Merge branch 'vehicles' into tests

Conflicts:

	OpenSim/Region/Physics/Manager/PhysicsActor.cs
	OpenSim/Region/Physics/OdePlugin/ODEPrim.cs

1 files changed, 170 insertions, 148 deletions

diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
index 5f46f6f..7d889ee 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
@@ -102,16 +102,16 @@ namespace OpenSim.Region.Framework.Scenes
 
         #region Fields
 
-        public bool AllowedDrop = false;
+        public bool AllowedDrop;
 
         [XmlIgnore]
-        public bool DIE_AT_EDGE = false;
+        public bool DIE_AT_EDGE;
 
         // TODO: This needs to be persisted in next XML version update!
         [XmlIgnore]
-        public int[] PayPrice = {-2,-2,-2,-2,-2};
+        public readonly int[] PayPrice = {-2,-2,-2,-2,-2};
         [XmlIgnore]
-        public PhysicsActor PhysActor = null;
+        public PhysicsActor PhysActor;
 
         //Xantor 20080528 Sound stuff:
         //  Note: This isn't persisted in the database right now, as the fields for that aren't just there yet.
@@ -130,55 +130,56 @@ namespace OpenSim.Region.Framework.Scenes
         public double SoundRadius;
         
         [XmlIgnore]
-        public uint TimeStampFull = 0;
+        public uint TimeStampFull;
         
         [XmlIgnore]
-        public uint TimeStampLastActivity = 0; // Will be used for AutoReturn
+        public uint TimeStampLastActivity; // Will be used for AutoReturn
         
         [XmlIgnore]
-        public uint TimeStampTerse = 0;
-        
+        public uint TimeStampTerse;
+
         [XmlIgnore]
-        public UUID FromItemID = UUID.Zero;
+        public UUID FromItemID;
                
         /// <value>
         /// The UUID of the user inventory item from which this object was rezzed if this is a root part.
         /// If UUID.Zero then either this is not a root part or there is no connection with a user inventory item.
         /// </value>
-        private UUID m_fromUserInventoryItemID = UUID.Zero;
+        private UUID m_fromUserInventoryItemID;
         
         [XmlIgnore]
         public UUID FromUserInventoryItemID
         {
             get { return m_fromUserInventoryItemID; }
         }
-        
+
         [XmlIgnore]
-        public bool IsAttachment = false;
-        
+        public bool IsAttachment;
+
         [XmlIgnore]
-        public scriptEvents AggregateScriptEvents = 0;
-        
+        public scriptEvents AggregateScriptEvents;
+
         [XmlIgnore]
-        public UUID AttachedAvatar = UUID.Zero;
-        
+        public UUID AttachedAvatar;
+
         [XmlIgnore]
-        public Vector3 AttachedPos = Vector3.Zero;
-        
+        public Vector3 AttachedPos;
+
         [XmlIgnore]
-        public uint AttachmentPoint = (byte)0;
-        
+        public uint AttachmentPoint;
+
         [XmlIgnore]
-        public PhysicsVector RotationAxis = new PhysicsVector(1f,1f,1f);
+        public Vector3 RotationAxis = Vector3.One;
 
         [XmlIgnore]
-        public bool VolumeDetectActive = false; // XmlIgnore set to avoid problems with persistance until I come to care for this
-                                                // Certainly this must be a persistant setting finally
+        public bool VolumeDetectActive; // XmlIgnore set to avoid problems with persistance until I come to care for this
+                                        // Certainly this must be a persistant setting finally
 
         [XmlIgnore]
-        public bool IsWaitingForFirstSpinUpdatePacket = false;
+        public bool IsWaitingForFirstSpinUpdatePacket;
+
         [XmlIgnore]
-        public Quaternion SpinOldOrientation = new Quaternion();
+        public Quaternion SpinOldOrientation = Quaternion.Identity;
 
         /// <summary>
         /// This part's inventory
@@ -191,34 +192,32 @@ namespace OpenSim.Region.Framework.Scenes
         protected SceneObjectPartInventory m_inventory;
 
         [XmlIgnore]
-        public bool Undoing = false;
+        public bool Undoing;
 
         [XmlIgnore]
-        private PrimFlags LocalFlags = 0;
+        private PrimFlags LocalFlags;
         [XmlIgnore]
         private float m_damage = -1.0f;
         private byte[] m_TextureAnimation;
-        private byte m_clickAction = 0;
+        private byte m_clickAction;
         private Color m_color = Color.Black;
         private string m_description = String.Empty;
         private readonly List<uint> m_lastColliders = new List<uint>();
-        // private PhysicsVector m_lastRotationalVelocity = PhysicsVector.Zero;
-        private int m_linkNum = 0;
+        private int m_linkNum;
         [XmlIgnore]
-        private int m_scriptAccessPin = 0;
+        private int m_scriptAccessPin;
         [XmlIgnore]
         private readonly Dictionary<UUID, scriptEvents> m_scriptEvents = new Dictionary<UUID, scriptEvents>();
         private string m_sitName = String.Empty;
         private Quaternion m_sitTargetOrientation = Quaternion.Identity;
-        private Vector3 m_sitTargetPosition = Vector3.Zero;
+        private Vector3 m_sitTargetPosition;
         private string m_sitAnimation = "SIT";
         private string m_text = String.Empty;
         private string m_touchName = String.Empty;
         private readonly UndoStack<UndoState> m_undo = new UndoStack<UndoState>(5);
         private UUID _creatorID;
 
-
-        private bool m_passTouches = false;
+        private bool m_passTouches;
 
         /// <summary>
         /// Only used internally to schedule client updates.
@@ -236,28 +235,34 @@ namespace OpenSim.Region.Framework.Scenes
         //unkown if this will be kept, added as a way of removing the group position from the group class
         protected Vector3 m_groupPosition;
         protected uint m_localId;
-        protected Material m_material = (Material)3; // Wood
+        protected Material m_material = OpenMetaverse.Material.Wood;
         protected string m_name;
         protected Vector3 m_offsetPosition;
 
         // FIXME, TODO, ERROR: 'ParentGroup' can't be in here, move it out.
         protected SceneObjectGroup m_parentGroup;
-        protected byte[] m_particleSystem = new byte[0];
+        protected byte[] m_particleSystem = Utils.EmptyBytes;
         protected ulong m_regionHandle;
         protected Quaternion m_rotationOffset;
-        protected PrimitiveBaseShape m_shape = null;
+        protected PrimitiveBaseShape m_shape;
         protected UUID m_uuid;
         protected Vector3 m_velocity;
 
+        protected Vector3 m_lastPosition;
+        protected Quaternion m_lastRotation;
+        protected Vector3 m_lastVelocity;
+        protected Vector3 m_lastAcceleration;
+        protected Vector3 m_lastAngularVelocity;
+
         // TODO: Those have to be changed into persistent properties at some later point,
         // or sit-camera on vehicles will break on sim-crossing.
-        private Vector3 m_cameraEyeOffset = new Vector3(0.0f, 0.0f, 0.0f);
-        private Vector3 m_cameraAtOffset = new Vector3(0.0f, 0.0f, 0.0f);
-        private bool m_forceMouselook = false;
+        private Vector3 m_cameraEyeOffset;
+        private Vector3 m_cameraAtOffset;
+        private bool m_forceMouselook;
 
         // TODO: Collision sound should have default.
-        private UUID m_collisionSound = UUID.Zero;
-        private float m_collisionSoundVolume = 0.0f;
+        private UUID m_collisionSound;
+        private float m_collisionSoundVolume;
 
         #endregion Fields
 
@@ -269,9 +274,9 @@ namespace OpenSim.Region.Framework.Scenes
         public SceneObjectPart()
         {
             // It's not necessary to persist this
-            m_TextureAnimation = new byte[0];
-            m_particleSystem = new byte[0];
-            Rezzed = DateTime.Now;
+            m_TextureAnimation = Utils.EmptyBytes;
+            m_particleSystem = Utils.EmptyBytes;
+            Rezzed = DateTime.UtcNow;
             
             m_inventory = new SceneObjectPartInventory(this);
         }
@@ -290,8 +295,8 @@ namespace OpenSim.Region.Framework.Scenes
         {
             m_name = "Primitive";
 
-            Rezzed = DateTime.Now;
-            _creationDate = (Int32) (DateTime.UtcNow - new DateTime(1970, 1, 1)).TotalSeconds;
+            Rezzed = DateTime.UtcNow;
+            _creationDate = (int)Utils.DateTimeToUnixTime(Rezzed);
             _ownerID = ownerID;
             _creatorID = _ownerID;
             _lastOwnerID = UUID.Zero;
@@ -299,19 +304,19 @@ namespace OpenSim.Region.Framework.Scenes
             Shape = shape;
             // Todo: Add More Object Parameter from above!
             _ownershipCost = 0;
-            _objectSaleType = (byte) 0;
+            _objectSaleType = 0;
             _salePrice = 0;
-            _category = (uint) 0;
+            _category = 0;
             _lastOwnerID = _creatorID;
             // End Todo: ///
             GroupPosition = groupPosition;
             OffsetPosition = offsetPosition;
             RotationOffset = rotationOffset;
-            Velocity = new Vector3(0, 0, 0);
-            AngularVelocity = new Vector3(0, 0, 0);
-            Acceleration = new Vector3(0, 0, 0);
-            m_TextureAnimation = new byte[0];
-            m_particleSystem = new byte[0];
+            Velocity = Vector3.Zero;
+            AngularVelocity = Vector3.Zero;
+            Acceleration = Vector3.Zero;
+            m_TextureAnimation = Utils.EmptyBytes;
+            m_particleSystem = Utils.EmptyBytes;
 
             // Prims currently only contain a single folder (Contents).  From looking at the Second Life protocol,
             // this appears to have the same UUID (!) as the prim.  If this isn't the case, one can't drag items from
@@ -532,13 +537,13 @@ namespace OpenSim.Region.Framework.Scenes
                         // Root prim actually goes at Position
                         if (_parentID == 0)
                         {
-                            PhysActor.Position = new PhysicsVector(value.X, value.Y, value.Z);
+                            PhysActor.Position = value;
                         }
                         else
                         {
                             // To move the child prim in respect to the group position and rotation we have to calculate
                             Vector3 resultingposition = GetWorldPosition();
-                            PhysActor.Position = new PhysicsVector(resultingposition.X, resultingposition.Y, resultingposition.Z);
+                            PhysActor.Position = resultingposition;
                             Quaternion resultingrot = GetWorldRotation();
                             PhysActor.Orientation = resultingrot;
                         }
@@ -580,7 +585,7 @@ namespace OpenSim.Region.Framework.Scenes
                      if (_parentID != 0 && PhysActor != null)
                     {
                         Vector3 resultingposition = GetWorldPosition();
-                        PhysActor.Position = new PhysicsVector(resultingposition.X, resultingposition.Y, resultingposition.Z);
+                        PhysActor.Position = resultingposition;
                         Quaternion resultingrot = GetWorldRotation();
                         PhysActor.Orientation = resultingrot;
 
@@ -670,7 +675,7 @@ namespace OpenSim.Region.Framework.Scenes
                 {
                     if (PhysActor.IsPhysical)
                     {
-                        PhysActor.Velocity = new PhysicsVector(value.X, value.Y, value.Z);
+                        PhysActor.Velocity = value;
                         m_parentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(PhysActor);
                     }
                 }
@@ -812,7 +817,7 @@ if (m_shape != null) {
                     {
                         if (m_parentGroup.Scene.PhysicsScene != null)
                         {
-                            PhysActor.Size = new PhysicsVector(m_shape.Scale.X, m_shape.Scale.Y, m_shape.Scale.Z);
+                            PhysActor.Size = m_shape.Scale;
                             m_parentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(PhysActor);
                         }
                     }
@@ -1077,8 +1082,8 @@ if (m_shape != null) {
 
         private void SendObjectPropertiesToClient(UUID AgentID)
         {
-            List<ScenePresence> avatars = m_parentGroup.Scene.GetScenePresences();
-            for (int i = 0; i < avatars.Count; i++)
+            ScenePresence[] avatars = m_parentGroup.Scene.GetScenePresences();
+            for (int i = 0; i < avatars.Length; i++)
             {
                 // Ugly reference :(
                 if (avatars[i].UUID == AgentID)
@@ -1140,8 +1145,8 @@ if (m_shape != null) {
         /// </summary>
         public void AddFullUpdateToAllAvatars()
         {
-            List<ScenePresence> avatars = m_parentGroup.Scene.GetScenePresences();
-            for (int i = 0; i < avatars.Count; i++)
+            ScenePresence[] avatars = m_parentGroup.Scene.GetScenePresences();
+            for (int i = 0; i < avatars.Length; i++)
             {
                 avatars[i].SceneViewer.QueuePartForUpdate(this);
             }
@@ -1165,8 +1170,8 @@ if (m_shape != null) {
         /// Terse updates
         public void AddTerseUpdateToAllAvatars()
         {
-            List<ScenePresence> avatars = m_parentGroup.Scene.GetScenePresences();
-            for (int i = 0; i < avatars.Count; i++)
+            ScenePresence[] avatars = m_parentGroup.Scene.GetScenePresences();
+            for (int i = 0; i < avatars.Length; i++)
             {
                 avatars[i].SceneViewer.QueuePartForUpdate(this);
             }
@@ -1220,7 +1225,7 @@ if (m_shape != null) {
         /// <param name="localGlobalTF">true for the local frame, false for the global frame</param>
         public void ApplyImpulse(Vector3 impulsei, bool localGlobalTF)
         {
-            PhysicsVector impulse = new PhysicsVector(impulsei.X, impulsei.Y, impulsei.Z);
+            Vector3 impulse = impulsei;
 
             if (localGlobalTF)
             {
@@ -1228,7 +1233,7 @@ if (m_shape != null) {
                 Quaternion AXgrot = grot;
                 Vector3 AXimpulsei = impulsei;
                 Vector3 newimpulse = AXimpulsei * AXgrot;
-                impulse = new PhysicsVector(newimpulse.X, newimpulse.Y, newimpulse.Z);
+                impulse = newimpulse;
             }
 
             if (m_parentGroup != null)
@@ -1246,7 +1251,7 @@ if (m_shape != null) {
         /// <param name="localGlobalTF">true for the local frame, false for the global frame</param>
         public void ApplyAngularImpulse(Vector3 impulsei, bool localGlobalTF)
         {
-            PhysicsVector impulse = new PhysicsVector(impulsei.X, impulsei.Y, impulsei.Z);
+            Vector3 impulse = impulsei;
 
             if (localGlobalTF)
             {
@@ -1254,7 +1259,7 @@ if (m_shape != null) {
                 Quaternion AXgrot = grot;
                 Vector3 AXimpulsei = impulsei;
                 Vector3 newimpulse = AXimpulsei * AXgrot;
-                impulse = new PhysicsVector(newimpulse.X, newimpulse.Y, newimpulse.Z);
+                impulse = newimpulse;
             }
 
             if (m_parentGroup != null)
@@ -1272,7 +1277,7 @@ if (m_shape != null) {
         /// <param name="localGlobalTF">true for the local frame, false for the global frame</param>
         public void SetAngularImpulse(Vector3 impulsei, bool localGlobalTF)
         {
-            PhysicsVector impulse = new PhysicsVector(impulsei.X, impulsei.Y, impulsei.Z);
+            Vector3 impulse = impulsei;
 
             if (localGlobalTF)
             {
@@ -1280,7 +1285,7 @@ if (m_shape != null) {
                 Quaternion AXgrot = grot;
                 Vector3 AXimpulsei = impulsei;
                 Vector3 newimpulse = AXimpulsei * AXgrot;
-                impulse = new PhysicsVector(newimpulse.X, newimpulse.Y, newimpulse.Z);
+                impulse = newimpulse;
             }
 
             if (m_parentGroup != null)
@@ -1328,8 +1333,8 @@ if (m_shape != null) {
                     PhysActor = m_parentGroup.Scene.PhysicsScene.AddPrimShape(
                         Name,
                         Shape,
-                        new PhysicsVector(AbsolutePosition.X, AbsolutePosition.Y, AbsolutePosition.Z),
-                        new PhysicsVector(Scale.X, Scale.Y, Scale.Z),
+                        AbsolutePosition,
+                        Scale,
                         RotationOffset,
                         RigidBody);
 
@@ -1518,7 +1523,7 @@ if (m_shape != null) {
                     PhysicsJoint joint;
 
                     joint = m_parentGroup.Scene.PhysicsScene.RequestJointCreation(Name, jointType,
-                        new PhysicsVector(AbsolutePosition.X, AbsolutePosition.Y, AbsolutePosition.Z),
+                        AbsolutePosition,
                         this.RotationOffset,
                         Description,
                         bodyNames,
@@ -1703,12 +1708,12 @@ if (m_shape != null) {
             }
         }
 
-        public PhysicsVector GetForce()
+        public Vector3 GetForce()
         {
             if (PhysActor != null)
                 return PhysActor.Force;
             else
-                return new PhysicsVector();
+                return Vector3.Zero;
         }
 
         public void GetProperties(IClientAPI client)
@@ -1894,24 +1899,24 @@ if (m_shape != null) {
                         }
                         else
                         {
-                            List<ScenePresence> avlist = m_parentGroup.Scene.GetScenePresences();
-                            if (avlist != null)
+                            ScenePresence[] avlist = m_parentGroup.Scene.GetScenePresences();
+
+                            for (int i = 0; i < avlist.Length; i++)
                             {
-                                foreach (ScenePresence av in avlist)
+                                ScenePresence av = avlist[i];
+
+                                if (av.LocalId == localId)
                                 {
-                                    if (av.LocalId == localId)
-                                    {
-                                        DetectedObject detobj = new DetectedObject();
-                                        detobj.keyUUID = av.UUID;
-                                        detobj.nameStr = av.ControllingClient.Name;
-                                        detobj.ownerUUID = av.UUID;
-                                        detobj.posVector = av.AbsolutePosition;
-                                        detobj.rotQuat = av.Rotation;
-                                        detobj.velVector = av.Velocity;
-                                        detobj.colliderType = 0;
-                                        detobj.groupUUID = av.ControllingClient.ActiveGroupId;
-                                        colliding.Add(detobj);
-                                    }
+                                    DetectedObject detobj = new DetectedObject();
+                                    detobj.keyUUID = av.UUID;
+                                    detobj.nameStr = av.ControllingClient.Name;
+                                    detobj.ownerUUID = av.UUID;
+                                    detobj.posVector = av.AbsolutePosition;
+                                    detobj.rotQuat = av.Rotation;
+                                    detobj.velVector = av.Velocity;
+                                    detobj.colliderType = 0;
+                                    detobj.groupUUID = av.ControllingClient.ActiveGroupId;
+                                    colliding.Add(detobj);
                                 }
                             }
                         }
@@ -1965,26 +1970,25 @@ if (m_shape != null) {
                         }
                         else
                         {
-                            List<ScenePresence> avlist = m_parentGroup.Scene.GetScenePresences();
-                            if (avlist != null)
+                            ScenePresence[] avlist = m_parentGroup.Scene.GetScenePresences();
+                            
+                            for (int i = 0; i < avlist.Length; i++)
                             {
-                                foreach (ScenePresence av in avlist)
+                                ScenePresence av = avlist[i];
+
+                                if (av.LocalId == localId)
                                 {
-                                    if (av.LocalId == localId)
-                                    {
-                                        DetectedObject detobj = new DetectedObject();
-                                        detobj.keyUUID = av.UUID;
-                                        detobj.nameStr = av.Name;
-                                        detobj.ownerUUID = av.UUID;
-                                        detobj.posVector = av.AbsolutePosition;
-                                        detobj.rotQuat = av.Rotation;
-                                        detobj.velVector = av.Velocity;
-                                        detobj.colliderType = 0;
-                                        detobj.groupUUID = av.ControllingClient.ActiveGroupId;
-                                        colliding.Add(detobj);
-                                    }
+                                    DetectedObject detobj = new DetectedObject();
+                                    detobj.keyUUID = av.UUID;
+                                    detobj.nameStr = av.Name;
+                                    detobj.ownerUUID = av.UUID;
+                                    detobj.posVector = av.AbsolutePosition;
+                                    detobj.rotQuat = av.Rotation;
+                                    detobj.velVector = av.Velocity;
+                                    detobj.colliderType = 0;
+                                    detobj.groupUUID = av.ControllingClient.ActiveGroupId;
+                                    colliding.Add(detobj);
                                 }
-
                             }
                         }
                     }
@@ -2035,24 +2039,24 @@ if (m_shape != null) {
                         }
                         else
                         {
-                            List<ScenePresence> avlist = m_parentGroup.Scene.GetScenePresences();
-                            if (avlist != null)
+                            ScenePresence[] avlist = m_parentGroup.Scene.GetScenePresences();
+
+                            for (int i = 0; i < avlist.Length; i++)
                             {
-                                foreach (ScenePresence av in avlist)
+                                ScenePresence av = avlist[i];
+
+                                if (av.LocalId == localId)
                                 {
-                                    if (av.LocalId == localId)
-                                    {
-                                        DetectedObject detobj = new DetectedObject();
-                                        detobj.keyUUID = av.UUID;
-                                        detobj.nameStr = av.Name;
-                                        detobj.ownerUUID = av.UUID;
-                                        detobj.posVector = av.AbsolutePosition;
-                                        detobj.rotQuat = av.Rotation;
-                                        detobj.velVector = av.Velocity;
-                                        detobj.colliderType = 0;
-                                        detobj.groupUUID = av.ControllingClient.ActiveGroupId;
-                                        colliding.Add(detobj);
-                                    }
+                                    DetectedObject detobj = new DetectedObject();
+                                    detobj.keyUUID = av.UUID;
+                                    detobj.nameStr = av.Name;
+                                    detobj.ownerUUID = av.UUID;
+                                    detobj.posVector = av.AbsolutePosition;
+                                    detobj.rotQuat = av.Rotation;
+                                    detobj.velVector = av.Velocity;
+                                    detobj.colliderType = 0;
+                                    detobj.groupUUID = av.ControllingClient.ActiveGroupId;
+                                    colliding.Add(detobj);
                                 }
                             }
                         }
@@ -2074,7 +2078,7 @@ if (m_shape != null) {
             }
         }
 
-        public void PhysicsOutOfBounds(PhysicsVector pos)
+        public void PhysicsOutOfBounds(Vector3 pos)
         {
             m_log.Error("[PHYSICS]: Physical Object went out of bounds.");
             
@@ -2317,8 +2321,8 @@ if (m_shape != null) {
         /// </summary>
         public void SendFullUpdateToAllClients()
         {
-            List<ScenePresence> avatars = m_parentGroup.Scene.GetScenePresences();
-            for (int i = 0; i < avatars.Count; i++)
+            ScenePresence[] avatars = m_parentGroup.Scene.GetScenePresences();
+            for (int i = 0; i < avatars.Length; i++)
             {
                 // Ugly reference :(
                 m_parentGroup.SendPartFullUpdate(avatars[i].ControllingClient, this,
@@ -2328,8 +2332,8 @@ if (m_shape != null) {
 
         public void SendFullUpdateToAllClientsExcept(UUID agentID)
         {
-            List<ScenePresence> avatars = m_parentGroup.Scene.GetScenePresences();
-            for (int i = 0; i < avatars.Count; i++)
+            ScenePresence[] avatars = m_parentGroup.Scene.GetScenePresences();
+            for (int i = 0; i < avatars.Length; i++)
             {
                 // Ugly reference :(
                 if (avatars[i].UUID != agentID)
@@ -2394,18 +2398,36 @@ if (m_shape != null) {
         /// </summary>
         public void SendScheduledUpdates()
         {
-            if (m_updateFlag == 1) //some change has been made so update the clients
+            const float VELOCITY_TOLERANCE = 0.01f;
+            const float POSITION_TOLERANCE = 0.1f;
+
+            if (m_updateFlag == 1)
             {
-                AddTerseUpdateToAllAvatars();
-                ClearUpdateSchedule();
+                // Throw away duplicate or insignificant updates
+                if (RotationOffset != m_lastRotation ||
+                    Acceleration != m_lastAcceleration ||
+                    (Velocity - m_lastVelocity).Length() > VELOCITY_TOLERANCE ||
+                    (RotationalVelocity - m_lastAngularVelocity).Length() > VELOCITY_TOLERANCE ||
+                    (OffsetPosition - m_lastPosition).Length() > POSITION_TOLERANCE)
+                {
+                    AddTerseUpdateToAllAvatars();
+                    ClearUpdateSchedule();
 
-                // This causes the Scene to 'poll' physical objects every couple of frames
-                // bad, so it's been replaced by an event driven method.
-                //if ((ObjectFlags & (uint)PrimFlags.Physics) != 0)
-                //{
-                // Only send the constant terse updates on physical objects!
-                //ScheduleTerseUpdate();
-                //}
+                    // This causes the Scene to 'poll' physical objects every couple of frames
+                    // bad, so it's been replaced by an event driven method.
+                    //if ((ObjectFlags & (uint)PrimFlags.Physics) != 0)
+                    //{
+                    // Only send the constant terse updates on physical objects!
+                    //ScheduleTerseUpdate();
+                    //}
+
+                    // Update the "last" values
+                    m_lastPosition = OffsetPosition;
+                    m_lastRotation = RotationOffset;
+                    m_lastVelocity = Velocity;
+                    m_lastAcceleration = Acceleration;
+                    m_lastAngularVelocity = RotationalVelocity;
+                }
             }
             else
             {
@@ -2472,8 +2494,8 @@ if (m_shape != null) {
         /// </summary>
         public void SendTerseUpdateToAllClients()
         {
-            List<ScenePresence> avatars = m_parentGroup.Scene.GetScenePresences();
-            for (int i = 0; i < avatars.Count; i++)
+            ScenePresence[] avatars = m_parentGroup.Scene.GetScenePresences();
+            for (int i = 0; i < avatars.Length; i++)
             {
                 SendTerseUpdateToClient(avatars[i].ControllingClient);
             }
@@ -2547,7 +2569,7 @@ if (m_shape != null) {
             }
         }
 
-        public void SetForce(PhysicsVector force)
+        public void SetForce(Vector3 force)
         {
             if (PhysActor != null)
             {
@@ -2571,7 +2593,7 @@ if (m_shape != null) {
             }
         }
 
-        public void SetVehicleVectorParam(int param, PhysicsVector value)
+        public void SetVehicleVectorParam(int param, Vector3 value)
         {
             if (PhysActor != null)
             {
@@ -3420,8 +3442,8 @@ if (m_shape != null) {
                     PhysActor = m_parentGroup.Scene.PhysicsScene.AddPrimShape(
                         Name,
                         Shape,
-                        new PhysicsVector(AbsolutePosition.X, AbsolutePosition.Y, AbsolutePosition.Z),
-                        new PhysicsVector(Scale.X, Scale.Y, Scale.Z),
+                        AbsolutePosition,
+                        Scale,
                         RotationOffset,
                         UsePhysics);
 
@@ -3561,7 +3583,7 @@ if (m_shape != null) {
             // in SL.
             //
             if (ParentGroup.RootPart != this)
-                ParentGroup.RootPart.Rezzed = DateTime.Now;
+                ParentGroup.RootPart.Rezzed = DateTime.UtcNow;
 
             ParentGroup.HasGroupChanged = true;
             ScheduleFullUpdate();