Merge branch 'master' of ssh://opensimulator.org/var/git/opensim

59 files changed, 1675 insertions, 12676 deletions

diff --git a/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs b/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs
index 85b19c0..b24336d 100644
--- a/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs
+++ b/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs
@@ -1025,7 +1025,8 @@ namespace OpenSim.Framework.Servers.HttpServer
             return buffer;
         }
 
-        // JsonRpc (v2.0 only)
+        // JsonRpc (v2.0 only) 
+        // Batch requests not yet supported
         private byte[] HandleJsonRpcRequests(OSHttpRequest request, OSHttpResponse response)
         {
             Stream requestStream = request.InputStream;
@@ -1065,8 +1066,26 @@ namespace OpenSim.Framework.Servers.HttpServer
                         {
                             jsonRpcHandlers.TryGetValue(methodname, out method);
                         }
-
-                        method(jsonRpcRequest, ref jsonRpcResponse);
+                        bool res = false;
+                        try
+                        {
+                            res = method(jsonRpcRequest, ref jsonRpcResponse);
+                            if(!res)
+                            {
+                                // The handler sent back an unspecified error
+                                if(jsonRpcResponse.Error.Code == 0)
+                                {
+                                    jsonRpcResponse.Error.Code = ErrorCode.InternalError;
+                                }
+                            }
+                        }
+                        catch (Exception e)
+                        {
+                            string ErrorMessage = string.Format("[BASE HTTP SERVER]: Json-Rpc Handler Error method {0} - {1}", methodname, e.Message);
+                            m_log.Error(ErrorMessage);
+                            jsonRpcResponse.Error.Code = ErrorCode.InternalError;
+                            jsonRpcResponse.Error.Message = ErrorMessage;
+                        }
                     }
                     else // Error no hanlder defined for requested method
                     {
@@ -1731,6 +1750,7 @@ namespace OpenSim.Framework.Servers.HttpServer
 
                 // Long Poll Service Manager with 3 worker threads a 25 second timeout for no events
                 m_PollServiceManager = new PollServiceRequestManager(this, 3, 25000);
+                m_PollServiceManager.Start();
                 HTTPDRunning = true;
 
                 //HttpListenerContext context;
@@ -1781,6 +1801,8 @@ namespace OpenSim.Framework.Servers.HttpServer
             HTTPDRunning = false;
             try
             {
+                m_PollServiceManager.Stop();
+
                 m_httpListener2.ExceptionThrown -= httpServerException;
                 //m_httpListener2.DisconnectHandler = null;
 
diff --git a/OpenSim/Framework/Servers/HttpServer/JsonRPCMethod.cs b/OpenSim/Framework/Servers/HttpServer/JsonRPCMethod.cs
index 7334049..5bab508 100644
--- a/OpenSim/Framework/Servers/HttpServer/JsonRPCMethod.cs
+++ b/OpenSim/Framework/Servers/HttpServer/JsonRPCMethod.cs
@@ -30,5 +30,5 @@ using OpenMetaverse.StructuredData;
 
 namespace OpenSim.Framework.Servers.HttpServer
 {
-    public delegate void JsonRPCMethod(OSDMap jsonRpcRequest, ref JsonRpcResponse response);
+    public delegate bool JsonRPCMethod(OSDMap jsonRpcRequest, ref JsonRpcResponse response);
 }
diff --git a/OpenSim/Framework/Servers/HttpServer/PollServiceRequestManager.cs b/OpenSim/Framework/Servers/HttpServer/PollServiceRequestManager.cs
index 8d50151..3e84c55 100644
--- a/OpenSim/Framework/Servers/HttpServer/PollServiceRequestManager.cs
+++ b/OpenSim/Framework/Servers/HttpServer/PollServiceRequestManager.cs
@@ -45,19 +45,26 @@ namespace OpenSim.Framework.Servers.HttpServer
         private uint m_WorkerThreadCount = 0;
         private Thread[] m_workerThreads;
         private PollServiceWorkerThread[] m_PollServiceWorkerThreads;
-        private bool m_running = true;
+        private volatile bool m_running = true;
+        private int m_pollTimeout;
 
         public PollServiceRequestManager(BaseHttpServer pSrv, uint pWorkerThreadCount, int pTimeout)
         {
             m_server = pSrv;
             m_WorkerThreadCount = pWorkerThreadCount;
+            m_pollTimeout = pTimeout;
+        }
+
+        public void Start()
+        {
+            m_running = true;
             m_workerThreads = new Thread[m_WorkerThreadCount];
             m_PollServiceWorkerThreads = new PollServiceWorkerThread[m_WorkerThreadCount];
 
             //startup worker threads
             for (uint i = 0; i < m_WorkerThreadCount; i++)
             {
-                m_PollServiceWorkerThreads[i] = new PollServiceWorkerThread(m_server, pTimeout);
+                m_PollServiceWorkerThreads[i] = new PollServiceWorkerThread(m_server, m_pollTimeout);
                 m_PollServiceWorkerThreads[i].ReQueue += ReQueueEvent;
 
                 m_workerThreads[i]
@@ -136,8 +143,10 @@ namespace OpenSim.Framework.Servers.HttpServer
             
         }
 
-        ~PollServiceRequestManager()
+        public void Stop()
         {
+            m_running = false;
+
             foreach (object o in m_requests)
             {
                 PollServiceHttpRequest req = (PollServiceHttpRequest) o;
@@ -151,8 +160,6 @@ namespace OpenSim.Framework.Servers.HttpServer
             {
                 t.Abort();
             }
-            
-            m_running = false;
         }
     }
 }
\ No newline at end of file
diff --git a/OpenSim/Framework/Util.cs b/OpenSim/Framework/Util.cs
index f6c9d15..9b1e97d 100644
--- a/OpenSim/Framework/Util.cs
+++ b/OpenSim/Framework/Util.cs
@@ -1658,8 +1658,13 @@ namespace OpenSim.Framework
             if (m_ThreadPool != null)
                 throw new InvalidOperationException("SmartThreadPool is already initialized");
 
-            m_ThreadPool = new SmartThreadPool(2000, maxThreads, 2);
-            m_ThreadPool.Name = "Util";
+            STPStartInfo startInfo = new STPStartInfo();
+            startInfo.ThreadPoolName = "Util";
+            startInfo.IdleTimeout = 2000;
+            startInfo.MaxWorkerThreads = maxThreads;
+            startInfo.MinWorkerThreads = 2;
+
+            m_ThreadPool = new SmartThreadPool(startInfo);
         }
 
         public static int FireAndForgetCount()
diff --git a/OpenSim/Region/Framework/Scenes/Scene.cs b/OpenSim/Region/Framework/Scenes/Scene.cs
index 5778176..f2cb117 100644
--- a/OpenSim/Region/Framework/Scenes/Scene.cs
+++ b/OpenSim/Region/Framework/Scenes/Scene.cs
@@ -1983,6 +1983,19 @@ namespace OpenSim.Region.Framework.Scenes
             EventManager.TriggerPrimsLoaded(this);
         }
 
+        public bool SupportsRayCastFiltered()
+        {
+            if (PhysicsScene == null)
+                return false;
+            return PhysicsScene.SupportsRaycastWorldFiltered();
+        }
+
+        public object RayCastFiltered(Vector3 position, Vector3 direction, float length, int Count, RayFilterFlags filter)
+        {
+            if (PhysicsScene == null)
+                return null;
+            return PhysicsScene.RaycastWorld(position, direction, length, Count,filter);
+        }
 
         /// <summary>
         /// Gets a new rez location based on the raycast and the size of the object that is being rezzed.
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
index 44e8fdf..e0ea344 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
@@ -1952,6 +1952,16 @@ namespace OpenSim.Region.Framework.Scenes
             PhysicsActor pa = PhysActor;
 
             if (pa != null)
+                return new Vector3(pa.GeometricCenter.X, pa.GeometricCenter.Y, pa.GeometricCenter.Z);
+            else
+                return new Vector3(0, 0, 0);
+        }
+
+        public Vector3 GetCenterOfMass()
+        {
+            PhysicsActor pa = PhysActor;
+
+            if (pa != null)
                 return new Vector3(pa.CenterOfMass.X, pa.CenterOfMass.Y, pa.CenterOfMass.Z);
             else
                 return new Vector3(0, 0, 0);
diff --git a/OpenSim/Region/Framework/Scenes/ScenePresence.cs b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
index c295305..a90872e 100644
--- a/OpenSim/Region/Framework/Scenes/ScenePresence.cs
+++ b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
@@ -1954,8 +1954,7 @@ namespace OpenSim.Region.Framework.Scenes
         {
             if (ParentID != 0)
             {
-                var targetPart = m_scene.GetSceneObjectPart(targetID);
-                if (targetPart != null && targetPart.LocalId == ParentID)
+                if (ParentPart.UUID == targetID)
                     return; // already sitting here, ignore
 
                 StandUp();
diff --git a/OpenSim/Region/OptionalModules/Avatar/Chat/ChannelState.cs b/OpenSim/Region/OptionalModules/Avatar/Chat/ChannelState.cs
index 66265d8..5a37fad 100644
--- a/OpenSim/Region/OptionalModules/Avatar/Chat/ChannelState.cs
+++ b/OpenSim/Region/OptionalModules/Avatar/Chat/ChannelState.cs
@@ -55,42 +55,42 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
         // These are the IRC Connector configurable parameters with hard-wired
         // default values (retained for compatability).
 
-        internal string Server               = null;
-        internal string Password             = null;
-        internal string IrcChannel           = null;
-        internal string BaseNickname         = "OSimBot";
-        internal uint   Port                 = 6667;
-        internal string User                 = null;
-
-        internal bool   ClientReporting      = true;
-        internal bool   RelayChat            = true;
-        internal bool   RelayPrivateChannels = false;
-        internal int    RelayChannel         = 1;
+        internal string Server = null;
+        internal string Password = null;
+        internal string IrcChannel = null;
+        internal string BaseNickname = "OSimBot";
+        internal uint Port = 6667;
+        internal string User = null;
+
+        internal bool ClientReporting = true;
+        internal bool RelayChat = true;
+        internal bool RelayPrivateChannels = false;
+        internal int RelayChannel = 1;
         internal List<int> ValidInWorldChannels = new List<int>();
 
         // Connector agnostic parameters. These values are NOT shared with the
         // connector and do not differentiate at an IRC level
 
         internal string PrivateMessageFormat = "PRIVMSG {0} :<{2}> {1} {3}";
-        internal string NoticeMessageFormat  = "PRIVMSG {0} :<{2}> {3}";
-        internal int    RelayChannelOut      = -1;
-        internal bool   RandomizeNickname    = true;
-        internal bool   CommandsEnabled      = false;
-        internal int    CommandChannel       = -1;
-        internal int    ConnectDelay         = 10;
-        internal int    PingDelay            = 15;
-        internal string DefaultZone          = "Sim";
-
-        internal string _accessPassword      = String.Empty;
-        internal Regex  AccessPasswordRegex  = null;
-        internal List<string> ExcludeList    = new List<string>();
+        internal string NoticeMessageFormat = "PRIVMSG {0} :<{2}> {3}";
+        internal int RelayChannelOut = -1;
+        internal bool RandomizeNickname = true;
+        internal bool CommandsEnabled = false;
+        internal int CommandChannel = -1;
+        internal int ConnectDelay = 10;
+        internal int PingDelay = 15;
+        internal string DefaultZone = "Sim";
+
+        internal string _accessPassword = String.Empty;
+        internal Regex AccessPasswordRegex = null;
+        internal List<string> ExcludeList = new List<string>();
         internal string AccessPassword
         {
             get { return _accessPassword; }
-            set 
+            set
             {
                 _accessPassword = value;
-                AccessPasswordRegex = new Regex(String.Format(@"^{0},\s*(?<avatar>[^,]+),\s*(?<message>.+)$", _accessPassword), 
+                AccessPasswordRegex = new Regex(String.Format(@"^{0},\s*(?<avatar>[^,]+),\s*(?<message>.+)$", _accessPassword),
                                                 RegexOptions.Compiled);
             }
         }
@@ -99,9 +99,9 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
         // IRC connector reference
 
-        internal IRCConnector irc           = null;
+        internal IRCConnector irc = null;
 
-        internal int idn                     = _idk_++;
+        internal int idn = _idk_++;
 
         // List of regions dependent upon this connection
 
@@ -119,29 +119,29 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
         internal ChannelState(ChannelState model)
         {
-            Server               = model.Server;
-            Password             = model.Password;
-            IrcChannel           = model.IrcChannel;
-            Port                 = model.Port;
-            BaseNickname         = model.BaseNickname;
-            RandomizeNickname    = model.RandomizeNickname;
-            User                 = model.User;
-            CommandsEnabled      = model.CommandsEnabled;
-            CommandChannel       = model.CommandChannel;
-            RelayChat            = model.RelayChat;
+            Server = model.Server;
+            Password = model.Password;
+            IrcChannel = model.IrcChannel;
+            Port = model.Port;
+            BaseNickname = model.BaseNickname;
+            RandomizeNickname = model.RandomizeNickname;
+            User = model.User;
+            CommandsEnabled = model.CommandsEnabled;
+            CommandChannel = model.CommandChannel;
+            RelayChat = model.RelayChat;
             RelayPrivateChannels = model.RelayPrivateChannels;
-            RelayChannelOut      = model.RelayChannelOut;
-            RelayChannel         = model.RelayChannel;
+            RelayChannelOut = model.RelayChannelOut;
+            RelayChannel = model.RelayChannel;
             ValidInWorldChannels = model.ValidInWorldChannels;
             PrivateMessageFormat = model.PrivateMessageFormat;
-            NoticeMessageFormat  = model.NoticeMessageFormat;
-            ClientReporting      = model.ClientReporting;
-            AccessPassword       = model.AccessPassword;
-            DefaultZone          = model.DefaultZone;
-            ConnectDelay         = model.ConnectDelay;
-            PingDelay            = model.PingDelay;
+            NoticeMessageFormat = model.NoticeMessageFormat;
+            ClientReporting = model.ClientReporting;
+            AccessPassword = model.AccessPassword;
+            DefaultZone = model.DefaultZone;
+            ConnectDelay = model.ConnectDelay;
+            PingDelay = model.PingDelay;
         }
-        
+
         // Read the configuration file, performing variable substitution and any
         // necessary aliasing. See accompanying documentation for how this works.
         // If you don't need variables, then this works exactly as before.
@@ -160,54 +160,54 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
             m_log.DebugFormat("[IRC-Channel-{0}] Initial request by Region {1} to connect to IRC", cs.idn, rs.Region);
 
-            cs.Server               = Substitute(rs, config.GetString("server", null));
+            cs.Server = Substitute(rs, config.GetString("server", null));
             m_log.DebugFormat("[IRC-Channel-{0}] Server : <{1}>", cs.idn, cs.Server);
-            cs.Password             = Substitute(rs, config.GetString("password", null));
+            cs.Password = Substitute(rs, config.GetString("password", null));
             // probably not a good idea to put a password in the log file
-            cs.User                 = Substitute(rs, config.GetString("user", null));
-            cs.IrcChannel           = Substitute(rs, config.GetString("channel", null));
+            cs.User = Substitute(rs, config.GetString("user", null));
+            cs.IrcChannel = Substitute(rs, config.GetString("channel", null));
             m_log.DebugFormat("[IRC-Channel-{0}] IrcChannel : <{1}>", cs.idn, cs.IrcChannel);
-            cs.Port                 = Convert.ToUInt32(Substitute(rs, config.GetString("port", Convert.ToString(cs.Port))));
+            cs.Port = Convert.ToUInt32(Substitute(rs, config.GetString("port", Convert.ToString(cs.Port))));
             m_log.DebugFormat("[IRC-Channel-{0}] Port : <{1}>", cs.idn, cs.Port);
-            cs.BaseNickname         = Substitute(rs, config.GetString("nick", cs.BaseNickname));
+            cs.BaseNickname = Substitute(rs, config.GetString("nick", cs.BaseNickname));
             m_log.DebugFormat("[IRC-Channel-{0}] BaseNickname : <{1}>", cs.idn, cs.BaseNickname);
-            cs.RandomizeNickname    = Convert.ToBoolean(Substitute(rs, config.GetString("randomize_nick", Convert.ToString(cs.RandomizeNickname))));
+            cs.RandomizeNickname = Convert.ToBoolean(Substitute(rs, config.GetString("randomize_nick", Convert.ToString(cs.RandomizeNickname))));
             m_log.DebugFormat("[IRC-Channel-{0}] RandomizeNickname : <{1}>", cs.idn, cs.RandomizeNickname);
-            cs.RandomizeNickname    = Convert.ToBoolean(Substitute(rs, config.GetString("nicknum", Convert.ToString(cs.RandomizeNickname))));
+            cs.RandomizeNickname = Convert.ToBoolean(Substitute(rs, config.GetString("nicknum", Convert.ToString(cs.RandomizeNickname))));
             m_log.DebugFormat("[IRC-Channel-{0}] RandomizeNickname : <{1}>", cs.idn, cs.RandomizeNickname);
-            cs.User                 = Substitute(rs, config.GetString("username", cs.User));
+            cs.User = Substitute(rs, config.GetString("username", cs.User));
             m_log.DebugFormat("[IRC-Channel-{0}] User : <{1}>", cs.idn, cs.User);
-            cs.CommandsEnabled      = Convert.ToBoolean(Substitute(rs, config.GetString("commands_enabled", Convert.ToString(cs.CommandsEnabled))));
+            cs.CommandsEnabled = Convert.ToBoolean(Substitute(rs, config.GetString("commands_enabled", Convert.ToString(cs.CommandsEnabled))));
             m_log.DebugFormat("[IRC-Channel-{0}] CommandsEnabled : <{1}>", cs.idn, cs.CommandsEnabled);
-            cs.CommandChannel       = Convert.ToInt32(Substitute(rs, config.GetString("commandchannel", Convert.ToString(cs.CommandChannel))));
+            cs.CommandChannel = Convert.ToInt32(Substitute(rs, config.GetString("commandchannel", Convert.ToString(cs.CommandChannel))));
             m_log.DebugFormat("[IRC-Channel-{0}] CommandChannel : <{1}>", cs.idn, cs.CommandChannel);
-            cs.CommandChannel       = Convert.ToInt32(Substitute(rs, config.GetString("command_channel", Convert.ToString(cs.CommandChannel))));
+            cs.CommandChannel = Convert.ToInt32(Substitute(rs, config.GetString("command_channel", Convert.ToString(cs.CommandChannel))));
             m_log.DebugFormat("[IRC-Channel-{0}] CommandChannel : <{1}>", cs.idn, cs.CommandChannel);
-            cs.RelayChat            = Convert.ToBoolean(Substitute(rs, config.GetString("relay_chat", Convert.ToString(cs.RelayChat))));
+            cs.RelayChat = Convert.ToBoolean(Substitute(rs, config.GetString("relay_chat", Convert.ToString(cs.RelayChat))));
             m_log.DebugFormat("[IRC-Channel-{0}] RelayChat           : <{1}>", cs.idn, cs.RelayChat);
             cs.RelayPrivateChannels = Convert.ToBoolean(Substitute(rs, config.GetString("relay_private_channels", Convert.ToString(cs.RelayPrivateChannels))));
             m_log.DebugFormat("[IRC-Channel-{0}] RelayPrivateChannels : <{1}>", cs.idn, cs.RelayPrivateChannels);
             cs.RelayPrivateChannels = Convert.ToBoolean(Substitute(rs, config.GetString("useworldcomm", Convert.ToString(cs.RelayPrivateChannels))));
             m_log.DebugFormat("[IRC-Channel-{0}] RelayPrivateChannels : <{1}>", cs.idn, cs.RelayPrivateChannels);
-            cs.RelayChannelOut      = Convert.ToInt32(Substitute(rs, config.GetString("relay_private_channel_out", Convert.ToString(cs.RelayChannelOut))));
+            cs.RelayChannelOut = Convert.ToInt32(Substitute(rs, config.GetString("relay_private_channel_out", Convert.ToString(cs.RelayChannelOut))));
             m_log.DebugFormat("[IRC-Channel-{0}] RelayChannelOut : <{1}>", cs.idn, cs.RelayChannelOut);
-            cs.RelayChannel         = Convert.ToInt32(Substitute(rs, config.GetString("relay_private_channel_in", Convert.ToString(cs.RelayChannel))));
+            cs.RelayChannel = Convert.ToInt32(Substitute(rs, config.GetString("relay_private_channel_in", Convert.ToString(cs.RelayChannel))));
             m_log.DebugFormat("[IRC-Channel-{0}] RelayChannel : <{1}>", cs.idn, cs.RelayChannel);
-            cs.RelayChannel         = Convert.ToInt32(Substitute(rs, config.GetString("inchannel", Convert.ToString(cs.RelayChannel))));
+            cs.RelayChannel = Convert.ToInt32(Substitute(rs, config.GetString("inchannel", Convert.ToString(cs.RelayChannel))));
             m_log.DebugFormat("[IRC-Channel-{0}] RelayChannel : <{1}>", cs.idn, cs.RelayChannel);
             cs.PrivateMessageFormat = Substitute(rs, config.GetString("msgformat", cs.PrivateMessageFormat));
             m_log.DebugFormat("[IRC-Channel-{0}] PrivateMessageFormat : <{1}>", cs.idn, cs.PrivateMessageFormat);
             cs.NoticeMessageFormat = Substitute(rs, config.GetString("noticeformat", cs.NoticeMessageFormat));
             m_log.DebugFormat("[IRC-Channel-{0}] NoticeMessageFormat : <{1}>", cs.idn, cs.NoticeMessageFormat);
-            cs.ClientReporting      = Convert.ToInt32(Substitute(rs, config.GetString("verbosity", cs.ClientReporting?"1":"0"))) > 0;
+            cs.ClientReporting = Convert.ToInt32(Substitute(rs, config.GetString("verbosity", cs.ClientReporting ? "1" : "0"))) > 0;
             m_log.DebugFormat("[IRC-Channel-{0}] ClientReporting : <{1}>", cs.idn, cs.ClientReporting);
-            cs.ClientReporting      = Convert.ToBoolean(Substitute(rs, config.GetString("report_clients", Convert.ToString(cs.ClientReporting))));
+            cs.ClientReporting = Convert.ToBoolean(Substitute(rs, config.GetString("report_clients", Convert.ToString(cs.ClientReporting))));
             m_log.DebugFormat("[IRC-Channel-{0}] ClientReporting : <{1}>", cs.idn, cs.ClientReporting);
-            cs.DefaultZone          = Substitute(rs, config.GetString("fallback_region", cs.DefaultZone));
+            cs.DefaultZone = Substitute(rs, config.GetString("fallback_region", cs.DefaultZone));
             m_log.DebugFormat("[IRC-Channel-{0}] DefaultZone : <{1}>", cs.idn, cs.DefaultZone);
-            cs.ConnectDelay      = Convert.ToInt32(Substitute(rs, config.GetString("connect_delay", Convert.ToString(cs.ConnectDelay))));
+            cs.ConnectDelay = Convert.ToInt32(Substitute(rs, config.GetString("connect_delay", Convert.ToString(cs.ConnectDelay))));
             m_log.DebugFormat("[IRC-Channel-{0}] ConnectDelay : <{1}>", cs.idn, cs.ConnectDelay);
-            cs.PingDelay      = Convert.ToInt32(Substitute(rs, config.GetString("ping_delay", Convert.ToString(cs.PingDelay))));
+            cs.PingDelay = Convert.ToInt32(Substitute(rs, config.GetString("ping_delay", Convert.ToString(cs.PingDelay))));
             m_log.DebugFormat("[IRC-Channel-{0}] PingDelay : <{1}>", cs.idn, cs.PingDelay);
             cs.AccessPassword = Substitute(rs, config.GetString("access_password", cs.AccessPassword));
             m_log.DebugFormat("[IRC-Channel-{0}] AccessPassword : <{1}>", cs.idn, cs.AccessPassword);
@@ -217,7 +217,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
             {
                 cs.ExcludeList.Add(name.Trim().ToLower());
             }
-            
+
             // Fail if fundamental information is still missing
 
             if (cs.Server == null)
@@ -306,8 +306,8 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
                     IRCBridgeModule.m_channels.Add(cs);
 
-                    m_log.InfoFormat("[IRC-Channel-{0}] New channel initialized for {1}, nick: {2}, commands {3}, private channels {4}", 
-                                 cs.idn, rs.Region, cs.DefaultZone, 
+                    m_log.InfoFormat("[IRC-Channel-{0}] New channel initialized for {1}, nick: {2}, commands {3}, private channels {4}",
+                                 cs.idn, rs.Region, cs.DefaultZone,
                                  cs.CommandsEnabled ? "enabled" : "not enabled",
                                  cs.RelayPrivateChannels ? "relayed" : "not relayed");
                 }
@@ -417,7 +417,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
         private bool IsAConnectionMatchFor(ChannelState cs)
         {
             return (
-                Server == cs.Server && 
+                Server == cs.Server &&
                 IrcChannel == cs.IrcChannel &&
                 Port == cs.Port &&
                 BaseNickname == cs.BaseNickname &&
@@ -473,27 +473,27 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
             {
 
                 string vvar = arg.Match(result).ToString();
-                string var  = vvar.Substring(1,vvar.Length-2).Trim();
+                string var = vvar.Substring(1, vvar.Length - 2).Trim();
 
                 switch (var.ToLower())
                 {
-                    case "%region"  :
+                    case "%region":
                         result = result.Replace(vvar, rs.Region);
                         break;
-                    case "%host"    :
+                    case "%host":
                         result = result.Replace(vvar, rs.Host);
                         break;
-                    case "%locx"    :
+                    case "%locx":
                         result = result.Replace(vvar, rs.LocX);
                         break;
-                    case "%locy"    :
+                    case "%locy":
                         result = result.Replace(vvar, rs.LocY);
                         break;
-                    case "%k"       :
+                    case "%k":
                         result = result.Replace(vvar, rs.IDK);
                         break;
-                    default         :
-                        result = result.Replace(vvar, rs.config.GetString(var,var));
+                    default:
+                        result = result.Replace(vvar, rs.config.GetString(var, var));
                         break;
                 }
                 // m_log.DebugFormat("[IRC-Channel] Parse[2]: {0}", result);
diff --git a/OpenSim/Region/OptionalModules/Avatar/Chat/IRCBridgeModule.cs b/OpenSim/Region/OptionalModules/Avatar/Chat/IRCBridgeModule.cs
index 2e1d03d..351dbfe 100644
--- a/OpenSim/Region/OptionalModules/Avatar/Chat/IRCBridgeModule.cs
+++ b/OpenSim/Region/OptionalModules/Avatar/Chat/IRCBridgeModule.cs
@@ -46,18 +46,18 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
     {
         private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
-        internal static bool m_pluginEnabled = false;
+        internal static bool Enabled = false;
         internal static IConfig m_config = null;
 
         internal static List<ChannelState> m_channels = new List<ChannelState>();
-        internal static List<RegionState>  m_regions  = new List<RegionState>();
+        internal static List<RegionState> m_regions = new List<RegionState>();
 
         internal static string m_password = String.Empty;
         internal RegionState m_region = null;
 
         #region INonSharedRegionModule Members
 
-        public Type ReplaceableInterface 
+        public Type ReplaceableInterface
         {
             get { return null; }
         }
@@ -72,13 +72,13 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
             m_config = config.Configs["IRC"];
             if (m_config == null)
             {
-//                m_log.InfoFormat("[IRC-Bridge] module not configured");
+                //                m_log.InfoFormat("[IRC-Bridge] module not configured");
                 return;
             }
 
             if (!m_config.GetBoolean("enabled", false))
             {
-//                m_log.InfoFormat("[IRC-Bridge] module disabled in configuration");
+                //                m_log.InfoFormat("[IRC-Bridge] module disabled in configuration");
                 return;
             }
 
@@ -87,19 +87,22 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
                 m_password = config.Configs["RemoteAdmin"].GetString("access_password", m_password);
             }
 
-            m_pluginEnabled = true;
-            m_log.InfoFormat("[IRC-Bridge]: Module enabled");
+            Enabled = true;
+
+            m_log.InfoFormat("[IRC-Bridge]: Module is enabled");
         }
 
         public void AddRegion(Scene scene)
         {
-            if (m_pluginEnabled)
+            if (Enabled)
             {
                 try
                 {
                     m_log.InfoFormat("[IRC-Bridge] Connecting region {0}", scene.RegionInfo.RegionName);
+
                     if (!String.IsNullOrEmpty(m_password))
                         MainServer.Instance.AddXmlRPCHandler("irc_admin", XmlRpcAdminMethod, false);
+
                     m_region = new RegionState(scene, m_config);
                     lock (m_regions) m_regions.Add(m_region);
                     m_region.Open();
@@ -123,7 +126,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
         public void RemoveRegion(Scene scene)
         {
-            if (!m_pluginEnabled)
+            if (!Enabled)
                 return;
 
             if (m_region == null)
@@ -150,12 +153,12 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
             m_log.Debug("[IRC-Bridge]: XML RPC Admin Entry");
 
             XmlRpcResponse response = new XmlRpcResponse();
-            Hashtable  responseData = new Hashtable();
+            Hashtable responseData = new Hashtable();
 
             try
             {
                 Hashtable requestData = (Hashtable)request.Params[0];
-                bool    found = false;
+                bool found = false;
                 string region = String.Empty;
 
                 if (m_password != String.Empty)
@@ -169,18 +172,18 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
                 if (!requestData.ContainsKey("region"))
                     throw new Exception("No region name specified");
                 region = (string)requestData["region"];
-                
+
                 foreach (RegionState rs in m_regions)
                 {
                     if (rs.Region == region)
                     {
-                        responseData["server"]    = rs.cs.Server;
-                        responseData["port"]      = (int)rs.cs.Port;
-                        responseData["user"]      = rs.cs.User;
-                        responseData["channel"]   = rs.cs.IrcChannel;
-                        responseData["enabled"]   = rs.cs.irc.Enabled;
+                        responseData["server"] = rs.cs.Server;
+                        responseData["port"] = (int)rs.cs.Port;
+                        responseData["user"] = rs.cs.User;
+                        responseData["channel"] = rs.cs.IrcChannel;
+                        responseData["enabled"] = rs.cs.irc.Enabled;
                         responseData["connected"] = rs.cs.irc.Connected;
-                        responseData["nickname"]  = rs.cs.irc.Nick;
+                        responseData["nickname"] = rs.cs.irc.Nick;
                         found = true;
                         break;
                     }
@@ -195,7 +198,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
                 m_log.ErrorFormat("[IRC-Bridge] XML RPC Admin request failed : {0}", e.Message);
 
                 responseData["success"] = "false";
-                responseData["error"]   = e.Message;
+                responseData["error"] = e.Message;
             }
             finally
             {
diff --git a/OpenSim/Region/OptionalModules/Avatar/Chat/IRCConnector.cs b/OpenSim/Region/OptionalModules/Avatar/Chat/IRCConnector.cs
index a014798..c5cba8e 100644
--- a/OpenSim/Region/OptionalModules/Avatar/Chat/IRCConnector.cs
+++ b/OpenSim/Region/OptionalModules/Avatar/Chat/IRCConnector.cs
@@ -53,16 +53,16 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
         // Local constants
 
         private static readonly Vector3 CenterOfRegion = new Vector3(((int)Constants.RegionSize * 0.5f), ((int)Constants.RegionSize * 0.5f), 20);
-        private static readonly char[]  CS_SPACE = { ' ' };
+        private static readonly char[] CS_SPACE = { ' ' };
 
-        private const  int  WD_INTERVAL = 1000;     // base watchdog interval
-        private static int  PING_PERIOD = 15;       // WD intervals per PING
-        private static int  ICCD_PERIOD = 10;       // WD intervals between Connects
-        private static int  L_TIMEOUT   = 25;       // Login time out interval
+        private const int WD_INTERVAL = 1000;     // base watchdog interval
+        private static int PING_PERIOD = 15;       // WD intervals per PING
+        private static int ICCD_PERIOD = 10;       // WD intervals between Connects
+        private static int L_TIMEOUT = 25;       // Login time out interval
 
-        private static int _idk_        = 0;        // core connector identifier
-        private static int _pdk_        = 0;        // ping interval counter
-        private static int _icc_        = ICCD_PERIOD; // IRC connect counter
+        private static int _idk_ = 0;        // core connector identifier
+        private static int _pdk_ = 0;        // ping interval counter
+        private static int _icc_ = ICCD_PERIOD; // IRC connect counter
 
         // List of configured connectors
 
@@ -113,7 +113,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
         private Object msyncConnect = new Object();
 
-        internal bool   m_randomizeNick = true; // add random suffix
+        internal bool m_randomizeNick = true; // add random suffix
         internal string m_baseNick = null;      // base name for randomizing
         internal string m_nick = null;          // effective nickname
 
@@ -122,7 +122,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
             get { return m_nick; }
             set { m_nick = value; }
         }
-        
+
         private bool m_enabled = false;            // connector enablement
         public bool Enabled
         {
@@ -130,8 +130,8 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
         }
 
         private bool m_connected = false;        // connection status
-        private bool m_pending   = false;        // login disposition
-        private int  m_timeout   = L_TIMEOUT;    // login timeout counter
+        private bool m_pending = false;        // login disposition
+        private int m_timeout = L_TIMEOUT;    // login timeout counter
         public bool Connected
         {
             get { return m_connected; }
@@ -143,9 +143,9 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
             get { return m_ircChannel; }
             set { m_ircChannel = value; }
         }
-        
+
         private uint m_port = 6667;                // session port
-        public uint Port 
+        public uint Port
         {
             get { return m_port; }
             set { m_port = value; }
@@ -172,10 +172,10 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
         // Network interface
 
-        private TcpClient     m_tcp;
+        private TcpClient m_tcp;
         private NetworkStream m_stream = null;
-        private StreamReader  m_reader;
-        private StreamWriter  m_writer;
+        private StreamReader m_reader;
+        private StreamWriter m_writer;
 
         // Channel characteristic info (if available)
 
@@ -193,26 +193,26 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
             // Prepare network interface
 
-            m_tcp    = null;
+            m_tcp = null;
             m_writer = null;
             m_reader = null;
 
             // Setup IRC session parameters
 
-            m_server        = cs.Server;
-            m_password      = cs.Password;
-            m_baseNick      = cs.BaseNickname;
+            m_server = cs.Server;
+            m_password = cs.Password;
+            m_baseNick = cs.BaseNickname;
             m_randomizeNick = cs.RandomizeNickname;
-            m_ircChannel    = cs.IrcChannel;
-            m_port          = cs.Port;
-            m_user          = cs.User;
+            m_ircChannel = cs.IrcChannel;
+            m_port = cs.Port;
+            m_user = cs.User;
 
             if (m_watchdog == null)
             {
                 // Non-differentiating
 
-                ICCD_PERIOD     = cs.ConnectDelay;
-                PING_PERIOD     = cs.PingDelay;
+                ICCD_PERIOD = cs.ConnectDelay;
+                PING_PERIOD = cs.PingDelay;
 
                 // Smaller values are not reasonable
 
@@ -235,7 +235,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
             if (m_randomizeNick)
                 m_nick = m_baseNick + Util.RandomClass.Next(1, 99);
-            else 
+            else
                 m_nick = m_baseNick;
 
             m_log.InfoFormat("[IRC-Connector-{0}]: Initialization complete", idn);
@@ -295,18 +295,22 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
                                 m_nick, m_ircChannel, m_server));
                             m_writer.Flush();
                         }
-                        catch (Exception) {}
-       
+                        catch (Exception) { }
+
 
                         m_connected = false;
 
-                        try { m_writer.Close(); } catch (Exception) {}
-                        try { m_reader.Close(); } catch (Exception) {}
-                        try { m_stream.Close(); } catch (Exception) {}
-                        try { m_tcp.Close();    } catch (Exception) {}
+                        try { m_writer.Close(); }
+                        catch (Exception) { }
+                        try { m_reader.Close(); }
+                        catch (Exception) { }
+                        try { m_stream.Close(); }
+                        catch (Exception) { }
+                        try { m_tcp.Close(); }
+                        catch (Exception) { }
 
                     }
-       
+
                     lock (m_connectors)
                         m_connectors.Remove(this);
 
@@ -347,15 +351,15 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
                     if (m_connected) return;
 
                     m_connected = true;
-                    m_pending   = true;
-                    m_timeout   = L_TIMEOUT;
+                    m_pending = true;
+                    m_timeout = L_TIMEOUT;
 
-                    m_tcp    = new TcpClient(m_server, (int)m_port);
+                    m_tcp = new TcpClient(m_server, (int)m_port);
                     m_stream = m_tcp.GetStream();
                     m_reader = new StreamReader(m_stream);
                     m_writer = new StreamWriter(m_stream);
 
-                    m_log.InfoFormat("[IRC-Connector-{0}]: Connected to {1}:{2}", idn, m_server, m_port); 
+                    m_log.InfoFormat("[IRC-Connector-{0}]: Connected to {1}:{2}", idn, m_server, m_port);
 
                     m_listener = new Thread(new ThreadStart(ListenerRun));
                     m_listener.Name = "IRCConnectorListenerThread";
@@ -418,12 +422,15 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
                     // the socket and it will disappear of its own accord, once this
                     // processing is completed.
 
-                    try { m_writer.Close(); } catch (Exception) {}
-                    try { m_reader.Close(); } catch (Exception) {}
-                    try { m_tcp.Close();    } catch (Exception) {}
+                    try { m_writer.Close(); }
+                    catch (Exception) { }
+                    try { m_reader.Close(); }
+                    catch (Exception) { }
+                    try { m_tcp.Close(); }
+                    catch (Exception) { }
 
                     m_connected = false;
-                    m_pending   = false;
+                    m_pending = false;
                     m_resetk++;
 
                 }
@@ -495,7 +502,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
         {
 
             string inputLine;
-            int    resetk = m_resetk;
+            int resetk = m_resetk;
 
             try
             {
@@ -555,7 +562,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
                 Reconnect();
         }
 
-        private Regex RE = new Regex(@":(?<nick>[\w-]*)!(?<user>\S*) PRIVMSG (?<channel>\S+) :(?<msg>.*)", 
+        private Regex RE = new Regex(@":(?<nick>[\w-]*)!(?<user>\S*) PRIVMSG (?<channel>\S+) :(?<msg>.*)",
                                      RegexOptions.Multiline);
 
         private Dictionary<string, string> ExtractMsg(string input)
@@ -617,8 +624,8 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
             string[] commArgs;
             string c_server = m_server;
 
-            string pfx   = String.Empty;
-            string cmd   = String.Empty;
+            string pfx = String.Empty;
+            string cmd = String.Empty;
             string parms = String.Empty;
 
             // ":" indicates that a prefix is present
@@ -627,15 +634,15 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
             // ":" indicates that the remainder of the
             // line is a single parameter value.
 
-            commArgs = command.Split(CS_SPACE,2);
+            commArgs = command.Split(CS_SPACE, 2);
 
             if (commArgs[0].StartsWith(":"))
             {
                 pfx = commArgs[0].Substring(1);
-                commArgs = commArgs[1].Split(CS_SPACE,2);
+                commArgs = commArgs[1].Split(CS_SPACE, 2);
             }
 
-            cmd   = commArgs[0];
+            cmd = commArgs[0];
             parms = commArgs[1];
 
             // m_log.DebugFormat("[IRC-Connector-{0}] prefix = <{1}> cmd = <{2}>", idn, pfx, cmd);
@@ -646,44 +653,44 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
                 // Messages 001-004 are always sent
                 // following signon.
 
-                case "001" : // Welcome ...
-                case "002" : // Server information
-                case "003" : // Welcome ...
+                case "001": // Welcome ...
+                case "002": // Server information
+                case "003": // Welcome ...
                     break;
-                case "004" : // Server information
+                case "004": // Server information
                     m_log.DebugFormat("[IRC-Connector-{0}] [{1}] parms = <{2}>", idn, cmd, parms);
                     commArgs = parms.Split(CS_SPACE);
                     c_server = commArgs[1];
                     m_server = c_server;
-                    version  = commArgs[2];
-                    usermod  = commArgs[3];
-                    chanmod  = commArgs[4];
+                    version = commArgs[2];
+                    usermod = commArgs[3];
+                    chanmod = commArgs[4];
                     break;
-                case "005" : // Server information
+                case "005": // Server information
                     break;
-                case "042" :
-                case "250" :
-                case "251" :
-                case "252" :
-                case "254" :
-                case "255" :
-                case "265" :
-                case "266" :
-                case "332" : // Subject
-                case "333" : // Subject owner (?)
-                case "353" : // Name list
-                case "366" : // End-of-Name list marker
-                case "372" : // MOTD body
-                case "375" : // MOTD start
+                case "042":
+                case "250":
+                case "251":
+                case "252":
+                case "254":
+                case "255":
+                case "265":
+                case "266":
+                case "332": // Subject
+                case "333": // Subject owner (?)
+                case "353": // Name list
+                case "366": // End-of-Name list marker
+                case "372": // MOTD body
+                case "375": // MOTD start
                     // m_log.InfoFormat("[IRC-Connector-{0}] [{1}] {2}", idn, cmd, parms.Split(CS_SPACE,2)[1]);
                     break;
-                case "376" : // MOTD end
+                case "376": // MOTD end
                     // m_log.InfoFormat("[IRC-Connector-{0}] [{1}] {2}", idn, cmd, parms.Split(CS_SPACE,2)[1]);
                     motd = true;
                     break;
-                case "451" : // Not registered
+                case "451": // Not registered
                     break;
-                case "433" : // Nickname in use
+                case "433": // Nickname in use
                     // Gen a new name
                     m_nick = m_baseNick + Util.RandomClass.Next(1, 99);
                     m_log.ErrorFormat("[IRC-Connector-{0}]: [{1}] IRC SERVER reports NicknameInUse, trying {2}", idn, cmd, m_nick);
@@ -695,29 +702,29 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
                     m_writer.WriteLine(String.Format("JOIN {0}", m_ircChannel));
                     m_writer.Flush();
                     break;
-                case "479" : // Bad channel name, etc. This will never work, so disable the connection
-                    m_log.ErrorFormat("[IRC-Connector-{0}] [{1}] {2}", idn, cmd, parms.Split(CS_SPACE,2)[1]);
+                case "479": // Bad channel name, etc. This will never work, so disable the connection
+                    m_log.ErrorFormat("[IRC-Connector-{0}] [{1}] {2}", idn, cmd, parms.Split(CS_SPACE, 2)[1]);
                     m_log.ErrorFormat("[IRC-Connector-{0}] [{1}] Connector disabled", idn, cmd);
-                    m_enabled   = false;
+                    m_enabled = false;
                     m_connected = false;
-                    m_pending   = false;
+                    m_pending = false;
                     break;
-                case "NOTICE" :
+                case "NOTICE":
                     // m_log.WarnFormat("[IRC-Connector-{0}] [{1}] {2}", idn, cmd, parms.Split(CS_SPACE,2)[1]);
                     break;
-                case "ERROR"  :
-                    m_log.ErrorFormat("[IRC-Connector-{0}] [{1}] {2}", idn, cmd, parms.Split(CS_SPACE,2)[1]);
+                case "ERROR":
+                    m_log.ErrorFormat("[IRC-Connector-{0}] [{1}] {2}", idn, cmd, parms.Split(CS_SPACE, 2)[1]);
                     if (parms.Contains("reconnect too fast"))
                         ICCD_PERIOD++;
-                    m_pending   = false;
+                    m_pending = false;
                     Reconnect();
                     break;
-                case "PING"   :
+                case "PING":
                     m_log.DebugFormat("[IRC-Connector-{0}] [{1}] parms = <{2}>", idn, cmd, parms);
                     m_writer.WriteLine(String.Format("PONG {0}", parms));
                     m_writer.Flush();
                     break;
-                case "PONG"   :
+                case "PONG":
                     break;
                 case "JOIN":
                     if (m_pending)
@@ -748,19 +755,19 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
                     m_log.DebugFormat("[IRC-Connector-{0}] [{1}] parms = <{2}>", idn, cmd, parms);
                     eventIrcQuit(pfx, cmd, parms);
                     break;
-                default    :
+                default:
                     m_log.DebugFormat("[IRC-Connector-{0}] Command '{1}' ignored, parms = {2}", idn, cmd, parms);
                     break;
             }
 
             // m_log.DebugFormat("[IRC-Connector-{0}] prefix = <{1}> cmd = <{2}> complete", idn, pfx, cmd);
-  
+
         }
 
         public void eventIrcJoin(string prefix, string command, string parms)
         {
-            string[]     args = parms.Split(CS_SPACE,2);
-            string IrcUser    = prefix.Split('!')[0];
+            string[] args = parms.Split(CS_SPACE, 2);
+            string IrcUser = prefix.Split('!')[0];
             string IrcChannel = args[0];
 
             if (IrcChannel.StartsWith(":"))
@@ -772,8 +779,8 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
         public void eventIrcPart(string prefix, string command, string parms)
         {
-            string[]     args = parms.Split(CS_SPACE,2);
-            string    IrcUser = prefix.Split('!')[0];
+            string[] args = parms.Split(CS_SPACE, 2);
+            string IrcUser = prefix.Split('!')[0];
             string IrcChannel = args[0];
 
             m_log.DebugFormat("[IRC-Connector-{0}] Event: IRCPart {1}:{2}", idn, m_server, m_ircChannel);
@@ -782,7 +789,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
         public void eventIrcMode(string prefix, string command, string parms)
         {
-            string[]   args = parms.Split(CS_SPACE,2);
+            string[] args = parms.Split(CS_SPACE, 2);
             string UserMode = args[1];
 
             m_log.DebugFormat("[IRC-Connector-{0}] Event: IRCMode {1}:{2}", idn, m_server, m_ircChannel);
@@ -794,7 +801,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
         public void eventIrcNickChange(string prefix, string command, string parms)
         {
-            string[]      args = parms.Split(CS_SPACE,2);
+            string[] args = parms.Split(CS_SPACE, 2);
             string UserOldNick = prefix.Split('!')[0];
             string UserNewNick = args[0].Remove(0, 1);
 
@@ -804,11 +811,11 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
         public void eventIrcKick(string prefix, string command, string parms)
         {
-            string[]      args = parms.Split(CS_SPACE,3);
-            string UserKicker  = prefix.Split('!')[0];
-            string IrcChannel  = args[0];
-            string UserKicked  = args[1];
-            string KickMessage = args[2]; 
+            string[] args = parms.Split(CS_SPACE, 3);
+            string UserKicker = prefix.Split('!')[0];
+            string IrcChannel = args[0];
+            string UserKicked = args[1];
+            string KickMessage = args[2];
 
             m_log.DebugFormat("[IRC-Connector-{0}] Event: IRCKick {1}:{2}", idn, m_server, m_ircChannel);
             BroadcastSim(UserKicker, "/me kicks kicks {0} off {1} saying \"{2}\"", UserKicked, IrcChannel, KickMessage);
@@ -822,7 +829,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
         public void eventIrcQuit(string prefix, string command, string parms)
         {
-            string     IrcUser = prefix.Split('!')[0];
+            string IrcUser = prefix.Split('!')[0];
             string QuitMessage = parms;
 
             m_log.DebugFormat("[IRC-Connector-{0}] Event: IRCQuit {1}:{2}", idn, m_server, m_ircChannel);
@@ -842,65 +849,65 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
             // m_log.InfoFormat("[IRC-Watchdog] Status scan, pdk = {0}, icc = {1}", _pdk_, _icc_);
 
-            _pdk_ = (_pdk_+1)%PING_PERIOD;    // cycle the ping trigger
+            _pdk_ = (_pdk_ + 1) % PING_PERIOD;    // cycle the ping trigger
             _icc_++;    // increment the inter-consecutive-connect-delay counter
 
             lock (m_connectors)
-            foreach (IRCConnector connector in m_connectors)
-            {
+                foreach (IRCConnector connector in m_connectors)
+                {
 
-                // m_log.InfoFormat("[IRC-Watchdog] Scanning {0}", connector);
+                    // m_log.InfoFormat("[IRC-Watchdog] Scanning {0}", connector);
 
-                if (connector.Enabled)
-                {
-                    if (!connector.Connected)
+                    if (connector.Enabled)
                     {
-                        try
+                        if (!connector.Connected)
                         {
-                            // m_log.DebugFormat("[IRC-Watchdog] Connecting {1}:{2}", connector.idn, connector.m_server, connector.m_ircChannel);
-                            connector.Connect();
+                            try
+                            {
+                                // m_log.DebugFormat("[IRC-Watchdog] Connecting {1}:{2}", connector.idn, connector.m_server, connector.m_ircChannel);
+                                connector.Connect();
+                            }
+                            catch (Exception e)
+                            {
+                                m_log.ErrorFormat("[IRC-Watchdog] Exception on connector {0}: {1} ", connector.idn, e.Message);
+                            }
                         }
-                        catch (Exception e)
+                        else
                         {
-                            m_log.ErrorFormat("[IRC-Watchdog] Exception on connector {0}: {1} ", connector.idn, e.Message);
-                        }
-                    }
-                    else
-                    {
 
-                        if (connector.m_pending)
-                        {
-                            if (connector.m_timeout == 0)
+                            if (connector.m_pending)
                             {
-                                m_log.ErrorFormat("[IRC-Watchdog] Login timed-out for connector {0}, reconnecting", connector.idn);
-                                connector.Reconnect();
+                                if (connector.m_timeout == 0)
+                                {
+                                    m_log.ErrorFormat("[IRC-Watchdog] Login timed-out for connector {0}, reconnecting", connector.idn);
+                                    connector.Reconnect();
+                                }
+                                else
+                                    connector.m_timeout--;
                             }
-                            else
-                                connector.m_timeout--;
-                        }
 
-                        // Being marked connected is not enough to ping. Socket establishment can sometimes take a long
-                        // time, in which case the watch dog might try to ping the server before the socket has been 
-                        // set up, with nasty side-effects.
+                            // Being marked connected is not enough to ping. Socket establishment can sometimes take a long
+                            // time, in which case the watch dog might try to ping the server before the socket has been 
+                            // set up, with nasty side-effects.
 
-                        else if (_pdk_ == 0)
-                        {
-                            try
-                            {
-                                connector.m_writer.WriteLine(String.Format("PING :{0}", connector.m_server));
-                                connector.m_writer.Flush();
-                            }
-                            catch (Exception e)
+                            else if (_pdk_ == 0)
                             {
-                                m_log.ErrorFormat("[IRC-PingRun] Exception on connector {0}: {1} ", connector.idn, e.Message);
-                                m_log.Debug(e);
-                                connector.Reconnect();
+                                try
+                                {
+                                    connector.m_writer.WriteLine(String.Format("PING :{0}", connector.m_server));
+                                    connector.m_writer.Flush();
+                                }
+                                catch (Exception e)
+                                {
+                                    m_log.ErrorFormat("[IRC-PingRun] Exception on connector {0}: {1} ", connector.idn, e.Message);
+                                    m_log.Debug(e);
+                                    connector.Reconnect();
+                                }
                             }
-                        }
 
+                        }
                     }
                 }
-            }
 
             // m_log.InfoFormat("[IRC-Watchdog] Status scan completed");
 
diff --git a/OpenSim/Region/OptionalModules/Avatar/Chat/RegionState.cs b/OpenSim/Region/OptionalModules/Avatar/Chat/RegionState.cs
index 53b103e..d4fe5e0 100644
--- a/OpenSim/Region/OptionalModules/Avatar/Chat/RegionState.cs
+++ b/OpenSim/Region/OptionalModules/Avatar/Chat/RegionState.cs
@@ -41,49 +41,71 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
     internal class RegionState
     {
-
         private static readonly ILog m_log =
             LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
         private static readonly OpenMetaverse.Vector3 CenterOfRegion = new OpenMetaverse.Vector3(((int)Constants.RegionSize * 0.5f), ((int)Constants.RegionSize * 0.5f), 20);
-        private const  int DEBUG_CHANNEL = 2147483647;
+        private const int DEBUG_CHANNEL = 2147483647;
 
-        private static int _idk_         = 0;
+        private static int _idk_ = 0;
 
         // Runtime variables; these values are assigned when the
         // IrcState is created and remain constant thereafter.
 
-        internal string Region               = String.Empty;
-        internal string Host                 = String.Empty;
-        internal string LocX                 = String.Empty;
-        internal string LocY                 = String.Empty;
-        internal string IDK                  = String.Empty;
+        internal string Region = String.Empty;
+        internal string Host = String.Empty;
+        internal string LocX = String.Empty;
+        internal string LocY = String.Empty;
+        internal string IDK = String.Empty;
 
         // System values - used only be the IRC classes themselves
 
-        internal ChannelState cs             = null; // associated IRC configuration
-        internal Scene scene                 = null; // associated scene
-        internal IConfig config              = null; // configuration file reference
-        internal bool enabled                = true; 
- 
+        internal ChannelState cs = null; // associated IRC configuration
+        internal Scene scene = null; // associated scene
+        internal IConfig config = null; // configuration file reference
+        internal bool enabled = true;
+
+        //AgentAlert
+        internal bool showAlert = false;
+        internal string alertMessage = String.Empty;
+        internal IDialogModule dialogModule = null;
+
         // This list is used to keep track of who is here, and by
         // implication, who is not.
 
-        internal List<IClientAPI> clients    = new List<IClientAPI>();
+        internal List<IClientAPI> clients = new List<IClientAPI>();
 
         // Setup runtime variable values
 
         public RegionState(Scene p_scene, IConfig p_config)
         {
-
-            scene  = p_scene;
+            scene = p_scene;
             config = p_config;
 
             Region = scene.RegionInfo.RegionName;
-            Host   = scene.RegionInfo.ExternalHostName;
-            LocX   = Convert.ToString(scene.RegionInfo.RegionLocX);
-            LocY   = Convert.ToString(scene.RegionInfo.RegionLocY);
-            IDK    = Convert.ToString(_idk_++);
+            Host = scene.RegionInfo.ExternalHostName;
+            LocX = Convert.ToString(scene.RegionInfo.RegionLocX);
+            LocY = Convert.ToString(scene.RegionInfo.RegionLocY);
+            IDK = Convert.ToString(_idk_++);
+
+            showAlert = config.GetBoolean("alert_show", false);
+            string alertServerInfo = String.Empty;
+
+            if (showAlert)
+            {
+                bool showAlertServerInfo = config.GetBoolean("alert_show_serverinfo", true);
+
+                if (showAlertServerInfo)
+                    alertServerInfo = String.Format("\nServer: {0}\nPort: {1}\nChannel: {2}\n\n",
+                        config.GetString("server", ""), config.GetString("port", ""), config.GetString("channel", ""));
+
+                string alertPreMessage = config.GetString("alert_msg_pre", "This region is linked to Irc.");
+                string alertPostMessage = config.GetString("alert_msg_post", "Everything you say in public chat can be listened.");
+
+                alertMessage = String.Format("{0}\n{1}{2}", alertPreMessage, alertServerInfo, alertPostMessage);
+
+                dialogModule = scene.RequestModuleInterface<IDialogModule>();
+            }
 
             // OpenChannel conditionally establishes a connection to the
             // IRC server. The request will either succeed, or it will
@@ -93,9 +115,9 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
             // Connect channel to world events
 
-            scene.EventManager.OnChatFromWorld  += OnSimChat;
+            scene.EventManager.OnChatFromWorld += OnSimChat;
             scene.EventManager.OnChatFromClient += OnSimChat;
-            scene.EventManager.OnMakeRootAgent  += OnMakeRootAgent;
+            scene.EventManager.OnMakeRootAgent += OnMakeRootAgent;
             scene.EventManager.OnMakeChildAgent += OnMakeChildAgent;
 
             m_log.InfoFormat("[IRC-Region {0}] Initialization complete", Region);
@@ -106,8 +128,8 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
         ~RegionState()
         {
-          if (cs != null)
-              cs.RemoveRegion(this);
+            if (cs != null)
+                cs.RemoveRegion(this);
         }
 
         // Called by PostInitialize after all regions have been created
@@ -138,7 +160,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
             {
                 if (clients.Contains(client))
                 {
-                    if (enabled && (cs.irc.Enabled) && (cs.irc.Connected) && (cs.ClientReporting)) 
+                    if (enabled && (cs.irc.Enabled) && (cs.irc.Connected) && (cs.ClientReporting))
                     {
                         m_log.InfoFormat("[IRC-Region {0}]: {1} has left", Region, client.Name);
                         //Check if this person is excluded from IRC
@@ -147,7 +169,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
                             cs.irc.PrivMsg(cs.NoticeMessageFormat, cs.irc.Nick, Region, String.Format("{0} has left", client.Name));
                         }
                     }
-                    client.OnLogout           -= OnClientLoggedOut;
+                    client.OnLogout -= OnClientLoggedOut;
                     client.OnConnectionClosed -= OnClientLoggedOut;
                     clients.Remove(client);
                 }
@@ -171,13 +193,13 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
             {
                 if (clients.Contains(client))
                 {
-                    if (enabled && (cs.irc.Enabled) && (cs.irc.Connected) && (cs.ClientReporting)) 
+                    if (enabled && (cs.irc.Enabled) && (cs.irc.Connected) && (cs.ClientReporting))
                     {
                         string clientName = String.Format("{0} {1}", presence.Firstname, presence.Lastname);
                         m_log.DebugFormat("[IRC-Region {0}] {1} has left", Region, clientName);
                         cs.irc.PrivMsg(cs.NoticeMessageFormat, cs.irc.Nick, Region, String.Format("{0} has left", clientName));
                     }
-                    client.OnLogout           -= OnClientLoggedOut;
+                    client.OnLogout -= OnClientLoggedOut;
                     client.OnConnectionClosed -= OnClientLoggedOut;
                     clients.Remove(client);
                 }
@@ -195,14 +217,13 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
         private void OnMakeRootAgent(ScenePresence presence)
         {
-
             IClientAPI client = presence.ControllingClient;
 
             try
             {
                 if (!clients.Contains(client))
                 {
-                    client.OnLogout           += OnClientLoggedOut;
+                    client.OnLogout += OnClientLoggedOut;
                     client.OnConnectionClosed += OnClientLoggedOut;
                     clients.Add(client);
                     if (enabled && (cs.irc.Enabled) && (cs.irc.Connected) && (cs.ClientReporting))
@@ -216,17 +237,18 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
                         }
                     }
                 }
+
+                if (dialogModule != null && showAlert)
+                    dialogModule.SendAlertToUser(client, alertMessage, true);
             }
             catch (Exception ex)
             {
                 m_log.ErrorFormat("[IRC-Region {0}]: MakeRootAgent exception: {1}", Region, ex.Message);
                 m_log.Debug(ex);
             }
-
         }
 
         // This handler detects chat events int he virtual world.
-
         public void OnSimChat(Object sender, OSChatMessage msg)
         {
 
@@ -317,14 +339,14 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
                         // that evident.
 
                         default:
-                            m_log.DebugFormat("[IRC-Region {0}] Forwarding unrecognized command to IRC : {1}", 
+                            m_log.DebugFormat("[IRC-Region {0}] Forwarding unrecognized command to IRC : {1}",
                                             Region, msg.Message);
                             cs.irc.Send(msg.Message);
                             break;
                     }
                 }
                 catch (Exception ex)
-                { 
+                {
                     m_log.WarnFormat("[IRC-Region {0}] error processing in-world command channel input: {1}",
                                     Region, ex.Message);
                     m_log.Debug(ex);
@@ -366,7 +388,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
             m_log.DebugFormat("[IRC-Region {0}] heard on channel {1} : {2}", Region, msg.Channel, msg.Message);
 
-            if (null != avatar && cs.RelayChat && (msg.Channel == 0 || msg.Channel == DEBUG_CHANNEL)) 
+            if (null != avatar && cs.RelayChat && (msg.Channel == 0 || msg.Channel == DEBUG_CHANNEL))
             {
                 string txt = msg.Message;
                 if (txt.StartsWith("/me "))
@@ -376,13 +398,13 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
                 return;
             }
 
-            if (null == avatar && cs.RelayPrivateChannels && null != cs.AccessPassword && 
+            if (null == avatar && cs.RelayPrivateChannels && null != cs.AccessPassword &&
                 msg.Channel == cs.RelayChannelOut)
             {
                 Match m = cs.AccessPasswordRegex.Match(msg.Message);
                 if (null != m)
                 {
-                    m_log.DebugFormat("[IRC] relaying message from {0}: {1}", m.Groups["avatar"].ToString(), 
+                    m_log.DebugFormat("[IRC] relaying message from {0}: {1}", m.Groups["avatar"].ToString(),
                                       m.Groups["message"].ToString());
                     cs.irc.PrivMsg(cs.PrivateMessageFormat, m.Groups["avatar"].ToString(),
                                    scene.RegionInfo.RegionName, m.Groups["message"].ToString());
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs
deleted file mode 100644
index d91c47f..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs
+++ /dev/null
@@ -1,814 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Reflection;
-using log4net;
-using OMV = OpenMetaverse;
-using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-public sealed class BSCharacter : BSPhysObject
-{
-    private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
-    private static readonly string LogHeader = "[BULLETS CHAR]";
-
-    // private bool _stopped;
-    private OMV.Vector3 _size;
-    private bool _grabbed;
-    private bool _selected;
-    private OMV.Vector3 _position;
-    private float _mass;
-    private float _avatarDensity;
-    private float _avatarVolume;
-    private OMV.Vector3 _force;
-    private OMV.Vector3 _velocity;
-    private OMV.Vector3 _torque;
-    private float _collisionScore;
-    private OMV.Vector3 _acceleration;
-    private OMV.Quaternion _orientation;
-    private int _physicsActorType;
-    private bool _isPhysical;
-    private bool _flying;
-    private bool _setAlwaysRun;
-    private bool _throttleUpdates;
-    private bool _isColliding;
-    private bool _collidingObj;
-    private bool _floatOnWater;
-    private OMV.Vector3 _rotationalVelocity;
-    private bool _kinematic;
-    private float _buoyancy;
-
-    // The friction and velocity of the avatar is modified depending on whether walking or not.
-    private OMV.Vector3 _appliedVelocity;   // the last velocity applied to the avatar
-    private float _currentFriction;         // the friction currently being used (changed by setVelocity).
-
-    private BSVMotor _velocityMotor;
-
-    private OMV.Vector3 _PIDTarget;
-    private bool _usePID;
-    private float _PIDTau;
-    private bool _useHoverPID;
-    private float _PIDHoverHeight;
-    private PIDHoverType _PIDHoverType;
-    private float _PIDHoverTao;
-
-    public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying)
-            : base(parent_scene, localID, avName, "BSCharacter")
-    {
-        _physicsActorType = (int)ActorTypes.Agent;
-        _position = pos;
-
-        // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
-        //     replace with the default values.
-        _size = size;
-        if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth;
-        if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
-
-        // A motor to control the acceleration and deceleration of the avatar movement.
-        // _velocityMotor = new BSVMotor("BSCharacter.Velocity", 3f, 5f, BSMotor.InfiniteVector, 1f);
-        // _velocityMotor = new BSPIDVMotor("BSCharacter.Velocity", 3f, 5f, BSMotor.InfiniteVector, 1f);
-        // Infinite decay and timescale values so motor only changes current to target values.
-        _velocityMotor = new BSVMotor("BSCharacter.Velocity", 
-                                            0.2f,                       // time scale
-                                            BSMotor.Infinite,           // decay time scale
-                                            BSMotor.InfiniteVector,     // friction timescale
-                                            1f                          // efficiency
-        );
-        _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
-
-        _flying = isFlying;
-        _orientation = OMV.Quaternion.Identity;
-        _velocity = OMV.Vector3.Zero;
-        _appliedVelocity = OMV.Vector3.Zero;
-        _buoyancy = ComputeBuoyancyFromFlying(isFlying);
-        _currentFriction = BSParam.AvatarStandingFriction;
-        _avatarDensity = BSParam.AvatarDensity;
-
-        // The dimensions of the avatar capsule are kept in the scale.
-        // Physics creates a unit capsule which is scaled by the physics engine.
-        ComputeAvatarScale(_size);
-        // set _avatarVolume and _mass based on capsule size, _density and Scale
-        ComputeAvatarVolumeAndMass();
-        DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}",
-                            LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass);
-
-        // do actual creation in taint time
-        PhysicsScene.TaintedObject("BSCharacter.create", delegate()
-        {
-            DetailLog("{0},BSCharacter.create,taint", LocalID);
-            // New body and shape into PhysBody and PhysShape
-            PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this);
-
-            SetPhysicalProperties();
-        });
-        return;
-    }
-
-    // called when this character is being destroyed and the resources should be released
-    public override void Destroy()
-    {
-        base.Destroy();
-
-        DetailLog("{0},BSCharacter.Destroy", LocalID);
-        PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
-        {
-            PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
-            PhysBody.Clear();
-            PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
-            PhysShape.Clear();
-        });
-    }
-
-    private void SetPhysicalProperties()
-    {
-        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
-
-        ZeroMotion(true);
-        ForcePosition = _position;
-        // Set the velocity and compute the proper friction
-        ForceVelocity = _velocity;
-        // Setting the current and target in the motor will cause it to start computing any deceleration.
-        _velocityMotor.Reset();
-        _velocityMotor.SetCurrent(_velocity);
-        _velocityMotor.SetTarget(_velocity);
-        _velocityMotor.Enabled = false;
-
-        // This will enable or disable the flying buoyancy of the avatar.
-        // Needs to be reset especially when an avatar is recreated after crossing a region boundry.
-        Flying = _flying;
-
-        BulletSimAPI.SetRestitution2(PhysBody.ptr, BSParam.AvatarRestitution);
-        BulletSimAPI.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin);
-        BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
-        BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, BSParam.ContactProcessingThreshold);
-        if (BSParam.CcdMotionThreshold > 0f)
-        {
-            BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold);
-            BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius);
-        }
-
-        UpdatePhysicalMassProperties(RawMass, false);
-
-        // Make so capsule does not fall over
-        BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero);
-
-        BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT);
-
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr, _position, _orientation);
-
-        // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG);
-        BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_DEACTIVATION);
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
-
-        // Do this after the object has been added to the world
-        PhysBody.collisionType = CollisionType.Avatar;
-        PhysBody.ApplyCollisionMask();
-    }
-
-    public override void RequestPhysicsterseUpdate()
-    {
-        base.RequestPhysicsterseUpdate();
-    }
-    // No one calls this method so I don't know what it could possibly mean
-    public override bool Stopped { get { return false; } }
-
-    public override OMV.Vector3 Size {
-        get
-        {
-            // Avatar capsule size is kept in the scale parameter.
-            return _size;
-        }
-
-        set {
-            // When an avatar's size is set, only the height is changed.
-            _size = value;
-            // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
-            //     replace with the default values.
-            if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth;
-            if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
-
-            ComputeAvatarScale(_size);
-            ComputeAvatarVolumeAndMass();
-            DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}",
-                            LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass);
-
-            PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
-            {
-                if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape)
-                {
-                    BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
-                    UpdatePhysicalMassProperties(RawMass, true);
-                    // Make sure this change appears as a property update event
-                    BulletSimAPI.PushUpdate2(PhysBody.ptr);
-                }
-            });
-
-        }
-    }
-
-    public override PrimitiveBaseShape Shape
-    {
-        set { BaseShape = value; }
-    }
-    // I want the physics engine to make an avatar capsule
-    public override BSPhysicsShapeType PreferredPhysicalShape
-    {
-        get {return BSPhysicsShapeType.SHAPE_CAPSULE; }
-    }
-
-    public override bool Grabbed {
-        set { _grabbed = value; }
-    }
-    public override bool Selected {
-        set { _selected = value; }
-    }
-    public override void CrossingFailure() { return; }
-    public override void link(PhysicsActor obj) { return; }
-    public override void delink() { return; }
-
-    // Set motion values to zero.
-    // Do it to the properties so the values get set in the physics engine.
-    // Push the setting of the values to the viewer.
-    // Called at taint time!
-    public override void ZeroMotion(bool inTaintTime)
-    {
-        _velocity = OMV.Vector3.Zero;
-        _acceleration = OMV.Vector3.Zero;
-        _rotationalVelocity = OMV.Vector3.Zero;
-
-        // Zero some other properties directly into the physics engine
-        PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
-        {
-            if (PhysBody.HasPhysicalBody)
-                BulletSimAPI.ClearAllForces2(PhysBody.ptr);
-        });
-    }
-    public override void ZeroAngularMotion(bool inTaintTime)
-    {
-        _rotationalVelocity = OMV.Vector3.Zero;
-
-        PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
-        {
-            if (PhysBody.HasPhysicalBody)
-            {
-                BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
-                BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
-                // The next also get rid of applied linear force but the linear velocity is untouched.
-                BulletSimAPI.ClearForces2(PhysBody.ptr);
-            }
-        });
-    }
-
-
-    public override void LockAngularMotion(OMV.Vector3 axis) { return; }
-
-    public override OMV.Vector3 RawPosition
-    {
-        get { return _position; }
-        set { _position = value; }
-    }
-    public override OMV.Vector3 Position {
-        get {
-            // Don't refetch the position because this function is called a zillion times
-            // _position = BulletSimAPI.GetObjectPosition2(Scene.World.ptr, LocalID);
-            return _position;
-        }
-        set {
-            _position = value;
-            PositionSanityCheck();
-
-            PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate()
-            {
-                DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                if (PhysBody.HasPhysicalBody)
-                    BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
-            });
-        }
-    }
-    public override OMV.Vector3 ForcePosition {
-        get {
-            _position = BulletSimAPI.GetPosition2(PhysBody.ptr);
-            return _position;
-        }
-        set {
-            _position = value;
-            PositionSanityCheck();
-            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
-        }
-    }
-
-
-    // Check that the current position is sane and, if not, modify the position to make it so.
-    // Check for being below terrain or on water.
-    // Returns 'true' of the position was made sane by some action.
-    private bool PositionSanityCheck()
-    {
-        bool ret = false;
-
-        // TODO: check for out of bounds
-        if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(_position))
-        {
-            // The character is out of the known/simulated area.
-            // Upper levels of code will handle the transition to other areas so, for
-            //     the time, we just ignore the position.
-            return ret;
-        }
-
-        // If below the ground, move the avatar up
-        float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
-        if (Position.Z < terrainHeight)
-        {
-            DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
-            _position.Z = terrainHeight + 2.0f;
-            ret = true;
-        }
-        if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
-        {
-            float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position);
-            if (Position.Z < waterHeight)
-            {
-                _position.Z = waterHeight;
-                ret = true;
-            }
-        }
-
-        return ret;
-    }
-
-    // A version of the sanity check that also makes sure a new position value is
-    //    pushed back to the physics engine. This routine would be used by anyone
-    //    who is not already pushing the value.
-    private bool PositionSanityCheck(bool inTaintTime)
-    {
-        bool ret = false;
-        if (PositionSanityCheck())
-        {
-            // The new position value must be pushed into the physics engine but we can't
-            //    just assign to "Position" because of potential call loops.
-            PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate()
-            {
-                DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                if (PhysBody.HasPhysicalBody)
-                    BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
-            });
-            ret = true;
-        }
-        return ret;
-    }
-
-    public override float Mass { get { return _mass; } }
-
-    // used when we only want this prim's mass and not the linkset thing
-    public override float RawMass { 
-        get {return _mass; }
-    }
-    public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
-    {
-        OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
-        BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia);
-    }
-
-    public override OMV.Vector3 Force {
-        get { return _force; }
-        set {
-            _force = value;
-            // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force);
-            PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate()
-            {
-                DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force);
-                if (PhysBody.HasPhysicalBody)
-                    BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
-            });
-        }
-    }
-
-    public bool TouchingGround()
-    {
-        bool ret = BulletSimAPI.RayCastGround(PhysicsScene.World.ptr,_position,_size.Z * 0.55f, PhysBody.ptr);
-        return ret;
-    }
-    // Avatars don't do vehicles
-    public override int VehicleType { get { return (int)Vehicle.TYPE_NONE; } set { return; } }
-    public override void VehicleFloatParam(int param, float value) { }
-    public override void VehicleVectorParam(int param, OMV.Vector3 value) {}
-    public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { }
-    public override void VehicleFlags(int param, bool remove) { }
-
-    // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
-    public override void SetVolumeDetect(int param) { return; }
-
-    public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } }
-    public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } }
-
-    // Sets the target in the motor. This starts the changing of the avatar's velocity.
-    public override OMV.Vector3 TargetVelocity
-    {
-        get
-        {
-            return _velocityMotor.TargetValue;
-        }
-        set
-        {
-            DetailLog("{0},BSCharacter.setTargetVelocity,call,vel={1}", LocalID, value);
-
-            if (!_flying)
-                if ((value.Z >= 0.0001f) || (value.Z <= -0.0001f) || _velocity.Z < -0.0001f)
-                    if (!TouchingGround())
-                        value.Z = _velocity.Z;
-            if (_setAlwaysRun)
-                value *= 1.3f;
-
-            OMV.Vector3 targetVel = value;
-
-            PhysicsScene.TaintedObject("BSCharacter.setTargetVelocity", delegate()
-            {
-                                                                                
-                _velocityMotor.Reset();
-                _velocityMotor.SetTarget(targetVel);
-                _velocityMotor.SetCurrent(_velocity);
-                _velocityMotor.Enabled = true;
-
-                // Make sure a property update happens next step so the motor gets incorporated.
-                BulletSimAPI.PushUpdate2(PhysBody.ptr);
-            });
-        }
-    }
-    // Directly setting velocity means this is what the user really wants now.
-    public override OMV.Vector3 Velocity {
-        get { return _velocity; }
-        set {
-            _velocity = value;
-            // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity);
-            PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate()
-            {
-                _velocityMotor.Reset();
-                _velocityMotor.SetCurrent(_velocity);
-                _velocityMotor.SetTarget(_velocity);
-                // Even though the motor is initialized, it's not used and the velocity goes straight into the avatar.
-                _velocityMotor.Enabled = false;
-
-                DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
-                ForceVelocity = _velocity;
-            });
-        }
-    }
-    public override OMV.Vector3 ForceVelocity {
-        get { return _velocity; }
-        set {
-            PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity");
-
-            _velocity = value;
-            // Depending on whether the avatar is moving or not, change the friction
-            //    to keep the avatar from slipping around
-            if (_velocity.Length() == 0)
-            {
-                if (_currentFriction != BSParam.AvatarStandingFriction)
-                {
-                    _currentFriction = BSParam.AvatarStandingFriction;
-                    if (PhysBody.HasPhysicalBody)
-                        BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
-                }
-            }
-            else
-            {
-                if (_currentFriction != BSParam.AvatarFriction)
-                {
-                    _currentFriction = BSParam.AvatarFriction;
-                    if (PhysBody.HasPhysicalBody)
-                        BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
-                }
-            }
-            // Remember the set velocity so we can suppress the reduction by friction, ...
-            _appliedVelocity = value;
-
-            BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
-            BulletSimAPI.Activate2(PhysBody.ptr, true);
-        }
-    }
-    public override OMV.Vector3 Torque {
-        get { return _torque; }
-        set { _torque = value;
-        }
-    }
-    public override float CollisionScore {
-        get { return _collisionScore; }
-        set { _collisionScore = value;
-        }
-    }
-    public override OMV.Vector3 Acceleration {
-        get { return _acceleration; }
-        set { _acceleration = value; }
-    }
-    public override OMV.Quaternion RawOrientation
-    {
-        get { return _orientation; }
-        set { _orientation = value; }
-    }
-    public override OMV.Quaternion Orientation {
-        get { return _orientation; }
-        set {
-            _orientation = value;
-            // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation);
-            PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate()
-            {
-                if (PhysBody.HasPhysicalBody)
-                {
-                    // _position = BulletSimAPI.GetPosition2(BSBody.ptr);
-                    BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
-                }
-            });
-        }
-    }
-    // Go directly to Bullet to get/set the value.
-    public override OMV.Quaternion ForceOrientation
-    {
-        get
-        {
-            _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr);
-            return _orientation;
-        }
-        set
-        {
-            _orientation = value;
-            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
-        }
-    }
-    public override int PhysicsActorType {
-        get { return _physicsActorType; }
-        set { _physicsActorType = value;
-        }
-    }
-    public override bool IsPhysical {
-        get { return _isPhysical; }
-        set { _isPhysical = value;
-        }
-    }
-    public override bool IsSolid {
-        get { return true; }
-    }
-    public override bool IsStatic {
-        get { return false; }
-    }
-    public override bool Flying {
-        get { return _flying; }
-        set {
-            _flying = value;
-
-            // simulate flying by changing the effect of gravity
-            Buoyancy = ComputeBuoyancyFromFlying(_flying);
-        }
-    }
-    // Flying is implimented by changing the avatar's buoyancy.
-    // Would this be done better with a vehicle type?
-    private float ComputeBuoyancyFromFlying(bool ifFlying) {
-        return ifFlying ? 1f : 0f;
-    }
-    public override bool
-        SetAlwaysRun {
-        get { return _setAlwaysRun; }
-        set { _setAlwaysRun = value; }
-    }
-    public override bool ThrottleUpdates {
-        get { return _throttleUpdates; }
-        set { _throttleUpdates = value; }
-    }
-    public override bool IsColliding {
-        get { return (CollidingStep == PhysicsScene.SimulationStep); }
-        set { _isColliding = value; }
-    }
-    public override bool CollidingGround {
-        get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
-        set { CollidingGround = value; }
-    }
-    public override bool CollidingObj {
-        get { return _collidingObj; }
-        set { _collidingObj = value; }
-    }
-    public override bool FloatOnWater {
-        set {
-            _floatOnWater = value;
-            PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate()
-            {
-                if (PhysBody.HasPhysicalBody)
-                {
-                    if (_floatOnWater)
-                        CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
-                    else
-                        CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
-                }
-            });
-        }
-    }
-    public override OMV.Vector3 RotationalVelocity {
-        get { return _rotationalVelocity; }
-        set { _rotationalVelocity = value; }
-    }
-    public override OMV.Vector3 ForceRotationalVelocity {
-        get { return _rotationalVelocity; }
-        set { _rotationalVelocity = value; }
-    }
-    public override bool Kinematic {
-        get { return _kinematic; }
-        set { _kinematic = value; }
-    }
-    // neg=fall quickly, 0=1g, 1=0g, pos=float up
-    public override float Buoyancy {
-        get { return _buoyancy; }
-        set { _buoyancy = value;
-            PhysicsScene.TaintedObject("BSCharacter.setBuoyancy", delegate()
-            {
-                DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
-                ForceBuoyancy = _buoyancy;
-            });
-        }
-    }
-    public override float ForceBuoyancy {
-        get { return _buoyancy; }
-        set { 
-            PhysicsScene.AssertInTaintTime("BSCharacter.ForceBuoyancy");
-
-            _buoyancy = value;
-            DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
-            // Buoyancy is faked by changing the gravity applied to the object
-            float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
-            if (PhysBody.HasPhysicalBody)
-                BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
-        }
-    }
-
-    // Used for MoveTo
-    public override OMV.Vector3 PIDTarget {
-        set { _PIDTarget = value; }
-    }
-    public override bool PIDActive {
-        set { _usePID = value; }
-    }
-    public override float PIDTau {
-        set { _PIDTau = value; }
-    }
-
-    // Used for llSetHoverHeight and maybe vehicle height
-    // Hover Height will override MoveTo target's Z
-    public override bool PIDHoverActive {
-        set { _useHoverPID = value; }
-    }
-    public override float PIDHoverHeight {
-        set { _PIDHoverHeight = value; }
-    }
-    public override PIDHoverType PIDHoverType {
-        set { _PIDHoverType = value; }
-    }
-    public override float PIDHoverTau {
-        set { _PIDHoverTao = value; }
-    }
-
-    // For RotLookAt
-    public override OMV.Quaternion APIDTarget { set { return; } }
-    public override bool APIDActive { set { return; } }
-    public override float APIDStrength { set { return; } }
-    public override float APIDDamping { set { return; } }
-
-    public override void AddForce(OMV.Vector3 force, bool pushforce) {
-        if (force.IsFinite())
-        {
-            _force.X += force.X;
-            _force.Y += force.Y;
-            _force.Z += force.Z;
-            // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force);
-            PhysicsScene.TaintedObject("BSCharacter.AddForce", delegate()
-            {
-                DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force);
-                if (PhysBody.HasPhysicalBody)
-                    BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
-            });
-        }
-        else
-        {
-            m_log.ErrorFormat("{0}: Got a NaN force applied to a Character", LogHeader);
-        }
-        //m_lastUpdateSent = false;
-    }
-
-    public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
-    }
-    public override void SetMomentum(OMV.Vector3 momentum) {
-    }
-
-    private void ComputeAvatarScale(OMV.Vector3 size)
-    {
-        OMV.Vector3 newScale = size;
-        // newScale.X = PhysicsScene.Params.avatarCapsuleWidth;
-        // newScale.Y = PhysicsScene.Params.avatarCapsuleDepth;
-
-        // From the total height, remove the capsule half spheres that are at each end
-        // The 1.15f came from ODE. Not sure what this factors in.
-        // newScale.Z = (size.Z * 1.15f) - (newScale.X + newScale.Y);
-
-        // The total scale height is the central cylindar plus the caps on the two ends.
-        newScale.Z = size.Z + (Math.Min(size.X, size.Y) * 2f);
-
-        // Convert diameters to radii and height to half height -- the way Bullet expects it.
-        Scale = newScale / 2f;
-    }
-
-    // set _avatarVolume and _mass based on capsule size, _density and Scale
-    private void ComputeAvatarVolumeAndMass()
-    {
-        _avatarVolume = (float)(
-                        Math.PI
-                        * Scale.X
-                        * Scale.Y    // the area of capsule cylinder
-                        * Scale.Z    // times height of capsule cylinder
-                      + 1.33333333f
-                        * Math.PI
-                        * Scale.X
-                        * Math.Min(Scale.X, Scale.Y)
-                        * Scale.Y    // plus the volume of the capsule end caps
-                        );
-        _mass = _avatarDensity * _avatarVolume;
-    }
-
-    // The physics engine says that properties have updated. Update same and inform
-    // the world that things have changed.
-    public override void UpdateProperties(EntityProperties entprop)
-    {
-        _position = entprop.Position;
-        _orientation = entprop.Rotation;
-        _velocity = entprop.Velocity;
-        _acceleration = entprop.Acceleration;
-        _rotationalVelocity = entprop.RotationalVelocity;
-
-        // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
-        PositionSanityCheck(true);
-
-        if (_velocityMotor.Enabled)
-        {
-            // TODO: Decide if the step parameters should be changed depending on the avatar's
-            //     state (flying, colliding, ...).
-
-            OMV.Vector3 stepVelocity = _velocityMotor.Step(PhysicsScene.LastTimeStep);
-
-            // If falling, we keep the world's downward vector no matter what the other axis specify.
-            if (!Flying && !IsColliding)
-            {
-                stepVelocity.Z = entprop.Velocity.Z;
-                DetailLog("{0},BSCharacter.UpdateProperties,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity);
-            }
-
-            // If the user has said stop and we've stopped applying velocity correction,
-            //     the motor can be turned off. Set the velocity to zero so the zero motion is sent to the viewer.
-            if (_velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f) && _velocityMotor.ErrorIsZero)
-            {
-                ZeroMotion(true);
-                stepVelocity = OMV.Vector3.Zero;
-                _velocityMotor.Enabled = false;
-                DetailLog("{0},BSCharacter.UpdateProperties,taint,disableVelocityMotor,m={1}", LocalID, _velocityMotor);
-            }
-
-            _velocity = stepVelocity;
-            entprop.Velocity = _velocity;
-            BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
-        }
-
-        // remember the current and last set values
-        LastEntityProperties = CurrentEntityProperties;
-        CurrentEntityProperties = entprop;
-
-        // Tell the linkset about value changes
-        Linkset.UpdateProperties(this, true);
-
-        // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
-        // base.RequestPhysicsterseUpdate();
-
-        DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
-                LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
-    }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs
deleted file mode 100644
index f1bed39..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs
+++ /dev/null
@@ -1,135 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Text;
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-
-public abstract class BSConstraint : IDisposable
-{
-    private static string LogHeader = "[BULLETSIM CONSTRAINT]";
-
-    protected BulletWorld m_world;
-    protected BulletBody m_body1;
-    protected BulletBody m_body2;
-    protected BulletConstraint m_constraint;
-    protected bool m_enabled = false;
-
-    public BulletBody Body1 { get { return m_body1; } }
-    public BulletBody Body2 { get { return m_body2; } }
-    public BulletConstraint Constraint { get { return m_constraint; } }
-    public abstract ConstraintType Type { get; }
-    public bool IsEnabled { get { return m_enabled; } }
-
-    public BSConstraint()
-    {
-    }
-
-    public virtual void Dispose()
-    {
-        if (m_enabled)
-        {
-            m_enabled = false;
-            if (m_constraint.HasPhysicalConstraint)
-            {
-                bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr);
-                m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}",
-                                    BSScene.DetailLogZero,
-                                    m_body1.ID, m_body1.ptr.ToString(),
-                                    m_body2.ID, m_body2.ptr.ToString(),
-                                    success);
-                m_constraint.Clear();
-            }
-        }
-    }
-
-    public virtual bool SetLinearLimits(Vector3 low, Vector3 high)
-    {
-        bool ret = false;
-        if (m_enabled)
-            ret = BulletSimAPI.SetLinearLimits2(m_constraint.ptr, low, high);
-        return ret;
-    }
-
-    public virtual bool SetAngularLimits(Vector3 low, Vector3 high)
-    {
-        bool ret = false;
-        if (m_enabled)
-            ret = BulletSimAPI.SetAngularLimits2(m_constraint.ptr, low, high);
-        return ret;
-    }
-
-    public virtual bool SetSolverIterations(float cnt)
-    {
-        bool ret = false;
-        if (m_enabled)
-        {
-            BulletSimAPI.SetConstraintNumSolverIterations2(m_constraint.ptr, cnt);
-            ret = true;
-        }
-        return ret;
-    }
-
-    public virtual bool CalculateTransforms()
-    {
-        bool ret = false;
-        if (m_enabled)
-        {
-            // Recompute the internal transforms
-            BulletSimAPI.CalculateTransforms2(m_constraint.ptr);
-            ret = true;
-        }
-        return ret;
-    }
-
-    // Reset this constraint making sure it has all its internal structures
-    //    recomputed and is enabled and ready to go.
-    public virtual bool RecomputeConstraintVariables(float mass)
-    {
-        bool ret = false;
-        if (m_enabled)
-        {
-            ret = CalculateTransforms();
-            if (ret)
-            {
-                // Setting an object's mass to zero (making it static like when it's selected)
-                //     automatically disables the constraints.
-                // If the link is enabled, be sure to set the constraint itself to enabled.
-                BulletSimAPI.SetConstraintEnable2(m_constraint.ptr, BSParam.NumericBool(true));
-            }
-            else
-            {
-                m_world.physicsScene.Logger.ErrorFormat("{0} CalculateTransforms failed. A={1}, B={2}", LogHeader, Body1.ID, Body2.ID);
-            }
-        }
-        return ret;
-    }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs
deleted file mode 100644
index d1e3f55..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs
+++ /dev/null
@@ -1,153 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Text;
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-
-public sealed class BSConstraint6Dof : BSConstraint
-{
-    private static string LogHeader = "[BULLETSIM 6DOF CONSTRAINT]";
-
-    public override ConstraintType Type { get { return ConstraintType.D6_CONSTRAINT_TYPE; } }
-
-    // Create a btGeneric6DofConstraint
-    public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
-                    Vector3 frame1, Quaternion frame1rot,
-                    Vector3 frame2, Quaternion frame2rot,
-                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
-    {
-        m_world = world;
-        m_body1 = obj1;
-        m_body2 = obj2;
-        m_constraint = new BulletConstraint(
-                            BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
-                                frame1, frame1rot,
-                                frame2, frame2rot,
-                                useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
-        m_enabled = true;
-        world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
-                            BSScene.DetailLogZero, world.worldID,
-                            obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString());
-    }
-
-    public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
-                    Vector3 joinPoint,
-                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
-    {
-        m_world = world;
-        m_body1 = obj1;
-        m_body2 = obj2;
-        if (!obj1.HasPhysicalBody || !obj2.HasPhysicalBody)
-        {
-            world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
-                            BSScene.DetailLogZero, world.worldID,
-                            obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString());
-            world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
-                            LogHeader, world.worldID, obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString());
-            m_enabled = false;
-        }
-        else
-        {
-            m_constraint = new BulletConstraint(
-                                BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
-                                    joinPoint,
-                                    useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
-            world.physicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}",
-                                BSScene.DetailLogZero, world.worldID, m_constraint.ptr.ToString(),
-                                obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString());
-            if (!m_constraint.HasPhysicalConstraint)
-            {
-                world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}",
-                                LogHeader, obj1.ID, obj2.ID);
-                m_enabled = false;
-            }
-            else
-            {
-                m_enabled = true;
-            }
-        }
-    }
-
-    public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot)
-    {
-        bool ret = false;
-        if (m_enabled)
-        {
-            BulletSimAPI.SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
-            ret = true;
-        }
-        return ret;
-    }
-
-    public bool SetCFMAndERP(float cfm, float erp)
-    {
-        bool ret = false;
-        if (m_enabled)
-        {
-            BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
-            BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
-            BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
-            ret = true;
-        }
-        return ret;
-    }
-
-    public bool UseFrameOffset(bool useOffset)
-    {
-        bool ret = false;
-        float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
-        if (m_enabled)
-            ret = BulletSimAPI.UseFrameOffset2(m_constraint.ptr, onOff);
-        return ret;
-    }
-
-    public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce)
-    {
-        bool ret = false;
-        float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
-        if (m_enabled)
-        {
-            ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.ptr, onOff, targetVelocity, maxMotorForce);
-            m_world.physicsScene.DetailLog("{0},BS6DOFConstraint,TransLimitMotor,enable={1},vel={2},maxForce={3}",
-                            BSScene.DetailLogZero, enable, targetVelocity, maxMotorForce);
-        }
-        return ret;
-    }
-
-    public bool SetBreakingImpulseThreshold(float threshold)
-    {
-        bool ret = false;
-        if (m_enabled)
-            ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.ptr, threshold);
-        return ret;
-    }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs
deleted file mode 100644
index 87d1e44..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs
+++ /dev/null
@@ -1,180 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Text;
-using log4net;
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-
-public sealed class BSConstraintCollection : IDisposable
-{
-    // private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
-    // private static readonly string LogHeader = "[CONSTRAINT COLLECTION]";
-
-    delegate bool ConstraintAction(BSConstraint constrain);
-
-    private List<BSConstraint> m_constraints;
-    private BulletWorld m_world;
-
-    public BSConstraintCollection(BulletWorld world)
-    {
-        m_world = world;
-        m_constraints = new List<BSConstraint>();
-    }
-
-    public void Dispose()
-    {
-        this.Clear();
-    }
-
-    public void Clear()
-    {
-        lock (m_constraints)
-        {
-            foreach (BSConstraint cons in m_constraints)
-            {
-                cons.Dispose();
-            }
-            m_constraints.Clear();
-        }
-    }
-
-    public bool AddConstraint(BSConstraint cons)
-    {
-        lock (m_constraints)
-        {
-            // There is only one constraint between any bodies. Remove any old just to make sure.
-            RemoveAndDestroyConstraint(cons.Body1, cons.Body2);
-
-            m_constraints.Add(cons);
-        }
-
-        return true;
-    }
-
-    // Get the constraint between two bodies. There can be only one.
-    // Return 'true' if a constraint was found.
-    public bool TryGetConstraint(BulletBody body1, BulletBody body2, out BSConstraint returnConstraint)
-    {
-        bool found = false;
-        BSConstraint foundConstraint = null;
-
-        uint lookingID1 = body1.ID;
-        uint lookingID2 = body2.ID;
-        lock (m_constraints)
-        {
-            foreach (BSConstraint constrain in m_constraints)
-            {
-                if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2)
-                    || (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1))
-                {
-                    foundConstraint = constrain;
-                    found = true;
-                    break;
-                }
-            }
-        }
-        returnConstraint = foundConstraint;
-        return found;
-    }
-
-    // Remove any constraint between the passed bodies.
-    // Presumed there is only one such constraint possible.
-    // Return 'true' if a constraint was found and destroyed.
-    public bool RemoveAndDestroyConstraint(BulletBody body1, BulletBody body2)
-    {
-        bool ret = false;
-        lock (m_constraints)
-        {
-            BSConstraint constrain;
-            if (this.TryGetConstraint(body1, body2, out constrain))
-            {
-                // remove the constraint from our collection
-                RemoveAndDestroyConstraint(constrain);
-                ret = true;
-            }
-        }
-
-        return ret;
-    }
-
-    // The constraint MUST exist in the collection
-    public bool RemoveAndDestroyConstraint(BSConstraint constrain)
-    {
-        lock (m_constraints)
-        {
-            // remove the constraint from our collection
-            m_constraints.Remove(constrain);
-        }
-        // tell the engine that all its structures need to be freed
-        constrain.Dispose();
-        // we destroyed something
-        return true;
-    }
-
-    // Remove all constraints that reference the passed body.
-    // Return 'true' if any constraints were destroyed.
-    public bool RemoveAndDestroyConstraint(BulletBody body1)
-    {
-        List<BSConstraint> toRemove = new List<BSConstraint>();
-        uint lookingID = body1.ID;
-        lock (m_constraints)
-        {
-            foreach (BSConstraint constrain in m_constraints)
-            {
-                if (constrain.Body1.ID == lookingID || constrain.Body2.ID == lookingID)
-                {
-                    toRemove.Add(constrain);
-                }
-            }
-            foreach (BSConstraint constrain in toRemove)
-            {
-                m_constraints.Remove(constrain);
-                constrain.Dispose();
-            }
-        }
-        return (toRemove.Count > 0);
-    }
-
-    public bool RecalculateAllConstraints()
-    {
-        bool ret = false;
-        lock (m_constraints)
-        {
-            foreach (BSConstraint constrain in m_constraints)
-            {
-                constrain.CalculateTransforms();
-                ret = true;
-            }
-        }
-        return ret;
-    }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintHinge.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintHinge.cs
deleted file mode 100644
index fbd1bc0..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintHinge.cs
+++ /dev/null
@@ -1,57 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Text;
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-
-public sealed class BSConstraintHinge : BSConstraint
-{
-    public override ConstraintType Type { get { return ConstraintType.HINGE_CONSTRAINT_TYPE; } }
-
-    public BSConstraintHinge(BulletWorld world, BulletBody obj1, BulletBody obj2,
-                    Vector3 pivotInA, Vector3 pivotInB,
-                    Vector3 axisInA, Vector3 axisInB,
-                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
-    {
-        m_world = world;
-        m_body1 = obj1;
-        m_body2 = obj2;
-        m_constraint = new BulletConstraint(
-                            BulletSimAPI.CreateHingeConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
-                                pivotInA, pivotInB,
-                                axisInA, axisInB,
-                                useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
-        m_enabled = true;
-    }
-
-}
-
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs
deleted file mode 100644
index 415ad4f..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs
+++ /dev/null
@@ -1,1377 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above 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.
- *
- * The quotations from http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial
- * are Copyright (c) 2009 Linden Research, Inc and are used under their license
- * of Creative Commons Attribution-Share Alike 3.0
- * (http://creativecommons.org/licenses/by-sa/3.0/).
- */
-
-using System;
-using System.Collections.Generic;
-using System.Reflection;
-using System.Runtime.InteropServices;
-using OpenMetaverse;
-using OpenSim.Region.Physics.Manager;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-    public sealed class BSDynamics
-    {
-        private static string LogHeader = "[BULLETSIM VEHICLE]";
-
-        private BSScene PhysicsScene { get; set; }
-        // the prim this dynamic controller belongs to
-        private BSPrim Prim { get; set; }
-
-        // mass of the vehicle fetched each time we're calles
-        private float m_vehicleMass;
-
-        // Vehicle properties
-        public Vehicle Type { get; set; }
-
-        // private Quaternion m_referenceFrame = Quaternion.Identity;   // Axis modifier
-        private VehicleFlag m_flags = (VehicleFlag) 0;                  // Boolean settings:
-                                                                        // HOVER_TERRAIN_ONLY
-                                                                        // HOVER_GLOBAL_HEIGHT
-                                                                        // NO_DEFLECTION_UP
-                                                                        // HOVER_WATER_ONLY
-                                                                        // HOVER_UP_ONLY
-                                                                        // LIMIT_MOTOR_UP
-                                                                        // LIMIT_ROLL_ONLY
-        private Vector3 m_BlockingEndPoint = Vector3.Zero;
-        private Quaternion m_RollreferenceFrame = Quaternion.Identity;
-        private Quaternion m_referenceFrame = Quaternion.Identity;
-
-        // Linear properties
-        private BSVMotor m_linearMotor = new BSVMotor("LinearMotor");
-        private Vector3 m_linearMotorDirection = Vector3.Zero;          // velocity requested by LSL, decayed by time
-        private Vector3 m_linearMotorOffset = Vector3.Zero;             // the point of force can be offset from the center
-        private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero;   // velocity requested by LSL
-        private Vector3 m_linearFrictionTimescale = Vector3.Zero;
-        private float m_linearMotorDecayTimescale = 0;
-        private float m_linearMotorTimescale = 0;
-        private Vector3 m_lastLinearVelocityVector = Vector3.Zero;
-        private Vector3 m_lastPositionVector = Vector3.Zero;
-        // private bool m_LinearMotorSetLastFrame = false;
-        // private Vector3 m_linearMotorOffset = Vector3.Zero;
-
-        //Angular properties
-        private BSVMotor m_angularMotor = new BSVMotor("AngularMotor");
-        private Vector3 m_angularMotorDirection = Vector3.Zero;         // angular velocity requested by LSL motor
-        // private int m_angularMotorApply = 0;                            // application frame counter
-        private Vector3 m_angularMotorVelocity = Vector3.Zero;          // current angular motor velocity
-        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;
-        private Vector3 m_lastVertAttractor = Vector3.Zero;             // what VA was last applied to body
-
-        //Deflection properties
-        private BSVMotor m_angularDeflectionMotor = new BSVMotor("AngularDeflection");
-        private float m_angularDeflectionEfficiency = 0;
-        private float m_angularDeflectionTimescale = 0;
-        private float m_linearDeflectionEfficiency = 0;
-        private float m_linearDeflectionTimescale = 0;
-
-        //Banking properties
-        private float m_bankingEfficiency = 0;
-        private float m_bankingMix = 0;
-        private float m_bankingTimescale = 0;
-
-        //Hover and Buoyancy properties
-        private BSVMotor m_hoverMotor = new BSVMotor("Hover");
-        private float m_VhoverHeight = 0f;
-        private float m_VhoverEfficiency = 0f;
-        private float m_VhoverTimescale = 0f;
-        private float m_VhoverTargetHeight = -1.0f;     // if <0 then no hover, else its the current target height
-        private float m_VehicleBuoyancy = 0f;           //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle.
-                    // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
-                    // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
-                    // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
-
-        //Attractor properties
-        private BSVMotor m_verticalAttractionMotor = new BSVMotor("VerticalAttraction");
-        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;
-
-        // Just some recomputed constants:
-        static readonly float PIOverFour = ((float)Math.PI) / 4f;
-        static readonly float PIOverTwo = ((float)Math.PI) / 2f;
-
-        public BSDynamics(BSScene myScene, BSPrim myPrim)
-        {
-            PhysicsScene = myScene;
-            Prim = myPrim;
-            Type = Vehicle.TYPE_NONE;
-        }
-
-        // Return 'true' if this vehicle is doing vehicle things
-        public bool IsActive
-        {
-            get { return Type != Vehicle.TYPE_NONE && Prim.IsPhysical; }
-        }
-
-        internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
-        {
-            VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
-            switch (pParam)
-            {
-                case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
-                    m_angularDeflectionEfficiency = Math.Max(pValue, 0.01f);
-                    break;
-                case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
-                    m_angularDeflectionTimescale = Math.Max(pValue, 0.01f);
-                    break;
-                case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
-                    m_angularMotorDecayTimescale = ClampInRange(0.01f, pValue, 120);
-                    m_angularMotor.TargetValueDecayTimeScale = m_angularMotorDecayTimescale;
-                    break;
-                case Vehicle.ANGULAR_MOTOR_TIMESCALE:
-                    m_angularMotorTimescale = Math.Max(pValue, 0.01f);
-                    m_angularMotor.TimeScale = m_angularMotorTimescale;
-                    break;
-                case Vehicle.BANKING_EFFICIENCY:
-                    m_bankingEfficiency = ClampInRange(-1f, pValue, 1f);
-                    break;
-                case Vehicle.BANKING_MIX:
-                    m_bankingMix = Math.Max(pValue, 0.01f);
-                    break;
-                case Vehicle.BANKING_TIMESCALE:
-                    m_bankingTimescale = Math.Max(pValue, 0.01f);
-                    break;
-                case Vehicle.BUOYANCY:
-                    m_VehicleBuoyancy = ClampInRange(-1f, pValue, 1f);
-                    break;
-                case Vehicle.HOVER_EFFICIENCY:
-                    m_VhoverEfficiency = ClampInRange(0f, pValue, 1f);
-                    break;
-                case Vehicle.HOVER_HEIGHT:
-                    m_VhoverHeight = pValue;
-                    break;
-                case Vehicle.HOVER_TIMESCALE:
-                    m_VhoverTimescale = Math.Max(pValue, 0.01f);
-                    break;
-                case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
-                    m_linearDeflectionEfficiency = Math.Max(pValue, 0.01f);
-                    break;
-                case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
-                    m_linearDeflectionTimescale = Math.Max(pValue, 0.01f);
-                    break;
-                case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
-                    m_linearMotorDecayTimescale = ClampInRange(0.01f, pValue, 120);
-                    m_linearMotor.TargetValueDecayTimeScale = m_linearMotorDecayTimescale;
-                    break;
-                case Vehicle.LINEAR_MOTOR_TIMESCALE:
-                    m_linearMotorTimescale = Math.Max(pValue, 0.01f);
-                    m_linearMotor.TimeScale = m_linearMotorTimescale;
-                    break;
-                case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
-                    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
-                // set all of the components to the same value
-                case Vehicle.ANGULAR_FRICTION_TIMESCALE:
-                    m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
-                    m_angularMotor.FrictionTimescale = m_angularFrictionTimescale;
-                    break;
-                case Vehicle.ANGULAR_MOTOR_DIRECTION:
-                    m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
-                    m_angularMotor.SetTarget(m_angularMotorDirection);
-                    break;
-                case Vehicle.LINEAR_FRICTION_TIMESCALE:
-                    m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
-                    m_linearMotor.FrictionTimescale = m_linearFrictionTimescale;
-                    break;
-                case Vehicle.LINEAR_MOTOR_DIRECTION:
-                    m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
-                    m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue);
-                    m_linearMotor.SetTarget(m_linearMotorDirection);
-                    break;
-                case Vehicle.LINEAR_MOTOR_OFFSET:
-                    m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
-                    break;
-
-            }
-        }//end ProcessFloatVehicleParam
-
-        internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
-        {
-            VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
-            switch (pParam)
-            {
-                case Vehicle.ANGULAR_FRICTION_TIMESCALE:
-                    m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
-                    m_angularMotor.FrictionTimescale = m_angularFrictionTimescale;
-                    break;
-                case Vehicle.ANGULAR_MOTOR_DIRECTION:
-                    // Limit requested angular speed to 2 rps= 4 pi rads/sec
-                    pValue.X = ClampInRange(-12.56f, pValue.X, 12.56f);
-                    pValue.Y = ClampInRange(-12.56f, pValue.Y, 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;
-                case Vehicle.LINEAR_FRICTION_TIMESCALE:
-                    m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
-                    m_linearMotor.FrictionTimescale = m_linearFrictionTimescale;
-                    break;
-                case Vehicle.LINEAR_MOTOR_DIRECTION:
-                    m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
-                    m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z);
-                    m_linearMotor.SetTarget(m_linearMotorDirection);
-                    break;
-                case Vehicle.LINEAR_MOTOR_OFFSET:
-                    m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
-                    break;
-                case Vehicle.BLOCK_EXIT:
-                    m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z);
-                    break;
-            }
-        }//end ProcessVectorVehicleParam
-
-        internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
-        {
-            VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
-            switch (pParam)
-            {
-                case Vehicle.REFERENCE_FRAME:
-                    m_referenceFrame = pValue;
-                    break;
-                case Vehicle.ROLL_FRAME:
-                    m_RollreferenceFrame = pValue;
-                    break;
-            }
-        }//end ProcessRotationVehicleParam
-
-        internal void ProcessVehicleFlags(int pParam, bool remove)
-        {
-            VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", Prim.LocalID, pParam, remove);
-            VehicleFlag parm = (VehicleFlag)pParam;
-            if (pParam == -1)
-                m_flags = (VehicleFlag)0;
-            else
-            {
-                if (remove)
-                    m_flags &= ~parm;
-                else
-                    m_flags |= parm;
-            }
-        }
-
-        internal void ProcessTypeChange(Vehicle pType)
-        {
-            VDetailLog("{0},ProcessTypeChange,type={1}", Prim.LocalID, pType);
-            // Set Defaults For Type
-            Type = pType;
-            switch (pType)
-            {
-                case Vehicle.TYPE_NONE:
-                    m_linearMotorDirection = Vector3.Zero;
-                    m_linearMotorTimescale = 0;
-                    m_linearMotorDecayTimescale = 0;
-                    m_linearFrictionTimescale = new Vector3(0, 0, 0);
-
-                    m_angularMotorDirection = Vector3.Zero;
-                    m_angularMotorDecayTimescale = 0;
-                    m_angularMotorTimescale = 0;
-                    m_angularFrictionTimescale = new Vector3(0, 0, 0);
-
-                    m_VhoverHeight = 0;
-                    m_VhoverEfficiency = 0;
-                    m_VhoverTimescale = 0;
-                    m_VehicleBuoyancy = 0;
-
-                    m_linearDeflectionEfficiency = 1;
-                    m_linearDeflectionTimescale = 1;
-
-                    m_angularDeflectionEfficiency = 0;
-                    m_angularDeflectionTimescale = 1000;
-
-                    m_verticalAttractionEfficiency = 0;
-                    m_verticalAttractionTimescale = 0;
-
-                    m_bankingEfficiency = 0;
-                    m_bankingTimescale = 1000;
-                    m_bankingMix = 1;
-
-                    m_referenceFrame = Quaternion.Identity;
-                    m_flags = (VehicleFlag)0;
-
-                    break;
-
-                case Vehicle.TYPE_SLED:
-                    m_linearMotorDirection = Vector3.Zero;
-                    m_linearMotorTimescale = 1000;
-                    m_linearMotorDecayTimescale = 120;
-                    m_linearFrictionTimescale = new Vector3(30, 1, 1000);
-
-                    m_angularMotorDirection = Vector3.Zero;
-                    m_angularMotorTimescale = 1000;
-                    m_angularMotorDecayTimescale = 120;
-                    m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
-
-                    m_VhoverHeight = 0;
-                    m_VhoverEfficiency = 10;    // TODO: this looks wrong!!
-                    m_VhoverTimescale = 10;
-                    m_VehicleBuoyancy = 0;
-
-                    m_linearDeflectionEfficiency = 1;
-                    m_linearDeflectionTimescale = 1;
-
-                    m_angularDeflectionEfficiency = 1;
-                    m_angularDeflectionTimescale = 1000;
-
-                    m_verticalAttractionEfficiency = 0;
-                    m_verticalAttractionTimescale = 0;
-
-                    m_bankingEfficiency = 0;
-                    m_bankingTimescale = 10;
-                    m_bankingMix = 1;
-
-                    m_referenceFrame = Quaternion.Identity;
-                    m_flags &= ~(VehicleFlag.HOVER_WATER_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;
-                    m_linearMotorTimescale = 1;
-                    m_linearMotorDecayTimescale = 60;
-                    m_linearFrictionTimescale = new Vector3(100, 2, 1000);
-
-                    m_angularMotorDirection = Vector3.Zero;
-                    m_angularMotorTimescale = 1;
-                    m_angularMotorDecayTimescale = 0.8f;
-                    m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
-
-                    m_VhoverHeight = 0;
-                    m_VhoverEfficiency = 0;
-                    m_VhoverTimescale = 1000;
-                    m_VehicleBuoyancy = 0;
-
-                    m_linearDeflectionEfficiency = 1;
-                    m_linearDeflectionTimescale = 2;
-
-                    m_angularDeflectionEfficiency = 0;
-                    m_angularDeflectionTimescale = 10;
-
-                    m_verticalAttractionEfficiency = 1f;
-                    m_verticalAttractionTimescale = 10f;
-
-                    m_bankingEfficiency = -0.2f;
-                    m_bankingMix = 1;
-                    m_bankingTimescale = 1;
-
-                    m_referenceFrame = Quaternion.Identity;
-                    m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
-                                | VehicleFlag.HOVER_TERRAIN_ONLY
-                                | VehicleFlag.HOVER_GLOBAL_HEIGHT);
-                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP
-                                | VehicleFlag.LIMIT_ROLL_ONLY
-                                | VehicleFlag.LIMIT_MOTOR_UP
-                                | VehicleFlag.HOVER_UP_ONLY);
-                    break;
-                case Vehicle.TYPE_BOAT:
-                    m_linearMotorDirection = Vector3.Zero;
-                    m_linearMotorTimescale = 5;
-                    m_linearMotorDecayTimescale = 60;
-                    m_linearFrictionTimescale = new Vector3(10, 3, 2);
-
-                    m_angularMotorDirection = Vector3.Zero;
-                    m_angularMotorTimescale = 4;
-                    m_angularMotorDecayTimescale = 4;
-                    m_angularFrictionTimescale = new Vector3(10,10,10);
-
-                    m_VhoverHeight = 0;
-                    m_VhoverEfficiency = 0.5f;
-                    m_VhoverTimescale = 2;
-                    m_VehicleBuoyancy = 1;
-
-                    m_linearDeflectionEfficiency = 0.5f;
-                    m_linearDeflectionTimescale = 3;
-
-                    m_angularDeflectionEfficiency = 0.5f;
-                    m_angularDeflectionTimescale = 5;
-
-                    m_verticalAttractionEfficiency = 0.5f;
-                    m_verticalAttractionTimescale = 5f;
-
-                    m_bankingEfficiency = -0.3f;
-                    m_bankingMix = 0.8f;
-                    m_bankingTimescale = 1;
-
-                    m_referenceFrame = Quaternion.Identity;
-                    m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY
-                                    | VehicleFlag.HOVER_GLOBAL_HEIGHT
-                                    | VehicleFlag.LIMIT_ROLL_ONLY
-                                    | VehicleFlag.HOVER_UP_ONLY);
-                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP
-                                    | VehicleFlag.LIMIT_MOTOR_UP
-                                    | VehicleFlag.HOVER_WATER_ONLY);
-                    break;
-                case Vehicle.TYPE_AIRPLANE:
-                    m_linearMotorDirection = Vector3.Zero;
-                    m_linearMotorTimescale = 2;
-                    m_linearMotorDecayTimescale = 60;
-                    m_linearFrictionTimescale = new Vector3(200, 10, 5);
-
-                    m_angularMotorDirection = Vector3.Zero;
-                    m_angularMotorTimescale = 4;
-                    m_angularMotorDecayTimescale = 4;
-                    m_angularFrictionTimescale = new Vector3(20, 20, 20);
-
-                    m_VhoverHeight = 0;
-                    m_VhoverEfficiency = 0.5f;
-                    m_VhoverTimescale = 1000;
-                    m_VehicleBuoyancy = 0;
-
-                    m_linearDeflectionEfficiency = 0.5f;
-                    m_linearDeflectionTimescale = 3;
-
-                    m_angularDeflectionEfficiency = 1;
-                    m_angularDeflectionTimescale = 2;
-
-                    m_verticalAttractionEfficiency = 0.9f;
-                    m_verticalAttractionTimescale = 2f;
-
-                    m_bankingEfficiency = 1;
-                    m_bankingMix = 0.7f;
-                    m_bankingTimescale = 2;
-
-                    m_referenceFrame = Quaternion.Identity;
-                    m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
-                                    | VehicleFlag.HOVER_TERRAIN_ONLY
-                                    | VehicleFlag.HOVER_GLOBAL_HEIGHT
-                                    | VehicleFlag.HOVER_UP_ONLY
-                                    | VehicleFlag.NO_DEFLECTION_UP
-                                    | VehicleFlag.LIMIT_MOTOR_UP);
-                    m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
-                    break;
-                case Vehicle.TYPE_BALLOON:
-                    m_linearMotorDirection = Vector3.Zero;
-                    m_linearMotorTimescale = 5;
-                    m_linearFrictionTimescale = new Vector3(5, 5, 5);
-                    m_linearMotorDecayTimescale = 60;
-
-                    m_angularMotorDirection = Vector3.Zero;
-                    m_angularMotorTimescale = 6;
-                    m_angularFrictionTimescale = new Vector3(10, 10, 10);
-                    m_angularMotorDecayTimescale = 10;
-
-                    m_VhoverHeight = 5;
-                    m_VhoverEfficiency = 0.8f;
-                    m_VhoverTimescale = 10;
-                    m_VehicleBuoyancy = 1;
-
-                    m_linearDeflectionEfficiency = 0;
-                    m_linearDeflectionTimescale = 5;
-
-                    m_angularDeflectionEfficiency = 0;
-                    m_angularDeflectionTimescale = 5;
-
-                    m_verticalAttractionEfficiency = 1f;
-                    m_verticalAttractionTimescale = 100f;
-
-                    m_bankingEfficiency = 0;
-                    m_bankingMix = 0.7f;
-                    m_bankingTimescale = 5;
-
-                    m_referenceFrame = Quaternion.Identity;
-
-                    m_referenceFrame = Quaternion.Identity;
-                    m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
-                                    | VehicleFlag.HOVER_TERRAIN_ONLY
-                                    | VehicleFlag.HOVER_UP_ONLY
-                                    | VehicleFlag.NO_DEFLECTION_UP
-                                    | VehicleFlag.LIMIT_MOTOR_UP);
-                    m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY
-                                    | VehicleFlag.HOVER_GLOBAL_HEIGHT);
-                    break;
-            }
-
-            // Update any physical parameters based on this type.
-            Refresh();
-
-            m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale,
-                                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_angularMotor.PhysicsScene = PhysicsScene;  // DEBUG DEBUG DEBUG (enables detail logging)
-
-            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.
-        // Do any updating needed for a vehicle
-        public void Refresh()
-        {
-            if (IsActive)
-            {
-                // Remember the mass so we don't have to fetch it every step
-                m_vehicleMass = Prim.Linkset.LinksetMass;
-
-                // Friction affects are handled by this vehicle code
-                float friction = 0f;
-                BulletSimAPI.SetFriction2(Prim.PhysBody.ptr, friction);
-
-                // Moderate angular movement introduced by Bullet.
-                // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle.
-                //     Maybe compute linear and angular factor and damping from params.
-                float angularDamping = BSParam.VehicleAngularDamping;
-                BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping);
-
-                // Vehicles report collision events so we know when it's on the ground
-                BulletSimAPI.AddToCollisionFlags2(Prim.PhysBody.ptr, CollisionFlags.BS_VEHICLE_COLLISIONS);
-
-                Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(Prim.PhysShape.ptr, m_vehicleMass);
-                BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia);
-                BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr);
-
-                Vector3 grav = PhysicsScene.DefaultGravity * (1f - Prim.Buoyancy);
-                BulletSimAPI.SetGravity2(Prim.PhysBody.ptr, grav);
-
-                VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4}",
-                                Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping);
-            }
-            else
-            {
-                BulletSimAPI.RemoveFromCollisionFlags2(Prim.PhysBody.ptr, CollisionFlags.BS_VEHICLE_COLLISIONS);
-            }
-        }
-
-        public bool RemoveBodyDependencies(BSPhysObject prim)
-        {
-            // If active, we need to add our properties back when the body is rebuilt.
-            return IsActive;
-        }
-
-        public void RestoreBodyDependencies(BSPhysObject prim)
-        {
-            if (Prim.LocalID != prim.LocalID)
-            {
-                // The call should be on us by our prim. Error if not.
-                PhysicsScene.Logger.ErrorFormat("{0} RestoreBodyDependencies: called by not my prim. passedLocalID={1}, vehiclePrimLocalID={2}",
-                                LogHeader, prim.LocalID, Prim.LocalID);
-                return;
-            }
-            Refresh();
-        }
-
-        #region Known vehicle value functions
-        // Vehicle physical parameters that we buffer from constant getting and setting.
-        // The "m_known*" values are unknown until they are fetched and the m_knownHas flag is set.
-        //      Changing is remembered and the parameter is 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 int m_knownHas;
-        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 Vector3 m_knownForwardVelocity;    // vehicle relative forward speed
-
-        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 const int m_knownChangedTerrainHeight      = 1 << 6;
-        private const int m_knownChangedWaterLevel         = 1 << 7;
-        private const int m_knownChangedForwardVelocity    = 1 << 8;
-
-        private void ForgetKnownVehicleProperties()
-        {
-            m_knownHas = 0;
-            m_knownChanged = 0;
-        }
-        // Push all the changed values back into the physics engine
-        private void PushKnownChanged()
-        {
-            if (m_knownChanged != 0)
-            {
-                if ((m_knownChanged & m_knownChangedPosition) != 0)
-                    Prim.ForcePosition = m_knownPosition;
-
-                if ((m_knownChanged & m_knownChangedOrientation) != 0)
-                    Prim.ForceOrientation = m_knownOrientation;
-
-                if ((m_knownChanged & m_knownChangedVelocity) != 0)
-                {
-                    Prim.ForceVelocity = m_knownVelocity;
-                    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 = m_knownRotationalVelocity;
-                    // Fake out Bullet by making it think the velocity is the same as last time.
-                    BulletSimAPI.SetInterpolationAngularVelocity2(Prim.PhysBody.ptr, m_knownRotationalVelocity);
-                }
-
-                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);
-            }
-            m_knownChanged = 0;
-        }
-
-        // Since the computation of terrain height can be a little involved, this routine
-        //    is used to fetch the height only once for each vehicle simulation step.
-        private float GetTerrainHeight(Vector3 pos)
-        {
-            if ((m_knownHas & m_knownChangedTerrainHeight) == 0)
-            {
-                m_knownTerrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos);
-                m_knownHas |= m_knownChangedTerrainHeight;
-            }
-            return 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_knownHas & m_knownChangedWaterLevel) == 0)
-            {
-                m_knownWaterLevel = Prim.PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(pos);
-                m_knownHas |= m_knownChangedWaterLevel;
-            }
-            return (float)m_knownWaterLevel;
-        }
-
-        private Vector3 VehiclePosition
-        {
-            get
-            {
-                if ((m_knownHas & m_knownChangedPosition) == 0)
-                {
-                    m_knownPosition = Prim.ForcePosition;
-                    m_knownHas |= m_knownChangedPosition;
-                }
-                return m_knownPosition;
-            }
-            set
-            {
-                m_knownPosition = value;
-                m_knownChanged |= m_knownChangedPosition;
-                m_knownHas |= m_knownChangedPosition;
-            }
-        }
-
-        private Quaternion VehicleOrientation
-        {
-            get
-            {
-                if ((m_knownHas & m_knownChangedOrientation) == 0)
-                {
-                    m_knownOrientation = Prim.ForceOrientation;
-                    m_knownHas |= m_knownChangedOrientation;
-                }
-                return m_knownOrientation;
-            }
-            set
-            {
-                m_knownOrientation = value;
-                m_knownChanged |= m_knownChangedOrientation;
-                m_knownHas |= m_knownChangedOrientation;
-            }
-        }
-
-        private Vector3 VehicleVelocity
-        {
-            get
-            {
-                if ((m_knownHas & m_knownChangedVelocity) == 0)
-                {
-                    m_knownVelocity = Prim.ForceVelocity;
-                    m_knownHas |= m_knownChangedVelocity;
-                }
-                return (Vector3)m_knownVelocity;
-            }
-            set
-            {
-                m_knownVelocity = value;
-                m_knownChanged |= m_knownChangedVelocity;
-                m_knownHas |= m_knownChangedVelocity;
-            }
-        }
-
-        private void VehicleAddForce(Vector3 aForce)
-        {
-            if ((m_knownHas & m_knownChangedForce) == 0)
-            {
-                m_knownForce = Vector3.Zero;
-            }
-            m_knownForce += aForce;
-            m_knownChanged |= m_knownChangedForce;
-            m_knownHas |= m_knownChangedForce;
-        }
-
-        private Vector3 VehicleRotationalVelocity
-        {
-            get
-            {
-                if ((m_knownHas & m_knownChangedRotationalVelocity) == 0)
-                {
-                    m_knownRotationalVelocity = Prim.ForceRotationalVelocity;
-                    m_knownHas |= m_knownChangedRotationalVelocity;
-                }
-                return (Vector3)m_knownRotationalVelocity;
-            }
-            set
-            {
-                m_knownRotationalVelocity = value;
-                m_knownChanged |= m_knownChangedRotationalVelocity;
-                m_knownHas |= m_knownChangedRotationalVelocity;
-            }
-        }
-        private void VehicleAddAngularForce(Vector3 aForce)
-        {
-            if ((m_knownHas & m_knownChangedRotationalForce) == 0)
-            {
-                m_knownRotationalForce = Vector3.Zero;
-            }
-            m_knownRotationalForce += aForce;
-            m_knownChanged |= m_knownChangedRotationalForce;
-            m_knownHas |= m_knownChangedRotationalForce;
-        }
-        // Vehicle relative forward velocity
-        private Vector3 VehicleForwardVelocity
-        {
-            get
-            {
-                if ((m_knownHas & m_knownChangedForwardVelocity) == 0)
-                {
-                    m_knownForwardVelocity = VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleOrientation));
-                    m_knownHas |= m_knownChangedForwardVelocity;
-                }
-                return m_knownForwardVelocity;
-            }
-        }
-        private float VehicleForwardSpeed
-        {
-            get
-            {
-                return VehicleForwardVelocity.X;
-            }
-        }
-
-        #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 = 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, VehiclePosition, Prim.Force, VehicleVelocity, VehicleRotationalVelocity);
-        }
-
-        // Apply the effect of the linear motor and other linear motions (like hover and float).
-        private void MoveLinear(float pTimestep)
-        {
-            Vector3 linearMotorContribution = m_linearMotor.Step(pTimestep);
-
-            // The movement computed in the linear motor is relative to the vehicle
-            //     coordinates. Rotate the movement to world coordinates.
-            linearMotorContribution *= VehicleOrientation;
-
-            // ==================================================================
-            // Buoyancy: force to overcome gravity.
-            // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
-            // 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;
-
-            Vector3 newForce = buoyancyContribution;
-
-            // 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 high or low velocities
-            float newVelocityLengthSq = newVelocity.LengthSquared();
-            if (newVelocityLengthSq > 1000f)
-            {
-                newVelocity /= newVelocity.Length();
-                newVelocity *= 1000f;
-            }
-            else if (newVelocityLengthSq < 0.001f)
-                newVelocity = 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 = newForce * 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.
-            // TODO: Consider taking the rotated size of the object or possibly casting a ray.
-            if (VehiclePosition.Z < GetTerrainHeight(VehiclePosition))
-            {
-                // TODO: correct position by applying force rather than forcing position.
-                Vector3 newPosition = VehiclePosition;
-                newPosition.Z = GetTerrainHeight(VehiclePosition) + 1f;
-                VehiclePosition = newPosition;
-                VDetailLog("{0},  MoveLinear,terrainHeight,terrainHeight={1},pos={2}",
-                        Prim.LocalID, GetTerrainHeight(VehiclePosition), VehiclePosition);
-            }
-            return ret;
-        }
-
-        public Vector3 ComputeLinearHover(float pTimestep)
-        {
-            Vector3 ret = Vector3.Zero;
-
-            // 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)
-            {
-                // We should hover, get the target height
-                if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
-                {
-                    m_VhoverTargetHeight = GetWaterLevel(VehiclePosition) + m_VhoverHeight;
-                }
-                if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
-                {
-                    m_VhoverTargetHeight = GetTerrainHeight(VehiclePosition) + m_VhoverHeight;
-                }
-                if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
-                {
-                    m_VhoverTargetHeight = m_VhoverHeight;
-                }
-
-                if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0)
-                {
-                    // If body is already heigher, use its height as target height
-                    if (VehiclePosition.Z > m_VhoverTargetHeight)
-                        m_VhoverTargetHeight = VehiclePosition.Z;
-                }
-                
-                if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
-                {
-                    if (Math.Abs(VehiclePosition.Z - m_VhoverTargetHeight) > 0.2f)
-                    {
-                        Vector3 pos = VehiclePosition;
-                        pos.Z = m_VhoverTargetHeight;
-                        VehiclePosition = pos;
-                    }
-                }
-                else
-                {
-                    // Error is positive if below the target and negative if above.
-                    float verticalError = m_VhoverTargetHeight - VehiclePosition.Z;
-                    float verticalCorrectionVelocity = verticalError / m_VhoverTimescale;
-
-                    // TODO: implement m_VhoverEfficiency correctly
-                    if (Math.Abs(verticalError) > m_VhoverEfficiency)
-                    {
-                        ret = new Vector3(0f, 0f, verticalCorrectionVelocity);
-                    }
-                }
-
-                VDetailLog("{0},  MoveLinear,hover,pos={1},ret={2},hoverTS={3},height={4},target={5}",
-                                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)
-            {
-                if (pos.X >= (m_BlockingEndPoint.X - (float)1))
-                {
-                    pos.X -= posChange.X + 1;
-                    changed = true;
-                }
-                if (pos.Y >= (m_BlockingEndPoint.Y - (float)1))
-                {
-                    pos.Y -= posChange.Y + 1;
-                    changed = true;
-                }
-                if (pos.Z >= (m_BlockingEndPoint.Z - (float)1))
-                {
-                    pos.Z -= posChange.Z + 1;
-                    changed = true;
-                }
-                if (pos.X <= 0)
-                {
-                    pos.X += posChange.X + 1;
-                    changed = true;
-                }
-                if (pos.Y <= 0)
-                {
-                    pos.Y += posChange.Y + 1;
-                    changed = true;
-                }
-                if (changed)
-                {
-                    VehiclePosition = pos;
-                    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;
-            float distanceAboveGround = 0f;
-
-            if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
-            {
-                float targetHeight = Type == Vehicle.TYPE_BOAT ? GetWaterLevel(VehiclePosition) : GetTerrainHeight(VehiclePosition);
-                distanceAboveGround = VehiclePosition.Z - targetHeight;
-                // Not colliding if the vehicle is off the ground
-                if (!Prim.IsColliding)
-                {
-                    // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale);
-                    ret = new Vector3(0, 0, -distanceAboveGround);
-                }
-                // 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.
-                // TODO: add interaction with banking.
-            }
-            VDetailLog("{0},  MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}",
-                                Prim.LocalID, distanceAboveGround, Prim.IsColliding, ret);
-            return ret;
-        }
-
-        // =======================================================================
-        // =======================================================================
-        // 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)
-        {
-            // The user wants this many radians per second angular change?
-            Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep);
-
-            // ==================================================================
-            // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
-            //    This flag prevents linear deflection parallel to world z-axis. This is useful
-            //    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)
-            {
-                angularMotorContribution.X = 0f;
-                angularMotorContribution.Y = 0f;
-                VDetailLog("{0},  MoveAngular,noDeflectionUp,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution);
-            }
-
-            Vector3 verticalAttractionContribution = ComputeAngularVerticalAttraction();
-
-            Vector3 deflectionContribution = ComputeAngularDeflection();
-
-            Vector3 bankingContribution = ComputeAngularBanking();
-
-            // ==================================================================
-            m_lastVertAttractor = verticalAttractionContribution;
-
-            m_lastAngularVelocity = angularMotorContribution
-                                    + verticalAttractionContribution
-                                    + deflectionContribution
-                                    + bankingContribution;
-
-            // ==================================================================
-            // Apply the correction velocity.
-            // TODO: Should this be applied as an angular force (torque)?
-            if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
-            {
-                VehicleRotationalVelocity = m_lastAngularVelocity;
-
-                VDetailLog("{0},  MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5}",
-                                    Prim.LocalID,
-                                    angularMotorContribution, verticalAttractionContribution,
-                                    bankingContribution, deflectionContribution,
-                                    m_lastAngularVelocity
-                                    );
-            }
-            else
-            {
-                // The vehicle is not adding anything angular wise.
-                VehicleRotationalVelocity = Vector3.Zero;
-                VDetailLog("{0},  MoveAngular,done,zero", Prim.LocalID);
-            }
-
-            // ==================================================================
-            //Offset section
-            if (m_linearMotorOffset != Vector3.Zero)
-            {
-                //Offset of linear velocity doesn't change the linear velocity,
-                //   but causes a torque to be applied, for example...
-                //
-                //      IIIII     >>>   IIIII
-                //      IIIII     >>>    IIIII
-                //      IIIII     >>>     IIIII
-                //          ^
-                //          |  Applying a force at the arrow will cause the object to move forward, but also rotate
-                //
-                //
-                // The torque created is the linear velocity crossed with the offset
-
-                // TODO: this computation should be in the linear section
-                //    because that is where we know the impulse being applied.
-                Vector3 torqueFromOffset = Vector3.Zero;
-                // torqueFromOffset = Vector3.Cross(m_linearMotorOffset, appliedImpulse);
-                if (float.IsNaN(torqueFromOffset.X))
-                    torqueFromOffset.X = 0;
-                if (float.IsNaN(torqueFromOffset.Y))
-                    torqueFromOffset.Y = 0;
-                if (float.IsNaN(torqueFromOffset.Z))
-                    torqueFromOffset.Z = 0;
-
-                VehicleAddAngularForce(torqueFromOffset * m_vehicleMass);
-                VDetailLog("{0},  BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset);
-            }
-
-        }
-        // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
-        //      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
-            if (m_verticalAttractionTimescale < m_verticalAttractionCutoff)
-            {
-                // Take a vector pointing up and convert it from world to vehicle relative coords.
-                Vector3 verticalError = Vector3.UnitZ * VehicleOrientation;
-
-                // If vertical attraction correction is needed, the vector that was pointing up (UnitZ)
-                //    is now:
-                //    leaning to one side: rotated around the X axis with the Y value going
-                //        from zero (nearly straight up) to one (completely to the side)) or
-                //    leaning front-to-back: rotated around the Y axis with the value of X being between
-                //         zero and one.
-                // The value of Z is how far the rotation is off with 1 meaning none and 0 being 90 degrees.
-
-                // Y error means needed rotation around X axis and visa versa.
-                // Since the error goes from zero to one, the asin is the corresponding angle.
-                ret.X = (float)Math.Asin(verticalError.Y);
-                // (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.)
-                ret.Y = -(float)Math.Asin(verticalError.X);
-
-                // If verticalError.Z is negative, the vehicle is upside down. Add additional push.
-                if (verticalError.Z < 0f)
-                {
-                    ret.X += PIOverFour;
-                    ret.Y += PIOverFour;
-                }
-
-                // 'ret' is now the necessary velocity to correct tilt in one second.
-                //     Correction happens over a number of seconds.
-                Vector3 unscaledContrib = ret;
-                ret /= m_verticalAttractionTimescale;
-
-                VDetailLog("{0},  MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},ts={4},vertAttr={5}",
-                                Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, ret);
-            }
-            return ret;
-        }
-
-        // Return the angular correction to correct the direction the vehicle is pointing to be
-        //      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
-            // Disable angular deflection for the moment.
-            // Since angularMotorUp and angularDeflection are computed independently, they will calculate
-            //     approximately the same X or Y correction. When added together (when contributions are combined)
-            //     this creates an over-correction and then wabbling as the target is overshot.
-            // TODO: rethink how the different correction computations inter-relate.
-
-            if (m_angularDeflectionEfficiency != 0)
-            {
-                // The direction the vehicle is moving
-                Vector3 movingDirection = VehicleVelocity;
-                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;
-
-                // Don't try to correct very large errors (not our job)
-                if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = 0f;
-                if (Math.Abs(deflectionError.Y) > PIOverFour) deflectionError.Y = 0f;
-                if (Math.Abs(deflectionError.Z) > PIOverFour) deflectionError.Z = 0f;
-
-                // ret = m_angularDeflectionCorrectionMotor(1f, deflectionError);
-
-                // Scale the correction by recovery timescale and efficiency
-                ret = (-deflectionError) * m_angularDeflectionEfficiency;
-                ret /= m_angularDeflectionTimescale;
-
-                VDetailLog("{0},  MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}",
-                    Prim.LocalID, movingDirection, pointingDirection, deflectionError, ret);
-                VDetailLog("{0},  MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3}",
-                    Prim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale);
-            }
-            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)
-            {
-                // This works by rotating a unit vector to the orientation of the vehicle. The
-                //    roll (tilt) will be Y component of a tilting Z vector (zero for no tilt
-                //    up to one for full over).
-                Vector3 rollComponents = Vector3.UnitZ * VehicleOrientation;
-
-                // Figure out the yaw value for this much roll.
-                float turnComponent = rollComponents.Y * rollComponents.Y * m_bankingEfficiency;
-                // Keep the sign
-                if (rollComponents.Y < 0f)
-                    turnComponent = -turnComponent;
-
-                // 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.
-        // Applies roll reference frame.
-        // TODO: is this the right way to separate the code to do this operation?
-        //    Should this be in MoveAngular()?
-        internal void LimitRotation(float timestep)
-        {
-            Quaternion rotq = VehicleOrientation;
-            Quaternion m_rot = rotq;
-            if (m_RollreferenceFrame != Quaternion.Identity)
-            {
-                if (rotq.X >= m_RollreferenceFrame.X)
-                {
-                    m_rot.X = rotq.X - (m_RollreferenceFrame.X / 2);
-                }
-                if (rotq.Y >= m_RollreferenceFrame.Y)
-                {
-                    m_rot.Y = rotq.Y - (m_RollreferenceFrame.Y / 2);
-                }
-                if (rotq.X <= -m_RollreferenceFrame.X)
-                {
-                    m_rot.X = rotq.X + (m_RollreferenceFrame.X / 2);
-                }
-                if (rotq.Y <= -m_RollreferenceFrame.Y)
-                {
-                    m_rot.Y = rotq.Y + (m_RollreferenceFrame.Y / 2);
-                }
-            }
-            if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0)
-            {
-                m_rot.X = 0;
-                m_rot.Y = 0;
-            }
-            if (rotq != m_rot)
-            {
-                VehicleOrientation = 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));
-            // return Utils.Clamp(val, low, high);
-        }
-
-        // Invoke the detailed logger and output something if it's enabled.
-        private void VDetailLog(string msg, params Object[] args)
-        {
-            if (Prim.PhysicsScene.VehicleLoggingEnabled)
-                Prim.PhysicsScene.DetailLog(msg, args);
-        }
-    }
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs
deleted file mode 100644
index 845a113..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs
+++ /dev/null
@@ -1,329 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Text;
-
-using OMV = OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-
-// A BSPrim can get individual information about its linkedness attached
-//    to it through an instance of a subclass of LinksetInfo.
-// Each type of linkset will define the information needed for its type.
-public abstract class BSLinksetInfo
-{
-    public virtual void Clear() { }
-}
-
-public abstract class BSLinkset
-{
-    // private static string LogHeader = "[BULLETSIM LINKSET]";
-
-    public enum LinksetImplementation
-    {
-        Constraint   = 0,   // linkset tied together with constraints
-        Compound     = 1,   // linkset tied together as a compound object
-        Manual       = 2    // linkset tied together manually (code moves all the pieces)
-    }
-    // Create the correct type of linkset for this child
-    public static BSLinkset Factory(BSScene physScene, BSPhysObject parent)
-    {
-        BSLinkset ret = null;
-
-        switch ((int)BSParam.LinksetImplementation)
-        {
-            case (int)LinksetImplementation.Constraint:
-                ret = new BSLinksetConstraints(physScene, parent);
-                break;
-            case (int)LinksetImplementation.Compound:
-                ret = new BSLinksetCompound(physScene, parent);
-                break;
-            case (int)LinksetImplementation.Manual:
-                // ret = new BSLinksetManual(physScene, parent);
-                break;
-            default:
-                ret = new BSLinksetCompound(physScene, parent);
-                break;
-        }
-        return ret;
-    }
-
-    public BSPhysObject LinksetRoot { get; protected set; }
-
-    public BSScene PhysicsScene { get; private set; }
-
-    static int m_nextLinksetID = 1;
-    public int LinksetID { get; private set; }
-
-    // The children under the root in this linkset.
-    protected HashSet<BSPhysObject> m_children;
-
-    // We lock the diddling of linkset classes to prevent any badness.
-    // This locks the modification of the instances of this class. Changes
-    //    to the physical representation is done via the tainting mechenism.
-    protected object m_linksetActivityLock = new Object();
-
-    // Some linksets have a preferred physical shape.
-    // Returns SHAPE_UNKNOWN if there is no preference. Causes the correct shape to be selected.
-    public virtual BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor)
-    {
-        return BSPhysicsShapeType.SHAPE_UNKNOWN;
-    }
-
-    // We keep the prim's mass in the linkset structure since it could be dependent on other prims
-    public float LinksetMass { get; protected set; }
-
-    public virtual bool LinksetIsColliding { get { return false; } }
-
-    public OMV.Vector3 CenterOfMass
-    {
-        get { return ComputeLinksetCenterOfMass(); }
-    }
-
-    public OMV.Vector3 GeometricCenter
-    {
-        get { return ComputeLinksetGeometricCenter(); }
-    }
-
-    protected BSLinkset(BSScene scene, BSPhysObject parent)
-    {
-        // A simple linkset of one (no children)
-        LinksetID = m_nextLinksetID++;
-        // We create LOTS of linksets.
-        if (m_nextLinksetID <= 0)
-            m_nextLinksetID = 1;
-        PhysicsScene = scene;
-        LinksetRoot = parent;
-        m_children = new HashSet<BSPhysObject>();
-        LinksetMass = parent.RawMass;
-        Rebuilding = false;
-    }
-
-    // Link to a linkset where the child knows the parent.
-    // Parent changing should not happen so do some sanity checking.
-    // We return the parent's linkset so the child can track its membership.
-    // Called at runtime.
-    public BSLinkset AddMeToLinkset(BSPhysObject child)
-    {
-        lock (m_linksetActivityLock)
-        {
-            // Don't add the root to its own linkset
-            if (!IsRoot(child))
-                AddChildToLinkset(child);
-            LinksetMass = ComputeLinksetMass();
-        }
-        return this;
-    }
-
-    // Remove a child from a linkset.
-    // Returns a new linkset for the child which is a linkset of one (just the
-    //    orphened child).
-    // Called at runtime.
-    public BSLinkset RemoveMeFromLinkset(BSPhysObject child)
-    {
-        lock (m_linksetActivityLock)
-        {
-            if (IsRoot(child))
-            {
-                // Cannot remove the root from a linkset.
-                return this;
-            }
-            RemoveChildFromLinkset(child);
-            LinksetMass = ComputeLinksetMass();
-        }
-
-        // The child is down to a linkset of just itself
-        return BSLinkset.Factory(PhysicsScene, child);
-    }
-
-    // Return 'true' if the passed object is the root object of this linkset
-    public bool IsRoot(BSPhysObject requestor)
-    {
-        return (requestor.LocalID == LinksetRoot.LocalID);
-    }
-
-    public int NumberOfChildren { get { return m_children.Count; } }
-
-    // Return 'true' if this linkset has any children (more than the root member)
-    public bool HasAnyChildren { get { return (m_children.Count > 0); } }
-
-    // Return 'true' if this child is in this linkset
-    public bool HasChild(BSPhysObject child)
-    {
-        bool ret = false;
-        lock (m_linksetActivityLock)
-        {
-            ret = m_children.Contains(child);
-            /* Safer version but the above should work
-            foreach (BSPhysObject bp in m_children)
-            {
-                if (child.LocalID == bp.LocalID)
-                {
-                    ret = true;
-                    break;
-                }
-            }
-             */
-        }
-        return ret;
-    }
-
-    // Perform an action on each member of the linkset including root prim.
-    // Depends on the action on whether this should be done at taint time.
-    public delegate bool ForEachMemberAction(BSPhysObject obj);
-    public virtual bool ForEachMember(ForEachMemberAction action)
-    {
-        bool ret = false;
-        lock (m_linksetActivityLock)
-        {
-            action(LinksetRoot);
-            foreach (BSPhysObject po in m_children)
-            {
-                if (action(po))
-                    break;
-            }
-        }
-        return ret;
-    }
-
-    // I am the root of a linkset and a new child is being added
-    // Called while LinkActivity is locked.
-    protected abstract void AddChildToLinkset(BSPhysObject child);
-    
-    // I am the root of a linkset and one of my children is being removed.
-    // Safe to call even if the child is not really in my linkset.
-    protected abstract void RemoveChildFromLinkset(BSPhysObject child);
-
-    // When physical properties are changed the linkset needs to recalculate
-    //   its internal properties.
-    // May be called at runtime or taint-time.
-    public virtual void Refresh(BSPhysObject requestor)
-    {
-        LinksetMass = ComputeLinksetMass();
-    }
-
-    // Flag denoting the linkset is in the process of being rebuilt.
-    // Used to know not the schedule a rebuild in the middle of a rebuild.
-    protected bool Rebuilding { get; set; }
-
-    // The object is going dynamic (physical). Do any setup necessary
-    //     for a dynamic linkset.
-    // Only the state of the passed object can be modified. The rest of the linkset
-    //     has not yet been fully constructed.
-    // Return 'true' if any properties updated on the passed object.
-    // Called at taint-time!
-    public abstract bool MakeDynamic(BSPhysObject child);
-
-    // The object is going static (non-physical). Do any setup necessary
-    //     for a static linkset.
-    // Return 'true' if any properties updated on the passed object.
-    // Called at taint-time!
-    public abstract bool MakeStatic(BSPhysObject child);
-
-    // Called when a parameter update comes from the physics engine for any object
-    //      of the linkset is received.
-    // Passed flag is update came from physics engine (true) or the user (false).
-    // Called at taint-time!!
-    public abstract void UpdateProperties(BSPhysObject physObject, bool physicalUpdate);
-
-    // Routine used when rebuilding the body of the root of the linkset
-    // Destroy all the constraints have have been made to root.
-    // This is called when the root body is changing.
-    // Returns 'true' of something was actually removed and would need restoring
-    // Called at taint-time!!
-    public abstract bool RemoveBodyDependencies(BSPrim child);
-
-    // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
-    //     this routine will restore the removed constraints.
-    // Called at taint-time!!
-    public abstract void RestoreBodyDependencies(BSPrim child);
-
-    // ================================================================
-    protected virtual float ComputeLinksetMass()
-    {
-        float mass = LinksetRoot.RawMass;
-        if (HasAnyChildren)
-        {
-            lock (m_linksetActivityLock)
-            {
-                foreach (BSPhysObject bp in m_children)
-                {
-                    mass += bp.RawMass;
-                }
-            }
-        }
-        return mass;
-    }
-
-    protected virtual OMV.Vector3 ComputeLinksetCenterOfMass()
-    {
-        OMV.Vector3 com;
-        lock (m_linksetActivityLock)
-        {
-            com = LinksetRoot.Position * LinksetRoot.RawMass;
-            float totalMass = LinksetRoot.RawMass;
-
-            foreach (BSPhysObject bp in m_children)
-            {
-                com += bp.Position * bp.RawMass;
-                totalMass += bp.RawMass;
-            }
-            if (totalMass != 0f)
-                com /= totalMass;
-        }
-
-        return com;
-    }
-
-    protected virtual OMV.Vector3 ComputeLinksetGeometricCenter()
-    {
-        OMV.Vector3 com;
-        lock (m_linksetActivityLock)
-        {
-            com = LinksetRoot.Position;
-
-            foreach (BSPhysObject bp in m_children)
-            {
-                com += bp.Position * bp.RawMass;
-            }
-            com /= (m_children.Count + 1);
-        }
-
-        return com;
-    }
-
-    // Invoke the detailed logger and output something if it's enabled.
-    protected void DetailLog(string msg, params Object[] args)
-    {
-        if (PhysicsScene.PhysicsLogging.Enabled)
-            PhysicsScene.DetailLog(msg, args);
-    }
-
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs
deleted file mode 100644
index 9a977e6..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs
+++ /dev/null
@@ -1,397 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Text;
-
-using OpenSim.Framework;
-
-using OMV = OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-
-// When a child is linked, the relationship position of the child to the parent
-//    is remembered so the child's world position can be recomputed when it is
-//    removed from the linkset.
-sealed class BSLinksetCompoundInfo : BSLinksetInfo
-{
-    public OMV.Vector3 OffsetPos;
-    public OMV.Quaternion OffsetRot;
-    public BSLinksetCompoundInfo(OMV.Vector3 p, OMV.Quaternion r)
-    {
-        OffsetPos = p;
-        OffsetRot = r;
-    }
-    public override void Clear()
-    {
-        OffsetPos = OMV.Vector3.Zero;
-        OffsetRot = OMV.Quaternion.Identity;
-    }
-    public override string ToString()
-    {
-        StringBuilder buff = new StringBuilder();
-        buff.Append("<p=");
-        buff.Append(OffsetPos.ToString());
-        buff.Append(",r=");
-        buff.Append(OffsetRot.ToString());
-        buff.Append(">");
-        return buff.ToString();
-    }
-};
-
-public sealed class BSLinksetCompound : BSLinkset
-{
-    private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]";
-
-    public BSLinksetCompound(BSScene scene, BSPhysObject parent) : base(scene, parent)
-    {
-    }
-
-    // For compound implimented linksets, if there are children, use compound shape for the root.
-    public override BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor)
-    { 
-        // Returning 'unknown' means we don't have a preference.
-        BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
-        if (IsRoot(requestor) && HasAnyChildren)
-        {
-            ret = BSPhysicsShapeType.SHAPE_COMPOUND;
-        }
-        // DetailLog("{0},BSLinksetCompound.PreferredPhysicalShape,call,shape={1}", LinksetRoot.LocalID, ret);
-        return ret;
-    }
-
-    // When physical properties are changed the linkset needs to recalculate
-    //   its internal properties.
-    public override void Refresh(BSPhysObject requestor)
-    {
-        base.Refresh(requestor);
-
-        // Something changed so do the rebuilding thing
-        // ScheduleRebuild();
-    }
-
-    // Schedule a refresh to happen after all the other taint processing.
-    private void ScheduleRebuild(BSPhysObject requestor)
-    {
-        DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1}", 
-                            requestor.LocalID, Rebuilding);
-        // When rebuilding, it is possible to set properties that would normally require a rebuild.
-        //    If already rebuilding, don't request another rebuild.
-        if (!Rebuilding)
-        {
-            PhysicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate()
-            {
-                if (HasAnyChildren)
-                    RecomputeLinksetCompound();
-            });
-        }
-    }
-
-    // The object is going dynamic (physical). Do any setup necessary
-    //     for a dynamic linkset.
-    // Only the state of the passed object can be modified. The rest of the linkset
-    //     has not yet been fully constructed.
-    // Return 'true' if any properties updated on the passed object.
-    // Called at taint-time!
-    public override bool MakeDynamic(BSPhysObject child)
-    {
-        bool ret = false;
-        DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child));
-        if (IsRoot(child))
-        {
-            // The root is going dynamic. Make sure mass is properly set.
-            ScheduleRebuild(LinksetRoot);
-        }
-        else
-        {
-            // The origional prims are removed from the world as the shape of the root compound
-            //     shape takes over.
-            BulletSimAPI.AddToCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
-            BulletSimAPI.ForceActivationState2(child.PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
-            // We don't want collisions from the old linkset children.
-            BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
-
-            child.PhysBody.collisionType = CollisionType.LinksetChild;
-
-            ret = true;
-        }
-        return ret;
-    }
-
-    // The object is going static (non-physical). Do any setup necessary for a static linkset.
-    // Return 'true' if any properties updated on the passed object.
-    // This doesn't normally happen -- OpenSim removes the objects from the physical
-    //     world if it is a static linkset.
-    // Called at taint-time!
-    public override bool MakeStatic(BSPhysObject child)
-    {
-        bool ret = false;
-        DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
-        if (IsRoot(child))
-        {
-            ScheduleRebuild(LinksetRoot);
-        }
-        else
-        {
-            // The non-physical children can come back to life.
-            BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
-
-            child.PhysBody.collisionType = CollisionType.LinksetChild;
-
-            // Don't force activation so setting of DISABLE_SIMULATION can stay if used.
-            BulletSimAPI.Activate2(child.PhysBody.ptr, false);
-            ret = true;
-        }
-        return ret;
-    }
-
-    public override void UpdateProperties(BSPhysObject updated, bool physicalUpdate)
-    {
-        // The user moving a child around requires the rebuilding of the linkset compound shape
-        // One problem is this happens when a border is crossed -- the simulator implementation
-        //    is to store the position into the group which causes the move of the object
-        //    but it also means all the child positions get updated.
-        //    What would cause an unnecessary rebuild so we make sure the linkset is in a
-        //    region before bothering to do a rebuild.
-        if (!IsRoot(updated) 
-                && !physicalUpdate 
-                && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))
-        {
-            updated.LinksetInfo = null;
-            ScheduleRebuild(updated);
-        }
-    }
-
-    // Routine called when rebuilding the body of some member of the linkset.
-    // Since we don't keep in world relationships, do nothing unless it's a child changing.
-    // Returns 'true' of something was actually removed and would need restoring
-    // Called at taint-time!!
-    public override bool RemoveBodyDependencies(BSPrim child)
-    {
-        bool ret = false;
-
-        DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}",
-                        child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString(), IsRoot(child));
-
-        if (!IsRoot(child))
-        {
-            // Because it is a convenient time, recompute child world position and rotation based on
-            //    its position in the linkset.
-            RecomputeChildWorldPosition(child, true);
-        }
-
-        // Cannot schedule a refresh/rebuild here because this routine is called when
-        //     the linkset is being rebuilt.
-        // InternalRefresh(LinksetRoot);
-
-        return ret;
-    }
-
-    // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
-    //     this routine will restore the removed constraints.
-    // Called at taint-time!!
-    public override void RestoreBodyDependencies(BSPrim child)
-    {
-    }
-
-    // When the linkset is built, the child shape is added to the compound shape relative to the
-    //    root shape. The linkset then moves around but this does not move the actual child
-    //    prim. The child prim's location must be recomputed based on the location of the root shape.
-    private void RecomputeChildWorldPosition(BSPhysObject child, bool inTaintTime)
-    {
-        BSLinksetCompoundInfo lci = child.LinksetInfo as BSLinksetCompoundInfo;
-        if (lci != null)
-        {
-            if (inTaintTime)
-            {
-                OMV.Vector3 oldPos = child.RawPosition;
-                child.ForcePosition = LinksetRoot.RawPosition + lci.OffsetPos;
-                child.ForceOrientation = LinksetRoot.RawOrientation * lci.OffsetRot;
-                DetailLog("{0},BSLinksetCompound.RecomputeChildWorldPosition,oldPos={1},lci={2},newPos={3}",
-                                            child.LocalID, oldPos, lci, child.RawPosition);
-            }
-            else
-            {
-                // TaintedObject is not used here so the raw position is set now and not at taint-time.
-                child.Position = LinksetRoot.RawPosition + lci.OffsetPos;
-                child.Orientation = LinksetRoot.RawOrientation * lci.OffsetRot;
-            }
-        }
-        else
-        {
-            // This happens when children have been added to the linkset but the linkset
-            //     has not been constructed yet. So like, at taint time, adding children to a linkset
-            //     and then changing properties of the children (makePhysical, for instance)
-            //     but the post-print action of actually rebuilding the linkset has not yet happened.
-            // PhysicsScene.Logger.WarnFormat("{0} Restoring linkset child position failed because of no relative position computed. ID={1}",
-            //                                 LogHeader, child.LocalID);
-            DetailLog("{0},BSLinksetCompound.recomputeChildWorldPosition,noRelativePositonInfo", child.LocalID);
-        }
-    }
-
-    // ================================================================
-
-    // Add a new child to the linkset.
-    // Called while LinkActivity is locked.
-    protected override void AddChildToLinkset(BSPhysObject child)
-    {
-        if (!HasChild(child))
-        {
-            m_children.Add(child);
-
-            DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
-
-            // Rebuild the compound shape with the new child shape included
-            ScheduleRebuild(child);
-        }
-        return;
-    }
-
-    // Remove the specified child from the linkset.
-    // Safe to call even if the child is not really in the linkset.
-    protected override void RemoveChildFromLinkset(BSPhysObject child)
-    {
-        if (m_children.Remove(child))
-        {
-            DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
-                            child.LocalID,
-                            LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString(),
-                            child.LocalID, child.PhysBody.ptr.ToString());
-
-            // Cause the child's body to be rebuilt and thus restored to normal operation
-            RecomputeChildWorldPosition(child, false);
-            child.ForceBodyShapeRebuild(false);
-
-            if (!HasAnyChildren)
-            {
-                // The linkset is now empty. The root needs rebuilding.
-                LinksetRoot.ForceBodyShapeRebuild(false);
-            }
-            else
-            {
-                // Rebuild the compound shape with the child removed
-                ScheduleRebuild(child);
-            }
-        }
-        return;
-    }
-
-    // Called before the simulation step to make sure the compound based linkset
-    //    is all initialized.
-    // Constraint linksets are rebuilt every time.
-    // Note that this works for rebuilding just the root after a linkset is taken apart.
-    // Called at taint time!!
-    private void RecomputeLinksetCompound()
-    {
-        try
-        {
-            // Suppress rebuilding while rebuilding
-            Rebuilding = true;
-
-            // Cause the root shape to be rebuilt as a compound object with just the root in it
-            LinksetRoot.ForceBodyShapeRebuild(true);
-
-            DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}",
-                            LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren);
-
-            // Add a shape for each of the other children in the linkset
-            ForEachMember(delegate(BSPhysObject cPrim)
-            {
-                if (!IsRoot(cPrim))
-                {
-                    // Compute the displacement of the child from the root of the linkset.
-                    // This info is saved in the child prim so the relationship does not
-                    //    change over time and the new child position can be computed
-                    //    when the linkset is being disassembled (the linkset may have moved).
-                    BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo;
-                    if (lci == null)
-                    {
-                        // Each child position and rotation is given relative to the root.
-                        OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation);
-                        OMV.Vector3 displacementPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation;
-                        OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation;
-
-                        // Save relative position for recomputing child's world position after moving linkset.
-                        lci = new BSLinksetCompoundInfo(displacementPos, displacementRot);
-                        cPrim.LinksetInfo = lci;
-                        DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci);
-                    }
-
-                    DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addMemberToShape,mID={1},mShape={2},dispPos={3},dispRot={4}",
-                        LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, lci.OffsetPos, lci.OffsetRot);
-
-                    if (cPrim.PhysShape.isNativeShape)
-                    {
-                        // A native shape is turning into a hull collision shape because native
-                        //    shapes are not shared so we have to hullify it so it will be tracked
-                        //    and freed at the correct time. This also solves the scaling problem
-                        //    (native shapes scaled but hull/meshes are assumed to not be).
-                        // TODO: decide of the native shape can just be used in the compound shape.
-                        //    Use call to CreateGeomNonSpecial().
-                        BulletShape saveShape = cPrim.PhysShape;
-                        cPrim.PhysShape.Clear();        // Don't let the create free the child's shape
-                        // PhysicsScene.Shapes.CreateGeomNonSpecial(true, cPrim, null);
-                        PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null);
-                        BulletShape newShape = cPrim.PhysShape;
-                        cPrim.PhysShape = saveShape;
-                        BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, newShape.ptr, lci.OffsetPos, lci.OffsetRot);
-                    }
-                    else
-                    {
-                        // For the shared shapes (meshes and hulls), just use the shape in the child.
-                        // The reference count added here will be decremented when the compound shape
-                        //     is destroyed in BSShapeCollection (the child shapes are looped over and dereferenced).
-                        if (PhysicsScene.Shapes.ReferenceShape(cPrim.PhysShape))
-                        {
-                            PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}",
-                                                LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape);
-                        }
-                        BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, cPrim.PhysShape.ptr, lci.OffsetPos, lci.OffsetRot);
-                    }
-                }
-                return false;   // 'false' says to move onto the next child in the list
-            });
-
-            // With all of the linkset packed into the root prim, it has the mass of everyone.
-            LinksetMass = LinksetMass;
-            LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true);
-        }
-        finally
-        {
-            Rebuilding = false;
-        }
-
-        BulletSimAPI.RecalculateCompoundShapeLocalAabb2(LinksetRoot.PhysShape.ptr);
-
-        // DEBUG: see of inter-linkset collisions are causing problems for constraint linksets.
-        // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, 
-        //                     (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
-
-    }
-}
-}
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs
deleted file mode 100644
index 46ff99f..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs
+++ /dev/null
@@ -1,316 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Text;
-
-using OMV = OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-public sealed class BSLinksetConstraints : BSLinkset
-{
-    // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]";
-
-    public BSLinksetConstraints(BSScene scene, BSPhysObject parent) : base(scene, parent)
-    {
-    }
-
-    // When physical properties are changed the linkset needs to recalculate
-    //   its internal properties.
-    // This is queued in the 'post taint' queue so the
-    //   refresh will happen once after all the other taints are applied.
-    public override void Refresh(BSPhysObject requestor)
-    {
-        base.Refresh(requestor);
-
-        // Queue to happen after all the other taint processing
-        PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
-            {
-                if (HasAnyChildren && IsRoot(requestor))
-                    RecomputeLinksetConstraints();
-            });
-    }
-
-    // The object is going dynamic (physical). Do any setup necessary
-    //     for a dynamic linkset.
-    // Only the state of the passed object can be modified. The rest of the linkset
-    //     has not yet been fully constructed.
-    // Return 'true' if any properties updated on the passed object.
-    // Called at taint-time!
-    public override bool MakeDynamic(BSPhysObject child)
-    {
-        // What is done for each object in BSPrim is what we want.
-        return false;
-    }
-
-    // The object is going static (non-physical). Do any setup necessary for a static linkset.
-    // Return 'true' if any properties updated on the passed object.
-    // This doesn't normally happen -- OpenSim removes the objects from the physical
-    //     world if it is a static linkset.
-    // Called at taint-time!
-    public override bool MakeStatic(BSPhysObject child)
-    {
-        // What is done for each object in BSPrim is what we want.
-        return false;
-    }
-
-    // Called at taint-time!!
-    public override void UpdateProperties(BSPhysObject updated, bool inTaintTime)
-    {
-        // Nothing to do for constraints on property updates
-    }
-
-    // Routine called when rebuilding the body of some member of the linkset.
-    // Destroy all the constraints have have been made to root and set
-    //     up to rebuild the constraints before the next simulation step.
-    // Returns 'true' of something was actually removed and would need restoring
-    // Called at taint-time!!
-    public override bool RemoveBodyDependencies(BSPrim child)
-    {
-        bool ret = false;
-
-        DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
-                                    child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString());
-
-        lock (m_linksetActivityLock)
-        {
-            // Just undo all the constraints for this linkset. Rebuild at the end of the step.
-            ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
-            // Cause the constraints, et al to be rebuilt before the next simulation step.
-            Refresh(LinksetRoot);
-        }
-        return ret;
-    }
-
-    // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
-    // this routine will restore the removed constraints.
-    // Called at taint-time!!
-    public override void RestoreBodyDependencies(BSPrim child)
-    {
-        // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints.
-    }
-
-    // ================================================================
-
-    // Add a new child to the linkset.
-    // Called while LinkActivity is locked.
-    protected override void AddChildToLinkset(BSPhysObject child)
-    {
-        if (!HasChild(child))
-        {
-            m_children.Add(child);
-
-            DetailLog("{0},BSLinksetConstraints.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
-
-            // Cause constraints and assorted properties to be recomputed before the next simulation step.
-            Refresh(LinksetRoot);
-        }
-        return;
-    }
-
-    // Remove the specified child from the linkset.
-    // Safe to call even if the child is not really in my linkset.
-    protected override void RemoveChildFromLinkset(BSPhysObject child)
-    {
-        if (m_children.Remove(child))
-        {
-            BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
-            BSPhysObject childx = child;
-
-            DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
-                            childx.LocalID,
-                            rootx.LocalID, rootx.PhysBody.ptr.ToString(),
-                            childx.LocalID, childx.PhysBody.ptr.ToString());
-
-            PhysicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate()
-            {
-                PhysicallyUnlinkAChildFromRoot(rootx, childx);
-            });
-            // See that the linkset parameters are recomputed at the end of the taint time.
-            Refresh(LinksetRoot);
-        }
-        else
-        {
-            // Non-fatal occurance.
-            // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader);
-        }
-        return;
-    }
-
-    // Create a constraint between me (root of linkset) and the passed prim (the child).
-    // Called at taint time!
-    private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
-    {
-        // Don't build the constraint when asked. Put it off until just before the simulation step.
-        Refresh(rootPrim);
-    }
-
-    private BSConstraint BuildConstraint(BSPhysObject rootPrim, BSPhysObject childPrim)
-    {
-        // Zero motion for children so they don't interpolate
-        childPrim.ZeroMotion(true);
-
-        // Relative position normalized to the root prim
-        // Essentually a vector pointing from center of rootPrim to center of childPrim
-        OMV.Vector3 childRelativePosition = childPrim.Position - rootPrim.Position;
-
-        // real world coordinate of midpoint between the two objects
-        OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2);
-
-        DetailLog("{0},BSLinksetConstraint.BuildConstraint,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
-                                        rootPrim.LocalID,
-                                        rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString(),
-                                        childPrim.LocalID, childPrim.PhysBody.ptr.ToString(),
-                                        rootPrim.Position, childPrim.Position, midPoint);
-
-        // create a constraint that allows no freedom of movement between the two objects
-        // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
-
-        BSConstraint6Dof constrain = new BSConstraint6Dof(
-                            PhysicsScene.World, rootPrim.PhysBody, childPrim.PhysBody, midPoint, true, true );
-                            // PhysicsScene.World, childPrim.BSBody, rootPrim.BSBody, midPoint, true, true );
-
-        /* NOTE: below is an attempt to build constraint with full frame computation, etc.
-         *     Using the midpoint is easier since it lets the Bullet code manipulate the transforms
-         *     of the objects.
-         * Code left for future programmers.
-        // ==================================================================================
-        // relative position normalized to the root prim
-        OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation);
-        OMV.Vector3 childRelativePosition = (childPrim.Position - rootPrim.Position) * invThisOrientation;
-
-        // relative rotation of the child to the parent
-        OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation;
-        OMV.Quaternion inverseChildRelativeRotation = OMV.Quaternion.Inverse(childRelativeRotation);
-
-        DetailLog("{0},BSLinksetConstraint.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
-        BS6DofConstraint constrain = new BS6DofConstraint(
-                        PhysicsScene.World, rootPrim.Body, childPrim.Body,
-                        OMV.Vector3.Zero,
-                        OMV.Quaternion.Inverse(rootPrim.Orientation),
-                        OMV.Vector3.Zero,
-                        OMV.Quaternion.Inverse(childPrim.Orientation),
-                        true,
-                        true
-                        );
-        // ==================================================================================
-        */
-
-        PhysicsScene.Constraints.AddConstraint(constrain);
-
-        // zero linear and angular limits makes the objects unable to move in relation to each other
-        constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
-        constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
-
-        // tweek the constraint to increase stability
-        constrain.UseFrameOffset(BSParam.BoolNumeric(BSParam.LinkConstraintUseFrameOffset));
-        constrain.TranslationalLimitMotor(BSParam.BoolNumeric(BSParam.LinkConstraintEnableTransMotor),
-                        BSParam.LinkConstraintTransMotorMaxVel,
-                        BSParam.LinkConstraintTransMotorMaxForce);
-        constrain.SetCFMAndERP(BSParam.LinkConstraintCFM, BSParam.LinkConstraintERP);
-        if (BSParam.LinkConstraintSolverIterations != 0f)
-        {
-            constrain.SetSolverIterations(BSParam.LinkConstraintSolverIterations);
-        }
-        return constrain;
-    }
-
-    // Remove linkage between the linkset root and a particular child
-    // The root and child bodies are passed in because we need to remove the constraint between
-    //      the bodies that were present at unlink time.
-    // Called at taint time!
-    private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
-    {
-        bool ret = false;
-        DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
-                            rootPrim.LocalID,
-                            rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString(),
-                            childPrim.LocalID, childPrim.PhysBody.ptr.ToString());
-
-        // Find the constraint for this link and get rid of it from the overall collection and from my list
-        if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody))
-        {
-            // Make the child refresh its location
-            BulletSimAPI.PushUpdate2(childPrim.PhysBody.ptr);
-            ret = true;
-        }
-
-        return ret;
-    }
-
-    // Remove linkage between myself and any possible children I might have.
-    // Returns 'true' of any constraints were destroyed.
-    // Called at taint time!
-    private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim)
-    {
-        DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
-
-        return PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody);
-    }
-
-    // Call each of the constraints that make up this linkset and recompute the
-    //    various transforms and variables. Create constraints of not created yet.
-    // Called before the simulation step to make sure the constraint based linkset
-    //    is all initialized.
-    // Called at taint time!!
-    private void RecomputeLinksetConstraints()
-    {
-        float linksetMass = LinksetMass;
-        LinksetRoot.UpdatePhysicalMassProperties(linksetMass, true);
-
-        // DEBUG: see of inter-linkset collisions are causing problems
-        // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, 
-        //                     (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
-        DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}",
-                            LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString(), linksetMass);
-
-        foreach (BSPhysObject child in m_children)
-        {
-            // A child in the linkset physically shows the mass of the whole linkset.
-            // This allows Bullet to apply enough force on the child to move the whole linkset.
-            // (Also do the mass stuff before recomputing the constraint so mass is not zero.)
-            child.UpdatePhysicalMassProperties(linksetMass, true);
-
-            BSConstraint constrain;
-            if (!PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain))
-            {
-                // If constraint doesn't exist yet, create it.
-                constrain = BuildConstraint(LinksetRoot, child);
-            }
-            constrain.RecomputeConstraintVariables(linksetMass);
-
-            // DEBUG: see of inter-linkset collisions are causing problems
-            // BulletSimAPI.SetCollisionFilterMask2(child.BSBody.ptr, 
-            //                 (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
-
-            // BulletSimAPI.DumpConstraint2(PhysicsScene.World.ptr, constrain.Constraint.ptr);    // DEBUG DEBUG
-        }
-
-    }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSMaterials.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSMaterials.cs
deleted file mode 100644
index d7941b6..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSMaterials.cs
+++ /dev/null
@@ -1,200 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Text;
-using System.Reflection;
-using Nini.Config;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-
-public struct MaterialAttributes
-{
-    // Material type values that correspond with definitions for LSL
-    public enum Material : int
-    {
-        Stone = 0,
-        Metal,
-        Glass,
-        Wood,
-        Flesh,
-        Plastic,
-        Rubber,
-        Light,
-        // Hereafter are BulletSim additions
-        Avatar,
-        NumberOfTypes   // the count of types in the enum.
-    }
-
-    // Names must be in the order of the above enum.
-    // These names must coorespond to the lower case field names in the MaterialAttributes
-    //     structure as reflection is used to select the field to put the value in.
-    public static readonly string[] MaterialAttribs = { "Density", "Friction", "Restitution"};
-
-    public MaterialAttributes(string t, float d, float f, float r)
-    {
-        type = t;
-        density = d;
-        friction = f;
-        restitution = r;
-    }
-    public string type;
-    public float density;
-    public float friction;
-    public float restitution;
-}
-
-public static class BSMaterials
-{
-    // Attributes for each material type
-    private static readonly MaterialAttributes[] Attributes;
-
-    // Map of material name to material type code
-    public static readonly Dictionary<string, MaterialAttributes.Material> MaterialMap;
-
-    static BSMaterials()
-    {
-        // Attribute sets for both the non-physical and physical instances of materials.
-        Attributes = new MaterialAttributes[(int)MaterialAttributes.Material.NumberOfTypes * 2];
-
-        // Map of name to type code.
-        MaterialMap = new Dictionary<string, MaterialAttributes.Material>();
-        MaterialMap.Add("Stone", MaterialAttributes.Material.Stone);
-        MaterialMap.Add("Metal", MaterialAttributes.Material.Metal);
-        MaterialMap.Add("Glass", MaterialAttributes.Material.Glass);
-        MaterialMap.Add("Wood", MaterialAttributes.Material.Wood);
-        MaterialMap.Add("Flesh", MaterialAttributes.Material.Flesh);
-        MaterialMap.Add("Plastic", MaterialAttributes.Material.Plastic);
-        MaterialMap.Add("Rubber", MaterialAttributes.Material.Rubber);
-        MaterialMap.Add("Light", MaterialAttributes.Material.Light);
-        MaterialMap.Add("Avatar", MaterialAttributes.Material.Avatar);
-    }
-
-    // This is where all the default material attributes are defined.
-    public static void InitializeFromDefaults(ConfigurationParameters parms)
-    {
-        // Values from http://wiki.secondlife.com/wiki/PRIM_MATERIAL
-        float dDensity = parms.defaultDensity;
-        float dFriction = parms.defaultFriction;
-        float dRestitution = parms.defaultRestitution;
-        Attributes[(int)MaterialAttributes.Material.Stone] =
-                    new MaterialAttributes("stone",dDensity, 0.8f, 0.4f);
-        Attributes[(int)MaterialAttributes.Material.Metal] =
-                    new MaterialAttributes("metal",dDensity, 0.3f, 0.4f);
-        Attributes[(int)MaterialAttributes.Material.Glass] =
-                    new MaterialAttributes("glass",dDensity, 0.2f, 0.7f);
-        Attributes[(int)MaterialAttributes.Material.Wood] =
-                    new MaterialAttributes("wood",dDensity, 0.6f, 0.5f);
-        Attributes[(int)MaterialAttributes.Material.Flesh] =
-                    new MaterialAttributes("flesh",dDensity, 0.9f, 0.3f);
-        Attributes[(int)MaterialAttributes.Material.Plastic] =
-                    new MaterialAttributes("plastic",dDensity, 0.4f, 0.7f);
-        Attributes[(int)MaterialAttributes.Material.Rubber] =
-                    new MaterialAttributes("rubber",dDensity, 0.9f, 0.9f);
-        Attributes[(int)MaterialAttributes.Material.Light] =
-                    new MaterialAttributes("light",dDensity, dFriction, dRestitution);
-        Attributes[(int)MaterialAttributes.Material.Avatar] =
-                    new MaterialAttributes("avatar",3.5f, 0.2f, 0f);
-
-        Attributes[(int)MaterialAttributes.Material.Stone + (int)MaterialAttributes.Material.NumberOfTypes] =
-                    new MaterialAttributes("stonePhysical",dDensity, 0.8f, 0.4f);
-        Attributes[(int)MaterialAttributes.Material.Metal + (int)MaterialAttributes.Material.NumberOfTypes] =
-                    new MaterialAttributes("metalPhysical",dDensity, 0.3f, 0.4f);
-        Attributes[(int)MaterialAttributes.Material.Glass + (int)MaterialAttributes.Material.NumberOfTypes] =
-                    new MaterialAttributes("glassPhysical",dDensity, 0.2f, 0.7f);
-        Attributes[(int)MaterialAttributes.Material.Wood + (int)MaterialAttributes.Material.NumberOfTypes] =
-                    new MaterialAttributes("woodPhysical",dDensity, 0.6f, 0.5f);
-        Attributes[(int)MaterialAttributes.Material.Flesh + (int)MaterialAttributes.Material.NumberOfTypes] =
-                    new MaterialAttributes("fleshPhysical",dDensity, 0.9f, 0.3f);
-        Attributes[(int)MaterialAttributes.Material.Plastic + (int)MaterialAttributes.Material.NumberOfTypes] =
-                    new MaterialAttributes("plasticPhysical",dDensity, 0.4f, 0.7f);
-        Attributes[(int)MaterialAttributes.Material.Rubber + (int)MaterialAttributes.Material.NumberOfTypes] =
-                    new MaterialAttributes("rubberPhysical",dDensity, 0.9f, 0.9f);
-        Attributes[(int)MaterialAttributes.Material.Light + (int)MaterialAttributes.Material.NumberOfTypes] =
-                    new MaterialAttributes("lightPhysical",dDensity, dFriction, dRestitution);
-        Attributes[(int)MaterialAttributes.Material.Avatar + (int)MaterialAttributes.Material.NumberOfTypes] =
-                    new MaterialAttributes("avatarPhysical",3.5f, 0.2f, 0f);
-    }
-
-    // Under the [BulletSim] section, one can change the individual material
-    //    attribute values. The format of the configuration parameter is:
-    //        <materialName><Attribute>["Physical"] = floatValue
-    //    For instance:
-    //        [BulletSim]
-    //             StoneFriction = 0.2
-    //             FleshRestitutionPhysical = 0.8
-    // Materials can have different parameters for their static and
-    //    physical instantiations. When setting the non-physical value,
-    //    both values are changed. Setting the physical value only changes
-    //    the physical value.
-    public static void InitializefromParameters(IConfig pConfig)
-    {
-        foreach (KeyValuePair<string, MaterialAttributes.Material> kvp in MaterialMap)
-        {
-            string matName = kvp.Key;
-            foreach (string attribName in MaterialAttributes.MaterialAttribs)
-            {
-                string paramName = matName + attribName;
-                if (pConfig.Contains(paramName))
-                {
-                    float paramValue = pConfig.GetFloat(paramName);
-                    SetAttributeValue((int)kvp.Value, attribName, paramValue);
-                    // set the physical value also
-                    SetAttributeValue((int)kvp.Value + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue);
-                }
-                paramName += "Physical";
-                if (pConfig.Contains(paramName))
-                {
-                    float paramValue = pConfig.GetFloat(paramName);
-                    SetAttributeValue((int)kvp.Value + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue);
-                }
-            }
-        }
-    }
-
-    // Use reflection to set the value in the attribute structure.
-    private static void SetAttributeValue(int matType, string attribName, float val)
-    {
-        MaterialAttributes thisAttrib = Attributes[matType];
-        FieldInfo fieldInfo = thisAttrib.GetType().GetField(attribName.ToLower());
-        if (fieldInfo != null)
-        {
-            fieldInfo.SetValue(thisAttrib, val);
-            Attributes[matType] = thisAttrib;
-        }
-    }
-
-    // Given a material type, return a structure of attributes.
-    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/BulletSNPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSMotors.cs
deleted file mode 100644
index 7abc9b2..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSMotors.cs
+++ /dev/null
@@ -1,347 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above 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;
-using OpenMetaverse;
-using OpenSim.Framework;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-public abstract class BSMotor
-{
-    // Timescales and other things can be turned off by setting them to 'infinite'.
-    public const float Infinite = 12345.6f;
-    public readonly static Vector3 InfiniteVector = new Vector3(BSMotor.Infinite, BSMotor.Infinite, BSMotor.Infinite);
-
-    public BSMotor(string useName)
-    {
-        UseName = useName;
-        PhysicsScene = null;
-        Enabled = true;
-    }
-    public virtual bool Enabled { get; set; }
-    public virtual void Reset() { }
-    public virtual void Zero() { }
-    public virtual void GenerateTestOutput(float timeStep) { }
-
-    // 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)
-    {
-        if (PhysicsScene != null)
-        {
-            if (PhysicsScene.VehicleLoggingEnabled)
-            {
-                PhysicsScene.DetailLog(msg, parms);
-            }
-        }
-    }
-}
-
-// Motor which moves CurrentValue to TargetValue over TimeScale seconds.
-// The TargetValue decays in TargetValueDecayTimeScale and
-//     the CurrentValue will be held back by FrictionTimeScale.
-// This motor will "zero itself" over time in that the targetValue will
-//    decay to zero and the currentValue will follow it to that zero.
-//    The overall effect is for the returned correction value to go from large
-//    values (the total difference between current and target minus friction)
-//    to small and eventually zero values.
-// TimeScale and TargetDelayTimeScale may be 'infinite' which means no 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 Offset { get; set; }
-
-    public virtual float TimeScale { get; set; }
-    public virtual float TargetValueDecayTimeScale { get; set; }
-    public virtual Vector3 FrictionTimescale { get; set; }
-    public virtual float Efficiency { get; set; }
-
-    public virtual float ErrorZeroThreshold { get; set; }
-
-    public virtual Vector3 TargetValue { get; protected set; }
-    public virtual Vector3 CurrentValue { get; protected set; }
-    public virtual Vector3 LastError { get; protected set; }
-
-    public virtual bool ErrorIsZero
-    { get {
-        return (LastError == Vector3.Zero || LastError.LengthSquared() <= ErrorZeroThreshold);
-        }
-    }
-
-    public BSVMotor(string useName)
-        : base(useName)
-    {
-        TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite;
-        Efficiency = 1f;
-        FrictionTimescale = BSMotor.InfiniteVector;
-        CurrentValue = TargetValue = Vector3.Zero;
-        ErrorZeroThreshold = 0.001f;
-    }
-    public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) 
-        : this(useName)
-    {
-        TimeScale = timeScale;
-        TargetValueDecayTimeScale = decayTimeScale;
-        FrictionTimescale = frictionTimeScale;
-        Efficiency = efficiency;
-        CurrentValue = TargetValue = Vector3.Zero;
-    }
-    public void SetCurrent(Vector3 current)
-    {
-        CurrentValue = current;
-    }
-    public void SetTarget(Vector3 target)
-    {
-        TargetValue = target;
-    }
-    public override void Zero()
-    {
-        base.Zero();
-        CurrentValue = TargetValue = Vector3.Zero;
-    }
-
-    // Compute the next step and return the new current value
-    public virtual Vector3 Step(float timeStep)
-    {
-        if (!Enabled) return TargetValue;
-
-        Vector3 origTarget = TargetValue;       // DEBUG
-        Vector3 origCurrVal = CurrentValue;     // DEBUG
-
-        Vector3 correction = Vector3.Zero;
-        Vector3 error = TargetValue - CurrentValue;
-        if (!error.ApproxEquals(Vector3.Zero, ErrorZeroThreshold))
-        {
-            correction = Step(timeStep, error);
-
-            CurrentValue += correction;
-
-            // The desired value reduces to zero which also reduces the difference with current.
-            // If the decay time is infinite, don't decay at all.
-            float decayFactor = 0f;
-            if (TargetValueDecayTimeScale != BSMotor.Infinite)
-            {
-                decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
-                TargetValue *= (1f - decayFactor);
-            }
-
-            // The amount we can correct the error is reduced by the friction
-            Vector3 frictionFactor = Vector3.Zero;
-            if (FrictionTimescale != BSMotor.InfiniteVector)
-            {
-                // 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);
-                frictionFactor.Y = (FrictionTimescale.Y == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.Y);
-                frictionFactor.Z = (FrictionTimescale.Z == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.Z);
-                frictionFactor *= timeStep;
-                CurrentValue *= (Vector3.One - frictionFactor);
-            }
-
-            MDetailLog("{0},  BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},err={5},corr={6}",
-                                BSScene.DetailLogZero, UseName, origCurrVal, origTarget,
-                                timeStep, error, correction);
-            MDetailLog("{0},  BSVMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},frictTS={4},frictFact={5},tgt={6},curr={7}",
-                                BSScene.DetailLogZero, UseName,
-                                TargetValueDecayTimeScale, decayFactor, FrictionTimescale, frictionFactor,
-                                TargetValue, CurrentValue);
-        }
-        else
-        {
-            // Difference between what we have and target is small. Motor is done.
-            CurrentValue = TargetValue;
-            MDetailLog("{0},  BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}",
-                        BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue);
-        }
-
-        return CurrentValue;
-    }
-    public virtual Vector3 Step(float timeStep, Vector3 error)
-    {
-        if (!Enabled) return Vector3.Zero;
-
-        LastError = error;
-        Vector3 returnCorrection = Vector3.Zero;
-        if (!error.ApproxEquals(Vector3.Zero, ErrorZeroThreshold))
-        {
-            // correction =  error / secondsItShouldTakeToCorrect
-            Vector3 correctionAmount;
-            if (TimeScale == 0f || TimeScale == BSMotor.Infinite)
-                correctionAmount = error * timeStep;
-            else
-                correctionAmount = error / TimeScale * timeStep;
-
-            returnCorrection = correctionAmount;
-            MDetailLog("{0},  BSVMotor.Step,nonZero,{1},timeStep={2},timeScale={3},err={4},corr={5}",
-                                    BSScene.DetailLogZero, UseName, timeStep, TimeScale, error, correctionAmount);
-        }
-        return returnCorrection;
-    }
-
-    // The user sets all the parameters and calls this which outputs values until error is zero.
-    public override void GenerateTestOutput(float timeStep)
-    {
-        // maximum number of outputs to generate.
-        int maxOutput = 50;
-        MDetailLog("{0},BSVMotor.Test,{1},===================================== BEGIN Test Output", BSScene.DetailLogZero, UseName);
-        MDetailLog("{0},BSVMotor.Test,{1},timeScale={2},targDlyTS={3},frictTS={4},eff={5},curr={6},tgt={7}",
-                                BSScene.DetailLogZero, UseName,
-                                TimeScale, TargetValueDecayTimeScale, FrictionTimescale, Efficiency, 
-                                CurrentValue, TargetValue);
-
-        LastError = BSMotor.InfiniteVector;
-        while (maxOutput-- > 0 && !LastError.ApproxEquals(Vector3.Zero, ErrorZeroThreshold))
-        {
-            Vector3 lastStep = Step(timeStep);
-            MDetailLog("{0},BSVMotor.Test,{1},cur={2},tgt={3},lastError={4},lastStep={5}",
-                            BSScene.DetailLogZero, UseName, CurrentValue, TargetValue, LastError, lastStep);
-        }
-        MDetailLog("{0},BSVMotor.Test,{1},===================================== END Test Output", BSScene.DetailLogZero, UseName);
-        
-
-    }
-
-    public override string ToString()
-    {
-        return String.Format("<{0},curr={1},targ={2},decayTS={3},frictTS={4}>",
-            UseName, CurrentValue, TargetValue, TargetValueDecayTimeScale, FrictionTimescale);
-    }
-}
-
-public class BSFMotor : BSMotor
-{
-    public float TimeScale { get; set; }
-    public float DecayTimeScale { get; set; }
-    public float Friction { get; set; }
-    public float Efficiency { get; set; }
-
-    public float Target { get; private set; }
-    public float CurrentValue { get; private set; }
-
-    public BSFMotor(string useName, float timeScale, float decayTimescale, float friction, float efficiency)
-        : base(useName)
-    {
-    }
-    public void SetCurrent(float target)
-    {
-    }
-    public void SetTarget(float target)
-    {
-    }
-    public virtual float Step(float timeStep)
-    {
-        return 0f;
-    }
-}
-
-// Proportional, Integral, Derivitive Motor
-// Good description at http://www.answers.com/topic/pid-controller . Includes processes for choosing p, i and d factors.
-public class BSPIDVMotor : BSVMotor
-{
-    // Larger makes more overshoot, smaller means converge quicker. Range of 0.1 to 10.
-    public Vector3 proportionFactor { get; set; }
-    public Vector3 integralFactor { get; set; }
-    public Vector3 derivFactor { get; set; }
-
-    // Arbritrary factor range.
-    // EfficiencyHigh means move quickly to the correct number. EfficiencyLow means might over correct.
-    public float EfficiencyHigh = 0.4f;
-    public float EfficiencyLow = 4.0f;
-
-    // Running integration of the error
-    Vector3 RunningIntegration { get; set; }
-
-    public BSPIDVMotor(string useName)
-        : base(useName)
-    {
-        proportionFactor = new Vector3(1.00f, 1.00f, 1.00f);
-        integralFactor = new Vector3(1.00f, 1.00f, 1.00f);
-        derivFactor = new Vector3(1.00f, 1.00f, 1.00f);
-        RunningIntegration = Vector3.Zero;
-        LastError = Vector3.Zero;
-    }
-
-    public override void Zero()
-    {
-        base.Zero();
-    }
-
-    public override float Efficiency
-    {
-        get { return base.Efficiency; }
-        set
-        {
-            base.Efficiency = Util.Clamp(value, 0f, 1f);
-            // Compute factors based on efficiency.
-            // If efficiency is high (1f), use a factor value that moves the error value to zero with little overshoot.
-            // If efficiency is low (0f), use a factor value that overcorrects.
-            // TODO: might want to vary contribution of different factor depending on efficiency.
-            float factor = ((1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow) / 3f;
-            // float factor = (1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow;
-            proportionFactor = new Vector3(factor, factor, factor);
-            integralFactor = new Vector3(factor, factor, factor);
-            derivFactor = new Vector3(factor, factor, factor);
-        }
-    }
-
-    // Ignore Current and Target Values and just advance the PID computation on this error.
-    public override Vector3 Step(float timeStep, Vector3 error)
-    {
-        if (!Enabled) return Vector3.Zero;
-
-        // Add up the error so we can integrate over the accumulated errors
-        RunningIntegration += error * timeStep;
-
-        // A simple derivitive is the rate of change from the last error.
-        Vector3 derivFactor = (error - LastError) * timeStep;
-        LastError = error;
-
-        // Correction = -(proportionOfPresentError +      accumulationOfPastError    +     rateOfChangeOfError)
-        Vector3 ret   = -(
-                          error * proportionFactor
-                        + RunningIntegration * integralFactor 
-                        + derivFactor * derivFactor
-                        );
-
-        return ret;
-    }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs
deleted file mode 100644
index 5e93a03..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs
+++ /dev/null
@@ -1,559 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Text;
-
-using OpenSim.Region.Physics.Manager;
-
-using OpenMetaverse;
-using Nini.Config;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-public static class BSParam
-{
-    // Level of Detail values kept as float because that's what the Meshmerizer wants
-    public static float MeshLOD { get; private set; }
-    public static float MeshMegaPrimLOD { get; private set; }
-    public static float MeshMegaPrimThreshold { get; private set; }
-    public static float SculptLOD { get; private set; }
-
-    public static float MinimumObjectMass { get; private set; }
-    public static float MaximumObjectMass { get; private set; }
-
-    public static float LinearDamping { get; private set; }
-    public static float AngularDamping { get; private set; }
-    public static float DeactivationTime { get; private set; }
-    public static float LinearSleepingThreshold { get; private set; }
-    public static float AngularSleepingThreshold { get; private set; }
-        public static float CcdMotionThreshold { get; private set; }
-        public static float CcdSweptSphereRadius { get; private set; }
-    public static float ContactProcessingThreshold { get; private set; }
-
-    public static bool ShouldMeshSculptedPrim { get; private set; }   // cause scuplted prims to get meshed
-    public static bool ShouldForceSimplePrimMeshing { get; private set; }   // if a cube or sphere, let Bullet do internal shapes
-    public static bool ShouldUseHullsForPhysicalObjects { get; private set; }   // 'true' if should create hulls for physical objects
-
-    public static float TerrainImplementation { get; private set; }
-    public static float TerrainFriction { get; private set; }
-    public static float TerrainHitFraction { get; private set; }
-    public static float TerrainRestitution { get; private set; }
-    public static float TerrainCollisionMargin { get; private set; }
-
-    // Avatar parameters
-    public static float AvatarFriction { get; private set; }
-    public static float AvatarStandingFriction { get; private set; }
-    public static float AvatarDensity { get; private set; }
-    public static float AvatarRestitution { get; private set; }
-    public static float AvatarCapsuleWidth { get; private set; }
-    public static float AvatarCapsuleDepth { get; private set; }
-    public static float AvatarCapsuleHeight { get; private set; }
-        public static float AvatarContactProcessingThreshold { get; private set; }
-
-    public static float VehicleAngularDamping { get; private set; }
-
-    public static float LinksetImplementation { get; private set; }
-    public static float LinkConstraintUseFrameOffset { get; private set; }
-    public static float LinkConstraintEnableTransMotor { get; private set; }
-    public static float LinkConstraintTransMotorMaxVel { get; private set; }
-    public static float LinkConstraintTransMotorMaxForce { get; private set; }
-    public static float LinkConstraintERP { get; private set; }
-    public static float LinkConstraintCFM { get; private set; }
-    public static float LinkConstraintSolverIterations { get; private set; }
-
-    public static float PID_D { get; private set; }    // derivative
-    public static float PID_P { get; private set; }    // proportional
-
-    public delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val);
-    public delegate float ParamGet(BSScene scene);
-    public delegate void ParamSet(BSScene scene, string paramName, uint localID, float val);
-    public delegate void SetOnObject(BSScene scene, BSPhysObject obj, float val);
-
-    public struct ParameterDefn
-    {
-        public string name;         // string name of the parameter
-        public string desc;         // a short description of what the parameter means
-        public float defaultValue;  // default value if not specified anywhere else
-        public ParamUser userParam; // get the value from the configuration file
-        public ParamGet getter;     // return the current value stored for this parameter
-        public ParamSet setter;     // set the current value for this parameter
-        public SetOnObject onObject;    // set the value on an object in the physical domain
-        public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s)
-        {
-            name = n;
-            desc = d;
-            defaultValue = v;
-            userParam = u;
-            getter = g;
-            setter = s;
-            onObject = null;
-        }
-        public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s, SetOnObject o)
-        {
-            name = n;
-            desc = d;
-            defaultValue = v;
-            userParam = u;
-            getter = g;
-            setter = s;
-            onObject = o;
-        }
-    }
-
-    // List of all of the externally visible parameters.
-    // For each parameter, this table maps a text name to getter and setters.
-    // To add a new externally referencable/settable parameter, add the paramter storage
-    //    location somewhere in the program and make an entry in this table with the
-    //    getters and setters.
-    // It is easiest to find an existing definition and copy it.
-    // Parameter values are floats. Booleans are converted to a floating value.
-    //
-    // A ParameterDefn() takes the following parameters:
-    //    -- the text name of the parameter. This is used for console input and ini file.
-    //    -- a short text description of the parameter. This shows up in the console listing.
-    //    -- a default value (float)
-    //    -- a delegate for fetching the parameter from the ini file.
-    //          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
-    //    o = BSPhysObject
-    //    p = string parameter name
-    //    l = localID of referenced object
-    //    v = value (float)
-    //    cf = parameter configuration class (for fetching values from ini file)
-    private static ParameterDefn[] ParameterDefinitions =
-    {
-        new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties",
-            ConfigurationParameters.numericTrue,
-            (s,cf,p,v) => { ShouldMeshSculptedPrim = cf.GetBoolean(p, BSParam.BoolNumeric(v)); },
-            (s) => { return BSParam.NumericBool(ShouldMeshSculptedPrim); },
-            (s,p,l,v) => { ShouldMeshSculptedPrim = BSParam.BoolNumeric(v); } ),
-        new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects",
-            ConfigurationParameters.numericFalse,
-            (s,cf,p,v) => { ShouldForceSimplePrimMeshing = cf.GetBoolean(p, BSParam.BoolNumeric(v)); },
-            (s) => { return BSParam.NumericBool(ShouldForceSimplePrimMeshing); },
-            (s,p,l,v) => { ShouldForceSimplePrimMeshing = BSParam.BoolNumeric(v); } ),
-        new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects",
-            ConfigurationParameters.numericTrue,
-            (s,cf,p,v) => { ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, BSParam.BoolNumeric(v)); },
-            (s) => { return BSParam.NumericBool(ShouldUseHullsForPhysicalObjects); },
-            (s,p,l,v) => { ShouldUseHullsForPhysicalObjects = BSParam.BoolNumeric(v); } ),
-
-        new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)",
-            8f,
-            (s,cf,p,v) => { MeshLOD = (float)cf.GetInt(p, (int)v); },
-            (s) => { return MeshLOD; },
-            (s,p,l,v) => { MeshLOD = v; } ),
-        new ParameterDefn("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters",
-            16f,
-            (s,cf,p,v) => { MeshMegaPrimLOD = (float)cf.GetInt(p, (int)v); },
-            (s) => { return MeshMegaPrimLOD; },
-            (s,p,l,v) => { MeshMegaPrimLOD = v; } ),
-        new ParameterDefn("MeshLevelOfDetailMegaPrimThreshold", "Size (in meters) of a mesh before using MeshMegaPrimLOD",
-            10f,
-            (s,cf,p,v) => { MeshMegaPrimThreshold = (float)cf.GetInt(p, (int)v); },
-            (s) => { return MeshMegaPrimThreshold; },
-            (s,p,l,v) => { MeshMegaPrimThreshold = v; } ),
-        new ParameterDefn("SculptLevelOfDetail", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)",
-            32f,
-            (s,cf,p,v) => { SculptLOD = (float)cf.GetInt(p, (int)v); },
-            (s) => { return SculptLOD; },
-            (s,p,l,v) => { SculptLOD = v; } ),
-
-        new ParameterDefn("MaxSubStep", "In simulation step, maximum number of substeps",
-            10f,
-            (s,cf,p,v) => { s.m_maxSubSteps = cf.GetInt(p, (int)v); },
-            (s) => { return (float)s.m_maxSubSteps; },
-            (s,p,l,v) => { s.m_maxSubSteps = (int)v; } ),
-        new ParameterDefn("FixedTimeStep", "In simulation step, seconds of one substep (1/60)",
-            1f / 60f,
-            (s,cf,p,v) => { s.m_fixedTimeStep = cf.GetFloat(p, v); },
-            (s) => { return (float)s.m_fixedTimeStep; },
-            (s,p,l,v) => { s.m_fixedTimeStep = v; } ),
-        new ParameterDefn("MaxCollisionsPerFrame", "Max collisions returned at end of each frame",
-            2048f,
-            (s,cf,p,v) => { s.m_maxCollisionsPerFrame = cf.GetInt(p, (int)v); },
-            (s) => { return (float)s.m_maxCollisionsPerFrame; },
-            (s,p,l,v) => { s.m_maxCollisionsPerFrame = (int)v; } ),
-        new ParameterDefn("MaxUpdatesPerFrame", "Max updates returned at end of each frame",
-            8000f,
-            (s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); },
-            (s) => { return (float)s.m_maxUpdatesPerFrame; },
-            (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ),
-        new ParameterDefn("MaxTaintsToProcessPerStep", "Number of update taints to process before each simulation step",
-            500f,
-            (s,cf,p,v) => { s.m_taintsToProcessPerStep = cf.GetInt(p, (int)v); },
-            (s) => { return (float)s.m_taintsToProcessPerStep; },
-            (s,p,l,v) => { s.m_taintsToProcessPerStep = (int)v; } ),
-        new ParameterDefn("MinObjectMass", "Minimum object mass (0.0001)",
-            0.0001f,
-            (s,cf,p,v) => { MinimumObjectMass = cf.GetFloat(p, v); },
-            (s) => { return (float)MinimumObjectMass; },
-            (s,p,l,v) => { MinimumObjectMass = v; } ),
-        new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)",
-            10000.01f,
-            (s,cf,p,v) => { MaximumObjectMass = cf.GetFloat(p, v); },
-            (s) => { return (float)MaximumObjectMass; },
-            (s,p,l,v) => { MaximumObjectMass = v; } ),
-
-        new ParameterDefn("PID_D", "Derivitive factor for motion smoothing",
-            2200f,
-            (s,cf,p,v) => { PID_D = cf.GetFloat(p, v); },
-            (s) => { return (float)PID_D; },
-            (s,p,l,v) => { PID_D = v; } ),
-        new ParameterDefn("PID_P", "Parameteric factor for motion smoothing",
-            900f,
-            (s,cf,p,v) => { PID_P = cf.GetFloat(p, v); },
-            (s) => { return (float)PID_P; },
-            (s,p,l,v) => { PID_P = v; } ),
-
-        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; } ),
-        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; } ),
-        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; } ),
-        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; } ),
-        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,o,v) => { BulletSimAPI.SetGravity2(s.World.ptr, new Vector3(0f,0f,v)); } ),
-
-
-        new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)",
-            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,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, AngularDamping); } ),
-        new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)",
-            0f,
-            (s,cf,p,v) => { AngularDamping = cf.GetFloat(p, v); },
-            (s) => { return AngularDamping; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularDamping=x;}, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, LinearDamping, v); } ),
-        new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static",
-            0.2f,
-            (s,cf,p,v) => { DeactivationTime = cf.GetFloat(p, v); },
-            (s) => { return DeactivationTime; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{DeactivationTime=x;}, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.PhysBody.ptr, v); } ),
-        new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static",
-            0.8f,
-            (s,cf,p,v) => { LinearSleepingThreshold = cf.GetFloat(p, v); },
-            (s) => { return LinearSleepingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearSleepingThreshold=x;}, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ),
-        new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static",
-            1.0f,
-            (s,cf,p,v) => { AngularSleepingThreshold = cf.GetFloat(p, v); },
-            (s) => { return AngularSleepingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularSleepingThreshold=x;}, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ),
-        new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ,
-            0f,     // set to zero to disable
-            (s,cf,p,v) => { CcdMotionThreshold = cf.GetFloat(p, v); },
-            (s) => { return CcdMotionThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdMotionThreshold=x;}, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.PhysBody.ptr, v); } ),
-        new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" ,
-            0f,
-            (s,cf,p,v) => { CcdSweptSphereRadius = cf.GetFloat(p, v); },
-            (s) => { return CcdSweptSphereRadius; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdSweptSphereRadius=x;}, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.PhysBody.ptr, v); } ),
-        new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" ,
-            0.1f,
-            (s,cf,p,v) => { ContactProcessingThreshold = cf.GetFloat(p, v); },
-            (s) => { return ContactProcessingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{ContactProcessingThreshold=x;}, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.PhysBody.ptr, v); } ),
-
-            new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)",
-            (float)BSTerrainPhys.TerrainImplementation.Heightmap,
-            (s,cf,p,v) => { TerrainImplementation = cf.GetFloat(p,v); },
-            (s) => { return TerrainImplementation; },
-            (s,p,l,v) => { TerrainImplementation = v; } ),
-        new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" ,
-            0.3f,
-            (s,cf,p,v) => { TerrainFriction = cf.GetFloat(p, v); },
-            (s) => { return TerrainFriction; },
-            (s,p,l,v) => { TerrainFriction = v;  /* TODO: set on real terrain */} ),
-        new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" ,
-            0.8f,
-            (s,cf,p,v) => { TerrainHitFraction = cf.GetFloat(p, v); },
-            (s) => { return TerrainHitFraction; },
-            (s,p,l,v) => { TerrainHitFraction = v; /* TODO: set on real terrain */ } ),
-        new ParameterDefn("TerrainRestitution", "Bouncyness" ,
-            0f,
-            (s,cf,p,v) => { TerrainRestitution = cf.GetFloat(p, v); },
-            (s) => { return TerrainRestitution; },
-            (s,p,l,v) => { TerrainRestitution = v;  /* TODO: set on real terrain */ } ),
-        new ParameterDefn("TerrainCollisionMargin", "Margin where collision checking starts" ,
-            0.04f,
-            (s,cf,p,v) => { TerrainCollisionMargin = cf.GetFloat(p, v); },
-            (s) => { return TerrainCollisionMargin; },
-            (s,p,l,v) => { TerrainCollisionMargin = v;  /* TODO: set on real terrain */ } ),
-
-        new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.",
-            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); } ),
-        new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
-            10.0f,
-            (s,cf,p,v) => { AvatarStandingFriction = cf.GetFloat(p, v); },
-            (s) => { return AvatarStandingFriction; },
-            (s,p,l,v) => { AvatarStandingFriction = v; } ),
-        new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
-            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); } ),
-        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); } ),
-        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); } ),
-        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); } ),
-        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); } ),
-            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); } ),
-
-        new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)",
-            0.95f,
-            (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); },
-            (s) => { return VehicleAngularDamping; },
-            (s,p,l,v) => { VehicleAngularDamping = v; } ),
-
-            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; } ),
-            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; } ),
-            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; } ),
-            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; } ),
-            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; } ),
-            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; } ),
-            new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching",
-            ConfigurationParameters.numericFalse,
-            (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; } ),
-            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; } ),
-
-            new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)",
-            (float)BSLinkset.LinksetImplementation.Compound,
-            (s,cf,p,v) => { LinksetImplementation = cf.GetFloat(p,v); },
-            (s) => { return LinksetImplementation; },
-            (s,p,l,v) => { LinksetImplementation = v; } ),
-            new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.",
-            ConfigurationParameters.numericFalse,
-            (s,cf,p,v) => { LinkConstraintUseFrameOffset = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
-            (s) => { return LinkConstraintUseFrameOffset; },
-            (s,p,l,v) => { LinkConstraintUseFrameOffset = v; } ),
-            new ParameterDefn("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints",
-            ConfigurationParameters.numericTrue,
-            (s,cf,p,v) => { LinkConstraintEnableTransMotor = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
-            (s) => { return LinkConstraintEnableTransMotor; },
-            (s,p,l,v) => { LinkConstraintEnableTransMotor = v; } ),
-            new ParameterDefn("LinkConstraintTransMotorMaxVel", "Maximum velocity to be applied by translational motor in linkset constraints",
-            5.0f,
-            (s,cf,p,v) => { LinkConstraintTransMotorMaxVel = cf.GetFloat(p, v); },
-            (s) => { return LinkConstraintTransMotorMaxVel; },
-            (s,p,l,v) => { LinkConstraintTransMotorMaxVel = v; } ),
-            new ParameterDefn("LinkConstraintTransMotorMaxForce", "Maximum force to be applied by translational motor in linkset constraints",
-            0.1f,
-            (s,cf,p,v) => { LinkConstraintTransMotorMaxForce = cf.GetFloat(p, v); },
-            (s) => { return LinkConstraintTransMotorMaxForce; },
-            (s,p,l,v) => { LinkConstraintTransMotorMaxForce = v; } ),
-            new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1",
-            0.1f,
-            (s,cf,p,v) => { LinkConstraintCFM = cf.GetFloat(p, v); },
-            (s) => { return LinkConstraintCFM; },
-            (s,p,l,v) => { LinkConstraintCFM = v; } ),
-            new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2",
-            0.1f,
-            (s,cf,p,v) => { LinkConstraintERP = cf.GetFloat(p, v); },
-            (s) => { return LinkConstraintERP; },
-            (s,p,l,v) => { LinkConstraintERP = v; } ),
-            new ParameterDefn("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)",
-            40,
-            (s,cf,p,v) => { LinkConstraintSolverIterations = cf.GetFloat(p, v); },
-            (s) => { return LinkConstraintSolverIterations; },
-            (s,p,l,v) => { LinkConstraintSolverIterations = v; } ),
-
-        new ParameterDefn("LogPhysicsStatisticsFrames", "Frames between outputting detailed phys stats. (0 is off)",
-            0f,
-            (s,cf,p,v) => { s.UnmanagedParams[0].physicsLoggingFrames = cf.GetInt(p, (int)v); },
-            (s) => { return (float)s.UnmanagedParams[0].physicsLoggingFrames; },
-            (s,p,l,v) => { s.UnmanagedParams[0].physicsLoggingFrames = (int)v; } ),
-    };
-
-    // Convert a boolean to our numeric true and false values
-    public static float NumericBool(bool b)
-    {
-        return (b ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse);
-    }
-
-    // Convert numeric true and false values to a boolean
-    public static bool BoolNumeric(float b)
-    {
-        return (b == ConfigurationParameters.numericTrue ? true : false);
-    }
-
-    // Search through the parameter definitions and return the matching
-    //    ParameterDefn structure.
-    // Case does not matter as names are compared after converting to lower case.
-    // Returns 'false' if the parameter is not found.
-    internal static bool TryGetParameter(string paramName, out ParameterDefn defn)
-    {
-        bool ret = false;
-        ParameterDefn foundDefn = new ParameterDefn();
-        string pName = paramName.ToLower();
-
-        foreach (ParameterDefn parm in ParameterDefinitions)
-        {
-            if (pName == parm.name.ToLower())
-            {
-                foundDefn = parm;
-                ret = true;
-                break;
-            }
-        }
-        defn = foundDefn;
-        return ret;
-    }
-
-    // Pass through the settable parameters and set the default values
-    internal static void SetParameterDefaultValues(BSScene physicsScene)
-    {
-        foreach (ParameterDefn parm in ParameterDefinitions)
-        {
-            parm.setter(physicsScene, parm.name, PhysParameterEntry.APPLY_TO_NONE, parm.defaultValue);
-        }
-    }
-
-    // Get user set values out of the ini file.
-    internal static void SetParameterConfigurationValues(BSScene physicsScene, IConfig cfg)
-    {
-        foreach (ParameterDefn parm in ParameterDefinitions)
-        {
-            parm.userParam(physicsScene, cfg, parm.name, parm.defaultValue);
-        }
-    }
-
-    internal static PhysParameterEntry[] SettableParameters = new PhysParameterEntry[1];
-
-    // This creates an array in the correct format for returning the list of
-    //    parameters. This is used by the 'list' option of the 'physics' command.
-    internal static void BuildParameterTable()
-    {
-        if (SettableParameters.Length < ParameterDefinitions.Length)
-        {
-            List<PhysParameterEntry> entries = new List<PhysParameterEntry>();
-            for (int ii = 0; ii < ParameterDefinitions.Length; ii++)
-            {
-                ParameterDefn pd = ParameterDefinitions[ii];
-                entries.Add(new PhysParameterEntry(pd.name, pd.desc));
-            }
-
-            // make the list in alphabetical order for estetic reasons
-            entries.Sort(delegate(PhysParameterEntry ppe1, PhysParameterEntry ppe2)
-            {
-                return ppe1.name.CompareTo(ppe2.name);
-            });
-
-            SettableParameters = entries.ToArray();
-        }
-    }
-
-
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSPhysObject.cs
deleted file mode 100644
index 689da7f..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSPhysObject.cs
+++ /dev/null
@@ -1,346 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Text;
-
-using OMV = OpenMetaverse;
-using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-/*
- * Class to wrap all objects.
- * The rest of BulletSim doesn't need to keep checking for avatars or prims
- *        unless the difference is significant.
- * 
- *  Variables in the physicsl objects are in three forms:
- *      VariableName: used by the simulator and performs taint operations, etc
- *      RawVariableName: direct reference to the BulletSim storage for the variable value
- *      ForceVariableName: direct reference (store and fetch) to the value in the physics engine.
- *  The last two (and certainly the last one) should be referenced only in taint-time.
- */
-
-/*
- * As of 20121221, the following are the call sequences (going down) for different script physical functions:
- * llApplyImpulse       llApplyRotImpulse           llSetTorque             llSetForce
- * SOP.ApplyImpulse     SOP.ApplyAngularImpulse     SOP.SetAngularImpulse   SOP.SetForce
- * SOG.ApplyImpulse     SOG.ApplyAngularImpulse     SOG.SetAngularImpulse
- * PA.AddForce          PA.AddAngularForce          PA.Torque = v           PA.Force = v
- * BS.ApplyCentralForce BS.ApplyTorque              
- */
-
-public abstract class BSPhysObject : PhysicsActor
-{
-    protected BSPhysObject()
-    {
-    }
-    protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName)
-    {
-        PhysicsScene = parentScene;
-        LocalID = localID;
-        PhysObjectName = name;
-        TypeName = typeName;
-
-        Linkset = BSLinkset.Factory(PhysicsScene, this);
-        LastAssetBuildFailed = false;
-
-        // Default material type
-        Material = MaterialAttributes.Material.Wood;
-
-        CollisionCollection = new CollisionEventUpdate();
-        SubscribedEventsMs = 0;
-        CollidingStep = 0;
-        CollidingGroundStep = 0;
-    }
-
-    // Tell the object to clean up.
-    public virtual void Destroy()
-    {
-        UnRegisterAllPreStepActions();
-    }
-
-    public BSScene PhysicsScene { get; protected set; }
-    // public override uint LocalID { get; set; } // Use the LocalID definition in PhysicsActor
-    public string PhysObjectName { get; protected set; }
-    public string TypeName { get; protected set; }
-
-    public BSLinkset Linkset { get; set; }
-    public BSLinksetInfo LinksetInfo { get; set; }
-
-    // Return the object mass without calculating it or having side effects
-    public abstract float RawMass { get; }
-    // Set the raw mass but also update physical mass properties (inertia, ...)
-    // 'inWorld' true if the object has already been added to the dynamic world.
-    public abstract void UpdatePhysicalMassProperties(float mass, bool inWorld);
-
-    // The last value calculated for the prim's inertia
-    public OMV.Vector3 Inertia { get; set; }
-
-    // Reference to the physical body (btCollisionObject) of this object
-    public BulletBody PhysBody;
-    // Reference to the physical shape (btCollisionShape) of this object
-    public BulletShape PhysShape;
-
-    // 'true' if the mesh's underlying asset failed to build.
-    // This will keep us from looping after the first time the build failed.
-    public bool LastAssetBuildFailed { get; set; }
-
-    // The objects base shape information. Null if not a prim type shape.
-    public PrimitiveBaseShape BaseShape { get; protected set; }
-    // Some types of objects have preferred physical representations.
-    // Returns SHAPE_UNKNOWN if there is no preference.
-    public virtual BSPhysicsShapeType PreferredPhysicalShape
-    {
-        get { return BSPhysicsShapeType.SHAPE_UNKNOWN; }
-    }
-
-    // When the physical properties are updated, an EntityProperty holds the update values.
-    // Keep the current and last EntityProperties to enable computation of differences
-    //      between the current update and the previous values.
-    public EntityProperties CurrentEntityProperties { get; set; }
-    public EntityProperties LastEntityProperties { get; set; }
-
-    public virtual OMV.Vector3 Scale { get; set; }
-    public abstract bool IsSolid { get; }
-    public abstract bool IsStatic { get; }
-
-    // Materialness
-    public MaterialAttributes.Material Material { get; private set; }
-    public override void SetMaterial(int material)
-    {
-        Material = (MaterialAttributes.Material)material;
-    }
-
-    // Stop all physical motion.
-    public abstract void ZeroMotion(bool inTaintTime);
-    public abstract void ZeroAngularMotion(bool inTaintTime);
-
-    // Step the vehicle simulation for this object. A NOOP if the vehicle was not configured.
-    public virtual void StepVehicle(float timeStep) { }
-
-    // Update the physical location and motion of the object. Called with data from Bullet.
-    public abstract void UpdateProperties(EntityProperties entprop);
-
-    public abstract OMV.Vector3 RawPosition { get; set; }
-    public abstract OMV.Vector3 ForcePosition { get; set; }
-
-    public abstract OMV.Quaternion RawOrientation { get; set; }
-    public abstract OMV.Quaternion ForceOrientation { get; set; }
-
-    // The system is telling us the velocity it wants to move at.
-    // protected OMV.Vector3 m_targetVelocity;  // use the definition in PhysicsActor
-    public override OMV.Vector3 TargetVelocity
-    {
-        get { return m_targetVelocity; }
-        set
-        {
-            m_targetVelocity = value;
-            Velocity = value;
-        }
-    }
-    public abstract OMV.Vector3 ForceVelocity { get; set; }
-
-    public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }
-
-    public abstract float ForceBuoyancy { get; set; }
-
-    public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; }
-
-    #region Collisions
-
-    // Requested number of milliseconds between collision events. Zero means disabled.
-    protected int SubscribedEventsMs { get; set; }
-    // Given subscription, the time that a collision may be passed up
-    protected int NextCollisionOkTime { get; set; }
-    // The simulation step that last had a collision
-    protected long CollidingStep { get; set; }
-    // The simulation step that last had a collision with the ground
-    protected long CollidingGroundStep { get; set; }
-    // The collision flags we think are set in Bullet
-    protected CollisionFlags CurrentCollisionFlags { get; set; }
-
-    // The collisions that have been collected this tick
-    protected CollisionEventUpdate CollisionCollection;
-
-    // The simulation step is telling this object about a collision.
-    // Return 'true' if a collision was processed and should be sent up.
-    // Called at taint time from within the Step() function
-    public virtual bool Collide(uint collidingWith, BSPhysObject collidee,
-                    OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
-    {
-        bool ret = false;
-
-        // The following lines make IsColliding() and IsCollidingGround() work
-        CollidingStep = PhysicsScene.SimulationStep;
-        if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID)
-        {
-            CollidingGroundStep = PhysicsScene.SimulationStep;
-        }
-
-        // prims in the same linkset cannot collide with each other
-        if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID))
-        {
-            return ret;
-        }
-
-        // if someone has subscribed for collision events....
-        if (SubscribedEvents()) {
-            CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
-            DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
-                            LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);
-
-            ret = true;
-        }
-        return ret;
-    }
-
-    // Send the collected collisions into the simulator.
-    // Called at taint time from within the Step() function thus no locking problems
-    //      with CollisionCollection and ObjectsWithNoMoreCollisions.
-    // Return 'true' if there were some actual collisions passed up
-    public virtual bool SendCollisions()
-    {
-        bool ret = true;
-        // If the 'no collision' call, force it to happen right now so quick collision_end
-        bool force = (CollisionCollection.Count == 0);
-
-        // throttle the collisions to the number of milliseconds specified in the subscription
-        if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime))
-        {
-            NextCollisionOkTime = PhysicsScene.SimulationNowTime + SubscribedEventsMs;
-
-            // We are called if we previously had collisions. If there are no collisions
-            //   this time, send up one last empty event so OpenSim can sense collision end.
-            if (CollisionCollection.Count == 0)
-            {
-                // If I have no collisions this time, remove me from the list of objects with collisions.
-                ret = false;
-            }
-
-            // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
-            base.SendCollisionUpdate(CollisionCollection);
-
-            // The CollisionCollection instance is passed around in the simulator.
-            // Make sure we don't have a handle to that one and that a new one is used for next time.
-            //    This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here, 
-            //    a race condition is created for the other users of this instance.
-            CollisionCollection = new CollisionEventUpdate();
-        }
-        return ret;
-    }
-
-    // Subscribe for collision events.
-    // Parameter is the millisecond rate the caller wishes collision events to occur.
-    public override void SubscribeEvents(int ms) {
-        // DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms);
-        SubscribedEventsMs = ms;
-        if (ms > 0)
-        {
-            // make sure first collision happens
-            NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs);
-
-            PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate()
-            {
-                if (PhysBody.HasPhysicalBody)
-                    CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
-            });
-        }
-        else
-        {
-            // Subscribing for zero or less is the same as unsubscribing
-            UnSubscribeEvents();
-        }
-    }
-    public override void UnSubscribeEvents() {
-        // DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName);
-        SubscribedEventsMs = 0;
-        PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate()
-        {
-            // Make sure there is a body there because sometimes destruction happens in an un-ideal order.
-            if (PhysBody.HasPhysicalBody)
-                CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
-        });
-    }
-    // Return 'true' if the simulator wants collision events
-    public override bool SubscribedEvents() {
-        return (SubscribedEventsMs > 0);
-    }
-
-    #endregion // Collisions
-
-    #region Per Simulation Step actions
-    // There are some actions that must be performed for a physical object before each simulation step.
-    // These actions are optional so, rather than scanning all the physical objects and asking them
-    //     if they have anything to do, a physical object registers for an event call before the step is performed.
-    // This bookkeeping makes it easy to add, remove and clean up after all these registrations.
-    private Dictionary<string, BSScene.PreStepAction> RegisteredActions = new Dictionary<string, BSScene.PreStepAction>();
-    protected void RegisterPreStepAction(string op, uint id, BSScene.PreStepAction actn)
-    {
-        string identifier = op + "-" + id.ToString();
-        RegisteredActions[identifier] = actn;
-        PhysicsScene.BeforeStep += actn;
-        DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier);
-    }
-
-    // Unregister a pre step action. Safe to call if the action has not been registered.
-    protected void UnRegisterPreStepAction(string op, uint id)
-    {
-        string identifier = op + "-" + id.ToString();
-        bool removed = false;
-        if (RegisteredActions.ContainsKey(identifier))
-        {
-            PhysicsScene.BeforeStep -= RegisteredActions[identifier];
-            RegisteredActions.Remove(identifier);
-            removed = true;
-        }
-        DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed);
-    }
-
-    protected void UnRegisterAllPreStepActions()
-    {
-        foreach (KeyValuePair<string, BSScene.PreStepAction> kvp in RegisteredActions)
-        {
-            PhysicsScene.BeforeStep -= kvp.Value;
-        }
-        RegisteredActions.Clear();
-        DetailLog("{0},BSPhysObject.UnRegisterAllPreStepActions,", LocalID);
-    }
-
-    
-    #endregion // Per Simulation Step actions
-
-    // High performance detailed logging routine used by the physical objects.
-    protected void DetailLog(string msg, params Object[] args)
-    {
-        if (PhysicsScene.PhysicsLogging.Enabled)
-            PhysicsScene.DetailLog(msg, args);
-    }
-
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSPlugin.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSPlugin.cs
deleted file mode 100644
index 75963ee..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSPlugin.cs
+++ /dev/null
@@ -1,81 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-    /// <summary>
-    /// Entry for a port of Bullet (http://bulletphysics.org/) to OpenSim.
-    /// This module interfaces to an unmanaged C++ library which makes the
-    /// actual calls into the Bullet physics engine.
-    /// The unmanaged library is found in opensim-libs::trunk/unmanaged/BulletSim/.
-    /// The unmanaged library is compiled and linked statically with Bullet
-    /// to create BulletSim.dll and libBulletSim.so (for both 32 and 64 bit).
-    /// </summary>
-public class BSPlugin : IPhysicsPlugin
-{
-    //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
-
-    private BSScene _mScene;
-
-    public BSPlugin()
-    {
-    }
-
-    public bool Init()
-    {
-        return true;
-    }
-
-    public PhysicsScene GetScene(String sceneIdentifier)
-    {
-        if (_mScene == null)
-        {
-           
-            // If not Windows, loading is performed by the
-            // Mono loader as specified in
-            // "bin/Physics/OpenSim.Region.Physics.BulletSNPlugin.dll.config".
-
-            _mScene = new BSScene(sceneIdentifier);
-        }
-        return (_mScene);
-    }
-
-    public string GetName()
-    {
-        return ("BulletSimN");
-    }
-
-    public void Dispose()
-    {
-    }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs
deleted file mode 100644
index aadb5b2..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs
+++ /dev/null
@@ -1,1494 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-using System;
-using System.Reflection;
-using System.Collections.Generic;
-using System.Xml;
-using log4net;
-using OMV = OpenMetaverse;
-using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-using OpenSim.Region.Physics.ConvexDecompositionDotNet;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-
-    [Serializable]
-public sealed class BSPrim : BSPhysObject
-{
-    private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
-    private static readonly string LogHeader = "[BULLETS PRIM]";
-
-    // _size is what the user passed. Scale is what we pass to the physics engine with the mesh.
-    private OMV.Vector3 _size;  // the multiplier for each mesh dimension as passed by the user
-
-    private bool _grabbed;
-    private bool _isSelected;
-    private bool _isVolumeDetect;
-    private OMV.Vector3 _position;
-    private float _mass;    // the mass of this object
-    private float _density;
-    private OMV.Vector3 _force;
-    private OMV.Vector3 _velocity;
-    private OMV.Vector3 _torque;
-    private float _collisionScore;
-    private OMV.Vector3 _acceleration;
-    private OMV.Quaternion _orientation;
-    private int _physicsActorType;
-    private bool _isPhysical;
-    private bool _flying;
-    private float _friction;
-    private float _restitution;
-    private bool _setAlwaysRun;
-    private bool _throttleUpdates;
-    private bool _isColliding;
-    private bool _collidingGround;
-    private bool _collidingObj;
-    private bool _floatOnWater;
-    private OMV.Vector3 _rotationalVelocity;
-    private bool _kinematic;
-    private float _buoyancy;
-
-    private BSDynamics _vehicle;
-
-    private OMV.Vector3 _PIDTarget;
-    private bool _usePID;
-    private float _PIDTau;
-    private bool _useHoverPID;
-    private float _PIDHoverHeight;
-    private PIDHoverType _PIDHoverType;
-    private float _PIDHoverTao;
-
-    public BSPrim(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
-                       OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
-            : base(parent_scene, localID, primName, "BSPrim")
-    {
-        // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID);
-        _physicsActorType = (int)ActorTypes.Prim;
-        _position = pos;
-        _size = size;
-        Scale = size;   // prims are the size the user wants them to be (different for BSCharactes).
-        _orientation = rotation;
-        _buoyancy = 1f;
-        _velocity = OMV.Vector3.Zero;
-        _rotationalVelocity = OMV.Vector3.Zero;
-        BaseShape = pbs;
-        _isPhysical = pisPhysical;
-        _isVolumeDetect = false;
-
-        // Someday set default attributes based on the material but, for now, we don't know the prim material yet.
-        // MaterialAttributes primMat = BSMaterials.GetAttributes(Material, pisPhysical);
-        _density = PhysicsScene.Params.defaultDensity;
-        _friction = PhysicsScene.Params.defaultFriction;
-        _restitution = PhysicsScene.Params.defaultRestitution;
-
-        _vehicle = new BSDynamics(PhysicsScene, this);            // add vehicleness
-
-        _mass = CalculateMass();
-
-        Linkset.Refresh(this);
-
-        DetailLog("{0},BSPrim.constructor,call", LocalID);
-        // do the actual object creation at taint time
-        PhysicsScene.TaintedObject("BSPrim.create", delegate()
-        {
-            CreateGeomAndObject(true);
-
-            CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(PhysBody.ptr);
-        });
-    }
-
-    // called when this prim is being destroyed and we should free all the resources
-    public override void Destroy()
-    {
-        // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID);
-        base.Destroy();
-
-        // Undo any links between me and any other object
-        BSPhysObject parentBefore = Linkset.LinksetRoot;
-        int childrenBefore = Linkset.NumberOfChildren;
-
-        Linkset = Linkset.RemoveMeFromLinkset(this);
-
-        DetailLog("{0},BSPrim.Destroy,call,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}",
-            LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
-
-        // Undo any vehicle properties
-        this.VehicleType = (int)Vehicle.TYPE_NONE;
-
-        PhysicsScene.TaintedObject("BSPrim.destroy", delegate()
-        {
-            DetailLog("{0},BSPrim.Destroy,taint,", LocalID);
-            // If there are physical body and shape, release my use of same.
-            PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
-            PhysBody.Clear();
-            PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
-            PhysShape.Clear();
-        });
-    }
-
-    // No one uses this property.
-    public override bool Stopped {
-        get { return false; }
-    }
-    public override OMV.Vector3 Size {
-        get { return _size; }
-        set {
-            // We presume the scale and size are the same. If scale must be changed for
-            //     the physical shape, that is done when the geometry is built.
-            _size = value;
-            Scale = _size;
-            ForceBodyShapeRebuild(false);
-        }
-    }
-
-    public override PrimitiveBaseShape Shape {
-        set {
-            BaseShape = value;
-            ForceBodyShapeRebuild(false);
-        }
-    }
-    // Whatever the linkset wants is what I want.
-    public override BSPhysicsShapeType PreferredPhysicalShape
-        { get { return Linkset.PreferredPhysicalShape(this); } }
-
-    public override bool ForceBodyShapeRebuild(bool inTaintTime)
-    {
-        LastAssetBuildFailed = false;
-        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ForceBodyShapeRebuild", delegate()
-        {
-            _mass = CalculateMass();   // changing the shape changes the mass
-            CreateGeomAndObject(true);
-        });
-        return true;
-    }
-    public override bool Grabbed {
-        set { _grabbed = value;
-        }
-    }
-    public override bool Selected {
-        set
-        {
-            if (value != _isSelected)
-            {
-                _isSelected = value;
-                PhysicsScene.TaintedObject("BSPrim.setSelected", delegate()
-                {
-                    DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected);
-                    SetObjectDynamic(false);
-                });
-            }
-        }
-    }
-    public override void CrossingFailure() { return; }
-
-    // link me to the specified parent
-    public override void link(PhysicsActor obj) {
-        BSPrim parent = obj as BSPrim;
-        if (parent != null)
-        {
-            BSPhysObject parentBefore = Linkset.LinksetRoot;
-            int childrenBefore = Linkset.NumberOfChildren;
-
-            Linkset = parent.Linkset.AddMeToLinkset(this);
-
-            DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}",
-                LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
-        }
-        return;
-    }
-
-    // delink me from my linkset
-    public override void delink() {
-        // TODO: decide if this parent checking needs to happen at taint time
-        // Race condition here: if link() and delink() in same simulation tick, the delink will not happen
-
-        BSPhysObject parentBefore = Linkset.LinksetRoot;
-        int childrenBefore = Linkset.NumberOfChildren;
-
-        Linkset = Linkset.RemoveMeFromLinkset(this);
-
-        DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ",
-            LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
-        return;
-    }
-
-    // Set motion values to zero.
-    // Do it to the properties so the values get set in the physics engine.
-    // Push the setting of the values to the viewer.
-    // Called at taint time!
-    public override void ZeroMotion(bool inTaintTime)
-    {
-        _velocity = OMV.Vector3.Zero;
-        _acceleration = OMV.Vector3.Zero;
-        _rotationalVelocity = OMV.Vector3.Zero;
-
-        // Zero some other properties in the physics engine
-        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
-        {
-            if (PhysBody.HasPhysicalBody)
-                BulletSimAPI.ClearAllForces2(PhysBody.ptr);
-        });
-    }
-    public override void ZeroAngularMotion(bool inTaintTime)
-    {
-        _rotationalVelocity = OMV.Vector3.Zero;
-        // Zero some other properties in the physics engine
-        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
-        {
-            // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity);
-            if (PhysBody.HasPhysicalBody)
-            {
-                BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
-                BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
-            }
-        });
-    }
-
-    public override void LockAngularMotion(OMV.Vector3 axis)
-    {
-        DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis);
-        return;
-    }
-
-    public override OMV.Vector3 RawPosition
-    {
-        get { return _position; }
-        set { _position = value; }
-    }
-    public override OMV.Vector3 Position {
-        get {
-            /* NOTE: this refetch is not necessary. The simulator knows about linkset children
-             *    and does not fetch this position info for children. Thus this is commented out.
-            // child prims move around based on their parent. Need to get the latest location
-            if (!Linkset.IsRoot(this))
-                _position = Linkset.PositionGet(this);
-            */
-
-            // don't do the GetObjectPosition for root elements because this function is called a zillion times.
-            // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
-            return _position;
-        }
-        set {
-            // If the position must be forced into the physics engine, use ForcePosition.
-            // All positions are given in world positions.
-            if (_position == value)
-            {
-                DetailLog("{0},BSPrim.setPosition,taint,positionNotChanging,pos={1},orient={2}", LocalID, _position, _orientation);
-                return;
-            }
-            _position = value;
-            PositionSanityCheck(false);
-
-            // A linkset might need to know if a component information changed.
-            Linkset.UpdateProperties(this, false);
-
-            PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
-            {
-                DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                ForcePosition = _position;
-            });
-        }
-    }
-    public override OMV.Vector3 ForcePosition {
-        get {
-            _position = BulletSimAPI.GetPosition2(PhysBody.ptr);
-            return _position;
-        }
-        set {
-            _position = value;
-            if (PhysBody.HasPhysicalBody)
-            {
-                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
-                ActivateIfPhysical(false);
-            }
-        }
-    }
-
-    // Check that the current position is sane and, if not, modify the position to make it so.
-    // Check for being below terrain and being out of bounds.
-    // Returns 'true' of the position was made sane by some action.
-    private bool PositionSanityCheck(bool inTaintTime)
-    {
-        bool ret = false;
-
-        if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(_position))
-        {
-            // The physical object is out of the known/simulated area.
-            // Upper levels of code will handle the transition to other areas so, for
-            //     the time, we just ignore the position.
-            return ret;
-        }
-
-        float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
-        OMV.Vector3 upForce = OMV.Vector3.Zero;
-        if (RawPosition.Z < terrainHeight)
-        {
-            DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
-            float targetHeight = terrainHeight + (Size.Z / 2f);
-            // Upforce proportional to the distance away from the terrain. Correct the error in 1 sec.
-            upForce.Z = (terrainHeight - RawPosition.Z) * 1f;
-            ret = true;
-        }
-
-        if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
-        {
-            float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position);
-            // TODO: a floating motor so object will bob in the water
-            if (Math.Abs(RawPosition.Z - waterHeight) > 0.1f)
-            {
-                // Upforce proportional to the distance away from the water. Correct the error in 1 sec.
-                upForce.Z = (waterHeight - RawPosition.Z) * 1f;
-                ret = true;
-            }
-        }
-
-        // The above code computes a force to apply to correct any out-of-bounds problems. Apply same.
-        // TODO: This should be intergrated with a geneal physics action mechanism.
-        // TODO: This should be moderated with PID'ness.
-        if (ret)
-        {
-            // Apply upforce and overcome gravity.
-            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;
-    }
-
-    // Return the effective mass of the object.
-        // The definition of this call is to return the mass of the prim.
-        // If the simulator cares about the mass of the linkset, it will sum it itself.
-    public override float Mass
-    {
-        get
-        {
-            return _mass;
-        }
-    }
-
-    // used when we only want this prim's mass and not the linkset thing
-    public override float RawMass { 
-        get { return _mass; }
-    }
-    // Set the physical mass to the passed mass.
-    // Note that this does not change _mass!
-    public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
-    {
-        if (PhysBody.HasPhysicalBody)
-        {
-            if (IsStatic)
-            {
-                Inertia = OMV.Vector3.Zero;
-                BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia);
-                BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
-            }
-            else
-            {
-                if (inWorld)
-                {
-                    // Changing interesting properties doesn't change proxy and collision cache
-                    //    information. The Bullet solution is to re-add the object to the world
-                    //    after parameters are changed.
-                    BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
-                }
-
-                Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
-                BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia);
-                BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
-
-                // center of mass is at the zero of the object
-                // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation);
-                DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},inWorld={3}", LocalID, physMass, Inertia, inWorld);
-
-                if (inWorld)
-                {
-                    BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr,_position,_orientation);
-                }
-
-                // Must set gravity after it has been added to the world because, for unknown reasons,
-                //     adding the object resets the object's gravity to world gravity
-                OMV.Vector3 grav = PhysicsScene.DefaultGravity * (1f - Buoyancy);
-                BulletSimAPI.SetGravity2(PhysBody.ptr, grav);
-
-            }
-        }
-    }
-
-    // Is this used?
-    public override OMV.Vector3 CenterOfMass
-    {
-        get { return Linkset.CenterOfMass; }
-    }
-
-    // Is this used?
-    public override OMV.Vector3 GeometricCenter
-    {
-        get { return Linkset.GeometricCenter; }
-    }
-
-    public override OMV.Vector3 Force {
-        get { return _force; }
-        set {
-            _force = value;
-            if (_force != OMV.Vector3.Zero)
-            {
-                // If the force is non-zero, it must be reapplied each tick because
-                //    Bullet clears the forces applied last frame.
-                RegisterPreStepAction("BSPrim.setForce", LocalID,
-                    delegate(float timeStep)
-                    {
-                        DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force);
-                        if (PhysBody.HasPhysicalBody)
-                        {
-                            BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, _force);
-                            ActivateIfPhysical(false);
-                        }
-                    }
-                );
-            }
-            else
-            {
-                UnRegisterPreStepAction("BSPrim.setForce", LocalID);
-            }
-        }
-    }
-
-    public override int VehicleType {
-        get {
-            return (int)_vehicle.Type;   // if we are a vehicle, return that type
-        }
-        set {
-            Vehicle type = (Vehicle)value;
-
-            PhysicsScene.TaintedObject("setVehicleType", delegate()
-            {
-                // Done at taint time so we're sure the physics engine is not using the variables
-                // Vehicle code changes the parameters for this vehicle type.
-                _vehicle.ProcessTypeChange(type);
-                ActivateIfPhysical(false);
-
-                // If an active vehicle, register the vehicle code to be called before each step
-                if (_vehicle.Type == Vehicle.TYPE_NONE)
-                    UnRegisterPreStepAction("BSPrim.Vehicle", LocalID);
-                else
-                    RegisterPreStepAction("BSPrim.Vehicle", LocalID, _vehicle.Step);
-            });
-        }
-    }
-    public override void VehicleFloatParam(int param, float value)
-    {
-        PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
-        {
-            _vehicle.ProcessFloatVehicleParam((Vehicle)param, value);
-            ActivateIfPhysical(false);
-        });
-    }
-    public override void VehicleVectorParam(int param, OMV.Vector3 value)
-    {
-        PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
-        {
-            _vehicle.ProcessVectorVehicleParam((Vehicle)param, value);
-            ActivateIfPhysical(false);
-        });
-    }
-    public override void VehicleRotationParam(int param, OMV.Quaternion rotation)
-    {
-        PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate()
-        {
-            _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation);
-            ActivateIfPhysical(false);
-        });
-    }
-    public override void VehicleFlags(int param, bool remove)
-    {
-        PhysicsScene.TaintedObject("BSPrim.VehicleFlags", delegate()
-        {
-            _vehicle.ProcessVehicleFlags(param, remove);
-        });
-    }
-
-    // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
-    public override void SetVolumeDetect(int param) {
-        bool newValue = (param != 0);
-        if (_isVolumeDetect != newValue)
-        {
-            _isVolumeDetect = newValue;
-            PhysicsScene.TaintedObject("BSPrim.SetVolumeDetect", delegate()
-            {
-                // DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect);
-                SetObjectDynamic(true);
-            });
-        }
-        return;
-    }
-    public override OMV.Vector3 Velocity {
-        get { return _velocity; }
-        set {
-            _velocity = value;
-            PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate()
-            {
-                // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
-                ForceVelocity = _velocity;
-            });
-        }
-    }
-    public override OMV.Vector3 ForceVelocity {
-        get { return _velocity; }
-        set {
-            PhysicsScene.AssertInTaintTime("BSPrim.ForceVelocity");
-
-            _velocity = value;
-            if (PhysBody.HasPhysicalBody)
-            {
-                BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
-                ActivateIfPhysical(false);
-            }
-        }
-    }
-    public override OMV.Vector3 Torque {
-        get { return _torque; }
-        set {
-            _torque = value;
-            if (_torque != OMV.Vector3.Zero)
-            {
-                // If the torque is non-zero, it must be reapplied each tick because
-                //    Bullet clears the forces applied last frame.
-                RegisterPreStepAction("BSPrim.setTorque", LocalID,
-                    delegate(float timeStep)
-                    {
-                        if (PhysBody.HasPhysicalBody)
-                            AddAngularForce(_torque, false, true);
-                    }
-                );
-            }
-            else
-            {
-                UnRegisterPreStepAction("BSPrim.setTorque", LocalID);
-            }
-            // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
-        }
-    }
-    public override float CollisionScore {
-        get { return _collisionScore; }
-        set { _collisionScore = value;
-        }
-    }
-    public override OMV.Vector3 Acceleration {
-        get { return _acceleration; }
-        set { _acceleration = value; }
-    }
-    public override OMV.Quaternion RawOrientation
-    {
-        get { return _orientation; }
-        set { _orientation = value; }
-    }
-    public override OMV.Quaternion Orientation {
-        get {
-            /* NOTE: this refetch is not necessary. The simulator knows about linkset children
-             *    and does not fetch this position info for children. Thus this is commented out.
-            // Children move around because tied to parent. Get a fresh value.
-            if (!Linkset.IsRoot(this))
-            {
-                _orientation = Linkset.OrientationGet(this);
-            }
-             */
-            return _orientation;
-        }
-        set {
-            if (_orientation == value)
-                return;
-            _orientation = value;
-
-            // A linkset might need to know if a component information changed.
-            Linkset.UpdateProperties(this, false);
-
-            PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
-            {
-                if (PhysBody.HasPhysicalBody)
-                {
-                    // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
-                    // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                    BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
-                }
-            });
-        }
-    }
-    // Go directly to Bullet to get/set the value.
-    public override OMV.Quaternion ForceOrientation
-    {
-        get
-        {
-            _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr);
-            return _orientation;
-        }
-        set
-        {
-            _orientation = value;
-            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
-        }
-    }
-    public override int PhysicsActorType {
-        get { return _physicsActorType; }
-        set { _physicsActorType = value; }
-    }
-    public override bool IsPhysical {
-        get { return _isPhysical; }
-        set {
-            if (_isPhysical != value)
-            {
-                _isPhysical = value;
-                PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate()
-                {
-                    // DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
-                    SetObjectDynamic(true);
-                    // whether phys-to-static or static-to-phys, the object is not moving.
-                    ZeroMotion(true);
-                });
-            }
-        }
-    }
-
-    // An object is static (does not move) if selected or not physical
-    public override bool IsStatic
-    {
-        get { return _isSelected || !IsPhysical; }
-    }
-
-    // An object is solid if it's not phantom and if it's not doing VolumeDetect
-    public override bool IsSolid
-    {
-        get { return !IsPhantom && !_isVolumeDetect; }
-    }
-
-    // Make gravity work if the object is physical and not selected
-    // Called at taint-time!!
-    private void SetObjectDynamic(bool forceRebuild)
-    {
-        // Recreate the physical object if necessary
-        CreateGeomAndObject(forceRebuild);
-    }
-
-    // Convert the simulator's physical properties into settings on BulletSim objects.
-    // There are four flags we're interested in:
-    //     IsStatic: Object does not move, otherwise the object has mass and moves
-    //     isSolid: other objects bounce off of this object
-    //     isVolumeDetect: other objects pass through but can generate collisions
-    //     collisionEvents: whether this object returns collision events
-    private void UpdatePhysicalParameters()
-    {
-        // DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape);
-
-        // Mangling all the physical properties requires the object not be in the physical world.
-        // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
-        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
-
-        // Set up the object physicalness (does gravity and collisions move this object)
-        MakeDynamic(IsStatic);
-
-        // Update vehicle specific parameters (after MakeDynamic() so can change physical parameters)
-        _vehicle.Refresh();
-
-        // Arrange for collision events if the simulator wants them
-        EnableCollisions(SubscribedEvents());
-
-        // Make solid or not (do things bounce off or pass through this object).
-        MakeSolid(IsSolid);
-
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr, _position, _orientation);
-
-        // Rebuild its shape
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
-
-        // Collision filter can be set only when the object is in the world
-        PhysBody.ApplyCollisionMask();
-
-        // Recompute any linkset parameters.
-        // When going from non-physical to physical, this re-enables the constraints that
-        //     had been automatically disabled when the mass was set to zero.
-        // For compound based linksets, this enables and disables interactions of the children.
-        Linkset.Refresh(this);
-
-        DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
-                        LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody, PhysShape);
-    }
-
-    // "Making dynamic" means changing to and from static.
-    // When static, gravity does not effect the object and it is fixed in space.
-    // When dynamic, the object can fall and be pushed by others.
-    // This is independent of its 'solidness' which controls what passes through
-    //    this object and what interacts with it.
-    private void MakeDynamic(bool makeStatic)
-    {
-        if (makeStatic)
-        {
-            // Become a Bullet 'static' object type
-            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
-            // Stop all movement
-            ZeroMotion(true);
-
-            // Set various physical properties so other object interact properly
-            MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
-            BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction);
-            BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution);
-
-            // Mass is zero which disables a bunch of physics stuff in Bullet
-            UpdatePhysicalMassProperties(0f, false);
-            // Set collision detection parameters
-            if (BSParam.CcdMotionThreshold > 0f)
-            {
-                BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold);
-                BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius);
-            }
-
-            // The activation state is 'disabled' so Bullet will not try to act on it.
-            // BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
-            // Start it out sleeping and physical actions could wake it up.
-            BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ISLAND_SLEEPING);
-
-            // This collides like a static object
-            PhysBody.collisionType = CollisionType.Static;
-
-            // There can be special things needed for implementing linksets
-            Linkset.MakeStatic(this);
-        }
-        else
-        {
-            // Not a Bullet static object
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
-
-            // Set various physical properties so other object interact properly
-            MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, true);
-            BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction);
-            BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution);
-
-            // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
-            // Since this can be called multiple times, only zero forces when becoming physical
-            // BulletSimAPI.ClearAllForces2(BSBody.ptr);
-
-            // For good measure, make sure the transform is set through to the motion state
-            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
-
-            // Center of mass is at the center of the object
-            // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation);
-
-            // A dynamic object has mass
-            UpdatePhysicalMassProperties(RawMass, false);
-
-            // Set collision detection parameters
-            if (BSParam.CcdMotionThreshold > 0f)
-            {
-                BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold);
-                BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius);
-            }
-
-            // Various values for simulation limits
-            BulletSimAPI.SetDamping2(PhysBody.ptr, BSParam.LinearDamping, BSParam.AngularDamping);
-            BulletSimAPI.SetDeactivationTime2(PhysBody.ptr, BSParam.DeactivationTime);
-            BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold);
-            BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, BSParam.ContactProcessingThreshold);
-
-            // This collides like an object.
-            PhysBody.collisionType = CollisionType.Dynamic;
-
-            // Force activation of the object so Bullet will act on it.
-            // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects.
-            BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG);
-
-            // There might be special things needed for implementing linksets.
-            Linkset.MakeDynamic(this);
-        }
-    }
-
-    // "Making solid" means that other object will not pass through this object.
-    // To make transparent, we create a Bullet ghost object.
-    // Note: This expects to be called from the UpdatePhysicalParameters() routine as
-    //     the functions after this one set up the state of a possibly newly created collision body.
-    private void MakeSolid(bool makeSolid)
-    {
-        CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(PhysBody.ptr);
-        if (makeSolid)
-        {
-            // Verify the previous code created the correct shape for this type of thing.
-            if ((bodyType & CollisionObjectTypes.CO_RIGID_BODY) == 0)
-            {
-                m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType);
-            }
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
-        }
-        else
-        {
-            if ((bodyType & CollisionObjectTypes.CO_GHOST_OBJECT) == 0)
-            {
-                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);
-
-            // Change collision info from a static object to a ghosty collision object
-            PhysBody.collisionType = CollisionType.VolumeDetect;
-        }
-    }
-
-    // Enable physical actions. Bullet will keep sleeping non-moving physical objects so
-    //     they need waking up when parameters are changed.
-    // Called in taint-time!!
-    private void ActivateIfPhysical(bool forceIt)
-    {
-        if (IsPhysical && PhysBody.HasPhysicalBody)
-            BulletSimAPI.Activate2(PhysBody.ptr, forceIt);
-    }
-
-    // Turn on or off the flag controlling whether collision events are returned to the simulator.
-    private void EnableCollisions(bool wantsCollisionEvents)
-    {
-        if (wantsCollisionEvents)
-        {
-            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
-        }
-        else
-        {
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
-        }
-    }
-
-    // prims don't fly
-    public override bool Flying {
-        get { return _flying; }
-        set {
-            _flying = value;
-        }
-    }
-    public override bool SetAlwaysRun {
-        get { return _setAlwaysRun; }
-        set { _setAlwaysRun = value; }
-    }
-    public override bool ThrottleUpdates {
-        get { return _throttleUpdates; }
-        set { _throttleUpdates = value; }
-    }
-    public override bool IsColliding {
-        get { return (CollidingStep == PhysicsScene.SimulationStep); }
-        set { _isColliding = value; }
-    }
-    public override bool CollidingGround {
-        get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
-        set { _collidingGround = value; }
-    }
-    public override bool CollidingObj {
-        get { return _collidingObj; }
-        set { _collidingObj = value; }
-    }
-    public bool IsPhantom {
-        get {
-            // SceneObjectPart removes phantom objects from the physics scene
-            // so, although we could implement touching and such, we never
-            // are invoked as a phantom object
-            return false;
-        }
-    }
-    public override bool FloatOnWater {
-        set {
-            _floatOnWater = value;
-            PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate()
-            {
-                if (_floatOnWater)
-                    CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
-                else
-                    CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
-            });
-        }
-    }
-    public override OMV.Vector3 RotationalVelocity {
-        get {
-            return _rotationalVelocity;
-        }
-        set {
-            _rotationalVelocity = value;
-            // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
-            PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
-            {
-                DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
-                ForceRotationalVelocity = _rotationalVelocity;
-            });
-        }
-    }
-    public override OMV.Vector3 ForceRotationalVelocity {
-        get {
-            return _rotationalVelocity;
-        }
-        set {
-            _rotationalVelocity = value;
-            if (PhysBody.HasPhysicalBody)
-            {
-                BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
-                ActivateIfPhysical(false);
-            }
-        }
-    }
-    public override bool Kinematic {
-        get { return _kinematic; }
-        set { _kinematic = value;
-            // m_log.DebugFormat("{0}: Kinematic={1}", LogHeader, _kinematic);
-        }
-    }
-    public override float Buoyancy {
-        get { return _buoyancy; }
-        set {
-            _buoyancy = value;
-            PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate()
-            {
-                ForceBuoyancy = _buoyancy;
-            });
-        }
-    }
-    public override float ForceBuoyancy {
-        get { return _buoyancy; }
-        set {
-            _buoyancy = value;
-            // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
-            // Force the recalculation of the various inertia,etc variables in the object
-            UpdatePhysicalMassProperties(_mass, true);
-            ActivateIfPhysical(false);
-        }
-    }
-
-    // Used for MoveTo
-    public override OMV.Vector3 PIDTarget {
-        set { _PIDTarget = value; }
-    }
-    public override bool PIDActive {
-        set { _usePID = value; }
-    }
-    public override float PIDTau {
-        set { _PIDTau = value; }
-    }
-
-    // Used for llSetHoverHeight and maybe vehicle height
-    // Hover Height will override MoveTo target's Z
-    public override bool PIDHoverActive {
-        set { _useHoverPID = value; }
-    }
-    public override float PIDHoverHeight {
-        set { _PIDHoverHeight = value; }
-    }
-    public override PIDHoverType PIDHoverType {
-        set { _PIDHoverType = value; }
-    }
-    public override float PIDHoverTau {
-        set { _PIDHoverTao = value; }
-    }
-
-    // For RotLookAt
-    public override OMV.Quaternion APIDTarget { set { return; } }
-    public override bool APIDActive { set { return; } }
-    public override float APIDStrength { set { return; } }
-    public override float APIDDamping { set { return; } }
-
-    public override void AddForce(OMV.Vector3 force, bool pushforce) {
-        // Since this force is being applied in only one step, make this a force per second.
-        OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep;
-        AddForce(addForce, pushforce, false);
-    }
-    // Applying a force just adds this to the total force on the object.
-    // This added force will only last the next simulation tick.
-    public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
-        // for an object, doesn't matter if force is a pushforce or not
-        if (force.IsFinite())
-        {
-            float magnitude = force.Length();
-            if (magnitude > 20000f)
-            {
-                // Force has a limit
-                force = force / magnitude * 20000f;
-            }
-
-            OMV.Vector3 addForce = force;
-            DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce);
-
-            PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
-            {
-                // Bullet adds this central force to the total force for this tick
-                DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce);
-                if (PhysBody.HasPhysicalBody)
-                {
-                    BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, addForce);
-                    ActivateIfPhysical(false);
-                }
-            });
-        }
-        else
-        {
-            m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
-            return;
-        }
-    }
-
-    public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
-        AddAngularForce(force, pushforce, false);
-    }
-    public void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime)
-    {
-        if (force.IsFinite())
-        {
-            OMV.Vector3 angForce = force;
-            PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate()
-            {
-                if (PhysBody.HasPhysicalBody)
-                {
-                    BulletSimAPI.ApplyTorque2(PhysBody.ptr, angForce);
-                    ActivateIfPhysical(false);
-                }
-            });
-        }
-        else
-        {
-            m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
-            return;
-        }
-    }
-
-    // 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;
-        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate()
-        {
-            if (PhysBody.HasPhysicalBody)
-            {
-                BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse);
-                ActivateIfPhysical(false);
-            }
-        });
-    }
-
-    public override void SetMomentum(OMV.Vector3 momentum) {
-        // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
-    }
-    #region Mass Calculation
-
-    private float CalculateMass()
-    {
-        float volume = _size.X * _size.Y * _size.Z; // default
-        float tmp;
-
-        float returnMass = 0;
-        float hollowAmount = (float)BaseShape.ProfileHollow * 2.0e-5f;
-        float hollowVolume = hollowAmount * hollowAmount;
-
-        switch (BaseShape.ProfileShape)
-        {
-            case ProfileShape.Square:
-                // default box
-
-                if (BaseShape.PathCurve == (byte)Extrusion.Straight)
-                    {
-                    if (hollowAmount > 0.0)
-                        {
-                        switch (BaseShape.HollowShape)
-                            {
-                            case HollowShape.Square:
-                            case HollowShape.Same:
-                                break;
-
-                            case HollowShape.Circle:
-
-                                hollowVolume *= 0.78539816339f;
-                                break;
-
-                            case HollowShape.Triangle:
-
-                                hollowVolume *= (0.5f * .5f);
-                                break;
-
-                            default:
-                                hollowVolume = 0;
-                                break;
-                            }
-                        volume *= (1.0f - hollowVolume);
-                        }
-                    }
-
-                else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
-                    {
-                    //a tube
-
-                    volume *= 0.78539816339e-2f * (float)(200 - BaseShape.PathScaleX);
-                    tmp= 1.0f -2.0e-2f * (float)(200 - BaseShape.PathScaleY);
-                    volume -= volume*tmp*tmp;
-
-                    if (hollowAmount > 0.0)
-                        {
-                        hollowVolume *= hollowAmount;
-
-                        switch (BaseShape.HollowShape)
-                            {
-                            case HollowShape.Square:
-                            case HollowShape.Same:
-                                break;
-
-                            case HollowShape.Circle:
-                                hollowVolume *= 0.78539816339f;;
-                                break;
-
-                            case HollowShape.Triangle:
-                                hollowVolume *= 0.5f * 0.5f;
-                                break;
-                            default:
-                                hollowVolume = 0;
-                                break;
-                            }
-                        volume *= (1.0f - hollowVolume);
-                        }
-                    }
-
-                break;
-
-            case ProfileShape.Circle:
-
-                if (BaseShape.PathCurve == (byte)Extrusion.Straight)
-                    {
-                    volume *= 0.78539816339f; // elipse base
-
-                    if (hollowAmount > 0.0)
-                        {
-                        switch (BaseShape.HollowShape)
-                            {
-                            case HollowShape.Same:
-                            case HollowShape.Circle:
-                                break;
-
-                            case HollowShape.Square:
-                                hollowVolume *= 0.5f * 2.5984480504799f;
-                                break;
-
-                            case HollowShape.Triangle:
-                                hollowVolume *= .5f * 1.27323954473516f;
-                                break;
-
-                            default:
-                                hollowVolume = 0;
-                                break;
-                            }
-                        volume *= (1.0f - hollowVolume);
-                        }
-                    }
-
-                else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
-                    {
-                    volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - BaseShape.PathScaleX);
-                    tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY);
-                    volume *= (1.0f - tmp * tmp);
-
-                    if (hollowAmount > 0.0)
-                        {
-
-                        // calculate the hollow volume by it's shape compared to the prim shape
-                        hollowVolume *= hollowAmount;
-
-                        switch (BaseShape.HollowShape)
-                            {
-                            case HollowShape.Same:
-                            case HollowShape.Circle:
-                                break;
-
-                            case HollowShape.Square:
-                                hollowVolume *= 0.5f * 2.5984480504799f;
-                                break;
-
-                            case HollowShape.Triangle:
-                                hollowVolume *= .5f * 1.27323954473516f;
-                                break;
-
-                            default:
-                                hollowVolume = 0;
-                                break;
-                            }
-                        volume *= (1.0f - hollowVolume);
-                        }
-                    }
-                break;
-
-            case ProfileShape.HalfCircle:
-                if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
-                {
-                volume *= 0.52359877559829887307710723054658f;
-                }
-                break;
-
-            case ProfileShape.EquilateralTriangle:
-
-                if (BaseShape.PathCurve == (byte)Extrusion.Straight)
-                    {
-                    volume *= 0.32475953f;
-
-                    if (hollowAmount > 0.0)
-                        {
-
-                        // calculate the hollow volume by it's shape compared to the prim shape
-                        switch (BaseShape.HollowShape)
-                            {
-                            case HollowShape.Same:
-                            case HollowShape.Triangle:
-                                hollowVolume *= .25f;
-                                break;
-
-                            case HollowShape.Square:
-                                hollowVolume *= 0.499849f * 3.07920140172638f;
-                                break;
-
-                            case HollowShape.Circle:
-                                // Hollow shape is a perfect cyllinder in respect to the cube's scale
-                                // Cyllinder hollow volume calculation
-
-                                hollowVolume *= 0.1963495f * 3.07920140172638f;
-                                break;
-
-                            default:
-                                hollowVolume = 0;
-                                break;
-                            }
-                        volume *= (1.0f - hollowVolume);
-                        }
-                    }
-                else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
-                    {
-                    volume *= 0.32475953f;
-                    volume *= 0.01f * (float)(200 - BaseShape.PathScaleX);
-                    tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY);
-                    volume *= (1.0f - tmp * tmp);
-
-                    if (hollowAmount > 0.0)
-                        {
-
-                        hollowVolume *= hollowAmount;
-
-                        switch (BaseShape.HollowShape)
-                            {
-                            case HollowShape.Same:
-                            case HollowShape.Triangle:
-                                hollowVolume *= .25f;
-                                break;
-
-                            case HollowShape.Square:
-                                hollowVolume *= 0.499849f * 3.07920140172638f;
-                                break;
-
-                            case HollowShape.Circle:
-
-                                hollowVolume *= 0.1963495f * 3.07920140172638f;
-                                break;
-
-                            default:
-                                hollowVolume = 0;
-                                break;
-                            }
-                        volume *= (1.0f - hollowVolume);
-                        }
-                    }
-                    break;
-
-            default:
-                break;
-            }
-
-
-
-        float taperX1;
-        float taperY1;
-        float taperX;
-        float taperY;
-        float pathBegin;
-        float pathEnd;
-        float profileBegin;
-        float profileEnd;
-
-        if (BaseShape.PathCurve == (byte)Extrusion.Straight || BaseShape.PathCurve == (byte)Extrusion.Flexible)
-            {
-            taperX1 = BaseShape.PathScaleX * 0.01f;
-            if (taperX1 > 1.0f)
-                taperX1 = 2.0f - taperX1;
-            taperX = 1.0f - taperX1;
-
-            taperY1 = BaseShape.PathScaleY * 0.01f;
-            if (taperY1 > 1.0f)
-                taperY1 = 2.0f - taperY1;
-            taperY = 1.0f - taperY1;
-            }
-        else
-            {
-            taperX = BaseShape.PathTaperX * 0.01f;
-            if (taperX < 0.0f)
-                taperX = -taperX;
-            taperX1 = 1.0f - taperX;
-
-            taperY = BaseShape.PathTaperY * 0.01f;
-            if (taperY < 0.0f)
-                taperY = -taperY;
-            taperY1 = 1.0f - taperY;
-
-            }
-
-
-        volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY);
-
-        pathBegin = (float)BaseShape.PathBegin * 2.0e-5f;
-        pathEnd = 1.0f - (float)BaseShape.PathEnd * 2.0e-5f;
-        volume *= (pathEnd - pathBegin);
-
-        // this is crude aproximation
-        profileBegin = (float)BaseShape.ProfileBegin * 2.0e-5f;
-        profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f;
-        volume *= (profileEnd - profileBegin);
-
-        returnMass = _density * volume;
-
-        /* Comment out code that computes the mass of the linkset. That is done in the Linkset class.
-        if (IsRootOfLinkset)
-        {
-            foreach (BSPrim prim in _childrenPrims)
-            {
-                returnMass += prim.CalculateMass();
-            }
-        }
-         */
-
-        returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass);
-
-        return returnMass;
-    }// end CalculateMass
-    #endregion Mass Calculation
-
-    // Rebuild the geometry and object.
-    // This is called when the shape changes so we need to recreate the mesh/hull.
-    // Called at taint-time!!!
-    public void CreateGeomAndObject(bool forceRebuild)
-    {
-        // If this prim is part of a linkset, we must remove and restore the physical
-        //    links if the body is rebuilt.
-        bool needToRestoreLinkset = false;
-        bool needToRestoreVehicle = false;
-
-        // Create the correct physical representation for this type of object.
-        // Updates PhysBody and PhysShape with the new information.
-        // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
-        PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, null, delegate(BulletBody dBody)
-        {
-            // Called if the current prim body is about to be destroyed.
-            // Remove all the physical dependencies on the old body.
-            // (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...)
-            needToRestoreLinkset = Linkset.RemoveBodyDependencies(this);
-            needToRestoreVehicle = _vehicle.RemoveBodyDependencies(this);
-        });
-
-        if (needToRestoreLinkset)
-        {
-            // If physical body dependencies were removed, restore them
-            Linkset.RestoreBodyDependencies(this);
-        }
-        if (needToRestoreVehicle)
-        {
-            // If physical body dependencies were removed, restore them
-            _vehicle.RestoreBodyDependencies(this);
-        }
-
-        // Make sure the properties are set on the new object
-        UpdatePhysicalParameters();
-        return;
-    }
-
-    // The physics engine says that properties have updated. Update same and inform
-    // the world that things have changed.
-    // TODO: do we really need to check for changed? Maybe just copy values and call RequestPhysicsterseUpdate()
-    enum UpdatedProperties {
-        Position      = 1 << 0,
-        Rotation      = 1 << 1,
-        Velocity      = 1 << 2,
-        Acceleration  = 1 << 3,
-        RotationalVel = 1 << 4
-    }
-
-    const float ROTATION_TOLERANCE = 0.01f;
-    const float VELOCITY_TOLERANCE = 0.001f;
-    const float POSITION_TOLERANCE = 0.05f;
-    const float ACCELERATION_TOLERANCE = 0.01f;
-    const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f;
-
-    public override void UpdateProperties(EntityProperties entprop)
-    {
-        // Updates only for individual prims and for the root object of a linkset.
-        if (Linkset.IsRoot(this))
-        {
-            // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
-            // TODO: handle physics introduced by Bullet with computed vehicle physics.
-            if (_vehicle.IsActive)
-            {
-                entprop.RotationalVelocity = OMV.Vector3.Zero;
-            }
-
-            // Assign directly to the local variables so the normal set action does not happen
-            _position = entprop.Position;
-            _orientation = entprop.Rotation;
-            _velocity = entprop.Velocity;
-            _acceleration = entprop.Acceleration;
-            _rotationalVelocity = entprop.RotationalVelocity;
-
-            // The sanity check can change the velocity and/or position.
-            if (IsPhysical && PositionSanityCheck(true))
-            {
-                entprop.Position = _position;
-                entprop.Velocity = _velocity;
-            }
-
-            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);
-
-            // remember the current and last set values
-            LastEntityProperties = CurrentEntityProperties;
-            CurrentEntityProperties = entprop;
-
-            base.RequestPhysicsterseUpdate();
-        }
-            /*
-        else
-        {
-            // For debugging, report the movement of children
-            DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
-                    LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
-                    entprop.Acceleration, entprop.RotationalVelocity);
-        }
-             */
-
-        // The linkset implimentation might want to know about this.
-        Linkset.UpdateProperties(this, true);
-    }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs
deleted file mode 100644
index 1a7c34b..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs
+++ /dev/null
@@ -1,957 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Runtime.InteropServices;
-using System.Text;
-using System.Threading;
-using OpenSim.Framework;
-using OpenSim.Region.Framework;
-using OpenSim.Region.CoreModules;
-using Logging = OpenSim.Region.CoreModules.Framework.Statistics.Logging;
-using OpenSim.Region.Physics.Manager;
-using Nini.Config;
-using log4net;
-using OpenMetaverse;
-
-// TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim)
-// Based on material, set density and friction
-// More efficient memory usage when passing hull information from BSPrim to BulletSim
-// Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect
-// Implement LockAngularMotion
-// Add PID movement operations. What does ScenePresence.MoveToTarget do?
-// Check terrain size. 128 or 127?
-// Raycast
-//
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-public sealed class BSScene : PhysicsScene, IPhysicsParameters
-{
-    private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
-    private static readonly string LogHeader = "[BULLETS SCENE]";
-
-    // The name of the region we're working for.
-    public string RegionName { get; private set; }
-
-    public string BulletSimVersion = "?";
-
-    public Dictionary<uint, BSPhysObject> PhysObjects;
-    public BSShapeCollection Shapes;
-
-    // Keeping track of the objects with collisions so we can report begin and end of a collision
-    public HashSet<BSPhysObject> ObjectsWithCollisions = new HashSet<BSPhysObject>();
-    public HashSet<BSPhysObject> ObjectsWithNoMoreCollisions = new HashSet<BSPhysObject>();
-    // Keep track of all the avatars so we can send them a collision event
-    //    every tick so OpenSim will update its animation.
-    private HashSet<BSPhysObject> m_avatars = new HashSet<BSPhysObject>();
-
-    // let my minuions use my logger
-    public ILog Logger { get { return m_log; } }
-
-    public IMesher mesher;
-    public uint WorldID { get; private set; }
-    public BulletWorld World { get; private set; }
-
-    // All the constraints that have been allocated in this instance.
-    public BSConstraintCollection Constraints { get; private set; }
-
-    // Simulation parameters
-    internal int m_maxSubSteps;
-    internal float m_fixedTimeStep;
-    internal long m_simulationStep = 0;
-    public long SimulationStep { get { return m_simulationStep; } }
-    internal int m_taintsToProcessPerStep;
-    internal float LastTimeStep { get; private set; }
-
-    // Physical objects can register for prestep or poststep events
-    public delegate void PreStepAction(float timeStep);
-    public delegate void PostStepAction(float timeStep);
-    public event PreStepAction BeforeStep;
-    public event PreStepAction AfterStep;
-
-    // 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; }
-
-    // True if initialized and ready to do simulation steps
-    private bool m_initialized = false;
-
-    // Flag which is true when processing taints.
-    // Not guaranteed to be correct all the time (don't depend on this) but good for debugging.
-    public bool InTaintTime { get; private set; }
-
-    // Pinned memory used to pass step information between managed and unmanaged
-    internal int m_maxCollisionsPerFrame;
-    private List<BulletXNA.CollisionDesc> m_collisionArray;
-    //private GCHandle m_collisionArrayPinnedHandle;
-
-    internal int m_maxUpdatesPerFrame;
-    private List<BulletXNA.EntityProperties> m_updateArray;
-    //private GCHandle m_updateArrayPinnedHandle;
-
-
-    public const uint TERRAIN_ID = 0;       // OpenSim senses terrain with a localID of zero
-    public const uint GROUNDPLANE_ID = 1;
-    public const uint CHILDTERRAIN_ID = 2;  // Terrain allocated based on our mega-prim childre start here
-
-    public float SimpleWaterLevel { get; set; }
-    public BSTerrainManager TerrainManager { get; private set; }
-
-    public ConfigurationParameters Params
-    {
-        get { return UnmanagedParams[0]; }
-    }
-    public Vector3 DefaultGravity
-    {
-        get { return new Vector3(0f, 0f, Params.gravity); }
-    }
-    // Just the Z value of the gravity
-    public float DefaultGravityZ
-    {
-        get { return Params.gravity; }
-    }
-
-    // When functions in the unmanaged code must be called, it is only
-    //   done at a known time just before the simulation step. The taint
-    //   system saves all these function calls and executes them in
-    //   order before the simulation.
-    public delegate void TaintCallback();
-    private struct TaintCallbackEntry
-    {
-        public String ident;
-        public TaintCallback callback;
-        public TaintCallbackEntry(string i, TaintCallback c)
-        {
-            ident = i;
-            callback = c;
-        }
-    }
-    private Object _taintLock = new Object();   // lock for using the next object
-    private List<TaintCallbackEntry> _taintOperations;
-    private Dictionary<string, TaintCallbackEntry> _postTaintOperations;
-    private List<TaintCallbackEntry> _postStepOperations;
-
-    // A pointer to an instance if this structure is passed to the C++ code
-    // Used to pass basic configuration values to the unmanaged code.
-    internal ConfigurationParameters[] UnmanagedParams;
-    //GCHandle m_paramsHandle;
-
-    // Handle to the callback used by the unmanaged code to call into the managed code.
-    // Used for debug logging.
-    // Need to store the handle in a persistant variable so it won't be freed.
-    private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle;
-
-    // Sometimes you just have to log everything.
-    public Logging.LogWriter PhysicsLogging;
-    private bool m_physicsLoggingEnabled;
-    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; }
-    public bool VehiclePhysicalLoggingEnabled { get; private set; }
-
-    #region Construction and Initialization
-    public BSScene(string identifier)
-    {
-        m_initialized = false;
-        // we are passed the name of the region we're working for.
-        RegionName = identifier;
-    }
-
-    public override void Initialise(IMesher meshmerizer, IConfigSource config)
-    {
-        mesher = meshmerizer;
-        _taintOperations = new List<TaintCallbackEntry>();
-        _postTaintOperations = new Dictionary<string, TaintCallbackEntry>();
-        _postStepOperations = new List<TaintCallbackEntry>();
-        PhysObjects = new Dictionary<uint, BSPhysObject>();
-        Shapes = new BSShapeCollection(this);
-
-        // Allocate pinned memory to pass parameters.
-        UnmanagedParams = new ConfigurationParameters[1];
-        //m_paramsHandle = GCHandle.Alloc(UnmanagedParams, GCHandleType.Pinned);
-
-        // Set default values for physics parameters plus any overrides from the ini file
-        GetInitialParameterValues(config);
-
-        // allocate more pinned memory close to the above in an attempt to get the memory all together
-        m_collisionArray = new List<BulletXNA.CollisionDesc>();
-        //m_collisionArrayPinnedHandle = GCHandle.Alloc(m_collisionArray, GCHandleType.Pinned);
-        m_updateArray = new List<BulletXNA.EntityProperties>();
-        //m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned);
-
-        // Enable very detailed logging.
-        // By creating an empty logger when not logging, the log message invocation code
-        //     can be left in and every call doesn't have to check for null.
-        if (m_physicsLoggingEnabled)
-        {
-            PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes);
-            PhysicsLogging.ErrorLogger = m_log; // for DEBUG. Let's the logger output error messages.
-        }
-        else
-        {
-            PhysicsLogging = new Logging.LogWriter();
-        }
-
-        // If Debug logging level, enable logging from the unmanaged code
-        m_DebugLogCallbackHandle = null;
-        if (m_log.IsDebugEnabled || PhysicsLogging.Enabled)
-        {
-            m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader);
-            if (PhysicsLogging.Enabled)
-                // The handle is saved in a variable to make sure it doesn't get freed after this call
-                m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLoggerPhysLog);
-            else
-                m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger);
-        }
-
-        // Get the version of the DLL
-        // TODO: this doesn't work yet. Something wrong with marshaling the returned string.
-        // BulletSimVersion = BulletSimAPI.GetVersion();
-        // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion);
-
-        // The bounding box for the simulated world. The origin is 0,0,0 unless we're
-        //    a child in a mega-region.
-        // Bullet actually doesn't care about the extents of the simulated
-        //    area. It tracks active objects no matter where they are.
-        Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
-
-        // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader);
-
-        World = new BulletWorld(0, this, BulletSimAPI.Initialize2(worldExtent, UnmanagedParams,
-                                        m_maxCollisionsPerFrame, ref m_collisionArray,
-                                        m_maxUpdatesPerFrame,ref m_updateArray,
-                                        m_DebugLogCallbackHandle));
-
-        Constraints = new BSConstraintCollection(World);
-
-        TerrainManager = new BSTerrainManager(this);
-        TerrainManager.CreateInitialGroundPlaneAndTerrain();
-
-        m_log.WarnFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation);
-
-        InTaintTime = false;
-        m_initialized = true;
-    }
-
-    // All default parameter values are set here. There should be no values set in the
-    // variable definitions.
-    private void GetInitialParameterValues(IConfigSource config)
-    {
-        ConfigurationParameters parms = new ConfigurationParameters();
-        UnmanagedParams[0] = parms;
-
-        BSParam.SetParameterDefaultValues(this);
-
-        if (config != null)
-        {
-            // If there are specifications in the ini file, use those values
-            IConfig pConfig = config.Configs["BulletSim"];
-            if (pConfig != null)
-            {
-                BSParam.SetParameterConfigurationValues(this, pConfig);
-
-                // Very detailed logging for physics debugging
-                m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false);
-                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);
-                VehiclePhysicalLoggingEnabled = pConfig.GetBoolean("VehiclePhysicalLoggingEnabled", false);
-
-                // Do any replacements in the parameters
-                m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName);
-            }
-
-            // The material characteristics.
-            BSMaterials.InitializeFromDefaults(Params);
-            if (pConfig != null)
-            {
-                // Let the user add new and interesting material property values.
-                BSMaterials.InitializefromParameters(pConfig);
-            }
-        }
-    }
-
-    // A helper function that handles a true/false parameter and returns the proper float number encoding
-    float ParamBoolean(IConfig config, string parmName, float deflt)
-    {
-        float ret = deflt;
-        if (config.Contains(parmName))
-        {
-            ret = ConfigurationParameters.numericFalse;
-            if (config.GetBoolean(parmName, false))
-            {
-                ret = ConfigurationParameters.numericTrue;
-            }
-        }
-        return ret;
-    }
-
-    // Called directly from unmanaged code so don't do much
-    private void BulletLogger(string msg)
-    {
-        m_log.Debug("[BULLETS UNMANAGED]:" + msg);
-    }
-
-    // Called directly from unmanaged code so don't do much
-    private void BulletLoggerPhysLog(string msg)
-    {
-        DetailLog("[BULLETS UNMANAGED]:" + msg);
-    }
-
-    public override void Dispose()
-    {
-        // m_log.DebugFormat("{0}: Dispose()", LogHeader);
-
-        // make sure no stepping happens while we're deleting stuff
-        m_initialized = false;
-
-        foreach (KeyValuePair<uint, BSPhysObject> kvp in PhysObjects)
-        {
-            kvp.Value.Destroy();
-        }
-        PhysObjects.Clear();
-
-        // Now that the prims are all cleaned up, there should be no constraints left
-        if (Constraints != null)
-        {
-            Constraints.Dispose();
-            Constraints = null;
-        }
-
-        if (Shapes != null)
-        {
-            Shapes.Dispose();
-            Shapes = null;
-        }
-
-        if (TerrainManager != null)
-        {
-            TerrainManager.ReleaseGroundPlaneAndTerrain();
-            TerrainManager.Dispose();
-            TerrainManager = null;
-        }
-
-        // Anything left in the unmanaged code should be cleaned out
-        BulletSimAPI.Shutdown2(World.ptr);
-
-        // Not logging any more
-        PhysicsLogging.Close();
-    }
-    #endregion // Construction and Initialization
-
-    #region Prim and Avatar addition and removal
-
-    public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
-    {
-        m_log.ErrorFormat("{0}: CALL TO AddAvatar in BSScene. NOT IMPLEMENTED", LogHeader);
-        return null;
-    }
-
-    public override PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 size, bool isFlying)
-    {
-        // m_log.DebugFormat("{0}: AddAvatar: {1}", LogHeader, avName);
-
-        if (!m_initialized) return null;
-
-        BSCharacter actor = new BSCharacter(localID, avName, this, position, size, isFlying);
-        lock (PhysObjects) PhysObjects.Add(localID, actor);
-
-        // TODO: Remove kludge someday.
-        // We must generate a collision for avatars whether they collide or not.
-        // This is required by OpenSim to update avatar animations, etc.
-        lock (m_avatars) m_avatars.Add(actor);
-
-        return actor;
-    }
-
-    public override void RemoveAvatar(PhysicsActor actor)
-    {
-        // m_log.DebugFormat("{0}: RemoveAvatar", LogHeader);
-
-        if (!m_initialized) return;
-
-        BSCharacter bsactor = actor as BSCharacter;
-        if (bsactor != null)
-        {
-            try
-            {
-                lock (PhysObjects) PhysObjects.Remove(actor.LocalID);
-                // Remove kludge someday
-                lock (m_avatars) m_avatars.Remove(bsactor);
-            }
-            catch (Exception e)
-            {
-                m_log.WarnFormat("{0}: Attempt to remove avatar that is not in physics scene: {1}", LogHeader, e);
-            }
-            bsactor.Destroy();
-            // bsactor.dispose();
-        }
-    }
-
-    public override void RemovePrim(PhysicsActor prim)
-    {
-        if (!m_initialized) return;
-
-        BSPrim bsprim = prim as BSPrim;
-        if (bsprim != null)
-        {
-            DetailLog("{0},RemovePrim,call", bsprim.LocalID);
-            // m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID);
-            try
-            {
-                lock (PhysObjects) PhysObjects.Remove(bsprim.LocalID);
-            }
-            catch (Exception e)
-            {
-                m_log.ErrorFormat("{0}: Attempt to remove prim that is not in physics scene: {1}", LogHeader, e);
-            }
-            bsprim.Destroy();
-            // bsprim.dispose();
-        }
-        else
-        {
-            m_log.ErrorFormat("{0}: Attempt to remove prim that is not a BSPrim type.", LogHeader);
-        }
-    }
-
-    public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
-                                              Vector3 size, Quaternion rotation, bool isPhysical, uint localID)
-    {
-        // m_log.DebugFormat("{0}: AddPrimShape2: {1}", LogHeader, primName);
-
-        if (!m_initialized) return null;
-
-        DetailLog("{0},AddPrimShape,call", localID);
-
-        BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical);
-        lock (PhysObjects) PhysObjects.Add(localID, prim);
-        return prim;
-    }
-
-    // This is a call from the simulator saying that some physical property has been updated.
-    // The BulletSim driver senses the changing of relevant properties so this taint
-    // information call is not needed.
-    public override void AddPhysicsActorTaint(PhysicsActor prim) { }
-
-    #endregion // Prim and Avatar addition and removal
-
-    #region Simulation
-    // Simulate one timestep
-    public override float Simulate(float timeStep)
-    {
-        // prevent simulation until we've been initialized
-        if (!m_initialized) return 5.0f;
-
-        LastTimeStep = timeStep;
-
-        int updatedEntityCount = 0;
-        //Object updatedEntitiesPtr;
-        int collidersCount = 0;
-        //Object collidersPtr;
-
-        int beforeTime = 0;
-        int simTime = 0;
-
-        // update the prim states while we know the physics engine is not busy
-        int numTaints = _taintOperations.Count;
-
-        InTaintTime = true; // Only used for debugging so locking is not necessary.
-
-        ProcessTaints();
-
-        // Some of the physical objects requre individual, pre-step calls
-        TriggerPreStepEvent(timeStep);
-
-        // the prestep actions might have added taints
-        ProcessTaints();
-
-        InTaintTime = false; // Only used for debugging so locking is not necessary.
-
-        // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
-        // Only enable this in a limited test world with few objects.
-        // BulletSimAPI.DumpAllInfo2(World.ptr);    // DEBUG DEBUG DEBUG
-
-        // step the physical world one interval
-        m_simulationStep++;
-        int numSubSteps = 0;
-
-        try
-        {
-            if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
-
-            numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
-                        out updatedEntityCount, out m_updateArray, out collidersCount, out m_collisionArray);
-
-            if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
-            DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}",
-                                    DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, 
-                                    updatedEntityCount, collidersCount, ObjectsWithCollisions.Count);
-        }
-        catch (Exception e)
-        {
-            m_log.WarnFormat("{0},PhysicsStep Exception: nTaints={1}, substeps={2}, updates={3}, colliders={4}, e={5}",
-                        LogHeader, numTaints, numSubSteps, updatedEntityCount, collidersCount, e);
-            DetailLog("{0},PhysicsStepException,call, nTaints={1}, substeps={2}, updates={3}, colliders={4}",
-                        DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount);
-            updatedEntityCount = 0;
-            collidersCount = 0;
-        }
-
-        // 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.
-        SimulationNowTime = Util.EnvironmentTickCount();
-
-        // If there were collisions, process them by sending the event to the prim.
-        // Collisions must be processed before updates.
-        if (collidersCount > 0)
-        {
-            for (int ii = 0; ii < collidersCount; ii++)
-            {
-                uint cA = m_collisionArray[ii].aID;
-                uint cB = m_collisionArray[ii].bID;
-                Vector3 point = new Vector3(m_collisionArray[ii].point.X, m_collisionArray[ii].point.Y,
-                                            m_collisionArray[ii].point.Z);
-                Vector3 normal = new Vector3(m_collisionArray[ii].normal.X, m_collisionArray[ii].normal.Y,
-                                            m_collisionArray[ii].normal.Z); 
-                SendCollision(cA, cB, point, normal, 0.01f);
-                SendCollision(cB, cA, point, -normal, 0.01f);
-            }
-        }
-
-        // The above SendCollision's batch up the collisions on the objects.
-        //      Now push the collisions into the simulator.
-        if (ObjectsWithCollisions.Count > 0)
-        {
-            foreach (BSPhysObject bsp in ObjectsWithCollisions)
-                if (!bsp.SendCollisions())
-                {
-                    // If the object is done colliding, see that it's removed from the colliding list
-                    ObjectsWithNoMoreCollisions.Add(bsp);
-                }
-        }
-
-        // This is a kludge to get avatar movement updates.
-        // The simulator expects collisions for avatars even if there are have been no collisions.
-        //    The event updates avatar animations and stuff.
-        // If you fix avatar animation updates, remove this overhead and let normal collision processing happen.
-        foreach (BSPhysObject bsp in m_avatars)
-            if (!ObjectsWithCollisions.Contains(bsp))   // don't call avatars twice
-                bsp.SendCollisions();
-
-        // Objects that are done colliding are removed from the ObjectsWithCollisions list.
-        // Not done above because it is inside an iteration of ObjectWithCollisions.
-        // This complex collision processing is required to create an empty collision
-        //     event call after all collisions have happened on an object. This enables
-        //     the simulator to generate the 'collision end' event.
-        if (ObjectsWithNoMoreCollisions.Count > 0)
-        {
-            foreach (BSPhysObject po in ObjectsWithNoMoreCollisions)
-                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)
-        {
-            for (int ii = 0; ii < updatedEntityCount; ii++)
-            {
-
-                BulletXNA.EntityProperties entprop = m_updateArray[ii];
-                BSPhysObject pobj;
-                if (PhysObjects.TryGetValue(entprop.ID, out pobj))
-                {
-                    EntityProperties prop = new EntityProperties()
-                                                {
-                                                    Acceleration = new Vector3(entprop.Acceleration.X, entprop.Acceleration.Y, entprop.Acceleration.Z),
-                                                    ID = entprop.ID,
-                                                    Position = new Vector3(entprop.Position.X,entprop.Position.Y,entprop.Position.Z),
-                                                    Rotation = new Quaternion(entprop.Rotation.X,entprop.Rotation.Y,entprop.Rotation.Z,entprop.Rotation.W),
-                                                    RotationalVelocity = new Vector3(entprop.AngularVelocity.X,entprop.AngularVelocity.Y,entprop.AngularVelocity.Z),
-                                                    Velocity = new Vector3(entprop.Velocity.X,entprop.Velocity.Y,entprop.Velocity.Z)
-                                                };
-                    //m_log.Debug(pobj.Name + ":" + prop.ToString() + "\n");
-                    pobj.UpdateProperties(prop);
-                }
-            }
-        }
-
-        TriggerPostStepEvent(timeStep);
-
-        // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
-        // Only enable this in a limited test world with few objects.
-        // BulletSimAPI.DumpAllInfo2(World.ptr);    // DEBUG DEBUG DEBUG
-
-        // The physics engine returns the number of milliseconds it simulated this call.
-        // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
-        // Multiply by 55 to give a nominal frame rate of 55.
-        return (float)numSubSteps * m_fixedTimeStep * 1000f * 55f;
-    }
-
-    // Something has collided
-    private void SendCollision(uint localID, uint collidingWith, Vector3 collidePoint, Vector3 collideNormal, float penetration)
-    {
-        if (localID <= TerrainManager.HighestTerrainID)
-        {
-            return;         // don't send collisions to the terrain
-        }
-
-        BSPhysObject collider;
-        if (!PhysObjects.TryGetValue(localID, out collider))
-        {
-            // If the object that is colliding cannot be found, just ignore the collision.
-            DetailLog("{0},BSScene.SendCollision,colliderNotInObjectList,id={1},with={2}", DetailLogZero, localID, collidingWith);
-            return;
-        }
-
-        // The terrain is not in the physical object list so 'collidee' can be null when Collide() is called.
-        BSPhysObject collidee = null;
-        PhysObjects.TryGetValue(collidingWith, out collidee);
-
-        // DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith);
-
-        if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration))
-        {
-            // If a collision was posted, remember to send it to the simulator
-            ObjectsWithCollisions.Add(collider);
-        }
-
-        return;
-    }
-
-    #endregion // Simulation
-
-    public override void GetResults() { }
-
-    #region Terrain
-
-    public override void SetTerrain(float[] heightMap) {
-        TerrainManager.SetTerrain(heightMap);
-    }
-
-    public override void SetWaterLevel(float baseheight)
-    {
-        SimpleWaterLevel = baseheight;
-    }
-
-    public override void DeleteTerrain()
-    {
-        // m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader);
-    }
-
-    // Although no one seems to check this, I do support combining.
-    public override bool SupportsCombining()
-    {
-        return TerrainManager.SupportsCombining();
-    }
-    // This call says I am a child to region zero in a mega-region. 'pScene' is that
-    //    of region zero, 'offset' is my offset from regions zero's origin, and
-    //    'extents' is the largest XY that is handled in my region.
-    public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
-    {
-        TerrainManager.Combine(pScene, offset, extents);
-    }
-
-    // Unhook all the combining that I know about.
-    public override void UnCombine(PhysicsScene pScene)
-    {
-        TerrainManager.UnCombine(pScene);
-    }
-
-    #endregion // Terrain
-
-    public override Dictionary<uint, float> GetTopColliders()
-    {
-        return new Dictionary<uint, float>();
-    }
-
-    public override bool IsThreaded { get { return false;  } }
-
-    #region Taints
-    // The simulation execution order is:
-    // Simulate()
-    //    DoOneTimeTaints
-    //    TriggerPreStepEvent
-    //    DoOneTimeTaints
-    //    Step()
-    //       ProcessAndForwardCollisions
-    //       ProcessAndForwardPropertyUpdates
-    //    TriggerPostStepEvent
-
-    // Calls to the PhysicsActors can't directly call into the physics engine
-    //       because it might be busy. We delay changes to a known time.
-    // We rely on C#'s closure to save and restore the context for the delegate.
-    public void TaintedObject(String ident, TaintCallback callback)
-    {
-        if (!m_initialized) return;
-
-        lock (_taintLock)
-        {
-            _taintOperations.Add(new TaintCallbackEntry(ident, callback));
-        }
-
-        return;
-    }
-
-    // Sometimes a potentially tainted operation can be used in and out of taint time.
-    // This routine executes the command immediately if in taint-time otherwise it is queued.
-    public void TaintedObject(bool inTaintTime, string ident, TaintCallback callback)
-    {
-        if (inTaintTime)
-            callback();
-        else
-            TaintedObject(ident, callback);
-    }
-
-    private void TriggerPreStepEvent(float timeStep)
-    {
-        PreStepAction actions = BeforeStep;
-        if (actions != null)
-            actions(timeStep);
-
-    }
-
-    private void TriggerPostStepEvent(float timeStep)
-    {
-        PreStepAction actions = AfterStep;
-        if (actions != null)
-            actions(timeStep);
-
-    }
-
-    // When someone tries to change a property on a BSPrim or BSCharacter, the object queues
-    // a callback into itself to do the actual property change. That callback is called
-    // here just before the physics engine is called to step the simulation.
-    public void ProcessTaints()
-    {
-        ProcessRegularTaints();
-        ProcessPostTaintTaints();
-    }
-
-    private void ProcessRegularTaints()
-    {
-        if (_taintOperations.Count > 0)  // save allocating new list if there is nothing to process
-        {
-            // swizzle a new list into the list location so we can process what's there
-            List<TaintCallbackEntry> oldList;
-            lock (_taintLock)
-            {
-                oldList = _taintOperations;
-                _taintOperations = new List<TaintCallbackEntry>();
-            }
-
-            foreach (TaintCallbackEntry tcbe in oldList)
-            {
-                try
-                {
-                    DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, tcbe.ident); // DEBUG DEBUG DEBUG
-                    tcbe.callback();
-                }
-                catch (Exception e)
-                {
-                    m_log.ErrorFormat("{0}: ProcessTaints: {1}: Exception: {2}", LogHeader, tcbe.ident, e);
-                }
-            }
-            oldList.Clear();
-        }
-    }
-
-    // Schedule an update to happen after all the regular taints are processed.
-    // Note that new requests for the same operation ("ident") for the same object ("ID")
-    //     will replace any previous operation by the same object.
-    public void PostTaintObject(String ident, uint ID, TaintCallback callback)
-    {
-        string uniqueIdent = ident + "-" + ID.ToString();
-        lock (_taintLock)
-        {
-            _postTaintOperations[uniqueIdent] = new TaintCallbackEntry(uniqueIdent, callback);
-        }
-
-        return;
-    }
-
-    // Taints that happen after the normal taint processing but before the simulation step.
-    private void ProcessPostTaintTaints()
-    {
-        if (_postTaintOperations.Count > 0)
-        {
-            Dictionary<string, TaintCallbackEntry> oldList;
-            lock (_taintLock)
-            {
-                oldList = _postTaintOperations;
-                _postTaintOperations = new Dictionary<string, TaintCallbackEntry>();
-            }
-
-            foreach (KeyValuePair<string,TaintCallbackEntry> kvp in oldList)
-            {
-                try
-                {
-                    DetailLog("{0},BSScene.ProcessPostTaintTaints,doTaint,id={1}", DetailLogZero, kvp.Key); // DEBUG DEBUG DEBUG
-                    kvp.Value.callback();
-                }
-                catch (Exception e)
-                {
-                    m_log.ErrorFormat("{0}: ProcessPostTaintTaints: {1}: Exception: {2}", LogHeader, kvp.Key, e);
-                }
-            }
-            oldList.Clear();
-        }
-    }
-
-    // Only used for debugging. Does not change state of anything so locking is not necessary.
-    public bool AssertInTaintTime(string whereFrom)
-    {
-        if (!InTaintTime)
-        {
-            DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom);
-            m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom);
-            Util.PrintCallStack(DetailLog);
-        }
-        return InTaintTime;
-    }
-
-    #endregion // Taints
-
-    #region INI and command line parameter processing
-
-    #region IPhysicsParameters
-    // Get the list of parameters this physics engine supports
-    public PhysParameterEntry[] GetParameterList()
-    {
-        BSParam.BuildParameterTable();
-        return BSParam.SettableParameters;
-    }
-
-    // Set parameter on a specific or all instances.
-    // Return 'false' if not able to set the parameter.
-    // Setting the value in the m_params block will change the value the physics engine
-    //   will use the next time since it's pinned and shared memory.
-    // Some of the values require calling into the physics engine to get the new
-    //   value activated ('terrainFriction' for instance).
-    public bool SetPhysicsParameter(string parm, float val, uint localID)
-    {
-        bool ret = false;
-        BSParam.ParameterDefn theParam;
-        if (BSParam.TryGetParameter(parm, out theParam))
-        {
-            theParam.setter(this, parm, localID, val);
-            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)
-    {
-        float xval = val;
-        List<uint> xlIDs = lIDs;
-        string xparm = parm;
-        TaintedObject("BSScene.UpdateParameterSet", delegate() {
-            BSParam.ParameterDefn thisParam;
-            if (BSParam.TryGetParameter(xparm, out thisParam))
-            {
-                if (thisParam.onObject != null)
-                {
-                    foreach (uint lID in xlIDs)
-                    {
-                        BSPhysObject theObject = null;
-                        PhysObjects.TryGetValue(lID, out theObject);
-                        thisParam.onObject(this, theObject, xval);
-                    }
-                }
-            }
-        });
-    }
-
-    // Get parameter.
-    // Return 'false' if not able to get the parameter.
-    public bool GetPhysicsParameter(string parm, out float value)
-    {
-        float val = 0f;
-        bool ret = false;
-        BSParam.ParameterDefn theParam;
-        if (BSParam.TryGetParameter(parm, out theParam))
-        {
-            val = theParam.getter(this);
-            ret = true;
-        }
-        value = val;
-        return ret;
-    }
-
-    #endregion IPhysicsParameters
-
-    #endregion Runtime settable parameters
-
-    // Invoke the detailed logger and output something if it's enabled.
-    public void DetailLog(string msg, params Object[] args)
-    {
-        PhysicsLogging.Write(msg, args);
-        // Add the Flush() if debugging crashes. Gets all the messages written out.
-        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/BulletSNPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs
deleted file mode 100644
index 47fb768..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs
+++ /dev/null
@@ -1,1015 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Text;
-using OMV = OpenMetaverse;
-using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-using OpenSim.Region.Physics.ConvexDecompositionDotNet;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-public sealed class BSShapeCollection : IDisposable
-{
-    private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]";
-
-    private BSScene PhysicsScene { get; set; }
-
-    private Object m_collectionActivityLock = new Object();
-
-    // Description of a Mesh
-    private struct MeshDesc
-    {
-        public Object ptr;
-        public int referenceCount;
-        public DateTime lastReferenced;
-        public UInt64 shapeKey;
-    }
-
-    // Description of a hull.
-    // Meshes and hulls have the same shape hash key but we only need hulls for efficient collision calculations.
-    private struct HullDesc
-    {
-        public Object ptr;
-        public int referenceCount;
-        public DateTime lastReferenced;
-        public UInt64 shapeKey;
-    }
-
-    // The sharable set of meshes and hulls. Indexed by their shape hash.
-    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()
-    {
-        // TODO!!!!!!!!!
-    }
-
-    // Callbacks called just before either the body or shape is destroyed.
-    // Mostly used for changing bodies out from under Linksets.
-    // Useful for other cases where parameters need saving.
-    // Passing 'null' says no callback.
-    public delegate void ShapeDestructionCallback(BulletShape shape);
-    public delegate void BodyDestructionCallback(BulletBody body);
-
-    // Called to update/change the body and shape for an object.
-    // First checks the shape and updates that if necessary then makes
-    //    sure the body is of the right type.
-    // Return 'true' if either the body or the shape changed.
-    // 'shapeCallback' and 'bodyCallback' are, if non-null, functions called just before
-    //    the current shape or body is destroyed. This allows the caller to remove any
-    //    higher level dependencies on the shape or body. Mostly used for LinkSets to
-    //    remove the physical constraints before the body is destroyed.
-    // Called at taint-time!!
-    public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim,
-                    ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback)
-    {
-        PhysicsScene.AssertInTaintTime("BSShapeCollection.GetBodyAndShape");
-
-        bool ret = false;
-
-        // This lock could probably be pushed down lower but building shouldn't take long
-        lock (m_collectionActivityLock)
-        {
-            // Do we have the correct geometry for this type of object?
-            // Updates prim.BSShape with information/pointers to shape.
-            // Returns 'true' of BSShape is changed to a new shape.
-            bool newGeom = CreateGeom(forceRebuild, prim, shapeCallback);
-            // If we had to select a new shape geometry for the object,
-            //    rebuild the body around it.
-            // Updates prim.BSBody with information/pointers to requested body
-            // Returns 'true' if BSBody was changed.
-            bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World,
-                                    prim.PhysShape, bodyCallback);
-            ret = newGeom || newBody;
-        }
-        DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}",
-                                prim.LocalID, forceRebuild, ret, prim.PhysBody, prim.PhysShape);
-
-        return ret;
-    }
-
-    public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim)
-    {
-        return GetBodyAndShape(forceRebuild, sim, prim, null, null);
-    }
-
-    // Track another user of a body.
-    // We presume the caller has allocated the body.
-    // Bodies only have one user so the body is just put into the world if not already there.
-    public void ReferenceBody(BulletBody body, bool inTaintTime)
-    {
-        lock (m_collectionActivityLock)
-        {
-            if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body);
-            PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.ReferenceBody", delegate()
-            {
-                if (!BulletSimAPI.IsInWorld2(PhysicsScene.World.ptr, body.ptr))
-                {
-                    BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr);
-                    if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body);
-                }
-            });
-        }
-    }
-
-    // Release the usage of a body.
-    // Called when releasing use of a BSBody. BSShape is handled separately.
-    public void DereferenceBody(BulletBody body, bool inTaintTime, BodyDestructionCallback bodyCallback )
-    {
-        if (!body.HasPhysicalBody)
-            return;
-
-        lock (m_collectionActivityLock)
-        {
-            PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceBody", delegate()
-            {
-                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);
-
-                if (BulletSimAPI.IsInWorld2(PhysicsScene.World.ptr, body.ptr))
-                {
-                    BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr);
-                    if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body);
-                }
-
-                // Zero any reference to the shape so it is not freed when the body is deleted.
-                BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, null);
-                BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr);
-            });
-        }
-    }
-
-    // Track the datastructures and use count for a shape.
-    // When creating a hull, this is called first to reference the mesh
-    //     and then again to reference the hull.
-    // Meshes and hulls for the same shape have the same hash key.
-    // NOTE that native shapes are not added to the mesh list or removed.
-    // Returns 'true' if this is the initial reference to the shape. Otherwise reused.
-    public bool ReferenceShape(BulletShape shape)
-    {
-        bool ret = false;
-        switch (shape.type)
-        {
-            case BSPhysicsShapeType.SHAPE_MESH:
-                MeshDesc meshDesc;
-                if (Meshes.TryGetValue(shape.shapeKey, out meshDesc))
-                {
-                    // There is an existing instance of this mesh.
-                    meshDesc.referenceCount++;
-                    if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,existingMesh,key={1},cnt={2}",
-                                BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
-                }
-                else
-                {
-                    // This is a new reference to a mesh
-                    meshDesc.ptr = shape.ptr;
-                    meshDesc.shapeKey = shape.shapeKey;
-                    // We keep a reference to the underlying IMesh data so a hull can be built
-                    meshDesc.referenceCount = 1;
-                    if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newMesh,key={1},cnt={2}",
-                                BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
-                    ret = true;
-                }
-                meshDesc.lastReferenced = System.DateTime.Now;
-                Meshes[shape.shapeKey] = meshDesc;
-                break;
-            case BSPhysicsShapeType.SHAPE_HULL:
-                HullDesc hullDesc;
-                if (Hulls.TryGetValue(shape.shapeKey, out hullDesc))
-                {
-                    // There is an existing instance of this hull.
-                    hullDesc.referenceCount++;
-                    if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,existingHull,key={1},cnt={2}",
-                                BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
-                }
-                else
-                {
-                    // This is a new reference to a hull
-                    hullDesc.ptr = shape.ptr;
-                    hullDesc.shapeKey = shape.shapeKey;
-                    hullDesc.referenceCount = 1;
-                    if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}",
-                                BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
-                    ret = true;
-
-                }
-                hullDesc.lastReferenced = System.DateTime.Now;
-                Hulls[shape.shapeKey] = hullDesc;
-                break;
-            case BSPhysicsShapeType.SHAPE_UNKNOWN:
-                break;
-            default:
-                // Native shapes are not tracked and they don't go into any list
-                break;
-        }
-        return ret;
-    }
-
-    // Release the usage of a shape.
-    public void DereferenceShape(BulletShape shape, bool inTaintTime, ShapeDestructionCallback shapeCallback)
-    {
-        if (!shape.HasPhysicalShape)
-            return;
-
-        PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceShape", delegate()
-        {
-            if (shape.HasPhysicalShape)
-            {
-                if (shape.isNativeShape)
-                {
-                    // Native shapes are not tracked and are released immediately
-                    if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
-                                    BSScene.DetailLogZero, shape.ptr.ToString(), inTaintTime);
-                    if (shapeCallback != null) shapeCallback(shape);
-                    BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
-                }
-                else
-                {
-                    switch (shape.type)
-                    {
-                        case BSPhysicsShapeType.SHAPE_HULL:
-                            DereferenceHull(shape, shapeCallback);
-                            break;
-                        case BSPhysicsShapeType.SHAPE_MESH:
-                            DereferenceMesh(shape, shapeCallback);
-                            break;
-                        case BSPhysicsShapeType.SHAPE_COMPOUND:
-                            DereferenceCompound(shape, shapeCallback);
-                            break;
-                        case BSPhysicsShapeType.SHAPE_UNKNOWN:
-                            break;
-                        default:
-                            break;
-                    }
-                }
-            }
-        });
-    }
-
-    // Count down the reference count for a mesh shape
-    // Called at taint-time.
-    private void DereferenceMesh(BulletShape shape, ShapeDestructionCallback shapeCallback)
-    {
-        MeshDesc meshDesc;
-        if (Meshes.TryGetValue(shape.shapeKey, out meshDesc))
-        {
-            meshDesc.referenceCount--;
-            // TODO: release the Bullet storage
-            if (shapeCallback != null) shapeCallback(shape);
-            meshDesc.lastReferenced = System.DateTime.Now;
-            Meshes[shape.shapeKey] = meshDesc;
-            if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceMesh,shape={1},refCnt={2}",
-                                BSScene.DetailLogZero, shape, meshDesc.referenceCount);
-
-        }
-    }
-
-    // Count down the reference count for a hull shape
-    // Called at taint-time.
-    private void DereferenceHull(BulletShape shape, ShapeDestructionCallback shapeCallback)
-    {
-        HullDesc hullDesc;
-        if (Hulls.TryGetValue(shape.shapeKey, out hullDesc))
-        {
-            hullDesc.referenceCount--;
-            // TODO: release the Bullet storage (aging old entries?)
-
-            // Tell upper layers that, if they have dependencies on this shape, this link is going away
-            if (shapeCallback != null) shapeCallback(shape);
-
-            hullDesc.lastReferenced = System.DateTime.Now;
-            Hulls[shape.shapeKey] = hullDesc;
-            if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceHull,shape={1},refCnt={2}",
-                    BSScene.DetailLogZero, shape, hullDesc.referenceCount);
-        }
-    }
-
-    // Remove a reference to a compound shape.
-    // Taking a compound shape apart is a little tricky because if you just delete the
-    //      physical shape, it will free all the underlying children. We can't do that because
-    //      they could be shared. So, this removes each of the children from the compound and
-    //      dereferences them separately before destroying the compound collision object itself.
-    // Called at taint-time.
-    private void DereferenceCompound(BulletShape shape, ShapeDestructionCallback shapeCallback)
-    {
-        if (!BulletSimAPI.IsCompound2(shape.ptr))
-        {
-            // 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());
-            if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}",
-                                        BSScene.DetailLogZero, shape.type, shape.ptr.ToString());
-            return;
-        }
-
-        int numChildren = BulletSimAPI.GetNumberOfCompoundChildren2(shape.ptr);
-        if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}", BSScene.DetailLogZero, shape, numChildren);
-
-        for (int ii = numChildren - 1; ii >= 0; ii--)
-        {
-            Object childShape = BulletSimAPI.RemoveChildShapeFromCompoundShapeIndex2(shape.ptr, ii);
-            DereferenceAnonCollisionShape(childShape);
-        }
-        BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
-    }
-
-    // Sometimes we have a pointer to a collision shape but don't know what type it is.
-    // Figure out type and call the correct dereference routine.
-    // Called at taint-time.
-    private void DereferenceAnonCollisionShape(Object cShape)
-    {
-        MeshDesc meshDesc;
-        HullDesc hullDesc;
-
-        BulletShape shapeInfo = new BulletShape(cShape);
-        if (TryGetMeshByPtr(cShape, out meshDesc))
-        {
-            shapeInfo.type = BSPhysicsShapeType.SHAPE_MESH;
-            shapeInfo.shapeKey = meshDesc.shapeKey;
-        }
-        else
-        {
-            if (TryGetHullByPtr(cShape, out hullDesc))
-            {
-                shapeInfo.type = BSPhysicsShapeType.SHAPE_HULL;
-                shapeInfo.shapeKey = hullDesc.shapeKey;
-            }
-            else
-            {
-                if (BulletSimAPI.IsCompound2(cShape))
-                {
-                    shapeInfo.type = BSPhysicsShapeType.SHAPE_COMPOUND;
-                }
-                else
-                {
-                    if (BulletSimAPI.IsNativeShape2(cShape))
-                    {
-                        shapeInfo.isNativeShape = true;
-                        shapeInfo.type = BSPhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter)
-                    }
-                }
-            }
-        }
-
-        if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceAnonCollisionShape,shape={1}", BSScene.DetailLogZero, shapeInfo);
-
-        if (shapeInfo.type != BSPhysicsShapeType.SHAPE_UNKNOWN)
-        {
-            DereferenceShape(shapeInfo, true, null);
-        }
-        else
-        {
-            PhysicsScene.Logger.ErrorFormat("{0} Could not decypher shape type. Region={1}, addr={2}",
-                                    LogHeader, PhysicsScene.RegionName, cShape.ToString());
-        }
-    }
-
-    // Create the geometry information in Bullet for later use.
-    // The objects needs a hull if it's physical otherwise a mesh is enough.
-    // if 'forceRebuild' is true, the geometry is unconditionally rebuilt. For meshes and hulls,
-    //     shared geometries will be used. If the parameters of the existing shape are the same
-    //     as this request, the shape is not rebuilt.
-    // Info in prim.BSShape is updated to the new shape.
-    // Returns 'true' if the geometry was rebuilt.
-    // Called at taint-time!
-    private bool CreateGeom(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback)
-    {
-        bool ret = false;
-        bool haveShape = false;
-
-        if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE)
-        {
-            // an avatar capsule is close to a native shape (it is not shared)
-            GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_CAPSULE,
-                            FixedShapeKey.KEY_CAPSULE, shapeCallback);
-            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape);
-            ret = true;
-            haveShape = true;
-        }
-
-        // Compound shapes are handled special as they are rebuilt from scratch.
-        // This isn't too great a hardship since most of the child shapes will have already been created.
-        if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND)
-        {
-            ret = GetReferenceToCompoundShape(prim, shapeCallback);
-            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, prim.PhysShape);
-            haveShape = true;
-        }
-
-        if (!haveShape)
-        {
-            ret = CreateGeomNonSpecial(forceRebuild, prim, shapeCallback);
-        }
-
-        return ret;
-    }
-
-    // Create a mesh/hull shape or a native shape if 'nativeShapePossible' is 'true'.
-    public bool CreateGeomNonSpecial(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback)
-    {
-        bool ret = false;
-        bool haveShape = false;
-        bool nativeShapePossible = true;
-        PrimitiveBaseShape pbs = prim.BaseShape;
-
-        // If the prim attributes are simple, this could be a simple Bullet native shape
-        if (!haveShape
-                && pbs != null
-                && nativeShapePossible
-                && ((pbs.SculptEntry && !BSParam.ShouldMeshSculptedPrim)
-                    || (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
-                        && pbs.ProfileHollow == 0
-                        && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
-                        && pbs.PathBegin == 0 && pbs.PathEnd == 0
-                        && pbs.PathTaperX == 0 && pbs.PathTaperY == 0
-                        && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
-                        && pbs.PathShearX == 0 && pbs.PathShearY == 0) ) )
-        {
-            // Get the scale of any existing shape so we can see if the new shape is same native type and same size.
-            OMV.Vector3 scaleOfExistingShape = OMV.Vector3.Zero;
-            if (prim.PhysShape.HasPhysicalShape)
-                scaleOfExistingShape = BulletSimAPI.GetLocalScaling2(prim.PhysShape.ptr);
-
-            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,maybeNative,force={1},primScale={2},primSize={3},primShape={4}",
-                        prim.LocalID, forceRebuild, prim.Scale, prim.Size, prim.PhysShape.type);
-
-            // It doesn't look like Bullet scales spheres so make sure the scales are all equal
-            if ((pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1)
-                                && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z)
-            {
-                haveShape = true;
-                if (forceRebuild
-                        || prim.Scale != scaleOfExistingShape
-                        || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_SPHERE
-                        )
-                {
-                    ret = GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_SPHERE,
-                                            FixedShapeKey.KEY_SPHERE, shapeCallback);
-                    if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}",
-                                        prim.LocalID, forceRebuild, prim.PhysShape);
-                }
-            }
-            if (!haveShape && pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
-            {
-                haveShape = true;
-                if (forceRebuild
-                        || prim.Scale != scaleOfExistingShape
-                        || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_BOX
-                        )
-                {
-                    ret = GetReferenceToNativeShape( prim, BSPhysicsShapeType.SHAPE_BOX,
-                                            FixedShapeKey.KEY_BOX, shapeCallback);
-                    if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}",
-                                        prim.LocalID, forceRebuild, prim.PhysShape);
-                }
-            }
-        }
-
-        // If a simple shape is not happening, create a mesh and possibly a hull.
-        if (!haveShape && pbs != null)
-        {
-            ret = CreateGeomMeshOrHull(prim, shapeCallback);
-        }
-
-        return ret;
-    }
-
-    public bool CreateGeomMeshOrHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
-    {
-
-        bool ret = false;
-        // Note that if it's a native shape, the check for physical/non-physical is not
-        //     made. Native shapes work in either case.
-        if (prim.IsPhysical && BSParam.ShouldUseHullsForPhysicalObjects)
-        {
-            // Update prim.BSShape to reference a hull of this shape.
-            ret = GetReferenceToHull(prim,shapeCallback);
-            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);
-            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}",
-                                    prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X"));
-        }
-        return ret;
-    }
-
-    // Creates a native shape and assignes it to prim.BSShape.
-    // "Native" shapes are never shared. they are created here and destroyed in DereferenceShape().
-    private bool GetReferenceToNativeShape(BSPhysObject prim,
-                            BSPhysicsShapeType shapeType, FixedShapeKey shapeKey,
-                            ShapeDestructionCallback shapeCallback)
-    {
-        // release any previous shape
-        DereferenceShape(prim.PhysShape, true, shapeCallback);
-
-        BulletShape newShape = BuildPhysicalNativeShape(prim, shapeType, shapeKey);
-
-        // Don't need to do a 'ReferenceShape()' here because native shapes are not shared.
-        if (DDetail) DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}",
-                                prim.LocalID, newShape, prim.Scale);
-
-        // native shapes are scaled by Bullet
-        prim.PhysShape = newShape;
-        return true;
-    }
-
-    private BulletShape BuildPhysicalNativeShape(BSPhysObject prim, BSPhysicsShapeType shapeType,
-                                    FixedShapeKey shapeKey)
-    {
-        BulletShape newShape;
-        // Need to make sure the passed shape information is for the native type.
-        ShapeData nativeShapeData = new ShapeData();
-        nativeShapeData.Type = shapeType;
-        nativeShapeData.ID = prim.LocalID;
-        nativeShapeData.Scale = prim.Scale;
-        nativeShapeData.Size = prim.Scale;  // unneeded, I think.
-        nativeShapeData.MeshKey = (ulong)shapeKey;
-        nativeShapeData.HullKey = (ulong)shapeKey;
-
-        if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE)
-        {
-            // The proper scale has been calculated in the prim.
-            newShape = new BulletShape(
-                        BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, prim.Scale)
-                        , shapeType);
-            if (DDetail) DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
-        }
-        else
-        {
-            // Native shapes are scaled in Bullet so set the scaling to the size
-            newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, nativeShapeData), shapeType);
-        }
-        if (!newShape.HasPhysicalShape)
-        {
-            PhysicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
-                                    LogHeader, prim.LocalID, shapeType);
-        }
-        newShape.shapeKey = (System.UInt64)shapeKey;
-        newShape.isNativeShape = true;
-
-        return newShape;
-    }
-
-    // Builds a mesh shape in the physical world and updates prim.BSShape.
-    // Dereferences previous shape in BSShape and adds a reference for this new shape.
-    // Returns 'true' of a mesh was actually built. Otherwise .
-    // Called at taint-time!
-    private bool GetReferenceToMesh(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
-    {
-        BulletShape newShape = new BulletShape();
-
-        float lod;
-        System.UInt64 newMeshKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
-
-        // if this new shape is the same as last time, don't recreate the mesh
-        if (newMeshKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_MESH)
-            return false;
-
-        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
-        DereferenceShape(prim.PhysShape, true, shapeCallback);
-
-        newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, prim.BaseShape, prim.Size, lod);
-        // Take evasive action if the mesh was not constructed.
-        newShape = VerifyMeshCreated(newShape, prim);
-
-        ReferenceShape(newShape);
-
-        prim.PhysShape = newShape;
-
-        return true;        // 'true' means a new shape has been added to this prim
-    }
-
-    private BulletShape CreatePhysicalMesh(string objName, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
-    {
-        IMesh meshData = null;
-        Object meshPtr = null;
-        MeshDesc meshDesc;
-        if (Meshes.TryGetValue(newMeshKey, out meshDesc))
-        {
-            // If the mesh has already been built just use it.
-            meshPtr = meshDesc.ptr;
-        }
-        else
-        {
-            meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false);
-
-            if (meshData != null)
-            {
-                int[] indices = meshData.getIndexListAsInt();
-                List<OMV.Vector3> vertices = meshData.getVertexList();
-
-                float[] verticesAsFloats = new float[vertices.Count * 3];
-                int vi = 0;
-                foreach (OMV.Vector3 vv in vertices)
-                {
-                    verticesAsFloats[vi++] = vv.X;
-                    verticesAsFloats[vi++] = vv.Y;
-                    verticesAsFloats[vi++] = vv.Z;
-                }
-
-                // m_log.DebugFormat("{0}: BSShapeCollection.CreatePhysicalMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}",
-                //                  LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count);
-
-                meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
-                                    indices.GetLength(0), indices, vertices.Count, verticesAsFloats);
-            }
-        }
-        BulletShape newShape = new BulletShape(meshPtr, BSPhysicsShapeType.SHAPE_MESH);
-        newShape.shapeKey = newMeshKey;
-
-        return newShape;
-    }
-
-    // See that hull shape exists in the physical world and update prim.BSShape.
-    // We could be creating the hull because scale changed or whatever.
-    private bool GetReferenceToHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
-    {
-        BulletShape newShape;
-
-        float lod;
-        System.UInt64 newHullKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
-
-        // if the hull hasn't changed, don't rebuild it
-        if (newHullKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_HULL)
-            return false;
-
-        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.
-        DereferenceShape(prim.PhysShape, true, shapeCallback);
-
-        newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, prim.BaseShape, prim.Size, lod);
-        newShape = VerifyMeshCreated(newShape, prim);
-
-        ReferenceShape(newShape);
-
-        prim.PhysShape = newShape;
-        return true;        // 'true' means a new shape has been added to this prim
-    }
-
-    List<ConvexResult> m_hulls;
-    private BulletShape CreatePhysicalHull(string objName, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
-    {
-
-        Object hullPtr = null;
-        HullDesc hullDesc;
-        if (Hulls.TryGetValue(newHullKey, out hullDesc))
-        {
-            // If the hull shape already is created, just use it.
-            hullPtr = hullDesc.ptr;
-        }
-        else
-        {
-            // Build a new hull in the physical world
-            // 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, true, false);
-            if (meshData != null)
-            {
-
-                int[] indices = meshData.getIndexListAsInt();
-                List<OMV.Vector3> vertices = meshData.getVertexList();
-
-                //format conversion from IMesh format to DecompDesc format
-                List<int> convIndices = new List<int>();
-                List<float3> convVertices = new List<float3>();
-                for (int ii = 0; ii < indices.GetLength(0); ii++)
-                {
-                    convIndices.Add(indices[ii]);
-                }
-                foreach (OMV.Vector3 vv in vertices)
-                {
-                    convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
-                }
-
-                // setup and do convex hull conversion
-                m_hulls = new List<ConvexResult>();
-                DecompDesc dcomp = new DecompDesc();
-                dcomp.mIndices = convIndices;
-                dcomp.mVertices = convVertices;
-                ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
-                // create the hull into the _hulls variable
-                convexBuilder.process(dcomp);
-
-                // Convert the vertices and indices for passing to unmanaged.
-                // The hull information is passed as a large floating point array.
-                // The format is:
-                //  convHulls[0] = number of hulls
-                //  convHulls[1] = number of vertices in first hull
-                //  convHulls[2] = hull centroid X coordinate
-                //  convHulls[3] = hull centroid Y coordinate
-                //  convHulls[4] = hull centroid Z coordinate
-                //  convHulls[5] = first hull vertex X
-                //  convHulls[6] = first hull vertex Y
-                //  convHulls[7] = first hull vertex Z
-                //  convHulls[8] = second hull vertex X
-                //  ...
-                //  convHulls[n] = number of vertices in second hull
-                //  convHulls[n+1] = second hull centroid X coordinate
-                //  ...
-                //
-                // TODO: is is very inefficient. Someday change the convex hull generator to return
-                //   data structures that do not need to be converted in order to pass to Bullet.
-                //   And maybe put the values directly into pinned memory rather than marshaling.
-                int hullCount = m_hulls.Count;
-                int totalVertices = 1;          // include one for the count of the hulls
-                foreach (ConvexResult cr in m_hulls)
-                {
-                    totalVertices += 4;                         // add four for the vertex count and centroid
-                    totalVertices += cr.HullIndices.Count * 3;  // we pass just triangles
-                }
-                float[] convHulls = new float[totalVertices];
-
-                convHulls[0] = (float)hullCount;
-                int jj = 1;
-                foreach (ConvexResult cr in m_hulls)
-                {
-                    // copy vertices for index access
-                    float3[] verts = new float3[cr.HullVertices.Count];
-                    int kk = 0;
-                    foreach (float3 ff in cr.HullVertices)
-                    {
-                        verts[kk++] = ff;
-                    }
-
-                    // add to the array one hull's worth of data
-                    convHulls[jj++] = cr.HullIndices.Count;
-                    convHulls[jj++] = 0f;   // centroid x,y,z
-                    convHulls[jj++] = 0f;
-                    convHulls[jj++] = 0f;
-                    foreach (int ind in cr.HullIndices)
-                    {
-                        convHulls[jj++] = verts[ind].x;
-                        convHulls[jj++] = verts[ind].y;
-                        convHulls[jj++] = verts[ind].z;
-                    }
-                }
-                // create the hull data structure in Bullet
-                hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls);
-            }
-        }
-
-        BulletShape newShape = new BulletShape(hullPtr, BSPhysicsShapeType.SHAPE_HULL);
-        newShape.shapeKey = newHullKey;
-
-        return newShape;
-    }
-
-    // Callback from convex hull creater with a newly created hull.
-    // Just add it to our collection of hulls for this shape.
-    private void HullReturn(ConvexResult result)
-    {
-        m_hulls.Add(result);
-        return;
-    }
-
-    // Compound shapes are always built from scratch.
-    // This shouldn't be to bad since most of the parts will be meshes that had been built previously.
-    private bool GetReferenceToCompoundShape(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
-    {
-        // Remove reference to the old shape
-        // Don't need to do this as the shape is freed when the new root shape is created below.
-        // DereferenceShape(prim.PhysShape, true, shapeCallback);
-
-        BulletShape cShape = new BulletShape(
-            BulletSimAPI.CreateCompoundShape2(PhysicsScene.World.ptr, false), BSPhysicsShapeType.SHAPE_COMPOUND);
-
-        // 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);
-        if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToCompoundShape,addRootPrim,compShape={1},rootShape={2}",
-                                    prim.LocalID, cShape, prim.PhysShape);
-
-        prim.PhysShape = cShape;
-
-        return true;
-    }
-
-    // Create a hash of all the shape parameters to be used as a key
-    //    for this particular shape.
-    private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs, out float retLod)
-    {
-        // level of detail based on size and type of the object
-        float lod = BSParam.MeshLOD;
-        if (pbs.SculptEntry)
-            lod = BSParam.SculptLOD;
-
-        // Mega prims usually get more detail because one can interact with shape approximations at this size.
-        float maxAxis = Math.Max(size.X, Math.Max(size.Y, size.Z));
-        if (maxAxis > BSParam.MeshMegaPrimThreshold)
-            lod = BSParam.MeshMegaPrimLOD;
-
-        retLod = lod;
-        return pbs.GetMeshKey(size, lod);
-    }
-    // For those who don't want the LOD
-    private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs)
-    {
-        float lod;
-        return ComputeShapeKey(size, pbs, out lod);
-    }
-
-    // The creation of a mesh or hull can fail if an underlying asset is not available.
-    // There are two cases: 1) the asset is not in the cache and it needs to be fetched;
-    //     and 2) the asset cannot be converted (like failed decompression of JPEG2000s).
-    //     The first case causes the asset to be fetched. The second case requires
-    //     us to not loop forever.
-    // Called after creating a physical mesh or hull. If the physical shape was created,
-    //     just return.
-    private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim)
-    {
-        // If the shape was successfully created, nothing more to do
-        if (newShape.HasPhysicalShape)
-            return newShape;
-
-        // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset
-        if (prim.BaseShape.SculptEntry && !prim.LastAssetBuildFailed && prim.BaseShape.SculptTexture != OMV.UUID.Zero)
-        {
-            prim.LastAssetBuildFailed = true;
-            BSPhysObject xprim = prim;
-            DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset,lID={1},lastFailed={2}",
-                            LogHeader, prim.LocalID, prim.LastAssetBuildFailed);
-            Util.FireAndForget(delegate
-                {
-                    RequestAssetDelegate assetProvider = PhysicsScene.RequestAssetMethod;
-                    if (assetProvider != null)
-                    {
-                        BSPhysObject yprim = xprim; // probably not necessary, but, just in case.
-                        assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset)
-                        {
-                            if (!yprim.BaseShape.SculptEntry)
-                                return;
-                            if (yprim.BaseShape.SculptTexture.ToString() != asset.ID)
-                                return;
-
-                            yprim.BaseShape.SculptData = asset.Data;
-                            // This will cause the prim to see that the filler shape is not the right
-                            //    one and try again to build the object.
-                            // No race condition with the normal shape setting since the rebuild is at taint time.
-                            yprim.ForceBodyShapeRebuild(false);
-
-                        });
-                    }
-                });
-        }
-        else
-        {
-            if (prim.LastAssetBuildFailed)
-            {
-                PhysicsScene.Logger.ErrorFormat("{0} Mesh failed to fetch asset. lID={1}, texture={2}",
-                                            LogHeader, prim.LocalID, prim.BaseShape.SculptTexture);
-            }
-        }
-
-        // While we figure out the real problem, stick a simple native shape on the object.
-        BulletShape fillinShape =
-            BuildPhysicalNativeShape(prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
-
-        return fillinShape;
-    }
-
-    // Create a body object in Bullet.
-    // Updates prim.BSBody with the information about the new body if one is created.
-    // Returns 'true' if an object was actually created.
-    // Called at taint-time.
-    private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletWorld sim, BulletShape shape,
-                            BodyDestructionCallback bodyCallback)
-    {
-        bool ret = false;
-
-        // the mesh, hull or native shape must have already been created in Bullet
-        bool mustRebuild = !prim.PhysBody.HasPhysicalBody;
-
-        // If there is an existing body, verify it's of an acceptable type.
-        // If not a solid object, body is a GhostObject. Otherwise a RigidBody.
-        if (!mustRebuild)
-        {
-            CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(prim.PhysBody.ptr);
-            if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY
-                || !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT)
-            {
-                // If the collisionObject is not the correct type for solidness, rebuild what's there
-                mustRebuild = true;
-            }
-        }
-
-        if (mustRebuild || forceRebuild)
-        {
-            // Free any old body
-            DereferenceBody(prim.PhysBody, true, bodyCallback);
-
-            BulletBody aBody;
-            Object bodyPtr = null;
-            if (prim.IsSolid)
-            {
-                bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr,
-                                        prim.LocalID, prim.RawPosition, prim.RawOrientation);
-                if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString());
-            }
-            else
-            {
-                bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr,
-                                        prim.LocalID, prim.RawPosition, prim.RawOrientation);
-                if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString());
-            }
-            aBody = new BulletBody(prim.LocalID, bodyPtr);
-
-            ReferenceBody(aBody, true);
-
-            prim.PhysBody = aBody;
-
-            ret = true;
-        }
-
-        return ret;
-    }
-
-    private bool TryGetMeshByPtr(Object addr, out MeshDesc outDesc)
-    {
-        bool ret = false;
-        MeshDesc foundDesc = new MeshDesc();
-        foreach (MeshDesc md in Meshes.Values)
-        {
-            if (md.ptr == addr)
-            {
-                foundDesc = md;
-                ret = true;
-                break;
-            }
-
-        }
-        outDesc = foundDesc;
-        return ret;
-    }
-
-    private bool TryGetHullByPtr(Object addr, out HullDesc outDesc)
-    {
-        bool ret = false;
-        HullDesc foundDesc = new HullDesc();
-        foreach (HullDesc hd in Hulls.Values)
-        {
-            if (hd.ptr == addr)
-            {
-                foundDesc = hd;
-                ret = true;
-                break;
-            }
-
-        }
-        outDesc = foundDesc;
-        return ret;
-    }
-
-    private void DetailLog(string msg, params Object[] args)
-    {
-        if (PhysicsScene.PhysicsLogging.Enabled)
-            PhysicsScene.DetailLog(msg, args);
-    }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSShapes.cs
deleted file mode 100644
index 8ff0275..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSShapes.cs
+++ /dev/null
@@ -1,208 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-public abstract class BSShape
-{
-    public Object ptr { get; set; }
-    public BSPhysicsShapeType type { get; set; }
-    public System.UInt64 key { get; set; }
-    public int referenceCount { get; set; }
-    public DateTime lastReferenced { get; set; }
-
-    public BSShape()
-    {
-        ptr = null;
-        type = BSPhysicsShapeType.SHAPE_UNKNOWN;
-        key = 0;
-        referenceCount = 0;
-        lastReferenced = DateTime.Now;
-    }
-
-    // Get a reference to a physical shape. Create if it doesn't exist
-    public static BSShape GetShapeReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
-    {
-        BSShape ret = null;
-
-        if (prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE)
-        {
-            // an avatar capsule is close to a native shape (it is not shared)
-            ret = BSShapeNative.GetReference(physicsScene, prim, BSPhysicsShapeType.SHAPE_CAPSULE,
-                                        FixedShapeKey.KEY_CAPSULE);
-            physicsScene.DetailLog("{0},BSShape.GetShapeReference,avatarCapsule,shape={1}", prim.LocalID, ret);
-        }
-
-        // Compound shapes are handled special as they are rebuilt from scratch.
-        // This isn't too great a hardship since most of the child shapes will already been created.
-        if (ret == null  && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND)
-        {
-            // Getting a reference to a compound shape gets you the compound shape with the root prim shape added
-            ret = BSShapeCompound.GetReference(prim);
-            physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, ret);
-        }
-
-        if (ret == null)
-            ret = GetShapeReferenceNonSpecial(physicsScene, forceRebuild, prim);
-
-        return ret;
-    }
-    public static BSShape GetShapeReferenceNonSpecial(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
-    {
-        return null;
-    }
-    public static BSShape GetShapeReferenceNonNative(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
-    {
-        return null;
-    }
-
-    // Release the use of a physical shape.
-    public abstract void Dereference(BSScene physicsScene);
-
-    // All shapes have a static call to get a reference to the physical shape
-    // protected abstract static BSShape GetReference();
-
-    public override string ToString()
-    {
-        StringBuilder buff = new StringBuilder();
-        buff.Append("<p=");
-        buff.Append(ptr.ToString());
-        buff.Append(",s=");
-        buff.Append(type.ToString());
-        buff.Append(",k=");
-        buff.Append(key.ToString("X"));
-        buff.Append(",c=");
-        buff.Append(referenceCount.ToString());
-        buff.Append(">");
-        return buff.ToString();
-    }
-}
-
-public class BSShapeNull : BSShape
-{
-    public BSShapeNull() : base()
-    {
-    }
-    public static BSShape GetReference() { return new BSShapeNull();  }
-    public override void Dereference(BSScene physicsScene) { /* The magic of garbage collection will make this go away */ }
-}
-
-public class BSShapeNative : BSShape
-{
-    private static string LogHeader = "[BULLETSIM SHAPE NATIVE]";
-    public BSShapeNative() : base()
-    {
-    }
-    public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim, 
-                    BSPhysicsShapeType shapeType, FixedShapeKey shapeKey) 
-    {
-        // Native shapes are not shared and are always built anew.
-        return new BSShapeNative(physicsScene, prim, shapeType, shapeKey);
-    }
-
-    private BSShapeNative(BSScene physicsScene, BSPhysObject prim,
-                    BSPhysicsShapeType shapeType, FixedShapeKey shapeKey)
-    {
-        ShapeData nativeShapeData = new ShapeData();
-        nativeShapeData.Type = shapeType;
-        nativeShapeData.ID = prim.LocalID;
-        nativeShapeData.Scale = prim.Scale;
-        nativeShapeData.Size = prim.Scale;
-        nativeShapeData.MeshKey = (ulong)shapeKey;
-        nativeShapeData.HullKey = (ulong)shapeKey;
-
-       
-        if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE)
-        {
-            ptr = BulletSimAPI.BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale);
-            physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
-        }
-        else
-        {
-            ptr = BulletSimAPI.BuildNativeShape2(physicsScene.World.ptr, nativeShapeData);
-        }
-        if (ptr == null)
-        {
-            physicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
-                                    LogHeader, prim.LocalID, shapeType);
-        }
-        type = shapeType;
-        key = (UInt64)shapeKey;
-    }
-    // Make this reference to the physical shape go away since native shapes are not shared.
-    public override void Dereference(BSScene physicsScene)
-    {
-        // Native shapes are not tracked and are released immediately
-        physicsScene.DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this);
-        BulletSimAPI.DeleteCollisionShape2(physicsScene.World.ptr, ptr);
-        ptr = null;
-        // Garbage collection will free up this instance.
-    }
-}
-
-public class BSShapeMesh : BSShape
-{
-    private static string LogHeader = "[BULLETSIM SHAPE MESH]";
-    private static Dictionary<System.UInt64, BSShapeMesh> Meshes = new Dictionary<System.UInt64, BSShapeMesh>();
-
-    public BSShapeMesh() : base()
-    {
-    }
-    public static BSShape GetReference() { return new BSShapeNull();  }
-    public override void Dereference(BSScene physicsScene) { }
-}
-
-public class BSShapeHull : BSShape
-{
-    private static string LogHeader = "[BULLETSIM SHAPE HULL]";
-    private static Dictionary<System.UInt64, BSShapeHull> Hulls = new Dictionary<System.UInt64, BSShapeHull>();
-
-    public BSShapeHull() : base()
-    {
-    }
-    public static BSShape GetReference() { return new BSShapeNull();  }
-    public override void Dereference(BSScene physicsScene) { }
-}
-
-public class BSShapeCompound : BSShape
-{
-    private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]";
-    public BSShapeCompound() : base()
-    {
-    }
-    public static BSShape GetReference(BSPhysObject prim) 
-    { 
-        return new BSShapeNull();
-    }
-    public override void Dereference(BSScene physicsScene) { }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainHeightmap.cs
deleted file mode 100644
index ba17059..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainHeightmap.cs
+++ /dev/null
@@ -1,175 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Text;
-
-using OpenSim.Framework;
-using OpenSim.Region.Framework;
-using OpenSim.Region.CoreModules;
-using OpenSim.Region.Physics.Manager;
-
-using Nini.Config;
-using log4net;
-
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-public sealed class BSTerrainHeightmap : BSTerrainPhys
-{
-    static string LogHeader = "[BULLETSIM TERRAIN HEIGHTMAP]";
-
-    BulletHeightMapInfo m_mapInfo = null;
-
-    // Constructor to build a default, flat heightmap terrain.
-    public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize)
-        : base(physicsScene, regionBase, id)
-    {
-        Vector3 minTerrainCoords = new Vector3(0f, 0f, BSTerrainManager.HEIGHT_INITIALIZATION - BSTerrainManager.HEIGHT_EQUAL_FUDGE);
-        Vector3 maxTerrainCoords = new Vector3(regionSize.X, regionSize.Y, BSTerrainManager.HEIGHT_INITIALIZATION);
-        int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y;
-        float[] initialMap = new float[totalHeights];
-        for (int ii = 0; ii < totalHeights; ii++)
-        {
-            initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION;
-        }
-        m_mapInfo = new BulletHeightMapInfo(id, initialMap, null);
-        m_mapInfo.minCoords = minTerrainCoords;
-        m_mapInfo.maxCoords = maxTerrainCoords;
-        m_mapInfo.terrainRegionBase = TerrainBase;
-        // Don't have to free any previous since we just got here.
-        BuildHeightmapTerrain();
-    }
-
-    // This minCoords and maxCoords passed in give the size of the terrain (min and max Z
-    //         are the high and low points of the heightmap).
-    public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, 
-                                                    Vector3 minCoords, Vector3 maxCoords)
-        : base(physicsScene, regionBase, id)
-    {
-        m_mapInfo = new BulletHeightMapInfo(id, initialMap, null);
-        m_mapInfo.minCoords = minCoords;
-        m_mapInfo.maxCoords = maxCoords;
-        m_mapInfo.minZ = minCoords.Z;
-        m_mapInfo.maxZ = maxCoords.Z;
-        m_mapInfo.terrainRegionBase = TerrainBase;
-
-        // Don't have to free any previous since we just got here.
-        BuildHeightmapTerrain();
-    }
-
-    public override void Dispose()
-    {
-        ReleaseHeightMapTerrain();
-    }
-
-    // Using the information in m_mapInfo, create the physical representation of the heightmap.
-    private void BuildHeightmapTerrain()
-    {
-        m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID,
-                                m_mapInfo.minCoords, m_mapInfo.maxCoords, 
-                                m_mapInfo.heightMap, BSParam.TerrainCollisionMargin);
-
-        // Create the terrain shape from the mapInfo
-        m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr),
-                                                    BSPhysicsShapeType.SHAPE_TERRAIN);
-
-        // The terrain object initial position is at the center of the object
-        Vector3 centerPos;
-        centerPos.X = m_mapInfo.minCoords.X + (m_mapInfo.sizeX / 2f);
-        centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f);
-        centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f - 0.5f);
-
-        m_mapInfo.terrainBody = new BulletBody(m_mapInfo.ID,
-                BulletSimAPI.CreateBodyWithDefaultMotionState2(m_mapInfo.terrainShape.ptr,
-                                            m_mapInfo.ID, centerPos, Quaternion.Identity));
-
-        // Set current terrain attributes
-        BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, BSParam.TerrainFriction);
-        BulletSimAPI.SetHitFraction2(m_mapInfo.terrainBody.ptr, BSParam.TerrainHitFraction);
-        BulletSimAPI.SetRestitution2(m_mapInfo.terrainBody.ptr, BSParam.TerrainRestitution);
-        BulletSimAPI.SetCollisionFlags2(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
-
-        // Return the new terrain to the world of physical objects
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr, centerPos, Quaternion.Identity);
-
-        // redo its bounding box now that it is in the world
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
-
-        m_mapInfo.terrainBody.collisionType = CollisionType.Terrain;
-        m_mapInfo.terrainBody.ApplyCollisionMask();
-
-        // Make it so the terrain will not move or be considered for movement.
-        BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
-
-        return;
-    }
-
-    // If there is information in m_mapInfo pointing to physical structures, release same.
-    private void ReleaseHeightMapTerrain()
-    {
-        if (m_mapInfo != null)
-        {
-            if (m_mapInfo.terrainBody.HasPhysicalBody)
-            {
-                BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
-                // Frees both the body and the shape.
-                BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
-                BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr);
-            }
-        }
-        m_mapInfo = null;
-    }
-
-    // The passed position is relative to the base of the region.
-    public override float GetTerrainHeightAtXYZ(Vector3 pos)
-    {
-        float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
-
-        int mapIndex = (int)pos.Y * (int)m_mapInfo.sizeY + (int)pos.X;
-        try
-        {
-            ret = m_mapInfo.heightMap[mapIndex];
-        }
-        catch
-        {
-            // Sometimes they give us wonky values of X and Y. Give a warning and return something.
-            PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}",
-                                LogHeader, m_mapInfo.terrainRegionBase, pos);
-            ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
-        }
-        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/BulletSNPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainManager.cs
deleted file mode 100644
index 66d62f0..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainManager.cs
+++ /dev/null
@@ -1,461 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Text;
-
-using OpenSim.Framework;
-using OpenSim.Region.Framework;
-using OpenSim.Region.CoreModules;
-using OpenSim.Region.Physics.Manager;
-
-using Nini.Config;
-using log4net;
-
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-
-// The physical implementation of the terrain is wrapped in this class.
-public abstract class BSTerrainPhys : IDisposable
-{
-    public enum TerrainImplementation
-    {
-        Heightmap   = 0,
-        Mesh        = 1
-    }
-
-    public BSScene PhysicsScene { get; private set; }
-    // Base of the region in world coordinates. Coordinates inside the region are relative to this.
-    public Vector3 TerrainBase { get; private set; }
-    public uint ID { get; private set; }
-
-    public BSTerrainPhys(BSScene physicsScene, Vector3 regionBase, uint id)
-    {
-        PhysicsScene = physicsScene;
-        TerrainBase = regionBase;
-        ID = id;
-    }
-    public abstract void Dispose();
-    public abstract float GetTerrainHeightAtXYZ(Vector3 pos);
-    public abstract float GetWaterLevelAtXYZ(Vector3 pos);
-}
-
-// ==========================================================================================
-public sealed class BSTerrainManager : IDisposable
-{
-    static string LogHeader = "[BULLETSIM TERRAIN MANAGER]";
-
-    // These height values are fractional so the odd values will be
-    //     noticable when debugging.
-    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.
-    public const float HEIGHT_EQUAL_FUDGE = 0.2f;
-
-    // Until the whole simulator is changed to pass us the region size, we rely on constants.
-    public Vector3 DefaultRegionSize = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
-
-    // The scene that I am part of
-    private BSScene PhysicsScene { get; set; }
-
-    // The ground plane created to keep thing from falling to infinity.
-    private BulletBody m_groundPlane;
-
-    // If doing mega-regions, if we're region zero we will be managing multiple
-    //    region terrains since region zero does the physics for the whole mega-region.
-    private Dictionary<Vector3, BSTerrainPhys> m_terrains;
-
-    // Flags used to know when to recalculate the height.
-    private bool m_terrainModified = false;
-
-    // If we are doing mega-regions, terrains are added from TERRAIN_ID to m_terrainCount.
-    // This is incremented before assigning to new region so it is the last ID allocated.
-    private uint m_terrainCount = BSScene.CHILDTERRAIN_ID - 1;
-    public uint HighestTerrainID { get {return m_terrainCount; } }
-
-    // If doing mega-regions, this holds our offset from region zero of
-    //     the mega-regions. "parentScene" points to the PhysicsScene of region zero.
-    private Vector3 m_worldOffset;
-    // If the parent region (region 0), this is the extent of the combined regions
-    //     relative to the origin of region zero
-    private Vector3 m_worldMax;
-    private PhysicsScene MegaRegionParentPhysicsScene { get; set; }
-
-    public BSTerrainManager(BSScene physicsScene)
-    {
-        PhysicsScene = physicsScene;
-        m_terrains = new Dictionary<Vector3,BSTerrainPhys>();
-
-        // Assume one region of default size
-        m_worldOffset = Vector3.Zero;
-        m_worldMax = new Vector3(DefaultRegionSize);
-        MegaRegionParentPhysicsScene = null;
-    }
-
-    public void Dispose()
-    {
-        ReleaseGroundPlaneAndTerrain();
-    }
-
-    // Create the initial instance of terrain and the underlying ground plane.
-    // This is called from the initialization routine so we presume it is
-    //    safe to call Bullet in real time. We hope no one is moving prims around yet.
-    public void CreateInitialGroundPlaneAndTerrain()
-    {
-        // The ground plane is here to catch things that are trying to drop to negative infinity
-        BulletShape groundPlaneShape = new BulletShape(
-                    BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, 
-                                    BSParam.TerrainCollisionMargin),
-                    BSPhysicsShapeType.SHAPE_GROUNDPLANE);
-        m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID,
-                        BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID,
-                                                            Vector3.Zero, Quaternion.Identity));
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr, Vector3.Zero, Quaternion.Identity);
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_groundPlane.ptr);
-        // Ground plane does not move
-        BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION);
-        // Everything collides with the ground plane.
-        m_groundPlane.collisionType = CollisionType.Groundplane;
-        m_groundPlane.ApplyCollisionMask();
-
-        // 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);
-        m_terrains.Add(Vector3.Zero, initialTerrain);
-    }
-
-    // Release all the terrain structures we might have allocated
-    public void ReleaseGroundPlaneAndTerrain()
-    {
-        if (m_groundPlane.HasPhysicalBody)
-        {
-            if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr))
-            {
-                BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_groundPlane.ptr);
-            }
-            m_groundPlane.Clear();
-        }
-
-        ReleaseTerrain();
-    }
-
-    // Release all the terrain we have allocated
-    public void ReleaseTerrain()
-    {
-        lock (m_terrains)
-        {
-            foreach (KeyValuePair<Vector3, BSTerrainPhys> kvp in m_terrains)
-            {
-                kvp.Value.Dispose();
-            }
-            m_terrains.Clear();
-        }
-    }
-
-    // The simulator wants to set a new heightmap for the terrain.
-    public void SetTerrain(float[] heightMap) {
-        float[] localHeightMap = heightMap;
-        // If there are multiple requests for changes to the same terrain between ticks,
-        //      only do that last one.
-        PhysicsScene.PostTaintObject("TerrainManager.SetTerrain-"+ m_worldOffset.ToString(), 0, delegate()
-        {
-            if (m_worldOffset != Vector3.Zero && MegaRegionParentPhysicsScene != null)
-            {
-                // If a child of a mega-region, we shouldn't have any terrain allocated for us
-                ReleaseGroundPlaneAndTerrain();
-                // If doing the mega-prim stuff and we are the child of the zero region,
-                //    the terrain is added to our parent
-                if (MegaRegionParentPhysicsScene is BSScene)
-                {
-                    DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}",
-                                    BSScene.DetailLogZero, m_worldOffset, m_worldMax);
-                    ((BSScene)MegaRegionParentPhysicsScene).TerrainManager.UpdateTerrain(
-                                    BSScene.CHILDTERRAIN_ID, localHeightMap, 
-                                    m_worldOffset, m_worldOffset + DefaultRegionSize, true);
-                }
-            }
-            else
-            {
-                // If not doing the mega-prim thing, just change the terrain
-                DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero);
-
-                UpdateTerrain(BSScene.TERRAIN_ID, localHeightMap,
-                                    m_worldOffset, m_worldOffset + DefaultRegionSize, true);
-            }
-        });
-    }
-
-    // If called with no mapInfo for the terrain, this will create a new mapInfo and terrain
-    //     based on the passed information. The 'id' should be either the terrain id or
-    //     BSScene.CHILDTERRAIN_ID. If the latter, a new child terrain ID will be allocated and used.
-    //     The latter feature is for creating child terrains for mega-regions.
-    // If called with a mapInfo in m_heightMaps and there is an existing terrain body, a new
-    //     terrain shape is created and added to the body.
-    //     This call is most often used to update the heightMap and parameters of the terrain.
-    // (The above does suggest that some simplification/refactoring is in order.)
-    // Called during taint-time.
-    private void UpdateTerrain(uint id, float[] heightMap, 
-                            Vector3 minCoords, Vector3 maxCoords, bool inTaintTime)
-    {
-        DetailLog("{0},BSTerrainManager.UpdateTerrain,call,minC={1},maxC={2},inTaintTime={3}",
-                            BSScene.DetailLogZero, minCoords, maxCoords, inTaintTime);
-
-        // Find high and low points of passed heightmap.
-        // The min and max passed in is usually the area objects can be in (maximum
-        //     object height, for instance). The terrain wants the bounding box for the
-        //     terrain so replace passed min and max Z with the actual terrain min/max Z.
-        float minZ = float.MaxValue;
-        float maxZ = float.MinValue;
-        foreach (float height in heightMap)
-        {
-            if (height < minZ) minZ = height;
-            if (height > maxZ) maxZ = height;
-        }
-        if (minZ == maxZ)
-        {
-            // If min and max are the same, reduce min a little bit so a good bounding box is created.
-            minZ -= BSTerrainManager.HEIGHT_EQUAL_FUDGE;
-        }
-        minCoords.Z = minZ;
-        maxCoords.Z = maxZ;
-
-        Vector3 terrainRegionBase = new Vector3(minCoords.X, minCoords.Y, 0f);
-
-        lock (m_terrains)
-        {
-            BSTerrainPhys terrainPhys;
-            if (m_terrains.TryGetValue(terrainRegionBase, out terrainPhys))
-            {
-                // There is already a terrain in this spot. Free the old and build the new.
-                DetailLog("{0},UpdateTerrain:UpdateExisting,call,id={1},base={2},minC={3},maxC={4}",
-                                BSScene.DetailLogZero, id, terrainRegionBase, minCoords, minCoords);
-
-                // Remove old terrain from the collection
-                m_terrains.Remove(terrainRegionBase);
-                // Release any physical memory it may be using.
-                terrainPhys.Dispose();
-
-                if (MegaRegionParentPhysicsScene == null)
-                {
-                    BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords);
-                    m_terrains.Add(terrainRegionBase, newTerrainPhys);
-
-                    m_terrainModified = true;
-                }
-                else
-                {
-                    // It's possible that Combine() was called after this code was queued.
-                    // If we are a child of combined regions, we don't create any terrain for us.
-                    DetailLog("{0},BSTerrainManager.UpdateTerrain:AmACombineChild,taint", BSScene.DetailLogZero);
-
-                    // Get rid of any terrain that may have been allocated for us.
-                    ReleaseGroundPlaneAndTerrain();
-
-                    // I hate doing this, but just bail
-                    return;
-                }
-            }
-            else
-            {
-                // We don't know about this terrain so either we are creating a new terrain or
-                //    our mega-prim child is giving us a new terrain to add to the phys world
-
-                // if this is a child terrain, calculate a unique terrain id
-                uint newTerrainID = id;
-                if (newTerrainID >= BSScene.CHILDTERRAIN_ID)
-                    newTerrainID = ++m_terrainCount;
-
-                DetailLog("{0},UpdateTerrain:NewTerrain,taint,newID={1},minCoord={2},maxCoord={3}",
-                                            BSScene.DetailLogZero, newTerrainID, minCoords, minCoords);
-                BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords);
-                m_terrains.Add(terrainRegionBase, newTerrainPhys);
-
-                m_terrainModified = true;
-            }
-        }
-    }
-
-    // TODO: redo terrain implementation selection to allow other base types than heightMap.
-    private BSTerrainPhys BuildPhysicalTerrain(Vector3 terrainRegionBase, uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords)
-    {
-        PhysicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}", 
-                                            LogHeader, PhysicsScene.RegionName, terrainRegionBase, 
-                                            (BSTerrainPhys.TerrainImplementation)BSParam.TerrainImplementation);
-        BSTerrainPhys newTerrainPhys = null;
-        switch ((int)BSParam.TerrainImplementation)
-        {
-            case (int)BSTerrainPhys.TerrainImplementation.Heightmap:
-                newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, terrainRegionBase, id,
-                                            heightMap, minCoords, maxCoords);
-                break;
-            case (int)BSTerrainPhys.TerrainImplementation.Mesh:
-                newTerrainPhys = new BSTerrainMesh(PhysicsScene, terrainRegionBase, id,
-                                            heightMap, minCoords, maxCoords);
-                break;
-            default:
-                PhysicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. Type={1}/{2},Region={3}/{4}",
-                                            LogHeader, 
-                                            (int)BSParam.TerrainImplementation, 
-                                            BSParam.TerrainImplementation,
-                                            PhysicsScene.RegionName, terrainRegionBase);
-                break;
-        }
-        return newTerrainPhys;
-    }
-
-    // Return 'true' of this position is somewhere in known physical terrain space
-    public bool IsWithinKnownTerrain(Vector3 pos)
-    {
-        Vector3 terrainBaseXYZ;
-        BSTerrainPhys physTerrain;
-        return GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ);
-    }
-
-    // Given an X and Y, find the height of the terrain.
-    // Since we could be handling multiple terrains for a mega-region,
-    //    the base of the region is calcuated assuming all regions are
-    //    the same size and that is the default.
-    // Once the heightMapInfo is found, we have all the information to
-    //    compute the offset into the array.
-    private float lastHeightTX = 999999f;
-    private float lastHeightTY = 999999f;
-    private float lastHeight = HEIGHT_INITIAL_LASTHEIGHT;
-    public float GetTerrainHeightAtXYZ(Vector3 pos)
-    {
-        float tX = pos.X;
-        float tY = pos.Y;
-        // You'd be surprized at the number of times this routine is called
-        //    with the same parameters as last time.
-        if (!m_terrainModified && (lastHeightTX == tX) && (lastHeightTY == tY))
-            return lastHeight;
-        m_terrainModified = false;
-
-        lastHeightTX = tX;
-        lastHeightTY = tY;
-        float ret = HEIGHT_GETHEIGHT_RET;
-
-        Vector3 terrainBaseXYZ;
-        BSTerrainPhys physTerrain;
-        if (GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ))
-        {
-            ret = physTerrain.GetTerrainHeightAtXYZ(pos - terrainBaseXYZ);
-        }
-        else
-        {
-            PhysicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}",
-                    LogHeader, PhysicsScene.RegionName, tX, tY);
-            DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXYZ,terrainNotFound,pos={1},base={2}",
-                                BSScene.DetailLogZero, pos, terrainBaseXYZ);
-        }
-
-        lastHeight = ret;
-        return ret;
-    }
-
-    public float GetWaterLevelAtXYZ(Vector3 pos)
-    {
-        float ret = WATER_HEIGHT_GETHEIGHT_RET;
-
-        Vector3 terrainBaseXYZ;
-        BSTerrainPhys physTerrain;
-        if (GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ))
-        {
-            ret = physTerrain.GetWaterLevelAtXYZ(pos);
-        }
-        else
-        {
-            PhysicsScene.Logger.ErrorFormat("{0} GetWaterHeightAtXY: terrain not found: pos={1}, terrainBase={2}, height={3}",
-                    LogHeader, PhysicsScene.RegionName, pos, terrainBaseXYZ, ret);
-        }
-        return ret;
-    }
-
-    // Given an address, return 'true' of there is a description of that terrain and output
-    //    the descriptor class and the 'base' fo the addresses therein.
-    private bool GetTerrainPhysicalAtXYZ(Vector3 pos, out BSTerrainPhys outPhysTerrain, out Vector3 outTerrainBase)
-    {
-        int offsetX = ((int)(pos.X / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X;
-        int offsetY = ((int)(pos.Y / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y;
-        Vector3 terrainBaseXYZ = new Vector3(offsetX, offsetY, 0f);
-
-        BSTerrainPhys physTerrain = null;
-        lock (m_terrains)
-        {
-            m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain);
-        }
-        outTerrainBase = terrainBaseXYZ;
-        outPhysTerrain = physTerrain;
-        return (physTerrain != null);
-    }
-
-    // Although no one seems to check this, I do support combining.
-    public bool SupportsCombining()
-    {
-        return true;
-    }
-
-    // This routine is called two ways:
-    //    One with 'offset' and 'pScene' zero and null but 'extents' giving the maximum
-    //        extent of the combined regions. This is to inform the parent of the size
-    //        of the combined regions.
-    //    and one with 'offset' as the offset of the child region to the base region,
-    //        'pScene' pointing to the parent and 'extents' of zero. This informs the
-    //        child of its relative base and new parent.
-    public void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
-    {
-        m_worldOffset = offset;
-        m_worldMax = extents;
-        MegaRegionParentPhysicsScene = pScene;
-        if (pScene != null)
-        {
-            // We are a child.
-            // We want m_worldMax to be the highest coordinate of our piece of terrain.
-            m_worldMax = offset + DefaultRegionSize;
-        }
-        DetailLog("{0},BSTerrainManager.Combine,offset={1},extents={2},wOffset={3},wMax={4}",
-                        BSScene.DetailLogZero, offset, extents, m_worldOffset, m_worldMax);
-    }
-
-    // Unhook all the combining that I know about.
-    public void UnCombine(PhysicsScene pScene)
-    {
-        // Just like ODE, we don't do anything yet.
-        DetailLog("{0},BSTerrainManager.UnCombine", BSScene.DetailLogZero);
-    }
-
-
-    private void DetailLog(string msg, params Object[] args)
-    {
-        PhysicsScene.PhysicsLogging.Write(msg, args);
-    }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainMesh.cs
deleted file mode 100644
index 6083dd4..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainMesh.cs
+++ /dev/null
@@ -1,267 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Text;
-
-using OpenSim.Framework;
-using OpenSim.Region.Framework;
-using OpenSim.Region.CoreModules;
-using OpenSim.Region.Physics.Manager;
-
-using Nini.Config;
-using log4net;
-
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-public sealed class BSTerrainMesh : BSTerrainPhys
-{
-    static string LogHeader = "[BULLETSIM TERRAIN MESH]";
-
-    private float[] m_savedHeightMap;
-    int m_sizeX;
-    int m_sizeY;
-
-    BulletShape m_terrainShape;
-    BulletBody m_terrainBody;
-
-    public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize) 
-        : base(physicsScene, regionBase, id)
-    {
-    }
-
-    public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id /* parameters for making mesh */)
-        : base(physicsScene, regionBase, id)
-    {
-    }
-
-    // Create terrain mesh from a heightmap.
-    public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, 
-                                                    Vector3 minCoords, Vector3 maxCoords)
-        : base(physicsScene, regionBase, id)
-    {
-        int indicesCount;
-        int[] indices;
-        int verticesCount;
-        float[] vertices;
-
-        m_savedHeightMap = initialMap;
-
-        m_sizeX = (int)(maxCoords.X - minCoords.X);
-        m_sizeY = (int)(maxCoords.Y - minCoords.Y);
-
-        if (!BSTerrainMesh.ConvertHeightmapToMesh(PhysicsScene, initialMap,
-                            m_sizeX, m_sizeY,
-                            (float)m_sizeX, (float)m_sizeY,
-                            Vector3.Zero, 1.0f,
-                            out indicesCount, out indices, out verticesCount, out vertices))
-        {
-            // DISASTER!!
-            PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap", ID);
-            PhysicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh! base={1}", LogHeader, TerrainBase);
-            // 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),
-                                        BSPhysicsShapeType.SHAPE_MESH);
-        if (!m_terrainShape.HasPhysicalShape)
-        {
-            // DISASTER!!
-            PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape", ID);
-            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;
-        }
-
-        Vector3 pos = regionBase;
-        Quaternion rot = Quaternion.Identity;
-
-        m_terrainBody = new BulletBody(id, BulletSimAPI.CreateBodyWithDefaultMotionState2( m_terrainShape.ptr, ID, pos, rot));
-        if (!m_terrainBody.HasPhysicalBody)
-        {
-            // DISASTER!!
-            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;
-        }
-
-        // Set current terrain attributes
-        BulletSimAPI.SetFriction2(m_terrainBody.ptr, BSParam.TerrainFriction);
-        BulletSimAPI.SetHitFraction2(m_terrainBody.ptr, BSParam.TerrainHitFraction);
-        BulletSimAPI.SetRestitution2(m_terrainBody.ptr, BSParam.TerrainRestitution);
-        BulletSimAPI.SetCollisionFlags2(m_terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
-
-        // Static objects are not very massive.
-        BulletSimAPI.SetMassProps2(m_terrainBody.ptr, 0f, Vector3.Zero);
-
-        // Put the new terrain to the world of physical objects
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr, pos, rot);
-
-        // Redo its bounding box now that it is in the world
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr);
-
-        m_terrainBody.collisionType = CollisionType.Terrain;
-        m_terrainBody.ApplyCollisionMask();
-
-        // Make it so the terrain will not move or be considered for movement.
-        BulletSimAPI.ForceActivationState2(m_terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
-    }
-
-    public override void Dispose()
-    {
-        if (m_terrainBody.HasPhysicalBody)
-        {
-            BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr);
-            // Frees both the body and the shape.
-            BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_terrainBody.ptr);
-        }
-    }
-
-    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.
-        float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
-
-        int mapIndex = (int)pos.Y * m_sizeY + (int)pos.X;
-        try
-        {
-            ret = m_savedHeightMap[mapIndex];
-        }
-        catch
-        {
-            // Sometimes they give us wonky values of X and Y. Give a warning and return something.
-            PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}",
-                                                LogHeader, TerrainBase, pos);
-            ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
-        }
-        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(
-                                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
-                                float magnification,                        // number of vertices to create between heightMap coords
-                                out int indicesCountO, out int[] indicesO,
-                                out int verticesCountO, out float[] verticesO)
-    {
-        bool ret = false;
-
-        int indicesCount = 0;
-        int verticesCount = 0;
-        int[] indices = new int[0];
-        float[] vertices = new float[0];
-
-        // 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.
-            int totalVertices = (sizeX + 1) * (sizeY + 1);
-            vertices = new float[totalVertices * 3];
-            int totalIndices = sizeX * sizeY * 6;
-            indices = new int[totalIndices];
-
-            float magX = (float)sizeX / extentX;
-            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 go around sizeX + 1 times
-                {
-                    int offset = yy * sizeX + xx;
-                    // 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;
-                    verticesCount += 3;
-                }
-            }
-            verticesCount = verticesCount / 3;
-
-            for (int yy = 0; yy < sizeY; yy++)
-            {
-                for (int xx = 0; xx < 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;
-                    indices[indicesCount + 2] = offset + sizeX + 1; // accounting for the extra column
-                    indices[indicesCount + 3] = offset + 1;
-                    indices[indicesCount + 4] = offset + sizeX + 2;
-                    indices[indicesCount + 5] = offset + sizeX + 1;
-                    indicesCount += 6;
-                }
-            }
-
-            ret = true;
-        }
-        catch (Exception e)
-        {
-            physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh. For={1}/{2}, e={3}",
-                                                LogHeader, physicsScene.RegionName, extentBase, e);
-        }
-
-        indicesCountO = indicesCount;
-        indicesO = indices;
-        verticesCountO = verticesCount;
-        verticesO = vertices;
-
-        return ret;
-    }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs
deleted file mode 100644
index 93643c9..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs
+++ /dev/null
@@ -1,1603 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.IO;
-using System.Runtime.InteropServices;
-using System.Security;
-using System.Text;
-using BulletXNA;
-using OpenMetaverse;
-using BulletXNA.LinearMath;
-using BulletXNA.BulletCollision;
-using BulletXNA.BulletDynamics;
-using BulletXNA.BulletCollision.CollisionDispatch;
-using OpenSim.Framework;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin {
-
-// Classes to allow some type checking for the API
-// These hold pointers to allocated objects in the unmanaged space.
-
-
-
-    // Constraint type values as defined by Bullet
-public enum ConstraintType : int
-{
-        POINT2POINT_CONSTRAINT_TYPE = 3,
-        HINGE_CONSTRAINT_TYPE,
-        CONETWIST_CONSTRAINT_TYPE,
-        D6_CONSTRAINT_TYPE,
-        SLIDER_CONSTRAINT_TYPE,
-        CONTACT_CONSTRAINT_TYPE,
-        D6_SPRING_CONSTRAINT_TYPE,
-        MAX_CONSTRAINT_TYPE
-}
-
-// ===============================================================================
-[StructLayout(LayoutKind.Sequential)]
-public struct ConvexHull
-{
-        Vector3 Offset;
-        int VertexCount;
-        Vector3[] Vertices;
-}
-public enum BSPhysicsShapeType
-{
-        SHAPE_UNKNOWN   = 0,
-        SHAPE_CAPSULE   = 1,
-        SHAPE_BOX       = 2,
-        SHAPE_CONE      = 3,
-        SHAPE_CYLINDER  = 4,
-        SHAPE_SPHERE    = 5,
-        SHAPE_MESH      = 6,
-        SHAPE_HULL      = 7,
-    // following defined by BulletSim
-        SHAPE_GROUNDPLANE  = 20,
-        SHAPE_TERRAIN   = 21,
-        SHAPE_COMPOUND  = 22,
-        SHAPE_HEIGHTMAP = 23,
-};
-
-// The native shapes have predefined shape hash keys
-public enum FixedShapeKey : ulong
-{
-    KEY_NONE        = 0,
-    KEY_BOX         = 1,
-    KEY_SPHERE      = 2,
-    KEY_CONE        = 3,
-    KEY_CYLINDER    = 4,
-    KEY_CAPSULE     = 5,
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public struct ShapeData
-{
-    public uint ID;
-    public BSPhysicsShapeType Type;
-    public Vector3 Position;
-    public Quaternion Rotation;
-    public Vector3 Velocity;
-    public Vector3 Scale;
-    public float Mass;
-    public float Buoyancy;
-    public System.UInt64 HullKey;
-    public System.UInt64 MeshKey;
-    public float Friction;
-    public float Restitution;
-    public float Collidable;    // true of things bump into this
-    public float Static;        // true if a static object. Otherwise gravity, etc.
-    public float Solid;         // true if object cannot be passed through
-    public Vector3 Size;
-
-    // note that bools are passed as floats since bool size changes by language and architecture
-    public const float numericTrue = 1f;
-    public const float numericFalse = 0f;
-}
-[StructLayout(LayoutKind.Sequential)]
-public struct SweepHit
-{
-    public uint ID;
-    public float Fraction;
-    public Vector3 Normal;
-    public Vector3 Point;
-}
-[StructLayout(LayoutKind.Sequential)]
-public struct RaycastHit
-{
-    public uint ID;
-    public float Fraction;
-    public Vector3 Normal;
-}
-[StructLayout(LayoutKind.Sequential)]
-public struct CollisionDesc
-{
-    public uint aID;
-    public uint bID;
-    public Vector3 point;
-    public Vector3 normal;
-}
-[StructLayout(LayoutKind.Sequential)]
-public struct EntityProperties
-{
-    public uint ID;
-    public Vector3 Position;
-    public Quaternion Rotation;
-    public Vector3 Velocity;
-    public Vector3 Acceleration;
-    public Vector3 RotationalVelocity;
-    public override string ToString()
-    {
-        return string.Format("ID:{0}, Pos:<{1:F},{2:F},{3:F}>, Rot:<{4:F},{5:F},{6:F},{7:F}>, LVel:<{8:F},{9:F},{10:F}>, AVel:<{11:F},{12:F},{13:F}>",
-            ID.ToString(),
-            Position.X,Position.Y,Position.Z,
-            Rotation.X,Rotation.Y,Rotation.Z,Rotation.W,
-            Velocity.X,Velocity.Y,Velocity.Z,
-            RotationalVelocity.X,RotationalVelocity.Y,RotationalVelocity.Z
-            );
-    }
-}
-
-// Format of this structure must match the definition in the C++ code
-// NOTE: adding the X causes compile breaks if used. These are unused symbols
-//      that can be removed from both here and the unmanaged definition of this structure.
-[StructLayout(LayoutKind.Sequential)]
-public struct ConfigurationParameters
-{
-    public float defaultFriction;
-    public float defaultDensity;
-    public float defaultRestitution;
-    public float collisionMargin;
-    public float gravity;
-
-    public float XlinearDamping;
-    public float XangularDamping;
-    public float XdeactivationTime;
-    public float XlinearSleepingThreshold;
-    public float XangularSleepingThreshold;
-        public float XccdMotionThreshold;
-        public float XccdSweptSphereRadius;
-    public float XcontactProcessingThreshold;
-
-    public float XterrainImplementation;
-    public float XterrainFriction;
-    public float XterrainHitFraction;
-    public float XterrainRestitution;
-    public float XterrainCollisionMargin;
-
-    public float XavatarFriction;
-    public float XavatarStandingFriction;
-    public float XavatarDensity;
-    public float XavatarRestitution;
-    public float XavatarCapsuleWidth;
-    public float XavatarCapsuleDepth;
-    public float XavatarCapsuleHeight;
-        public float XavatarContactProcessingThreshold;
-
-    public float XvehicleAngularDamping;
-
-        public float maxPersistantManifoldPoolSize;
-        public float maxCollisionAlgorithmPoolSize;
-        public float shouldDisableContactPoolDynamicAllocation;
-        public float shouldForceUpdateAllAabbs;
-        public float shouldRandomizeSolverOrder;
-        public float shouldSplitSimulationIslands;
-        public float shouldEnableFrictionCaching;
-        public float numberOfSolverIterations;
-
-    public float XlinksetImplementation;
-    public float XlinkConstraintUseFrameOffset;
-    public float XlinkConstraintEnableTransMotor;
-    public float XlinkConstraintTransMotorMaxVel;
-    public float XlinkConstraintTransMotorMaxForce;
-    public float XlinkConstraintERP;
-    public float XlinkConstraintCFM;
-    public float XlinkConstraintSolverIterations;
-
-    public float physicsLoggingFrames;
-
-    public const float numericTrue = 1f;
-    public const float numericFalse = 0f;
-}
-
-
-// The states a bullet collision object can have
-
-public enum ActivationState : uint
-{
-    UNDEFINED = 0,
-    ACTIVE_TAG = 1,
-    ISLAND_SLEEPING = 2,
-    WANTS_DEACTIVATION = 3,
-    DISABLE_DEACTIVATION = 4,
-    DISABLE_SIMULATION = 5,
-}
-
-public enum CollisionObjectTypes : int
-{
-    CO_COLLISION_OBJECT             = 1 << 0,
-    CO_RIGID_BODY                   = 1 << 1,
-    CO_GHOST_OBJECT                 = 1 << 2,
-    CO_SOFT_BODY                    = 1 << 3,
-    CO_HF_FLUID                     = 1 << 4,
-    CO_USER_TYPE                    = 1 << 5,
-}
-
-// Values used by Bullet and BulletSim to control object properties.
-// Bullet's "CollisionFlags" has more to do with operations on the
-//    object (if collisions happen, if gravity effects it, ...).
-    [Flags]
-public enum CollisionFlags : uint
-{
-    CF_STATIC_OBJECT                 = 1 << 0,
-    CF_KINEMATIC_OBJECT              = 1 << 1,
-    CF_NO_CONTACT_RESPONSE           = 1 << 2,
-    CF_CUSTOM_MATERIAL_CALLBACK      = 1 << 3,
-    CF_CHARACTER_OBJECT              = 1 << 4,
-    CF_DISABLE_VISUALIZE_OBJECT      = 1 << 5,
-    CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
-    // Following used by BulletSim to control collisions and updates
-    BS_SUBSCRIBE_COLLISION_EVENTS    = 1 << 10,
-    BS_FLOATS_ON_WATER               = 1 << 11,
-    BS_VEHICLE_COLLISIONS            = 1 << 12,
-    BS_NONE                          = 0,
-    BS_ALL                           = 0xFFFFFFFF,
-
-    // These are the collision flags switched depending on physical state.
-    // The other flags are used for other things and should not be fooled with.
-    BS_ACTIVE = CF_STATIC_OBJECT
-                | CF_KINEMATIC_OBJECT
-                | CF_NO_CONTACT_RESPONSE
-};
-
-// Values for collisions groups and masks
-public enum CollisionFilterGroups : uint
-{
-    // Don't use the bit definitions!!  Define the use in a
-    //   filter/mask definition below. This way collision interactions
-    //   are more easily debugged.
-    BNoneGroup              = 0,
-    BDefaultGroup           = 1 << 0,
-    BStaticGroup            = 1 << 1,
-    BKinematicGroup         = 1 << 2,
-    BDebrisGroup            = 1 << 3,
-    BSensorTrigger          = 1 << 4,
-    BCharacterGroup         = 1 << 5,
-    BAllGroup               = 0xFFFFFFFF,
-    // Filter groups defined by BulletSim
-    BGroundPlaneGroup       = 1 << 10,
-    BTerrainGroup           = 1 << 11,
-    BRaycastGroup           = 1 << 12,
-    BSolidGroup             = 1 << 13,
-    // BLinksetGroup        = xx  // a linkset proper is either static or dynamic
-    BLinksetChildGroup      = 1 << 14,
-    // The collsion filters and masked are defined in one place -- don't want them scattered
-    AvatarGroup             = BCharacterGroup,
-    AvatarMask              = BAllGroup,
-    ObjectGroup             = BSolidGroup,
-    ObjectMask              = BAllGroup,
-    StaticObjectGroup       = BStaticGroup,
-    StaticObjectMask        = AvatarGroup | ObjectGroup,    // static things don't interact with much
-    LinksetGroup            =  BLinksetChildGroup,
-    LinksetMask             = BAllGroup & ~BLinksetChildGroup, // linkset objects don't collide with each other
-    VolumeDetectGroup       = BSensorTrigger,
-    VolumeDetectMask        = ~BSensorTrigger,
-    TerrainGroup            = BTerrainGroup,
-    TerrainMask             = BAllGroup & ~BStaticGroup,  // static objects on the ground don't collide
-    GroundPlaneGroup        = BGroundPlaneGroup,
-    GroundPlaneMask         = BAllGroup
-
-};
-
-// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
-// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2.
-public enum ConstraintParams : int
-{
-    BT_CONSTRAINT_ERP = 1,  // this one is not used in Bullet as of 20120730
-    BT_CONSTRAINT_STOP_ERP,
-    BT_CONSTRAINT_CFM,
-    BT_CONSTRAINT_STOP_CFM,
-};
-public enum ConstraintParamAxis : int
-{
-    AXIS_LINEAR_X = 0,
-    AXIS_LINEAR_Y,
-    AXIS_LINEAR_Z,
-    AXIS_ANGULAR_X,
-    AXIS_ANGULAR_Y,
-    AXIS_ANGULAR_Z,
-    AXIS_LINEAR_ALL = 20,    // these last three added by BulletSim so we don't have to do zillions of calls
-    AXIS_ANGULAR_ALL,
-    AXIS_ALL
-};
-
-// ===============================================================================
-static class BulletSimAPI {
-    private static int m_collisionsThisFrame;
-    public delegate void DebugLogCallback(string msg);
-    /// <summary>
-    /// 
-    /// </summary>
-    /// <param name="p"></param>
-    /// <param name="p_2"></param>
-    internal static bool RemoveObjectFromWorld2(object pWorld, object pBody)
-    {
-        DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
-        RigidBody body = pBody as RigidBody;
-        world.RemoveRigidBody(body);
-        return true;
-    }
-
-    internal static void SetRestitution2(object pBody, float pRestitution)
-    {
-        RigidBody body = pBody as RigidBody;
-        body.SetRestitution(pRestitution);
-    }
-
-    internal static void SetMargin2(object pShape, float pMargin)
-    {
-        CollisionShape shape = pShape as CollisionShape;
-        shape.SetMargin(pMargin);
-    }
-
-    internal static void SetLocalScaling2(object pShape, Vector3 pScale)
-    {
-        CollisionShape shape = pShape as CollisionShape;
-        IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
-        shape.SetLocalScaling(ref vec);
-
-    }
-
-    internal static void SetContactProcessingThreshold2(object pBody, float contactprocessingthreshold)
-    {
-        RigidBody body = pBody as RigidBody;
-        body.SetContactProcessingThreshold(contactprocessingthreshold);
-    }
-
-    internal static void SetCcdMotionThreshold2(object pBody, float pccdMotionThreashold)
-    {
-        RigidBody body = pBody as RigidBody;
-        body.SetCcdMotionThreshold(pccdMotionThreashold);
-    }
-
-    internal static void SetCcdSweptSphereRadius2(object pBody, float pCcdSweptSphereRadius)
-    {
-        RigidBody body = pBody as RigidBody;
-        body.SetCcdSweptSphereRadius(pCcdSweptSphereRadius);
-    }
-
-    internal static void SetAngularFactorV2(object pBody, Vector3 pAngularFactor)
-    {
-        RigidBody body = pBody as RigidBody;
-        body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z));
-    }
-
-    internal static CollisionFlags AddToCollisionFlags2(object pBody, CollisionFlags pcollisionFlags)
-    {
-        CollisionObject body = pBody as CollisionObject;
-        CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags();
-        existingcollisionFlags |= pcollisionFlags;
-        body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
-        return (CollisionFlags) (uint) existingcollisionFlags;
-    }
-
-    internal static void AddObjectToWorld2(object pWorld, object pBody)
-    {
-        RigidBody body = pBody as RigidBody;
-        DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
-        //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE))
-
-        world.AddRigidBody(body);
-
-        //if (body.GetBroadphaseHandle() != null)
-        //    world.UpdateSingleAabb(body);
-    }
-
-    internal static void AddObjectToWorld2(object pWorld, object pBody, Vector3 _position, Quaternion _orientation)
-    {
-        RigidBody body = pBody as RigidBody;
-        DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
-        //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE))
-
-        world.AddRigidBody(body);
-        IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z);
-        IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z,
-                                                              _orientation.W);
-        IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion);
-        mat._origin = vposition;
-        body.SetWorldTransform(mat);
-        //if (body.GetBroadphaseHandle() != null)
-        //    world.UpdateSingleAabb(body);
-    }
-
-    internal static void ForceActivationState2(object pBody, ActivationState pActivationState)
-    {
-        CollisionObject body = pBody as CollisionObject;
-        body.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState);
-    }
-
-    internal static void UpdateSingleAabb2(object pWorld, object pBody)
-    {
-        CollisionObject body = pBody as CollisionObject;
-        DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
-        world.UpdateSingleAabb(body);
-    }
-
-    internal static bool SetCollisionGroupMask2(object pBody, uint pGroup, uint pMask)
-    {
-        RigidBody body = pBody as RigidBody;
-        body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
-        body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
-        if ((uint) body.GetBroadphaseHandle().m_collisionFilterGroup == 0)
-            return false;
-        return true;
-    }
-
-    internal static void ClearAllForces2(object pBody)
-    {
-        CollisionObject body = pBody as CollisionObject;
-        IndexedVector3 zeroVector = new IndexedVector3(0, 0, 0);
-        body.SetInterpolationLinearVelocity(ref zeroVector);
-        body.SetInterpolationAngularVelocity(ref zeroVector);
-        IndexedMatrix bodytransform = body.GetWorldTransform();
-
-        body.SetInterpolationWorldTransform(ref bodytransform);
-
-        if (body is RigidBody)
-        {
-            RigidBody rigidbody = body as RigidBody;
-            rigidbody.SetLinearVelocity(zeroVector);
-            rigidbody.SetAngularVelocity(zeroVector);
-            rigidbody.ClearForces();
-        }
-    }
-
-    internal static void SetInterpolationAngularVelocity2(object pBody, Vector3 pVector3)
-    {
-        RigidBody body = pBody as RigidBody;
-        IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
-        body.SetInterpolationAngularVelocity(ref vec);
-    }
-
-    internal static void SetAngularVelocity2(object pBody, Vector3 pVector3)
-    {
-        RigidBody body = pBody as RigidBody;
-        IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
-        body.SetAngularVelocity(ref vec);
-    }
-
-    internal static void ClearForces2(object pBody)
-    {
-        RigidBody body = pBody as RigidBody;
-        body.ClearForces();
-    }
-
-    internal static void SetTranslation2(object pBody, Vector3 _position, Quaternion _orientation)
-    {
-        RigidBody body = pBody as RigidBody;
-        IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z);
-        IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z,
-                                                              _orientation.W);
-        IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion);
-        mat._origin = vposition;
-        body.SetWorldTransform(mat);
-        
-    }
-
-    internal static Vector3 GetPosition2(object pBody)
-    {
-        RigidBody body = pBody as RigidBody;
-        IndexedVector3 pos = body.GetInterpolationWorldTransform()._origin;
-        return new Vector3(pos.X, pos.Y, pos.Z);
-    }
-
-    internal static Vector3 CalculateLocalInertia2(object pShape, float pphysMass)
-    {
-        CollisionShape shape = pShape as CollisionShape;
-        IndexedVector3 inertia = IndexedVector3.Zero;
-        shape.CalculateLocalInertia(pphysMass, out inertia);
-        return new Vector3(inertia.X, inertia.Y, inertia.Z);
-    }
-
-    internal static void SetMassProps2(object pBody, float pphysMass, Vector3 plocalInertia)
-    {
-        RigidBody body = pBody as RigidBody;
-        IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z);
-        body.SetMassProps(pphysMass, inertia);
-    }
-
-
-    internal static void SetObjectForce2(object pBody, Vector3 _force)
-    {
-        RigidBody body = pBody as RigidBody;
-        IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z);
-        body.SetTotalForce(ref force);
-    }
-
-    internal static void SetFriction2(object pBody, float _currentFriction)
-    {
-        RigidBody body = pBody as RigidBody;
-        body.SetFriction(_currentFriction);
-    }
-
-    internal static void SetLinearVelocity2(object pBody, Vector3 _velocity)
-    {
-        RigidBody body = pBody as RigidBody;
-        IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z);
-        body.SetLinearVelocity(velocity);
-    }
-
-    internal static void Activate2(object pBody, bool pforceactivation)
-    {
-        RigidBody body = pBody as RigidBody;
-        body.Activate(pforceactivation);
-        
-    }
-
-    internal static Quaternion GetOrientation2(object pBody)
-    {
-        RigidBody body = pBody as RigidBody;
-        IndexedQuaternion mat = body.GetInterpolationWorldTransform().GetRotation();
-        return new Quaternion(mat.X, mat.Y, mat.Z, mat.W);
-    }
-
-    internal static CollisionFlags RemoveFromCollisionFlags2(object pBody, CollisionFlags pcollisionFlags)
-    {
-        RigidBody body = pBody as RigidBody;
-        CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags();
-        existingcollisionFlags &= ~pcollisionFlags;
-        body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
-        return (CollisionFlags)(uint)existingcollisionFlags;
-    }
-
-    internal static void SetGravity2(object pBody, Vector3 pGravity)
-    {
-        RigidBody body = pBody as RigidBody;
-        IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z);
-        body.SetGravity(gravity);
-    }
-
-    internal static bool DestroyConstraint2(object pBody, object pConstraint)
-    {
-        RigidBody body = pBody as RigidBody;
-        TypedConstraint constraint = pConstraint as TypedConstraint;
-        body.RemoveConstraintRef(constraint);
-        return true;
-    }
-
-    internal static bool SetLinearLimits2(object pConstraint, Vector3 low, Vector3 high)
-    {
-        Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
-        IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
-        IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
-        constraint.SetLinearLowerLimit(lowlimit);
-        constraint.SetLinearUpperLimit(highlimit);
-        return true;
-    }
-
-    internal static bool SetAngularLimits2(object pConstraint, Vector3 low, Vector3 high)
-    {
-        Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
-        IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
-        IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
-        constraint.SetAngularLowerLimit(lowlimit);
-        constraint.SetAngularUpperLimit(highlimit);
-        return true;
-    }
-
-    internal static void SetConstraintNumSolverIterations2(object pConstraint, float cnt)
-    {
-        Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
-        constraint.SetOverrideNumSolverIterations((int)cnt);
-    }
-
-    internal static void CalculateTransforms2(object pConstraint)
-    {
-        Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
-        constraint.CalculateTransforms();
-    }
-
-    internal static void SetConstraintEnable2(object pConstraint, float p_2)
-    {
-        Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
-        constraint.SetEnabled((p_2 == 0) ? false : true);
-    }
-
-
-    //BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,frame1, frame1rot,frame2, frame2rot,useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
-    internal static object Create6DofConstraint2(object pWorld, object pBody1, object pBody2, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
-
-    {
-         DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
-        RigidBody body1 = pBody1 as RigidBody;
-        RigidBody body2 = pBody2 as RigidBody;
-        IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
-        IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
-        IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
-        frame1._origin = frame1v;
-
-        IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
-        IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
-        IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
-        frame2._origin = frame1v;
-
-        Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2,
-                                                                  puseLinearReferenceFrameA);
-        consttr.CalculateTransforms();
-        world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies);
-
-        return consttr;
-    }
-
-    
-    /// <summary>
-    /// 
-    /// </summary>
-    /// <param name="pWorld"></param>
-    /// <param name="pBody1"></param>
-    /// <param name="pBody2"></param>
-    /// <param name="pjoinPoint"></param>
-    /// <param name="puseLinearReferenceFrameA"></param>
-    /// <param name="pdisableCollisionsBetweenLinkedBodies"></param>
-    /// <returns></returns>
-    internal static object Create6DofConstraintToPoint2(object pWorld, object pBody1, object pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
-    {
-        DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
-        RigidBody body1 = pBody1 as RigidBody;
-        RigidBody body2 = pBody2 as RigidBody;
-        IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
-        IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
-
-        IndexedVector3 joinPoint = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z);
-        IndexedMatrix mat = IndexedMatrix.Identity;
-        mat._origin = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z);
-        frame1._origin = body1.GetWorldTransform().Inverse()*joinPoint;
-        frame2._origin = body2.GetWorldTransform().Inverse()*joinPoint;
-
-        Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2, puseLinearReferenceFrameA);
-        consttr.CalculateTransforms();
-        world.AddConstraint(consttr, pdisableCollisionsBetweenLinkedBodies);
-
-        return consttr;
-    }
-    //SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
-    internal static void SetFrames2(object pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot)
-    {
-        Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
-        IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
-        IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
-        IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
-        frame1._origin = frame1v;
-
-        IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
-        IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
-        IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
-        frame2._origin = frame1v;
-        constraint.SetFrames(ref frame1, ref frame2);
-    }
-
-
-    
-
-    internal static bool IsInWorld2(object pWorld, object pShapeObj)
-    {
-        DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
-        CollisionObject shape = pShapeObj as CollisionObject;
-        return world.IsInWorld(shape);
-    }
-
-    internal static void SetInterpolationLinearVelocity2(object pBody, Vector3 VehicleVelocity)
-    {
-        RigidBody body = pBody as RigidBody;
-        IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z);
-        body.SetInterpolationLinearVelocity(ref velocity);
-    }
-
-    internal static bool UseFrameOffset2(object pConstraint, float onOff)
-    {
-        Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
-        constraint.SetUseFrameOffset((onOff == 0) ? false : true);
-        return true;
-    }
-    //SetBreakingImpulseThreshold2(m_constraint.ptr, threshold);
-    internal static bool SetBreakingImpulseThreshold2(object pConstraint, float threshold)
-    {
-        Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
-        constraint.SetBreakingImpulseThreshold(threshold);
-        return true;
-    }
-    //BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping);
-    internal static void SetAngularDamping2(object pBody, float angularDamping)
-    {
-        RigidBody body = pBody as RigidBody;
-        float lineardamping = body.GetLinearDamping();
-        body.SetDamping(lineardamping, angularDamping);
-
-    }
-
-    internal static void UpdateInertiaTensor2(object pBody)
-    {
-        RigidBody body = pBody as RigidBody;
-        body.UpdateInertiaTensor();
-    }
-
-    internal static void RecalculateCompoundShapeLocalAabb2( object pCompoundShape)
-    {
-
-        CompoundShape shape = pCompoundShape as CompoundShape;
-        shape.RecalculateLocalAabb();
-    }
-
-    //BulletSimAPI.GetCollisionFlags2(PhysBody.ptr)
-    internal static CollisionFlags GetCollisionFlags2(object pBody)
-    {
-        RigidBody body = pBody as RigidBody;
-        uint flags = (uint)body.GetCollisionFlags();
-        return (CollisionFlags) flags;
-    }
-
-    internal static void SetDamping2(object pBody, float pLinear, float pAngular)
-    {
-        RigidBody body = pBody as RigidBody;
-        body.SetDamping(pLinear, pAngular);
-    }
-    //PhysBody.ptr, PhysicsScene.Params.deactivationTime);
-    internal static void SetDeactivationTime2(object pBody, float pDeactivationTime)
-    {
-        RigidBody body = pBody as RigidBody;
-        body.SetDeactivationTime(pDeactivationTime);
-    }
-    //SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
-    internal static void SetSleepingThresholds2(object pBody, float plinearSleepingThreshold, float pangularSleepingThreshold)
-    {
-        RigidBody body = pBody as RigidBody;
-        body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold);
-    }
-
-    internal static CollisionObjectTypes GetBodyType2(object pBody)
-    {
-        RigidBody body = pBody as RigidBody;
-        return (CollisionObjectTypes)(int) body.GetInternalType();
-    }
-
-    //BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum);
-    internal static void ApplyCentralForce2(object pBody, Vector3 pfSum)
-    {
-        RigidBody body = pBody as RigidBody;
-        IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
-        body.ApplyCentralForce(ref fSum);
-    }
-    internal static void ApplyCentralImpulse2(object pBody, Vector3 pfSum)
-    {
-        RigidBody body = pBody as RigidBody;
-        IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
-        body.ApplyCentralImpulse(ref fSum);
-    }
-    internal static void ApplyTorque2(object pBody, Vector3 pfSum)
-    {
-        RigidBody body = pBody as RigidBody;
-        IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
-        body.ApplyTorque(ref fSum);
-    }
-    internal static void ApplyTorqueImpulse2(object pBody, Vector3 pfSum)
-    {
-        RigidBody body = pBody as RigidBody;
-        IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
-        body.ApplyTorqueImpulse(ref fSum);
-    }
-
-    internal static void DumpRigidBody2(object p, object p_2)
-    {
-        //TODO:
-    }
-
-    internal static void DumpCollisionShape2(object p, object p_2)
-    {
-        //TODO:
-    }
-
-    internal static void DestroyObject2(object p, object p_2)
-    {
-        //TODO:
-    }
-
-    internal static void Shutdown2(object pWorld)
-    {
-        DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
-        world.Cleanup();
-    }
-
-    internal static void DeleteCollisionShape2(object p, object p_2)
-    {
-        //TODO:
-    }
-    //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation);
-               
-    internal static object CreateBodyFromShape2(object pWorld, object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
-    {
-        CollisionWorld world = pWorld as CollisionWorld;
-        IndexedMatrix mat =
-            IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y,
-                                                                     pRawOrientation.Z, pRawOrientation.W));
-        mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
-        CollisionShape shape = pShape as CollisionShape;
-        //UpdateSingleAabb2(world, shape);
-        // TODO: Feed Update array into null
-        RigidBody body = new RigidBody(0,new SimMotionState(world,pLocalID,mat,null),shape,IndexedVector3.Zero);
-        
-        body.SetUserPointer(pLocalID);
-        return body;
-    }
-
-    
-    internal static object CreateBodyWithDefaultMotionState2( object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
-    {
-
-        IndexedMatrix mat =
-            IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y,
-                                                                     pRawOrientation.Z, pRawOrientation.W));
-        mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
-
-        CollisionShape shape = pShape as CollisionShape;
-
-        // TODO: Feed Update array into null
-        RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero);
-        body.SetWorldTransform(mat);
-        body.SetUserPointer(pLocalID);
-        return body;
-    }
-    //(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
-    internal static void SetCollisionFlags2(object pBody, CollisionFlags collisionFlags)
-    {
-        RigidBody body = pBody as RigidBody;
-        body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags);
-    }
-    //(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
-    internal static void SetHitFraction2(object pBody, float pHitFraction)
-    {
-        RigidBody body = pBody as RigidBody;
-        body.SetHitFraction(pHitFraction);
-    }
-    //BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale);
-    internal static object BuildCapsuleShape2(object pWorld, float pRadius, float pHeight, Vector3 pScale)
-    {
-        DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
-        IndexedVector3 scale = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
-        CapsuleShapeZ capsuleShapeZ = new CapsuleShapeZ(pRadius, pHeight);
-        capsuleShapeZ.SetMargin(world.WorldSettings.Params.collisionMargin);
-        capsuleShapeZ.SetLocalScaling(ref scale);
-        
-        return capsuleShapeZ;
-    }
-
-    public static object Initialize2(Vector3 worldExtent, ConfigurationParameters[] o, int mMaxCollisionsPerFrame, ref List<BulletXNA.CollisionDesc> collisionArray, int mMaxUpdatesPerFrame, ref List<BulletXNA.EntityProperties> updateArray, object mDebugLogCallbackHandle)
-    {
-        CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData();
-
-        p.angularDamping = o[0].XangularDamping;
-        p.defaultFriction = o[0].defaultFriction;
-        p.defaultFriction = o[0].defaultFriction;
-        p.defaultDensity = o[0].defaultDensity;
-        p.defaultRestitution = o[0].defaultRestitution;
-        p.collisionMargin = o[0].collisionMargin;
-        p.gravity = o[0].gravity;
-
-        p.linearDamping = o[0].XlinearDamping;
-        p.angularDamping = o[0].XangularDamping;
-        p.deactivationTime = o[0].XdeactivationTime;
-        p.linearSleepingThreshold = o[0].XlinearSleepingThreshold;
-        p.angularSleepingThreshold = o[0].XangularSleepingThreshold;
-        p.ccdMotionThreshold = o[0].XccdMotionThreshold;
-        p.ccdSweptSphereRadius = o[0].XccdSweptSphereRadius;
-        p.contactProcessingThreshold = o[0].XcontactProcessingThreshold;
-
-        p.terrainImplementation = o[0].XterrainImplementation;
-        p.terrainFriction = o[0].XterrainFriction;
-
-        p.terrainHitFraction = o[0].XterrainHitFraction;
-        p.terrainRestitution = o[0].XterrainRestitution;
-        p.terrainCollisionMargin = o[0].XterrainCollisionMargin;
-
-        p.avatarFriction = o[0].XavatarFriction;
-        p.avatarStandingFriction = o[0].XavatarStandingFriction;
-        p.avatarDensity = o[0].XavatarDensity;
-        p.avatarRestitution = o[0].XavatarRestitution;
-        p.avatarCapsuleWidth = o[0].XavatarCapsuleWidth;
-        p.avatarCapsuleDepth = o[0].XavatarCapsuleDepth;
-        p.avatarCapsuleHeight = o[0].XavatarCapsuleHeight;
-        p.avatarContactProcessingThreshold = o[0].XavatarContactProcessingThreshold;
-       
-        p.vehicleAngularDamping = o[0].XvehicleAngularDamping;
-        
-        p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize;
-        p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize;
-        p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation;
-        p.shouldForceUpdateAllAabbs = o[0].shouldForceUpdateAllAabbs;
-        p.shouldRandomizeSolverOrder = o[0].shouldRandomizeSolverOrder;
-        p.shouldSplitSimulationIslands = o[0].shouldSplitSimulationIslands;
-        p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching;
-        p.numberOfSolverIterations = o[0].numberOfSolverIterations;
-
-        p.linksetImplementation = o[0].XlinksetImplementation;
-        p.linkConstraintUseFrameOffset = o[0].XlinkConstraintUseFrameOffset;
-        p.linkConstraintEnableTransMotor = o[0].XlinkConstraintEnableTransMotor;
-        p.linkConstraintTransMotorMaxVel = o[0].XlinkConstraintTransMotorMaxVel;
-        p.linkConstraintTransMotorMaxForce = o[0].XlinkConstraintTransMotorMaxForce;
-        p.linkConstraintERP = o[0].XlinkConstraintERP;
-        p.linkConstraintCFM = o[0].XlinkConstraintCFM;
-        p.linkConstraintSolverIterations = o[0].XlinkConstraintSolverIterations;
-        p.physicsLoggingFrames = o[0].physicsLoggingFrames;
-        DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo();
-        
-        DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration();
-        CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci);
-
-
-        if (p.maxPersistantManifoldPoolSize > 0)
-            cci.m_persistentManifoldPoolSize = (int)p.maxPersistantManifoldPoolSize;
-        if (p.shouldDisableContactPoolDynamicAllocation !=0)
-            m_dispatcher.SetDispatcherFlags(DispatcherFlags.CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION);
-        //if (p.maxCollisionAlgorithmPoolSize >0 )
-
-        DbvtBroadphase m_broadphase = new DbvtBroadphase();
-        //IndexedVector3 aabbMin = new IndexedVector3(0, 0, 0);
-        //IndexedVector3 aabbMax = new IndexedVector3(256, 256, 256);
-
-        //AxisSweep3Internal m_broadphase2 = new AxisSweep3Internal(ref aabbMin, ref aabbMax, Convert.ToInt32(0xfffe), 0xffff, ushort.MaxValue/2, null, true);
-        m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback());
-
-        SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver();
-
-        DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci);
-        world.UpdatedObjects = updateArray;
-        world.UpdatedCollisions = collisionArray;
-        world.WorldSettings.Params = p;
-        world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0);
-        world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD;
-        if (p.shouldRandomizeSolverOrder != 0)
-            world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_RANDMIZE_ORDER;
-
-        world.GetSimulationIslandManager().SetSplitIslands(p.shouldSplitSimulationIslands != 0);
-        //world.GetDispatchInfo().m_enableSatConvex Not implemented in C# port
-
-        if (p.shouldEnableFrictionCaching != 0)
-            world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;
-
-        if (p.numberOfSolverIterations > 0)
-            world.GetSolverInfo().m_numIterations = (int) p.numberOfSolverIterations;
-
-
-        world.GetSolverInfo().m_damping = world.WorldSettings.Params.linearDamping;
-        world.GetSolverInfo().m_restitution = world.WorldSettings.Params.defaultRestitution;
-        world.GetSolverInfo().m_globalCfm = 0.0f;
-        world.GetSolverInfo().m_tau = 0.6f;
-        world.GetSolverInfo().m_friction = 0.3f;
-        world.GetSolverInfo().m_maxErrorReduction = 20f;
-        world.GetSolverInfo().m_numIterations = 10;
-        world.GetSolverInfo().m_erp = 0.2f;
-        world.GetSolverInfo().m_erp2 = 0.1f;
-        world.GetSolverInfo().m_sor = 1.0f;
-        world.GetSolverInfo().m_splitImpulse = false;
-        world.GetSolverInfo().m_splitImpulsePenetrationThreshold = -0.02f;
-        world.GetSolverInfo().m_linearSlop = 0.0f;
-        world.GetSolverInfo().m_warmstartingFactor = 0.85f;
-        world.GetSolverInfo().m_restingContactRestitutionThreshold = 2;
-        world.SetForceUpdateAllAabbs(true);
-
-
-        world.SetGravity(new IndexedVector3(0,0,p.gravity));
-
-        return world;
-    }
-    //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL
-    internal static bool SetConstraintParam2(object pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis)
-    {
-        Generic6DofConstraint constrain = pConstraint as Generic6DofConstraint;
-        if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
-        {
-            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0);
-            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 1);
-            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 2);
-        }
-        if (axis == ConstraintParamAxis.AXIS_ANGULAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
-        {
-            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 3);
-            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 4);
-            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 5);
-        }
-        if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL)
-        {
-            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, (int)axis);
-        }
-        return true;
-    }
-
-    internal static bool PushUpdate2(object pCollisionObject)
-    {
-        bool ret = false;
-        RigidBody rb = pCollisionObject as RigidBody;
-        if (rb != null)
-        {
-            SimMotionState sms = rb.GetMotionState() as SimMotionState;
-            if (sms != null)
-            {
-                IndexedMatrix wt = IndexedMatrix.Identity;
-                sms.GetWorldTransform(out wt);
-                sms.SetWorldTransform(ref wt, true);
-                ret = true;
-            }
-        }
-        return ret;
-        
-    }
-
-    internal static bool IsCompound2(object pShape)
-    {
-        CollisionShape shape = pShape as CollisionShape;
-        return shape.IsCompound();
-    }
-    internal static bool IsPloyhedral2(object pShape)
-    {
-        CollisionShape shape = pShape as CollisionShape;
-        return shape.IsPolyhedral();
-    }
-    internal static bool IsConvex2d2(object pShape)
-    {
-        CollisionShape shape = pShape as CollisionShape;
-        return shape.IsConvex2d();
-    }
-    internal static bool IsConvex2(object pShape)
-    {
-        CollisionShape shape = pShape as CollisionShape;
-        return shape.IsConvex();
-    }
-    internal static bool IsNonMoving2(object pShape)
-    {
-        CollisionShape shape = pShape as CollisionShape;
-        return shape.IsNonMoving();
-    }
-    internal static bool IsConcave2(object pShape)
-    {
-        CollisionShape shape = pShape as CollisionShape;
-        return shape.IsConcave();
-    }
-    internal static bool IsInfinite2(object pShape)
-    {
-        CollisionShape shape = pShape as CollisionShape;
-        return shape.IsInfinite();
-    }
-    internal static bool IsNativeShape2(object pShape)
-    {
-        CollisionShape shape = pShape as CollisionShape;
-        bool ret;
-        switch (shape.GetShapeType())
-        {
-            case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE:
-                case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE:
-                case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE:
-                case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE:
-                ret = true;
-                break;
-            default:
-                ret = false;
-                break;
-        }
-        return ret;
-    }
-    //sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation
-    internal static object CreateGhostFromShape2(object pWorld, object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
-    {
-        IndexedMatrix bodyTransform = new IndexedMatrix();
-        bodyTransform._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
-        bodyTransform.SetRotation(new IndexedQuaternion(pRawOrientation.X,pRawOrientation.Y,pRawOrientation.Z,pRawOrientation.W));
-        GhostObject gObj = new PairCachingGhostObject();
-        gObj.SetWorldTransform(bodyTransform);
-        CollisionShape shape = pShape as CollisionShape;
-        gObj.SetCollisionShape(shape);
-        gObj.SetUserPointer(pLocalID);
-        // TODO: Add to Special CollisionObjects!
-        return gObj;
-    }
-
-    public static void SetCollisionShape2(object pWorld, object pObj, object pShape)
-    {
-        var world = pWorld as DiscreteDynamicsWorld;
-        var obj = pObj as CollisionObject;
-        var shape = pShape as CollisionShape;
-        obj.SetCollisionShape(shape);
-
-    }
-    //(PhysicsScene.World.ptr, nativeShapeData)
-    internal static object BuildNativeShape2(object pWorld, ShapeData pShapeData)
-    {
-        var world = pWorld as DiscreteDynamicsWorld;
-        CollisionShape shape = null;
-        switch (pShapeData.Type)
-        {
-            case BSPhysicsShapeType.SHAPE_BOX:
-                shape = new BoxShape(new IndexedVector3(0.5f,0.5f,0.5f));
-                break;
-            case BSPhysicsShapeType.SHAPE_CONE:
-                shape = new ConeShapeZ(0.5f, 1.0f);
-                break;
-            case BSPhysicsShapeType.SHAPE_CYLINDER:
-                shape = new CylinderShapeZ(new IndexedVector3(0.5f, 0.5f, 0.5f));
-                break;
-            case BSPhysicsShapeType.SHAPE_SPHERE:
-                shape = new SphereShape(0.5f);
-                break;
-
-        }
-        if (shape != null)
-        {
-            IndexedVector3 scaling = new IndexedVector3(pShapeData.Scale.X, pShapeData.Scale.Y, pShapeData.Scale.Z);
-            shape.SetMargin(world.WorldSettings.Params.collisionMargin);
-            shape.SetLocalScaling(ref scaling);
-
-        }
-        return shape;
-    }
-    //PhysicsScene.World.ptr, false
-    internal static object CreateCompoundShape2(object pWorld, bool enableDynamicAabbTree)
-    {
-        return new CompoundShape(enableDynamicAabbTree);
-    }
-
-    internal static int GetNumberOfCompoundChildren2(object pCompoundShape)
-    {
-        var compoundshape = pCompoundShape as CompoundShape;
-        return compoundshape.GetNumChildShapes();
-    }
-    //LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot
-    internal static void AddChildShapeToCompoundShape2(object pCShape, object paddShape, Vector3 displacementPos, Quaternion displacementRot)
-    {
-        IndexedMatrix relativeTransform = new IndexedMatrix();
-        var compoundshape = pCShape as CompoundShape;
-        var addshape = paddShape as CollisionShape;
-
-        relativeTransform._origin = new IndexedVector3(displacementPos.X, displacementPos.Y, displacementPos.Z);
-        relativeTransform.SetRotation(new IndexedQuaternion(displacementRot.X,displacementRot.Y,displacementRot.Z,displacementRot.W));
-        compoundshape.AddChildShape(ref relativeTransform, addshape);
-
-    }
-
-    internal static object RemoveChildShapeFromCompoundShapeIndex2(object pCShape, int pii)
-    {
-        var compoundshape = pCShape as CompoundShape;
-        CollisionShape ret = null;
-        ret = compoundshape.GetChildShape(pii);
-        compoundshape.RemoveChildShapeByIndex(pii);
-        return ret;
-    }
-
-    internal static object CreateGroundPlaneShape2(uint pLocalId, float pheight, float pcollisionMargin)
-    {
-        StaticPlaneShape m_planeshape = new StaticPlaneShape(new IndexedVector3(0,0,1),(int)pheight );
-        m_planeshape.SetMargin(pcollisionMargin);
-        m_planeshape.SetUserPointer(pLocalId);
-        return m_planeshape;
-    }
-
-    internal static object CreateHingeConstraint2(object pWorld, object pBody1, object ppBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
-    {
-        HingeConstraint constrain = null;
-        var rb1 = pBody1 as RigidBody;
-        var rb2 = ppBody2 as RigidBody;
-        if (rb1 != null && rb2 != null)
-        {
-            IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z);
-            IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z);
-            IndexedVector3 axisInA = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z);
-            IndexedVector3 axisInB = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z);
-            var world = pWorld as DiscreteDynamicsWorld;
-            world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
-        }
-        return constrain;
-    }
-
-    internal static bool ReleaseHeightMapInfo2(object pMapInfo)
-    {
-        if (pMapInfo != null)
-        {
-            BulletHeightMapInfo mapinfo = pMapInfo as BulletHeightMapInfo;
-            if (mapinfo.heightMap != null)
-                mapinfo.heightMap = null;
-
-
-        }
-        return true;
-    }
-
-    internal static object CreateHullShape2(object pWorld, int pHullCount, float[] pConvHulls)
-    {
-        CompoundShape compoundshape = new CompoundShape(false);
-        var world = pWorld as DiscreteDynamicsWorld;
-        
-        
-        compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin);
-        int ii = 1;
-
-        for (int i = 0; i < pHullCount; i++)
-        {
-            int vertexCount = (int) pConvHulls[ii];
-
-            IndexedVector3 centroid = new IndexedVector3(pConvHulls[ii + 1], pConvHulls[ii + 2], pConvHulls[ii + 3]);
-            IndexedMatrix childTrans = IndexedMatrix.Identity;
-            childTrans._origin = centroid;
-
-            List<IndexedVector3> virts = new List<IndexedVector3>();
-            int ender = ((ii + 4) + (vertexCount*3));
-            for (int iii = ii + 4; iii < ender; iii+=3)
-            {
-               
-                virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2]));
-            }
-            ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount);
-            convexShape.SetMargin(world.WorldSettings.Params.collisionMargin);
-            compoundshape.AddChildShape(ref childTrans, convexShape);
-            ii += (vertexCount*3 + 4);
-        }
-
-        
-        return compoundshape;
-    }
-
-    internal static object CreateMeshShape2(object pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
-    {
-        //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount);
-        
-        for (int iter = 0; iter < pVerticesCount; iter++)
-        {
-            if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0;
-            if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0;
-        }
-        
-        ObjectArray<int> indicesarr = new ObjectArray<int>(indices);
-        ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats);
-        DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount);
-        var world = pWorld as DiscreteDynamicsWorld;
-        IndexedMesh mesh = new IndexedMesh();
-        mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
-        mesh.m_numTriangles = pIndicesCount/3;
-        mesh.m_numVertices = pVerticesCount;
-        mesh.m_triangleIndexBase = indicesarr;
-        mesh.m_vertexBase = vertices;
-        mesh.m_vertexStride = 3;
-        mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
-        mesh.m_triangleIndexStride = 3;
-        
-        TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
-        tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
-        BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true);
-        meshShape.SetMargin(world.WorldSettings.Params.collisionMargin);
-       // world.UpdateSingleAabb(meshShape);
-        return meshShape;
-
-    }
-    public static void DumpRaw(ObjectArray<int>indices, ObjectArray<float> vertices, int pIndicesCount,int pVerticesCount )
-    {
-        
-        String fileName = "objTest3.raw";
-        String completePath = System.IO.Path.Combine(Util.configDir(), fileName);
-        StreamWriter sw = new StreamWriter(completePath);
-        IndexedMesh mesh = new IndexedMesh();
-
-        mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
-        mesh.m_numTriangles = pIndicesCount / 3;
-        mesh.m_numVertices = pVerticesCount;
-        mesh.m_triangleIndexBase = indices;
-        mesh.m_vertexBase = vertices;
-        mesh.m_vertexStride = 3;
-        mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
-        mesh.m_triangleIndexStride = 3;
-
-        TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
-        tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
-
-
-
-        for (int i = 0; i < pVerticesCount; i++)
-        {
-
-            string s = vertices[indices[i * 3]].ToString("0.0000");
-            s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000");
-            s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000");
-        
-            sw.Write(s + "\n");
-        }
-
-        sw.Close();
-    }
-    public static void DumpRaw(int[] indices, float[] vertices, int pIndicesCount, int pVerticesCount)
-    {
-
-        String fileName = "objTest6.raw";
-        String completePath = System.IO.Path.Combine(Util.configDir(), fileName);
-        StreamWriter sw = new StreamWriter(completePath);
-        IndexedMesh mesh = new IndexedMesh();
-
-        mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
-        mesh.m_numTriangles = pIndicesCount / 3;
-        mesh.m_numVertices = pVerticesCount;
-        mesh.m_triangleIndexBase = indices;
-        mesh.m_vertexBase = vertices;
-        mesh.m_vertexStride = 3;
-        mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
-        mesh.m_triangleIndexStride = 3;
-        
-        TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
-        tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
-
-
-        sw.WriteLine("Indices");
-        sw.WriteLine(string.Format("int[] indices = new int[{0}];",pIndicesCount));
-        for (int iter = 0; iter < indices.Length; iter++)
-        {
-            sw.WriteLine(string.Format("indices[{0}]={1};",iter,indices[iter]));
-        }
-        sw.WriteLine("VerticesFloats");
-        sw.WriteLine(string.Format("float[] vertices = new float[{0}];", pVerticesCount));
-        for (int iter = 0; iter < vertices.Length; iter++)
-        {
-            sw.WriteLine(string.Format("Vertices[{0}]={1};", iter, vertices[iter].ToString("0.0000")));
-        }
-
-            // for (int i = 0; i < pVerticesCount; i++)
-            // {
-            //
-            //     string s = vertices[indices[i * 3]].ToString("0.0000");
-            //     s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000");
-            //    s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000");
-            //
-            //     sw.Write(s + "\n");
-            //}
-
-            sw.Close();
-    }
-    //PhysicsScene.World.ptr, m_mapInfo.ID, m_mapInfo.minCoords, m_mapInfo.maxCoords,  m_mapInfo.heightMap, PhysicsScene.Params.terrainCollisionMargin
-    internal static object CreateHeightMapInfo2(object pWorld, uint pId, Vector3 pminCoords, Vector3 pmaxCoords, float[] pheightMap, float pCollisionMargin)
-    {
-        BulletHeightMapInfo mapInfo = new BulletHeightMapInfo(pId, pheightMap, null);
-        mapInfo.heightMap = null;
-        mapInfo.minCoords = pminCoords;
-        mapInfo.maxCoords = pmaxCoords;
-        mapInfo.sizeX = (int) (pmaxCoords.X - pminCoords.X);
-        mapInfo.sizeY = (int) (pmaxCoords.Y - pminCoords.Y);
-        mapInfo.ID = pId;
-        mapInfo.minZ = pminCoords.Z;
-        mapInfo.maxZ = pmaxCoords.Z;
-        mapInfo.collisionMargin = pCollisionMargin;
-        if (mapInfo.minZ == mapInfo.maxZ)
-            mapInfo.minZ -= 0.2f;
-        mapInfo.heightMap = pheightMap;
-
-        return mapInfo;
-
-    }
-
-    internal static object CreateTerrainShape2(object pMapInfo)
-    {
-        BulletHeightMapInfo mapinfo = pMapInfo as BulletHeightMapInfo;
-        const int upAxis = 2;
-        const float scaleFactor = 1.0f;
-        HeightfieldTerrainShape terrainShape = new HeightfieldTerrainShape((int)mapinfo.sizeX, (int)mapinfo.sizeY,
-                                                                           mapinfo.heightMap,  scaleFactor,
-                                                                           mapinfo.minZ, mapinfo.maxZ, upAxis,
-                                                                            false);
-        terrainShape.SetMargin(mapinfo.collisionMargin + 0.5f);
-        terrainShape.SetUseDiamondSubdivision(true);
-        terrainShape.SetUserPointer(mapinfo.ID);
-        return terrainShape;
-    }
-
-    internal static bool TranslationalLimitMotor2(object pConstraint, float ponOff, float targetVelocity, float maxMotorForce)
-    {
-        TypedConstraint tconstrain = pConstraint as TypedConstraint;
-        bool onOff = ponOff != 0;
-        bool ret = false;
-
-        switch (tconstrain.GetConstraintType())
-        {
-            case TypedConstraintType.D6_CONSTRAINT_TYPE:
-                Generic6DofConstraint constrain = pConstraint as Generic6DofConstraint;
-                constrain.GetTranslationalLimitMotor().m_enableMotor[0] = onOff;
-                constrain.GetTranslationalLimitMotor().m_targetVelocity[0] = targetVelocity;
-                constrain.GetTranslationalLimitMotor().m_maxMotorForce[0] = maxMotorForce;
-                ret = true;
-                break;
-        }
-
-
-        return ret;
-
-    }
-
-    internal static int PhysicsStep2(object pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List<BulletXNA.EntityProperties> updatedEntities, out int collidersCount, out List<BulletXNA.CollisionDesc>colliders)
-    {
-        int epic = PhysicsStepint2(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities,
-                                out collidersCount, out colliders);
-        return epic;
-    }
-
-    private static int PhysicsStepint2(object pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List<BulletXNA.EntityProperties> updatedEntities, out int collidersCount, out List<BulletXNA.CollisionDesc> colliders)
-    {
-        int numSimSteps = 0;
-      
-
-        //if (updatedEntities is null)
-        //    updatedEntities = new List<BulletXNA.EntityProperties>();
-
-        //if (colliders is null)
-        //    colliders = new List<BulletXNA.CollisionDesc>();
-        
-
-        if (pWorld is DiscreteDynamicsWorld)
-        {
-            DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
-
-            numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep);
-            int updates = 0;
-
-            updatedEntityCount = world.UpdatedObjects.Count;
-            updatedEntities = new List<BulletXNA.EntityProperties>(world.UpdatedObjects);
-            updatedEntityCount = updatedEntities.Count;
-            world.UpdatedObjects.Clear();
-            
-
-            collidersCount = world.UpdatedCollisions.Count;
-            colliders = new List<BulletXNA.CollisionDesc>(world.UpdatedCollisions);
-
-            world.UpdatedCollisions.Clear();
-            m_collisionsThisFrame = 0;
-            int numManifolds = world.GetDispatcher().GetNumManifolds();
-            for (int j = 0; j < numManifolds; j++)
-            {
-                PersistentManifold contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j);
-                int numContacts = contactManifold.GetNumContacts();
-                if (numContacts == 0)
-                    continue;
-
-                CollisionObject objA = contactManifold.GetBody0() as CollisionObject;
-                CollisionObject objB = contactManifold.GetBody1() as CollisionObject;
-
-                ManifoldPoint manifoldPoint = contactManifold.GetContactPoint(0);
-                IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB();
-                IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A
-
-                RecordCollision(world, objA, objB, contactPoint, contactNormal);
-                m_collisionsThisFrame ++;
-                if (m_collisionsThisFrame >= 9999999)
-                    break;
-
-
-            }
-
-
-        }
-        else
-        {
-            //if (updatedEntities is null)
-            updatedEntities = new List<BulletXNA.EntityProperties>();
-            updatedEntityCount = 0;
-            //if (colliders is null)
-            colliders = new List<BulletXNA.CollisionDesc>();
-            collidersCount = 0;
-        }
-        return numSimSteps;
-    }
-
-    private static void RecordCollision(CollisionWorld world,CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm)
-    {
-       
-        IndexedVector3 contactNormal = norm;
-        if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 &&
-            (objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0)
-        {
-            return;
-        }
-        uint idA = (uint)objA.GetUserPointer();
-        uint idB = (uint)objB.GetUserPointer();
-        if (idA > idB)
-        {
-            uint temp = idA;
-            idA = idB;
-            idB = temp;
-            contactNormal = -contactNormal;
-        }
-
-        ulong collisionID = ((ulong) idA << 32) | idB;
-
-        BulletXNA.CollisionDesc cDesc = new BulletXNA.CollisionDesc()
-                                            {
-                                                aID = idA,
-                                                bID = idB,
-                                                point = contact,
-                                                normal = contactNormal
-                                            };
-        world.UpdatedCollisions.Add(cDesc);
-        m_collisionsThisFrame++;
-
-
-    }
-    private static EntityProperties GetDebugProperties(object pWorld, object pBody)
-    {
-        EntityProperties ent = new EntityProperties();
-        DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
-        RigidBody body = pBody as RigidBody;
-        IndexedMatrix transform = body.GetWorldTransform();
-        IndexedVector3 LinearVelocity = body.GetInterpolationLinearVelocity();
-        IndexedVector3 AngularVelocity = body.GetInterpolationAngularVelocity();
-        IndexedQuaternion rotation = transform.GetRotation();
-        ent.Acceleration = Vector3.Zero;
-        ent.ID = (uint)body.GetUserPointer();
-        ent.Position = new Vector3(transform._origin.X,transform._origin.Y,transform._origin.Z);
-        ent.Rotation = new Quaternion(rotation.X,rotation.Y,rotation.Z,rotation.W);
-        ent.Velocity = new Vector3(LinearVelocity.X, LinearVelocity.Y, LinearVelocity.Z);
-        ent.RotationalVelocity = new Vector3(AngularVelocity.X, AngularVelocity.Y, AngularVelocity.Z);
-        return ent;
-
-
-    }
-
-
-    internal static Vector3 GetLocalScaling2(object pBody)
-    {
-        CollisionShape shape = pBody as CollisionShape;
-        IndexedVector3 scale = shape.GetLocalScaling();
-        return new Vector3(scale.X,scale.Y,scale.Z);
-    }
-
-    internal static bool RayCastGround(object pWorld, Vector3 _RayOrigin, float pRayHeight, object NotMe)
-    {
-        DynamicsWorld world = pWorld as DynamicsWorld;
-        if (world != null)
-        {
-            if (NotMe is CollisionObject || NotMe is RigidBody)
-            {
-                CollisionObject AvoidBody = NotMe as CollisionObject;
-                
-                IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z);
-                IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight);
-                using (
-                    ClosestNotMeRayResultCallback rayCallback = new ClosestNotMeRayResultCallback(rOrigin,
-                                                                                                  rEnd, AvoidBody)
-                    )
-                {
-                    world.RayTest(ref rOrigin, ref rEnd, rayCallback);
-                    if (rayCallback.HasHit())
-                    {
-                        IndexedVector3 hitLocation = rayCallback.m_hitPointWorld;
-                        
-                    }
-                    return rayCallback.HasHit();
-                }
-           }
-        }
-        return false;
-    }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSNPlugin/BulletSimData.cs
deleted file mode 100644
index f509dc4..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimData.cs
+++ /dev/null
@@ -1,280 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Text;
-using OMV = OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-// Classes to allow some type checking for the API
-// These hold pointers to allocated objects in the unmanaged space.
-
-// The physics engine controller class created at initialization
-public struct BulletWorld
-{
-    public BulletWorld(uint worldId, BSScene bss, object xx)
-    {
-        ptr = xx;
-        worldID = worldId;
-        physicsScene = bss;
-    }
-    public object ptr;
-    public uint worldID;
-    // The scene is only in here so very low level routines have a handle to print debug/error messages
-    public BSScene physicsScene;
-}
-
-// An allocated Bullet btRigidBody
-public struct BulletBody
-{
-    public BulletBody(uint id) : this(id, null)
-    {
-    }
-    public BulletBody(uint id, object xx)
-    {
-        ID = id;
-        ptr = xx;
-        collisionType = CollisionType.Static;
-    }
-    public object ptr;
-    public uint ID;
-    public CollisionType collisionType;
-
-    public void Clear()
-    {
-        ptr = null;
-    }
-    public bool HasPhysicalBody { get { return ptr != null; } }
-
-    // Apply the specificed collision mask into the physical world
-    public void ApplyCollisionMask()
-    {
-        // Should assert the body has been added to the physical world.
-        // (The collision masks are stored in the collision proxy cache which only exists for
-        //    a collision body that is in the world.)
-        BulletSimAPI.SetCollisionGroupMask2(ptr,
-                                BulletSimData.CollisionTypeMasks[collisionType].group,
-                                BulletSimData.CollisionTypeMasks[collisionType].mask);
-    }
-
-    public override string ToString()
-    {
-        StringBuilder buff = new StringBuilder();
-        buff.Append("<id=");
-        buff.Append(ID.ToString());
-        buff.Append(",p=");
-        buff.Append(ptr.ToString());
-        buff.Append(",c=");
-        buff.Append(collisionType);
-        buff.Append(">");
-        return buff.ToString();
-    }
-}
-
-public struct BulletShape
-{
-    public BulletShape(object xx) : this(xx, BSPhysicsShapeType.SHAPE_UNKNOWN)
-    {
-    }
-    public BulletShape(object xx, BSPhysicsShapeType typ)
-    {
-        ptr = xx;
-        type = typ;
-        shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE;
-        isNativeShape = false;
-    }
-    public object ptr;
-    public BSPhysicsShapeType type;
-    public System.UInt64 shapeKey;
-    public bool isNativeShape;
-
-    public void Clear()
-    {
-        ptr = null;
-    }
-    public bool HasPhysicalShape { get { return ptr != null; } }
-
-    public override string ToString()
-    {
-        StringBuilder buff = new StringBuilder();
-        buff.Append("<p=");
-        buff.Append(ptr.ToString());
-        buff.Append(",s=");
-        buff.Append(type.ToString());
-        buff.Append(",k=");
-        buff.Append(shapeKey.ToString("X"));
-        buff.Append(",n=");
-        buff.Append(isNativeShape.ToString());
-        buff.Append(">");
-        return buff.ToString();
-    }
-}
-
-// An allocated Bullet btConstraint
-public struct BulletConstraint
-{
-    public BulletConstraint(object xx)
-    {
-        ptr = xx;
-    }
-    public object ptr;
-
-    public void Clear()
-    {
-        ptr = null;
-    }
-    public bool HasPhysicalConstraint { get { return ptr != null; } }
-}
-
-// An allocated HeightMapThing which holds various heightmap info.
-// Made a class rather than a struct so there would be only one
-//      instance of this and C# will pass around pointers rather
-//      than making copies.
-public class BulletHeightMapInfo
-{
-    public BulletHeightMapInfo(uint id, float[] hm, object xx) {
-        ID = id;
-        Ptr = xx;
-        heightMap = hm;
-        terrainRegionBase = OMV.Vector3.Zero;
-        minCoords = new OMV.Vector3(100f, 100f, 25f);
-        maxCoords = new OMV.Vector3(101f, 101f, 26f);
-        minZ = maxZ = 0f;
-        sizeX = sizeY = 256f;
-    }
-    public uint ID;
-    public object Ptr;
-    public float[] heightMap;
-    public OMV.Vector3 terrainRegionBase;
-    public OMV.Vector3 minCoords;
-    public OMV.Vector3 maxCoords;
-    public float sizeX, sizeY;
-    public float minZ, maxZ;
-    public BulletShape terrainShape;
-    public BulletBody terrainBody;
-
-    public float collisionMargin { get; set; }
-}
-
-// The general class of collsion object.
-public enum CollisionType
-{
-    Avatar,
-    Groundplane,
-    Terrain,
-    Static,
-    Dynamic,
-    VolumeDetect,
-    // Linkset, // A linkset should be either Static or Dynamic
-    LinksetChild,
-    Unknown
-};
-
-// Hold specification of group and mask collision flags for a CollisionType
-public struct CollisionTypeFilterGroup
-{
-    public CollisionTypeFilterGroup(CollisionType t, uint g, uint m)
-    {
-        type = t;
-        group = g;
-        mask = m;
-    }
-    public CollisionType type;
-    public uint group;
-    public uint mask;
-};
-
-    /* NOTE: old definitions kept for reference. Delete when things are working.
-    // The collsion filters and masked are defined in one place -- don't want them scattered
-    AvatarGroup             = BCharacterGroup,
-    AvatarMask              = BAllGroup,
-    ObjectGroup             = BSolidGroup,
-    ObjectMask              = BAllGroup,
-    StaticObjectGroup       = BStaticGroup,
-    StaticObjectMask        = AvatarGroup | ObjectGroup,    // static things don't interact with much
-    LinksetGroup            = BLinksetGroup,
-    LinksetMask             = BAllGroup,
-    LinksetChildGroup       = BLinksetChildGroup,
-    LinksetChildMask        = BNoneGroup,   // Linkset children disappear from the world
-    VolumeDetectGroup       = BSensorTrigger,
-    VolumeDetectMask        = ~BSensorTrigger,
-    TerrainGroup            = BTerrainGroup,
-    TerrainMask             = BAllGroup & ~BStaticGroup,  // static objects on the ground don't collide
-    GroundPlaneGroup        = BGroundPlaneGroup,
-    GroundPlaneMask         = BAllGroup
-    */
-
-public static class BulletSimData
-{
-
-// Map of collisionTypes to flags for collision groups and masks.
-// As mentioned above, don't use the CollisionFilterGroups definitions directly in the code
-//     but, instead, use references to this dictionary. Finding and debugging
-//     collision flag problems will be made easier.
-public static Dictionary<CollisionType, CollisionTypeFilterGroup> CollisionTypeMasks 
-            = new Dictionary<CollisionType, CollisionTypeFilterGroup>()
-{
-    { CollisionType.Avatar, 
-                new CollisionTypeFilterGroup(CollisionType.Avatar, 
-                                (uint)CollisionFilterGroups.BCharacterGroup, 
-                                (uint)CollisionFilterGroups.BAllGroup)
-    },
-    { CollisionType.Groundplane, 
-                new CollisionTypeFilterGroup(CollisionType.Groundplane, 
-                                (uint)CollisionFilterGroups.BGroundPlaneGroup, 
-                                (uint)CollisionFilterGroups.BAllGroup)
-    },
-    { CollisionType.Terrain, 
-                new CollisionTypeFilterGroup(CollisionType.Terrain, 
-                                (uint)CollisionFilterGroups.BTerrainGroup, 
-                                (uint)(CollisionFilterGroups.BAllGroup & ~CollisionFilterGroups.BStaticGroup))
-    },
-    { CollisionType.Static, 
-                new CollisionTypeFilterGroup(CollisionType.Static, 
-                                (uint)CollisionFilterGroups.BStaticGroup, 
-                                (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup))
-    },
-    { CollisionType.Dynamic, 
-                new CollisionTypeFilterGroup(CollisionType.Dynamic, 
-                                (uint)CollisionFilterGroups.BSolidGroup, 
-                                (uint)(CollisionFilterGroups.BAllGroup))
-    },
-    { CollisionType.VolumeDetect, 
-                new CollisionTypeFilterGroup(CollisionType.VolumeDetect, 
-                                (uint)CollisionFilterGroups.BSensorTrigger, 
-                                (uint)(~CollisionFilterGroups.BSensorTrigger))
-    },
-    { CollisionType.LinksetChild,
-                new CollisionTypeFilterGroup(CollisionType.LinksetChild, 
-                                (uint)CollisionFilterGroups.BTerrainGroup, 
-                                (uint)(CollisionFilterGroups.BNoneGroup))
-    },
-};
-
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
index b6ff52b..49b1730 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
@@ -129,7 +129,12 @@ private sealed class BulletConstraintXNA : BulletConstraint
         get { return "XNAConstraint"; }
     }
 }
+    internal int m_maxCollisions;
+    internal CollisionDesc[] m_collisionArray;
 
+    internal int m_maxUpdatesPerFrame;
+    internal EntityProperties[] m_updateArray;
+    
     private static int m_collisionsThisFrame;
     private BSScene PhysicsScene { get; set; }
 
@@ -148,92 +153,98 @@ private sealed class BulletConstraintXNA : BulletConstraint
     /// <param name="p_2"></param>
     public override bool RemoveObjectFromWorld(BulletWorld pWorld, BulletBody pBody)
     {
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
         RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
         world.RemoveRigidBody(body);
         return true;
     }
 
-    public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects)
+    public override bool AddConstraintToWorld(BulletWorld pWorld, BulletConstraint pConstraint, bool pDisableCollisionsBetweenLinkedObjects)
     {
-        /* TODO */
-        return false;
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain;
+        world.AddConstraint(constraint, pDisableCollisionsBetweenLinkedObjects);
+        
+        return true;
+
     }
 
-    public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain)
+    public override bool RemoveConstraintFromWorld(BulletWorld pWorld, BulletConstraint pConstraint)
     {
-        /* TODO */
-        return false;
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain;
+        world.RemoveConstraint(constraint);
+        return true;
     }
 
-    public override void SetRestitution(BulletBody pBody, float pRestitution)
+    public override void SetRestitution(BulletBody pCollisionObject, float pRestitution)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        body.SetRestitution(pRestitution);
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        collisionObject.SetRestitution(pRestitution);
     }
 
     public override int GetShapeType(BulletShape pShape)
     {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
         return (int)shape.GetShapeType();
     }
     public override void SetMargin(BulletShape pShape, float pMargin)
     {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
         shape.SetMargin(pMargin);
     }
 
     public override float GetMargin(BulletShape pShape)
     {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
         return shape.GetMargin();
     }
 
     public override void SetLocalScaling(BulletShape pShape, Vector3 pScale)
     {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
         IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
         shape.SetLocalScaling(ref vec);
 
     }
 
-    public override void SetContactProcessingThreshold(BulletBody pBody, float contactprocessingthreshold)
+    public override void SetContactProcessingThreshold(BulletBody pCollisionObject, float contactprocessingthreshold)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        body.SetContactProcessingThreshold(contactprocessingthreshold);
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        collisionObject.SetContactProcessingThreshold(contactprocessingthreshold);
     }
 
-    public override void SetCcdMotionThreshold(BulletBody pBody, float pccdMotionThreashold)
+    public override void SetCcdMotionThreshold(BulletBody pCollisionObject, float pccdMotionThreashold)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        body.SetCcdMotionThreshold(pccdMotionThreashold);
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        collisionObject.SetCcdMotionThreshold(pccdMotionThreashold);
     }
 
-    public override void SetCcdSweptSphereRadius(BulletBody pBody, float pCcdSweptSphereRadius)
+    public override void SetCcdSweptSphereRadius(BulletBody pCollisionObject, float pCcdSweptSphereRadius)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        body.SetCcdSweptSphereRadius(pCcdSweptSphereRadius);
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        collisionObject.SetCcdSweptSphereRadius(pCcdSweptSphereRadius);
     }
 
     public override void SetAngularFactorV(BulletBody pBody, Vector3 pAngularFactor)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
         body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z));
     }
 
-    public override CollisionFlags AddToCollisionFlags(BulletBody pBody, CollisionFlags pcollisionFlags)
+    public override CollisionFlags AddToCollisionFlags(BulletBody pCollisionObject, CollisionFlags pcollisionFlags)
     {
-        CollisionObject body = ((BulletBodyXNA)pBody).body;
-        CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags();
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
+        CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)collisionObject.GetCollisionFlags();
         existingcollisionFlags |= pcollisionFlags;
-        body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
+        collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
         return (CollisionFlags) (uint) existingcollisionFlags;
     }
 
     public override bool AddObjectToWorld(BulletWorld pWorld, BulletBody pBody)
     {
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
-        CollisionObject cbody = ((BulletBodyXNA)pBody).body;
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        CollisionObject cbody = (pBody as BulletBodyXNA).body;
         RigidBody rbody = cbody as RigidBody;
 
         // Bullet resets several variables when an object is added to the world. In particular,
@@ -259,99 +270,110 @@ private sealed class BulletConstraintXNA : BulletConstraint
         return true;
     }
 
-    public override void ForceActivationState(BulletBody pBody, ActivationState pActivationState)
+    public override void ForceActivationState(BulletBody pCollisionObject, ActivationState pActivationState)
     {
-        CollisionObject body = ((BulletBodyXNA)pBody).body;
-        body.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState);
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
+        collisionObject.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState);
     }
 
-    public override void UpdateSingleAabb(BulletWorld pWorld, BulletBody pBody)
+    public override void UpdateSingleAabb(BulletWorld pWorld, BulletBody pCollisionObject)
     {
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
-        CollisionObject body = ((BulletBodyXNA)pBody).body;
-        world.UpdateSingleAabb(body);
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
+        world.UpdateSingleAabb(collisionObject);
     }
 
-    public override void UpdateAabbs(BulletWorld world) { /* TODO */ }
-    public override bool GetForceUpdateAllAabbs(BulletWorld world) { /* TODO */ return false;  }
-    public override void SetForceUpdateAllAabbs(BulletWorld world, bool force) { /* TODO */ }
+    public override void UpdateAabbs(BulletWorld pWorld) {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        world.UpdateAabbs();
+    }
+    public override bool GetForceUpdateAllAabbs(BulletWorld pWorld) {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        return world.GetForceUpdateAllAabbs();
+        
+    }
+    public override void SetForceUpdateAllAabbs(BulletWorld pWorld, bool pForce)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        world.SetForceUpdateAllAabbs(pForce);
+    }
 
-    public override bool SetCollisionGroupMask(BulletBody pBody, uint pGroup, uint pMask)
+    public override bool SetCollisionGroupMask(BulletBody pCollisionObject, uint pGroup, uint pMask)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
-        body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
-        if ((uint) body.GetBroadphaseHandle().m_collisionFilterGroup == 0)
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
+        collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
+        if ((uint) collisionObject.GetBroadphaseHandle().m_collisionFilterGroup == 0)
             return false;
         return true;
     }
 
-    public override void ClearAllForces(BulletBody pBody)
+    public override void ClearAllForces(BulletBody pCollisionObject)
     {
-        CollisionObject body = ((BulletBodyXNA)pBody).body;
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
         IndexedVector3 zeroVector = new IndexedVector3(0, 0, 0);
-        body.SetInterpolationLinearVelocity(ref zeroVector);
-        body.SetInterpolationAngularVelocity(ref zeroVector);
-        IndexedMatrix bodytransform = body.GetWorldTransform();
+        collisionObject.SetInterpolationLinearVelocity(ref zeroVector);
+        collisionObject.SetInterpolationAngularVelocity(ref zeroVector);
+        IndexedMatrix bodytransform = collisionObject.GetWorldTransform();
 
-        body.SetInterpolationWorldTransform(ref bodytransform);
+        collisionObject.SetInterpolationWorldTransform(ref bodytransform);
 
-        if (body is RigidBody)
+        if (collisionObject is RigidBody)
         {
-            RigidBody rigidbody = body as RigidBody;
+            RigidBody rigidbody = collisionObject as RigidBody;
             rigidbody.SetLinearVelocity(zeroVector);
             rigidbody.SetAngularVelocity(zeroVector);
             rigidbody.ClearForces();
         }
     }
 
-    public override void SetInterpolationAngularVelocity(BulletBody pBody, Vector3 pVector3)
+    public override void SetInterpolationAngularVelocity(BulletBody pCollisionObject, Vector3 pVector3)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
         IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
-        body.SetInterpolationAngularVelocity(ref vec);
+        collisionObject.SetInterpolationAngularVelocity(ref vec);
     }
 
     public override void SetAngularVelocity(BulletBody pBody, Vector3 pVector3)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
         IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
         body.SetAngularVelocity(ref vec);
     }
     public override Vector3 GetTotalForce(BulletBody pBody)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
         IndexedVector3 iv3 = body.GetTotalForce();
         return new Vector3(iv3.X, iv3.Y, iv3.Z);
     }
     public override Vector3 GetTotalTorque(BulletBody pBody)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
         IndexedVector3 iv3 = body.GetTotalTorque();
         return new Vector3(iv3.X, iv3.Y, iv3.Z);
     }
     public override Vector3 GetInvInertiaDiagLocal(BulletBody pBody)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
         IndexedVector3 iv3 = body.GetInvInertiaDiagLocal();
         return new Vector3(iv3.X, iv3.Y, iv3.Z);
     }
     public override void SetInvInertiaDiagLocal(BulletBody pBody, Vector3 inert)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
         IndexedVector3 iv3 = new IndexedVector3(inert.X, inert.Y, inert.Z);
         body.SetInvInertiaDiagLocal(ref iv3);
     }
     public override void ApplyForce(BulletBody pBody, Vector3 force, Vector3 pos)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
         IndexedVector3 forceiv3 = new IndexedVector3(force.X, force.Y, force.Z);
         IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z);
         body.ApplyForce(ref forceiv3, ref posiv3);
     }
     public override void ApplyImpulse(BulletBody pBody, Vector3 imp, Vector3 pos)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
         IndexedVector3 impiv3 = new IndexedVector3(imp.X, imp.Y, imp.Z);
         IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z);
         body.ApplyImpulse(ref impiv3, ref posiv3);
@@ -359,32 +381,32 @@ private sealed class BulletConstraintXNA : BulletConstraint
 
     public override void ClearForces(BulletBody pBody)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
         body.ClearForces();
     }
 
-    public override void SetTranslation(BulletBody pBody, Vector3 _position, Quaternion _orientation)
+    public override void SetTranslation(BulletBody pCollisionObject, Vector3 _position, Quaternion _orientation)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
         IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z);
         IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z,
                                                               _orientation.W);
         IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion);
         mat._origin = vposition;
-        body.SetWorldTransform(mat);
+        collisionObject.SetWorldTransform(mat);
         
     }
 
-    public override Vector3 GetPosition(BulletBody pBody)
+    public override Vector3 GetPosition(BulletBody pCollisionObject)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        IndexedVector3 pos = body.GetInterpolationWorldTransform()._origin;
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        IndexedVector3 pos = collisionObject.GetInterpolationWorldTransform()._origin;
         return new Vector3(pos.X, pos.Y, pos.Z);
     }
 
     public override Vector3 CalculateLocalInertia(BulletShape pShape, float pphysMass)
     {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
         IndexedVector3 inertia = IndexedVector3.Zero;
         shape.CalculateLocalInertia(pphysMass, out inertia);
         return new Vector3(inertia.X, inertia.Y, inertia.Z);
@@ -392,7 +414,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
 
     public override void SetMassProps(BulletBody pBody, float pphysMass, Vector3 plocalInertia)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
         IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z);
         body.SetMassProps(pphysMass, inertia);
     }
@@ -400,73 +422,90 @@ private sealed class BulletConstraintXNA : BulletConstraint
 
     public override void SetObjectForce(BulletBody pBody, Vector3 _force)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
         IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z);
         body.SetTotalForce(ref force);
     }
 
-    public override void SetFriction(BulletBody pBody, float _currentFriction)
+    public override void SetFriction(BulletBody pCollisionObject, float _currentFriction)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        body.SetFriction(_currentFriction);
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        collisionObject.SetFriction(_currentFriction);
     }
 
     public override void SetLinearVelocity(BulletBody pBody, Vector3 _velocity)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
         IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z);
         body.SetLinearVelocity(velocity);
     }
 
-    public override void Activate(BulletBody pBody, bool pforceactivation)
+    public override void Activate(BulletBody pCollisionObject, bool pforceactivation)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        body.Activate(pforceactivation);
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        collisionObject.Activate(pforceactivation);
         
     }
 
-    public override Quaternion GetOrientation(BulletBody pBody)
+    public override Quaternion GetOrientation(BulletBody pCollisionObject)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        IndexedQuaternion mat = body.GetInterpolationWorldTransform().GetRotation();
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        IndexedQuaternion mat = collisionObject.GetInterpolationWorldTransform().GetRotation();
         return new Quaternion(mat.X, mat.Y, mat.Z, mat.W);
     }
 
-    public override CollisionFlags RemoveFromCollisionFlags(BulletBody pBody, CollisionFlags pcollisionFlags)
+    public override CollisionFlags RemoveFromCollisionFlags(BulletBody pCollisionObject, CollisionFlags pcollisionFlags)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags();
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)collisionObject.GetCollisionFlags();
         existingcollisionFlags &= ~pcollisionFlags;
-        body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
+        collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
         return (CollisionFlags)(uint)existingcollisionFlags;
     }
 
-    public override float GetCcdMotionThreshold(BulletBody obj) { /* TODO */ return 0f;  }
+    public override float GetCcdMotionThreshold(BulletBody pCollisionObject)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        return collisionObject.GetCcdSquareMotionThreshold();
+    }
 
-    public override float GetCcdSweptSphereRadius(BulletBody obj) { /* TODO */ return 0f;  }
+    public override float GetCcdSweptSphereRadius(BulletBody pCollisionObject)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        return collisionObject.GetCcdSweptSphereRadius();
+        
+    }
 
-    public override IntPtr GetUserPointer(BulletBody obj) { /* TODO */ return IntPtr.Zero;  }
+    public override IntPtr GetUserPointer(BulletBody pCollisionObject)
+    {
+        CollisionObject shape = (pCollisionObject as BulletBodyXNA).body;
+        return (IntPtr)shape.GetUserPointer();
+    }
 
-    public override void SetUserPointer(BulletBody obj, IntPtr val) { /* TODO */ }
+    public override void SetUserPointer(BulletBody pCollisionObject, IntPtr val)
+    {
+        CollisionObject shape = (pCollisionObject as BulletBodyXNA).body;
+        shape.SetUserPointer(val);
+    }
 
     public override void SetGravity(BulletBody pBody, Vector3 pGravity)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
         IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z);
         body.SetGravity(gravity);
     }
 
     public override bool DestroyConstraint(BulletWorld pWorld, BulletConstraint pConstraint)
     {
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
-        TypedConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain;
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain;
         world.RemoveConstraint(constraint);
         return true;
     }
 
     public override bool SetLinearLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high)
     {
-        Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
+        Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
         IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
         IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
         constraint.SetLinearLowerLimit(lowlimit);
@@ -476,7 +515,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
 
     public override bool SetAngularLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high)
     {
-        Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
+        Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
         IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
         IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
         constraint.SetAngularLowerLimit(lowlimit);
@@ -486,20 +525,20 @@ private sealed class BulletConstraintXNA : BulletConstraint
 
     public override void SetConstraintNumSolverIterations(BulletConstraint pConstraint, float cnt)
     {
-        Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
+        Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
         constraint.SetOverrideNumSolverIterations((int)cnt);
     }
 
     public override bool CalculateTransforms(BulletConstraint pConstraint)
     {
-        Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
+        Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
         constraint.CalculateTransforms();
         return true;
     }
 
     public override void SetConstraintEnable(BulletConstraint pConstraint, float p_2)
     {
-        Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
+        Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
         constraint.SetEnabled((p_2 == 0) ? false : true);
     }
 
@@ -508,9 +547,9 @@ private sealed class BulletConstraintXNA : BulletConstraint
     public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
 
     {
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
-        RigidBody body1 = ((BulletBodyXNA)pBody1).rigidBody;
-        RigidBody body2 = ((BulletBodyXNA)pBody2).rigidBody;
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody;
+        RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody;
         IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
         IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
         IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
@@ -542,9 +581,9 @@ private sealed class BulletConstraintXNA : BulletConstraint
     /// <returns></returns>
     public override BulletConstraint Create6DofConstraintToPoint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
     {
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
-        RigidBody body1 = ((BulletBodyXNA)pBody1).rigidBody;
-        RigidBody body2 = ((BulletBodyXNA)pBody2).rigidBody;
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody;
+        RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody;
         IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
         IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
 
@@ -563,7 +602,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
     //SetFrames(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
     public override bool SetFrames(BulletConstraint pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot)
     {
-        Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
+        Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
         IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
         IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
         IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
@@ -579,109 +618,110 @@ private sealed class BulletConstraintXNA : BulletConstraint
 
     public override Vector3 GetLinearVelocity(BulletBody pBody)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
         IndexedVector3 iv3 = body.GetLinearVelocity();
         return new Vector3(iv3.X, iv3.Y, iv3.Z);
     }
     public override Vector3 GetAngularVelocity(BulletBody pBody)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
         IndexedVector3 iv3 = body.GetAngularVelocity();
         return new Vector3(iv3.X, iv3.Y, iv3.Z);
     }
     public override Vector3 GetVelocityInLocalPoint(BulletBody pBody, Vector3 pos)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
         IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z);
         IndexedVector3 iv3 = body.GetVelocityInLocalPoint(ref posiv3);
         return new Vector3(iv3.X, iv3.Y, iv3.Z);
     }
-    public override void Translate(BulletBody pBody, Vector3 trans)
+    public override void Translate(BulletBody pCollisionObject, Vector3 trans)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        collisionObject.Translate(new IndexedVector3(trans.X,trans.Y,trans.Z));
     }
     public override void UpdateDeactivation(BulletBody pBody, float timeStep)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
         body.UpdateDeactivation(timeStep);
     }
 
     public override bool WantsSleeping(BulletBody pBody)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
         return body.WantsSleeping();
     }
 
     public override void SetAngularFactor(BulletBody pBody, float factor)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
         body.SetAngularFactor(factor);
     }
 
     public override Vector3 GetAngularFactor(BulletBody pBody)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
         IndexedVector3 iv3 =  body.GetAngularFactor();
         return new Vector3(iv3.X, iv3.Y, iv3.Z);
     }
 
-    public override bool IsInWorld(BulletWorld pWorld, BulletBody pBody)
+    public override bool IsInWorld(BulletWorld pWorld, BulletBody pCollisionObject)
     {
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
-        CollisionObject body = ((BulletBodyXNA)pBody).body;
-        return world.IsInWorld(body);
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
+        return world.IsInWorld(collisionObject);
     }
 
-    public override void AddConstraintRef(BulletBody pBody, BulletConstraint pConstrain)
+    public override void AddConstraintRef(BulletBody pBody, BulletConstraint pConstraint)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        TypedConstraint constrain = ((BulletConstraintXNA)pConstrain).constrain;
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        TypedConstraint constrain = (pConstraint as BulletConstraintXNA).constrain;
         body.AddConstraintRef(constrain);
     }
 
-    public override void RemoveConstraintRef(BulletBody pBody, BulletConstraint pConstrain)
+    public override void RemoveConstraintRef(BulletBody pBody, BulletConstraint pConstraint)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        TypedConstraint constrain = ((BulletConstraintXNA)pConstrain).constrain;
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        TypedConstraint constrain = (pConstraint as BulletConstraintXNA).constrain;
         body.RemoveConstraintRef(constrain);
     }
 
     public override BulletConstraint GetConstraintRef(BulletBody pBody, int index)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
         return new BulletConstraintXNA(body.GetConstraintRef(index));
     }
 
     public override int GetNumConstraintRefs(BulletBody pBody)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
         return body.GetNumConstraintRefs();
     }
 
-    public override void SetInterpolationLinearVelocity(BulletBody pBody, Vector3 VehicleVelocity)
+    public override void SetInterpolationLinearVelocity(BulletBody pCollisionObject, Vector3 VehicleVelocity)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
         IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z);
-        body.SetInterpolationLinearVelocity(ref velocity);
+        collisionObject.SetInterpolationLinearVelocity(ref velocity);
     }
 
     public override bool UseFrameOffset(BulletConstraint pConstraint, float onOff)
     {
-        Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
+        Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
         constraint.SetUseFrameOffset((onOff == 0) ? false : true);
         return true;
     }
     //SetBreakingImpulseThreshold(m_constraint.ptr, threshold);
     public override bool SetBreakingImpulseThreshold(BulletConstraint pConstraint, float threshold)
     {
-        Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
+        Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
         constraint.SetBreakingImpulseThreshold(threshold);
         return true;
     }
     //BulletSimAPI.SetAngularDamping(Prim.PhysBody.ptr, angularDamping);
     public override void SetAngularDamping(BulletBody pBody, float angularDamping)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
         float lineardamping = body.GetLinearDamping();
         body.SetDamping(lineardamping, angularDamping);
 
@@ -689,111 +729,183 @@ private sealed class BulletConstraintXNA : BulletConstraint
 
     public override void UpdateInertiaTensor(BulletBody pBody)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
         body.UpdateInertiaTensor();
     }
 
     public override void RecalculateCompoundShapeLocalAabb(BulletShape pCompoundShape)
     {
-        CompoundShape shape = ((BulletShapeXNA)pCompoundShape).shape as CompoundShape;
+        CompoundShape shape = (pCompoundShape as BulletShapeXNA).shape as CompoundShape;
         shape.RecalculateLocalAabb();
     }
 
     //BulletSimAPI.GetCollisionFlags(PhysBody.ptr)
-    public override CollisionFlags GetCollisionFlags(BulletBody pBody)
+    public override CollisionFlags GetCollisionFlags(BulletBody pCollisionObject)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        uint flags = (uint)body.GetCollisionFlags();
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        uint flags = (uint)collisionObject.GetCollisionFlags();
         return (CollisionFlags) flags;
     }
 
     public override void SetDamping(BulletBody pBody, float pLinear, float pAngular)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
         body.SetDamping(pLinear, pAngular);
     }
     //PhysBody.ptr, PhysicsScene.Params.deactivationTime);
-    public override void SetDeactivationTime(BulletBody pBody, float pDeactivationTime)
+    public override void SetDeactivationTime(BulletBody pCollisionObject, float pDeactivationTime)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        body.SetDeactivationTime(pDeactivationTime);
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        collisionObject.SetDeactivationTime(pDeactivationTime);
     }
     //SetSleepingThresholds(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
     public override void SetSleepingThresholds(BulletBody pBody, float plinearSleepingThreshold, float pangularSleepingThreshold)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
         body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold);
     }
 
-    public override CollisionObjectTypes GetBodyType(BulletBody pBody)
+    public override CollisionObjectTypes GetBodyType(BulletBody pCollisionObject)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        return (CollisionObjectTypes)(int) body.GetInternalType();
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        return (CollisionObjectTypes)(int) collisionObject.GetInternalType();
     }
 
-    public override void ApplyGravity(BulletBody obj) { /* TODO */ }
+    public override void ApplyGravity(BulletBody pBody)
+    {
 
-    public override Vector3 GetGravity(BulletBody obj) { /* TODO */ return Vector3.Zero;  }
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        body.ApplyGravity();
+    }
 
-    public override void SetLinearDamping(BulletBody obj, float lin_damping) { /* TODO */ }
+    public override Vector3 GetGravity(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 gravity = body.GetGravity();
+        return new Vector3(gravity.X, gravity.Y, gravity.Z);
+    }
 
-    public override float GetLinearDamping(BulletBody obj) { /* TODO */ return 0f;  }
+    public override void SetLinearDamping(BulletBody pBody, float lin_damping)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        float angularDamping = body.GetAngularDamping();
+        body.SetDamping(lin_damping, angularDamping); 
+    }
 
-    public override float GetAngularDamping(BulletBody obj) { /* TODO */ return 0f;  }
+    public override float GetLinearDamping(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        return body.GetLinearDamping();
+    }
+
+    public override float GetAngularDamping(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        return body.GetAngularDamping();
+    }
 
-    public override float GetLinearSleepingThreshold(BulletBody obj) { /* TODO */ return 0f;  }
+    public override float GetLinearSleepingThreshold(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        return body.GetLinearSleepingThreshold();
+    }
 
-    public override void ApplyDamping(BulletBody obj, float timeStep) { /* TODO */ }
+    public override void ApplyDamping(BulletBody pBody, float timeStep)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        body.ApplyDamping(timeStep);
+    }
 
-    public override Vector3 GetLinearFactor(BulletBody obj) { /* TODO */ return Vector3.Zero; }
+    public override Vector3 GetLinearFactor(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 linearFactor = body.GetLinearFactor();
+        return new Vector3(linearFactor.X, linearFactor.Y, linearFactor.Z);
+    }
 
-    public override void SetLinearFactor(BulletBody obj, Vector3 factor) { /* TODO */ }
+    public override void SetLinearFactor(BulletBody pBody, Vector3 factor)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        body.SetLinearFactor(new IndexedVector3(factor.X, factor.Y, factor.Z));
+    }
 
-    public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot) { /* TODO */ }
+    public override void SetCenterOfMassByPosRot(BulletBody pBody, Vector3 pos, Quaternion rot)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedQuaternion quat = new IndexedQuaternion(rot.X, rot.Y, rot.Z,rot.W);
+        IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(quat);
+        mat._origin = new IndexedVector3(pos.X, pos.Y, pos.Z);
+        body.SetCenterOfMassTransform( ref mat);
+        /* TODO: double check this */
+    }
 
     //BulletSimAPI.ApplyCentralForce(PhysBody.ptr, fSum);
     public override void ApplyCentralForce(BulletBody pBody, Vector3 pfSum)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
         IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
         body.ApplyCentralForce(ref fSum);
     }
     public override void ApplyCentralImpulse(BulletBody pBody, Vector3 pfSum)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
         IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
         body.ApplyCentralImpulse(ref fSum);
     }
     public override void ApplyTorque(BulletBody pBody, Vector3 pfSum)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
         IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
         body.ApplyTorque(ref fSum);
     }
     public override void ApplyTorqueImpulse(BulletBody pBody, Vector3 pfSum)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
         IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
         body.ApplyTorqueImpulse(ref fSum);
     }
 
-    public override void DestroyObject(BulletWorld p, BulletBody p_2)
+    public override void DestroyObject(BulletWorld pWorld, BulletBody pBody)
     {
-        //TODO:
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        CollisionObject co = (pBody as BulletBodyXNA).rigidBody;
+        RigidBody bo = co as RigidBody;
+        if (bo == null)
+        {
+            
+            if (world.IsInWorld(co))
+            {
+                world.RemoveCollisionObject(co);
+            }
+        }
+        else
+        {
+            
+            if (world.IsInWorld(bo))
+            {
+                world.RemoveRigidBody(bo);
+            }
+        }
+       
     }
 
     public override void Shutdown(BulletWorld pWorld)
     {
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
         world.Cleanup();
     }
 
-    public override BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id)
+    public override BulletShape DuplicateCollisionShape(BulletWorld pWorld, BulletShape pShape, uint id)
     {
-        return null;
+        CollisionShape shape1 = (pShape as BulletShapeXNA).shape;
+
+        // TODO:  Turn this from a reference copy to a Value Copy.
+        BulletShapeXNA shape2 = new BulletShapeXNA(shape1, BSPhysicsShapeType.SHAPE_UNKNOWN);
+        
+        return shape2;
     }
 
-    public override bool DeleteCollisionShape(BulletWorld p, BulletShape p_2)
+    public override bool DeleteCollisionShape(BulletWorld pWorld, BulletShape pShape)
     {
         //TODO:
         return false;
@@ -802,17 +914,40 @@ private sealed class BulletConstraintXNA : BulletConstraint
                
     public override BulletBody CreateBodyFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
     {
-        CollisionWorld world = ((BulletWorldXNA)pWorld).world;
+        CollisionWorld world = (pWorld as BulletWorldXNA).world;
         IndexedMatrix mat =
             IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y,
                                                                      pRawOrientation.Z, pRawOrientation.W));
         mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
         //UpdateSingleAabb(world, shape);
         // TODO: Feed Update array into null
-        RigidBody body = new RigidBody(0,new SimMotionState(world,pLocalID,mat,null),shape,IndexedVector3.Zero);
-        
+        SimMotionState motionState = new SimMotionState(world, pLocalID, mat, null);
+        RigidBody body = new RigidBody(0,motionState,shape,IndexedVector3.Zero);
+        RigidBodyConstructionInfo constructionInfo = new RigidBodyConstructionInfo(0, new SimMotionState(world, pLocalID, mat, null),shape,IndexedVector3.Zero)
+                                                         {
+                                                             m_mass = 0
+                                                         };
+        /*
+            m_mass = mass;
+                        m_motionState =motionState;
+                        m_collisionShape = collisionShape;
+                        m_localInertia = localInertia;
+                        m_linearDamping = 0f;
+                        m_angularDamping = 0f;
+                        m_friction = 0.5f;
+                        m_restitution = 0f;
+                        m_linearSleepingThreshold = 0.8f;
+                        m_angularSleepingThreshold = 1f;
+                        m_additionalDamping = false;
+                        m_additionalDampingFactor = 0.005f;
+                        m_additionalLinearDampingThresholdSqr = 0.01f;
+                        m_additionalAngularDampingThresholdSqr = 0.01f;
+                        m_additionalAngularDampingFactor = 0.01f;
+            m_startWorldTransform = IndexedMatrix.Identity;
+        */
         body.SetUserPointer(pLocalID);
+        
         return new BulletBodyXNA(pLocalID, body);
     }
 
@@ -825,7 +960,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
                                                                      pRawOrientation.Z, pRawOrientation.W));
         mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
 
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
 
         // TODO: Feed Update array into null
         RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero);
@@ -834,21 +969,43 @@ private sealed class BulletConstraintXNA : BulletConstraint
         return new BulletBodyXNA(pLocalID, body);
     }
     //(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
-    public override CollisionFlags SetCollisionFlags(BulletBody pBody, CollisionFlags collisionFlags)
+    public override CollisionFlags SetCollisionFlags(BulletBody pCollisionObject, CollisionFlags collisionFlags)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags);
-        return (CollisionFlags)body.GetCollisionFlags();
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags);
+        return (CollisionFlags)collisionObject.GetCollisionFlags();
     }
 
-    public override Vector3 GetAnisotripicFriction(BulletConstraint pconstrain) { /* TODO */ return Vector3.Zero; }
+    public override Vector3 GetAnisotripicFriction(BulletConstraint pconstrain)
+    {
+
+        /* TODO */ 
+        return Vector3.Zero;
+    }
     public override Vector3 SetAnisotripicFriction(BulletConstraint pconstrain, Vector3 frict) { /* TODO */ return Vector3.Zero; }
     public override bool HasAnisotripicFriction(BulletConstraint pconstrain) { /* TODO */ return false; }
     public override float GetContactProcessingThreshold(BulletBody pBody) { /* TODO */ return 0f; }
-    public override bool IsStaticObject(BulletBody pBody) { /* TODO */ return false; }
-    public override bool IsKinematicObject(BulletBody pBody) { /* TODO */ return false; }
-    public override bool IsStaticOrKinematicObject(BulletBody pBody) { /* TODO */ return false; }
-    public override bool HasContactResponse(BulletBody pBody) { /* TODO */ return false; }
+    public override bool IsStaticObject(BulletBody pCollisionObject)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        return collisionObject.IsStaticObject();
+        
+    }
+    public override bool IsKinematicObject(BulletBody pCollisionObject)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        return collisionObject.IsKinematicObject();
+    }
+    public override bool IsStaticOrKinematicObject(BulletBody pCollisionObject)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        return collisionObject.IsStaticOrKinematicObject();
+    }
+    public override bool HasContactResponse(BulletBody pCollisionObject)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        return collisionObject.HasContactResponse();
+    }
     public override int GetActivationState(BulletBody pBody) { /* TODO */ return 0; }
     public override void SetActivationState(BulletBody pBody, int state) { /* TODO */ }
     public override float GetDeactivationTime(BulletBody pBody) { /* TODO */ return 0f; }
@@ -859,15 +1016,15 @@ private sealed class BulletConstraintXNA : BulletConstraint
     public override float GetHitFraction(BulletBody pBody) { /* TODO */ return 0f; }
 
     //(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
-    public override void SetHitFraction(BulletBody pBody, float pHitFraction)
+    public override void SetHitFraction(BulletBody pCollisionObject, float pHitFraction)
     {
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        body.SetHitFraction(pHitFraction);
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        collisionObject.SetHitFraction(pHitFraction);
     }
     //BuildCapsuleShape(physicsScene.World.ptr, 1f, 1f, prim.Scale);
     public override BulletShape BuildCapsuleShape(BulletWorld pWorld, float pRadius, float pHeight, Vector3 pScale)
     {
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
         IndexedVector3 scale = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
         CapsuleShapeZ capsuleShapeZ = new CapsuleShapeZ(pRadius, pHeight);
         capsuleShapeZ.SetMargin(world.WorldSettings.Params.collisionMargin);
@@ -881,14 +1038,24 @@ private sealed class BulletConstraintXNA : BulletConstraint
                                             int maxUpdates, ref EntityProperties[] updateArray
                                             )
     {
+
+        m_updateArray = updateArray;
+        m_collisionArray = collisionArray;
         /* TODO */
-        return new BulletWorldXNA(1, null, null);
+        ConfigurationParameters[] configparms = new ConfigurationParameters[1];
+        configparms[0] = parms;
+        Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
+        m_maxCollisions = maxCollisions;
+        m_maxUpdatesPerFrame = maxUpdates;
+
+
+        return new BulletWorldXNA(1, PhysicsScene, BSAPIXNA.Initialize2(worldExtent, configparms, maxCollisions, ref collisionArray, maxUpdates, ref updateArray, null));
     }
 
-    private static object Initialize2(Vector3 worldExtent, 
+    private static DiscreteDynamicsWorld Initialize2(Vector3 worldExtent, 
                         ConfigurationParameters[] o,
-                        int mMaxCollisionsPerFrame, ref List<BulletXNA.CollisionDesc> collisionArray,
-                        int mMaxUpdatesPerFrame, ref List<BulletXNA.EntityProperties> updateArray, 
+                        int mMaxCollisionsPerFrame, ref CollisionDesc[] collisionArray,
+                        int mMaxUpdatesPerFrame, ref EntityProperties[] updateArray, 
                         object mDebugLogCallbackHandle)
     {
         CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData();
@@ -968,8 +1135,13 @@ private sealed class BulletConstraintXNA : BulletConstraint
         SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver();
 
         DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci);
-        world.UpdatedObjects = updateArray;
-        world.UpdatedCollisions = collisionArray;
+        
+        
+        world.UpdatedObjects = BSAPIXNA.GetBulletXNAEntityStruct(BSAPIXNA.BulletSimEntityStructToByteArray(updateArray, updateArray.Length));
+        world.UpdatedCollisions = BSAPIXNA.GetBulletXNACollisionStruct(BSAPIXNA.BulletSimCollisionStructToByteArray(collisionArray, collisionArray.Length));
+        world.LastCollisionDesc = 0;
+        world.LastEntityProperty = 0;
+
         world.WorldSettings.Params = p;
         world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0);
         world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD;
@@ -1003,7 +1175,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
         world.GetSolverInfo().m_restingContactRestitutionThreshold = 2;
         world.SetForceUpdateAllAabbs(true);
 
-
+        //BSParam.TerrainImplementation = 0;
         world.SetGravity(new IndexedVector3(0,0,p.gravity));
 
         return world;
@@ -1011,7 +1183,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
     //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL
     public override bool SetConstraintParam(BulletConstraint pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis)
     {
-        Generic6DofConstraint constrain = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
+        Generic6DofConstraint constrain = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
         if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
         {
             constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0);
@@ -1034,7 +1206,8 @@ private sealed class BulletConstraintXNA : BulletConstraint
     public override bool PushUpdate(BulletBody pCollisionObject)
     {
         bool ret = false;
-        RigidBody rb = ((BulletBodyXNA)pCollisionObject).rigidBody;
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        RigidBody rb = collisionObject as RigidBody;
         if (rb != null)
         {
             SimMotionState sms = rb.GetMotionState() as SimMotionState;
@@ -1052,57 +1225,57 @@ private sealed class BulletConstraintXNA : BulletConstraint
 
     public override float GetAngularMotionDisc(BulletShape pShape)
     {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
         return shape.GetAngularMotionDisc();
     }
     public override float GetContactBreakingThreshold(BulletShape pShape, float defaultFactor)
     {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
         return shape.GetContactBreakingThreshold(defaultFactor);
     }
     public override bool IsCompound(BulletShape pShape)
     {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
         return shape.IsCompound();
     }
     public override bool IsSoftBody(BulletShape pShape)
     {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
         return shape.IsSoftBody();
     }
     public override bool IsPolyhedral(BulletShape pShape)
     {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
         return shape.IsPolyhedral();
     }
     public override bool IsConvex2d(BulletShape pShape)
     {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
         return shape.IsConvex2d();
     }
     public override bool IsConvex(BulletShape pShape)
     {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
         return shape.IsConvex();
     }
     public override bool IsNonMoving(BulletShape pShape)
     {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
         return shape.IsNonMoving();
     }
     public override bool IsConcave(BulletShape pShape)
     {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
         return shape.IsConcave();
     }
     public override bool IsInfinite(BulletShape pShape)
     {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
         return shape.IsInfinite();
     }
     public override bool IsNativeShape(BulletShape pShape)
     {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
         bool ret;
         switch (shape.GetShapeType())
         {
@@ -1119,38 +1292,53 @@ private sealed class BulletConstraintXNA : BulletConstraint
         return ret;
     }
 
-    public override void SetShapeCollisionMargin(BulletShape shape, float margin) { /* TODO */ }
+    public override void SetShapeCollisionMargin(BulletShape pShape, float pMargin)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        shape.SetMargin(pMargin);
+    }
 
     //sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation
     public override BulletBody CreateGhostFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
     {
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
         IndexedMatrix bodyTransform = new IndexedMatrix();
         bodyTransform._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
         bodyTransform.SetRotation(new IndexedQuaternion(pRawOrientation.X,pRawOrientation.Y,pRawOrientation.Z,pRawOrientation.W));
         GhostObject gObj = new PairCachingGhostObject();
         gObj.SetWorldTransform(bodyTransform);
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
         gObj.SetCollisionShape(shape);
         gObj.SetUserPointer(pLocalID);
         // TODO: Add to Special CollisionObjects!
         return new BulletBodyXNA(pLocalID, gObj);
     }
 
-    public override void SetCollisionShape(BulletWorld pWorld, BulletBody pObj, BulletShape pShape)
+    public override void SetCollisionShape(BulletWorld pWorld, BulletBody pCollisionObject, BulletShape pShape)
     {
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
-        CollisionObject obj = ((BulletBodyXNA)pObj).body;
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
-        obj.SetCollisionShape(shape);
-
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
+        if (pShape == null)
+        {
+            collisionObject.SetCollisionShape(new EmptyShape());
+        }
+        else
+        {
+            CollisionShape shape = (pShape as BulletShapeXNA).shape;
+            collisionObject.SetCollisionShape(shape);
+        }
+    }
+    public override BulletShape GetCollisionShape(BulletBody pCollisionObject)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        CollisionShape shape = collisionObject.GetCollisionShape();
+        return new BulletShapeXNA(shape,BSPhysicsShapeType.SHAPE_UNKNOWN);
     }
-    public override BulletShape GetCollisionShape(BulletBody obj) { /* TODO */ return null; }
 
     //(PhysicsScene.World.ptr, nativeShapeData)
     public override BulletShape BuildNativeShape(BulletWorld pWorld, ShapeData pShapeData)
     {
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
         CollisionShape shape = null;
         switch (pShapeData.Type)
         {
@@ -1185,15 +1373,15 @@ private sealed class BulletConstraintXNA : BulletConstraint
 
     public override int GetNumberOfCompoundChildren(BulletShape pCompoundShape)
     {
-        CompoundShape compoundshape = ((BulletShapeXNA)pCompoundShape).shape as CompoundShape;
+        CompoundShape compoundshape = (pCompoundShape as BulletShapeXNA).shape as CompoundShape;
         return compoundshape.GetNumChildShapes();
     }
     //LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot
     public override void AddChildShapeToCompoundShape(BulletShape pCShape, BulletShape paddShape, Vector3 displacementPos, Quaternion displacementRot)
     {
         IndexedMatrix relativeTransform = new IndexedMatrix();
-        CompoundShape compoundshape = ((BulletShapeXNA)pCShape).shape as CompoundShape;
-        CollisionShape addshape = ((BulletShapeXNA)paddShape).shape;
+        CompoundShape compoundshape = (pCShape as BulletShapeXNA).shape as CompoundShape;
+        CollisionShape addshape = (paddShape as BulletShapeXNA).shape;
 
         relativeTransform._origin = new IndexedVector3(displacementPos.X, displacementPos.Y, displacementPos.Z);
         relativeTransform.SetRotation(new IndexedQuaternion(displacementRot.X,displacementRot.Y,displacementRot.Z,displacementRot.W));
@@ -1203,7 +1391,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
 
     public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape pCShape, int pii)
     {
-        CompoundShape compoundshape = ((BulletShapeXNA)pCShape).shape as CompoundShape;
+        CompoundShape compoundshape = (pCShape as BulletShapeXNA).shape as CompoundShape;
         CollisionShape ret = null;
         ret = compoundshape.GetChildShape(pii);
         compoundshape.RemoveChildShapeByIndex(pii);
@@ -1222,12 +1410,12 @@ private sealed class BulletConstraintXNA : BulletConstraint
         return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE);
     }
 
-    public override BulletConstraint CreateHingeConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody ppBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
+    public override BulletConstraint CreateHingeConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
     {
         HingeConstraint constrain = null;
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
-        RigidBody rb1 = ((BulletBodyXNA)pBody1).rigidBody;
-        RigidBody rb2 = ((BulletBodyXNA)ppBody2).rigidBody;
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody;
+        RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody;
         if (rb1 != null && rb2 != null)
         {
             IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z);
@@ -1241,7 +1429,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
 
     public override BulletShape CreateHullShape(BulletWorld pWorld, int pHullCount, float[] pConvHulls)
     {
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
         CompoundShape compoundshape = new CompoundShape(false);
         
         compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin);
@@ -1271,7 +1459,11 @@ private sealed class BulletConstraintXNA : BulletConstraint
         return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL);
     }
 
-    public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape) { /* TODO */ return null; }
+    public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape)
+    {
+        /* TODO */ return null;
+
+    }
 
     public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
     {
@@ -1286,7 +1478,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
         ObjectArray<int> indicesarr = new ObjectArray<int>(indices);
         ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats);
         DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount);
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
         IndexedMesh mesh = new IndexedMesh();
         mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
         mesh.m_numTriangles = pIndicesCount/3;
@@ -1402,7 +1594,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
 
     public override bool TranslationalLimitMotor(BulletConstraint pConstraint, float ponOff, float targetVelocity, float maxMotorForce)
     {
-        TypedConstraint tconstrain = ((BulletConstraintXNA)pConstraint).constrain;
+        TypedConstraint tconstrain = (pConstraint as BulletConstraintXNA).constrain;
         bool onOff = ponOff != 0;
         bool ret = false;
 
@@ -1428,47 +1620,45 @@ private sealed class BulletConstraintXNA : BulletConstraint
         /* TODO */
         updatedEntityCount = 0;
         collidersCount = 0;
-        return 1;
+        
+
+        int ret = PhysicsStep2(world,timeStep,maxSubSteps,fixedTimeStep,out updatedEntityCount,out world.physicsScene.m_updateArray, out collidersCount, out world.physicsScene.m_collisionArray);
+
+        return ret;
     }
 
     private int PhysicsStep2(BulletWorld pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, 
-                    out int updatedEntityCount, out List<BulletXNA.EntityProperties> updatedEntities, 
-                    out int collidersCount, out List<BulletXNA.CollisionDesc>colliders)
+                    out int updatedEntityCount, out EntityProperties[] updatedEntities,
+                    out int collidersCount, out CollisionDesc[] colliders)
     {
         int epic = PhysicsStepint(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities,
-                                out collidersCount, out colliders);
+                                out collidersCount, out colliders, m_maxCollisions, m_maxUpdatesPerFrame);
         return epic;
     }
 
-    private static int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List<BulletXNA.EntityProperties> updatedEntities, out int collidersCount, out List<BulletXNA.CollisionDesc> colliders)
+    private static int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, 
+        out  EntityProperties[] updatedEntities, out int collidersCount, out CollisionDesc[] colliders, int maxCollisions, int maxUpdates)
     {
         int numSimSteps = 0;
-      
 
-        //if (updatedEntities is null)
-        //    updatedEntities = new List<BulletXNA.EntityProperties>();
-
-        //if (colliders is null)
-        //    colliders = new List<BulletXNA.CollisionDesc>();
+        updatedEntityCount = 0;
+        collidersCount = 0;
         
 
         if (pWorld is BulletWorldXNA)
         {
-            DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
 
+            world.LastCollisionDesc = 0;
+            world.LastEntityProperty = 0;
+            world.UpdatedObjects = new BulletXNA.EntityProperties[maxUpdates];
+            world.UpdatedCollisions = new BulletXNA.CollisionDesc[maxCollisions];
             numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep);
             int updates = 0;
 
-            updatedEntityCount = world.UpdatedObjects.Count;
-            updatedEntities = new List<BulletXNA.EntityProperties>(world.UpdatedObjects);
-            updatedEntityCount = updatedEntities.Count;
-            world.UpdatedObjects.Clear();
+            
             
 
-            collidersCount = world.UpdatedCollisions.Count;
-            colliders = new List<BulletXNA.CollisionDesc>(world.UpdatedCollisions);
-
-            world.UpdatedCollisions.Clear();
             m_collisionsThisFrame = 0;
             int numManifolds = world.GetDispatcher().GetNumManifolds();
             for (int j = 0; j < numManifolds; j++)
@@ -1493,16 +1683,31 @@ private sealed class BulletConstraintXNA : BulletConstraint
 
             }
 
+            updatedEntityCount = world.LastEntityProperty;
+            updatedEntities = GetBulletSimEntityStruct(BulletXNAEntityStructToByteArray(world.UpdatedObjects, world.LastEntityProperty));
+
+
+
+
+            collidersCount = world.LastCollisionDesc;
+            colliders =
+                GetBulletSimCollisionStruct(BulletXNACollisionStructToByteArray(world.UpdatedCollisions, world.LastCollisionDesc));//new List<BulletXNA.CollisionDesc>(world.UpdatedCollisions);
 
         }
         else
         {
             //if (updatedEntities is null)
-            updatedEntities = new List<BulletXNA.EntityProperties>();
-            updatedEntityCount = 0;
+            //updatedEntities = new List<BulletXNA.EntityProperties>();
+            //updatedEntityCount = 0;
             //if (colliders is null)
-            colliders = new List<BulletXNA.CollisionDesc>();
-            collidersCount = 0;
+            //colliders = new List<BulletXNA.CollisionDesc>();
+            //collidersCount = 0;
+           
+            updatedEntities = new EntityProperties[0];
+
+            
+            colliders = new CollisionDesc[0];
+        
         }
         return numSimSteps;
     }
@@ -1535,22 +1740,23 @@ private sealed class BulletConstraintXNA : BulletConstraint
                                                 point = contact,
                                                 normal = contactNormal
                                             };
-        world.UpdatedCollisions.Add(cDesc);
+        if (world.LastCollisionDesc < world.UpdatedCollisions.Length)
+            world.UpdatedCollisions[world.LastCollisionDesc++] = (cDesc);
         m_collisionsThisFrame++;
 
 
     }
-    private static EntityProperties GetDebugProperties(BulletWorld pWorld, BulletBody pBody)
+    private static EntityProperties GetDebugProperties(BulletWorld pWorld, BulletBody pCollisionObject)
     {
         EntityProperties ent = new EntityProperties();
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
-        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
-        IndexedMatrix transform = body.GetWorldTransform();
-        IndexedVector3 LinearVelocity = body.GetInterpolationLinearVelocity();
-        IndexedVector3 AngularVelocity = body.GetInterpolationAngularVelocity();
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        IndexedMatrix transform = collisionObject.GetWorldTransform();
+        IndexedVector3 LinearVelocity = collisionObject.GetInterpolationLinearVelocity();
+        IndexedVector3 AngularVelocity = collisionObject.GetInterpolationAngularVelocity();
         IndexedQuaternion rotation = transform.GetRotation();
         ent.Acceleration = Vector3.Zero;
-        ent.ID = (uint)body.GetUserPointer();
+        ent.ID = (uint)collisionObject.GetUserPointer();
         ent.Position = new Vector3(transform._origin.X,transform._origin.Y,transform._origin.Z);
         ent.Rotation = new Quaternion(rotation.X,rotation.Y,rotation.Z,rotation.W);
         ent.Velocity = new Vector3(LinearVelocity.X, LinearVelocity.Y, LinearVelocity.Z);
@@ -1562,19 +1768,19 @@ private sealed class BulletConstraintXNA : BulletConstraint
 
     public override Vector3 GetLocalScaling(BulletShape pShape)
     {
-        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
         IndexedVector3 scale = shape.GetLocalScaling();
         return new Vector3(scale.X,scale.Y,scale.Z);
     }
 
     public bool RayCastGround(BulletWorld pWorld, Vector3 _RayOrigin, float pRayHeight, BulletBody NotMe)
     {
-        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
         if (world != null)
         {
             if (NotMe is BulletBodyXNA && NotMe.HasPhysicalBody)
             {
-                CollisionObject AvoidBody = ((BulletBodyXNA)NotMe).body;
+                CollisionObject AvoidBody = (NotMe as BulletBodyXNA).body;
                 
                 IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z);
                 IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight);
@@ -1594,5 +1800,160 @@ private sealed class BulletConstraintXNA : BulletConstraint
         }
         return false;
     }
+    
+    public static unsafe BulletXNA.CollisionDesc[] GetBulletXNACollisionStruct(byte[] buffer)
+    {
+        int count = buffer.Length/sizeof (BulletXNA.CollisionDesc);
+        BulletXNA.CollisionDesc[] result = new BulletXNA.CollisionDesc[count];
+        BulletXNA.CollisionDesc* ptr;
+        fixed (byte* localBytes = new byte[buffer.Length])
+        {
+            for (int i = 0; i < buffer.Length; i++)
+            {
+                localBytes[i] = buffer[i];
+            }
+            for (int i=0;i<count;i++)
+            {
+                ptr = (BulletXNA.CollisionDesc*) (localBytes + sizeof (BulletXNA.CollisionDesc)*i);
+                result[i] = new BulletXNA.CollisionDesc();
+                result[i] = *ptr;
+            }
+        }
+        return result;
+    }
+
+    public static unsafe CollisionDesc[] GetBulletSimCollisionStruct(byte[] buffer)
+    {
+        int count = buffer.Length / sizeof(CollisionDesc);
+        CollisionDesc[] result = new CollisionDesc[count];
+        CollisionDesc* ptr;
+        fixed (byte* localBytes = new byte[buffer.Length])
+        {
+            for (int i = 0; i < buffer.Length; i++)
+            {
+                localBytes[i] = buffer[i];
+            }
+            for (int i = 0; i < count; i++)
+            {
+                ptr = (CollisionDesc*)(localBytes + sizeof(CollisionDesc) * i);
+                result[i] = new CollisionDesc();
+                result[i] = *ptr;
+            }
+        }
+        return result;
+    }
+    public static unsafe byte[] BulletSimCollisionStructToByteArray(CollisionDesc[] CollisionDescArray, int count)
+    {
+        int arrayLength = CollisionDescArray.Length > count ? count : CollisionDescArray.Length;
+        byte[] byteArray = new byte[sizeof(CollisionDesc) * arrayLength];
+        fixed (CollisionDesc* floatPointer = CollisionDescArray)
+        {
+            fixed (byte* bytePointer = byteArray)
+            {
+                CollisionDesc* read = floatPointer;
+                CollisionDesc* write = (CollisionDesc*)bytePointer;
+                for (int i = 0; i < arrayLength; i++)
+                {
+                    *write++ = *read++;
+                }
+            }
+        }
+        return byteArray;
+    }
+    public static unsafe byte[] BulletXNACollisionStructToByteArray(BulletXNA.CollisionDesc[] CollisionDescArray, int count)
+    {
+        int arrayLength = CollisionDescArray.Length > count ? count : CollisionDescArray.Length;
+        byte[] byteArray = new byte[sizeof(BulletXNA.CollisionDesc) * arrayLength];
+        fixed (BulletXNA.CollisionDesc* floatPointer = CollisionDescArray)
+        {
+            fixed (byte* bytePointer = byteArray)
+            {
+                BulletXNA.CollisionDesc* read = floatPointer;
+                BulletXNA.CollisionDesc* write = (BulletXNA.CollisionDesc*)bytePointer;
+                for (int i = 0; i < arrayLength; i++)
+                {
+                    *write++ = *read++;
+                }
+            }
+        }
+        return byteArray;
+    }
+    public static unsafe BulletXNA.EntityProperties[] GetBulletXNAEntityStruct(byte[] buffer)
+    {
+        int count = buffer.Length / sizeof(BulletXNA.EntityProperties);
+        BulletXNA.EntityProperties[] result = new BulletXNA.EntityProperties[count];
+        BulletXNA.EntityProperties* ptr;
+        fixed (byte* localBytes = new byte[buffer.Length])
+        {
+            for (int i = 0; i < buffer.Length; i++)
+            {
+                localBytes[i] = buffer[i];
+            }
+            for (int i = 0; i < count; i++)
+            {
+                ptr = (BulletXNA.EntityProperties*)(localBytes + sizeof(BulletXNA.EntityProperties) * i);
+                result[i] = new BulletXNA.EntityProperties();
+                result[i] = *ptr;
+            }
+        }
+        return result;
+    }
+
+    public static unsafe EntityProperties[] GetBulletSimEntityStruct(byte[] buffer)
+    {
+        int count = buffer.Length / sizeof(EntityProperties);
+        EntityProperties[] result = new EntityProperties[count];
+        EntityProperties* ptr;
+        fixed (byte* localBytes = new byte[buffer.Length])
+        {
+            for (int i = 0; i < buffer.Length; i++)
+            {
+                localBytes[i] = buffer[i];
+            }
+            for (int i = 0; i < count; i++)
+            {
+                ptr = (EntityProperties*)(localBytes + sizeof(EntityProperties) * i);
+                result[i] = new EntityProperties();
+                result[i] = *ptr;
+            }
+        }
+        return result;
+    }
+    public static unsafe byte[] BulletSimEntityStructToByteArray(EntityProperties[] CollisionDescArray, int count)
+    {
+        int arrayLength = CollisionDescArray.Length > count ? count : CollisionDescArray.Length;
+        byte[] byteArray = new byte[sizeof(EntityProperties) * arrayLength];
+        fixed (EntityProperties* floatPointer = CollisionDescArray)
+        {
+            fixed (byte* bytePointer = byteArray)
+            {
+                EntityProperties* read = floatPointer;
+                EntityProperties* write = (EntityProperties*)bytePointer;
+                for (int i = 0; i < arrayLength; i++)
+                {
+                    *write++ = *read++;
+                }
+            }
+        }
+        return byteArray;
+    }
+    public static unsafe byte[] BulletXNAEntityStructToByteArray(BulletXNA.EntityProperties[] CollisionDescArray, int count)
+    {
+        int arrayLength = CollisionDescArray.Length > count ? count : CollisionDescArray.Length;
+        byte[] byteArray = new byte[sizeof(BulletXNA.EntityProperties) * arrayLength];
+        fixed (BulletXNA.EntityProperties* floatPointer = CollisionDescArray)
+        {
+            fixed (byte* bytePointer = byteArray)
+            {
+                BulletXNA.EntityProperties* read = floatPointer;
+                BulletXNA.EntityProperties* write = (BulletXNA.EntityProperties*)bytePointer;
+                for (int i = 0; i < arrayLength; i++)
+                {
+                    *write++ = *read++;
+                }
+            }
+        }
+        return byteArray;
+    }
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
index bc163eb..2828cab 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
@@ -140,6 +140,25 @@ public struct EntityProperties
     public Vector3 Velocity;
     public Vector3 Acceleration;
     public Vector3 RotationalVelocity;
+
+    public override string ToString()
+    {
+        StringBuilder buff = new StringBuilder();
+        buff.Append("<i=");
+        buff.Append(ID.ToString());
+        buff.Append(",p=");
+        buff.Append(Position.ToString());
+        buff.Append(",r=");
+        buff.Append(Rotation.ToString());
+        buff.Append(",v=");
+        buff.Append(Velocity.ToString());
+        buff.Append(",a=");
+        buff.Append(Acceleration.ToString());
+        buff.Append(",rv=");
+        buff.Append(RotationalVelocity.ToString());
+        buff.Append(">");
+        return buff.ToString();
+    }
 }
 
 // Format of this structure must match the definition in the C++ code
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 478aeab..7603254 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -56,6 +56,7 @@ public sealed class BSCharacter : BSPhysObject
     private int _physicsActorType;
     private bool _isPhysical;
     private bool _flying;
+    private bool _wasWalking;   // 'true' if the avatar was walking/moving last frame
     private bool _setAlwaysRun;
     private bool _throttleUpdates;
     private bool _floatOnWater;
@@ -83,6 +84,7 @@ public sealed class BSCharacter : BSPhysObject
         _position = pos;
 
         _flying = isFlying;
+        _wasWalking = true;     // causes first step to initialize standing
         _orientation = OMV.Quaternion.Identity;
         _velocity = OMV.Vector3.Zero;
         _buoyancy = ComputeBuoyancyFromFlying(isFlying);
@@ -198,25 +200,68 @@ public sealed class BSCharacter : BSPhysObject
             // TODO: Decide if the step parameters should be changed depending on the avatar's
             //     state (flying, colliding, ...). There is code in ODE to do this.
 
-            OMV.Vector3 stepVelocity = _velocityMotor.Step(timeStep);
-
-            // If falling, we keep the world's downward vector no matter what the other axis specify.
-            if (!Flying && !IsColliding)
+            // COMMENTARY: when the user is making the avatar walk, except for falling, the velocity
+            //   specified for the avatar is the one that should be used. For falling, if the avatar
+            //   is not flying and is not colliding then it is presumed to be falling and the Z
+            //   component is not fooled with (thus allowing gravity to do its thing).
+            // When the avatar is standing, though, the user has specified a velocity of zero and
+            //   the avatar should be standing. But if the avatar is pushed by something in the world
+            //   (raising elevator platform, moving vehicle, ...) the avatar should be allowed to
+            //   move. Thus, the velocity cannot be forced to zero. The problem is that small velocity
+            //   errors can creap in and the avatar will slowly float off in some direction.
+            // So, the problem is that, when an avatar is standing, we cannot tell creaping error
+            //   from real pushing.OMV.Vector3.Zero;
+            // The code below keeps setting the velocity to zero hoping the world will keep pushing.
+
+            _velocityMotor.Step(timeStep);
+
+            // If we're not supposed to be moving, make sure things are zero.
+            if (_velocityMotor.ErrorIsZero() && _velocityMotor.TargetValue == OMV.Vector3.Zero && IsColliding)
             {
-                stepVelocity.Z = _velocity.Z;
-                // DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity);
+                // The avatar shouldn't be moving
+                _velocityMotor.Zero();
+                ZeroMotion(true /* inTaintTime */);
+
+                // Standing has more friction on the ground
+                if (_currentFriction != BSParam.AvatarStandingFriction)
+                {
+                    _currentFriction = BSParam.AvatarStandingFriction;
+                    PhysicsScene.PE.SetFriction(PhysBody, _currentFriction);
+                }
+                DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1}", LocalID, _velocityMotor.TargetValue);
+
+                _wasWalking = false;
             }
+            else
+            {
+                OMV.Vector3 stepVelocity = _velocityMotor.CurrentValue;
+
+                if (_currentFriction != BSParam.AvatarFriction)
+                {
+                    // Probably starting up walking. Set friction to moving friction.
+                    _currentFriction = BSParam.AvatarFriction;
+                    PhysicsScene.PE.SetFriction(PhysBody, _currentFriction);
+                }
+
+                // If falling, we keep the world's downward vector no matter what the other axis specify.
+                if (!Flying && !IsColliding)
+                {
+                    stepVelocity.Z = _velocity.Z;
+                    // DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity);
+                }
 
-            // 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force.
-            OMV.Vector3 moveForce = (stepVelocity - _velocity) * Mass;
+                // 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force.
+                OMV.Vector3 moveForce = (stepVelocity - _velocity) * Mass;
 
-            // Should we check for move force being small and forcing velocity to zero?
+                // Should we check for move force being small and forcing velocity to zero?
 
-            // Add special movement force to allow avatars to walk up stepped surfaces.
-            moveForce += WalkUpStairs();
+                // Add special movement force to allow avatars to walk up stepped surfaces.
+                moveForce += WalkUpStairs();
 
-            // DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce);
-            PhysicsScene.PE.ApplyCentralImpulse(PhysBody, moveForce);
+                DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce);
+                PhysicsScene.PE.ApplyCentralImpulse(PhysBody, moveForce);
+                _wasWalking = true;
+            }
         });
     }
 
@@ -559,27 +604,6 @@ public sealed class BSCharacter : BSPhysObject
             PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity");
 
             _velocity = value;
-            // Depending on whether the avatar is moving or not, change the friction
-            //    to keep the avatar from slipping around
-            if (_velocity.Length() == 0)
-            {
-                if (_currentFriction != BSParam.AvatarStandingFriction)
-                {
-                    _currentFriction = BSParam.AvatarStandingFriction;
-                    if (PhysBody.HasPhysicalBody)
-                        PhysicsScene.PE.SetFriction(PhysBody, _currentFriction);
-                }
-            }
-            else
-            {
-                if (_currentFriction != BSParam.AvatarFriction)
-                {
-                    _currentFriction = BSParam.AvatarFriction;
-                    if (PhysBody.HasPhysicalBody)
-                        PhysicsScene.PE.SetFriction(PhysBody, _currentFriction);
-                }
-            }
-
             PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity);
             PhysicsScene.PE.Activate(PhysBody, true);
         }
@@ -854,7 +878,7 @@ public sealed class BSCharacter : BSPhysObject
         _position = entprop.Position;
         _orientation = entprop.Rotation;
 
-        // Smooth velocity. OpenSimulator is very sensitive to changes in velocity of the avatar
+        // Smooth velocity. OpenSimulator is VERY sensitive to changes in velocity of the avatar
         //    and will send agent updates to the clients if velocity changes by more than
         //    0.001m/s. Bullet introduces a lot of jitter in the velocity which causes many
         //    extra updates.
@@ -875,7 +899,7 @@ public sealed class BSCharacter : BSPhysObject
         CurrentEntityProperties = entprop;
 
         // Tell the linkset about value changes
-        Linkset.UpdateProperties(this, true);
+        Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
 
         // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
         // base.RequestPhysicsterseUpdate();
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index f2c7cec..fe7891e 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -231,6 +231,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     break;
                 case Vehicle.ANGULAR_MOTOR_DIRECTION:
                     m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
+                    m_angularMotor.Zero();
                     m_angularMotor.SetTarget(m_angularMotorDirection);
                     break;
                 case Vehicle.LINEAR_FRICTION_TIMESCALE:
@@ -264,6 +265,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     pValue.Y = ClampInRange(-12.56f, pValue.Y, 12.56f);
                     pValue.Z = ClampInRange(-12.56f, pValue.Z, 12.56f);
                     m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    m_angularMotor.Zero();
                     m_angularMotor.SetTarget(m_angularMotorDirection);
                     break;
                 case Vehicle.LINEAR_FRICTION_TIMESCALE:
@@ -688,7 +690,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     // Bullet does a bunch of smoothing for changing parameters.
                     //    Since the vehicle is demanding this setting, we override Bullet's smoothing
                     //    by telling Bullet the value was the same last time.
-                    PhysicsScene.PE.SetInterpolationLinearVelocity(Prim.PhysBody, m_knownVelocity);
+                    // PhysicsScene.PE.SetInterpolationLinearVelocity(Prim.PhysBody, m_knownVelocity);
                 }
 
                 if ((m_knownChanged & m_knownChangedForce) != 0)
@@ -700,7 +702,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0)
                 {
                     Prim.ForceRotationalVelocity = m_knownRotationalVelocity;
-                    PhysicsScene.PE.SetInterpolationAngularVelocity(Prim.PhysBody, m_knownRotationalVelocity);
+                    // PhysicsScene.PE.SetInterpolationAngularVelocity(Prim.PhysBody, m_knownRotationalVelocity);
                 }
 
                 if ((m_knownChanged & m_knownChangedRotationalImpulse) != 0)
@@ -720,10 +722,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
         // Since the computation of terrain height can be a little involved, this routine
         //    is used to fetch the height only once for each vehicle simulation step.
+        Vector3 lastRememberedHeightPos;
         private float GetTerrainHeight(Vector3 pos)
         {
-            if ((m_knownHas & m_knownChangedTerrainHeight) == 0)
+            if ((m_knownHas & m_knownChangedTerrainHeight) == 0 || pos != lastRememberedHeightPos)
             {
+                lastRememberedHeightPos = pos;
                 m_knownTerrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos);
                 m_knownHas |= m_knownChangedTerrainHeight;
             }
@@ -943,10 +947,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             // ==================================================================
             // Clamp high or low velocities
             float newVelocityLengthSq = VehicleVelocity.LengthSquared();
-            if (newVelocityLengthSq > 1000f)
+            if (newVelocityLengthSq > BSParam.VehicleMaxLinearVelocity)
             {
                 VehicleVelocity /= VehicleVelocity.Length();
-                VehicleVelocity *= 1000f;
+                VehicleVelocity *= BSParam.VehicleMaxLinearVelocity;
             }
             else if (newVelocityLengthSq < 0.001f)
                 VehicleVelocity = Vector3.Zero;
@@ -957,39 +961,25 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
         public void ComputeLinearVelocity(float pTimestep)
         {
-            Vector3 linearMotorStep = m_linearMotor.Step(pTimestep);
+            // Step the motor from the current value. Get the correction needed this step.
+            Vector3 currentVel = VehicleVelocity * Quaternion.Inverse(VehicleOrientation);
+            Vector3 linearMotorCorrectionV = m_linearMotor.Step(pTimestep, currentVel);
 
-            // The movement computed in the linear motor is relative to the vehicle
-            //     coordinates. Rotate the movement to world coordinates.
-            Vector3 linearMotorVelocity = linearMotorStep * VehicleOrientation;
+            // Motor is vehicle coordinates. Rotate it to world coordinates
+            Vector3 linearMotorVelocityW = linearMotorCorrectionV * VehicleOrientation;
 
-            // If we're a ground vehicle, don't loose any Z action (like gravity acceleration).
-            float mixFactor = 1f;   // 1 means use all linear motor Z value, 0 means use all existing Z
+            // If we're a ground vehicle, don't add any upward Z movement
             if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0)
             {
-                if (!Prim.IsColliding)
-                {
-                    // If a ground vehicle and not on the ground, I want gravity effect
-                    mixFactor = 0.2f;
-                }
-            }
-            else
-            {
-                // I'm not a ground vehicle but don't totally loose the effect of the environment
-                mixFactor = 0.8f;
+                if (linearMotorVelocityW.Z > 0f)
+                    linearMotorVelocityW.Z = 0f;
             }
-            linearMotorVelocity.Z = mixFactor * linearMotorVelocity.Z + (1f - mixFactor) * VehicleVelocity.Z;
-
-            // What we want to contribute to the vehicle's existing velocity
-            Vector3 linearMotorForce = linearMotorVelocity - VehicleVelocity;
-
-            // Act against the inertia of the vehicle
-            linearMotorForce *= m_vehicleMass;
 
-            VehicleAddForceImpulse(linearMotorForce * pTimestep);
+            // Add this correction to the velocity to make it faster/slower.
+            VehicleVelocity += linearMotorVelocityW;
 
-            VDetailLog("{0},  MoveLinear,velocity,vehVel={1},step={2},stepVel={3},mix={4},force={5}",
-                        Prim.LocalID, VehicleVelocity, linearMotorStep, linearMotorVelocity, mixFactor, linearMotorForce);
+            VDetailLog("{0},  MoveLinear,velocity,vehVel={1},correction={2},force={3}",
+                        Prim.LocalID, VehicleVelocity, linearMotorCorrectionV, linearMotorVelocityW);
         }
 
         public void ComputeLinearTerrainHeightCorrection(float pTimestep)
@@ -1133,8 +1123,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         //    a downward raycast to find what is below.
         public void ComputeLinearMotorUp(float pTimestep)
         {
-            Vector3 ret = Vector3.Zero;
-
             if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
             {
                 // This code tries to decide if the object is not on the ground and then pushing down
@@ -1202,62 +1190,27 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         //     set directly on the vehicle.
         private void MoveAngular(float pTimestep)
         {
-            // The user wants this many radians per second angular change?
-            Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep);
+            // VehicleRotationalVelocity = Vector3.Zero;
 
-            // ==================================================================
-            // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
-            //    This flag prevents linear deflection parallel to world z-axis. This is useful
-            //    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
-            // TODO: This is here because this is where ODE put it but documentation says it
-            //    is a linear effect. Where should this check go?
-            if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
-            {
-                angularMotorContribution.X = 0f;
-                angularMotorContribution.Y = 0f;
-                VDetailLog("{0},  MoveAngular,noDeflectionUp,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution);
-            }
-
-            Vector3 verticalAttractionContribution = ComputeAngularVerticalAttraction();
+            ComputeAngularTurning(pTimestep);
 
-            Vector3 deflectionContribution = ComputeAngularDeflection();
+            ComputeAngularVerticalAttraction();
 
-            Vector3 bankingContribution = ComputeAngularBanking();
+            ComputeAngularDeflection();
 
-            // ==================================================================
-            m_lastVertAttractor = verticalAttractionContribution;
-
-            m_lastAngularVelocity = angularMotorContribution
-                                    + verticalAttractionContribution
-                                    + deflectionContribution
-                                    + bankingContribution;
-
-            // Add of the above computation are made relative to vehicle coordinates.
-            // Convert to world coordinates.
-            m_lastAngularVelocity *= VehicleOrientation;
+            ComputeAngularBanking();
 
             // ==================================================================
-            // Apply the correction velocity.
-            // TODO: Should this be applied as an angular force (torque)?
-            if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
-            {
-                VehicleRotationalVelocity = m_lastAngularVelocity;
-
-                VDetailLog("{0},  MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5}",
-                                    Prim.LocalID,
-                                    angularMotorContribution, verticalAttractionContribution,
-                                    bankingContribution, deflectionContribution,
-                                    m_lastAngularVelocity
-                                    );
-            }
-            else
+            if (VehicleRotationalVelocity.ApproxEquals(Vector3.Zero, 0.01f))
             {
                 // The vehicle is not adding anything angular wise.
                 VehicleRotationalVelocity = Vector3.Zero;
                 VDetailLog("{0},  MoveAngular,done,zero", Prim.LocalID);
             }
+            else
+            {
+                VDetailLog("{0},  MoveAngular,done,nonZero,angVel={1}", Prim.LocalID, VehicleRotationalVelocity);
+            }
 
             // ==================================================================
             //Offset section
@@ -1291,6 +1244,31 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             }
 
         }
+
+        private void ComputeAngularTurning(float pTimestep)
+        {
+            // The user wants this many radians per second angular change?
+            Vector3 currentAngularV = VehicleRotationalVelocity * Quaternion.Inverse(VehicleOrientation);
+            Vector3 angularMotorContributionV = m_angularMotor.Step(pTimestep, currentAngularV);
+
+            // ==================================================================
+            // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
+            //    This flag prevents linear deflection parallel to world z-axis. This is useful
+            //    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
+            // TODO: This is here because this is where ODE put it but documentation says it
+            //    is a linear effect. Where should this check go?
+            if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
+            {
+                angularMotorContributionV.X = 0f;
+                angularMotorContributionV.Y = 0f;
+            }
+
+            VehicleRotationalVelocity += angularMotorContributionV * VehicleOrientation;
+            VDetailLog("{0},  MoveAngular,angularTurning,angularMotorContrib={1}", Prim.LocalID, angularMotorContributionV);
+        }
+
         // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
         //      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
@@ -1299,13 +1277,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         //      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()
+        public void ComputeAngularVerticalAttraction()
         {
-            Vector3 ret = Vector3.Zero;
-
             // If vertical attaction timescale is reasonable
             if (enableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
             {
+                Vector3 vertContributionV = Vector3.Zero;
+
                 // Take a vector pointing up and convert it from world to vehicle relative coords.
                 Vector3 verticalError = Vector3.UnitZ * VehicleOrientation;
 
@@ -1319,37 +1297,36 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
                 // Y error means needed rotation around X axis and visa versa.
                 // Since the error goes from zero to one, the asin is the corresponding angle.
-                ret.X = (float)Math.Asin(verticalError.Y);
+                vertContributionV.X = (float)Math.Asin(verticalError.Y);
                 // (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.)
-                ret.Y = -(float)Math.Asin(verticalError.X);
+                vertContributionV.Y = -(float)Math.Asin(verticalError.X);
 
                 // If verticalError.Z is negative, the vehicle is upside down. Add additional push.
                 if (verticalError.Z < 0f)
                 {
-                    ret.X += PIOverFour;
-                    ret.Y += PIOverFour;
+                    vertContributionV.X += PIOverFour;
+                    // vertContribution.Y -= PIOverFour;
                 }
 
-                // 'ret' is now the necessary velocity to correct tilt in one second.
+                // 'vertContrbution' is now the necessary angular correction to correct tilt in one second.
                 //     Correction happens over a number of seconds.
-                Vector3 unscaledContrib = ret;
-                ret /= m_verticalAttractionTimescale;
+                Vector3 unscaledContrib = vertContributionV;     // DEBUG DEBUG
+                vertContributionV /= m_verticalAttractionTimescale;
+
+                VehicleRotationalVelocity += vertContributionV * VehicleOrientation;
 
                 VDetailLog("{0},  MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},ts={4},vertAttr={5}",
-                                Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, ret);
+                                Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContributionV);
             }
-            return ret;
         }
 
-        // Return the angular correction to correct the direction the vehicle is pointing to be
+        // Angular correction to correct the direction the vehicle is pointing to be
         //      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()
+        public void ComputeAngularDeflection()
         {
-            Vector3 ret = Vector3.Zero;
-
             // Since angularMotorUp and angularDeflection are computed independently, they will calculate
             //     approximately the same X or Y correction. When added together (when contributions are combined)
             //     this creates an over-correction and then wabbling as the target is overshot.
@@ -1357,6 +1334,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
             if (enableAngularDeflection && m_angularDeflectionEfficiency != 0 && VehicleForwardSpeed > 0.2)
             {
+                Vector3 deflectContributionV = Vector3.Zero;
+
                 // The direction the vehicle is moving
                 Vector3 movingDirection = VehicleVelocity;
                 movingDirection.Normalize();
@@ -1382,18 +1361,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 // ret = m_angularDeflectionCorrectionMotor(1f, deflectionError);
 
                 // Scale the correction by recovery timescale and efficiency
-                ret = (-deflectionError) * m_angularDeflectionEfficiency;
-                ret /= m_angularDeflectionTimescale;
+                deflectContributionV = (-deflectionError) * m_angularDeflectionEfficiency;
+                deflectContributionV /= m_angularDeflectionTimescale;
+
+                VehicleRotationalVelocity += deflectContributionV * VehicleOrientation;
 
                 VDetailLog("{0},  MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}",
-                    Prim.LocalID, movingDirection, pointingDirection, deflectionError, ret);
+                    Prim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContributionV);
                 VDetailLog("{0},  MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3}",
                     Prim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale);
             }
-            return ret;
         }
 
-        // Return an angular change to rotate the vehicle around the Z axis when the vehicle
+        // 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
@@ -1424,12 +1404,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         //      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()
+        public void ComputeAngularBanking()
         {
-            Vector3 ret = Vector3.Zero;
-
             if (enableAngularBanking && m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
             {
+                Vector3 bankingContributionV = Vector3.Zero;
+
                 // Rotate a UnitZ vector (pointing up) to how the vehicle is oriented.
                 // As the vehicle rolls to the right or left, the Y value will increase from
                 //     zero (straight up) to 1 or -1 (full tilt right  or left)
@@ -1446,15 +1426,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 mixedYawAngle = ClampInRange(-20f, mixedYawAngle, 20f);
 
                 // Build the force vector to change rotation from what it is to what it should be
-                ret.Z = -mixedYawAngle;
+                bankingContributionV.Z = -mixedYawAngle;
 
                 // Don't do it all at once.
-                ret /= m_bankingTimescale;
+                bankingContributionV /= m_bankingTimescale;
+
+                VehicleRotationalVelocity += bankingContributionV * VehicleOrientation;
 
                 VDetailLog("{0},  MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}",
-                            Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, ret);
+                            Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContributionV);
             }
-            return ret;
         }
 
         // This is from previous instantiations of XXXDynamics.cs.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index cbd160f..1e3e5d8 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -252,7 +252,7 @@ public abstract class BSLinkset
     //      of the linkset is received.
     // Passed flag is update came from physics engine (true) or the user (false).
     // Called at taint-time!!
-    public abstract void UpdateProperties(BSPhysObject physObject, bool physicalUpdate);
+    public abstract void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject physObject);
 
     // Routine used when rebuilding the body of the root of the linkset
     // Destroy all the constraints have have been made to root.
@@ -261,11 +261,6 @@ public abstract class BSLinkset
     // Called at taint-time!!
     public abstract bool RemoveBodyDependencies(BSPrim child);
 
-    // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
-    //     this routine will restore the removed constraints.
-    // Called at taint-time!!
-    public abstract void RestoreBodyDependencies(BSPrim child);
-
     // ================================================================
     protected virtual float ComputeLinksetMass()
     {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 8c9a774..2c8dd23 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -51,6 +51,21 @@ sealed class BSLinksetCompoundInfo : BSLinksetInfo
         OffsetFromCenterOfMass = p;
         OffsetRot = r;
     }
+    // 'centerDisplacement' is the distance from the root the the center-of-mass (Bullet 'zero' of the shape)
+    public BSLinksetCompoundInfo(int indx, BSPhysObject root, BSPhysObject child, OMV.Vector3 centerDisplacement)
+    {
+        // Each child position and rotation is given relative to the center-of-mass.
+        OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(root.RawOrientation);
+        OMV.Vector3 displacementFromRoot = (child.RawPosition - root.RawPosition) * invRootOrientation;
+        OMV.Vector3 displacementFromCOM = displacementFromRoot - centerDisplacement;
+        OMV.Quaternion displacementRot = child.RawOrientation * invRootOrientation;
+
+        // Save relative position for recomputing child's world position after moving linkset.
+        Index = indx;
+        OffsetFromRoot = displacementFromRoot;
+        OffsetFromCenterOfMass = displacementFromCOM;
+        OffsetRot = displacementRot;
+    }
     public override void Clear()
     {
         Index = 0;
@@ -182,24 +197,71 @@ public sealed class BSLinksetCompound : BSLinkset
 
     // 'physicalUpdate' is true if these changes came directly from the physics engine. Don't need to rebuild then.
     // Called at taint-time.
-    public override void UpdateProperties(BSPhysObject updated, bool physicalUpdate)
+    public override void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject updated)
     {
         // The user moving a child around requires the rebuilding of the linkset compound shape
         // One problem is this happens when a border is crossed -- the simulator implementation
-        //    is to store the position into the group which causes the move of the object
+        //    stores the position into the group which causes the move of the object
         //    but it also means all the child positions get updated.
         //    What would cause an unnecessary rebuild so we make sure the linkset is in a
         //    region before bothering to do a rebuild.
-        if (!IsRoot(updated) 
-                && !physicalUpdate 
-                && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))
+        if (!IsRoot(updated) && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))
         {
-            // TODO: replace this with are calculation of the child prim's orientation and pos.
-            // TODO: for the moment, don't rebuild the compound shape.
-            //    This is often just the car turning its wheels. When we can just reorient the one
-            //    member shape of the compound shape, the overhead of rebuilding won't be a problem.
-            // updated.LinksetInfo = null;
-            // ScheduleRebuild(updated);
+            // If a child of the linkset is updating only the position or rotation, that can be done
+            //    without rebuilding the linkset.
+            // If a handle for the child can be fetch, we update the child here. If a rebuild was
+            //    scheduled by someone else, the rebuild will just replace this setting.
+
+            bool updatedChild = false;
+            // Anything other than updating position or orientation usually means a physical update
+            //     and that is caused by us updating the object.
+            if ((whichUpdated & ~(UpdatedProperties.Position | UpdatedProperties.Orientation)) == 0)
+            {
+                // Gather the child info. It might not be there if the linkset is in transition.
+                BSLinksetCompoundInfo lsi = updated.LinksetInfo as BSLinksetCompoundInfo;
+                if (LinksetRoot.PhysShape.HasPhysicalShape && lsi != null)
+                {
+                    if (PhysicsScene.PE.IsCompound(LinksetRoot.PhysShape))
+                    {
+                        BulletShape linksetChildShape = PhysicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape, lsi.Index);
+                        if (linksetChildShape.HasPhysicalShape)
+                        {
+                            // Compute the offset from the center-of-gravity
+                            BSLinksetCompoundInfo newLsi = new BSLinksetCompoundInfo(lsi.Index, LinksetRoot, updated, LinksetRoot.PositionDisplacement);
+                            PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, lsi.Index,
+                                                                        newLsi.OffsetFromCenterOfMass,
+                                                                        newLsi.OffsetRot,
+                                                                        true /* shouldRecalculateLocalAabb */);
+                            DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1}newLsi={2}",
+                                                                        updated.LocalID, whichUpdated, newLsi);
+                            updated.LinksetInfo = newLsi;
+                            updatedChild = true;
+                        }
+                        else    // DEBUG DEBUG
+                        {       // DEBUG DEBUG
+                            DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noChildShape,shape={1}",
+                                                                        updated.LocalID, linksetChildShape);
+                        }       // DEBUG DEBUG
+                    }
+                    else    // DEBUG DEBUG
+                    {       // DEBUG DEBUG
+                        DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,notCompound", updated.LocalID);
+                    }       // DEBUG DEBUG
+                }
+                else    // DEBUG DEBUG
+                {       // DEBUG DEBUG
+                    DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,rootPhysShape={1},lsi={2}",
+                                updated.LocalID, LinksetRoot.PhysShape, lsi == null ? "NULL" : lsi.ToString());
+                }       // DEBUG DEBUG
+                if (!updatedChild)
+                {
+                    // If couldn't do the individual child, the linkset needs a rebuild to incorporate the new child info.
+                    DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild.schedulingRebuild,whichUpdated={1}",
+                                                                    updated.LocalID, whichUpdated);
+                    updated.LinksetInfo = null; // setting to 'null' causes relative position to be recomputed.
+                    ScheduleRebuild(updated);
+                }
+            }
         }
     }
 
@@ -228,13 +290,6 @@ public sealed class BSLinksetCompound : BSLinkset
         return ret;
     }
 
-    // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
-    //     this routine will restore the removed constraints.
-    // Called at taint-time!!
-    public override void RestoreBodyDependencies(BSPrim child)
-    {
-    }
-
     // When the linkset is built, the child shape is added to the compound shape relative to the
     //    root shape. The linkset then moves around but this does not move the actual child
     //    prim. The child prim's location must be recomputed based on the location of the root shape.
@@ -322,7 +377,7 @@ public sealed class BSLinksetCompound : BSLinkset
     // Constraint linksets are rebuilt every time.
     // Note that this works for rebuilding just the root after a linkset is taken apart.
     // Called at taint time!!
-    private bool disableCOM = true;     // disable until we get this debugged
+    private bool disableCOM = false;     // disable until we get this debugged
     private void RecomputeLinksetCompound()
     {
         try
@@ -345,12 +400,16 @@ public sealed class BSLinksetCompound : BSLinkset
             }                                           // DEBUG DEBUG
             else
             {
-                centerOfMass = ComputeLinksetGeometricCenter();
-                centerDisplacement = centerOfMass - LinksetRoot.RawPosition;
+                centerOfMass = ComputeLinksetCenterOfMass();
+                // 'centerDisplacement' is the value to *add* to all the shape offsets
+                centerDisplacement = LinksetRoot.RawPosition - centerOfMass;
 
                 // Since we're displacing the center of the shape, we need to move the body in the world
                 LinksetRoot.PositionDisplacement = centerDisplacement;
 
+                // This causes the root prim position to be set properly based on the new PositionDisplacement
+                LinksetRoot.ForcePosition = LinksetRoot.RawPosition;
+                // Update the local transform for the root child shape so it is offset from the <0,0,0> which is COM
                 PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, 0, -centerDisplacement, OMV.Quaternion.Identity, false);
                 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,com={1},rootPos={2},centerDisp={3}",
                                         LinksetRoot.LocalID, centerOfMass, LinksetRoot.RawPosition, centerDisplacement);
@@ -372,15 +431,7 @@ public sealed class BSLinksetCompound : BSLinkset
                     BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo;
                     if (lci == null)
                     {
-                        // Each child position and rotation is given relative to the center-of-mass.
-                        OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation);
-                        OMV.Vector3 displacementFromRoot = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation;
-                        OMV.Vector3 displacementFromCOM = displacementFromRoot - centerDisplacement;
-                        OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation;
-
-                        // Save relative position for recomputing child's world position after moving linkset.
-                        lci = new BSLinksetCompoundInfo(memberIndex, displacementFromCOM, displacementRot);
-                        lci.OffsetFromRoot = displacementFromRoot;
+                        lci = new BSLinksetCompoundInfo(memberIndex, LinksetRoot, cPrim, centerDisplacement);
                         cPrim.LinksetInfo = lci;
                         DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci);
                     }
@@ -390,7 +441,7 @@ public sealed class BSLinksetCompound : BSLinkset
 
                     if (cPrim.PhysShape.isNativeShape)
                     {
-                        // A native shape is turning into a hull collision shape because native
+                        // A native shape is turned into a hull collision shape because native
                         //    shapes are not shared so we have to hullify it so it will be tracked
                         //    and freed at the correct time. This also solves the scaling problem
                         //    (native shapes scaled but hull/meshes are assumed to not be).
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index d0b2a56..3011465 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -83,7 +83,7 @@ public sealed class BSLinksetConstraints : BSLinkset
     }
 
     // Called at taint-time!!
-    public override void UpdateProperties(BSPhysObject updated, bool inTaintTime)
+    public override void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject pObj)
     {
         // Nothing to do for constraints on property updates
     }
@@ -110,14 +110,6 @@ public sealed class BSLinksetConstraints : BSLinkset
         return ret;
     }
 
-    // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
-    // this routine will restore the removed constraints.
-    // Called at taint-time!!
-    public override void RestoreBodyDependencies(BSPrim child)
-    {
-        // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints.
-    }
-
     // ================================================================
 
     // Add a new child to the linkset.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
index 6d0db2e..9501e2d 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
@@ -138,7 +138,8 @@ public class BSVMotor : BSMotor
         CurrentValue = TargetValue = Vector3.Zero;
     }
 
-    // Compute the next step and return the new current value
+    // Compute the next step and return the new current value.
+    // Returns the correction needed to move 'current' to 'target'.
     public virtual Vector3 Step(float timeStep)
     {
         if (!Enabled) return TargetValue;
@@ -148,9 +149,10 @@ public class BSVMotor : BSMotor
 
         Vector3 correction = Vector3.Zero;
         Vector3 error = TargetValue - CurrentValue;
+        LastError = error;
         if (!ErrorIsZero(error))
         {
-            correction = Step(timeStep, error);
+            correction = StepError(timeStep, error);
 
             CurrentValue += correction;
 
@@ -187,20 +189,31 @@ public class BSVMotor : BSMotor
         else
         {
             // Difference between what we have and target is small. Motor is done.
+            if (TargetValue.ApproxEquals(Vector3.Zero, ErrorZeroThreshold))
+            {
+                // The target can step down to nearly zero but not get there.  If close to zero
+                //     it is really zero.
+                TargetValue = Vector3.Zero;
+            }
             CurrentValue = TargetValue;
-            MDetailLog("{0},  BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}",
-                        BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue);
+            MDetailLog("{0},  BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},currTgt={4},currCurr={5}",
+                        BSScene.DetailLogZero, UseName, origCurrVal, origTarget, TargetValue, CurrentValue);
         }
 
-        return CurrentValue;
+        return correction;
+    }
+    // version of step that sets the current value before doing the step
+    public virtual Vector3 Step(float timeStep, Vector3 current)
+    {
+        CurrentValue = current;
+        return Step(timeStep);
     }
-    public virtual Vector3 Step(float timeStep, Vector3 error)
+    public virtual Vector3 StepError(float timeStep, Vector3 error)
     {
         if (!Enabled) return Vector3.Zero;
 
-        LastError = error;
         Vector3 returnCorrection = Vector3.Zero;
-        if (!ErrorIsZero())
+        if (!ErrorIsZero(error))
         {
             // correction =  error / secondsItShouldTakeToCorrect
             Vector3 correctionAmount;
@@ -302,9 +315,10 @@ public class BSFMotor : BSMotor
 
         float correction = 0f;
         float error = TargetValue - CurrentValue;
+        LastError = error;
         if (!ErrorIsZero(error))
         {
-            correction = Step(timeStep, error);
+            correction = StepError(timeStep, error);
 
             CurrentValue += correction;
 
@@ -339,6 +353,12 @@ public class BSFMotor : BSMotor
         else
         {
             // Difference between what we have and target is small. Motor is done.
+            if (Util.InRange<float>(TargetValue, -ErrorZeroThreshold, ErrorZeroThreshold))
+            {
+                // The target can step down to nearly zero but not get there.  If close to zero
+                //     it is really zero.
+                TargetValue = 0f;
+            }
             CurrentValue = TargetValue;
             MDetailLog("{0},  BSFMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}",
                         BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue);
@@ -347,13 +367,12 @@ public class BSFMotor : BSMotor
         return CurrentValue;
     }
 
-    public virtual float Step(float timeStep, float error)
+    public virtual float StepError(float timeStep, float error)
     {
         if (!Enabled) return 0f;
 
-        LastError = error;
         float returnCorrection = 0f;
-        if (!ErrorIsZero())
+        if (!ErrorIsZero(error))
         {
             // correction =  error / secondsItShouldTakeToCorrect
             float correctionAmount;
@@ -440,8 +459,8 @@ public class BSPIDVMotor : BSVMotor
         }
     }
 
-    // Ignore Current and Target Values and just advance the PID computation on this error.
-    public override Vector3 Step(float timeStep, Vector3 error)
+    // Advance the PID computation on this error.
+    public override Vector3 StepError(float timeStep, Vector3 error)
     {
         if (!Enabled) return Vector3.Zero;
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index 3e80aa4..9460daf 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -45,6 +45,9 @@ public static class BSParam
 
     public static float MinimumObjectMass { get; private set; }
     public static float MaximumObjectMass { get; private set; }
+    public static float MaxLinearVelocity { get; private set; }
+    public static float MaxAngularVelocity { get; private set; }
+    public static float MaxAddForceMagnitude { get; private set; }
 
     public static float LinearDamping { get; private set; }
     public static float AngularDamping { get; private set; }
@@ -79,6 +82,8 @@ public static class BSParam
         public static float AvatarStepApproachFactor { get; private set; }
         public static float AvatarStepForceFactor { get; private set; }
 
+    public static float VehicleMaxLinearVelocity { get; private set; }
+    public static float VehicleMaxAngularVelocity { get; private set; }
     public static float VehicleAngularDamping { get; private set; }
     public static float VehicleDebuggingEnabled { get; private set; }
 
@@ -103,7 +108,6 @@ public static class BSParam
     public const float MaxDensity = 22587f;
     public const float MinRestitution = 0f;
     public const float MaxRestitution = 1f;
-    public const float MaxAddForceMagnitude = 20f;
 
     // ===========================================================================
     public delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val);
@@ -232,11 +236,7 @@ public static class BSParam
             (s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); },
             (s) => { return (float)s.m_maxUpdatesPerFrame; },
             (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ),
-        new ParameterDefn("MaxTaintsToProcessPerStep", "Number of update taints to process before each simulation step",
-            500f,
-            (s,cf,p,v) => { s.m_taintsToProcessPerStep = cf.GetInt(p, (int)v); },
-            (s) => { return (float)s.m_taintsToProcessPerStep; },
-            (s,p,l,v) => { s.m_taintsToProcessPerStep = (int)v; } ),
+
         new ParameterDefn("MinObjectMass", "Minimum object mass (0.0001)",
             0.0001f,
             (s,cf,p,v) => { MinimumObjectMass = cf.GetFloat(p, v); },
@@ -247,6 +247,22 @@ public static class BSParam
             (s,cf,p,v) => { MaximumObjectMass = cf.GetFloat(p, v); },
             (s) => { return (float)MaximumObjectMass; },
             (s,p,l,v) => { MaximumObjectMass = v; } ),
+        new ParameterDefn("MaxLinearVelocity", "Maximum velocity magnitude that can be assigned to an object",
+            1000.0f,
+            (s,cf,p,v) => { MaxLinearVelocity = cf.GetFloat(p, v); },
+            (s) => { return (float)MaxLinearVelocity; },
+            (s,p,l,v) => { MaxLinearVelocity = v; } ),
+        new ParameterDefn("MaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to an object",
+            1000.0f,
+            (s,cf,p,v) => { MaxAngularVelocity = cf.GetFloat(p, v); },
+            (s) => { return (float)MaxAngularVelocity; },
+            (s,p,l,v) => { MaxAngularVelocity = v; } ),
+        // LL documentation says thie number should be 20f for llApplyImpulse and 200f for llRezObject
+        new ParameterDefn("MaxAddForceMagnitude", "Maximum force that can be applied by llApplyImpulse (SL says 20f)",
+            20000.0f,
+            (s,cf,p,v) => { MaxAddForceMagnitude = cf.GetFloat(p, v); },
+            (s) => { return (float)MaxAddForceMagnitude; },
+            (s,p,l,v) => { MaxAddForceMagnitude = v; } ),
 
         new ParameterDefn("PID_D", "Derivitive factor for motion smoothing",
             2200f,
@@ -423,8 +439,18 @@ public static class BSParam
             (s) => { return AvatarStepForceFactor; },
             (s,p,l,v) => { AvatarStepForceFactor = v; } ),
 
+        new ParameterDefn("VehicleMaxLinearVelocity", "Maximum velocity magnitude that can be assigned to a vehicle",
+            1000.0f,
+            (s,cf,p,v) => { VehicleMaxLinearVelocity = cf.GetFloat(p, v); },
+            (s) => { return (float)VehicleMaxLinearVelocity; },
+            (s,p,l,v) => { VehicleMaxLinearVelocity = v; } ),
+        new ParameterDefn("VehicleMaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to a vehicle",
+            12.0f,
+            (s,cf,p,v) => { VehicleMaxAngularVelocity = cf.GetFloat(p, v); },
+            (s) => { return (float)VehicleMaxAngularVelocity; },
+            (s,p,l,v) => { VehicleMaxAngularVelocity = v; } ),
         new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)",
-            0.95f,
+            0.0f,
             (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); },
             (s) => { return VehicleAngularDamping; },
             (s,p,l,v) => { VehicleAngularDamping = v; } ),
@@ -619,11 +645,8 @@ public static class BSParam
                 entries.Add(new PhysParameterEntry(pd.name, pd.desc));
             }
 
-            // make the list in alphabetical order for estetic reasons
-            entries.Sort(delegate(PhysParameterEntry ppe1, PhysParameterEntry ppe2)
-            {
-                return ppe1.name.CompareTo(ppe2.name);
-            });
+            // make the list alphabetical for estetic reasons
+            entries.Sort((ppe1, ppe2) => { return ppe1.name.CompareTo(ppe2.name); });
 
             SettableParameters = entries.ToArray();
         }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 5353c75..027c786 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -55,6 +55,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin
  * BS.ApplyCentralForce BS.ApplyTorque              
  */
 
+// Flags used to denote which properties updates when making UpdateProperties calls to linksets, etc.
+public enum UpdatedProperties : uint
+{
+    Position                = 1 << 0,
+    Orientation             = 1 << 1,
+    Velocity                = 1 << 2,
+    Acceleration            = 1 << 3,
+    RotationalVelocity      = 1 << 4,
+    EntPropUpdates          = Position | Orientation | Velocity | Acceleration | RotationalVelocity,
+}
 public abstract class BSPhysObject : PhysicsActor
 {
     protected BSPhysObject()
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index aaa6fe5..f80084a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -311,16 +311,18 @@ public sealed class BSPrim : BSPhysObject
             _position = value;
             PositionSanityCheck(false);
 
-            // A linkset might need to know if a component information changed.
-            Linkset.UpdateProperties(this, false);
-
             PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
             {
                 DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 ForcePosition = _position;
+
+                // A linkset might need to know if a component information changed.
+                Linkset.UpdateProperties(UpdatedProperties.Position, this);
+
             });
         }
     }
+
     public override OMV.Vector3 ForcePosition {
         get {
             _position = PhysicsScene.PE.GetPosition(PhysBody) - PositionDisplacement;
@@ -335,25 +337,6 @@ public sealed class BSPrim : BSPhysObject
             }
         }
     }
-    // Override to have position displacement immediately update the physical position.
-    // A feeble attempt to keep the sim and physical positions in sync
-    // Must be called at taint time.
-    public override OMV.Vector3 PositionDisplacement
-    {
-        get
-        {
-            return base.PositionDisplacement;
-        }
-        set
-        {
-            base.PositionDisplacement = value;
-            PhysicsScene.TaintedObject(PhysicsScene.InTaintTime, "BSPrim.setPosition", delegate()
-            {
-                if (PhysBody.HasPhysicalBody)
-                    PhysicsScene.PE.SetTranslation(PhysBody, _position + base.PositionDisplacement, _orientation);
-            });
-        }
-    }
 
     // Check that the current position is sane and, if not, modify the position to make it so.
     // Check for being below terrain and being out of bounds.
@@ -370,11 +353,11 @@ public sealed class BSPrim : BSPhysObject
             return ret;
         }
 
-        float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
+        float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition);
         OMV.Vector3 upForce = OMV.Vector3.Zero;
         if (RawPosition.Z < terrainHeight)
         {
-            DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
+            DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, RawPosition, terrainHeight);
             float targetHeight = terrainHeight + (Size.Z / 2f);
             // If the object is below ground it just has to be moved up because pushing will
             //     not get it through the terrain
@@ -682,12 +665,13 @@ public sealed class BSPrim : BSPhysObject
                 return;
             _orientation = value;
 
-            // A linkset might need to know if a component information changed.
-            Linkset.UpdateProperties(this, false);
-
             PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
             {
                 ForceOrientation = _orientation;
+
+                // A linkset might need to know if a component information changed.
+                Linkset.UpdateProperties(UpdatedProperties.Orientation, this);
+
             });
         }
     }
@@ -989,10 +973,10 @@ public sealed class BSPrim : BSPhysObject
         }
         set {
             _rotationalVelocity = value;
+            Util.ClampV(_rotationalVelocity, BSParam.MaxAngularVelocity);
             // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
             PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
             {
-                DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
                 ForceRotationalVelocity = _rotationalVelocity;
             });
         }
@@ -1005,7 +989,9 @@ public sealed class BSPrim : BSPhysObject
             _rotationalVelocity = value;
             if (PhysBody.HasPhysicalBody)
             {
+                DetailLog("{0},BSPrim.ForceRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
                 PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
+                // PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity);
                 ActivateIfPhysical(false);
             }
         }
@@ -1082,7 +1068,7 @@ public sealed class BSPrim : BSPhysObject
                     OMV.Vector3 origPosition = RawPosition;     // DEBUG DEBUG (for printout below)
 
                     // 'movePosition' is where we'd like the prim to be at this moment.
-                    OMV.Vector3 movePosition = _targetMotor.Step(timeStep);
+                    OMV.Vector3 movePosition = RawPosition + _targetMotor.Step(timeStep);
 
                     // If we are very close to our target, turn off the movement motor.
                     if (_targetMotor.ErrorIsZero())
@@ -1193,10 +1179,14 @@ public sealed class BSPrim : BSPhysObject
     public override float APIDDamping { set { return; } }
 
     public override void AddForce(OMV.Vector3 force, bool pushforce) {
+        // Per documentation, max force is limited.
+        OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
+
         // Since this force is being applied in only one step, make this a force per second.
-        OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep;
-        AddForce(addForce, pushforce, false);
+        addForce /= PhysicsScene.LastTimeStep;
+        AddForce(addForce, pushforce, false /* inTaintTime */);
     }
+
     // Applying a force just adds this to the total force on the object.
     // This added force will only last the next simulation tick.
     public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
@@ -1205,9 +1195,9 @@ public sealed class BSPrim : BSPhysObject
         {
             if (force.IsFinite())
             {
-                OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
                 // DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce);
 
+                OMV.Vector3 addForce = force;
                 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
                 {
                     // Bullet adds this central force to the total force for this tick
@@ -1598,11 +1588,6 @@ public sealed class BSPrim : BSPhysObject
     // Called at taint-time!!!
     public void CreateGeomAndObject(bool forceRebuild)
     {
-        // If this prim is part of a linkset, we must remove and restore the physical
-        //    links if the body is rebuilt.
-        bool needToRestoreLinkset = false;
-        bool needToRestoreVehicle = false;
-
         // Create the correct physical representation for this type of object.
         // Updates PhysBody and PhysShape with the new information.
         // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
@@ -1611,21 +1596,10 @@ public sealed class BSPrim : BSPhysObject
             // Called if the current prim body is about to be destroyed.
             // Remove all the physical dependencies on the old body.
             // (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...)
-            needToRestoreLinkset = Linkset.RemoveBodyDependencies(this);
-            needToRestoreVehicle = _vehicle.RemoveBodyDependencies(this);
+            Linkset.RemoveBodyDependencies(this);
+            _vehicle.RemoveBodyDependencies(this);
         });
 
-        if (needToRestoreLinkset)
-        {
-            // If physical body dependencies were removed, restore them
-            Linkset.RestoreBodyDependencies(this);
-        }
-        if (needToRestoreVehicle)
-        {
-            // If physical body dependencies were removed, restore them
-            _vehicle.RestoreBodyDependencies(this);
-        }
-
         // Make sure the properties are set on the new object
         UpdatePhysicalParameters();
         return;
@@ -1642,17 +1616,28 @@ public sealed class BSPrim : BSPhysObject
             // TODO: handle physics introduced by Bullet with computed vehicle physics.
             if (_vehicle.IsActive)
             {
-                entprop.RotationalVelocity = OMV.Vector3.Zero;
+                // entprop.RotationalVelocity = OMV.Vector3.Zero;
+            }
+
+            // DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop);   // DEBUG DEBUG
+
+            // Undo any center-of-mass displacement that might have been done.
+            if (PositionDisplacement != OMV.Vector3.Zero)
+            {
+                // Correct for any rotation around the center-of-mass
+                // TODO!!!
+                entprop.Position -= PositionDisplacement;
             }
 
             // Assign directly to the local variables so the normal set actions do not happen
-            entprop.Position -= PositionDisplacement;
             _position = entprop.Position;
             _orientation = entprop.Rotation;
             _velocity = entprop.Velocity;
             _acceleration = entprop.Acceleration;
             _rotationalVelocity = entprop.RotationalVelocity;
 
+            // DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop);   // DEBUG DEBUG
+
             // The sanity check can change the velocity and/or position.
             if (IsPhysical && PositionSanityCheck(true))
             {
@@ -1661,8 +1646,7 @@ public sealed class BSPrim : BSPhysObject
             }
 
             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);
+            DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction);
 
             // remember the current and last set values
             LastEntityProperties = CurrentEntityProperties;
@@ -1681,7 +1665,7 @@ public sealed class BSPrim : BSPhysObject
              */
 
         // The linkset implimentation might want to know about this.
-        Linkset.UpdateProperties(this, true);
+        Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
     }
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index e0b4992..34fd2a0 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -81,7 +81,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     internal long m_simulationStep = 0;
     internal float NominalFrameRate { get; set; }
     public long SimulationStep { get { return m_simulationStep; } }
-    internal int m_taintsToProcessPerStep;
     internal float LastTimeStep { get; private set; }
 
     // Physical objects can register for prestep or poststep events
@@ -709,8 +708,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     //    TriggerPreStepEvent
     //    DoOneTimeTaints
     //    Step()
-    //       ProcessAndForwardCollisions
-    //       ProcessAndForwardPropertyUpdates
+    //       ProcessAndSendToSimulatorCollisions
+    //       ProcessAndSendToSimulatorPropertyUpdates
     //    TriggerPostStepEvent
 
     // Calls to the PhysicsActors can't directly call into the physics engine
@@ -847,8 +846,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
 
     #endregion // Taints
 
-    #region INI and command line parameter processing
-
     #region IPhysicsParameters
     // Get the list of parameters this physics engine supports
     public PhysParameterEntry[] GetParameterList()
@@ -945,8 +942,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
 
     #endregion IPhysicsParameters
 
-    #endregion Runtime settable parameters
-
     // Invoke the detailed logger and output something if it's enabled.
     public void DetailLog(string msg, params Object[] args)
     {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
index 9bfec19..801f690 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -1,23 +1,22 @@
 CURRENT PRIORITIES
 =================================================
-Mantis 6040 script http://opensimulator.org/mantis/view.php?id=6040
-        Msg Kayaker on OSGrid when working
+Deleting a linkset while standing on the root will leave the physical shape of the root behind.
+        Not sure if it is because standing on it. Done with large prim linksets.
+Child movement in linkset (don't rebuild linkset)
+Vehicle angular vertical attraction
+vehicle angular banking
+Center-of-gravity
+Vehicle angular deflection
+        Preferred orientation angular correction fix
+when should angular and linear motor targets be zeroed? when selected?
+        Need a vehicle.clear()? Or an 'else' in prestep if not physical.
 Teravus llMoveToTarget script debug
         Mixing of hover, buoyancy/gravity, moveToTarget, into one force
-Boats floating at proper level
 Nebadon vehicles turning funny in arena
 limitMotorUp calibration (more down?)
 llRotLookAt
 llLookAt
-Vehicle angular vertical attraction
-Vehicle angular deflection
-        Preferred orientation angular correction fix
-vehicle angular banking
 Avatars walking up stairs (HALF DONE)
-    Radius of the capsule affects ability to climb edges.
-Vehicle movement on terrain smoothness
-When is force introduced by SetForce removed? The prestep action could go forever.
-Boats float low in the water (DONE)
 Avatar movement
         flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE)
         walking up stairs is not calibrated correctly (stairs out of Kepler cabin)
@@ -73,8 +72,12 @@ Incorporate inter-relationship of angular corrections. For instance, angularDefl
 
 GENERAL TODO LIST:
 =================================================
+llMoveToTarget objects are not effected by gravity until target is removed.
 Implement llSetPhysicalMaterial.
+        extend it with Center-of-mass, rolling friction, density
 Implement llSetForceAndTorque.
+Change BSPrim.moveToTarget to used forces rather than changing position
+        Changing position allows one to move through walls
 Implement an avatar mesh shape. The Bullet capsule is way too limited.
         Consider just hand creating a vertex/index array in a new BSShapeAvatar.
 Verify/fix phantom, volume-detect objects do not fall to infinity. Should stop at terrain.
@@ -310,4 +313,12 @@ Remove HeightmapInfo from terrain specification (DONE)
     Since C++ code does not need terrain height, this structure et al are not needed.
 Surfboard go wonky when turning (DONE)
         Angular motor direction is global coordinates rather than local coordinates?
-        (Resolution: made angular motor direction correct coordinate system)
\ No newline at end of file
+        (Resolution: made angular motor direction correct coordinate system)
+Mantis 6040 script http://opensimulator.org/mantis/view.php?id=6040 (DONE)
+        Msg Kayaker on OSGrid when working
+        (Resolution: LINEAR_DIRECTION is in vehicle coords. Test script does the
+        same in SL as in OS/BulletSim)
+Boats float low in the water (DONE)
+Boats floating at proper level (DONE)
+When is force introduced by SetForce removed? The prestep action could go forever. (DONE)
+        (Resolution: setForce registers a prestep action which keeps applying the force)
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/Manager/PhysicsScene.cs b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
index 201007b..96a9ff7 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsScene.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
@@ -43,6 +43,35 @@ namespace OpenSim.Region.Physics.Manager
     public delegate void JointDeactivated(PhysicsJoint joint);
     public delegate void JointErrorMessage(PhysicsJoint joint, string message); // this refers to an "error message due to a problem", not "amount of joint constraint violation"
 
+    public enum RayFilterFlags:ushort
+    {
+        // the flags
+        water = 0x01,
+        land = 0x02,
+        agent = 0x04,
+        nonphysical = 0x08,
+        physical = 0x10,
+        phantom = 0x20,
+        volumedtc = 0x40,
+
+        // ray cast colision control (may only work for meshs)
+        ContactsUnImportant = 0x2000,
+        BackFaceCull = 0x4000,
+        ClosestHit = 0x8000,
+
+        // some combinations
+        LSLPhanton = phantom | volumedtc,
+        PrimsNonPhantom = nonphysical | physical,
+        PrimsNonPhantomAgents = nonphysical | physical | agent,
+
+        AllPrims = nonphysical | phantom | volumedtc | physical,
+        AllButLand = agent | nonphysical | physical | phantom | volumedtc,
+
+        ClosestAndBackCull = ClosestHit | BackFaceCull,
+
+        All = 0x3f
+    }
+
     public delegate void RequestAssetDelegate(UUID assetID, AssetReceivedDelegate callback);
     public delegate void AssetReceivedDelegate(AssetBase asset);
 
@@ -286,5 +315,15 @@ namespace OpenSim.Region.Physics.Manager
         {
             return new List<ContactResult>();
         }
+
+        public virtual object RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayFilterFlags filter)
+        {
+            return null;
+        }
+
+        public virtual bool SupportsRaycastWorldFiltered()
+        {
+            return false;
+        }
     }
 }
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
index db5add1..3a7e1c7 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
@@ -2738,42 +2738,40 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             return src.ToLower();
         }
 
-        public LSL_Integer llGiveMoney(string destination, int amount)
+        public void llGiveMoney(string destination, int amount)
         {
-            m_host.AddScriptLPS(1);
-
-            if (m_item.PermsGranter == UUID.Zero)
-                return 0;
-
-            if ((m_item.PermsMask & ScriptBaseClass.PERMISSION_DEBIT) == 0)
+            Util.FireAndForget(x =>
             {
-                LSLError("No permissions to give money");
-                return 0;
-            }
+                m_host.AddScriptLPS(1);
 
-            UUID toID = new UUID();
+                if (m_item.PermsGranter == UUID.Zero)
+                    return;
 
-            if (!UUID.TryParse(destination, out toID))
-            {
-                LSLError("Bad key in llGiveMoney");
-                return 0;
-            }
+                if ((m_item.PermsMask & ScriptBaseClass.PERMISSION_DEBIT) == 0)
+                {
+                    LSLError("No permissions to give money");
+                    return;
+                }
 
-            IMoneyModule money = World.RequestModuleInterface<IMoneyModule>();
+                UUID toID = new UUID();
 
-            if (money == null)
-            {
-                NotImplemented("llGiveMoney");
-                return 0;
-            }
+                if (!UUID.TryParse(destination, out toID))
+                {
+                    LSLError("Bad key in llGiveMoney");
+                    return;
+                }
 
-            bool result = money.ObjectGiveMoney(
-                m_host.ParentGroup.RootPart.UUID, m_host.ParentGroup.RootPart.OwnerID, toID, amount);
+                IMoneyModule money = World.RequestModuleInterface<IMoneyModule>();
 
-            if (result)
-                return 1;
+                if (money == null)
+                {
+                    NotImplemented("llGiveMoney");
+                    return;
+                }
 
-            return 0;
+                money.ObjectGiveMoney(
+                    m_host.ParentGroup.RootPart.UUID, m_host.ParentGroup.RootPart.OwnerID, toID, amount);
+            });
         }
 
         public void llMakeExplosion(int particles, double scale, double vel, double lifetime, double arc, string texture, LSL_Vector offset)
@@ -4923,7 +4921,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         public LSL_Vector llGetCenterOfMass()
         {
             m_host.AddScriptLPS(1);
-            Vector3 center = m_host.GetGeometricCenter();
+            Vector3 center = m_host.GetCenterOfMass();
             return new LSL_Vector(center.X,center.Y,center.Z);
         }
 
@@ -6839,7 +6837,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         {
             m_host.AddScriptLPS(1);
             IXMLRPC xmlrpcMod = m_ScriptEngine.World.RequestModuleInterface<IXMLRPC>();
-            if (xmlrpcMod.IsEnabled())
+            if (xmlrpcMod != null && xmlrpcMod.IsEnabled())
             {
                 UUID channelID = xmlrpcMod.OpenXMLRPCChannel(m_host.LocalId, m_item.ItemID, UUID.Zero);
                 IXmlRpcRouter xmlRpcRouter = m_ScriptEngine.World.RequestModuleInterface<IXmlRpcRouter>();
@@ -6871,6 +6869,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             m_host.AddScriptLPS(1);
             IXMLRPC xmlrpcMod = m_ScriptEngine.World.RequestModuleInterface<IXMLRPC>();
             ScriptSleep(3000);
+            if (xmlrpcMod == null)
+                return "";
             return (xmlrpcMod.SendRemoteData(m_host.LocalId, m_item.ItemID, channel, dest, idata, sdata)).ToString();
         }
 
@@ -6878,7 +6878,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         {
             m_host.AddScriptLPS(1);
             IXMLRPC xmlrpcMod = m_ScriptEngine.World.RequestModuleInterface<IXMLRPC>();
-            xmlrpcMod.RemoteDataReply(channel, message_id, sdata, idata);
+            if (xmlrpcMod != null)
+                xmlrpcMod.RemoteDataReply(channel, message_id, sdata, idata);
             ScriptSleep(3000);
         }
 
@@ -6893,7 +6894,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             }
 
             IXMLRPC xmlrpcMod = m_ScriptEngine.World.RequestModuleInterface<IXMLRPC>();
-            xmlrpcMod.CloseXMLRPCChannel((UUID)channel);
+            if (xmlrpcMod != null)
+                xmlrpcMod.CloseXMLRPCChannel((UUID)channel);
             ScriptSleep(1000);
         }
 
@@ -11338,25 +11340,89 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             bool checkPhysical = !((rejectTypes & ScriptBaseClass.RC_REJECT_PHYSICAL) == ScriptBaseClass.RC_REJECT_PHYSICAL);
 
 
-            if (checkTerrain)
+            if (World.SupportsRayCastFiltered())
             {
-                ContactResult? groundContact = GroundIntersection(rayStart, rayEnd);
-                if (groundContact != null)
-                    results.Add((ContactResult)groundContact);
-            }
+                if (dist == 0)
+                    return list;
+
+                RayFilterFlags rayfilter = RayFilterFlags.ClosestAndBackCull;
+                if (checkTerrain)
+                    rayfilter |= RayFilterFlags.land;
+//                if (checkAgents)
+//                    rayfilter |= RayFilterFlags.agent;
+                if (checkPhysical)
+                    rayfilter |= RayFilterFlags.physical;
+                if (checkNonPhysical)
+                    rayfilter |= RayFilterFlags.nonphysical;
+                if (detectPhantom)
+                    rayfilter |= RayFilterFlags.LSLPhanton;
+
+                Vector3 direction = dir * ( 1/dist);
+
+                if(rayfilter == 0)
+                {
+                    list.Add(new LSL_Integer(0));
+                    return list;
+                }
+
+                // get some more contacts to sort ???
+                int physcount = 4 * count;
+                if (physcount > 20)
+                    physcount = 20;
+
+                object physresults;
+                physresults = World.RayCastFiltered(rayStart, direction, dist, physcount, rayfilter);
+
+                if (physresults == null)
+                {
+                    list.Add(new LSL_Integer(-3)); // timeout error
+                    return list;
+                }
+
+                results = (List<ContactResult>)physresults;
 
-            if (checkAgents)
+                // for now physics doesn't detect sitted avatars so do it outside physics
+                if (checkAgents)
+                {
+                    ContactResult[] agentHits = AvatarIntersection(rayStart, rayEnd);
+                    foreach (ContactResult r in agentHits)
+                        results.Add(r);
+                }
+
+                // TODO: Replace this with a better solution. ObjectIntersection can only
+                // detect nonphysical phantoms. They are detected by virtue of being
+                // nonphysical (e.g. no PhysActor) so will not conflict with detecting
+                // physicsl phantoms as done by the physics scene
+                // We don't want anything else but phantoms here.
+                if (detectPhantom)
+                {
+                    ContactResult[] objectHits = ObjectIntersection(rayStart, rayEnd, false, false, true);
+                    foreach (ContactResult r in objectHits)
+                        results.Add(r);
+                }
+            }
+            else
             {
-                ContactResult[] agentHits = AvatarIntersection(rayStart, rayEnd);
-                foreach (ContactResult r in agentHits)
-                    results.Add(r);
+                if (checkAgents)
+                {
+                    ContactResult[] agentHits = AvatarIntersection(rayStart, rayEnd);
+                    foreach (ContactResult r in agentHits)
+                        results.Add(r);
+                }
+
+                if (checkPhysical || checkNonPhysical || detectPhantom)
+                {
+                    ContactResult[] objectHits = ObjectIntersection(rayStart, rayEnd, checkPhysical, checkNonPhysical, detectPhantom);
+                    foreach (ContactResult r in objectHits)
+                        results.Add(r);
+                }
             }
 
-            if (checkPhysical || checkNonPhysical || detectPhantom)
+            if (checkTerrain)
             {
-                ContactResult[] objectHits = ObjectIntersection(rayStart, rayEnd, checkPhysical, checkNonPhysical, detectPhantom);
-                foreach (ContactResult r in objectHits)
-                    results.Add(r);
+                ContactResult? groundContact = GroundIntersection(rayStart, rayEnd);
+                if (groundContact != null)
+                    results.Add((ContactResult)groundContact);
             }
 
             results.Sort(delegate(ContactResult a, ContactResult b)
@@ -11554,6 +11620,79 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             NotImplemented("llGodLikeRezObject");
         }
 
+        public LSL_String llTransferLindenDollars(string destination, int amount)
+        {
+            UUID txn = UUID.Random();
+
+            Util.FireAndForget(delegate(object x)
+            {
+                int replycode = 0;
+                string replydata = destination + "," + amount.ToString();
+
+                try
+                {
+                    TaskInventoryItem item = m_item;
+                    if (item == null)
+                    {
+                        replydata = "SERVICE_ERROR";
+                        return;
+                    }
+
+                    m_host.AddScriptLPS(1);
+
+                    if (item.PermsGranter == UUID.Zero)
+                    {
+                        replydata = "MISSING_PERMISSION_DEBIT";
+                        return;
+                    }
+
+                    if ((item.PermsMask & ScriptBaseClass.PERMISSION_DEBIT) == 0)
+                    {
+                        replydata = "MISSING_PERMISSION_DEBIT";
+                        return;
+                    }
+
+                    UUID toID = new UUID();
+
+                    if (!UUID.TryParse(destination, out toID))
+                    {
+                        replydata = "INVALID_AGENT";
+                        return;
+                    }
+
+                    IMoneyModule money = World.RequestModuleInterface<IMoneyModule>();
+
+                    if (money == null)
+                    {
+                        replydata = "TRANSFERS_DISABLED";
+                        return;
+                    }
+
+                    bool result = money.ObjectGiveMoney(
+                        m_host.ParentGroup.RootPart.UUID, m_host.ParentGroup.RootPart.OwnerID, toID, amount);
+
+                    if (result)
+                    {
+                        replycode = 1;
+                        return;
+                    }
+
+                    replydata = "LINDENDOLLAR_INSUFFICIENTFUNDS";
+                }
+                finally
+                {
+                    m_ScriptEngine.PostScriptEvent(m_item.ItemID, new EventParams(
+                            "transaction_result", new Object[] {
+                            new LSL_String(txn.ToString()),
+                            new LSL_Integer(replycode),
+                            new LSL_String(replydata) },
+                            new DetectParams[0]));
+                }
+            });
+
+            return txn.ToString();
+        }
+
         #endregion
     }
 
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Interface/ILSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Interface/ILSL_Api.cs
index 98f8be7..4ac179a 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Interface/ILSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Interface/ILSL_Api.cs
@@ -207,7 +207,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Interfaces
          LSL_Float llGetWallclock();
               void llGiveInventory(string destination, string inventory);
               void llGiveInventoryList(string destination, string category, LSL_List inventory);
-       LSL_Integer llGiveMoney(string destination, int amount);
+              void llGiveMoney(string destination, int amount);
+        LSL_String llTransferLindenDollars(string destination, int amount);
               void llGodLikeRezObject(string inventory, LSL_Vector pos);
          LSL_Float llGround(LSL_Vector offset);
         LSL_Vector llGroundContour(LSL_Vector offset);
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Stub.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Stub.cs
index 36803a4..c7a7cf6 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Stub.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Stub.cs
@@ -869,9 +869,14 @@ namespace OpenSim.Region.ScriptEngine.Shared.ScriptBase
             m_LSL_Functions.llGiveInventoryList(destination, category, inventory);
         }
 
-        public LSL_Integer llGiveMoney(string destination, int amount)
+        public void llGiveMoney(string destination, int amount)
         {
-            return m_LSL_Functions.llGiveMoney(destination, amount);
+            m_LSL_Functions.llGiveMoney(destination, amount);
+        }
+
+        public LSL_String llTransferLindenDollars(string destination, int amount)
+        {
+            return m_LSL_Functions.llTransferLindenDollars(destination, amount);
         }
 
         public void llGodLikeRezObject(string inventory, LSL_Vector pos)
diff --git a/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs b/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs
index a17a018..72646f6 100644
--- a/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs
+++ b/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs
@@ -1486,7 +1486,8 @@ namespace OpenSim.Region.ScriptEngine.XEngine
             m_MaxScriptQueue = maxScriptQueue;
 
             STPStartInfo startInfo = new STPStartInfo();
-            startInfo.IdleTimeout = idleTimeout*1000; // convert to seconds as stated in .ini
+            startInfo.ThreadPoolName = "XEngine";
+            startInfo.IdleTimeout = idleTimeout * 1000; // convert to seconds as stated in .ini
             startInfo.MaxWorkerThreads = maxThreads;
             startInfo.MinWorkerThreads = minThreads;
             startInfo.ThreadPriority = threadPriority;;
@@ -1494,7 +1495,6 @@ namespace OpenSim.Region.ScriptEngine.XEngine
             startInfo.StartSuspended = true;
 
             m_ThreadPool = new SmartThreadPool(startInfo);
-            m_ThreadPool.Name = "XEngine";
         }
 
         //
diff --git a/TESTING.txt b/TESTING.txt
index a7346ff..e7ab088 100644
--- a/TESTING.txt
+++ b/TESTING.txt
@@ -1,4 +1,4 @@
-===== The Quick Guide to OpenSim Unit Testing ===
+= The Quick Guide to OpenSim Unit Testing =
 
 == Running Tests ==
 
@@ -27,7 +27,7 @@ must list it in both ".nant/local.include"
 for it to be accessible to Linux users and to the continuous
 integration system.
 
-==TESTING ON WINDOWS==
+== TESTING ON WINDOWS ==
 
 To use nunit testing on opensim code, you have a variety of methods.  The
 easiast methods involve using IDE capabilities to test code.  Using
@@ -58,14 +58,14 @@ Nunit console allows you to execute the nunit tests of assemblies via console.
 Its output will show test failures and successes and a summary of what
 happened.  This is very useful for a quick overview and/or automated testing.
 
-Windows
+=== Windows ===
 Windows version of nunit-console is by default .Net 2.0 if you downloaded the
 .Net 2.0 version  of Nunit.  Be sure to setup your PATH environment variable.
 
-Linux & OSX
+=== Linux & OSX ===
 On these operating systems you will have to use the command "nunit-console2"
 
-Example
+=== Example ===
 
 nunit-console2 OpenSim.Framework.Tests.dll (on linux)
 nunit-console OpenSim.Framework.Tests.dll (on windows)
diff --git a/ThirdParty/SmartThreadPool/STPStartInfo.cs b/ThirdParty/SmartThreadPool/STPStartInfo.cs
index d181563..fa9ceb4 100644
--- a/ThirdParty/SmartThreadPool/STPStartInfo.cs
+++ b/ThirdParty/SmartThreadPool/STPStartInfo.cs
@@ -33,6 +33,11 @@ namespace Amib.Threading
         private ThreadPriority _threadPriority;
 
         /// <summary>
+        /// The thread pool name. Threads will get names depending on this.
+        /// </summary>
+        private string _threadPoolName;
+
+        /// <summary>
         /// If this field is not null then the performance counters are enabled
         /// and use the string as the name of the instance.
         /// </summary>
@@ -46,6 +51,7 @@ namespace Amib.Threading
             _minWorkerThreads = SmartThreadPool.DefaultMinWorkerThreads;
             _maxWorkerThreads = SmartThreadPool.DefaultMaxWorkerThreads;
             _threadPriority = SmartThreadPool.DefaultThreadPriority;
+            _threadPoolName = SmartThreadPool.DefaultThreadPoolName;
             _pcInstanceName = SmartThreadPool.DefaultPerformanceCounterInstanceName;
             _stackSize = SmartThreadPool.DefaultStackSize;
         }
@@ -56,6 +62,7 @@ namespace Amib.Threading
             _minWorkerThreads = stpStartInfo._minWorkerThreads;
             _maxWorkerThreads = stpStartInfo._maxWorkerThreads;
             _threadPriority = stpStartInfo._threadPriority;
+            _threadPoolName = stpStartInfo._threadPoolName;
             _pcInstanceName = stpStartInfo._pcInstanceName;
             _stackSize = stpStartInfo._stackSize;
         }
@@ -84,6 +91,13 @@ namespace Amib.Threading
             set { _threadPriority = value; }
         }
 
+        public virtual string ThreadPoolName
+        {
+            get { return _threadPoolName; }
+            set { _threadPoolName = value; }
+        }
+
+
         public string PerformanceCounterInstanceName
         {
             get { return _pcInstanceName; }
diff --git a/ThirdParty/SmartThreadPool/SmartThreadPool.cs b/ThirdParty/SmartThreadPool/SmartThreadPool.cs
index bd52f62..19a0007 100644
--- a/ThirdParty/SmartThreadPool/SmartThreadPool.cs
+++ b/ThirdParty/SmartThreadPool/SmartThreadPool.cs
@@ -135,6 +135,11 @@ namespace Amib.Threading
         /// </summary>
         public const ThreadPriority DefaultThreadPriority = ThreadPriority.Normal;
 
+        /// <summary>
+        /// The default thread pool name
+        /// </summary>
+        public const string DefaultThreadPoolName = "SmartThreadPool";
+
         #endregion
 
         #region Member Variables
@@ -143,7 +148,7 @@ namespace Amib.Threading
         /// Contains the name of this instance of SmartThreadPool.
         /// Can be changed by the user.
         /// </summary>
-        private string _name = "SmartThreadPool";
+        private string _name = DefaultThreadPoolName;
 
         /// <summary>
         /// Hashtable of all the threads in the thread pool.
@@ -307,6 +312,7 @@ namespace Amib.Threading
 
         private void Initialize()
         {
+            Name = _stpStartInfo.ThreadPoolName;
             ValidateSTPStartInfo();
 
             if (null != _stpStartInfo.PerformanceCounterInstanceName)
diff --git a/bin/BulletXNA.dll b/bin/BulletXNA.dll
index 1e3f042..5e69b2e 100644
--- a/bin/BulletXNA.dll
+++ b/bin/BulletXNA.dll
diff --git a/bin/BulletXNA.pdb b/bin/BulletXNA.pdb
index 4b83b83..3d4906f 100644
--- a/bin/BulletXNA.pdb
+++ b/bin/BulletXNA.pdb
diff --git a/bin/OpenSimDefaults.ini b/bin/OpenSimDefaults.ini
index 45c3d40..889865b 100644
--- a/bin/OpenSimDefaults.ini
+++ b/bin/OpenSimDefaults.ini
@@ -908,6 +908,19 @@
 
 [BulletSim]
     ; World parameters
+
+    ; There are two bullet physics libraries, bulletunmanaged is the default and is a native c++ dll
+    ; bulletxna is a managed C# dll.  They have comparible functionality..   the c++ is much faster.
+
+    BulletEngine = "bulletunmanaged"
+    ; BulletEngine = "bulletxna"
+
+    ; Terrain Implementation {1|0} 0 for HeightField, 1 for Mesh terrain.  If you're using the bulletxna engine, 
+    ;  you will want to switch to the heightfield option
+
+    TerrainImplementation = 1
+    ; TerrainImplementation = 0
+
     DefaultFriction = 0.20
     DefaultDensity = 10.000006836
     DefaultRestitution = 0.0
@@ -959,6 +972,7 @@
     PhysicsLoggingEnabled = False
     PhysicsLoggingDir = "."
     VehicleLoggingEnabled = False
+    
 
 [RemoteAdmin]
     enabled = false
@@ -1109,6 +1123,17 @@
 
     ;exclude_list=User 1,User 2,User 3
 
+    ;;Shows modal alertbox for entering agent on IRC enabled regions
+    ;;
+    ;; Enable Alert, default = false
+    ;alert_show = false
+    ;;
+    ;; Show IRC serverinfo, default = true
+    ;alert_show_serverinfo = true
+    ;;
+    ;alert_msg_pre = "This region is linked to Irc."
+    ;alert_msg_post = "Everything you say in public chat can be listened."
+
 
 ; The following settings control the progression of daytime
 ; in the Sim.  The defaults are the same as the commented out settings
diff --git a/prebuild.xml b/prebuild.xml
index abf8f36..37b406c 100644
--- a/prebuild.xml
+++ b/prebuild.xml
@@ -1727,45 +1727,13 @@
       <Configuration name="Debug">
         <Options>
           <OutputPath>../../../../bin/Physics/</OutputPath>
+          <AllowUnsafe>true</AllowUnsafe>
         </Options>
       </Configuration>
       <Configuration name="Release">
         <Options>
           <OutputPath>../../../../bin/Physics/</OutputPath>
-        </Options>
-      </Configuration>
-
-      <ReferencePath>../../../../bin/</ReferencePath>
-      <Reference name="System"/>
-      <Reference name="System.Core"/>
-      <Reference name="System.Xml"/>
-      <Reference name="OpenMetaverseTypes" path="../../../../bin/"/>
-      <Reference name="Nini.dll"  path="../../../../bin/"/>
-      <Reference name="OpenSim.Framework"/>
-      <Reference name="OpenSim.Region.Framework"/>
-      <Reference name="OpenSim.Region.CoreModules"/>
-      <Reference name="OpenSim.Framework.Console"/>
-      <Reference name="OpenSim.Region.Physics.Manager"/>
-      <Reference name="OpenSim.Region.Physics.ConvexDecompositionDotNet"/>
-      <Reference name="BulletXNA.dll" path="../../../../bin/"/>
-      <Reference name="log4net.dll" path="../../../../bin/"/>
-
-      <Files>
-        <Match pattern="*.cs" recurse="true">
-          <Exclude name="Tests" pattern="Tests"/>
-        </Match>
-      </Files>
-    </Project>
-
-    <Project frameworkVersion="v3_5" name="OpenSim.Region.Physics.BulletSNPlugin" path="OpenSim/Region/Physics/BulletSNPlugin" type="Library">
-      <Configuration name="Debug">
-        <Options>
-          <OutputPath>../../../../bin/Physics/</OutputPath>
-        </Options>
-      </Configuration>
-      <Configuration name="Release">
-        <Options>
-          <OutputPath>../../../../bin/Physics/</OutputPath>
+          <AllowUnsafe>true</AllowUnsafe>
         </Options>
       </Configuration>