Merge branch 'master' into connector_plugin

10 files changed, 911 insertions, 579 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 2a52e01..623ac8f 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -41,8 +41,6 @@ public class BSCharacter : BSPhysObject
 
     // private bool _stopped;
     private OMV.Vector3 _size;
-    private OMV.Vector3 _scale;
-    private PrimitiveBaseShape _pbs;
     private bool _grabbed;
     private bool _selected;
     private OMV.Vector3 _position;
@@ -67,6 +65,10 @@ public class BSCharacter : BSPhysObject
     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 OMV.Vector3 _PIDTarget;
     private bool _usePID;
     private float _PIDTau;
@@ -84,14 +86,18 @@ public class BSCharacter : BSPhysObject
         _flying = isFlying;
         _orientation = OMV.Quaternion.Identity;
         _velocity = OMV.Vector3.Zero;
+        _appliedVelocity = OMV.Vector3.Zero;
         _buoyancy = ComputeBuoyancyFromFlying(isFlying);
+        _currentFriction = PhysicsScene.Params.avatarStandingFriction;
+        _avatarDensity = PhysicsScene.Params.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);
-        _avatarDensity = PhysicsScene.Params.avatarDensity;
-        // set _avatarVolume and _mass based on capsule size, _density and _scale
+        // 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, MassRaw);
 
         ShapeData shapeData = new ShapeData();
         shapeData.ID = LocalID;
@@ -99,28 +105,22 @@ public class BSCharacter : BSPhysObject
         shapeData.Position = _position;
         shapeData.Rotation = _orientation;
         shapeData.Velocity = _velocity;
-        shapeData.Scale = _scale;
+        shapeData.Size = Scale;
+        shapeData.Scale = Scale;
         shapeData.Mass = _mass;
         shapeData.Buoyancy = _buoyancy;
         shapeData.Static = ShapeData.numericFalse;
-        shapeData.Friction = PhysicsScene.Params.avatarFriction;
+        shapeData.Friction = PhysicsScene.Params.avatarStandingFriction;
         shapeData.Restitution = PhysicsScene.Params.avatarRestitution;
 
         // do actual create at taint time
         PhysicsScene.TaintedObject("BSCharacter.create", delegate()
         {
             DetailLog("{0},BSCharacter.create,taint", LocalID);
-            BulletSimAPI.CreateObject(PhysicsScene.WorldID, shapeData);
-
-            // Set the buoyancy for flying. This will be refactored when all the settings happen in C#.
-            // If not set at creation, the avatar will stop flying when created after crossing a region boundry.
-            BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy);
+            // New body and shape into BSBody and BSShape
+            PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, shapeData, null, null, null);
 
-            BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.ptr, LocalID));
-
-            // This works here because CreateObject has already put the character into the physical world.
-            BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr,
-                            (uint)CollisionFilterGroups.AvatarFilter, (uint)CollisionFilterGroups.AvatarMask);
+            SetPhysicalProperties();
         });
         return;
     }
@@ -131,53 +131,85 @@ public class BSCharacter : BSPhysObject
         DetailLog("{0},BSCharacter.Destroy", LocalID);
         PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
         {
-            BulletSimAPI.DestroyObject(PhysicsScene.WorldID, LocalID);
+            PhysicsScene.Shapes.DereferenceBody(BSBody, true, null);
+            PhysicsScene.Shapes.DereferenceShape(BSShape, true, null);
         });
     }
 
+    private void SetPhysicalProperties()
+    {
+        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr);
+
+        ZeroMotion();
+        ForcePosition = _position;
+        // Set the velocity and compute the proper friction
+        ForceVelocity = _velocity;
+        BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.avatarRestitution);
+        BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale);
+        BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
+        if (PhysicsScene.Params.ccdMotionThreshold > 0f)
+        {
+            BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
+            BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+        }
+
+        OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw);
+        BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia);
+
+        BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT);
+
+        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr);
+
+        BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG);
+        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr);
+
+        // Do this after the object has been added to the world
+        BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr,
+                        (uint)CollisionFilterGroups.AvatarFilter, 
+                        (uint)CollisionFilterGroups.AvatarMask);
+    }
+
     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 bool Stopped { get { return false; } }
     public override OMV.Vector3 Size {
         get
         {
             // Avatar capsule size is kept in the scale parameter.
-            return new OMV.Vector3(_scale.X * 2, _scale.Y * 2, _scale.Z);
+            return _size;
         }
 
         set {
-            // When an avatar's size is set, only the height is changed
-            //    and that really only depends on the radius.
+            // When an avatar's size is set, only the height is changed.
             _size = value;
             ComputeAvatarScale(_size);
-
-            // TODO: something has to be done with the avatar's vertical position
-
             ComputeAvatarVolumeAndMass();
+            DetailLog("{0},BSCharacter.setSize,call,scale={1},density={2},volume={3},mass={4}",
+                            LocalID, Scale, _avatarDensity, _avatarVolume, MassRaw);
 
             PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
             {
-                BulletSimAPI.SetObjectScaleMass(PhysicsScene.WorldID, LocalID, _scale, _mass, true);
+                BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale);
+                OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw);
+                BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia);
             });
 
         }
     }
-    public override PrimitiveBaseShape Shape {
-        set { _pbs = value;
-        }
+    public override OMV.Vector3 Scale { get; set; }
+    public override PrimitiveBaseShape Shape
+    {
+        set { BaseShape = value; }
     }
+
     public override bool Grabbed {
-        set { _grabbed = value;
-        }
+        set { _grabbed = value; }
     }
     public override bool Selected {
-        set { _selected = value;
-        }
+        set { _selected = value; }
     }
     public override void CrossingFailure() { return; }
     public override void link(PhysicsActor obj) { return; }
@@ -204,7 +236,7 @@ public class BSCharacter : BSPhysObject
 
     public override OMV.Vector3 Position {
         get {
-            // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID);
+            // _position = BulletSimAPI.GetObjectPosition2(Scene.World.ptr, LocalID);
             return _position;
         }
         set {
@@ -214,7 +246,7 @@ public class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate()
             {
                 DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
+                BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
             });
         }
     }
@@ -263,7 +295,7 @@ public class BSCharacter : BSPhysObject
     // 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 PositionSanityCheck2(bool atTaintTime)
+    private bool PositionSanityCheck(bool inTaintTime)
     {
         bool ret = false;
         if (PositionSanityCheck())
@@ -273,9 +305,9 @@ public class BSCharacter : BSPhysObject
             BSScene.TaintCallback sanityOperation = delegate()
             {
                 DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
+                BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
             };
-            if (atTaintTime)
+            if (inTaintTime)
                 sanityOperation();
             else
                 PhysicsScene.TaintedObject("BSCharacter.PositionSanityCheck", sanityOperation);
@@ -284,11 +316,7 @@ public class BSCharacter : BSPhysObject
         return ret;
     }
 
-    public override float Mass {
-        get {
-            return _mass;
-        }
-    }
+    public override float Mass { get { return _mass; } }
 
     // used when we only want this prim's mass and not the linkset thing
     public override float MassRaw { get {return _mass; } }
@@ -301,15 +329,13 @@ public class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate()
             {
                 DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force);
-                BulletSimAPI.SetObjectForce(PhysicsScene.WorldID, LocalID, _force);
+                BulletSimAPI.SetObjectForce2(BSBody.ptr, _force);
             });
         }
     }
 
-    public override int VehicleType {
-        get { return 0; }
-        set { return; }
-    }
+    // Avatars don't do vehicles
+    public override int VehicleType { get { return 0; } 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) { }
@@ -328,10 +354,39 @@ public class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate()
             {
                 DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
-                BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, LocalID, _velocity);
+                ForceVelocity = _velocity;
             });
         }
     }
+    public override OMV.Vector3 ForceVelocity {
+        get { return _velocity; }
+        set {
+            // 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 != PhysicsScene.Params.avatarStandingFriction)
+                {
+                    _currentFriction = PhysicsScene.Params.avatarStandingFriction;
+                    BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction);
+                }
+            }
+            else
+            {
+                if (_currentFriction != PhysicsScene.Params.avatarFriction)
+                {
+                    _currentFriction = PhysicsScene.Params.avatarFriction;
+                    BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction);
+                }
+            }
+            _velocity = value;
+            // Remember the set velocity so we can suppress the reduction by friction, ...
+            _appliedVelocity = value;
+
+            BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
+            BulletSimAPI.Activate2(BSBody.ptr, true);
+        }
+    }
     public override OMV.Vector3 Torque {
         get { return _torque; }
         set { _torque = value;
@@ -353,8 +408,8 @@ public class BSCharacter : BSPhysObject
             // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation);
             PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate()
             {
-                // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID);
-                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
+                // _position = BulletSimAPI.GetPosition2(BSBody.ptr);
+                BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
             });
         }
     }
@@ -382,12 +437,18 @@ public class BSCharacter : BSPhysObject
         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
-            this.Buoyancy = ComputeBuoyancyFromFlying(_flying);
+            Buoyancy = ComputeBuoyancyFromFlying(_flying);
         }
     }
     // Flying is implimented by changing the avatar's buoyancy.
@@ -432,6 +493,10 @@ public class BSCharacter : BSPhysObject
         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; }
@@ -443,10 +508,19 @@ public class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject("BSCharacter.setBuoyancy", delegate()
             {
                 DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
-                BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy);
+                ForceBuoyancy = _buoyancy;
             });
         }
     }
+    public override float ForceBuoyancy {
+        get { return _buoyancy; }
+        set { _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);
+            BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
+        }
+    }
 
     // Used for MoveTo
     public override OMV.Vector3 PIDTarget {
@@ -507,27 +581,32 @@ public class BSCharacter : BSPhysObject
 
     private void ComputeAvatarScale(OMV.Vector3 size)
     {
-        _scale.X = PhysicsScene.Params.avatarCapsuleRadius;
-        _scale.Y = PhysicsScene.Params.avatarCapsuleRadius;
+        // The 'size' given by the simulator is the mid-point of the avatar
+        //    and X and Y are unspecified.
+
+        OMV.Vector3 newScale = OMV.Vector3.Zero;
+        newScale.X = PhysicsScene.Params.avatarCapsuleRadius;
+        newScale.Y = PhysicsScene.Params.avatarCapsuleRadius;
 
-        // The 1.15 came from ODE but it seems to cause the avatar to float off the ground
-        // _scale.Z = (_size.Z * 1.15f) - (_scale.X + _scale.Y);
-        _scale.Z = (_size.Z) - (_scale.X + _scale.Y);
+        // From the total height, remote the capsule half spheres that are at each end 
+        newScale.Z = (size.Z * 2f) - Math.Min(newScale.X, newScale.Y);
+        // newScale.Z = (size.Z * 2f);
+        Scale = newScale;
     }
 
-    // set _avatarVolume and _mass based on capsule size, _density and _scale
+    // 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
+                        * 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
+                        * Scale.X
+                        * Math.Min(Scale.X, Scale.Y)
+                        * Scale.Y    // plus the volume of the capsule end caps
                         );
         _mass = _avatarDensity * _avatarVolume;
     }
@@ -542,7 +621,23 @@ public class BSCharacter : BSPhysObject
         _acceleration = entprop.Acceleration;
         _rotationalVelocity = entprop.RotationalVelocity;
         // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
-        PositionSanityCheck2(true);
+        PositionSanityCheck(true);
+
+        // remember the current and last set values
+        LastEntityProperties = CurrentEntityProperties;
+        CurrentEntityProperties = entprop;
+
+        if (entprop.Velocity != LastEntityProperties.Velocity)
+        {
+            // Changes in the velocity are suppressed in avatars.
+            // That's just the way they are defined.
+            OMV.Vector3 avVel = new OMV.Vector3(_appliedVelocity.X, _appliedVelocity.Y, entprop.Velocity.Z);
+            _velocity = avVel;
+            BulletSimAPI.SetLinearVelocity2(BSBody.ptr, avVel);
+        }
+
+        // Tell the linkset about this
+        Linkset.UpdateProperties(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/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
index 63a4127..a20be3a 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
@@ -49,9 +49,16 @@ public abstract class BSConstraint : IDisposable
         if (m_enabled)
         {
             m_enabled = false;
-            bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr);
-            m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,body1={1},body2={2},success={3}", BSScene.DetailLogZero, m_body1.ID, m_body2.ID, success);
-            m_constraint.ptr = System.IntPtr.Zero;
+            if (m_constraint.ptr != IntPtr.Zero)
+            {
+                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("X"),
+                                    m_body2.ID, m_body2.ptr.ToString("X"),
+                                    success);
+                m_constraint.ptr = System.IntPtr.Zero;
+            }
         }
     }
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 4ba2f62..56342b8 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -462,7 +462,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 return;
 
             // Set the prim's inertia to zero. The vehicle code handles that and this
-            //    removes the torque action introduced by Bullet.
+            //    removes the motion and torque actions introduced by Bullet.
             Vector3 inertia = Vector3.Zero;
             BulletSimAPI.SetMassProps2(Prim.BSBody.ptr, Prim.MassRaw, inertia);
             BulletSimAPI.UpdateInertiaTensor2(Prim.BSBody.ptr);
@@ -481,7 +481,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             m_lastPositionVector = Prim.ForcePosition;
 
             VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}",
-                    Prim.LocalID, Prim.Position, Prim.Force, Prim.Velocity, Prim.RotationalVelocity);
+                    Prim.LocalID, Prim.ForcePosition, Prim.Force, Prim.ForceVelocity, Prim.RotationalVelocity);
         }// end Step
 
         // Apply the effect of the linear motor.
@@ -540,7 +540,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             // add Gravity and Buoyancy
             // There is some gravity, make a gravity force vector that is applied after object velocity.
             // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
-            Vector3 grav = Prim.PhysicsScene.DefaultGravity * (Prim.Mass * (1f - m_VehicleBuoyancy));
+            Vector3 grav = Prim.PhysicsScene.DefaultGravity * (Prim.Linkset.LinksetMass * (1f - m_VehicleBuoyancy));
 
             /*
              * RA: Not sure why one would do this
@@ -678,10 +678,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 m_newVelocity.Z = 0;
 
             // Apply velocity
-            Prim.Velocity = m_newVelocity;
+            Prim.ForceVelocity = m_newVelocity;
             // apply gravity force
             // Why is this set here? The physics engine already does gravity.
-            // m_prim.AddForce(grav, false);
+            Prim.AddForce(grav, false, true);
 
             // Apply friction
             Vector3 keepFraction = Vector3.One - (Vector3.One / (m_linearFrictionTimescale / pTimestep));
@@ -704,7 +704,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             // m_lastAngularVelocity           // what was last applied to body
 
             // Get what the body is doing, this includes 'external' influences
-            Vector3 angularVelocity = Prim.RotationalVelocity;
+            Vector3 angularVelocity = Prim.ForceRotationalVelocity;
 
             if (m_angularMotorApply > 0)
             {
@@ -810,7 +810,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             m_lastAngularVelocity -= m_lastAngularVelocity * decayamount;
 
             // Apply to the body
-            Prim.RotationalVelocity = m_lastAngularVelocity;
+            Prim.ForceRotationalVelocity = m_lastAngularVelocity;
 
             VDetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", Prim.LocalID, decayamount, m_lastAngularVelocity);
         } //end MoveAngular
@@ -862,7 +862,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         private void VDetailLog(string msg, params Object[] args)
         {
             if (Prim.PhysicsScene.VehicleLoggingEnabled)
-                Prim.PhysicsScene.PhysicsLogging.Write(msg, args);
+                Prim.PhysicsScene.DetailLog(msg, args);
         }
     }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 3e82642..43b1262 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -52,8 +52,8 @@ public class BSLinkset
     //    the physical 'taint' children separately.
     // After taint processing and before the simulation step, these
     //    two lists must be the same.
-    private List<BSPhysObject> m_children;
-    private List<BSPhysObject> m_taintChildren;
+    private HashSet<BSPhysObject> m_children;
+    private HashSet<BSPhysObject> m_taintChildren;
 
     // We lock the diddling of linkset classes to prevent any badness.
     // This locks the modification of the instances of this class. Changes
@@ -90,8 +90,8 @@ public class BSLinkset
             m_nextLinksetID = 1;
         PhysicsScene = scene;
         LinksetRoot = parent;
-        m_children = new List<BSPhysObject>();
-        m_taintChildren = new List<BSPhysObject>();
+        m_children = new HashSet<BSPhysObject>();
+        m_taintChildren = new HashSet<BSPhysObject>();
         m_mass = parent.MassRaw;
     }
 
@@ -160,6 +160,28 @@ public class BSLinkset
         return ret;
     }
 
+    // When physical properties are changed the linkset needs to recalculate
+    //   its internal properties.
+    // May be called at runtime or taint-time (just pass the appropriate flag).
+    public void Refresh(BSPhysObject requestor, bool inTaintTime)
+    {
+        // If there are no children, not physical or not root, I am not the one that recomputes the constraints
+        // (For the moment, static linksets do create constraints so remove the test for physical.)
+        if (!HasAnyChildren || /*!requestor.IsPhysical ||*/ !IsRoot(requestor))
+            return;
+
+        BSScene.TaintCallback refreshOperation = delegate()
+            {
+                RecomputeLinksetConstraintVariables();
+                DetailLog("{0},BSLinkset.Refresh,complete,rBody={1}", 
+                                LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"));
+            };
+        if (inTaintTime)
+            refreshOperation();
+        else
+            PhysicsScene.TaintedObject("BSLinkSet.Refresh", refreshOperation);
+    }
+
     // 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
@@ -182,22 +204,19 @@ public class BSLinkset
         return false;
     }
 
-    // When physical properties are changed the linkset needs to recalculate
-    //   its internal properties.
-    // Called at runtime.
-    public void Refresh(BSPhysObject requestor)
+    // If the software is handling the movement of all the objects in a linkset
+    // (like if one doesn't use constraints for static linksets), this is called
+    // when an update for the root of the linkset is received.
+    // Called at taint-time!!
+    public void UpdateProperties(BSPhysObject physObject)
     {
-        // If there are no children, there can't be any constraints to recompute
-        if (!HasAnyChildren)
-            return;
-
-        // Only the root does the recomputation
-        if (IsRoot(requestor))
+        // The root local properties have been updated. Apply to the children if appropriate.
+        if (IsRoot(physObject) && HasAnyChildren)
         {
-            PhysicsScene.TaintedObject("BSLinkSet.Refresh", delegate()
+            if (!physObject.IsPhysical)
             {
-                RecomputeLinksetConstraintVariables();
-            });
+                // TODO: implement software linkset update for static object linksets
+            }
         }
     }
 
@@ -215,13 +234,10 @@ public class BSLinkset
             if (IsRoot(child))
             {
                 // If the one with the dependency is root, must undo all children
-                DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeChildrenForRoot,rID={1},numChild={2}",
-                                                child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count);
-                foreach (BSPhysObject bpo in m_taintChildren)
-                {
-                    PhysicallyUnlinkAChildFromRoot(LinksetRoot, LinksetRoot.BSBody, bpo, bpo.BSBody);
-                    ret = true;
-                }
+                DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
+                                                child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"));
+
+                ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
             }
             else
             {
@@ -229,20 +245,16 @@ public class BSLinkset
                                                 child.LocalID,
                                                 LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"),
                                                 child.LocalID, child.BSBody.ptr.ToString("X"));
-                // Remove the dependency on the body of this one 
-                if (m_taintChildren.Contains(child))
-                {
-                    PhysicallyUnlinkAChildFromRoot(LinksetRoot, LinksetRoot.BSBody, child, child.BSBody);
-                    ret = true;
-                }
+                // ret = PhysicallyUnlinkAChildFromRoot(LinksetRoot, child);
+                // Despite the function name, this removes any link to the specified object.
+                ret = PhysicallyUnlinkAllChildrenFromRoot(child);
             }
         }
         return ret;
     }
 
-    // Routine used when rebuilding the body of the root of the linkset
-    // This is called after RemoveAllLinksToRoot() to restore all the constraints.
-    // This is called when the root body has been changed.
+    // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
+    // this routine will restore the removed constraints.
     // Called at taint-time!!
     public void RestoreBodyDependencies(BSPrim child)
     {
@@ -254,7 +266,7 @@ public class BSLinkset
                                                 child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count);
                 foreach (BSPhysObject bpo in m_taintChildren)
                 {
-                    PhysicallyLinkAChildToRoot(LinksetRoot, LinksetRoot.BSBody, bpo, bpo.BSBody);
+                    PhysicallyLinkAChildToRoot(LinksetRoot, bpo);
                 }
             }
             else
@@ -263,7 +275,7 @@ public class BSLinkset
                                                 LinksetRoot.LocalID,
                                                 LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"),
                                                 child.LocalID, child.BSBody.ptr.ToString("X"));
-                PhysicallyLinkAChildToRoot(LinksetRoot, LinksetRoot.BSBody, child, child.BSBody);
+                PhysicallyLinkAChildToRoot(LinksetRoot, child);
             }
         }
     }
@@ -330,22 +342,22 @@ public class BSLinkset
         {
             m_children.Add(child);
 
-            BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
+            BSPhysObject rootx = LinksetRoot; // capture the root as of now
             BSPhysObject childx = child;
 
-            DetailLog("{0},AddChildToLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", 
-                            rootx.LocalID,
-                            rootx.LocalID, rootx.BSBody.ptr.ToString("X"),
-                            childx.LocalID, childx.BSBody.ptr.ToString("X"));
+            DetailLog("{0},AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
 
             PhysicsScene.TaintedObject("AddChildToLinkset", delegate()
             {
-                DetailLog("{0},AddChildToLinkset,taint,child={1}", LinksetRoot.LocalID, child.LocalID);
-                // build the physical binding between me and the child
-                m_taintChildren.Add(childx);
-
+                DetailLog("{0},AddChildToLinkset,taint,rID={1},rBody={2},cID={3},cBody={4}", 
+                                rootx.LocalID,
+                                rootx.LocalID, rootx.BSBody.ptr.ToString("X"),
+                                childx.LocalID, childx.BSBody.ptr.ToString("X"));
                 // Since this is taint-time, the body and shape could have changed for the child
-                PhysicallyLinkAChildToRoot(rootx, rootx.BSBody, childx, childx.BSBody);
+                rootx.ForcePosition = rootx.Position;   // DEBUG
+                childx.ForcePosition = childx.Position;   // DEBUG
+                PhysicallyLinkAChildToRoot(rootx, childx);
+                m_taintChildren.Add(child);
             });
         }
         return;
@@ -378,10 +390,8 @@ public class BSLinkset
 
             PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate()
             {
-                if (m_taintChildren.Contains(childx))
-                    m_taintChildren.Remove(childx);
-
-                PhysicallyUnlinkAChildFromRoot(rootx, rootx.BSBody, childx, childx.BSBody);
+                m_taintChildren.Remove(child);
+                PhysicallyUnlinkAChildFromRoot(rootx, childx);
                 RecomputeLinksetConstraintVariables();
             });
 
@@ -396,8 +406,7 @@ public class BSLinkset
 
     // Create a constraint between me (root of linkset) and the passed prim (the child).
     // Called at taint time!
-    private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BulletBody rootBody,
-                                    BSPhysObject childPrim, BulletBody childBody)
+    private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
     {
         // Zero motion for children so they don't interpolate
         childPrim.ZeroMotion();
@@ -409,33 +418,17 @@ public class BSLinkset
         // real world coordinate of midpoint between the two objects
         OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2);
 
-        DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
+        DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
                                         rootPrim.LocalID,
-                                        rootPrim.LocalID, rootBody.ptr.ToString("X"),
-                                        childPrim.LocalID, childBody.ptr.ToString("X"),
+                                        rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"),
+                                        childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"),
                                         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
 
-        // There is great subtlty in these paramters. Notice the check for a ptr of zero.
-        // We pass the BulletBody structure into the taint in order to capture the pointer
-        //     of the body at the time of constraint creation. This doesn't work for the very first
-        //     construction because there is no body yet. The body
-        //     is constructed later at taint time. Thus we use the body address at time of the
-        //     taint creation but, if it is zero, use what's in the prim at the moment.
-        //     There is a possible race condition since shape can change without a taint call
-        //     (like changing to a mesh that is already constructed). The fix for that would be
-        //     to only change BSShape at taint time thus syncronizing these operations at
-        //     the cost of efficiency and lag.
         BS6DofConstraint constrain = new BS6DofConstraint(
-                        PhysicsScene.World,
-                        rootBody.ptr == IntPtr.Zero ? rootPrim.BSBody : rootBody,
-                        childBody.ptr == IntPtr.Zero ? childPrim.BSBody : childBody,
-                        midPoint,
-                        true,
-                        true
-                        );
+                            PhysicsScene.World, rootPrim.BSBody, childPrim.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
@@ -452,7 +445,7 @@ public class BSLinkset
 
         // create a constraint that allows no freedom of movement between the two objects
         // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
-        DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
+        DetailLog("{0},BSLinkset.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,
@@ -486,39 +479,44 @@ public class BSLinkset
         {
             constrain.SetSolverIterations(PhysicsScene.Params.linkConstraintSolverIterations);
         }
-
-        RecomputeLinksetConstraintVariables();
     }
 
     // Remove linkage between myself and a particular child
     // The root and child bodies are passed in because we need to remove the constraint between
     //      the bodies that were at unlink time.
     // Called at taint time!
-    private void PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BulletBody rootBody,
-                                                    BSPhysObject childPrim, BulletBody childBody)
+    private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
     {
-        DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
+        bool ret = false;
+        DetailLog("{0},BSLinkset.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
                             rootPrim.LocalID,
-                            rootPrim.LocalID, rootBody.ptr.ToString("X"),
-                            childPrim.LocalID, childBody.ptr.ToString("X"));
+                            rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"),
+                            childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"));
 
         // Find the constraint for this link and get rid of it from the overall collection and from my list
-        PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootBody, childBody);
+        if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody))
+        {
+            // Make the child refresh its location
+            BulletSimAPI.PushUpdate2(childPrim.BSBody.ptr);
+            ret = true;
+        }
 
-        // Make the child refresh its location
-        BulletSimAPI.PushUpdate2(childPrim.BSBody.ptr);
+        return ret;
     }
 
-    /*
     // Remove linkage between myself and any possible children I might have.
     // Called at taint time!
-    private void PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim)
+    private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim)
     {
-        DetailLog("{0},PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
+        DetailLog("{0},BSLinkset.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
+        bool ret = false;
 
-        PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody);
+        if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody))
+        {
+            ret = true;
+        }
+        return ret;
     }
-     */
 
     // Call each of the constraints that make up this linkset and recompute the
     //    various transforms and variables. Used when objects are added or removed
@@ -550,11 +548,17 @@ public class BSLinkset
         {
             // If this is a multiple object linkset, set everybody's center of mass to the set's center of mass
             OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass();
-            BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity);
+            BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, 
+                                centerOfMass, OMV.Quaternion.Identity);
+            DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,setCenterOfMass,COM={1},rBody={2}",
+                                LinksetRoot.LocalID, centerOfMass, LinksetRoot.BSBody.ptr.ToString("X"));
             foreach (BSPhysObject child in m_taintChildren)
             {
-                BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity);
+                BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, 
+                                centerOfMass, OMV.Quaternion.Identity);
             }
+
+            // BulletSimAPI.DumpAllInfo2(PhysicsScene.World.ptr);  // DEBUG DEBUG DEBUG
         }
         return;
     }
@@ -563,7 +567,8 @@ public class BSLinkset
     // Invoke the detailed logger and output something if it's enabled.
     private void DetailLog(string msg, params Object[] args)
     {
-        PhysicsScene.PhysicsLogging.Write(msg, args);
+        if (PhysicsScene.PhysicsLogging.Enabled)
+            PhysicsScene.DetailLog(msg, args);
     }
 
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 1ac8c59..ead6a08 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -47,6 +47,7 @@ public abstract class BSPhysObject : PhysicsActor
         TypeName = typeName;
 
         Linkset = new BSLinkset(PhysicsScene, this);
+        LastAssetBuildFailed = false;
 
         CollisionCollection = new CollisionEventUpdate();
         SubscribedEventsMs = 0;
@@ -69,6 +70,23 @@ public abstract class BSPhysObject : PhysicsActor
     // Reference to the physical shape (btCollisionShape) of this object
     public BulletShape BSShape;
 
+    // '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; }
+
+    // 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 abstract OMV.Vector3 Scale { get; set; }
+    public abstract bool IsSolid { get; }
+    public abstract bool IsStatic { get; }
+
     // Stop all physical motion.
     public abstract void ZeroMotion();
 
@@ -85,6 +103,14 @@ public abstract class BSPhysObject : PhysicsActor
 
     public abstract OMV.Quaternion ForceOrientation { get; set; }
 
+    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.
@@ -125,30 +151,28 @@ public abstract class BSPhysObject : PhysicsActor
         // 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);
+            DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
+                            LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);
 
             ret = true;
         }
         return ret;
     }
 
-    // Routine to send the collected collisions into the simulator.
-    // Also handles removal of this from the collection of objects with collisions if
-    //      there are no collisions from this object. Mechanism is create one last
-    //      collision event to make collision_end work.
+    // 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
-        int nowTime = PhysicsScene.SimulationNowTime;
-        if (nowTime >= NextCollisionOkTime)
+        if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime))
         {
-            NextCollisionOkTime = nowTime + SubscribedEventsMs;
+            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.
@@ -207,7 +231,8 @@ public abstract class BSPhysObject : PhysicsActor
     // High performance detailed logging routine used by the physical objects.
     protected void DetailLog(string msg, params Object[] args)
     {
-        PhysicsScene.PhysicsLogging.Write(msg, args);
+        if (PhysicsScene.PhysicsLogging.Enabled)
+            PhysicsScene.DetailLog(msg, args);
     }
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index f7b68ba..aeeb4dd 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -46,12 +46,10 @@ public sealed class BSPrim : BSPhysObject
     private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
     private static readonly string LogHeader = "[BULLETS PRIM]";
 
-    private PrimitiveBaseShape _pbs;
-
-    // _size is what the user passed. _scale is what we pass to the physics engine with the mesh.
-    // Often _scale is unity because the meshmerizer will apply _size when creating the mesh.
+    // _size is what the user passed. Scale is what we pass to the physics engine with the mesh.
+    // Often Scale is unity because the meshmerizer will apply _size when creating the mesh.
     private OMV.Vector3 _size;  // the multiplier for each mesh dimension as passed by the user
-    private OMV.Vector3 _scale; // the multiplier for each mesh dimension for the mesh as created by the meshmerizer
+    // private OMV.Vector3 _scale; // the multiplier for each mesh dimension for the mesh as created by the meshmerizer
 
     private bool _grabbed;
     private bool _isSelected;
@@ -98,12 +96,12 @@ public sealed class BSPrim : BSPhysObject
         _physicsActorType = (int)ActorTypes.Prim;
         _position = pos;
         _size = size;
-        _scale = new OMV.Vector3(1f, 1f, 1f);   // the scale will be set by CreateGeom depending on object type
+        Scale = new OMV.Vector3(1f, 1f, 1f);   // the scale will be set by CreateGeom depending on object type
         _orientation = rotation;
         _buoyancy = 1f;
         _velocity = OMV.Vector3.Zero;
         _rotationalVelocity = OMV.Vector3.Zero;
-        _pbs = pbs;
+        BaseShape = pbs;
         _isPhysical = pisPhysical;
         _isVolumeDetect = false;
         _friction = PhysicsScene.Params.defaultFriction;  // TODO: compute based on object material
@@ -160,33 +158,32 @@ public sealed class BSPrim : BSPhysObject
         get { return _size; }
         set {
             _size = value;
-            PhysicsScene.TaintedObject("BSPrim.setSize", delegate()
-            {
-                _mass = CalculateMass();   // changing size changes the mass
-                // Since _size changed, the mesh needs to be rebuilt. If rebuilt, all the correct
-                //   scale and margins are set.
-                CreateGeomAndObject(true);
-                // DetailLog("{0},BSPrim.setSize,size={1},scale={2},mass={3},physical={4}", LocalID, _size, _scale, _mass, IsPhysical);
-            });
+            ForceBodyShapeRebuild(false);
         }
     }
     // Scale is what we set in the physics engine. It is different than 'size' in that
     //     'size' can be encorporated into the mesh. In that case, the scale is <1,1,1>.
-    public OMV.Vector3 Scale
-    {
-        get { return _scale; }
-        set { _scale = value; }
-    }
+    public override OMV.Vector3 Scale { get; set; }
+
     public override PrimitiveBaseShape Shape {
         set {
-            _pbs = value;
-            PhysicsScene.TaintedObject("BSPrim.setShape", delegate()
-            {
-                _mass = CalculateMass();   // changing the shape changes the mass
-                CreateGeomAndObject(true);
-            });
+            BaseShape = value;
+            ForceBodyShapeRebuild(false);
         }
     }
+    public override bool ForceBodyShapeRebuild(bool inTaintTime)
+    {
+        BSScene.TaintCallback rebuildOperation = delegate()
+        {
+            _mass = CalculateMass();   // changing the shape changes the mass
+            CreateGeomAndObject(true);
+        };
+        if (inTaintTime)
+            rebuildOperation();
+        else
+            PhysicsScene.TaintedObject("BSPrim.ForceBodyShapeRebuild", rebuildOperation);
+        return true;
+    }
     public override bool Grabbed {
         set { _grabbed = value;
         }
@@ -196,7 +193,7 @@ public sealed class BSPrim : BSPhysObject
             _isSelected = value;
             PhysicsScene.TaintedObject("BSPrim.setSelected", delegate()
             {
-                // DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected);
+                DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected);
                 SetObjectDynamic(false);
             });
         }
@@ -265,6 +262,11 @@ public sealed class BSPrim : BSPhysObject
             return _position;
         }
         set {
+            // If you must push the position into the physics engine, use ForcePosition.
+            if (_position == value)
+            {
+                return;
+            }
             _position = value;
             // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint?
             PositionSanityCheck();
@@ -320,9 +322,9 @@ public sealed class BSPrim : BSPhysObject
     }
 
     // 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
+    //    pushed to the physics engine. This routine would be used by anyone
     //    who is not already pushing the value.
-    private bool PositionSanityCheck2(bool atTaintTime)
+    private bool PositionSanityCheck(bool inTaintTime)
     {
         bool ret = false;
         if (PositionSanityCheck())
@@ -332,9 +334,9 @@ public sealed class BSPrim : BSPhysObject
             BSScene.TaintCallback sanityOperation = delegate()
             {
                 DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
+                ForcePosition = _position;
             };
-            if (atTaintTime)
+            if (inTaintTime)
                 sanityOperation();
             else
                 PhysicsScene.TaintedObject("BSPrim.PositionSanityCheck", sanityOperation);
@@ -453,7 +455,6 @@ public sealed class BSPrim : BSPhysObject
         }
         return;
     }
-
     public override OMV.Vector3 Velocity {
         get { return _velocity; }
         set {
@@ -465,6 +466,13 @@ public sealed class BSPrim : BSPhysObject
             });
         }
     }
+    public override OMV.Vector3 ForceVelocity {
+        get { return _velocity; }
+        set {
+            _velocity = value;
+            BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
+        }
+    }
     public override OMV.Vector3 Torque {
         get { return _torque; }
         set { _torque = value;
@@ -490,6 +498,8 @@ public sealed class BSPrim : BSPhysObject
             return _orientation;
         }
         set {
+            if (_orientation == value)
+                return;
             _orientation = value;
             // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint?
             PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
@@ -534,13 +544,13 @@ public sealed class BSPrim : BSPhysObject
     }
 
     // An object is static (does not move) if selected or not physical
-    private bool IsStatic
+    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 bool IsSolid
+    public override bool IsSolid
     {
         get { return !IsPhantom && !_isVolumeDetect; }
     }
@@ -570,7 +580,7 @@ public sealed class BSPrim : BSPhysObject
         // Set up the object physicalness (does gravity and collisions move this object)
         MakeDynamic(IsStatic);
 
-        // Update vehicle specific parameters
+        // Update vehicle specific parameters (after MakeDynamic() so can change physical parameters)
         _vehicle.Refresh();
 
         // Arrange for collision events if the simulator wants them
@@ -593,7 +603,7 @@ public sealed class BSPrim : BSPhysObject
         // 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.
-        Linkset.Refresh(this);
+        Linkset.Refresh(this, true);
 
         DetailLog("{0},BSPrim.UpdatePhysicalParameters,exit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
                         LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape);
@@ -618,10 +628,18 @@ public sealed class BSPrim : BSPhysObject
             BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero);
             // There is no inertia in a static object
             BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
+            // Set collision detection parameters
+            if (PhysicsScene.Params.ccdMotionThreshold > 0f)
+            {
+                BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
+                BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+            }
             // There can be special things needed for implementing linksets
             Linkset.MakeStatic(this);
-            // The activation state is 'disabled' so Bullet will not try to act on it
+            // The activation state is 'disabled' so Bullet will not try to act on it.
             BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION);
+            // Start it out sleeping and physical actions could wake it up.
+            // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
 
             BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter;
             BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
@@ -638,12 +656,22 @@ public sealed class BSPrim : BSPhysObject
             // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
             BulletSimAPI.ClearAllForces2(BSBody.ptr);
 
+            // For good measure, make sure the transform is set through to the motion state
+            BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+
             // A dynamic object has mass
             IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr);
             OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass);
             BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia);
             BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
 
+            // Set collision detection parameters
+            if (PhysicsScene.Params.ccdMotionThreshold > 0f)
+            {
+                BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
+                BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+            }
+
             // Various values for simulation limits
             BulletSimAPI.SetDamping2(BSBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping);
             BulletSimAPI.SetDeactivationTime2(BSBody.ptr, PhysicsScene.Params.deactivationTime);
@@ -655,8 +683,8 @@ public sealed class BSPrim : BSPhysObject
 
             // 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(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
-            BulletSimAPI.Activate2(BSBody.ptr, true);
+            BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG);
+            // BulletSimAPI.Activate2(BSBody.ptr, true);
 
             BSBody.collisionFilter = CollisionFilterGroups.ObjectFilter;
             BSBody.collisionMask = CollisionFilterGroups.ObjectMask;
@@ -774,6 +802,15 @@ public sealed class BSPrim : BSPhysObject
             });
         }
     }
+    public override OMV.Vector3 ForceRotationalVelocity {
+        get {
+            return _rotationalVelocity;
+        }
+        set {
+            _rotationalVelocity = value;
+            BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity);
+        }
+    }
     public override bool Kinematic {
         get { return _kinematic; }
         set { _kinematic = value;
@@ -786,13 +823,20 @@ public sealed class BSPrim : BSPhysObject
             _buoyancy = value;
             PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate()
             {
-                // DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
-                // Buoyancy is faked by changing the gravity applied to the object
-                float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
-                BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
+                ForceBuoyancy = _buoyancy;
             });
         }
     }
+    public override float ForceBuoyancy {
+        get { return _buoyancy; }
+        set {
+            _buoyancy = value;
+            // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
+            // Buoyancy is faked by changing the gravity applied to the object
+            float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
+            BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
+        }
+    }
 
     // Used for MoveTo
     public override OMV.Vector3 PIDTarget {
@@ -828,6 +872,9 @@ public sealed class BSPrim : BSPhysObject
 
     private List<OMV.Vector3> m_accumulatedForces = new List<OMV.Vector3>();
     public override void AddForce(OMV.Vector3 force, bool pushforce) {
+        AddForce(force, pushforce, false);
+    }
+    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())
         {
@@ -840,11 +887,12 @@ public sealed class BSPrim : BSPhysObject
             m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
             return;
         }
-        PhysicsScene.TaintedObject("BSPrim.AddForce", delegate()
+        BSScene.TaintCallback addForceOperation = delegate()
         {
             OMV.Vector3 fSum = OMV.Vector3.Zero;
             lock (m_accumulatedForces)
             {
+                // Sum the accumulated additional forces for one big force to apply once.
                 foreach (OMV.Vector3 v in m_accumulatedForces)
                 {
                     fSum += v;
@@ -854,7 +902,11 @@ public sealed class BSPrim : BSPhysObject
             // DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum);
             // For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object.
             BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum);
-        });
+        };
+        if (inTaintTime)
+            addForceOperation();
+        else
+            PhysicsScene.TaintedObject("BSPrim.AddForce", addForceOperation);
     }
 
     public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
@@ -872,19 +924,19 @@ public sealed class BSPrim : BSPhysObject
         float tmp;
 
         float returnMass = 0;
-        float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f;
+        float hollowAmount = (float)BaseShape.ProfileHollow * 2.0e-5f;
         float hollowVolume = hollowAmount * hollowAmount;
 
-        switch (_pbs.ProfileShape)
+        switch (BaseShape.ProfileShape)
         {
             case ProfileShape.Square:
                 // default box
 
-                if (_pbs.PathCurve == (byte)Extrusion.Straight)
+                if (BaseShape.PathCurve == (byte)Extrusion.Straight)
                     {
                     if (hollowAmount > 0.0)
                         {
-                        switch (_pbs.HollowShape)
+                        switch (BaseShape.HollowShape)
                             {
                             case HollowShape.Square:
                             case HollowShape.Same:
@@ -908,19 +960,19 @@ public sealed class BSPrim : BSPhysObject
                         }
                     }
 
-                else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
+                else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
                     {
                     //a tube
 
-                    volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX);
-                    tmp= 1.0f -2.0e-2f * (float)(200 - _pbs.PathScaleY);
+                    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 (_pbs.HollowShape)
+                        switch (BaseShape.HollowShape)
                             {
                             case HollowShape.Square:
                             case HollowShape.Same:
@@ -945,13 +997,13 @@ public sealed class BSPrim : BSPhysObject
 
             case ProfileShape.Circle:
 
-                if (_pbs.PathCurve == (byte)Extrusion.Straight)
+                if (BaseShape.PathCurve == (byte)Extrusion.Straight)
                     {
                     volume *= 0.78539816339f; // elipse base
 
                     if (hollowAmount > 0.0)
                         {
-                        switch (_pbs.HollowShape)
+                        switch (BaseShape.HollowShape)
                             {
                             case HollowShape.Same:
                             case HollowShape.Circle:
@@ -973,10 +1025,10 @@ public sealed class BSPrim : BSPhysObject
                         }
                     }
 
-                else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
+                else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
                     {
-                    volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX);
-                    tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
+                    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)
@@ -985,7 +1037,7 @@ public sealed class BSPrim : BSPhysObject
                         // calculate the hollow volume by it's shape compared to the prim shape
                         hollowVolume *= hollowAmount;
 
-                        switch (_pbs.HollowShape)
+                        switch (BaseShape.HollowShape)
                             {
                             case HollowShape.Same:
                             case HollowShape.Circle:
@@ -1009,7 +1061,7 @@ public sealed class BSPrim : BSPhysObject
                 break;
 
             case ProfileShape.HalfCircle:
-                if (_pbs.PathCurve == (byte)Extrusion.Curve1)
+                if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
                 {
                 volume *= 0.52359877559829887307710723054658f;
                 }
@@ -1017,7 +1069,7 @@ public sealed class BSPrim : BSPhysObject
 
             case ProfileShape.EquilateralTriangle:
 
-                if (_pbs.PathCurve == (byte)Extrusion.Straight)
+                if (BaseShape.PathCurve == (byte)Extrusion.Straight)
                     {
                     volume *= 0.32475953f;
 
@@ -1025,7 +1077,7 @@ public sealed class BSPrim : BSPhysObject
                         {
 
                         // calculate the hollow volume by it's shape compared to the prim shape
-                        switch (_pbs.HollowShape)
+                        switch (BaseShape.HollowShape)
                             {
                             case HollowShape.Same:
                             case HollowShape.Triangle:
@@ -1050,11 +1102,11 @@ public sealed class BSPrim : BSPhysObject
                         volume *= (1.0f - hollowVolume);
                         }
                     }
-                else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
+                else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
                     {
                     volume *= 0.32475953f;
-                    volume *= 0.01f * (float)(200 - _pbs.PathScaleX);
-                    tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
+                    volume *= 0.01f * (float)(200 - BaseShape.PathScaleX);
+                    tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY);
                     volume *= (1.0f - tmp * tmp);
 
                     if (hollowAmount > 0.0)
@@ -1062,7 +1114,7 @@ public sealed class BSPrim : BSPhysObject
 
                         hollowVolume *= hollowAmount;
 
-                        switch (_pbs.HollowShape)
+                        switch (BaseShape.HollowShape)
                             {
                             case HollowShape.Same:
                             case HollowShape.Triangle:
@@ -1102,26 +1154,26 @@ public sealed class BSPrim : BSPhysObject
         float profileBegin;
         float profileEnd;
 
-        if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible)
+        if (BaseShape.PathCurve == (byte)Extrusion.Straight || BaseShape.PathCurve == (byte)Extrusion.Flexible)
             {
-            taperX1 = _pbs.PathScaleX * 0.01f;
+            taperX1 = BaseShape.PathScaleX * 0.01f;
             if (taperX1 > 1.0f)
                 taperX1 = 2.0f - taperX1;
             taperX = 1.0f - taperX1;
 
-            taperY1 = _pbs.PathScaleY * 0.01f;
+            taperY1 = BaseShape.PathScaleY * 0.01f;
             if (taperY1 > 1.0f)
                 taperY1 = 2.0f - taperY1;
             taperY = 1.0f - taperY1;
             }
         else
             {
-            taperX = _pbs.PathTaperX * 0.01f;
+            taperX = BaseShape.PathTaperX * 0.01f;
             if (taperX < 0.0f)
                 taperX = -taperX;
             taperX1 = 1.0f - taperX;
 
-            taperY = _pbs.PathTaperY * 0.01f;
+            taperY = BaseShape.PathTaperY * 0.01f;
             if (taperY < 0.0f)
                 taperY = -taperY;
             taperY1 = 1.0f - taperY;
@@ -1131,13 +1183,13 @@ public sealed class BSPrim : BSPhysObject
 
         volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY);
 
-        pathBegin = (float)_pbs.PathBegin * 2.0e-5f;
-        pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f;
+        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)_pbs.ProfileBegin * 2.0e-5f;
-        profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f;
+        profileBegin = (float)BaseShape.ProfileBegin * 2.0e-5f;
+        profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f;
         volume *= (profileEnd - profileBegin);
 
         returnMass = _density * volume;
@@ -1172,7 +1224,8 @@ public sealed class BSPrim : BSPhysObject
         shape.Position = _position;
         shape.Rotation = _orientation;
         shape.Velocity = _velocity;
-        shape.Scale = _scale;
+        shape.Size = _size;
+        shape.Scale = Scale;
         shape.Mass = _isPhysical ? _mass : 0f;
         shape.Buoyancy = _buoyancy;
         shape.HullKey = 0;
@@ -1182,7 +1235,6 @@ public sealed class BSPrim : BSPhysObject
         shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse;
         shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue;
         shape.Solid = IsSolid ? ShapeData.numericFalse : ShapeData.numericTrue;
-        shape.Size = _size;
     }
     // Rebuild the geometry and object.
     // This is called when the shape changes so we need to recreate the mesh/hull.
@@ -1199,11 +1251,12 @@ public sealed class BSPrim : BSPhysObject
         // Create the correct physical representation for this type of object.
         // Updates BSBody and BSShape with the new information.
         // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
-        PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, _pbs, 
+        PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, BaseShape, 
                         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 handled by BSLinkset.)
             needToRestoreLinkset = Linkset.RemoveBodyDependencies(this);
         });
 
@@ -1292,7 +1345,11 @@ public sealed class BSPrim : BSPhysObject
             _acceleration = entprop.Acceleration;
             _rotationalVelocity = entprop.RotationalVelocity;
 
-            PositionSanityCheck2(true);
+            // remember the current and last set values
+            LastEntityProperties = CurrentEntityProperties;
+            CurrentEntityProperties = entprop;
+
+            PositionSanityCheck(true);
 
             DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
                     LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
@@ -1304,12 +1361,15 @@ public sealed class BSPrim : BSPhysObject
             /*
         else
         {
-            // For debugging, we can also report the movement of children
+            // 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);
     }
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index aaed7de..6621d39 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -39,7 +39,6 @@ using log4net;
 using OpenMetaverse;
 
 // TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim)
-// Move all logic out of the C++ code and into the C# code for easier future modifications.
 // Test sculpties (verified that they don't work)
 // Compute physics FPS reasonably
 // Based on material, set density and friction
@@ -90,10 +89,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     // let my minuions use my logger
     public ILog Logger { get { return m_log; } }
 
-    // If non-zero, the number of simulation steps between calls to the physics
-    //    engine to output detailed physics stats. Debug logging level must be on also.
-    private int m_detailedStatsStep = 0;
-
     public IMesher mesher;
     // Level of Detail values kept as float because that's what the Meshmerizer wants
     public float MeshLOD { get; private set; }
@@ -112,6 +107,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     private float m_fixedTimeStep;
     private long m_simulationStep = 0;
     public long SimulationStep { get { return m_simulationStep; } }
+    private int m_taintsToProcessPerStep;
 
     // 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
@@ -131,6 +127,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
 
     public bool ShouldMeshSculptedPrim { get; private set; }   // cause scuplted prims to get meshed
     public bool ShouldForceSimplePrimMeshing { get; private set; }   // if a cube or sphere, let Bullet do internal shapes
+    public bool ShouldUseHullsForPhysicalObjects { get; private set; }   // 'true' if should create hulls for physical objects
 
     public float PID_D { get; private set; }    // derivative
     public float PID_P { get; private set; }    // proportional
@@ -254,19 +251,15 @@ public class BSScene : PhysicsScene, IPhysicsParameters
 
         // The bounding box for the simulated world. The origin is 0,0,0 unless we're
         //    a child in a mega-region.
-        // Turns out that Bullet really doesn't care about the extents of the simulated
+        // 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);
-        WorldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(),
+        World = new BulletSim(0, this, BulletSimAPI.Initialize2(worldExtent, m_paramsHandle.AddrOfPinnedObject(),
                                         m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
                                         m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject(),
-                                        m_DebugLogCallbackHandle);
-
-        // Initialization to support the transition to a new API which puts most of the logic
-        //   into the C# code so it is easier to modify and add to.
-        World = new BulletSim(WorldID, this, BulletSimAPI.GetSimHandle2(WorldID));
+                                        m_DebugLogCallbackHandle));
 
         Constraints = new BSConstraintCollection(World);
 
@@ -331,7 +324,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     // Called directly from unmanaged code so don't do much
     private void BulletLoggerPhysLog(string msg)
     {
-        PhysicsLogging.Write("[BULLETS UNMANAGED]:" + msg);
+        DetailLog("[BULLETS UNMANAGED]:" + msg);
     }
 
     public override void Dispose()
@@ -363,7 +356,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         }
 
         // Anything left in the unmanaged code should be cleaned out
-        BulletSimAPI.Shutdown(WorldID);
+        BulletSimAPI.Shutdown2(World.ptr);
 
         // Not logging any more
         PhysicsLogging.Close();
@@ -494,19 +487,19 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         m_simulationStep++;
         int numSubSteps = 0;
 
-        // Sometimes needed for debugging to find out what happened before the step
-        // PhysicsLogging.Flush();
+        // DEBUG
+        // DetailLog("{0},BSScene.Simulate,beforeStep,ntaimts={1},step={2}", DetailLogZero, numTaints, m_simulationStep);
 
         try
         {
             if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
 
-            numSubSteps = BulletSimAPI.PhysicsStep(WorldID, timeStep, m_maxSubSteps, m_fixedTimeStep,
+            numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
                         out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
 
             if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
-            DetailLog("{0},Simulate,call, nTaints={1}, simTime={2}, substeps={3}, updates={4}, colliders={5}",
-                        DetailLogZero, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount);
+            DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}",
+                        DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount);
         }
         catch (Exception e)
         {
@@ -539,26 +532,26 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             }
         }
 
-        // This is a kludge to get avatar movement updates.
-        //   the simulator expects collisions for avatars even if there are have been no collisions. This 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)
-            bsp.SendCollisions();
-
         // 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 (!m_avatars.Contains(bsp))   // don't call avatars twice
-                    if (!bsp.SendCollisions())
-                    {
-                        // If the object is done colliding, see that it's removed from the colliding list
-                        ObjectsWithNoMoreCollisions.Add(bsp);
-                    }
+                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.
         if (ObjectsWithNoMoreCollisions.Count > 0)
@@ -582,19 +575,15 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             }
         }
 
-        // If enabled, call into the physics engine to dump statistics
-        if (m_detailedStatsStep > 0)
-        {
-            if ((m_simulationStep % m_detailedStatsStep) == 0)
-            {
-                BulletSimAPI.DumpBulletStatistics();
-            }
-        }
+        // This 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.
-        // Since Bullet normally does 5 or 6 substeps, this will normally sum to about 60 FPS.
-        return numSubSteps * m_fixedTimeStep * 1000;
+        // We multiply by 55 to give a recognizable running rate (55 or less).
+        return numSubSteps * m_fixedTimeStep * 1000 * 55;
+        // return timeStep * 1000 * 55;
     }
 
     // Something has collided
@@ -617,7 +606,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         BSPhysObject collidee = null;
         PhysObjects.TryGetValue(collidingWith, out collidee);
 
-        DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith);
+        // DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith);
 
         if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration))
         {
@@ -704,6 +693,35 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         if (_taintedObjects.Count > 0)  // save allocating new list if there is nothing to process
         {
             // swizzle a new list into the list location so we can process what's there
+            int taintCount = m_taintsToProcessPerStep;
+            TaintCallbackEntry oneCallback = new TaintCallbackEntry();
+            while (_taintedObjects.Count > 0 && taintCount-- > 0)
+            {
+                bool gotOne = false;
+                lock (_taintLock)
+                {
+                    if (_taintedObjects.Count > 0)
+                    {
+                        oneCallback = _taintedObjects[0];
+                        _taintedObjects.RemoveAt(0);
+                        gotOne = true;
+                    }
+                }
+                if (gotOne)
+                {
+                    try
+                    {
+                        DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, oneCallback.ident); // DEBUG DEBUG DEBUG
+                        oneCallback.callback();
+                    }
+                    catch (Exception e)
+                    {
+                        m_log.ErrorFormat("{0}: ProcessTaints: {1}: Exception: {2}", LogHeader, oneCallback.ident, e);
+                    }
+                }
+            }
+            /*
+            // swizzle a new list into the list location so we can process what's there
             List<TaintCallbackEntry> oldList;
             lock (_taintLock)
             {
@@ -715,6 +733,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             {
                 try
                 {
+                    DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, tcbe.ident); // DEBUG DEBUG DEBUG
                     tcbe.callback();
                 }
                 catch (Exception e)
@@ -723,6 +742,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
                 }
             }
             oldList.Clear();
+             */
         }
     }
 
@@ -780,6 +800,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val);
     delegate float ParamGet(BSScene scene);
     delegate void ParamSet(BSScene scene, string paramName, uint localID, float val);
+    delegate void SetOnObject(BSScene scene, BSPhysObject obj, float val);
 
     private struct ParameterDefn
     {
@@ -789,6 +810,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         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;
@@ -797,6 +819,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             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;
         }
     }
 
@@ -818,6 +851,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     //
     // The single letter parameters for the delegates are:
     //    s = BSScene
+    //    o = BSPhysObject
     //    p = string parameter name
     //    l = localID of referenced object
     //    v = float value
@@ -834,6 +868,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             (s,cf,p,v) => { s.ShouldForceSimplePrimMeshing = cf.GetBoolean(p, s.BoolNumeric(v)); },
             (s) => { return s.NumericBool(s.ShouldForceSimplePrimMeshing); },
             (s,p,l,v) => { s.ShouldForceSimplePrimMeshing = s.BoolNumeric(v); } ),
+        new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects",
+            ConfigurationParameters.numericTrue,
+            (s,cf,p,v) => { s.ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, s.BoolNumeric(v)); },
+            (s) => { return s.NumericBool(s.ShouldUseHullsForPhysicalObjects); },
+            (s,p,l,v) => { s.ShouldUseHullsForPhysicalObjects = s.BoolNumeric(v); } ),
 
         new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)",
             8f,
@@ -876,6 +915,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             (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",
+            100f,
+            (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("MaxObjectMass", "Maximum object mass (10000.01)",
             10000.01f,
             (s,cf,p,v) => { s.MaximumObjectMass = cf.GetFloat(p, v); },
@@ -917,70 +961,84 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             -9.80665f,
             (s,cf,p,v) => { s.m_params[0].gravity = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].gravity; },
-            (s,p,l,v) => { s.m_params[0].gravity = v; s.TaintedUpdateParameter(p,l,v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].gravity, 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) => { s.m_params[0].linearDamping = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].linearDamping; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearDamping, p, l, v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearDamping, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetDamping2(o.BSBody.ptr, v, v); } ),
         new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)",
             0f,
             (s,cf,p,v) => { s.m_params[0].angularDamping = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].angularDamping; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularDamping, p, l, v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularDamping, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetDamping2(o.BSBody.ptr, v, v); } ),
         new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static",
             0.2f,
             (s,cf,p,v) => { s.m_params[0].deactivationTime = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].deactivationTime; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].deactivationTime, p, l, v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].deactivationTime, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.BSBody.ptr, v); } ),
         new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static",
             0.8f,
             (s,cf,p,v) => { s.m_params[0].linearSleepingThreshold = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].linearSleepingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearSleepingThreshold, p, l, v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearSleepingThreshold, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.BSBody.ptr, v, v); } ),
         new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static",
             1.0f,
             (s,cf,p,v) => { s.m_params[0].angularSleepingThreshold = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].angularSleepingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularSleepingThreshold, p, l, v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularSleepingThreshold, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.BSBody.ptr, v, v); } ),
         new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ,
             0f,     // set to zero to disable
             (s,cf,p,v) => { s.m_params[0].ccdMotionThreshold = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].ccdMotionThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdMotionThreshold, p, l, v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdMotionThreshold, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.BSBody.ptr, v); } ),
         new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" ,
             0f,
             (s,cf,p,v) => { s.m_params[0].ccdSweptSphereRadius = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].ccdSweptSphereRadius; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetCcdSweepSphereRadius2(o.BSBody.ptr, v); } ),
         new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" ,
             0.1f,
             (s,cf,p,v) => { s.m_params[0].contactProcessingThreshold = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].contactProcessingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].contactProcessingThreshold, p, l, v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].contactProcessingThreshold, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.BSBody.ptr, v); } ),
 
         new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" ,
             0.5f,
             (s,cf,p,v) => { s.m_params[0].terrainFriction = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].terrainFriction; },
-            (s,p,l,v) => { s.m_params[0].terrainFriction = v; s.TaintedUpdateParameter(p,l,v); } ),
+            (s,p,l,v) => { s.m_params[0].terrainFriction = v;  /* TODO: set on real terrain */} ),
         new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" ,
             0.8f,
             (s,cf,p,v) => { s.m_params[0].terrainHitFraction = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].terrainHitFraction; },
-            (s,p,l,v) => { s.m_params[0].terrainHitFraction = v; s.TaintedUpdateParameter(p,l,v); } ),
+            (s,p,l,v) => { s.m_params[0].terrainHitFraction = v; /* TODO: set on real terrain */ } ),
         new ParameterDefn("TerrainRestitution", "Bouncyness" ,
             0f,
             (s,cf,p,v) => { s.m_params[0].terrainRestitution = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].terrainRestitution; },
-            (s,p,l,v) => { s.m_params[0].terrainRestitution = v; s.TaintedUpdateParameter(p,l,v); } ),
+            (s,p,l,v) => { s.m_params[0].terrainRestitution = 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) => { s.m_params[0].avatarFriction = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].avatarFriction; },
             (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarFriction, p, l, v); } ),
+        new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
+            10f,
+            (s,cf,p,v) => { s.m_params[0].avatarStandingFriction = cf.GetFloat(p, v); },
+            (s) => { return s.m_params[0].avatarStandingFriction; },
+            (s,p,l,v) => { s.m_params[0].avatarStandingFriction = v; } ),
         new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
             60f,
             (s,cf,p,v) => { s.m_params[0].avatarDensity = cf.GetFloat(p, v); },
@@ -1070,12 +1128,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             (s) => { return s.m_params[0].linkConstraintTransMotorMaxForce; },
             (s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = v; } ),
             new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1",
-            0.1f,
+            0.001f,
             (s,cf,p,v) => { s.m_params[0].linkConstraintCFM = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].linkConstraintCFM; },
             (s,p,l,v) => { s.m_params[0].linkConstraintCFM = v; } ),
             new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2",
-            0.2f,
+            0.8f,
             (s,cf,p,v) => { s.m_params[0].linkConstraintERP = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].linkConstraintERP; },
             (s,p,l,v) => { s.m_params[0].linkConstraintERP = v; } ),
@@ -1085,11 +1143,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             (s) => { return s.m_params[0].linkConstraintSolverIterations; },
             (s,p,l,v) => { s.m_params[0].linkConstraintSolverIterations = v; } ),
 
-        new ParameterDefn("DetailedStats", "Frames between outputting detailed phys stats. (0 is off)",
+        new ParameterDefn("LogPhysicsStatisticsFrames", "Frames between outputting detailed phys stats. (0 is off)",
             0f,
-            (s,cf,p,v) => { s.m_detailedStatsStep = cf.GetInt(p, (int)v); },
-            (s) => { return (float)s.m_detailedStatsStep; },
-            (s,p,l,v) => { s.m_detailedStatsStep = (int)v; } ),
+            (s,cf,p,v) => { s.m_params[0].physicsLoggingFrames = cf.GetInt(p, (int)v); },
+            (s) => { return (float)s.m_params[0].physicsLoggingFrames; },
+            (s,p,l,v) => { s.m_params[0].physicsLoggingFrames = (int)v; } ),
     };
 
     // Convert a boolean to our numeric true and false values
@@ -1197,52 +1255,54 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         return ret;
     }
 
-    // check to see if we are updating a parameter for a particular or all of the prims
-    protected void UpdateParameterObject(ref float loc, string parm, uint localID, float val)
-    {
-        List<uint> operateOn;
-        lock (PhysObjects) operateOn = new List<uint>(PhysObjects.Keys);
-        UpdateParameterSet(operateOn, ref loc, parm, localID, val);
-    }
-
     // 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
-    protected void UpdateParameterSet(List<uint> lIDs, ref float defaultLoc, string parm, uint localID, float val)
+    protected void UpdateParameterObject(ref float defaultLoc, string parm, uint localID, float val)
     {
+        List<uint> objectIDs = new List<uint>();
         switch (localID)
         {
             case PhysParameterEntry.APPLY_TO_NONE:
                 defaultLoc = 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:
                 defaultLoc = val;  // setting ALL also sets the default value
-                List<uint> objectIDs = lIDs;
-                string xparm = parm.ToLower();
-                float xval = val;
-                TaintedObject("BSScene.UpdateParameterSet", delegate() {
-                    foreach (uint lID in objectIDs)
-                    {
-                        BulletSimAPI.UpdateParameter(WorldID, lID, xparm, xval);
-                    }
-                });
+                lock (PhysObjects) objectIDs = new List<uint>(PhysObjects.Keys);
+                TaintedUpdateParameter(parm, objectIDs, val);
                 break;
             default:
                 // setting only one localID
-                TaintedUpdateParameter(parm, localID, val);
+                objectIDs.Add(localID);
+                TaintedUpdateParameter(parm, objectIDs, val);
                 break;
         }
     }
 
     // schedule the actual updating of the paramter to when the phys engine is not busy
-    protected void TaintedUpdateParameter(string parm, uint localID, float val)
+    protected void TaintedUpdateParameter(string parm, List<uint> lIDs, float val)
     {
-        uint xlocalID = localID;
-        string xparm = parm.ToLower();
         float xval = val;
-        TaintedObject("BSScene.TaintedUpdateParameter", delegate() {
-            BulletSimAPI.UpdateParameter(WorldID, xlocalID, xparm, xval);
+        List<uint> xlIDs = lIDs;
+        string xparm = parm;
+        TaintedObject("BSScene.UpdateParameterSet", delegate() {
+            ParameterDefn thisParam;
+            if (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);
+                    }
+                }
+            }
         });
     }
 
@@ -1270,6 +1330,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     public void DetailLog(string msg, params Object[] args)
     {
         PhysicsLogging.Write(msg, args);
+        // Add the Flush() if debugging crashes to get all the messages written out.
+        // PhysicsLogging.Flush();
     }
     // used to fill in the LocalID when there isn't one
     public const string DetailLogZero = "0000000000";
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index 399a133..d3ba273 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -51,7 +51,7 @@ public class BSShapeCollection : IDisposable
     }
 
     // Description of a hull.
-    // Meshes and hulls have the same shape hash key but we only need hulls for efficient physical objects
+    // Meshes and hulls have the same shape hash key but we only need hulls for efficient collision calculations.
     private struct HullDesc
     {
         public IntPtr ptr;
@@ -59,17 +59,9 @@ public class BSShapeCollection : IDisposable
         public DateTime lastReferenced;
     }
 
-    private struct BodyDesc
-    {
-        public IntPtr ptr;
-        // Bodies are only used once so reference count is always either one or zero
-        public int referenceCount;
-        public DateTime lastReferenced;
-    }
-
-    private Dictionary<ulong, MeshDesc> Meshes = new Dictionary<ulong, MeshDesc>();
-    private Dictionary<ulong, HullDesc> Hulls = new Dictionary<ulong, HullDesc>();
-    private Dictionary<uint, BodyDesc> Bodies = new Dictionary<uint, BodyDesc>();
+    // 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>();
 
     public BSShapeCollection(BSScene physScene)
     {
@@ -92,8 +84,12 @@ public class BSShapeCollection : IDisposable
     // 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, BulletSim sim, BSPrim prim, 
+    public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPhysObject prim, 
                     ShapeData shapeData, PrimitiveBaseShape pbs,
                     ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback)
     {
@@ -103,7 +99,8 @@ public class BSShapeCollection : IDisposable
         lock (m_collectionActivityLock)
         {
             // Do we have the correct geometry for this type of object?
-            // Updates prim.BSShape with information/pointers to requested shape
+            // Updates prim.BSShape with information/pointers to shape.
+            // CreateGeom returns 'true' of BSShape as changed to a new shape.
             bool newGeom = CreateGeom(forceRebuild, prim, shapeData, pbs, shapeCallback);
             // If we had to select a new shape geometry for the object,
             //    rebuild the body around it.
@@ -120,26 +117,24 @@ public class BSShapeCollection : IDisposable
 
     // Track another user of a body
     // We presume the caller has allocated the body.
-    // Bodies only have one user so the reference count is either 1 or 0.
-    public void ReferenceBody(BulletBody body, bool atTaintTime)
+    // 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)
         {
-            BodyDesc bodyDesc;
-            if (Bodies.TryGetValue(body.ID, out bodyDesc))
+            DetailLog("{0},BSShapeCollection.ReferenceBody,newBody", body.ID, body);
+            BSScene.TaintCallback createOperation = delegate()
             {
-                bodyDesc.referenceCount++;
-                DetailLog("{0},BSShapeCollection.ReferenceBody,existingBody,body={1},ref={2}", body.ID, body, bodyDesc.referenceCount);
-            }
+                if (!BulletSimAPI.IsInWorld2(body.ptr))
+                {
+                    BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr);
+                    DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body);
+                }
+            };
+            if (inTaintTime)
+                createOperation();
             else
-            {
-                // New entry
-                bodyDesc.ptr = body.ptr;
-                bodyDesc.referenceCount = 1;
-                DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,ref={1}", body.ID, body, bodyDesc.referenceCount);
-            }
-            bodyDesc.lastReferenced = System.DateTime.Now;
-            Bodies[body.ID] = bodyDesc;
+                PhysicsScene.TaintedObject("BSShapeCollection.ReferenceBody", createOperation);
         }
     }
 
@@ -152,42 +147,25 @@ public class BSShapeCollection : IDisposable
 
         lock (m_collectionActivityLock)
         {
-            BodyDesc bodyDesc;
-            if (Bodies.TryGetValue(body.ID, out bodyDesc))
+            BSScene.TaintCallback removeOperation = delegate()
             {
-                bodyDesc.referenceCount--;
-                bodyDesc.lastReferenced = System.DateTime.Now;
-                Bodies[body.ID] = bodyDesc;
-                DetailLog("{0},BSShapeCollection.DereferenceBody,ref={1}", body.ID, bodyDesc.referenceCount);
-
-                // If body is no longer being used, free it -- bodies are never shared.
-                if (bodyDesc.referenceCount == 0)
-                {
-                    Bodies.Remove(body.ID);
-                    BSScene.TaintCallback removeOperation = delegate()
-                    {
-                        DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}",
-                                                    body.ID, body.ptr.ToString("X"));
-                        // If the caller needs to know the old body is going away, pass the event up.
-                        if (bodyCallback != null) bodyCallback(body);
-
-                        // Zero any reference to the shape so it is not freed when the body is deleted.
-                        BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero);
-                        // It may have already been removed from the world in which case the next is a NOOP.
-                        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr);
-                        BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr);
-                    };
-                    // If already in taint-time, do the operations now. Otherwise queue for later.
-                    if (inTaintTime)
-                        removeOperation();
-                    else
-                        PhysicsScene.TaintedObject("BSShapeCollection.DereferenceBody", removeOperation);
-                }
-            }
+                DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}, inTaintTime={2}",
+                                            body.ID, body.ptr.ToString("X"), inTaintTime);
+                // If the caller needs to know the old body is going away, pass the event up.
+                if (bodyCallback != null) bodyCallback(body);
+
+                // It may have already been removed from the world in which case the next is a NOOP.
+                BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr);
+
+                // Zero any reference to the shape so it is not freed when the body is deleted.
+                BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero);
+                BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr);
+            };
+            // If already in taint-time, do the operations now. Otherwise queue for later.
+            if (inTaintTime)
+                removeOperation();
             else
-            {
-                DetailLog("{0},BSShapeCollection.DereferenceBody,DID NOT FIND BODY", body.ID, bodyDesc.referenceCount);
-            }
+                PhysicsScene.TaintedObject("BSShapeCollection.DereferenceBody", removeOperation);
         }
     }
 
@@ -208,7 +186,7 @@ public class BSShapeCollection : IDisposable
                 {
                     // There is an existing instance of this mesh.
                     meshDesc.referenceCount++;
-                    DetailLog("{0},BSShapeColliction.ReferenceShape,existingMesh,key={1},cnt={2}",
+                    DetailLog("{0},BSShapeCollection.ReferenceShape,existingMesh,key={1},cnt={2}",
                                 BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
                 }
                 else
@@ -217,7 +195,7 @@ public class BSShapeCollection : IDisposable
                     meshDesc.ptr = shape.ptr;
                     // We keep a reference to the underlying IMesh data so a hull can be built
                     meshDesc.referenceCount = 1;
-                    DetailLog("{0},BSShapeColliction.ReferenceShape,newMesh,key={1},cnt={2}",
+                    DetailLog("{0},BSShapeCollection.ReferenceShape,newMesh,key={1},cnt={2}",
                                 BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
                     ret = true;
                 }
@@ -230,7 +208,7 @@ public class BSShapeCollection : IDisposable
                 {
                     // There is an existing instance of this hull.
                     hullDesc.referenceCount++;
-                    DetailLog("{0},BSShapeColliction.ReferenceShape,existingHull,key={1},cnt={2}",
+                    DetailLog("{0},BSShapeCollection.ReferenceShape,existingHull,key={1},cnt={2}",
                                 BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
                 }
                 else
@@ -238,7 +216,7 @@ public class BSShapeCollection : IDisposable
                     // This is a new reference to a hull
                     hullDesc.ptr = shape.ptr;
                     hullDesc.referenceCount = 1;
-                    DetailLog("{0},BSShapeColliction.ReferenceShape,newHull,key={1},cnt={2}",
+                    DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}",
                                 BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
                     ret = true;
 
@@ -256,37 +234,42 @@ public class BSShapeCollection : IDisposable
     }
 
     // Release the usage of a shape.
-    // The collisionObject is released since it is a copy of the real collision shape.
-    public void DereferenceShape(BulletShape shape, bool atTaintTime, ShapeDestructionCallback shapeCallback)
+    public void DereferenceShape(BulletShape shape, bool inTaintTime, ShapeDestructionCallback shapeCallback)
     {
         if (shape.ptr == IntPtr.Zero)
             return;
 
         BSScene.TaintCallback dereferenceOperation = delegate()
         {
-            switch (shape.type)
+            if (shape.ptr != IntPtr.Zero)
             {
-                case ShapeData.PhysicsShapeType.SHAPE_HULL:
-                    DereferenceHull(shape, shapeCallback);
-                    break;
-                case ShapeData.PhysicsShapeType.SHAPE_MESH:
-                    DereferenceMesh(shape, shapeCallback);
-                    break;
-                case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN:
-                    break;
-                default:
+                if (shape.isNativeShape)
+                {
                     // Native shapes are not tracked and are released immediately
-                    if (shape.ptr != IntPtr.Zero & shape.isNativeShape)
+                    DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
+                                    BSScene.DetailLogZero, shape.ptr.ToString("X"), inTaintTime);
+                    if (shapeCallback != null) shapeCallback(shape);
+                    BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
+                }
+                else
+                {
+                    switch (shape.type)
                     {
-                        DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
-                                        BSScene.DetailLogZero, shape.ptr.ToString("X"), atTaintTime);
-                        if (shapeCallback != null) shapeCallback(shape);
-                        BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
+                        case ShapeData.PhysicsShapeType.SHAPE_HULL:
+                            DereferenceHull(shape, shapeCallback);
+                            break;
+                        case ShapeData.PhysicsShapeType.SHAPE_MESH:
+                            DereferenceMesh(shape, shapeCallback);
+                            break;
+                        case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN:
+                            break;
+                        default:
+                            break;
                     }
-                    break;
+                }
             }
         };
-        if (atTaintTime)
+        if (inTaintTime)
         {
             lock (m_collectionActivityLock)
             {
@@ -336,19 +319,31 @@ public class BSShapeCollection : IDisposable
 
     // Create the geometry information in Bullet for later use.
     // The objects needs a hull if it's physical otherwise a mesh is enough.
-    // No locking here because this is done when we know physics is not simulating.
-    // if 'forceRebuild' is true, the geometry is rebuilt. Otherwise a previously built version is used.
+    // 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, BSPrim prim, ShapeData shapeData, 
+    private bool CreateGeom(bool forceRebuild, BSPhysObject prim, ShapeData shapeData, 
                             PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback)
     {
         bool ret = false;
         bool haveShape = false;
         bool nativeShapePossible = true;
 
+        if (shapeData.Type == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
+        {
+            // an avatar capsule is close to a native shape (it is not shared)
+            ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_AVATAR, 
+                            ShapeData.FixedShapeKey.KEY_CAPSULE, shapeCallback);
+            DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.BSShape);
+            haveShape = true;
+        }
         // If the prim attributes are simple, this could be a simple Bullet native shape
-        if (nativeShapePossible
+        if (!haveShape
+                && pbs != null
+                && nativeShapePossible
                 && ((pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim)
                     || (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
                         && pbs.ProfileHollow == 0
@@ -358,7 +353,8 @@ public class BSShapeCollection : IDisposable
                         && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
                         && pbs.PathShearX == 0 && pbs.PathShearY == 0) ) )
         {
-            if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1)
+            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
@@ -372,7 +368,7 @@ public class BSShapeCollection : IDisposable
                                         prim.LocalID, forceRebuild, prim.BSShape);
                 }
             }
-            else
+            if (pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
             {
                 haveShape = true;
                 if (forceRebuild
@@ -390,9 +386,9 @@ public class BSShapeCollection : IDisposable
         // If a simple shape is not happening, create a mesh and possibly a hull.
         // Note that if it's a native shape, the check for physical/non-physical is not
         //     made. Native shapes are best used in either case.
-        if (!haveShape)
+        if (!haveShape && pbs != null)
         {
-            if (prim.IsPhysical)
+            if (prim.IsPhysical && PhysicsScene.ShouldUseHullsForPhysicalObjects)
             {
                 // Update prim.BSShape to reference a hull of this shape.
                 ret = GetReferenceToHull(prim, shapeData, pbs, shapeCallback);
@@ -409,12 +405,12 @@ public class BSShapeCollection : IDisposable
         return ret;
     }
 
-    // Creates a native shape and assignes it to prim.BSShape
-    private bool GetReferenceToNativeShape( BSPrim prim, ShapeData shapeData,
+    // 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, ShapeData shapeData,
                             ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey,
                             ShapeDestructionCallback shapeCallback)
     {
-        BulletShape newShape;
 
         shapeData.Type = shapeType;
         // Bullet native objects are scaled by the Bullet engine so pass the size in
@@ -424,29 +420,48 @@ public class BSShapeCollection : IDisposable
         // release any previous shape
         DereferenceShape(prim.BSShape, true, shapeCallback);
 
-        // Native shapes are always built independently.
-        newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType);
-        newShape.shapeKey = (ulong)shapeKey;
-        newShape.isNativeShape = true;
+        BulletShape newShape = BuildPhysicalNativeShape(shapeType, shapeData, shapeKey);
 
-        // Don't need to do a 'ReferenceShape()' here because native shapes are not tracked.
-        // DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1}", shapeData.ID, newShape);
+        // Don't need to do a 'ReferenceShape()' here because native shapes are not shared.
+        DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}", 
+                                shapeData.ID, newShape, shapeData.Scale);
 
         prim.BSShape = newShape;
         return true;
     }
 
+    private BulletShape BuildPhysicalNativeShape(ShapeData.PhysicsShapeType shapeType, 
+                        ShapeData shapeData, ShapeData.FixedShapeKey shapeKey)
+    {
+        BulletShape newShape;
+
+        if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
+        {
+            newShape = new BulletShape(
+                        BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1.0f, 1.0f, shapeData.Scale), 
+                        shapeType);
+        }
+        else
+        {
+            newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), 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(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs,
+    private bool GetReferenceToMesh(BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs,
                                 ShapeDestructionCallback shapeCallback)
     {
         BulletShape newShape = new BulletShape(IntPtr.Zero);
 
         float lod;
-        ulong newMeshKey = ComputeShapeKey(shapeData, pbs, out lod);
+        System.UInt64 newMeshKey = ComputeShapeKey(shapeData, pbs, out lod);
 
         // if this new shape is the same as last time, don't recreate the mesh
         if (newMeshKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_MESH)
@@ -459,6 +474,8 @@ public class BSShapeCollection : IDisposable
         DereferenceShape(prim.BSShape, true, shapeCallback);
 
         newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, pbs, shapeData.Size, lod);
+        // Take evasive action if the mesh was not constructed.
+        newShape = VerifyMeshCreated(newShape, prim, shapeData, pbs);
 
         ReferenceShape(newShape);
 
@@ -469,10 +486,10 @@ public class BSShapeCollection : IDisposable
         return true;        // 'true' means a new shape has been added to this prim
     }
 
-    private BulletShape CreatePhysicalMesh(string objName, ulong newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
+    private BulletShape CreatePhysicalMesh(string objName, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
     {
         IMesh meshData = null;
-        IntPtr meshPtr;
+        IntPtr meshPtr = IntPtr.Zero;
         MeshDesc meshDesc;
         if (Meshes.TryGetValue(newMeshKey, out meshDesc))
         {
@@ -484,23 +501,26 @@ public class BSShapeCollection : IDisposable
             // Pass false for physicalness as this creates some sort of bounding box which we don't need
             meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false);
 
-            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)
+            if (meshData != null)
             {
-                verticesAsFloats[vi++] = vv.X;
-                verticesAsFloats[vi++] = vv.Y;
-                verticesAsFloats[vi++] = vv.Z;
-            }
+                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}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}",
-            //                  LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count);
+                // m_log.DebugFormat("{0}: CreateGeomMesh: 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);
+                meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
+                                    indices.GetLength(0), indices, vertices.Count, verticesAsFloats);
+            }
         }
         BulletShape newShape = new BulletShape(meshPtr, ShapeData.PhysicsShapeType.SHAPE_MESH);
         newShape.shapeKey = newMeshKey;
@@ -510,13 +530,13 @@ public class BSShapeCollection : IDisposable
 
     // 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(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs,
+    private bool GetReferenceToHull(BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs,
                                 ShapeDestructionCallback shapeCallback)
     {
         BulletShape newShape;
 
         float lod;
-        ulong newHullKey = ComputeShapeKey(shapeData, pbs, out lod);
+        System.UInt64 newHullKey = ComputeShapeKey(shapeData, pbs, out lod);
 
         // if the hull hasn't changed, don't rebuild it
         if (newHullKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_HULL)
@@ -525,10 +545,11 @@ public class BSShapeCollection : IDisposable
         DetailLog("{0},BSShapeCollection.CreateGeomHull,create,oldKey={1},newKey={2}",
                         prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newHullKey.ToString("X"));
 
-        // Remove usage of the previous shape. Also removes reference to underlying mesh if it is a hull.
+        // Remove usage of the previous shape.
         DereferenceShape(prim.BSShape, true, shapeCallback);
 
         newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod);
+        newShape = VerifyMeshCreated(newShape, prim, shapeData, pbs);
 
         ReferenceShape(newShape);
 
@@ -539,10 +560,10 @@ public class BSShapeCollection : IDisposable
     }
 
     List<ConvexResult> m_hulls;
-    private BulletShape CreatePhysicalHull(string objName, ulong newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
+    private BulletShape CreatePhysicalHull(string objName, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
     {
 
-        IntPtr hullPtr;
+        IntPtr hullPtr = IntPtr.Zero;
         HullDesc hullDesc;
         if (Hulls.TryGetValue(newHullKey, out hullDesc))
         {
@@ -554,86 +575,89 @@ public class BSShapeCollection : IDisposable
             // Build a new hull in the physical world
             // Pass false for physicalness as this creates some sort of bounding box which we don't need
             IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false);
-
-            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++)
+            if (meshData != null)
             {
-                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];
+                int[] indices = meshData.getIndexListAsInt();
+                List<OMV.Vector3> vertices = meshData.getVertexList();
 
-            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)
+                //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)
                 {
-                    verts[kk++] = ff;
+                    totalVertices += 4;                         // add four for the vertex count and centroid
+                    totalVertices += cr.HullIndices.Count * 3;  // we pass just triangles
                 }
+                float[] convHulls = new float[totalVertices];
 
-                // 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[0] = (float)hullCount;
+                int jj = 1;
+                foreach (ConvexResult cr in m_hulls)
                 {
-                    convHulls[jj++] = verts[ind].x;
-                    convHulls[jj++] = verts[ind].y;
-                    convHulls[jj++] = verts[ind].z;
+                    // 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);
             }
-            // create the hull data structure in Bullet
-            hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls);
         }
 
         BulletShape newShape = new BulletShape(hullPtr, ShapeData.PhysicsShapeType.SHAPE_HULL);
@@ -652,32 +676,77 @@ public class BSShapeCollection : IDisposable
 
     // Create a hash of all the shape parameters to be used as a key
     //    for this particular shape.
-    private ulong ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs, out float retLod)
+    private System.UInt64 ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs, out float retLod)
     {
         // level of detail based on size and type of the object
         float lod = PhysicsScene.MeshLOD;
         if (pbs.SculptEntry)
             lod = PhysicsScene.SculptLOD;
 
+        // Mega prims usually get more detail because one can interact with shape approximations at this size.
         float maxAxis = Math.Max(shapeData.Size.X, Math.Max(shapeData.Size.Y, shapeData.Size.Z));
         if (maxAxis > PhysicsScene.MeshMegaPrimThreshold)
             lod = PhysicsScene.MeshMegaPrimLOD;
 
         retLod = lod;
-        return (ulong)pbs.GetMeshKey(shapeData.Size, lod);
+        return pbs.GetMeshKey(shapeData.Size, lod);
     }
     // For those who don't want the LOD
-    private ulong ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs)
+    private System.UInt64 ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs)
     {
         float lod;
         return ComputeShapeKey(shapeData, pbs, out lod);
     }
 
+    private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs)
+    {
+        // If the shape was successfully created, nothing more to do
+        if (newShape.ptr != IntPtr.Zero)
+            return newShape;
+
+        // The most common reason for failure is that an underlying asset is not available
+
+        // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset
+        if (pbs.SculptEntry && !prim.LastAssetBuildFailed && pbs.SculptTexture != OMV.UUID.Zero)
+        {
+            prim.LastAssetBuildFailed = true;
+            BSPhysObject xprim = prim;
+            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 = new byte[asset.Data.Length];
+                            asset.Data.CopyTo(yprim.BaseShape.SculptData, 0);
+                            // This will cause the prim to see that the filler shape is not the right
+                            //    one and try again to build the object.
+                            yprim.ForceBodyShapeRebuild(false);
+
+                        });
+                    }
+                });
+        }
+
+        // While we figure out the real problem, stick a simple native shape on the object.
+        BulletShape fillinShape =
+            BuildPhysicalNativeShape(ShapeData.PhysicsShapeType.SHAPE_SPHERE, shapeData, ShapeData.FixedShapeKey.KEY_SPHERE);
+
+        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, BSPrim prim, BulletSim sim, BulletShape shape, 
+    private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletSim sim, BulletShape shape, 
                             ShapeData shapeData, BodyDestructionCallback bodyCallback)
     {
         bool ret = false;
@@ -701,6 +770,7 @@ public class BSShapeCollection : IDisposable
 
         if (mustRebuild || forceRebuild)
         {
+            // Free any old body
             DereferenceBody(prim.BSBody, true, bodyCallback);
 
             BulletBody aBody;
@@ -709,13 +779,13 @@ public class BSShapeCollection : IDisposable
             {
                 bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr,
                                         shapeData.ID, shapeData.Position, shapeData.Rotation);
-                // DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
+                DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
             }
             else
             {
                 bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr,
                                         shapeData.ID, shapeData.Position, shapeData.Rotation);
-                // DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
+                DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
             }
             aBody = new BulletBody(shapeData.ID, bodyPtr);
 
@@ -731,7 +801,8 @@ public class BSShapeCollection : IDisposable
 
     private void DetailLog(string msg, params Object[] args)
     {
-        PhysicsScene.PhysicsLogging.Write(msg, args);
+        if (PhysicsScene.PhysicsLogging.Enabled)
+            PhysicsScene.DetailLog(msg, args);
     }
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
index 70aa429..4106534 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
@@ -114,6 +114,9 @@ public class BSTerrainManager
                         BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID,
                                                             Vector3.Zero, Quaternion.Identity));
         BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr);
+        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.
         BulletSimAPI.SetCollisionFilterMask2(m_groundPlane.ptr,
                         (uint)CollisionFilterGroups.GroundPlaneFilter, (uint)CollisionFilterGroups.GroundPlaneMask);
@@ -201,10 +204,10 @@ public class BSTerrainManager
     // The 'doNow' boolean says whether to do all the unmanaged activities right now (like when
     //     calling this routine from initialization or taint-time routines) or whether to delay
     //     all the unmanaged activities to taint-time.
-    private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool atTaintTime)
+    private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool inTaintTime)
     {
-        DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},atTaintTime={3}",
-                            BSScene.DetailLogZero, minCoords, maxCoords, atTaintTime);
+        DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},inTaintTime={3}",
+                            BSScene.DetailLogZero, minCoords, maxCoords, inTaintTime);
 
         float minZ = float.MaxValue;
         float maxZ = float.MinValue;
@@ -296,16 +299,16 @@ public class BSTerrainManager
                     mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, mapInfo.ID,
                         mapInfo.minCoords, mapInfo.maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN);
 
+                    // Create the terrain shape from the mapInfo
+                    mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr),
+                                ShapeData.PhysicsShapeType.SHAPE_TERRAIN);
+
                     // The terrain object initial position is at the center of the object
                     Vector3 centerPos;
                     centerPos.X = minCoords.X + (mapInfo.sizeX / 2f);
                     centerPos.Y = minCoords.Y + (mapInfo.sizeY / 2f);
                     centerPos.Z = minZ + ((maxZ - minZ) / 2f);
 
-                    // Create the terrain shape from the mapInfo
-                    mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr),
-                                ShapeData.PhysicsShapeType.SHAPE_TERRAIN);
-
                     mapInfo.terrainBody = new BulletBody(mapInfo.ID,
                             BulletSimAPI.CreateBodyWithDefaultMotionState2(mapInfo.terrainShape.ptr,
                                                         id, centerPos, Quaternion.Identity));
@@ -320,9 +323,6 @@ public class BSTerrainManager
                 BulletSimAPI.SetRestitution2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution);
                 BulletSimAPI.SetCollisionFlags2(mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
 
-                BulletSimAPI.SetMassProps2(mapInfo.terrainBody.ptr, 0f, Vector3.Zero);
-                BulletSimAPI.UpdateInertiaTensor2(mapInfo.terrainBody.ptr);
-
                 // Return the new terrain to the world of physical objects
                 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr);
 
@@ -335,14 +335,15 @@ public class BSTerrainManager
 
                 // Make sure the new shape is processed.
                 // BulletSimAPI.Activate2(mapInfo.terrainBody.ptr, true);
-                BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
+                BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.ISLAND_SLEEPING);
+                // BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
 
                 m_terrainModified = true;
             };
 
             // There is the option to do the changes now (we're already in 'taint time'), or
             //     to do the Bullet operations later.
-            if (atTaintTime)
+            if (inTaintTime)
                 rebuildOperation();
             else
                 PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:UpdateExisting", rebuildOperation);
@@ -381,7 +382,7 @@ public class BSTerrainManager
             };
 
             // If already in taint-time, just call Bullet. Otherwise queue the operations for the safe time.
-            if (atTaintTime)
+            if (inTaintTime)
                 createOperation();
             else
                 PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:NewTerrain", createOperation);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index a43880d..5ffd591 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -101,9 +101,8 @@ public struct BulletShape
     }
     public IntPtr ptr;
     public ShapeData.PhysicsShapeType type;
-    public ulong shapeKey;
+    public System.UInt64 shapeKey;
     public bool isNativeShape;
-    // Hulls have an underlying mesh. A pointer to it is hidden here.
     public override string ToString()
     {
         StringBuilder buff = new StringBuilder();
@@ -192,8 +191,9 @@ public struct ShapeData
                 SHAPE_SPHERE    = 5,
                 SHAPE_MESH      = 6,
                 SHAPE_HULL      = 7,
-                SHAPE_GROUNDPLANE  = 8,
-                SHAPE_TERRAIN   = 9,
+        // following defined by BulletSim
+                SHAPE_GROUNDPLANE  = 20,
+                SHAPE_TERRAIN   = 21,
     };
     public uint ID;
     public PhysicsShapeType Type;
@@ -223,6 +223,7 @@ public struct ShapeData
         KEY_SPHERE      = 2,
         KEY_CONE        = 3,
         KEY_CYLINDER    = 4,
+        KEY_CAPSULE     = 5,
     }
 }
 [StructLayout(LayoutKind.Sequential)]
@@ -282,6 +283,7 @@ public struct ConfigurationParameters
     public float terrainHitFraction;
     public float terrainRestitution;
     public float avatarFriction;
+    public float avatarStandingFriction;
     public float avatarDensity;
     public float avatarRestitution;
     public float avatarCapsuleRadius;
@@ -305,6 +307,8 @@ public struct ConfigurationParameters
     public float linkConstraintCFM;
     public float linkConstraintSolverIterations;
 
+    public float physicsLoggingFrames;
+
     public const float numericTrue = 1f;
     public const float numericFalse = 0f;
 }
@@ -386,7 +390,7 @@ public enum CollisionFilterGroups : uint
     VolumeDetectMask        = ~BSensorTrigger,
     TerrainFilter           = BTerrainFilter,
     TerrainMask             = BAllFilter & ~BStaticFilter,
-    GroundPlaneFilter       = BAllFilter,
+    GroundPlaneFilter       = BGroundPlaneFilter,
     GroundPlaneMask         = BAllFilter
 
 };
@@ -426,6 +430,7 @@ public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg
 [return: MarshalAs(UnmanagedType.LPStr)]
 public static extern string GetVersion();
 
+/* Remove the linkage to the old api methods
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern uint Initialize(Vector3 maxPosition, IntPtr parms,
                         int maxCollisions, IntPtr collisionArray,
@@ -529,7 +534,7 @@ public static extern Vector3 RecoverFromPenetration(uint worldID, uint id);
 // ===============================================================================
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern void DumpBulletStatistics();
-
+*/
 // Log a debug message
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern void SetDebugLogCallback(DebugLogCallback callback);
@@ -560,7 +565,8 @@ public static extern IntPtr GetBodyHandle2(IntPtr world, uint id);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
                                                                                         int maxCollisions,  IntPtr collisionArray,
-                                                                                        int maxUpdates, IntPtr updateArray);
+                                                                                        int maxUpdates, IntPtr updateArray,
+                                            DebugLogCallback logRoutine);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
@@ -602,6 +608,9 @@ public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData)
 public static extern bool IsNativeShape2(IntPtr shape);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern IntPtr CreateCompoundShape2(IntPtr sim);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -1037,18 +1046,6 @@ public static extern IntPtr GetConstraintRef2(IntPtr obj, int index);
 public static extern int GetNumConstraintRefs2(IntPtr obj);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetDeltaLinearVelocity2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetDeltaAngularVelocity2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetPushVelocity2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetTurnVelocity2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern void SetCollisionFilterMask2(IntPtr body, uint filter, uint mask);
 
 // =====================================================================================
@@ -1108,6 +1105,15 @@ public static extern float GetMargin2(IntPtr shape);
 public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpAllInfo2(IntPtr sim);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]