale);
        prim.PhysShape = newShape;
@@ -554,7 +561,7 @@ public sealed class BSShapeCollection : IDisposable
            newShape = new BulletShape(
                        BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, prim.Scale)
                        , shapeType);
-            DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
+            if (DDetail) DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
        }
        else
        {
@@ -589,7 +596,7 @@ public sealed class BSShapeCollection : IDisposable
        if (newMeshKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_MESH)
            return false;
-        DetailLog("{0},BSShapeCollection.GetReferenceToMesh,create,oldKey={1},newKey={2}",
+        if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToMesh,create,oldKey={1},newKey={2}",
                                prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newMeshKey.ToString("X"));
        // Since we're recreating new, get rid of the reference to the previous shape
@@ -620,8 +627,7 @@ public sealed class BSShapeCollection : IDisposable
        }
        else
        {
-            // Pass false for physicalness as this creates some sort of bounding box which we don't need
+            meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false);
-            meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false);
            if (meshData != null)
            {
@@ -663,7 +669,7 @@ public sealed class BSShapeCollection : IDisposable
        if (newHullKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_HULL)
            return false;
-        DetailLog("{0},BSShapeCollection.GetReferenceToHull,create,oldKey={1},newKey={2}",
+        if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToHull,create,oldKey={1},newKey={2}",
                        prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newHullKey.ToString("X"));
        // Remove usage of the previous shape.
@@ -694,8 +700,8 @@ public sealed class BSShapeCollection : IDisposable
        else
        {
            // Build a new hull in the physical world
-            // Pass false for physicalness as this creates some sort of bounding box which we don't need
+            // Pass true for physicalness as this creates some sort of bounding box which we don't need
-            IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false);
+            IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false);
            if (meshData != null)
            {
@@ -809,7 +815,7 @@ public sealed class BSShapeCollection : IDisposable
        // Create the shape for the root prim and add it to the compound shape. Cannot be a native shape.
        CreateGeomMeshOrHull(prim, shapeCallback);
        BulletSimAPI.AddChildShapeToCompoundShape2(cShape.ptr, prim.PhysShape.ptr, OMV.Vector3.Zero, OMV.Quaternion.Identity);
-        DetailLog("{0},BSShapeCollection.GetReferenceToCompoundShape,addRootPrim,compShape={1},rootShape={2}",
+        if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToCompoundShape,addRootPrim,compShape={1},rootShape={2}",
                                    prim.LocalID, cShape, prim.PhysShape);
        prim.PhysShape = cShape;
@@ -936,13 +942,13 @@ public sealed class BSShapeCollection : IDisposable
            {
                bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr,
                                        prim.LocalID, prim.RawPosition, prim.RawOrientation);
-                DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
+                if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
            }
            else
            {
                bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr,
                                        prim.LocalID, prim.RawPosition, prim.RawOrientation);
-                DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
+                if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
            }
            aBody = new BulletBody(prim.LocalID, bodyPtr);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
index 1450f66..83b9c37 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
@@ -121,8 +121,8 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
        // redo its bounding box now that it is in the world
        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
-        BulletSimAPI.SetCollisionFilterMask2(m_mapInfo.terrainBody.ptr,
+        BulletSimAPI.SetCollisionGroupMask2(m_mapInfo.terrainBody.ptr,
-                            (uint)CollisionFilterGroups.TerrainFilter,
+                            (uint)CollisionFilterGroups.TerrainGroup,
                            (uint)CollisionFilterGroups.TerrainMask);
        // Make it so the terrain will not move or be considered for movement.
@@ -148,7 +148,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
    }
    // The passed position is relative to the base of the region.
-    public override float GetHeightAtXYZ(Vector3 pos)
+    public override float GetTerrainHeightAtXYZ(Vector3 pos)
    {
        float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
@@ -166,5 +166,11 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
        }
        return ret;
    }
+    // The passed position is relative to the base of the region.
+    public override float GetWaterLevelAtXYZ(Vector3 pos)
+    {
+        return PhysicsScene.SimpleWaterLevel;
+    }
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
index cd623f1..83df360 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
@@ -62,7 +62,8 @@ public abstract class BSTerrainPhys : IDisposable
        ID = id;
    }
    public abstract void Dispose();
-    public abstract float GetHeightAtXYZ(Vector3 pos);
+    public abstract float GetTerrainHeightAtXYZ(Vector3 pos);
+    public abstract float GetWaterLevelAtXYZ(Vector3 pos);
 }
 // ==========================================================================================
@@ -75,6 +76,7 @@ public sealed class BSTerrainManager
    public const float HEIGHT_INITIALIZATION = 24.987f;
    public const float HEIGHT_INITIAL_LASTHEIGHT = 24.876f;
    public const float HEIGHT_GETHEIGHT_RET = 24.765f;
+    public const float WATER_HEIGHT_GETHEIGHT_RET = 19.998f;
    // If the min and max height are equal, we reduce the min by this
    //    amount to make sure that a bounding box is built for the terrain.
@@ -138,8 +140,8 @@ public sealed class BSTerrainManager
        // Ground plane does not move
        BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION);
        // Everything collides with the ground plane.
-        BulletSimAPI.SetCollisionFilterMask2(m_groundPlane.ptr,
+        BulletSimAPI.SetCollisionGroupMask2(m_groundPlane.ptr,
-                        (uint)CollisionFilterGroups.GroundPlaneFilter, (uint)CollisionFilterGroups.GroundPlaneMask);
+                        (uint)CollisionFilterGroups.GroundPlaneGroup, (uint)CollisionFilterGroups.GroundPlaneMask);
        // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain.
        BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize);
@@ -358,7 +360,7 @@ public sealed class BSTerrainManager
            BSTerrainPhys physTerrain;
            if (m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain))
            {
-                ret = physTerrain.GetHeightAtXYZ(loc - terrainBaseXYZ);
+                ret = physTerrain.GetTerrainHeightAtXYZ(loc - terrainBaseXYZ);
            }
            else
            {
@@ -370,6 +372,33 @@ public sealed class BSTerrainManager
        return ret;
    }
+    public float GetWaterLevelAtXYZ(Vector3 pos)
+    {
+        float ret = WATER_HEIGHT_GETHEIGHT_RET;
+        float tX = pos.X;
+        float tY = pos.Y;
+        Vector3 terrainBaseXYZ = Vector3.Zero;
+        terrainBaseXYZ.X = ((int)(tX / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X;
+        terrainBaseXYZ.Y = ((int)(tY / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y;
+        lock (m_terrains)
+        {
+            BSTerrainPhys physTerrain;
+            if (m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain))
+            {
+                ret = physTerrain.GetWaterLevelAtXYZ(pos);
+            }
+            else
+            {
+                PhysicsScene.Logger.ErrorFormat("{0} GetWaterHeightAtXY: terrain not found: region={1}, x={2}, y={3}",
+                        LogHeader, PhysicsScene.RegionName, tX, tY);
+            }
+        }
+        return ret;
+    }
    // Although no one seems to check this, I do support combining.
    public bool SupportsCombining()
    {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
index d7afdeb..6ce767d 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
@@ -88,9 +88,11 @@ public sealed class BSTerrainMesh : BSTerrainPhys
            // Something is very messed up and a crash is in our future.
            return;
        }
+        PhysicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,indices={1},indSz={2},vertices={3},vertSz={4}", 
+                                ID, indicesCount, indices.Length, verticesCount, vertices.Length);
        m_terrainShape = new BulletShape(BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
-                                        indicesCount, indices, verticesCount, vertices),
+                                                    indicesCount, indices, verticesCount, vertices),
                                        BSPhysicsShapeType.SHAPE_MESH);
        if (m_terrainShape.ptr == IntPtr.Zero)
        {
@@ -122,14 +124,14 @@ public sealed class BSTerrainMesh : BSTerrainPhys
        // Static objects are not very massive.
        BulletSimAPI.SetMassProps2(m_terrainBody.ptr, 0f, Vector3.Zero);
-        // Return the new terrain to the world of physical objects
+        // Put the new terrain to the world of physical objects
        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr);
-        // redo its bounding box now that it is in the world
+        // Redo its bounding box now that it is in the world
        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr);
-        BulletSimAPI.SetCollisionFilterMask2(m_terrainBody.ptr,
+        BulletSimAPI.SetCollisionGroupMask2(m_terrainBody.ptr,
-                            (uint)CollisionFilterGroups.TerrainFilter,
+                            (uint)CollisionFilterGroups.TerrainGroup,
                            (uint)CollisionFilterGroups.TerrainMask);
        // Make it so the terrain will not move or be considered for movement.
@@ -146,7 +148,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys
        }
    }
-    public override float GetHeightAtXYZ(Vector3 pos)
+    public override float GetTerrainHeightAtXYZ(Vector3 pos)
    {
        // For the moment use the saved heightmap to get the terrain height.
        // TODO: raycast downward to find the true terrain below the position.
@@ -167,6 +169,12 @@ public sealed class BSTerrainMesh : BSTerrainPhys
        return ret;
    }
+    // The passed position is relative to the base of the region.
+    public override float GetWaterLevelAtXYZ(Vector3 pos)
+    {
+        return PhysicsScene.SimpleWaterLevel;
+    }
    // Convert the passed heightmap to mesh information suitable for CreateMeshShape2().
    // Return 'true' if successfully created.
    public static bool ConvertHeightmapToMesh(
@@ -188,6 +196,11 @@ public sealed class BSTerrainMesh : BSTerrainPhys
        // Simple mesh creation which assumes magnification == 1.
        // TODO: do a more general solution that scales, adds new vertices and smoothes the result.
+        // Create an array of vertices that is sizeX+1 by sizeY+1 (note the loop
+        //    from zero to <= sizeX). The triangle indices are then generated as two triangles
+        //    per heightmap point. There are sizeX by sizeY of these squares. The extra row and
+        //    column of vertices are used to complete the triangles of the last row and column
+        //    of the heightmap.
        try
        {
            // One vertice per heightmap value plus the vertices off the top and bottom edge.
@@ -200,16 +213,18 @@ public sealed class BSTerrainMesh : BSTerrainPhys
            float magY = (float)sizeY / extentY;
            physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2},extentBase={3},magX={4},magY={5}",
                                    BSScene.DetailLogZero, totalVertices, totalIndices, extentBase, magX, magY);
+            float minHeight = float.MaxValue;
            // Note that sizeX+1 vertices are created since there is land between this and the next region.
            for (int yy = 0; yy <= sizeY; yy++)
            {
-                for (int xx = 0; xx <= sizeX; xx++)     // Hint: the "<=" means we got through sizeX + 1 times
+                for (int xx = 0; xx <= sizeX; xx++)     // Hint: the "<=" means we go around sizeX + 1 times
                {
                    int offset = yy * sizeX + xx;
-                    // Extend the height from the height from the last row or column
+                    // Extend the height with the height from the last row or column
                    if (yy == sizeY) offset -= sizeX;
                    if (xx == sizeX) offset -= 1;
                    float height = heightMap[offset];
+                    minHeight = Math.Min(minHeight, height);
                    vertices[verticesCount + 0] = (float)xx * magX + extentBase.X;
                    vertices[verticesCount + 1] = (float)yy * magY + extentBase.Y;
                    vertices[verticesCount + 2] = height + extentBase.Z;
@@ -222,7 +237,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys
            {
                for (int xx = 0; xx < sizeX; xx++)
                {
-                    int offset = yy * sizeX + xx;
+                    int offset = yy * (sizeX + 1) + xx;
                    // Each vertices is presumed to be the upper left corner of a box of two triangles
                    indices[indicesCount + 0] = offset;
                    indices[indicesCount + 1] = offset + 1;
@@ -233,6 +248,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys
                    indicesCount += 6;
                }
            }
            ret = true;
        }
        catch (Exception e)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index 12baee9..2671995 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -57,12 +57,12 @@ public struct BulletBody
    {
        ID = id;
        ptr = xx;
-        collisionFilter = 0;
+        collisionGroup = 0;
        collisionMask = 0;
    }
    public IntPtr ptr;
    public uint ID;
-    public CollisionFilterGroups collisionFilter;
+    public CollisionFilterGroups collisionGroup;
    public CollisionFilterGroups collisionMask;
    public override string ToString()
    {
@@ -71,10 +71,10 @@ public struct BulletBody
        buff.Append(ID.ToString());
        buff.Append(",p=");
        buff.Append(ptr.ToString("X"));
-        if (collisionFilter != 0 || collisionMask != 0)
+        if (collisionGroup != 0 || collisionMask != 0)
        {
-            buff.Append(",f=");
+            buff.Append(",g=");
-            buff.Append(collisionFilter.ToString("X"));
+            buff.Append(collisionGroup.ToString("X"));
            buff.Append(",m=");
            buff.Append(collisionMask.ToString("X"));
        }
@@ -357,9 +357,10 @@ public enum CollisionFlags : uint
    CF_CHARACTER_OBJECT              = 1 << 4,
    CF_DISABLE_VISUALIZE_OBJECT      = 1 << 5,
    CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
-    // Following used by BulletSim to control collisions
+    // Following used by BulletSim to control collisions and updates
    BS_SUBSCRIBE_COLLISION_EVENTS    = 1 << 10,
    BS_FLOATS_ON_WATER               = 1 << 11,
+    BS_VEHICLE_COLLISIONS            = 1 << 12,
    BS_NONE                          = 0,
    BS_ALL                           = 0xFFFFFFFF,
@@ -376,36 +377,36 @@ public enum CollisionFilterGroups : uint
    // Don't use the bit definitions!!  Define the use in a
    //   filter/mask definition below. This way collision interactions
    //   are more easily debugged.
-    BNoneFilter              = 0,
+    BNoneGroup              = 0,
-    BDefaultFilter           = 1 << 0,
+    BDefaultGroup           = 1 << 0,
-    BStaticFilter            = 1 << 1,
+    BStaticGroup            = 1 << 1,
-    BKinematicFilter         = 1 << 2,
+    BKinematicGroup         = 1 << 2,
-    BDebrisFilter            = 1 << 3,
+    BDebrisGroup            = 1 << 3,
-    BSensorTrigger           = 1 << 4,
+    BSensorTrigger          = 1 << 4,
-    BCharacterFilter         = 1 << 5,
+    BCharacterGroup         = 1 << 5,
-    BAllFilter               = 0xFFFFFFFF,
+    BAllGroup               = 0xFFFFFFFF,
    // Filter groups defined by BulletSim
-    BGroundPlaneFilter       = 1 << 10,
+    BGroundPlaneGroup       = 1 << 10,
-    BTerrainFilter           = 1 << 11,
+    BTerrainGroup           = 1 << 11,
-    BRaycastFilter           = 1 << 12,
+    BRaycastGroup           = 1 << 12,
-    BSolidFilter             = 1 << 13,
+    BSolidGroup             = 1 << 13,
-    BLinksetFilter           = 1 << 14,
+    BLinksetGroup           = 1 << 14,
    // The collsion filters and masked are defined in one place -- don't want them scattered
-    AvatarFilter            = BCharacterFilter,
+    AvatarGroup             = BCharacterGroup,
-    AvatarMask              = BAllFilter,
+    AvatarMask              = BAllGroup,
-    ObjectFilter            = BSolidFilter,
+    ObjectGroup             = BSolidGroup,
-    ObjectMask              = BAllFilter,
+    ObjectMask              = BAllGroup,
-    StaticObjectFilter      = BStaticFilter,
+    StaticObjectGroup       = BStaticGroup,
-    StaticObjectMask        = BAllFilter & ~BStaticFilter,   // static objects don't collide with each other
+    StaticObjectMask        = AvatarGroup | ObjectGroup,    // static things don't interact with much
-    LinksetFilter           = BLinksetFilter,
+    LinksetGroup            = BLinksetGroup,
-    LinksetMask             = BAllFilter & ~BLinksetFilter, // linkset objects don't collide with each other
+    LinksetMask             = BAllGroup & ~BLinksetGroup, // linkset objects don't collide with each other
-    VolumeDetectFilter      = BSensorTrigger,
+    VolumeDetectGroup       = BSensorTrigger,
    VolumeDetectMask        = ~BSensorTrigger,
-    TerrainFilter           = BTerrainFilter,
+    TerrainGroup            = BTerrainGroup,
-    TerrainMask             = BAllFilter & ~BStaticFilter,  // static objects on the ground don't collide
+    TerrainMask             = BAllGroup & ~BStaticGroup,  // static objects on the ground don't collide
-    GroundPlaneFilter       = BGroundPlaneFilter,
+    GroundPlaneGroup        = BGroundPlaneGroup,
-    GroundPlaneMask         = BAllFilter
+    GroundPlaneMask         = BAllGroup
 };
@@ -945,7 +946,7 @@ public static extern IntPtr GetConstraintRef2(IntPtr obj, int index);
 public static extern int GetNumConstraintRefs2(IntPtr obj);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCollisionFilterMask2(IntPtr body, uint filter, uint mask);
+public static extern bool SetCollisionGroupMask2(IntPtr body, uint filter, uint mask);
 // =====================================================================================
 // btCollisionShape entries
@@ -1007,13 +1008,16 @@ public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject);
 public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo);
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpAllInfo2(IntPtr sim);
+public static extern void DumpActivationInfo2(IntPtr sim);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo);
+public static extern void DumpAllInfo2(IntPtr sim);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern void DumpPhysicsStatistics2(IntPtr sim);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
new file mode 100755
index 0000000..d51003c
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -0,0 +1,142 @@
+CRASHES
+=================================================
+20121129.1411: editting/moving phys object across region boundries causes crash
+    getPos-> btRigidBody::upcast -> getBodyType -> BOOM
+20121128.1600: mesh object not rezzing (no physics mesh).
+    Causes many errors. Doesn't stop after first error with box shape.
+    Eventually crashes when deleting the object.
+VEHICLES TODO LIST:
+=================================================
+Neb car jiggling left and right
+        Happens on terrain and any other mesh object. Flat cubes are much smoother.
+Vehicles (Move smoothly)
+Add vehicle collisions so IsColliding is properly reported.
+        Needed for banking, limitMotorUp, movementLimiting, ...
+Some vehicles should not be able to turn if no speed or off ground.
+For limitMotorUp, use raycast down to find if vehicle is in the air.
+Implement function efficiency for lineaar and angular motion.
+Should vehicle angular/linear movement friction happen after all the components
+        or does it only apply to the basic movement?
+After getting off a vehicle, the root prim is phantom (can be walked through)
+    Need to force a position update for the root prim after compound shape destruction
+Linkset explosion after three "rides" on Nebadon lite vehicle (LinksetConstraint)
+Implement referenceFrame for all the motion routines.
+Cannot edit/move a vehicle being ridden: it jumps back to the origional position.
+BULLETSIM TODO LIST:
+=================================================
+Disable activity of passive linkset children.
+        Since the linkset is a compound object, the old prims are left lying
+        around and need to be phantomized so they don't collide, ...
+Scenes with hundred of thousands of static objects take a lot of physics CPU time.
+BSPrim.Force should set a continious force on the prim. The force should be
+        applied each tick.  Some limits?
+Single prim vehicles don't seem to properly vehiclize.
+Gun sending shooter flying.
+Collision margin (gap between physical objects lying on each other)
+Boundry checking (crashes related to crossing boundry)
+    Add check for border edge position for avatars and objects.
+    Verify the events are created for border crossings.
+Avatar rotation (check out changes to ScenePresence for physical rotation)
+Avatar running (what does phys engine need to do?)
+Small physical objects do not interact correctly
+    Create chain of .5x.5x.1 torui and make all but top physical so to hang.
+        The chain will fall apart and pairs will dance around on ground
+    Chains of 1x1x.2 will stay connected but will dance.
+    Chains above 2x2x.4 are move stable and get stablier as torui get larger.
+Add material type linkage and input all the material property definitions.
+        Skeleton classes and table are in the sources but are not filled or used.
+Add PID motor for avatar movement (slow to stop, ...)
+setForce should set a constant force. Different than AddImpulse.
+Implement raycast.
+Implement ShapeCollection.Dispose()
+Implement water as a plain so raycasting and collisions can happen with same.
+Find/remove avatar collision with ID=0.
+Test avatar walking up stairs. How does compare with SL.
+    Radius of the capsule affects ability to climb edges.
+Tune terrain/object friction to be closer to SL.
+Debounce avatar contact so legs don't keep folding up when standing.
+Implement LSL physics controls. Like STATUS_ROTATE_X.
+Add border extensions to terrain to help region crossings and objects leaving region.
+Speed up creation of large physical linksets
+        For instance, sitting in Neb's car (130 prims) takes several seconds to become physical
+Performance test with lots of avatars. Can BulletSim support a thousand?
+Optimize collisions in C++: only send up to the object subscribed to collisions.
+    Use collision subscription and remove the collsion(A,B) and collision(B,A)
+Check whether SimMotionState needs large if statement (see TODO).
+Implement 'top colliders' info.
+Avatar jump
+Performance measurement and changes to make quicker.
+Implement detailed physics stats (GetStats()).
+Eliminate collisions between objects in a linkset. (LinksetConstraint)
+    Have UserPointer point to struct with localID and linksetID?
+    Objects in original linkset still collide with each other?
+Measure performance improvement from hulls
+Test not using ghost objects for volume detect implementation.
+Performance of closures and delegates for taint processing
+        Are there faster ways?
+        Is any slowdown introduced by the existing implementation significant?
+Is there are more efficient method of implementing pre and post step actions?
+        See http://www.codeproject.com/Articles/29922/Weak-Events-in-C
+Physics Arena central pyramid: why is one side permiable?
+INTERNAL IMPROVEMENT/CLEANUP
+=================================================
+Remove unused fields from ShapeData (not used in API2)
+Breakout code for mesh/hull/compound/native into separate BSShape* classes
+    Standardize access to building and reference code.
+        The skeleton classes are in the sources but are not complete or linked in.
+Generalize Dynamics and PID with standardized motors.
+Generalize Linkset and vehicles into PropertyManagers
+    Methods for Refresh, RemoveBodyDependencies, RestoreBodyDependencies
+        Possibly generalized a 'pre step action' registration.
+Complete implemention of preStepActions
+        Replace vehicle step call with prestep event.
+        Is there a need for postStepActions? postStepTaints?
+Implement linkset by setting position of children when root updated. (LinksetManual)
+        Linkset implementation using manual prim movement.
+LinkablePrim class? Would that simplify/centralize the linkset logic?
+BSScene.UpdateParameterSet() is broken. How to set params on objects?
+Remove HeightmapInfo from terrain specification.
+    Since C++ code does not need terrain height, this structure et al are not needed.
+Add floating motor for BS_FLOATS_ON_WATER so prim and avatar will
+    bob at the water level. BSPrim.PositionSanityCheck().
+THREADING
+=================================================
+Do taint action immediately if not actually executing Bullet.
+        Add lock around Bullet execution and just do taint actions if simulation is not happening.
+DONE DONE DONE DONE
+=================================================
+Cleanup code in BSDynamics by using motors. (Resolution: started)
+Consider implementing terrain with a mesh rather than heightmap. (Resolution: done)
+    Would have better and adjustable resolution.
+Build terrain mesh so heighmap is height of the center of the square meter.
+    Resolution: NOT DONE: SL and ODE define meter square as being at one corner with one diagional.
+Terrain as mesh. (Resolution: done)
+How are static linksets seen by the physics engine?
+    Resolution: they are not linked in physics. When moved, all the children are repositioned.
+Convert BSCharacter to use all API2 (Resolution: done)
+Avatar pushing difficult (too heavy?)
+Use asset service passed to BulletSim to get sculptie bodies, etc. (Resolution: done)
+Remove old code in DLL (all non-API2 stuff). (Resolution: done)
+Measurements of mega-physical prim performance (with graph) (Resolution: done, email)
+Debug Bullet internal stats output (why is timing all wrong?)
+        Resolution: Bullet stats logging only works with a single instance of Bullet (one region).
+Implement meshes or just verify that they work. (Resolution: they do!)
+Do prim hash codes work for sculpties and meshes? (Resolution: yes)
+Linkset implementation using compound shapes. (Resolution: implemented LinksetCompound)
+    Compound shapes will need the LocalID in the shapes and collision
+    processing to get it from there.
+Light cycle falling over when driving (Resolution: implemented VerticalAttractor)
+Light cycle not banking (Resolution: It doesn't. Banking is roll adding yaw.)
+Package Bullet source mods for Bullet internal stats output
+        (Resolution: move code into WorldData.h rather than relying on patches)
+\ No newline at end of file
diff --git a/OpenSim/Region/Physics/Manager/IMesher.cs b/OpenSim/Region/Physics/Manager/IMesher.cs
index 3a9ca1b..10c4bd3 100644
--- a/OpenSim/Region/Physics/Manager/IMesher.cs
+++ b/OpenSim/Region/Physics/Manager/IMesher.cs
@@ -36,6 +36,7 @@ namespace OpenSim.Region.Physics.Manager
    {
        IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod);
        IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical);
+        IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool shouldCache);
    }
    // Values for level of detail to be passed to the mesher.
diff --git a/OpenSim/Region/Physics/Manager/ZeroMesher.cs b/OpenSim/Region/Physics/Manager/ZeroMesher.cs
index ba19db6..270d2ec 100644
--- a/OpenSim/Region/Physics/Manager/ZeroMesher.cs
+++ b/OpenSim/Region/Physics/Manager/ZeroMesher.cs
@@ -64,11 +64,16 @@ namespace OpenSim.Region.Physics.Manager
    {
        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod)
        {
-            return CreateMesh(primName, primShape, size, lod, false);
+            return CreateMesh(primName, primShape, size, lod, false, false);
        }
        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical)
        {
+            return CreateMesh(primName, primShape, size, lod, false, false);
+        }
+        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool shouldCache)
+        {
            // Remove the reference to the encoded JPEG2000 data so it can be GCed
            primShape.SculptData = OpenMetaverse.Utils.EmptyBytes;
diff --git a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
index 3bd15ce..8145d61 100644
--- a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
+++ b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
@@ -321,7 +321,10 @@ namespace OpenSim.Region.Physics.Meshing
            if (primShape.SculptData.Length <= 0)
            {
-                m_log.ErrorFormat("[MESH]: asset data for {0} is zero length", primName);
+                // XXX: At the moment we can not log here since ODEPrim, for instance, ends up triggering this
+                // method twice - once before it has loaded sculpt data from the asset service and once afterwards.
+                // The first time will always call with unloaded SculptData if this needs to be uploaded.
+//                m_log.ErrorFormat("[MESH]: asset data for {0} is zero length", primName);
                return false;
            }
@@ -699,11 +702,16 @@ namespace OpenSim.Region.Physics.Meshing
        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod)
        {
-            return CreateMesh(primName, primShape, size, lod, false);
+            return CreateMesh(primName, primShape, size, lod, false, true);
        }
        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical)
        {
+            return CreateMesh(primName, primShape, size, lod, isPhysical, true);
+        }
+        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool shouldCache)
+        {
 #if SPAM
            m_log.DebugFormat("[MESH]: Creating mesh for {0}", primName);
 #endif
@@ -713,9 +721,12 @@ namespace OpenSim.Region.Physics.Meshing
            // If this mesh has been created already, return it instead of creating another copy
            // For large regions with 100k+ prims and hundreds of copies of each, this can save a GB or more of memory
-            key = primShape.GetMeshKey(size, lod);
+            if (shouldCache)
-            if (m_uniqueMeshes.TryGetValue(key, out mesh))
+            {
-                return mesh;
+                key = primShape.GetMeshKey(size, lod);
+                if (m_uniqueMeshes.TryGetValue(key, out mesh))
+                    return mesh;
+            }
            if (size.X < 0.01f) size.X = 0.01f;
            if (size.Y < 0.01f) size.Y = 0.01f;
@@ -738,7 +749,10 @@ namespace OpenSim.Region.Physics.Meshing
                // trim the vertex and triangle lists to free up memory
                mesh.TrimExcess();
-                m_uniqueMeshes.Add(key, mesh);
+                if (shouldCache)
+                {
+                    m_uniqueMeshes.Add(key, mesh);
+                }
            }
            return mesh;
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
index 5a0b8d1..0d66496 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
@@ -3361,6 +3361,11 @@ Console.WriteLine(" JointCreateFixed");
                _pbs.SculptData = new byte[asset.Data.Length];
                asset.Data.CopyTo(_pbs.SculptData, 0);
 //                m_assetFailed = false;
+//                m_log.DebugFormat(
+//                    "[ODE PRIM]: Received mesh/sculpt data asset {0} with {1} bytes for {2} at {3} in {4}", 
+//                    _pbs.SculptTexture, _pbs.SculptData.Length, Name, _position, _parent_scene.Name);
                m_taintshape = true;
               _parent_scene.AddPhysicsActorTaint(this);
            }
diff --git a/OpenSim/Region/ScriptEngine/Interfaces/IScriptInstance.cs b/OpenSim/Region/ScriptEngine/Interfaces/IScriptInstance.cs
index b04f6b6..0cef550 100644
--- a/OpenSim/Region/ScriptEngine/Interfaces/IScriptInstance.cs
+++ b/OpenSim/Region/ScriptEngine/Interfaces/IScriptInstance.cs
@@ -114,6 +114,16 @@ namespace OpenSim.Region.ScriptEngine.Interfaces
        UUID AssetID { get; }
        Queue EventQueue { get; }
+        /// <summary>
+        /// Number of events queued for processing.
+        /// </summary>
+        long EventsQueued { get; }
+        /// <summary>
+        /// Number of events processed by this script instance.
+        /// </summary>
+        long EventsProcessed { get; }
        void ClearQueue();
        int StartParam { get; set; }
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
index acf4d8c..4108588 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
@@ -6856,6 +6856,13 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
        public void llCloseRemoteDataChannel(string channel)
        {
            m_host.AddScriptLPS(1);
+            IXmlRpcRouter xmlRpcRouter = m_ScriptEngine.World.RequestModuleInterface<IXmlRpcRouter>();
+            if (xmlRpcRouter != null)
+            {
+                xmlRpcRouter.UnRegisterReceiver(channel, m_item.ItemID);
+            }
            IXMLRPC xmlrpcMod = m_ScriptEngine.World.RequestModuleInterface<IXMLRPC>();
            xmlrpcMod.CloseXMLRPCChannel((UUID)channel);
            ScriptSleep(1000);
diff --git a/OpenSim/Region/ScriptEngine/Shared/Instance/ScriptInstance.cs b/OpenSim/Region/ScriptEngine/Shared/Instance/ScriptInstance.cs
index 5793cc9..5ad6eeb 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Instance/ScriptInstance.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Instance/ScriptInstance.cs
@@ -173,6 +173,17 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
        public Queue EventQueue { get; private set; }
+        public long EventsQueued
+        {
+            get 
+            {
+                lock (EventQueue)
+                    return EventQueue.Count;
+            }   
+        }
+        public long EventsProcessed { get; private set; }
        public int StartParam { get; set; }
        public TaskInventoryItem ScriptTask { get; private set; }
@@ -774,6 +785,17 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
                                                           ChatTypeEnum.DebugChannel, 2147483647,
                                                           part.AbsolutePosition,
                                                           part.Name, part.UUID, false);
+                                    m_log.DebugFormat(
+                                        "[SCRIPT INSTANCE]: Runtime error in script {0}, part {1} {2} at {3} in {4}, displayed error {5}, actual exception {6}", 
+                                        ScriptName, 
+                                        PrimName, 
+                                        part.UUID,
+                                        part.AbsolutePosition,
+                                        part.ParentGroup.Scene.Name, 
+                                        text.Replace("\n", "\\n"), 
+                                        e.InnerException);
                                }
                                catch (Exception)
                                {
@@ -808,6 +830,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
                // script engine to run the next event.
                lock (EventQueue)
                {
+                    EventsProcessed++;
                    if (EventQueue.Count > 0 && Running && !ShuttingDown)
                    {
                        m_CurrentWorkItem = Engine.QueueEventHandler(this);
@@ -1013,7 +1037,6 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
                                    "({0}): {1}", scriptLine - 1,
                                    e.InnerException.Message);
-                            System.Console.WriteLine(e.ToString()+"\n");
                            return message;
                        }
                    }
diff --git a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiInventoryTests.cs b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiInventoryTests.cs
index 2c9d9e8..cb7291a 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiInventoryTests.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiInventoryTests.cs
@@ -57,8 +57,10 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
        protected XEngine.XEngine m_engine;
        [SetUp]
-        public void SetUp()
+        public override void SetUp()
        {
+            base.SetUp();
            IConfigSource initConfigSource = new IniConfigSource();
            IConfig config = initConfigSource.AddConfig("XEngine");
            config.Set("Enabled", "true");
diff --git a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiLinkingTests.cs b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiLinkingTests.cs
index 57f19b9..d9b17d7 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiLinkingTests.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiLinkingTests.cs
@@ -62,8 +62,10 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
        protected XEngine.XEngine m_engine;
        [SetUp]
-        public void SetUp()
+        public override void SetUp()
        {
+            base.SetUp();
            IConfigSource initConfigSource = new IniConfigSource();
            IConfig config = initConfigSource.AddConfig("XEngine");
            config.Set("Enabled", "true");
diff --git a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiListTests.cs b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiListTests.cs
index 182b07b..98017d8 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiListTests.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiListTests.cs
@@ -51,8 +51,10 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
        private LSL_Api m_lslApi;
        [SetUp]
-        public void SetUp()
+        public override void SetUp()
        {
+            base.SetUp();
            IConfigSource initConfigSource = new IniConfigSource();
            IConfig config = initConfigSource.AddConfig("XEngine");
            config.Set("Enabled", "true");
diff --git a/OpenSim/Region/ScriptEngine/Shared/Tests/OSSL_ApiAppearanceTest.cs b/OpenSim/Region/ScriptEngine/Shared/Tests/OSSL_ApiAppearanceTest.cs
index 213f33f..1381d2b 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Tests/OSSL_ApiAppearanceTest.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Tests/OSSL_ApiAppearanceTest.cs
@@ -57,8 +57,10 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
        protected XEngine.XEngine m_engine;
        [SetUp]
-        public void SetUp()
+        public override void SetUp()
        {
+            base.SetUp();
            IConfigSource initConfigSource = new IniConfigSource();
            IConfig config = initConfigSource.AddConfig("XEngine");
            config.Set("Enabled", "true");
diff --git a/OpenSim/Region/ScriptEngine/Shared/Tests/OSSL_ApiNpcTests.cs b/OpenSim/Region/ScriptEngine/Shared/Tests/OSSL_ApiNpcTests.cs
index b49bcc2..d6c82f1 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Tests/OSSL_ApiNpcTests.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Tests/OSSL_ApiNpcTests.cs
@@ -127,12 +127,10 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
            OSSL_Api osslApi = new OSSL_Api();
            osslApi.Initialize(m_engine, so.RootPart, null);
-            string npcRaw;
            bool gotExpectedException = false;
            try
            {
-                npcRaw
+                osslApi.osNpcCreate("Jane", "Doe", new LSL_Types.Vector3(128, 128, 128), "not existing notecard name");
-                    = osslApi.osNpcCreate("Jane", "Doe", new LSL_Types.Vector3(128, 128, 128), "not existing notecard name");
            }
            catch (ScriptException)
            {
diff --git a/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs b/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs
index 0460f22..965101a 100644
--- a/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs
+++ b/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs
@@ -30,6 +30,7 @@ using System.Collections;
 using System.Collections.Generic;
 using System.Globalization;
 using System.IO;
+using System.Linq;
 using System.Reflection;
 using System.Security;
 using System.Security.Policy;
@@ -377,9 +378,21 @@ namespace OpenSim.Region.ScriptEngine.XEngine
        /// </summary>
        /// <param name="cmdparams"></param>
        /// <param name="instance"></param>
-        /// <returns>true if we're okay to proceed, false if not.</returns>
+        /// <param name="comparer">Basis on which to sort output.  Can be null if no sort needs to take place</param>
        private void HandleScriptsAction(string[] cmdparams, Action<IScriptInstance> action)
        {
+            HandleScriptsAction<object>(cmdparams, action, null);
+        }
+        /// <summary>
+        /// Parse the raw item id into a script instance from the command params if it's present.
+        /// </summary>
+        /// <param name="cmdparams"></param>
+        /// <param name="instance"></param>
+        /// <param name="keySelector">Basis on which to sort output.  Can be null if no sort needs to take place</param>
+        private void HandleScriptsAction<TKey>(
+            string[] cmdparams, Action<IScriptInstance> action, Func<IScriptInstance, TKey> keySelector)
+        {
            if (!(MainConsole.Instance.ConsoleScene == null || MainConsole.Instance.ConsoleScene == m_Scene))
                return;
@@ -390,7 +403,12 @@ namespace OpenSim.Region.ScriptEngine.XEngine
    
                if (cmdparams.Length == 2)
                {
-                    foreach (IScriptInstance instance in m_Scripts.Values)
+                    IEnumerable<IScriptInstance> scripts = m_Scripts.Values;
+                    if (keySelector != null)
+                        scripts = scripts.OrderBy<IScriptInstance, TKey>(keySelector);
+                    foreach (IScriptInstance instance in scripts)
                        action(instance);
                    return;
@@ -437,9 +455,20 @@ namespace OpenSim.Region.ScriptEngine.XEngine
            StringBuilder sb = new StringBuilder();
            sb.AppendFormat("Status of XEngine instance for {0}\n", m_Scene.RegionInfo.RegionName);
+            long scriptsLoaded, eventsQueued = 0, eventsProcessed = 0;
            lock (m_Scripts)
-                sb.AppendFormat("Scripts loaded             : {0}\n", m_Scripts.Count);
+            {
+                scriptsLoaded = m_Scripts.Count;
+                foreach (IScriptInstance si in m_Scripts.Values)
+                {
+                    eventsQueued += si.EventsQueued;
+                    eventsProcessed += si.EventsProcessed;
+                }
+            }
+            sb.AppendFormat("Scripts loaded             : {0}\n", scriptsLoaded);
            sb.AppendFormat("Unique scripts             : {0}\n", m_uniqueScripts.Count);
            sb.AppendFormat("Scripts waiting for load   : {0}\n", m_CompileQueue.Count);
            sb.AppendFormat("Max threads                : {0}\n", m_ThreadPool.MaxThreads);
@@ -448,6 +477,8 @@ namespace OpenSim.Region.ScriptEngine.XEngine
            sb.AppendFormat("In use threads             : {0}\n", m_ThreadPool.InUseThreads);
            sb.AppendFormat("Work items waiting         : {0}\n", m_ThreadPool.WaitingCallbacks);
 //            sb.AppendFormat("Assemblies loaded          : {0}\n", m_Assemblies.Count);
+            sb.AppendFormat("Events queued              : {0}\n", eventsQueued);
+            sb.AppendFormat("Events processed           : {0}\n", eventsProcessed);
            SensorRepeat sr = AsyncCommandManager.GetSensorRepeatPlugin(this);
            sb.AppendFormat("Sensors                    : {0}\n", sr != null ? sr.SensorsCount : 0);
@@ -478,7 +509,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine
                }
            }
-            HandleScriptsAction(cmdparams, HandleShowScript);
+            HandleScriptsAction<long>(cmdparams, HandleShowScript, si => si.EventsProcessed);
        }
        private void HandleShowScript(IScriptInstance instance)
@@ -508,10 +539,8 @@ namespace OpenSim.Region.ScriptEngine.XEngine
            sb.AppendFormat("Script name         : {0}\n", instance.ScriptName);
            sb.AppendFormat("Status              : {0}\n", status);
+            sb.AppendFormat("Queued events       : {0}\n", instance.EventsQueued);
-            lock (eq)
+            sb.AppendFormat("Processed events    : {0}\n", instance.EventsProcessed);
-                sb.AppendFormat("Queued events       : {0}\n", eq.Count);
            sb.AppendFormat("Item UUID           : {0}\n", instance.ItemID);
            sb.AppendFormat("Containing part name: {0}\n", instance.PrimName);
            sb.AppendFormat("Containing part UUID: {0}\n", instance.ObjectID);
@@ -1018,8 +1047,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine
            string assembly = "";
-            CultureInfo USCulture = new CultureInfo("en-US");
+            Culture.SetCurrentCulture();
-            Thread.CurrentThread.CurrentCulture = USCulture;
            Dictionary<KeyValuePair<int, int>, KeyValuePair<int, int>> linemap;
@@ -1415,8 +1443,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine
        /// <returns></returns>
        private object ProcessEventHandler(object parms)
        {
-            CultureInfo USCulture = new CultureInfo("en-US");
+            Culture.SetCurrentCulture();
-            Thread.CurrentThread.CurrentCulture = USCulture;
            IScriptInstance instance = (ScriptInstance) parms;