BulletSim: rework some parameter setting implementation moving functionality that was in BSScene to BSParam. Remove unused parameters that were passed to the unmanaged code. Update DLLs and SOs for the new param block.

9 files changed, 152 insertions, 158 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
index 04e77b8..39e62dd 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
@@ -1088,7 +1088,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
     {
         CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData();
 
-        p.angularDamping = o[0].XangularDamping;
+        p.angularDamping = BSParam.AngularDamping;
         p.defaultFriction = o[0].defaultFriction;
         p.defaultFriction = o[0].defaultFriction;
         p.defaultDensity = o[0].defaultDensity;
@@ -1096,32 +1096,32 @@ private sealed class BulletConstraintXNA : BulletConstraint
         p.collisionMargin = o[0].collisionMargin;
         p.gravity = o[0].gravity;
 
-        p.linearDamping = o[0].XlinearDamping;
-        p.angularDamping = o[0].XangularDamping;
-        p.deactivationTime = o[0].XdeactivationTime;
-        p.linearSleepingThreshold = o[0].XlinearSleepingThreshold;
-        p.angularSleepingThreshold = o[0].XangularSleepingThreshold;
-        p.ccdMotionThreshold = o[0].XccdMotionThreshold;
-        p.ccdSweptSphereRadius = o[0].XccdSweptSphereRadius;
-        p.contactProcessingThreshold = o[0].XcontactProcessingThreshold;
-
-        p.terrainImplementation = o[0].XterrainImplementation;
-        p.terrainFriction = o[0].XterrainFriction;
-
-        p.terrainHitFraction = o[0].XterrainHitFraction;
-        p.terrainRestitution = o[0].XterrainRestitution;
-        p.terrainCollisionMargin = o[0].XterrainCollisionMargin;
-
-        p.avatarFriction = o[0].XavatarFriction;
-        p.avatarStandingFriction = o[0].XavatarStandingFriction;
-        p.avatarDensity = o[0].XavatarDensity;
-        p.avatarRestitution = o[0].XavatarRestitution;
-        p.avatarCapsuleWidth = o[0].XavatarCapsuleWidth;
-        p.avatarCapsuleDepth = o[0].XavatarCapsuleDepth;
-        p.avatarCapsuleHeight = o[0].XavatarCapsuleHeight;
-        p.avatarContactProcessingThreshold = o[0].XavatarContactProcessingThreshold;
+        p.linearDamping = BSParam.LinearDamping;
+        p.angularDamping = BSParam.AngularDamping;
+        p.deactivationTime = BSParam.DeactivationTime;
+        p.linearSleepingThreshold = BSParam.LinearSleepingThreshold;
+        p.angularSleepingThreshold = BSParam.AngularSleepingThreshold;
+        p.ccdMotionThreshold = BSParam.CcdMotionThreshold;
+        p.ccdSweptSphereRadius = BSParam.CcdSweptSphereRadius;
+        p.contactProcessingThreshold = BSParam.ContactProcessingThreshold;
+
+        p.terrainImplementation = BSParam.TerrainImplementation;
+        p.terrainFriction = BSParam.TerrainFriction;
+
+        p.terrainHitFraction = BSParam.TerrainHitFraction;
+        p.terrainRestitution = BSParam.TerrainRestitution;
+        p.terrainCollisionMargin = BSParam.TerrainCollisionMargin;
+
+        p.avatarFriction = BSParam.AvatarFriction;
+        p.avatarStandingFriction = BSParam.AvatarStandingFriction;
+        p.avatarDensity = BSParam.AvatarDensity;
+        p.avatarRestitution = BSParam.AvatarRestitution;
+        p.avatarCapsuleWidth = BSParam.AvatarCapsuleWidth;
+        p.avatarCapsuleDepth = BSParam.AvatarCapsuleDepth;
+        p.avatarCapsuleHeight = BSParam.AvatarCapsuleHeight;
+        p.avatarContactProcessingThreshold = BSParam.AvatarContactProcessingThreshold;
        
-        p.vehicleAngularDamping = o[0].XvehicleAngularDamping;
+        p.vehicleAngularDamping = BSParam.VehicleAngularDamping;
         
         p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize;
         p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize;
@@ -1132,15 +1132,15 @@ private sealed class BulletConstraintXNA : BulletConstraint
         p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching;
         p.numberOfSolverIterations = o[0].numberOfSolverIterations;
 
-        p.linksetImplementation = o[0].XlinksetImplementation;
-        p.linkConstraintUseFrameOffset = o[0].XlinkConstraintUseFrameOffset;
-        p.linkConstraintEnableTransMotor = o[0].XlinkConstraintEnableTransMotor;
-        p.linkConstraintTransMotorMaxVel = o[0].XlinkConstraintTransMotorMaxVel;
-        p.linkConstraintTransMotorMaxForce = o[0].XlinkConstraintTransMotorMaxForce;
-        p.linkConstraintERP = o[0].XlinkConstraintERP;
-        p.linkConstraintCFM = o[0].XlinkConstraintCFM;
-        p.linkConstraintSolverIterations = o[0].XlinkConstraintSolverIterations;
-        p.physicsLoggingFrames = o[0].XphysicsLoggingFrames;
+        p.linksetImplementation = BSParam.LinksetImplementation;
+        p.linkConstraintUseFrameOffset = BSParam.LinkConstraintUseFrameOffset;
+        p.linkConstraintEnableTransMotor = BSParam.LinkConstraintEnableTransMotor;
+        p.linkConstraintTransMotorMaxVel = BSParam.LinkConstraintTransMotorMaxVel;
+        p.linkConstraintTransMotorMaxForce = BSParam.LinkConstraintTransMotorMaxForce;
+        p.linkConstraintERP = BSParam.LinkConstraintERP;
+        p.linkConstraintCFM = BSParam.LinkConstraintCFM;
+        p.linkConstraintSolverIterations = BSParam.LinkConstraintSolverIterations;
+        p.physicsLoggingFrames = o[0].physicsLoggingFrames;
         DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo();
         
         DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration();
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
index abbd22c..5e06c1e 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
@@ -174,32 +174,6 @@ public struct ConfigurationParameters
     public float collisionMargin;
     public float gravity;
 
-    public float XlinearDamping;
-    public float XangularDamping;
-    public float XdeactivationTime;
-    public float XlinearSleepingThreshold;
-    public float XangularSleepingThreshold;
-        public float XccdMotionThreshold;
-        public float XccdSweptSphereRadius;
-    public float XcontactProcessingThreshold;
-
-    public float XterrainImplementation;
-    public float XterrainFriction;
-    public float XterrainHitFraction;
-    public float XterrainRestitution;
-    public float XterrainCollisionMargin;
-
-    public float XavatarFriction;
-    public float XavatarStandingFriction;
-    public float XavatarDensity;
-    public float XavatarRestitution;
-    public float XavatarCapsuleWidth;
-    public float XavatarCapsuleDepth;
-    public float XavatarCapsuleHeight;
-        public float XavatarContactProcessingThreshold;
-
-    public float XvehicleAngularDamping;
-
         public float maxPersistantManifoldPoolSize;
         public float maxCollisionAlgorithmPoolSize;
         public float shouldDisableContactPoolDynamicAllocation;
@@ -208,17 +182,9 @@ public struct ConfigurationParameters
         public float shouldSplitSimulationIslands;
         public float shouldEnableFrictionCaching;
         public float numberOfSolverIterations;
+    public float useSingleSidedMeshes;
 
-    public float XlinksetImplementation;
-    public float XlinkConstraintUseFrameOffset;
-    public float XlinkConstraintEnableTransMotor;
-    public float XlinkConstraintTransMotorMaxVel;
-    public float XlinkConstraintTransMotorMaxForce;
-    public float XlinkConstraintERP;
-    public float XlinkConstraintCFM;
-    public float XlinkConstraintSolverIterations;
-
-    public float XphysicsLoggingFrames;
+    public float physicsLoggingFrames;
 
     public const float numericTrue = 1f;
     public const float numericFalse = 0f;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index 8c098b2..fbef7e7 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -68,6 +68,24 @@ public static class BSParam
     public static float TerrainRestitution { get; private set; }
     public static float TerrainCollisionMargin { get; private set; }
 
+    public static float DefaultFriction;
+    public static float DefaultDensity;
+    public static float DefaultRestitution;
+    public static float CollisionMargin;
+    public static float Gravity;
+
+    // Physics Engine operation
+        public static float MaxPersistantManifoldPoolSize;
+        public static float MaxCollisionAlgorithmPoolSize;
+        public static float ShouldDisableContactPoolDynamicAllocation;
+        public static float ShouldForceUpdateAllAabbs;
+        public static float ShouldRandomizeSolverOrder;
+        public static float ShouldSplitSimulationIslands;
+        public static float ShouldEnableFrictionCaching;
+        public static float NumberOfSolverIterations;
+    public static bool UseSingleSidedMeshes { get { return UseSingleSidedMeshesF != ConfigurationParameters.numericFalse; } }
+    public static float UseSingleSidedMeshesF;
+
     // Avatar parameters
     public static float AvatarFriction { get; private set; }
     public static float AvatarStandingFriction { get; private set; }
@@ -287,29 +305,29 @@ public static class BSParam
 
         new ParameterDefn("DefaultFriction", "Friction factor used on new objects",
             0.2f,
-            (s,cf,p,v) => { s.UnmanagedParams[0].defaultFriction = cf.GetFloat(p, v); },
-            (s) => { return s.UnmanagedParams[0].defaultFriction; },
-            (s,p,l,v) => { s.UnmanagedParams[0].defaultFriction = v; } ),
+            (s,cf,p,v) => { DefaultFriction = cf.GetFloat(p, v); },
+            (s) => { return DefaultFriction; },
+            (s,p,l,v) => { DefaultFriction = v; s.UnmanagedParams[0].defaultFriction = v; } ),
         new ParameterDefn("DefaultDensity", "Density for new objects" ,
             10.000006836f,  // Aluminum g/cm3
-            (s,cf,p,v) => { s.UnmanagedParams[0].defaultDensity = cf.GetFloat(p, v); },
-            (s) => { return s.UnmanagedParams[0].defaultDensity; },
-            (s,p,l,v) => { s.UnmanagedParams[0].defaultDensity = v; } ),
+            (s,cf,p,v) => { DefaultDensity = cf.GetFloat(p, v); },
+            (s) => { return DefaultDensity; },
+            (s,p,l,v) => { DefaultDensity = v; s.UnmanagedParams[0].defaultDensity = v; } ),
         new ParameterDefn("DefaultRestitution", "Bouncyness of an object" ,
             0f,
-            (s,cf,p,v) => { s.UnmanagedParams[0].defaultRestitution = cf.GetFloat(p, v); },
-            (s) => { return s.UnmanagedParams[0].defaultRestitution; },
-            (s,p,l,v) => { s.UnmanagedParams[0].defaultRestitution = v; } ),
+            (s,cf,p,v) => { DefaultRestitution = cf.GetFloat(p, v); },
+            (s) => { return DefaultRestitution; },
+            (s,p,l,v) => { DefaultRestitution = v; s.UnmanagedParams[0].defaultRestitution = v; } ),
         new ParameterDefn("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)",
             0.04f,
-            (s,cf,p,v) => { s.UnmanagedParams[0].collisionMargin = cf.GetFloat(p, v); },
-            (s) => { return s.UnmanagedParams[0].collisionMargin; },
-            (s,p,l,v) => { s.UnmanagedParams[0].collisionMargin = v; } ),
+            (s,cf,p,v) => { CollisionMargin = cf.GetFloat(p, v); },
+            (s) => { return CollisionMargin; },
+            (s,p,l,v) => { CollisionMargin = v; s.UnmanagedParams[0].collisionMargin = v; } ),
         new ParameterDefn("Gravity", "Vertical force of gravity (negative means down)",
             -9.80665f,
-            (s,cf,p,v) => { s.UnmanagedParams[0].gravity = cf.GetFloat(p, v); },
-            (s) => { return s.UnmanagedParams[0].gravity; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{s.UnmanagedParams[0].gravity=x;}, p, PhysParameterEntry.APPLY_TO_NONE, v); },
+            (s,cf,p,v) => { Gravity = cf.GetFloat(p, v); },
+            (s) => { return Gravity; },
+            (s,p,l,v) => { Gravity = v; s.UnmanagedParams[0].gravity = v; },
             (s,o,v) => { s.PE.SetGravity(o.PhysBody, new Vector3(0f,0f,v)); } ),
 
 
@@ -317,49 +335,49 @@ public static class BSParam
             0f,
             (s,cf,p,v) => { LinearDamping = cf.GetFloat(p, v); },
             (s) => { return LinearDamping; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearDamping=x;}, p, l, v); },
+            (s,p,l,v) => { LinearDamping = v; },
             (s,o,v) => { s.PE.SetDamping(o.PhysBody, v, AngularDamping); } ),
         new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)",
             0f,
             (s,cf,p,v) => { AngularDamping = cf.GetFloat(p, v); },
             (s) => { return AngularDamping; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularDamping=x;}, p, l, v); },
+            (s,p,l,v) => { AngularDamping = v; },
             (s,o,v) => { s.PE.SetDamping(o.PhysBody, LinearDamping, v); } ),
         new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static",
             0.2f,
             (s,cf,p,v) => { DeactivationTime = cf.GetFloat(p, v); },
             (s) => { return DeactivationTime; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{DeactivationTime=x;}, p, l, v); },
+            (s,p,l,v) => { DeactivationTime = v; },
             (s,o,v) => { s.PE.SetDeactivationTime(o.PhysBody, v); } ),
         new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static",
             0.8f,
             (s,cf,p,v) => { LinearSleepingThreshold = cf.GetFloat(p, v); },
             (s) => { return LinearSleepingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearSleepingThreshold=x;}, p, l, v); },
+            (s,p,l,v) => { LinearSleepingThreshold = v;},
             (s,o,v) => { s.PE.SetSleepingThresholds(o.PhysBody, v, v); } ),
         new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static",
             1.0f,
             (s,cf,p,v) => { AngularSleepingThreshold = cf.GetFloat(p, v); },
             (s) => { return AngularSleepingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularSleepingThreshold=x;}, p, l, v); },
+            (s,p,l,v) => { AngularSleepingThreshold = v;},
             (s,o,v) => { s.PE.SetSleepingThresholds(o.PhysBody, v, v); } ),
         new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ,
             0.0f,     // set to zero to disable
             (s,cf,p,v) => { CcdMotionThreshold = cf.GetFloat(p, v); },
             (s) => { return CcdMotionThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdMotionThreshold=x;}, p, l, v); },
+            (s,p,l,v) => { CcdMotionThreshold = v;},
             (s,o,v) => { s.PE.SetCcdMotionThreshold(o.PhysBody, v); } ),
         new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" ,
             0.2f,
             (s,cf,p,v) => { CcdSweptSphereRadius = cf.GetFloat(p, v); },
             (s) => { return CcdSweptSphereRadius; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdSweptSphereRadius=x;}, p, l, v); },
+            (s,p,l,v) => { CcdSweptSphereRadius = v;},
             (s,o,v) => { s.PE.SetCcdSweptSphereRadius(o.PhysBody, v); } ),
         new ParameterDefn("ContactProcessingThreshold", "Distance above which contacts can be discarded (0 means no discard)" ,
             0.0f,
             (s,cf,p,v) => { ContactProcessingThreshold = cf.GetFloat(p, v); },
             (s) => { return ContactProcessingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{ContactProcessingThreshold=x;}, p, l, v); },
+            (s,p,l,v) => { ContactProcessingThreshold = v;},
             (s,o,v) => { s.PE.SetContactProcessingThreshold(o.PhysBody, v); } ),
 
             new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)",
@@ -392,7 +410,7 @@ public static class BSParam
             0.2f,
             (s,cf,p,v) => { AvatarFriction = cf.GetFloat(p, v); },
             (s) => { return AvatarFriction; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarFriction=x;}, p, l, v); } ),
+            (s,p,l,v) => { AvatarFriction = v; } ),
         new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
             10.0f,
             (s,cf,p,v) => { AvatarStandingFriction = cf.GetFloat(p, v); },
@@ -407,32 +425,32 @@ public static class BSParam
             3.5f,
             (s,cf,p,v) => { AvatarDensity = cf.GetFloat(p, v); },
             (s) => { return AvatarDensity; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarDensity=x;}, p, l, v); } ),
+            (s,p,l,v) => { AvatarDensity = v; } ),
         new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.",
             0f,
             (s,cf,p,v) => { AvatarRestitution = cf.GetFloat(p, v); },
             (s) => { return AvatarRestitution; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarRestitution=x;}, p, l, v); } ),
+            (s,p,l,v) => { AvatarRestitution = v; } ),
         new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule",
             0.6f,
             (s,cf,p,v) => { AvatarCapsuleWidth = cf.GetFloat(p, v); },
             (s) => { return AvatarCapsuleWidth; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleWidth=x;}, p, l, v); } ),
+            (s,p,l,v) => { AvatarCapsuleWidth = v; } ),
         new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule",
             0.45f,
             (s,cf,p,v) => { AvatarCapsuleDepth = cf.GetFloat(p, v); },
             (s) => { return AvatarCapsuleDepth; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleDepth=x;}, p, l, v); } ),
+            (s,p,l,v) => { AvatarCapsuleDepth = v; } ),
         new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar",
             1.5f,
             (s,cf,p,v) => { AvatarCapsuleHeight = cf.GetFloat(p, v); },
             (s) => { return AvatarCapsuleHeight; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleHeight=x;}, p, l, v); } ),
+            (s,p,l,v) => { AvatarCapsuleHeight = v; } ),
             new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions",
             0.1f,
             (s,cf,p,v) => { AvatarContactProcessingThreshold = cf.GetFloat(p, v); },
             (s) => { return AvatarContactProcessingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarContactProcessingThreshold=x;}, p, l, v); } ),
+            (s,p,l,v) => { AvatarContactProcessingThreshold = v; } ),
             new ParameterDefn("AvatarStepHeight", "Height of a step obstacle to consider step correction",
             0.3f,
             (s,cf,p,v) => { AvatarStepHeight = cf.GetFloat(p, v); },
@@ -497,44 +515,49 @@ public static class BSParam
 
             new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
             0f,
-            (s,cf,p,v) => { s.UnmanagedParams[0].maxPersistantManifoldPoolSize = cf.GetFloat(p, v); },
-            (s) => { return s.UnmanagedParams[0].maxPersistantManifoldPoolSize; },
-            (s,p,l,v) => { s.UnmanagedParams[0].maxPersistantManifoldPoolSize = v; } ),
+            (s,cf,p,v) => { MaxPersistantManifoldPoolSize = cf.GetFloat(p, v); },
+            (s) => { return MaxPersistantManifoldPoolSize; },
+            (s,p,l,v) => { MaxPersistantManifoldPoolSize = v; s.UnmanagedParams[0].maxPersistantManifoldPoolSize = v; } ),
             new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)",
             0f,
-            (s,cf,p,v) => { s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); },
-            (s) => { return s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize; },
-            (s,p,l,v) => { s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = v; } ),
+            (s,cf,p,v) => { MaxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); },
+            (s) => { return MaxCollisionAlgorithmPoolSize; },
+            (s,p,l,v) => { MaxCollisionAlgorithmPoolSize = v; s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = v; } ),
             new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count",
             ConfigurationParameters.numericFalse,
-            (s,cf,p,v) => { s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
-            (s) => { return s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation; },
-            (s,p,l,v) => { s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = v; } ),
+            (s,cf,p,v) => { ShouldDisableContactPoolDynamicAllocation = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
+            (s) => { return ShouldDisableContactPoolDynamicAllocation; },
+            (s,p,l,v) => { ShouldDisableContactPoolDynamicAllocation = v; s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = v; } ),
             new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step",
             ConfigurationParameters.numericFalse,
-            (s,cf,p,v) => { s.UnmanagedParams[0].shouldForceUpdateAllAabbs = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
-            (s) => { return s.UnmanagedParams[0].shouldForceUpdateAllAabbs; },
-            (s,p,l,v) => { s.UnmanagedParams[0].shouldForceUpdateAllAabbs = v; } ),
+            (s,cf,p,v) => { ShouldForceUpdateAllAabbs = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
+            (s) => { return ShouldForceUpdateAllAabbs; },
+            (s,p,l,v) => { ShouldForceUpdateAllAabbs = v; s.UnmanagedParams[0].shouldForceUpdateAllAabbs = v; } ),
             new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction",
             ConfigurationParameters.numericTrue,
-            (s,cf,p,v) => { s.UnmanagedParams[0].shouldRandomizeSolverOrder = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
-            (s) => { return s.UnmanagedParams[0].shouldRandomizeSolverOrder; },
-            (s,p,l,v) => { s.UnmanagedParams[0].shouldRandomizeSolverOrder = v; } ),
+            (s,cf,p,v) => { ShouldRandomizeSolverOrder = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
+            (s) => { return ShouldRandomizeSolverOrder; },
+            (s,p,l,v) => { ShouldRandomizeSolverOrder = v; s.UnmanagedParams[0].shouldRandomizeSolverOrder = v; } ),
             new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands",
             ConfigurationParameters.numericTrue,
-            (s,cf,p,v) => { s.UnmanagedParams[0].shouldSplitSimulationIslands = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
-            (s) => { return s.UnmanagedParams[0].shouldSplitSimulationIslands; },
-            (s,p,l,v) => { s.UnmanagedParams[0].shouldSplitSimulationIslands = v; } ),
+            (s,cf,p,v) => { ShouldSplitSimulationIslands = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
+            (s) => { return ShouldSplitSimulationIslands; },
+            (s,p,l,v) => { ShouldSplitSimulationIslands = v; s.UnmanagedParams[0].shouldSplitSimulationIslands = v; } ),
             new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching",
             ConfigurationParameters.numericTrue,
-            (s,cf,p,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
-            (s) => { return s.UnmanagedParams[0].shouldEnableFrictionCaching; },
-            (s,p,l,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = v; } ),
+            (s,cf,p,v) => { ShouldEnableFrictionCaching = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
+            (s) => { return ShouldEnableFrictionCaching; },
+            (s,p,l,v) => { ShouldEnableFrictionCaching = v; s.UnmanagedParams[0].shouldEnableFrictionCaching = v; } ),
             new ParameterDefn("NumberOfSolverIterations", "Number of internal iterations (0 means default)",
             0f,     // zero says use Bullet default
-            (s,cf,p,v) => { s.UnmanagedParams[0].numberOfSolverIterations = cf.GetFloat(p, v); },
-            (s) => { return s.UnmanagedParams[0].numberOfSolverIterations; },
-            (s,p,l,v) => { s.UnmanagedParams[0].numberOfSolverIterations = v; } ),
+            (s,cf,p,v) => { NumberOfSolverIterations = cf.GetFloat(p, v); },
+            (s) => { return NumberOfSolverIterations; },
+            (s,p,l,v) => { NumberOfSolverIterations = v; s.UnmanagedParams[0].numberOfSolverIterations = v; } ),
+            new ParameterDefn("UseSingleSidedMeshes", "Whether to compute collisions based on single sided meshes.",
+            ConfigurationParameters.numericTrue,
+            (s,cf,p,v) => { UseSingleSidedMeshesF = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
+            (s) => { return UseSingleSidedMeshesF; },
+            (s,p,l,v) => { UseSingleSidedMeshesF = v; s.UnmanagedParams[0].useSingleSidedMeshes = v; } ),
 
             new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)",
             (float)BSLinkset.LinksetImplementation.Compound,
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index a4690ba..6cd72f2 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -882,41 +882,41 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         BSParam.ParameterDefn theParam;
         if (BSParam.TryGetParameter(parm, out theParam))
         {
+            // Set the value in the C# code
             theParam.setter(this, parm, localID, val);
+
+            // Optionally set the parameter in the unmanaged code
+            if (theParam.onObject != null)
+            {
+                // update all the localIDs specified
+                // If the local ID is APPLY_TO_NONE, just change the default value
+                // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs
+                // If the localID is a specific object, apply the parameter change to only that object
+                List<uint> objectIDs = new List<uint>();
+                switch (localID)
+                {
+                    case PhysParameterEntry.APPLY_TO_NONE:
+                        // This will cause a call into the physical world if some operation is specified (SetOnObject).
+                        objectIDs.Add(TERRAIN_ID);
+                        TaintedUpdateParameter(parm, objectIDs, val);
+                        break;
+                    case PhysParameterEntry.APPLY_TO_ALL:
+                        lock (PhysObjects) objectIDs = new List<uint>(PhysObjects.Keys);
+                        TaintedUpdateParameter(parm, objectIDs, val);
+                        break;
+                    default:
+                        // setting only one localID
+                        objectIDs.Add(localID);
+                        TaintedUpdateParameter(parm, objectIDs, val);
+                        break;
+                }
+            }
+
             ret = true;
         }
         return ret;
     }
 
-    // update all the localIDs specified
-    // If the local ID is APPLY_TO_NONE, just change the default value
-    // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs
-    // If the localID is a specific object, apply the parameter change to only that object
-    internal delegate void AssignVal(float x);
-    internal void UpdateParameterObject(AssignVal setDefault, string parm, uint localID, float val)
-    {
-        List<uint> objectIDs = new List<uint>();
-        switch (localID)
-        {
-            case PhysParameterEntry.APPLY_TO_NONE:
-                setDefault(val);            // setting only the default value
-                // This will cause a call into the physical world if some operation is specified (SetOnObject).
-                objectIDs.Add(TERRAIN_ID);
-                TaintedUpdateParameter(parm, objectIDs, val);
-                break;
-            case PhysParameterEntry.APPLY_TO_ALL:
-                setDefault(val);  // setting ALL also sets the default value
-                lock (PhysObjects) objectIDs = new List<uint>(PhysObjects.Keys);
-                TaintedUpdateParameter(parm, objectIDs, val);
-                break;
-            default:
-                // setting only one localID
-                objectIDs.Add(localID);
-                TaintedUpdateParameter(parm, objectIDs, val);
-                break;
-        }
-    }
-
     // schedule the actual updating of the paramter to when the phys engine is not busy
     private void TaintedUpdateParameter(string parm, List<uint> lIDs, float val)
     {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
index 8244f02..d7e800d 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
@@ -96,7 +96,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys
         {
             // DISASTER!!
             PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape", ID);
-            physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain mesh! base={1}", LogHeader, TerrainBase);
+            PhysicsScene.Logger.ErrorFormat("{0} Failed creation of terrain mesh! base={1}", LogHeader, TerrainBase);
             // Something is very messed up and a crash is in our future.
             return;
         }
@@ -108,7 +108,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys
         if (!m_terrainBody.HasPhysicalBody)
         {
             // DISASTER!!
-            physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase);
+            PhysicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase);
             // Something is very messed up and a crash is in our future.
             return;
         }
@@ -131,6 +131,12 @@ public sealed class BSTerrainMesh : BSTerrainPhys
         m_terrainBody.collisionType = CollisionType.Terrain;
         m_terrainBody.ApplyCollisionMask(PhysicsScene);
 
+        if (BSParam.UseSingleSidedMeshes)
+        {
+            PhysicsScene.DetailLog("{0},BSTerrainMesh.settingCustomMaterial", id);
+            PhysicsScene.PE.AddToCollisionFlags(m_terrainBody, CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK);
+        }
+
         // Make it so the terrain will not move or be considered for movement.
         PhysicsScene.PE.ForceActivationState(m_terrainBody, ActivationState.DISABLE_SIMULATION);
     }
@@ -176,8 +182,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys
 
     // Convert the passed heightmap to mesh information suitable for CreateMeshShape2().
     // Return 'true' if successfully created.
-    public static bool ConvertHeightmapToMesh(
-                                BSScene physicsScene,
+    public static bool ConvertHeightmapToMesh( BSScene physicsScene,
                                 float[] heightMap, int sizeX, int sizeY,    // parameters of incoming heightmap
                                 float extentX, float extentY,               // zero based range for output vertices
                                 Vector3 extentBase,                         // base to be added to all vertices
diff --git a/bin/lib32/BulletSim.dll b/bin/lib32/BulletSim.dll
index 24dffac..0d24f12 100755
--- a/bin/lib32/BulletSim.dll
+++ b/bin/lib32/BulletSim.dll
diff --git a/bin/lib32/libBulletSim.so b/bin/lib32/libBulletSim.so
index 7e3ed20..674a08a 100755
--- a/bin/lib32/libBulletSim.so
+++ b/bin/lib32/libBulletSim.so
diff --git a/bin/lib64/BulletSim.dll b/bin/lib64/BulletSim.dll
index 808f433..ffcf7d0 100755
--- a/bin/lib64/BulletSim.dll
+++ b/bin/lib64/BulletSim.dll
diff --git a/bin/lib64/libBulletSim.so b/bin/lib64/libBulletSim.so
index 9382751..e2fc8bd 100755
--- a/bin/lib64/libBulletSim.so
+++ b/bin/lib64/libBulletSim.so