Resolve merge commits, stage 1

39 files changed, 10812 insertions, 925 deletions

diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs
index 6c9d9ab..1ceed1a 100644
--- a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs
+++ b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs
@@ -123,11 +123,15 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
                     actorPosition.X = ((int)Constants.RegionSize - 0.1f);
                 }
 
-                float height = _heightMap[(int)actor.Position.Y * Constants.RegionSize + (int)actor.Position.X] + actor.Size.Z;
+                float terrainHeight = 0;
+                if (_heightMap != null)
+                    terrainHeight = _heightMap[(int)actor.Position.Y * Constants.RegionSize + (int)actor.Position.X];
+
+                float height = terrainHeight + actor.Size.Z;
+
                 if (actor.Flying)
                 {
-                    if (actor.Position.Z + (actor.Velocity.Z*timeStep) <
-                        _heightMap[(int)actor.Position.Y * Constants.RegionSize + (int)actor.Position.X] + 2)
+                    if (actor.Position.Z + (actor.Velocity.Z * timeStep) < terrainHeight + 2)
                     {
                         actorPosition.Z = height;
                         actorVelocity.Z = 0;
@@ -135,7 +139,7 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
                     }
                     else
                     {
-                        actorPosition.Z += actor.Velocity.Z*timeStep;
+                        actorPosition.Z += actor.Velocity.Z * timeStep;
                         actor.IsColliding = false;
                     }
                 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
new file mode 100644
index 0000000..682eb80
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -0,0 +1,451 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using log4net;
+using OpenMetaverse;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public class BSCharacter : PhysicsActor
+{
+    private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+    private static readonly string LogHeader = "[BULLETS CHAR]";
+
+    private BSScene _scene;
+    private String _avName;
+    private bool _stopped;
+    private Vector3 _size;
+    private Vector3 _scale;
+    private PrimitiveBaseShape _pbs;
+    private uint _localID = 0;
+    private bool _grabbed;
+    private bool _selected;
+    private Vector3 _position;
+    private float _mass;
+    public float _density;
+    public float _avatarVolume;
+    private Vector3 _force;
+    private Vector3 _velocity;
+    private Vector3 _torque;
+    private float _collisionScore;
+    private Vector3 _acceleration;
+    private Quaternion _orientation;
+    private int _physicsActorType;
+    private bool _isPhysical;
+    private bool _flying;
+    private bool _setAlwaysRun;
+    private bool _throttleUpdates;
+    private bool _isColliding;
+    private long _collidingStep;
+    private bool _collidingGround;
+    private long _collidingGroundStep;
+    private bool _collidingObj;
+    private bool _floatOnWater;
+    private Vector3 _rotationalVelocity;
+    private bool _kinematic;
+    private float _buoyancy;
+
+    private int _subscribedEventsMs = 0;
+    private int _lastCollisionTime = 0;
+
+    private Vector3 _PIDTarget;
+    private bool _usePID;
+    private float _PIDTau;
+    private bool _useHoverPID;
+    private float _PIDHoverHeight;
+    private PIDHoverType _PIDHoverType;
+    private float _PIDHoverTao;
+
+    public BSCharacter(uint localID, String avName, BSScene parent_scene, Vector3 pos, Vector3 size, bool isFlying)
+    {
+        _localID = localID;
+        _avName = avName;
+        _scene = parent_scene;
+        _position = pos;
+        _size = size;
+        _flying = isFlying;
+        _orientation = Quaternion.Identity;
+        _velocity = Vector3.Zero;
+        _buoyancy = isFlying ? 1f : 0f;
+        _scale = new Vector3(1f, 1f, 1f);
+        _density = _scene.Params.avatarDensity;
+        ComputeAvatarVolumeAndMass();   // set _avatarVolume and _mass based on capsule size, _density and _scale
+
+        ShapeData shapeData = new ShapeData();
+        shapeData.ID = _localID;
+        shapeData.Type = ShapeData.PhysicsShapeType.SHAPE_AVATAR;
+        shapeData.Position = _position;
+        shapeData.Rotation = _orientation;
+        shapeData.Velocity = _velocity;
+        shapeData.Scale = _scale;
+        shapeData.Mass = _mass;
+        shapeData.Buoyancy = _buoyancy;
+        shapeData.Static = ShapeData.numericFalse;
+        shapeData.Friction = _scene.Params.avatarFriction;
+        shapeData.Restitution = _scene.Params.defaultRestitution;
+
+        // do actual create at taint time
+        _scene.TaintedObject(delegate()
+        {
+            BulletSimAPI.CreateObject(parent_scene.WorldID, shapeData);
+        });
+            
+        return;
+    }
+
+    // called when this character is being destroyed and the resources should be released
+    public void Destroy()
+    {
+        _scene.TaintedObject(delegate()
+        {
+            BulletSimAPI.DestroyObject(_scene.WorldID, _localID);
+        });
+    }
+
+    public override void RequestPhysicsterseUpdate()
+    {
+        base.RequestPhysicsterseUpdate();
+    }
+
+    public override bool Stopped { 
+        get { return _stopped; } 
+    }
+    public override Vector3 Size { 
+        get { return _size; } 
+        set { _size = value;
+        } 
+    }
+    public override PrimitiveBaseShape Shape { 
+        set { _pbs = value; 
+        } 
+    }
+    public override uint LocalID { 
+        set { _localID = value; 
+        }
+        get { return _localID; }
+    }
+    public override bool Grabbed { 
+        set { _grabbed = value; 
+        } 
+    }
+    public override bool Selected { 
+        set { _selected = value; 
+        } 
+    }
+    public override void CrossingFailure() { return; }
+    public override void link(PhysicsActor obj) { return; }
+    public override void delink() { return; }
+    public override void LockAngularMotion(Vector3 axis) { return; }
+
+    public override Vector3 Position { 
+        get {
+            // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
+            return _position; 
+        } 
+        set {
+            _position = value;
+            _scene.TaintedObject(delegate()
+            {
+                BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
+            });
+        } 
+    }
+    public override float Mass { 
+        get { 
+            return _mass; 
+        } 
+    }
+    public override Vector3 Force { 
+        get { return _force; } 
+        set {
+            _force = value;
+            // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force);
+            _scene.TaintedObject(delegate()
+            {
+                BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
+            });
+        } 
+    }
+
+    public override int VehicleType { 
+        get { return 0; } 
+        set { return; } 
+    }
+    public override void VehicleFloatParam(int param, float value) { }
+    public override void VehicleVectorParam(int param, Vector3 value) {}
+    public override void VehicleRotationParam(int param, Quaternion rotation) { }
+    public override void VehicleFlags(int param, bool remove) { }
+
+    // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
+    public override void SetVolumeDetect(int param) { return; }
+
+    public override Vector3 GeometricCenter { get { return Vector3.Zero; } }
+    public override Vector3 CenterOfMass { get { return Vector3.Zero; } }
+    public override Vector3 Velocity { 
+        get { return _velocity; } 
+        set {
+            _velocity = value;
+            // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity);
+            _scene.TaintedObject(delegate()
+            {
+                BulletSimAPI.SetObjectVelocity(_scene.WorldID, _localID, _velocity);
+            });
+        } 
+    }
+    public override Vector3 Torque { 
+        get { return _torque; } 
+        set { _torque = value; 
+        } 
+    }
+    public override float CollisionScore { 
+        get { return _collisionScore; } 
+        set { _collisionScore = value; 
+        } 
+    }
+    public override Vector3 Acceleration { 
+        get { return _acceleration; } 
+    }
+    public override Quaternion Orientation { 
+        get { return _orientation; } 
+        set {
+            _orientation = value;
+            // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation);
+            _scene.TaintedObject(delegate()
+            {
+                // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
+                BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
+            });
+        } 
+    }
+    public override int PhysicsActorType { 
+        get { return _physicsActorType; } 
+        set { _physicsActorType = value; 
+        } 
+    }
+    public override bool IsPhysical { 
+        get { return _isPhysical; } 
+        set { _isPhysical = value;
+        } 
+    }
+    public override bool Flying { 
+        get { return _flying; } 
+        set {
+            _flying = value;
+            _scene.TaintedObject(delegate()
+            {
+                // simulate flying by changing the effect of gravity
+                BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _flying ? 1f : 0f);
+            });
+        } 
+    }
+    public override bool 
+        SetAlwaysRun { 
+        get { return _setAlwaysRun; } 
+        set { _setAlwaysRun = value; } 
+    }
+    public override bool ThrottleUpdates { 
+        get { return _throttleUpdates; } 
+        set { _throttleUpdates = value; } 
+    }
+    public override bool IsColliding {
+        get { return (_collidingStep == _scene.SimulationStep); } 
+        set { _isColliding = value; } 
+    }
+    public override bool CollidingGround {
+        get { return (_collidingGroundStep == _scene.SimulationStep); } 
+        set { _collidingGround = value; } 
+    }
+    public override bool CollidingObj { 
+        get { return _collidingObj; } 
+        set { _collidingObj = value; } 
+    }
+    public override bool FloatOnWater { 
+        set { _floatOnWater = value; } 
+    }
+    public override Vector3 RotationalVelocity { 
+        get { return _rotationalVelocity; } 
+        set { _rotationalVelocity = value; } 
+    }
+    public override bool Kinematic { 
+        get { return _kinematic; } 
+        set { _kinematic = value; } 
+    }
+    public override float Buoyancy { 
+        get { return _buoyancy; } 
+        set { _buoyancy = value; 
+            _scene.TaintedObject(delegate()
+            {
+                BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _buoyancy);
+            });
+        } 
+    }
+
+    // Used for MoveTo
+    public override Vector3 PIDTarget { 
+        set { _PIDTarget = value; } 
+    }
+    public override bool PIDActive { 
+        set { _usePID = value; } 
+    }
+    public override float PIDTau { 
+        set { _PIDTau = value; } 
+    }
+
+    // Used for llSetHoverHeight and maybe vehicle height
+    // Hover Height will override MoveTo target's Z
+    public override bool PIDHoverActive { 
+        set { _useHoverPID = value; }
+    }
+    public override float PIDHoverHeight { 
+        set { _PIDHoverHeight = value; }
+    }
+    public override PIDHoverType PIDHoverType { 
+        set { _PIDHoverType = value; }
+    }
+    public override float PIDHoverTau { 
+        set { _PIDHoverTao = value; }
+    }
+
+    // For RotLookAt
+    public override Quaternion APIDTarget { set { return; } }
+    public override bool APIDActive { set { return; } }
+    public override float APIDStrength { set { return; } }
+    public override float APIDDamping { set { return; } }
+
+    public override void AddForce(Vector3 force, bool pushforce) { 
+        if (force.IsFinite())
+        {
+            _force.X += force.X;
+            _force.Y += force.Y;
+            _force.Z += force.Z;
+            // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force);
+            _scene.TaintedObject(delegate()
+            {
+                BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
+            });
+        }
+        else
+        {
+            m_log.WarnFormat("{0}: Got a NaN force applied to a Character", LogHeader);
+        }
+        //m_lastUpdateSent = false;
+    }
+    public override void AddAngularForce(Vector3 force, bool pushforce) { 
+    }
+    public override void SetMomentum(Vector3 momentum) { 
+    }
+    public override void SubscribeEvents(int ms) {
+        _subscribedEventsMs = ms;
+        _lastCollisionTime = Util.EnvironmentTickCount() - _subscribedEventsMs; // make first collision happen
+    }
+    public override void UnSubscribeEvents() { 
+        _subscribedEventsMs = 0;
+    }
+    public override bool SubscribedEvents() {
+        return (_subscribedEventsMs > 0);
+    }
+
+    // set _avatarVolume and _mass based on capsule size, _density and _scale
+    private void ComputeAvatarVolumeAndMass()
+    {
+        _avatarVolume = (float)(
+                        Math.PI
+                        * _scene.Params.avatarCapsuleRadius * _scale.X
+                        * _scene.Params.avatarCapsuleRadius * _scale.Y
+                        * _scene.Params.avatarCapsuleHeight * _scale.Z);
+        _mass = _density * _avatarVolume;
+    }
+
+    // The physics engine says that properties have updated. Update same and inform
+    // the world that things have changed.
+    public void UpdateProperties(EntityProperties entprop)
+    {
+        bool changed = false;
+        // we assign to the local variables so the normal set action does not happen
+        if (_position != entprop.Position)
+        {
+            _position = entprop.Position;
+            changed = true;
+        }
+        if (_orientation != entprop.Rotation)
+        {
+            _orientation = entprop.Rotation;
+            changed = true;
+        }
+        if (_velocity != entprop.Velocity)
+        {
+            _velocity = entprop.Velocity;
+            changed = true;
+        }
+        if (_acceleration != entprop.Acceleration)
+        {
+            _acceleration = entprop.Acceleration;
+            changed = true;
+        }
+        if (_rotationalVelocity != entprop.RotationalVelocity)
+        {
+            _rotationalVelocity = entprop.RotationalVelocity;
+            changed = true;
+        }
+        if (changed)
+        {
+            // m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation);
+            // Avatar movement is not done by generating this event. There is a system that
+            //  checks for avatar updates each heartbeat loop.
+            // base.RequestPhysicsterseUpdate();
+        }
+    }
+
+    public void Collide(uint collidingWith, ActorTypes type, Vector3 contactPoint, Vector3 contactNormal, float pentrationDepth)
+    {
+        // m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith);
+
+        // The following makes IsColliding() and IsCollidingGround() work
+        _collidingStep = _scene.SimulationStep;
+        if (collidingWith == BSScene.TERRAIN_ID || collidingWith == BSScene.GROUNDPLANE_ID)
+        {
+            _collidingGroundStep = _scene.SimulationStep;
+        }
+
+        // throttle collisions to the rate specified in the subscription
+        if (_subscribedEventsMs == 0) return;   // don't want collisions
+        int nowTime = _scene.SimulationNowTime;
+        if (nowTime < (_lastCollisionTime + _subscribedEventsMs)) return;
+        _lastCollisionTime = nowTime;
+
+        Dictionary<uint, ContactPoint> contactPoints = new Dictionary<uint, ContactPoint>();
+        contactPoints.Add(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
+        CollisionEventUpdate args = new CollisionEventUpdate(LocalID, (int)type, 1, contactPoints);
+        base.SendCollisionUpdate(args);
+    }
+
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
new file mode 100644
index 0000000..046726d
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -0,0 +1,951 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/* RA: June 14, 2011. Copied from ODEDynamics.cs and converted to
+ * call the BulletSim system.
+ */
+/* Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces
+ * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
+ * ODEPrim.cs contains methods dealing with Prim editing, Prim
+ * characteristics and Kinetic motion.
+ * ODEDynamics.cs contains methods dealing with Prim Physical motion
+ * (dynamics) and the associated settings. Old Linear and angular
+ * motors for dynamic motion have been replace with  MoveLinear()
+ * and MoveAngular(); 'Physical' is used only to switch ODE dynamic
+ * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
+ * switch between 'VEHICLE' parameter use and general dynamics
+ * settings use.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using System.Runtime.InteropServices;
+using log4net;
+using OpenMetaverse;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+    public class BSDynamics
+    {
+        private int frcount = 0;                                        // Used to limit dynamics debug output to
+                                                                        // every 100th frame
+
+        // private BSScene m_parentScene = null;
+        private BSPrim m_prim;      // the prim this dynamic controller belongs to
+
+        // Vehicle properties
+        private Vehicle m_type = Vehicle.TYPE_NONE;                     // If a 'VEHICLE', and what kind
+        public Vehicle Type
+        {
+            get { return m_type; }
+        }
+        // private Quaternion m_referenceFrame = Quaternion.Identity;   // Axis modifier
+        private VehicleFlag m_flags = (VehicleFlag) 0;                  // Boolean settings:
+                                                                        // HOVER_TERRAIN_ONLY
+                                                                        // HOVER_GLOBAL_HEIGHT
+                                                                        // NO_DEFLECTION_UP
+                                                                        // HOVER_WATER_ONLY
+                                                                        // HOVER_UP_ONLY
+                                                                        // LIMIT_MOTOR_UP
+                                                                        // LIMIT_ROLL_ONLY
+        private VehicleFlag m_Hoverflags = (VehicleFlag)0;
+        private Vector3 m_BlockingEndPoint = Vector3.Zero;
+        private Quaternion m_RollreferenceFrame = Quaternion.Identity;
+        // Linear properties
+        private Vector3 m_linearMotorDirection = Vector3.Zero;          // velocity requested by LSL, decayed by time
+        private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero;   // velocity requested by LSL
+        private Vector3 m_dir = Vector3.Zero;                           // velocity applied to body
+        private Vector3 m_linearFrictionTimescale = Vector3.Zero;
+        private float m_linearMotorDecayTimescale = 0;
+        private float m_linearMotorTimescale = 0;
+        private Vector3 m_lastLinearVelocityVector = Vector3.Zero;
+        private Vector3 m_lastPositionVector = Vector3.Zero;
+        // private bool m_LinearMotorSetLastFrame = false;
+        // private Vector3 m_linearMotorOffset = Vector3.Zero;
+
+        //Angular properties
+        private Vector3 m_angularMotorDirection = Vector3.Zero;         // angular velocity requested by LSL motor
+        private int m_angularMotorApply = 0;                            // application frame counter
+        private Vector3 m_angularMotorVelocity = Vector3.Zero;          // current angular motor velocity
+        private float m_angularMotorTimescale = 0;                      // motor angular velocity ramp up rate
+        private float m_angularMotorDecayTimescale = 0;                 // motor angular velocity decay rate
+        private Vector3 m_angularFrictionTimescale = Vector3.Zero;      // body angular velocity  decay rate
+        private Vector3 m_lastAngularVelocity = Vector3.Zero;           // what was last applied to body
+ //       private Vector3 m_lastVertAttractor = Vector3.Zero;             // what VA was last applied to body
+
+        //Deflection properties
+        // private float m_angularDeflectionEfficiency = 0;
+        // private float m_angularDeflectionTimescale = 0;
+        // private float m_linearDeflectionEfficiency = 0;
+        // private float m_linearDeflectionTimescale = 0;
+
+        //Banking properties
+        // private float m_bankingEfficiency = 0;
+        // private float m_bankingMix = 0;
+        // private float m_bankingTimescale = 0;
+
+        //Hover and Buoyancy properties
+        private float m_VhoverHeight = 0f;
+//        private float m_VhoverEfficiency = 0f;
+        private float m_VhoverTimescale = 0f;
+        private float m_VhoverTargetHeight = -1.0f;     // if <0 then no hover, else its the current target height
+        private float m_VehicleBuoyancy = 0f;           //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle.
+                    // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
+                    // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
+                    // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
+
+        //Attractor properties
+        private float m_verticalAttractionEfficiency = 1.0f;        // damped
+        private float m_verticalAttractionTimescale = 500f;         // Timescale > 300  means no vert attractor.
+
+        public BSDynamics(BSPrim myPrim)
+        {
+            m_prim = myPrim;
+            m_type = Vehicle.TYPE_NONE;
+        }
+
+        internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
+        {
+            switch (pParam)
+            {
+                case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_angularDeflectionEfficiency = pValue;
+                    break;
+                case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_angularDeflectionTimescale = pValue;
+                    break;
+                case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    m_angularMotorDecayTimescale = pValue;
+                    break;
+                case Vehicle.ANGULAR_MOTOR_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    m_angularMotorTimescale = pValue;
+                    break;
+                case Vehicle.BANKING_EFFICIENCY:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_bankingEfficiency = pValue;
+                    break;
+                case Vehicle.BANKING_MIX:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_bankingMix = pValue;
+                    break;
+                case Vehicle.BANKING_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_bankingTimescale = pValue;
+                    break;
+                case Vehicle.BUOYANCY:
+                    if (pValue < -1f) pValue = -1f;
+                    if (pValue > 1f) pValue = 1f;
+                    m_VehicleBuoyancy = pValue;
+                    break;
+//                case Vehicle.HOVER_EFFICIENCY:
+//                    if (pValue < 0f) pValue = 0f;
+//                    if (pValue > 1f) pValue = 1f;
+//                    m_VhoverEfficiency = pValue;
+//                    break;
+                case Vehicle.HOVER_HEIGHT:
+                    m_VhoverHeight = pValue;
+                    break;
+                case Vehicle.HOVER_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    m_VhoverTimescale = pValue;
+                    break;
+                case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_linearDeflectionEfficiency = pValue;
+                    break;
+                case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_linearDeflectionTimescale = pValue;
+                    break;
+                case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    m_linearMotorDecayTimescale = pValue;
+                    break;
+                case Vehicle.LINEAR_MOTOR_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    m_linearMotorTimescale = pValue;
+                    break;
+                case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
+                    if (pValue < 0.1f) pValue = 0.1f;    // Less goes unstable
+                    if (pValue > 1.0f) pValue = 1.0f;
+                    m_verticalAttractionEfficiency = pValue;
+                    break;
+                case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    m_verticalAttractionTimescale = pValue;
+                    break;
+
+                // These are vector properties but the engine lets you use a single float value to
+                // set all of the components to the same value
+                case Vehicle.ANGULAR_FRICTION_TIMESCALE:
+                    m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
+                    break;
+                case Vehicle.ANGULAR_MOTOR_DIRECTION:
+                    m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
+                    m_angularMotorApply = 10;
+                    break;
+                case Vehicle.LINEAR_FRICTION_TIMESCALE:
+                    m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
+                    break;
+                case Vehicle.LINEAR_MOTOR_DIRECTION:
+                    m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
+                    m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue);
+                    break;
+                case Vehicle.LINEAR_MOTOR_OFFSET:
+                    // m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
+                    break;
+
+            }
+        }//end ProcessFloatVehicleParam
+
+        internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
+        {
+            switch (pParam)
+            {
+                case Vehicle.ANGULAR_FRICTION_TIMESCALE:
+                    m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    break;
+                case Vehicle.ANGULAR_MOTOR_DIRECTION:
+                    m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    // Limit requested angular speed to 2 rps= 4 pi rads/sec
+                    if (m_angularMotorDirection.X > 12.56f) m_angularMotorDirection.X = 12.56f;
+                    if (m_angularMotorDirection.X < - 12.56f) m_angularMotorDirection.X = - 12.56f;
+                    if (m_angularMotorDirection.Y > 12.56f) m_angularMotorDirection.Y = 12.56f;
+                    if (m_angularMotorDirection.Y < - 12.56f) m_angularMotorDirection.Y = - 12.56f;
+                    if (m_angularMotorDirection.Z > 12.56f) m_angularMotorDirection.Z = 12.56f;
+                    if (m_angularMotorDirection.Z < - 12.56f) m_angularMotorDirection.Z = - 12.56f;
+                    m_angularMotorApply = 10;
+                    break;
+                case Vehicle.LINEAR_FRICTION_TIMESCALE:
+                    m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    break;
+                case Vehicle.LINEAR_MOTOR_DIRECTION:
+                    m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    break;
+                case Vehicle.LINEAR_MOTOR_OFFSET:
+                    // m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    break;
+                case Vehicle.BLOCK_EXIT:
+                    m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    break;
+            }
+        }//end ProcessVectorVehicleParam
+
+        internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
+        {
+            switch (pParam)
+            {
+                case Vehicle.REFERENCE_FRAME:
+                    // m_referenceFrame = pValue;
+                    break;
+                case Vehicle.ROLL_FRAME:
+                    m_RollreferenceFrame = pValue;
+                    break;
+            }
+        }//end ProcessRotationVehicleParam
+
+        internal void ProcessVehicleFlags(int pParam, bool remove)
+        {
+            if (remove)
+            {
+                if (pParam == -1)
+                {
+                    m_flags = (VehicleFlag)0;
+                    m_Hoverflags = (VehicleFlag)0;
+                    return;
+                }
+                if ((pParam & (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) == (int)VehicleFlag.HOVER_GLOBAL_HEIGHT)
+                {
+                    if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != (VehicleFlag)0)
+                        m_Hoverflags &= ~(VehicleFlag.HOVER_GLOBAL_HEIGHT);
+                }
+                if ((pParam & (int)VehicleFlag.HOVER_TERRAIN_ONLY) == (int)VehicleFlag.HOVER_TERRAIN_ONLY)
+                {
+                    if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != (VehicleFlag)0)
+                        m_Hoverflags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY);
+                }
+                if ((pParam & (int)VehicleFlag.HOVER_UP_ONLY) == (int)VehicleFlag.HOVER_UP_ONLY)
+                {
+                    if ((m_Hoverflags & VehicleFlag.HOVER_UP_ONLY) != (VehicleFlag)0)
+                        m_Hoverflags &= ~(VehicleFlag.HOVER_UP_ONLY);
+                }
+                if ((pParam & (int)VehicleFlag.HOVER_WATER_ONLY) == (int)VehicleFlag.HOVER_WATER_ONLY)
+                {
+                    if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != (VehicleFlag)0)
+                        m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY);
+                }
+                if ((pParam & (int)VehicleFlag.LIMIT_MOTOR_UP) == (int)VehicleFlag.LIMIT_MOTOR_UP)
+                {
+                    if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != (VehicleFlag)0)
+                        m_flags &= ~(VehicleFlag.LIMIT_MOTOR_UP);
+                }
+                if ((pParam & (int)VehicleFlag.LIMIT_ROLL_ONLY) == (int)VehicleFlag.LIMIT_ROLL_ONLY)
+                {
+                    if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) != (VehicleFlag)0)
+                        m_flags &= ~(VehicleFlag.LIMIT_ROLL_ONLY);
+                }
+                if ((pParam & (int)VehicleFlag.MOUSELOOK_BANK) == (int)VehicleFlag.MOUSELOOK_BANK)
+                {
+                    if ((m_flags & VehicleFlag.MOUSELOOK_BANK) != (VehicleFlag)0)
+                        m_flags &= ~(VehicleFlag.MOUSELOOK_BANK);
+                }
+                if ((pParam & (int)VehicleFlag.MOUSELOOK_STEER) == (int)VehicleFlag.MOUSELOOK_STEER)
+                {
+                    if ((m_flags & VehicleFlag.MOUSELOOK_STEER) != (VehicleFlag)0)
+                        m_flags &= ~(VehicleFlag.MOUSELOOK_STEER);
+                }
+                if ((pParam & (int)VehicleFlag.NO_DEFLECTION_UP) == (int)VehicleFlag.NO_DEFLECTION_UP)
+                {
+                    if ((m_flags & VehicleFlag.NO_DEFLECTION_UP) != (VehicleFlag)0)
+                        m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP);
+                }
+                if ((pParam & (int)VehicleFlag.CAMERA_DECOUPLED) == (int)VehicleFlag.CAMERA_DECOUPLED)
+                {
+                    if ((m_flags & VehicleFlag.CAMERA_DECOUPLED) != (VehicleFlag)0)
+                        m_flags &= ~(VehicleFlag.CAMERA_DECOUPLED);
+                }
+                if ((pParam & (int)VehicleFlag.NO_X) == (int)VehicleFlag.NO_X)
+                {
+                    if ((m_flags & VehicleFlag.NO_X) != (VehicleFlag)0)
+                        m_flags &= ~(VehicleFlag.NO_X);
+                }
+                if ((pParam & (int)VehicleFlag.NO_Y) == (int)VehicleFlag.NO_Y)
+                {
+                    if ((m_flags & VehicleFlag.NO_Y) != (VehicleFlag)0)
+                        m_flags &= ~(VehicleFlag.NO_Y);
+                }
+                if ((pParam & (int)VehicleFlag.NO_Z) == (int)VehicleFlag.NO_Z)
+                {
+                    if ((m_flags & VehicleFlag.NO_Z) != (VehicleFlag)0)
+                        m_flags &= ~(VehicleFlag.NO_Z);
+                }
+                if ((pParam & (int)VehicleFlag.LOCK_HOVER_HEIGHT) == (int)VehicleFlag.LOCK_HOVER_HEIGHT)
+                {
+                    if ((m_Hoverflags & VehicleFlag.LOCK_HOVER_HEIGHT) != (VehicleFlag)0)
+                        m_Hoverflags &= ~(VehicleFlag.LOCK_HOVER_HEIGHT);
+                }
+                if ((pParam & (int)VehicleFlag.NO_DEFLECTION) == (int)VehicleFlag.NO_DEFLECTION)
+                {
+                    if ((m_flags & VehicleFlag.NO_DEFLECTION) != (VehicleFlag)0)
+                        m_flags &= ~(VehicleFlag.NO_DEFLECTION);
+                }
+                if ((pParam & (int)VehicleFlag.LOCK_ROTATION) == (int)VehicleFlag.LOCK_ROTATION)
+                {
+                    if ((m_flags & VehicleFlag.LOCK_ROTATION) != (VehicleFlag)0)
+                        m_flags &= ~(VehicleFlag.LOCK_ROTATION);
+                }
+            }
+            else
+            {
+                if ((pParam & (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) == (int)VehicleFlag.HOVER_GLOBAL_HEIGHT)
+                {
+                    m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT | m_flags);
+                }
+                if ((pParam & (int)VehicleFlag.HOVER_TERRAIN_ONLY) == (int)VehicleFlag.HOVER_TERRAIN_ONLY)
+                {
+                    m_Hoverflags |= (VehicleFlag.HOVER_TERRAIN_ONLY | m_flags);
+                }
+                if ((pParam & (int)VehicleFlag.HOVER_UP_ONLY) == (int)VehicleFlag.HOVER_UP_ONLY)
+                {
+                    m_Hoverflags |= (VehicleFlag.HOVER_UP_ONLY | m_flags);
+                }
+                if ((pParam & (int)VehicleFlag.HOVER_WATER_ONLY) == (int)VehicleFlag.HOVER_WATER_ONLY)
+                {
+                    m_Hoverflags |= (VehicleFlag.HOVER_WATER_ONLY | m_flags);
+                }
+                if ((pParam & (int)VehicleFlag.LIMIT_MOTOR_UP) == (int)VehicleFlag.LIMIT_MOTOR_UP)
+                {
+                    m_flags |= (VehicleFlag.LIMIT_MOTOR_UP | m_flags);
+                }
+                if ((pParam & (int)VehicleFlag.MOUSELOOK_BANK) == (int)VehicleFlag.MOUSELOOK_BANK)
+                {
+                    m_flags |= (VehicleFlag.MOUSELOOK_BANK | m_flags);
+                }
+                if ((pParam & (int)VehicleFlag.MOUSELOOK_STEER) == (int)VehicleFlag.MOUSELOOK_STEER)
+                {
+                    m_flags |= (VehicleFlag.MOUSELOOK_STEER | m_flags);
+                }
+                if ((pParam & (int)VehicleFlag.NO_DEFLECTION_UP) == (int)VehicleFlag.NO_DEFLECTION_UP)
+                {
+                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP | m_flags);
+                }
+                if ((pParam & (int)VehicleFlag.CAMERA_DECOUPLED) == (int)VehicleFlag.CAMERA_DECOUPLED)
+                {
+                    m_flags |= (VehicleFlag.CAMERA_DECOUPLED | m_flags);
+                }
+                if ((pParam & (int)VehicleFlag.NO_X) == (int)VehicleFlag.NO_X)
+                {
+                    m_flags |= (VehicleFlag.NO_X);
+                }
+                if ((pParam & (int)VehicleFlag.NO_Y) == (int)VehicleFlag.NO_Y)
+                {
+                    m_flags |= (VehicleFlag.NO_Y);
+                }
+                if ((pParam & (int)VehicleFlag.NO_Z) == (int)VehicleFlag.NO_Z)
+                {
+                    m_flags |= (VehicleFlag.NO_Z);
+                }
+                if ((pParam & (int)VehicleFlag.LOCK_HOVER_HEIGHT) == (int)VehicleFlag.LOCK_HOVER_HEIGHT)
+                {
+                    m_Hoverflags |= (VehicleFlag.LOCK_HOVER_HEIGHT);
+                }
+                if ((pParam & (int)VehicleFlag.NO_DEFLECTION) == (int)VehicleFlag.NO_DEFLECTION)
+                {
+                    m_flags |= (VehicleFlag.NO_DEFLECTION);
+                }
+                if ((pParam & (int)VehicleFlag.LOCK_ROTATION) == (int)VehicleFlag.LOCK_ROTATION)
+                {
+                    m_flags |= (VehicleFlag.LOCK_ROTATION);
+                }
+            }
+        }//end ProcessVehicleFlags
+
+        internal void ProcessTypeChange(Vehicle pType)
+        {
+            // Set Defaults For Type
+            m_type = pType;
+            switch (pType)
+            {
+                    case Vehicle.TYPE_NONE:
+                    m_linearFrictionTimescale = new Vector3(0, 0, 0);
+                    m_angularFrictionTimescale = new Vector3(0, 0, 0);
+                    m_linearMotorDirection = Vector3.Zero;
+                    m_linearMotorTimescale = 0;
+                    m_linearMotorDecayTimescale = 0;
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorTimescale = 0;
+                    m_angularMotorDecayTimescale = 0;
+                    m_VhoverHeight = 0;
+                    m_VhoverTimescale = 0;
+                    m_VehicleBuoyancy = 0;
+                    m_flags = (VehicleFlag)0;
+                    break;
+
+                case Vehicle.TYPE_SLED:
+                    m_linearFrictionTimescale = new Vector3(30, 1, 1000);
+                    m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
+                    m_linearMotorDirection = Vector3.Zero;
+                    m_linearMotorTimescale = 1000;
+                    m_linearMotorDecayTimescale = 120;
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorTimescale = 1000;
+                    m_angularMotorDecayTimescale = 120;
+                    m_VhoverHeight = 0;
+//                    m_VhoverEfficiency = 1;
+                    m_VhoverTimescale = 10;
+                    m_VehicleBuoyancy = 0;
+                    // m_linearDeflectionEfficiency = 1;
+                    // m_linearDeflectionTimescale = 1;
+                    // m_angularDeflectionEfficiency = 1;
+                    // m_angularDeflectionTimescale = 1000;
+                    // m_bankingEfficiency = 0;
+                    // m_bankingMix = 1;
+                    // m_bankingTimescale = 10;
+                    // m_referenceFrame = Quaternion.Identity;
+                    m_Hoverflags &=
+                         ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
+                           VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
+                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
+                    break;
+                case Vehicle.TYPE_CAR:
+                    m_linearFrictionTimescale = new Vector3(100, 2, 1000);
+                    m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
+                    m_linearMotorDirection = Vector3.Zero;
+                    m_linearMotorTimescale = 1;
+                    m_linearMotorDecayTimescale = 60;
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorTimescale = 1;
+                    m_angularMotorDecayTimescale = 0.8f;
+                    m_VhoverHeight = 0;
+//                    m_VhoverEfficiency = 0;
+                    m_VhoverTimescale = 1000;
+                    m_VehicleBuoyancy = 0;
+                    // // m_linearDeflectionEfficiency = 1;
+                    // // m_linearDeflectionTimescale = 2;
+                    // // m_angularDeflectionEfficiency = 0;
+                    // m_angularDeflectionTimescale = 10;
+                    m_verticalAttractionEfficiency = 1f;
+                    m_verticalAttractionTimescale = 10f;
+                    // m_bankingEfficiency = -0.2f;
+                    // m_bankingMix = 1;
+                    // m_bankingTimescale = 1;
+                    // m_referenceFrame = Quaternion.Identity;
+                    m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
+                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY |
+                                VehicleFlag.LIMIT_MOTOR_UP);
+                    m_Hoverflags |= (VehicleFlag.HOVER_UP_ONLY);
+                    break;
+                case Vehicle.TYPE_BOAT:
+                    m_linearFrictionTimescale = new Vector3(10, 3, 2);
+                    m_angularFrictionTimescale = new Vector3(10,10,10);
+                    m_linearMotorDirection = Vector3.Zero;
+                    m_linearMotorTimescale = 5;
+                    m_linearMotorDecayTimescale = 60;
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorTimescale = 4;
+                    m_angularMotorDecayTimescale = 4;
+                    m_VhoverHeight = 0;
+//                    m_VhoverEfficiency = 0.5f;
+                    m_VhoverTimescale = 2;
+                    m_VehicleBuoyancy = 1;
+                    // m_linearDeflectionEfficiency = 0.5f;
+                    // m_linearDeflectionTimescale = 3;
+                    // m_angularDeflectionEfficiency = 0.5f;
+                    // m_angularDeflectionTimescale = 5;
+                    m_verticalAttractionEfficiency = 0.5f;
+                    m_verticalAttractionTimescale = 5f;
+                    // m_bankingEfficiency = -0.3f;
+                    // m_bankingMix = 0.8f;
+                    // m_bankingTimescale = 1;
+                    // m_referenceFrame = Quaternion.Identity;
+                    m_Hoverflags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY |
+                            VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
+                    m_flags &= ~(VehicleFlag.LIMIT_ROLL_ONLY);
+                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
+                                VehicleFlag.LIMIT_MOTOR_UP);
+                    m_Hoverflags |= (VehicleFlag.HOVER_WATER_ONLY);
+                    break;
+                case Vehicle.TYPE_AIRPLANE:
+                    m_linearFrictionTimescale = new Vector3(200, 10, 5);
+                    m_angularFrictionTimescale = new Vector3(20, 20, 20);
+                    m_linearMotorDirection = Vector3.Zero;
+                    m_linearMotorTimescale = 2;
+                    m_linearMotorDecayTimescale = 60;
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorTimescale = 4;
+                    m_angularMotorDecayTimescale = 4;
+                    m_VhoverHeight = 0;
+//                    m_VhoverEfficiency = 0.5f;
+                    m_VhoverTimescale = 1000;
+                    m_VehicleBuoyancy = 0;
+                    // m_linearDeflectionEfficiency = 0.5f;
+                    // m_linearDeflectionTimescale = 3;
+                    // m_angularDeflectionEfficiency = 1;
+                    // m_angularDeflectionTimescale = 2;
+                    m_verticalAttractionEfficiency = 0.9f;
+                    m_verticalAttractionTimescale = 2f;
+                    // m_bankingEfficiency = 1;
+                    // m_bankingMix = 0.7f;
+                    // m_bankingTimescale = 2;
+                    // m_referenceFrame = Quaternion.Identity;
+                    m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
+                        VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
+                    m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP);
+                    m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
+                    break;
+                case Vehicle.TYPE_BALLOON:
+                    m_linearFrictionTimescale = new Vector3(5, 5, 5);
+                    m_angularFrictionTimescale = new Vector3(10, 10, 10);
+                    m_linearMotorDirection = Vector3.Zero;
+                    m_linearMotorTimescale = 5;
+                    m_linearMotorDecayTimescale = 60;
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorTimescale = 6;
+                    m_angularMotorDecayTimescale = 10;
+                    m_VhoverHeight = 5;
+//                    m_VhoverEfficiency = 0.8f;
+                    m_VhoverTimescale = 10;
+                    m_VehicleBuoyancy = 1;
+                    // m_linearDeflectionEfficiency = 0;
+                    // m_linearDeflectionTimescale = 5;
+                    // m_angularDeflectionEfficiency = 0;
+                    // m_angularDeflectionTimescale = 5;
+                    m_verticalAttractionEfficiency = 1f;
+                    m_verticalAttractionTimescale = 100f;
+                    // m_bankingEfficiency = 0;
+                    // m_bankingMix = 0.7f;
+                    // m_bankingTimescale = 5;
+                    // m_referenceFrame = Quaternion.Identity;
+                    m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
+                        VehicleFlag.HOVER_UP_ONLY);
+                    m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP);
+                    m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
+                    m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT);
+                    break;
+
+            }
+        }//end SetDefaultsForType
+
+        internal void Step(float pTimestep,  BSScene pParentScene)
+        {
+            if (m_type == Vehicle.TYPE_NONE) return;
+
+            frcount++;  // used to limit debug comment output
+            if (frcount > 100)
+                frcount = 0;
+
+            MoveLinear(pTimestep, pParentScene);
+            MoveAngular(pTimestep);
+            LimitRotation(pTimestep);
+        }// end Step
+
+        private void MoveLinear(float pTimestep, BSScene _pParentScene)
+        {
+            if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f))  // requested m_linearMotorDirection is significant
+            {
+                // add drive to body
+                Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep);
+                m_lastLinearVelocityVector += (addAmount*10);  // lastLinearVelocityVector is the current body velocity vector?
+
+                // This will work temporarily, but we really need to compare speed on an axis
+                // KF: Limit body velocity to applied velocity?
+                if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X))
+                    m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X;
+                if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirectionLASTSET.Y))
+                    m_lastLinearVelocityVector.Y = m_linearMotorDirectionLASTSET.Y;
+                if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirectionLASTSET.Z))
+                    m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z;
+
+                // decay applied velocity
+                Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep)));
+                //Console.WriteLine("decay: " + decayfraction);
+                m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f;
+                //Console.WriteLine("actual: " + m_linearMotorDirection);
+            }
+            else
+            {        // requested is not significant
+                    // if what remains of applied is small, zero it.
+                if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f))
+                    m_lastLinearVelocityVector = Vector3.Zero;
+            }
+
+            // convert requested object velocity to world-referenced vector
+            m_dir = m_lastLinearVelocityVector;
+            Quaternion rot = m_prim.Orientation;
+            Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);    // rotq = rotation of object
+            m_dir *= rotq;                            // apply obj rotation to velocity vector
+
+            // add Gravity andBuoyancy
+            // KF: So far I have found no good method to combine a script-requested
+            // .Z velocity and gravity. Therefore only 0g will used script-requested
+            // .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only.
+            Vector3 grav = Vector3.Zero;
+            // There is some gravity, make a gravity force vector
+            // that is applied after object velocity.
+            float objMass = m_prim.Mass;
+            // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
+            grav.Z = _pParentScene.DefaultGravity.Z * objMass * (1f - m_VehicleBuoyancy);
+            // Preserve the current Z velocity
+            Vector3 vel_now = m_prim.Velocity;
+            m_dir.Z = vel_now.Z;        // Preserve the accumulated falling velocity
+
+            Vector3 pos = m_prim.Position;
+//            Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f);
+            Vector3 posChange = new Vector3();
+            posChange.X = pos.X - m_lastPositionVector.X;
+            posChange.Y = pos.Y - m_lastPositionVector.Y;
+            posChange.Z = pos.Z - m_lastPositionVector.Z;
+            double Zchange = Math.Abs(posChange.Z);
+            if (m_BlockingEndPoint != Vector3.Zero)
+            {
+                if (pos.X >= (m_BlockingEndPoint.X - (float)1))
+                {
+                    pos.X -= posChange.X + 1;
+                    m_prim.Position = pos;
+                }
+                if (pos.Y >= (m_BlockingEndPoint.Y - (float)1))
+                {
+                    pos.Y -= posChange.Y + 1;
+                    m_prim.Position = pos;
+                }
+                if (pos.Z >= (m_BlockingEndPoint.Z - (float)1))
+                {
+                    pos.Z -= posChange.Z + 1;
+                    m_prim.Position = pos;
+                }
+                if (pos.X <= 0)
+                {
+                    pos.X += posChange.X + 1;
+                    m_prim.Position = pos;
+                }
+                if (pos.Y <= 0)
+                {
+                    pos.Y += posChange.Y + 1;
+                    m_prim.Position = pos;
+                }
+            }
+            if (pos.Z < _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y))
+            {
+                pos.Z = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + 2;
+                m_prim.Position = pos;
+            }
+
+            // Check if hovering
+            if ((m_Hoverflags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
+            {
+                // We should hover, get the target height
+                if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != 0)
+                {
+                    m_VhoverTargetHeight = _pParentScene.GetWaterLevel() + m_VhoverHeight;
+                }
+                if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
+                {
+                    m_VhoverTargetHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
+                }
+                if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
+                {
+                    m_VhoverTargetHeight = m_VhoverHeight;
+                }
+
+                if ((m_Hoverflags & VehicleFlag.HOVER_UP_ONLY) != 0)
+                {
+                    // If body is aready heigher, use its height as target height
+                    if (pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z;
+                }
+                if ((m_Hoverflags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
+                {
+                    if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2)
+                    {
+                        m_prim.Position = pos;
+                    }
+                }
+                else
+                {
+                    float herr0 = pos.Z - m_VhoverTargetHeight;
+                    // Replace Vertical speed with correction figure if significant
+                    if (Math.Abs(herr0) > 0.01f)
+                    {
+                        m_dir.Z = -((herr0 * pTimestep * 50.0f) / m_VhoverTimescale);
+                        //KF: m_VhoverEfficiency is not yet implemented
+                    }
+                    else
+                    {
+                        m_dir.Z = 0f;
+                    }
+                }
+
+//                m_VhoverEfficiency = 0f;    // 0=boucy, 1=Crit.damped
+//                m_VhoverTimescale = 0f;        // time to acheive height
+//                pTimestep  is time since last frame,in secs
+            }
+
+            if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
+            {
+                //Start Experimental Values
+                if (Zchange > .3)
+                {
+                    grav.Z = (float)(grav.Z * 3);
+                }
+                if (Zchange > .15)
+                {
+                    grav.Z = (float)(grav.Z * 2);
+                }
+                if (Zchange > .75)
+                {
+                    grav.Z = (float)(grav.Z * 1.5);
+                }
+                if (Zchange > .05)
+                {
+                    grav.Z = (float)(grav.Z * 1.25);
+                }
+                if (Zchange > .025)
+                {
+                    grav.Z = (float)(grav.Z * 1.125);
+                }
+                float terraintemp = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
+                float postemp = (pos.Z - terraintemp);
+                if (postemp > 2.5f)
+                {
+                    grav.Z = (float)(grav.Z * 1.037125);
+                }
+                //End Experimental Values
+            }
+            if ((m_flags & (VehicleFlag.NO_X)) != 0)
+            {
+                m_dir.X = 0;
+            }
+            if ((m_flags & (VehicleFlag.NO_Y)) != 0)
+            {
+                m_dir.Y = 0;
+            }
+            if ((m_flags & (VehicleFlag.NO_Z)) != 0)
+            {
+                m_dir.Z = 0;
+            }
+
+            m_lastPositionVector = m_prim.Position;
+
+            // Apply velocity
+            m_prim.Velocity = m_dir;
+            // apply gravity force
+            m_prim.Force = grav;
+
+
+            // apply friction
+            Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep);
+            m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount;
+        } // end MoveLinear()
+
+        private void MoveAngular(float pTimestep)
+        {
+            /*
+            private Vector3 m_angularMotorDirection = Vector3.Zero;            // angular velocity requested by LSL motor
+            private int m_angularMotorApply = 0;                            // application frame counter
+             private float m_angularMotorVelocity = 0;                        // current angular motor velocity (ramps up and down)
+            private float m_angularMotorTimescale = 0;                        // motor angular velocity ramp up rate
+            private float m_angularMotorDecayTimescale = 0;                    // motor angular velocity decay rate
+            private Vector3 m_angularFrictionTimescale = Vector3.Zero;        // body angular velocity  decay rate
+            private Vector3 m_lastAngularVelocity = Vector3.Zero;            // what was last applied to body
+            */
+
+            // Get what the body is doing, this includes 'external' influences
+            Vector3 angularVelocity = m_prim.AngularVelocity;
+   //         Vector3 angularVelocity = Vector3.Zero;
+
+            if (m_angularMotorApply > 0)
+            {
+                // ramp up to new value
+                //   current velocity  +=                         error                       /    (time to get there / step interval)
+                //                               requested speed            -  last motor speed
+                m_angularMotorVelocity.X += (m_angularMotorDirection.X - m_angularMotorVelocity.X) /  (m_angularMotorTimescale / pTimestep);
+                m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) /  (m_angularMotorTimescale / pTimestep);
+                m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) /  (m_angularMotorTimescale / pTimestep);
+
+                m_angularMotorApply--;        // This is done so that if script request rate is less than phys frame rate the expected
+                                            // velocity may still be acheived.
+            }
+            else
+            {
+                // no motor recently applied, keep the body velocity
+        /*        m_angularMotorVelocity.X = angularVelocity.X;
+                m_angularMotorVelocity.Y = angularVelocity.Y;
+                m_angularMotorVelocity.Z = angularVelocity.Z; */
+
+                // and decay the velocity
+                m_angularMotorVelocity -= m_angularMotorVelocity /  (m_angularMotorDecayTimescale / pTimestep);
+            } // end motor section
+
+            // Vertical attractor section
+            Vector3 vertattr = Vector3.Zero;
+
+            if (m_verticalAttractionTimescale < 300)
+            {
+                float VAservo = 0.2f / (m_verticalAttractionTimescale * pTimestep);
+                // get present body rotation
+                Quaternion rotq = m_prim.Orientation;
+                // make a vector pointing up
+                Vector3 verterr = Vector3.Zero;
+                verterr.Z = 1.0f;
+                // rotate it to Body Angle
+                verterr = verterr * rotq;
+                // verterr.X and .Y are the World error ammounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1.
+                // As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go
+                // negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body.
+                if (verterr.Z < 0.0f)
+                {
+                    verterr.X = 2.0f - verterr.X;
+                    verterr.Y = 2.0f - verterr.Y;
+                }
+                // Error is 0 (no error) to +/- 2 (max error)
+                // scale it by VAservo
+                verterr = verterr * VAservo;
+//if (frcount == 0) Console.WriteLine("VAerr=" + verterr);
+
+                // As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so
+                // Change  Body angular velocity  X based on Y, and Y based on X. Z is not changed.
+                vertattr.X =    verterr.Y;
+                vertattr.Y =  - verterr.X;
+                vertattr.Z = 0f;
+
+                // scaling appears better usingsquare-law
+                float bounce = 1.0f - (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
+                vertattr.X += bounce * angularVelocity.X;
+                vertattr.Y += bounce * angularVelocity.Y;
+
+            } // else vertical attractor is off
+
+    //        m_lastVertAttractor = vertattr;
+
+            // Bank section tba
+            // Deflection section tba
+
+            // Sum velocities
+            m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection
+            
+            if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
+            {
+                m_lastAngularVelocity.X = 0;
+                m_lastAngularVelocity.Y = 0;
+            }
+
+            if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
+            {
+                m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero.
+            }
+
+             // apply friction
+            Vector3 decayamount = Vector3.One / (m_angularFrictionTimescale / pTimestep);
+            m_lastAngularVelocity -= m_lastAngularVelocity * decayamount;
+
+            // Apply to the body
+            m_prim.AngularVelocity = m_lastAngularVelocity;
+
+        } //end MoveAngular
+        internal void LimitRotation(float timestep)
+        {
+            Quaternion rotq = m_prim.Orientation;    // rotq = rotation of object
+            Quaternion m_rot = rotq;
+            bool changed = false;
+            if (m_RollreferenceFrame != Quaternion.Identity)
+            {
+                if (rotq.X >= m_RollreferenceFrame.X)
+                {
+                    m_rot.X = rotq.X - (m_RollreferenceFrame.X / 2);
+                }
+                if (rotq.Y >= m_RollreferenceFrame.Y)
+                {
+                    m_rot.Y = rotq.Y - (m_RollreferenceFrame.Y / 2);
+                }
+                if (rotq.X <= -m_RollreferenceFrame.X)
+                {
+                    m_rot.X = rotq.X + (m_RollreferenceFrame.X / 2);
+                }
+                if (rotq.Y <= -m_RollreferenceFrame.Y)
+                {
+                    m_rot.Y = rotq.Y + (m_RollreferenceFrame.Y / 2);
+                }
+                changed = true;
+            }
+            if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0)
+            {
+                m_rot.X = 0;
+                m_rot.Y = 0;
+                changed = true;
+            }
+            if (changed)
+                m_prim.Orientation = m_rot;
+        }
+    }
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs
new file mode 100644
index 0000000..61be56d
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs
@@ -0,0 +1,68 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+using OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public class BSPlugin : IPhysicsPlugin
+{
+    //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
+
+    private BSScene _mScene;
+
+    public BSPlugin()
+    {
+    }
+
+    public bool Init()
+    {
+        return true;
+    }
+
+    public PhysicsScene GetScene(String sceneIdentifier)
+    {
+        if (_mScene == null)
+        {
+            _mScene = new BSScene(sceneIdentifier);
+        }
+        return (_mScene);
+    }
+
+    public string GetName()
+    {
+        return ("BulletSim");
+    }
+
+    public void Dispose()
+    {
+    }
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
new file mode 100644
index 0000000..bb8d601
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -0,0 +1,1357 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Reflection;
+using System.Collections.Generic;
+using System.Xml;
+using log4net;
+using OMV = OpenMetaverse;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+using OpenSim.Region.Physics.ConvexDecompositionDotNet;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+    [Serializable]
+public sealed class BSPrim : PhysicsActor
+{
+    private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+    private static readonly string LogHeader = "[BULLETS PRIM]";
+
+    private IMesh _mesh;
+    private PrimitiveBaseShape _pbs;
+    private ShapeData.PhysicsShapeType _shapeType;
+    private ulong _meshKey;
+    private ulong _hullKey;
+    private List<ConvexResult> _hulls;
+
+    private BSScene _scene;
+    private String _avName;
+    private uint _localID = 0;
+
+    // _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 bool _stopped;
+    private bool _grabbed;
+    private bool _isSelected;
+    private bool _isVolumeDetect;
+    private OMV.Vector3 _position;
+    private float _mass;
+    private float _density;
+    private OMV.Vector3 _force;
+    private OMV.Vector3 _velocity;
+    private OMV.Vector3 _torque;
+    private float _collisionScore;
+    private OMV.Vector3 _acceleration;
+    private OMV.Quaternion _orientation;
+    private int _physicsActorType;
+    private bool _isPhysical;
+    private bool _flying;
+    private float _friction;
+    private float _restitution;
+    private bool _setAlwaysRun;
+    private bool _throttleUpdates;
+    private bool _isColliding;
+    private bool _collidingGround;
+    private bool _collidingObj;
+    private bool _floatOnWater;
+    private OMV.Vector3 _rotationalVelocity;
+    private bool _kinematic;
+    private float _buoyancy;
+    private OMV.Vector3 _angularVelocity;
+
+    private List<BSPrim> _childrenPrims;
+    private BSPrim _parentPrim;
+
+    private int _subscribedEventsMs = 0;
+    private int _lastCollisionTime = 0;
+    long _collidingStep;
+    long _collidingGroundStep;
+
+    private BSDynamics _vehicle;
+
+    private OMV.Vector3 _PIDTarget;
+    private bool _usePID;
+    private float _PIDTau;
+    private bool _useHoverPID;
+    private float _PIDHoverHeight;
+    private PIDHoverType _PIDHoverType;
+    private float _PIDHoverTao;
+
+    public BSPrim(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
+                       OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
+    {
+        // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID);
+        _localID = localID;
+        _avName = primName;
+        _scene = parent_scene;
+        _position = pos;
+        _size = size;
+        _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;
+        _angularVelocity = OMV.Vector3.Zero;
+        _hullKey = 0;
+        _meshKey = 0;
+        _pbs = pbs;
+        _isPhysical = pisPhysical;
+        _isVolumeDetect = false;
+        _subscribedEventsMs = 0;
+        _friction = _scene.Params.defaultFriction; // TODO: compute based on object material
+        _density = _scene.Params.defaultDensity; // TODO: compute based on object material
+        _restitution = _scene.Params.defaultRestitution;
+        _parentPrim = null;     // not a child or a parent
+        _vehicle = new BSDynamics(this);    // add vehicleness
+        _childrenPrims = new List<BSPrim>();
+        if (_isPhysical)
+            _mass = CalculateMass();
+        else
+            _mass = 0f;
+        // do the actual object creation at taint time
+        _scene.TaintedObject(delegate()
+        {
+            RecreateGeomAndObject();
+        });
+    }
+
+    // called when this prim is being destroyed and we should free all the resources
+    public void Destroy()
+    {
+        // m_log.DebugFormat("{0}: Destroy", LogHeader);
+        // Undo any vehicle properties
+        _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE);
+        _scene.RemoveVehiclePrim(this);     // just to make sure
+        _scene.TaintedObject(delegate()
+        {
+            // everything in the C# world will get garbage collected. Tell the C++ world to free stuff.
+            BulletSimAPI.DestroyObject(_scene.WorldID, _localID);
+        });
+    }
+    
+    public override bool Stopped { 
+        get { return _stopped; } 
+    }
+    public override OMV.Vector3 Size { 
+        get { return _size; } 
+        set {
+            _size = value;
+            _scene.TaintedObject(delegate()
+            {
+                if (_isPhysical) _mass = CalculateMass();   // changing size changes the mass
+                BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, _mass, _isPhysical);
+                RecreateGeomAndObject();
+            });
+        } 
+    }
+    public override PrimitiveBaseShape Shape { 
+        set {
+            _pbs = value;
+            _scene.TaintedObject(delegate()
+            {
+                if (_isPhysical) _mass = CalculateMass();   // changing the shape changes the mass
+                RecreateGeomAndObject();
+            });
+        } 
+    }
+    public override uint LocalID { 
+        set { _localID = value; }
+        get { return _localID; }
+    }
+    public override bool Grabbed { 
+        set { _grabbed = value; 
+        } 
+    }
+    public override bool Selected { 
+        set {
+            _isSelected = value;
+            _scene.TaintedObject(delegate()
+            {
+                SetObjectDynamic();
+            });
+        } 
+    }
+    public override void CrossingFailure() { return; }
+
+    // link me to the specified parent
+    public override void link(PhysicsActor obj) {
+        BSPrim parent = (BSPrim)obj;
+        // m_log.DebugFormat("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID);
+        // TODO: decide if this parent checking needs to happen at taint time
+        if (_parentPrim == null)
+        {
+            if (parent != null)
+            {
+                // I don't have a parent so I am joining a linkset
+                parent.AddChildToLinkset(this);
+            }
+        }
+        else
+        {
+            // I already have a parent, is parenting changing?
+            if (parent != _parentPrim)
+            {
+                if (parent == null)
+                {
+                    // we are being removed from a linkset
+                    _parentPrim.RemoveChildFromLinkset(this);
+                }
+                else
+                {
+                    // asking to reparent a prim should not happen
+                    m_log.ErrorFormat("{0}: Reparenting a prim. ", LogHeader);
+                }
+            }
+        }
+        return; 
+    }
+
+    // delink me from my linkset
+    public override void delink() {
+        // TODO: decide if this parent checking needs to happen at taint time
+        // Race condition here: if link() and delink() in same simulation tick, the delink will not happen
+        // m_log.DebugFormat("{0}: delink {1}/{2}", LogHeader, _avName, _localID);
+        if (_parentPrim != null)
+        {
+            _parentPrim.RemoveChildFromLinkset(this);
+        }
+        return; 
+    }
+
+    // I am the root of a linkset and a new child is being added
+    public void AddChildToLinkset(BSPrim pchild)
+    {
+        BSPrim child = pchild;
+        _scene.TaintedObject(delegate()
+        {
+            if (!_childrenPrims.Contains(child))
+            {
+                _childrenPrims.Add(child);
+                child.ParentPrim = this;    // the child has gained a parent
+                RecreateGeomAndObject();    // rebuild my shape with the new child added
+            }
+        });
+        return;
+    }
+
+    // I am the root of a linkset and one of my children is being removed.
+    // Safe to call even if the child is not really in my linkset.
+    public void RemoveChildFromLinkset(BSPrim pchild)
+    {
+        BSPrim child = pchild;
+        _scene.TaintedObject(delegate()
+        {
+            if (_childrenPrims.Contains(child))
+            {
+                BulletSimAPI.RemoveConstraint(_scene.WorldID, child.LocalID, this.LocalID);
+                _childrenPrims.Remove(child);
+                child.ParentPrim = null;    // the child has lost its parent
+                RecreateGeomAndObject();    // rebuild my shape with the child removed
+            }
+            else
+            {
+                m_log.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset");
+            }
+        });
+        return;
+    }
+
+    public BSPrim ParentPrim
+    {
+        set { _parentPrim = value; }
+    }
+
+    // return true if we are the root of a linkset (there are children to manage)
+    public bool IsRootOfLinkset
+    {
+        get { return (_parentPrim == null && _childrenPrims.Count != 0); }
+    }
+
+    // Set motion values to zero.
+    // Do it to the properties so the values get set in the physics engine.
+    // Push the setting of the values to the viewer.
+    private void ZeroMotion()
+    {
+        Velocity = OMV.Vector3.Zero;
+        _acceleration = OMV.Vector3.Zero;
+        RotationalVelocity = OMV.Vector3.Zero;
+        base.RequestPhysicsterseUpdate();
+    }
+
+    public override void LockAngularMotion(OMV.Vector3 axis) { return; }
+
+    public override OMV.Vector3 Position { 
+        get { 
+            // don't do the following GetObjectPosition because this function is called a zillion times
+            // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
+            return _position; 
+        } 
+        set {
+            _position = value;
+            _scene.TaintedObject(delegate()
+            {
+                BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
+                // m_log.DebugFormat("{0}: setPosition: id={1}, position={2}", LogHeader, _localID, _position);
+            });
+        } 
+    }
+    public override float Mass { 
+        get { return _mass; } 
+    }
+    public override OMV.Vector3 Force { 
+        get { return _force; } 
+        set {
+            _force = value;
+            _scene.TaintedObject(delegate()
+            {
+                BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
+            });
+        } 
+    }
+
+    public override int VehicleType { 
+        get {
+            return (int)_vehicle.Type;   // if we are a vehicle, return that type
+        } 
+        set {
+            Vehicle type = (Vehicle)value;
+            _vehicle.ProcessTypeChange(type);
+            _scene.TaintedObject(delegate()
+            {
+                if (type == Vehicle.TYPE_NONE)
+                {
+                    _scene.RemoveVehiclePrim(this);
+                }
+                else
+                {
+                    // make it so the scene will call us each tick to do vehicle things
+                    _scene.AddVehiclePrim(this);
+                }
+                return;
+            });
+        } 
+    }
+    public override void VehicleFloatParam(int param, float value) 
+    {
+        _vehicle.ProcessFloatVehicleParam((Vehicle)param, value);
+    }
+    public override void VehicleVectorParam(int param, OMV.Vector3 value) 
+    {
+        _vehicle.ProcessVectorVehicleParam((Vehicle)param, value);
+    }
+    public override void VehicleRotationParam(int param, OMV.Quaternion rotation) 
+    {
+        _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation);
+    }
+    public override void VehicleFlags(int param, bool remove) 
+    {
+        _vehicle.ProcessVehicleFlags(param, remove);
+    }
+    // Called each simulation step to advance vehicle characteristics
+    public void StepVehicle(float timeStep)
+    {
+        _vehicle.Step(timeStep, _scene);
+    }
+
+    // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
+    public override void SetVolumeDetect(int param) {
+        bool newValue = (param != 0);
+        if (_isVolumeDetect != newValue)
+        {
+            _isVolumeDetect = newValue;
+            _scene.TaintedObject(delegate()
+            {
+                SetObjectDynamic();
+            });
+        }
+        return; 
+    }
+
+    public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } }
+    public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } }
+    public override OMV.Vector3 Velocity { 
+        get { return _velocity; } 
+        set { _velocity = value; 
+            _scene.TaintedObject(delegate()
+            {
+                BulletSimAPI.SetObjectVelocity(_scene.WorldID, LocalID, _velocity);
+            });
+        } 
+    }
+    public override OMV.Vector3 Torque { 
+        get { return _torque; } 
+        set { _torque = value; 
+        } 
+    }
+    public override float CollisionScore { 
+        get { return _collisionScore; } 
+        set { _collisionScore = value; 
+        } 
+    }
+    public override OMV.Vector3 Acceleration { 
+        get { return _acceleration; } 
+    }
+    public override OMV.Quaternion Orientation { 
+        get { return _orientation; } 
+        set {
+            _orientation = value;
+            // m_log.DebugFormat("{0}: set orientation: id={1}, ori={2}", LogHeader, LocalID, _orientation);
+            _scene.TaintedObject(delegate()
+            {
+                // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
+                BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
+            });
+        } 
+    }
+    public override int PhysicsActorType { 
+        get { return _physicsActorType; } 
+        set { _physicsActorType = value; 
+        } 
+    }
+    public override bool IsPhysical { 
+        get { return _isPhysical; } 
+        set {
+            _isPhysical = value;
+            _scene.TaintedObject(delegate()
+            {
+                SetObjectDynamic();
+            });
+        } 
+    }
+
+    // An object is static (does not move) if selected or not physical
+    private bool IsStatic
+    {
+        get { return _isSelected || !IsPhysical; }
+    }
+
+    // An object is solid if it's not phantom and if it's not doing VolumeDetect
+    private bool IsSolid
+    {
+        get { return !IsPhantom && !_isVolumeDetect; }
+    }
+
+    // make gravity work if the object is physical and not selected
+    // no locking here because only called when it is safe
+    private void SetObjectDynamic()
+    {
+        // m_log.DebugFormat("{0}: ID={1}, SetObjectDynamic: IsStatic={2}, IsSolid={3}", LogHeader, _localID, IsStatic, IsSolid);
+        // non-physical things work best with a mass of zero
+        if (IsStatic)
+        {
+            _mass = 0f;
+        }
+        else
+        {
+            _mass = CalculateMass();
+            // If it's dynamic, make sure the hull has been created for it
+            // This shouldn't do much work if the object had previously been built
+            RecreateGeomAndObject();
+
+        }
+        BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), _mass);
+    }
+
+    // prims don't fly
+    public override bool Flying { 
+        get { return _flying; } 
+        set { _flying = value; } 
+    }
+    public override bool SetAlwaysRun { 
+        get { return _setAlwaysRun; } 
+        set { _setAlwaysRun = value; } 
+    }
+    public override bool ThrottleUpdates { 
+        get { return _throttleUpdates; } 
+        set { _throttleUpdates = value; } 
+    }
+    public override bool IsColliding {
+        get { return (_collidingStep == _scene.SimulationStep); } 
+        set { _isColliding = value; } 
+    }
+    public override bool CollidingGround {
+        get { return (_collidingGroundStep == _scene.SimulationStep); } 
+        set { _collidingGround = value; } 
+    }
+    public override bool CollidingObj { 
+        get { return _collidingObj; } 
+        set { _collidingObj = value; } 
+    }
+    public bool IsPhantom {
+        get {
+            // SceneObjectPart removes phantom objects from the physics scene
+            // so, although we could implement touching and such, we never
+            // are invoked as a phantom object
+            return false;
+        }
+    }
+    public override bool FloatOnWater { 
+        set { _floatOnWater = value; } 
+    }
+    public override OMV.Vector3 RotationalVelocity { 
+        get { return _rotationalVelocity; } 
+        set { _rotationalVelocity = value; 
+            // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
+            _scene.TaintedObject(delegate()
+            {
+                BulletSimAPI.SetObjectAngularVelocity(_scene.WorldID, LocalID, _rotationalVelocity);
+            });
+        } 
+    }
+    public OMV.Vector3 AngularVelocity { 
+        get { return _angularVelocity; } 
+        set { _angularVelocity = value; } 
+    }
+    public override bool Kinematic { 
+        get { return _kinematic; } 
+        set { _kinematic = value; 
+            // m_log.DebugFormat("{0}: Kinematic={1}", LogHeader, _kinematic);
+        } 
+    }
+    public override float Buoyancy { 
+        get { return _buoyancy; } 
+        set { _buoyancy = value;
+        _scene.TaintedObject(delegate()
+        {
+            BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy);
+        });
+        } 
+    }
+
+    // Used for MoveTo
+    public override OMV.Vector3 PIDTarget { 
+        set { _PIDTarget = value; } 
+    }
+    public override bool PIDActive { 
+        set { _usePID = value; } 
+    }
+    public override float PIDTau { 
+        set { _PIDTau = value; } 
+    }
+
+    // Used for llSetHoverHeight and maybe vehicle height
+    // Hover Height will override MoveTo target's Z
+    public override bool PIDHoverActive { 
+        set { _useHoverPID = value; }
+    }
+    public override float PIDHoverHeight { 
+        set { _PIDHoverHeight = value; }
+    }
+    public override PIDHoverType PIDHoverType { 
+        set { _PIDHoverType = value; }
+    }
+    public override float PIDHoverTau { 
+        set { _PIDHoverTao = value; }
+    }
+
+    // For RotLookAt
+    public override OMV.Quaternion APIDTarget { set { return; } }
+    public override bool APIDActive { set { return; } }
+    public override float APIDStrength { set { return; } }
+    public override float APIDDamping { set { return; } }
+
+    public override void AddForce(OMV.Vector3 force, bool pushforce) {
+        if (force.IsFinite())
+        {
+            _force.X += force.X;
+            _force.Y += force.Y;
+            _force.Z += force.Z;
+        }
+        else
+        {
+            m_log.WarnFormat("{0}: Got a NaN force applied to a Character", LogHeader);
+        }
+        _scene.TaintedObject(delegate()
+        {
+            BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
+        });
+    }
+
+    public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { 
+        // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce);
+    }
+    public override void SetMomentum(OMV.Vector3 momentum) { 
+    }
+    public override void SubscribeEvents(int ms) { 
+        _subscribedEventsMs = ms;
+        _lastCollisionTime = Util.EnvironmentTickCount() - _subscribedEventsMs; // make first collision happen
+    }
+    public override void UnSubscribeEvents() { 
+        _subscribedEventsMs = 0;
+    }
+    public override bool SubscribedEvents() { 
+        return (_subscribedEventsMs > 0);
+    }
+
+    #region Mass Calculation
+
+    private float CalculateMass()
+    {
+        float volume = _size.X * _size.Y * _size.Z; // default
+        float tmp;
+
+        float returnMass = 0;
+        float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f;
+        float hollowVolume = hollowAmount * hollowAmount; 
+        
+        switch (_pbs.ProfileShape)
+        {
+            case ProfileShape.Square:
+                // default box
+
+                if (_pbs.PathCurve == (byte)Extrusion.Straight)
+                    {
+                    if (hollowAmount > 0.0)
+                        {
+                        switch (_pbs.HollowShape)
+                            {
+                            case HollowShape.Square:
+                            case HollowShape.Same:
+                                break;
+
+                            case HollowShape.Circle:
+
+                                hollowVolume *= 0.78539816339f;
+                                break;
+
+                            case HollowShape.Triangle:
+
+                                hollowVolume *= (0.5f * .5f);
+                                break;
+
+                            default:
+                                hollowVolume = 0;
+                                break;
+                            }
+                        volume *= (1.0f - hollowVolume);
+                        }
+                    }
+
+                else if (_pbs.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 -= volume*tmp*tmp;
+                    
+                    if (hollowAmount > 0.0)
+                        {
+                        hollowVolume *= hollowAmount;
+                        
+                        switch (_pbs.HollowShape)
+                            {
+                            case HollowShape.Square:
+                            case HollowShape.Same:
+                                break;
+
+                            case HollowShape.Circle:
+                                hollowVolume *= 0.78539816339f;;
+                                break;
+
+                            case HollowShape.Triangle:
+                                hollowVolume *= 0.5f * 0.5f;
+                                break;
+                            default:
+                                hollowVolume = 0;
+                                break;
+                            }
+                        volume *= (1.0f - hollowVolume);
+                        }
+                    }
+
+                break;
+
+            case ProfileShape.Circle:
+
+                if (_pbs.PathCurve == (byte)Extrusion.Straight)
+                    {
+                    volume *= 0.78539816339f; // elipse base
+
+                    if (hollowAmount > 0.0)
+                        {
+                        switch (_pbs.HollowShape)
+                            {
+                            case HollowShape.Same:
+                            case HollowShape.Circle:
+                                break;
+
+                            case HollowShape.Square:
+                                hollowVolume *= 0.5f * 2.5984480504799f;
+                                break;
+
+                            case HollowShape.Triangle:
+                                hollowVolume *= .5f * 1.27323954473516f;
+                                break;
+
+                            default:
+                                hollowVolume = 0;
+                                break;
+                            }
+                        volume *= (1.0f - hollowVolume);
+                        }
+                    }
+
+                else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
+                    {
+                    volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX);
+                    tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
+                    volume *= (1.0f - tmp * tmp);
+                    
+                    if (hollowAmount > 0.0)
+                        {
+
+                        // calculate the hollow volume by it's shape compared to the prim shape
+                        hollowVolume *= hollowAmount;
+
+                        switch (_pbs.HollowShape)
+                            {
+                            case HollowShape.Same:
+                            case HollowShape.Circle:
+                                break;
+
+                            case HollowShape.Square:
+                                hollowVolume *= 0.5f * 2.5984480504799f;
+                                break;
+
+                            case HollowShape.Triangle:
+                                hollowVolume *= .5f * 1.27323954473516f;
+                                break;
+
+                            default:
+                                hollowVolume = 0;
+                                break;
+                            }
+                        volume *= (1.0f - hollowVolume);
+                        }
+                    }
+                break;
+
+            case ProfileShape.HalfCircle:
+                if (_pbs.PathCurve == (byte)Extrusion.Curve1)
+                {
+                volume *= 0.52359877559829887307710723054658f;
+                }
+                break;
+
+            case ProfileShape.EquilateralTriangle:
+
+                if (_pbs.PathCurve == (byte)Extrusion.Straight)
+                    {
+                    volume *= 0.32475953f;
+
+                    if (hollowAmount > 0.0)
+                        {
+
+                        // calculate the hollow volume by it's shape compared to the prim shape
+                        switch (_pbs.HollowShape)
+                            {
+                            case HollowShape.Same:
+                            case HollowShape.Triangle:
+                                hollowVolume *= .25f;
+                                break;
+
+                            case HollowShape.Square:
+                                hollowVolume *= 0.499849f * 3.07920140172638f;
+                                break;
+
+                            case HollowShape.Circle:
+                                // Hollow shape is a perfect cyllinder in respect to the cube's scale
+                                // Cyllinder hollow volume calculation
+
+                                hollowVolume *= 0.1963495f * 3.07920140172638f;
+                                break;
+
+                            default:
+                                hollowVolume = 0;
+                                break;
+                            }
+                        volume *= (1.0f - hollowVolume);
+                        }
+                    }
+                else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
+                    {
+                    volume *= 0.32475953f;
+                    volume *= 0.01f * (float)(200 - _pbs.PathScaleX);
+                    tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
+                    volume *= (1.0f - tmp * tmp);
+
+                    if (hollowAmount > 0.0)
+                        {
+
+                        hollowVolume *= hollowAmount;
+
+                        switch (_pbs.HollowShape)
+                            {
+                            case HollowShape.Same:
+                            case HollowShape.Triangle:
+                                hollowVolume *= .25f;
+                                break;
+
+                            case HollowShape.Square:
+                                hollowVolume *= 0.499849f * 3.07920140172638f;
+                                break;
+
+                            case HollowShape.Circle:
+
+                                hollowVolume *= 0.1963495f * 3.07920140172638f;
+                                break;
+
+                            default:
+                                hollowVolume = 0;
+                                break;
+                            }
+                        volume *= (1.0f - hollowVolume);
+                        }
+                    }
+                    break;
+
+            default:
+                break;
+            }
+
+
+
+        float taperX1;
+        float taperY1;
+        float taperX;
+        float taperY;
+        float pathBegin;
+        float pathEnd;
+        float profileBegin;
+        float profileEnd;
+
+        if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible)
+            {
+            taperX1 = _pbs.PathScaleX * 0.01f;
+            if (taperX1 > 1.0f)
+                taperX1 = 2.0f - taperX1;
+            taperX = 1.0f - taperX1;
+
+            taperY1 = _pbs.PathScaleY * 0.01f;
+            if (taperY1 > 1.0f)
+                taperY1 = 2.0f - taperY1;
+            taperY = 1.0f - taperY1;
+            }
+        else
+            {
+            taperX = _pbs.PathTaperX * 0.01f;
+            if (taperX < 0.0f)
+                taperX = -taperX;
+            taperX1 = 1.0f - taperX;
+
+            taperY = _pbs.PathTaperY * 0.01f;
+            if (taperY < 0.0f)
+                taperY = -taperY;
+            taperY1 = 1.0f - taperY;
+
+            }
+
+
+        volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY);
+
+        pathBegin = (float)_pbs.PathBegin * 2.0e-5f;
+        pathEnd = 1.0f - (float)_pbs.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;
+        volume *= (profileEnd - profileBegin);
+
+        returnMass = _density * volume;
+
+        if (IsRootOfLinkset)
+        {
+            foreach (BSPrim prim in _childrenPrims)
+            {
+                returnMass += prim.CalculateMass();
+            }
+        }
+
+        if (returnMass <= 0)
+            returnMass = 0.0001f;
+
+        if (returnMass > _scene.MaximumObjectMass)
+            returnMass = _scene.MaximumObjectMass;
+
+        return returnMass;
+    }// end CalculateMass
+    #endregion Mass Calculation
+
+    // 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
+    private void CreateGeom(bool forceRebuild)
+    {
+        // the mesher thought this was too simple to mesh. Use a native Bullet collision shape.
+        if (!_scene.NeedsMeshing(_pbs))
+        {
+            if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1)
+            {
+                if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z)
+                {
+                    // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size);
+                    _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE;
+                    // Bullet native objects are scaled by the Bullet engine so pass the size in
+                    _scale = _size;
+                }
+            }
+            else
+            {
+                // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, size={2}", LogHeader, LocalID, _size);
+                _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX;
+                _scale = _size;
+            }
+        }
+        else
+        {
+            if (IsPhysical)
+            {
+                if (forceRebuild || _hullKey == 0)
+                {
+                    // physical objects require a hull for interaction.
+                    // This will create the mesh if it doesn't already exist
+                    CreateGeomHull();
+                }
+            }
+            else
+            {
+                if (forceRebuild || _meshKey == 0)
+                {
+                    // Static (non-physical) objects only need a mesh for bumping into
+                    CreateGeomMesh();
+                }
+            }
+        }
+    }
+
+    // No locking here because this is done when we know physics is not simulating
+    private void CreateGeomMesh()
+    {
+        float lod = _pbs.SculptEntry ? _scene.SculptLOD : _scene.MeshLOD;
+        ulong newMeshKey = (ulong)_pbs.GetMeshKey(_size, lod);
+        // m_log.DebugFormat("{0}: CreateGeomMesh: lID={1}, oldKey={2}, newKey={3}", LogHeader, _localID, _meshKey, newMeshKey);
+
+        // if this new shape is the same as last time, don't recreate the mesh
+        if (_meshKey == newMeshKey) return;
+
+        // Since we're recreating new, get rid of any previously generated shape
+        if (_meshKey != 0)
+        {
+            // m_log.DebugFormat("{0}: CreateGeom: deleting old mesh. lID={1}, Key={2}", LogHeader, _localID, _meshKey);
+            BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey);
+            _mesh = null;
+            _meshKey = 0;
+        }
+
+        _meshKey = newMeshKey;
+        // always pass false for physicalness as this creates some sort of bounding box which we don't need
+        _mesh = _scene.mesher.CreateMesh(_avName, _pbs, _size, lod, false);
+
+        int[] indices = _mesh.getIndexListAsInt();
+        List<OMV.Vector3> vertices = _mesh.getVertexList();
+
+        float[] verticesAsFloats = new float[vertices.Count * 3];
+        int vi = 0;
+        foreach (OMV.Vector3 vv in vertices)
+        {
+            // m_log.DebugFormat("{0}:  {1}: <{2:0.00}, {3:0.00}, {4:0.00}>", LogHeader, vi / 3, vv.X, vv.Y, vv.Z);
+            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, _localID, _meshKey, indices.Length, vertices.Count);
+        BulletSimAPI.CreateMesh(_scene.WorldID, _meshKey, indices.GetLength(0), indices, 
+                                                        vertices.Count, verticesAsFloats);
+
+        _shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH;
+        // meshes are already scaled by the meshmerizer
+        _scale = new OMV.Vector3(1f, 1f, 1f);
+        return;
+    }
+
+    // No locking here because this is done when we know physics is not simulating
+    private void CreateGeomHull()
+    {
+        float lod = _pbs.SculptEntry ? _scene.SculptLOD : _scene.MeshLOD;
+        ulong newHullKey = (ulong)_pbs.GetMeshKey(_size, lod);
+        // m_log.DebugFormat("{0}: CreateGeomHull: lID={1}, oldKey={2}, newKey={3}", LogHeader, _localID, _hullKey, newHullKey);
+
+        // if the hull hasn't changed, don't rebuild it
+        if (newHullKey == _hullKey) return;
+
+        // Since we're recreating new, get rid of any previously generated shape
+        if (_hullKey != 0)
+        {
+            // m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey);
+            BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey);
+            _hullKey = 0;
+            _hulls.Clear();
+            BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey);
+            _mesh = null;   // the mesh cannot match either
+            _meshKey = 0;
+        }
+
+        _hullKey = newHullKey;
+        if (_meshKey != _hullKey)
+        {
+            // if the underlying mesh has changed, rebuild it
+            CreateGeomMesh();
+        }
+
+        int[] indices = _mesh.getIndexListAsInt();
+        List<OMV.Vector3> vertices = _mesh.getVertexList();
+
+        //format conversion from IMesh format to DecompDesc format
+        List<int> convIndices = new List<int>();
+        List<float3> convVertices = new List<float3>();
+        for (int ii = 0; ii < indices.GetLength(0); ii++)
+        {
+            convIndices.Add(indices[ii]);
+        }
+        foreach (OMV.Vector3 vv in vertices)
+        {
+            convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
+        }
+
+        // setup and do convex hull conversion
+        _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 = _hulls.Count;
+        int totalVertices = 1;          // include one for the count of the hulls
+        foreach (ConvexResult cr in _hulls)
+        {
+            totalVertices += 4;                         // add four for the vertex count and centroid
+            totalVertices += cr.HullIndices.Count * 3;  // we pass just triangles
+        }
+        float[] convHulls = new float[totalVertices];
+
+        convHulls[0] = (float)hullCount;
+        int jj = 1;
+        foreach (ConvexResult cr in _hulls)
+        {
+            // copy vertices for index access
+            float3[] verts = new float3[cr.HullVertices.Count];
+            int kk = 0;
+            foreach (float3 ff in cr.HullVertices)
+            {
+                verts[kk++] = ff;
+            }
+
+            // add to the array one hull's worth of data
+            convHulls[jj++] = cr.HullIndices.Count;
+            convHulls[jj++] = 0f;   // centroid x,y,z
+            convHulls[jj++] = 0f;
+            convHulls[jj++] = 0f;
+            foreach (int ind in cr.HullIndices)
+            {
+                convHulls[jj++] = verts[ind].x;
+                convHulls[jj++] = verts[ind].y;
+                convHulls[jj++] = verts[ind].z;
+            }
+        }
+
+        // create the hull definition in Bullet
+        // m_log.DebugFormat("{0}: CreateGeom: calling CreateHull. lid={1}, key={2}, hulls={3}", LogHeader, _localID, _hullKey, hullCount);
+        BulletSimAPI.CreateHull(_scene.WorldID, _hullKey, hullCount, convHulls);
+        _shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL;
+        // meshes are already scaled by the meshmerizer
+        _scale = new OMV.Vector3(1f, 1f, 1f);
+        return;
+    }
+
+    // Callback from convex hull creater with a newly created hull.
+    // Just add it to the collection of hulls for this shape.
+    private void HullReturn(ConvexResult result)
+    {
+        _hulls.Add(result);
+        return;
+    }
+
+    // Create an object in Bullet
+    // No locking here because this is done when the physics engine is not simulating
+    private void CreateObject()
+    {
+        if (IsRootOfLinkset)
+        {
+            // Create a linkset around this object
+            // CreateLinksetWithCompoundHull();
+            CreateLinksetWithConstraints();
+        }
+        else
+        {
+            // simple object
+            // the mesh or hull must have already been created in Bullet
+            ShapeData shape;
+            FillShapeInfo(out shape);
+            // m_log.DebugFormat("{0}: CreateObject: lID={1}, shape={2}", LogHeader, _localID, shape.Type);
+            BulletSimAPI.CreateObject(_scene.WorldID, shape);
+        }
+    }
+
+    // Create a linkset by creating a compound hull at the root prim that consists of all
+    // the children.
+    // NOTE: This does not allow proper collisions with the children prims so it is not a workable solution
+    void CreateLinksetWithCompoundHull()
+    {
+        // If I am the root prim of a linkset, replace my physical shape with all the
+        // pieces of the children.
+        // All of the children should have called CreateGeom so they have a hull
+        // in the physics engine already. Here we pull together all of those hulls
+        // into one shape.
+        int totalPrimsInLinkset = _childrenPrims.Count + 1;
+        // m_log.DebugFormat("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, totalPrimsInLinkset);
+        ShapeData[] shapes = new ShapeData[totalPrimsInLinkset];
+        FillShapeInfo(out shapes[0]);
+        int ii = 1;
+        foreach (BSPrim prim in _childrenPrims)
+        {
+            // m_log.DebugFormat("{0}: CreateLinkset: adding prim {1}", LogHeader, prim.LocalID);
+            prim.FillShapeInfo(out shapes[ii]);
+            ii++;
+        }
+        BulletSimAPI.CreateLinkset(_scene.WorldID, totalPrimsInLinkset, shapes);
+    }
+
+    // Copy prim's info into the BulletSim shape description structure
+    public void FillShapeInfo(out ShapeData shape)
+    {
+        shape.ID = _localID;
+        shape.Type = _shapeType;
+        shape.Position = _position;
+        shape.Rotation = _orientation;
+        shape.Velocity = _velocity;
+        shape.Scale = _scale;
+        shape.Mass = _isPhysical ? _mass : 0f;
+        shape.Buoyancy = _buoyancy;
+        shape.HullKey = _hullKey;
+        shape.MeshKey = _meshKey;
+        shape.Friction = _friction;
+        shape.Restitution = _restitution;
+        shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse;
+        shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue;
+    }
+
+    // Create the linkset by putting constraints between the objects of the set so they cannot move
+    // relative to each other.
+    // TODO: make this more effeicient: a large linkset gets rebuilt over and over and prims are added
+    void CreateLinksetWithConstraints()
+    {
+        // m_log.DebugFormat("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1);
+
+        // remove any constraints that might be in place
+        foreach (BSPrim prim in _childrenPrims)
+        {
+            // m_log.DebugFormat("{0}: CreateLinkset: RemoveConstraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID);
+            BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, prim.LocalID);
+        }
+        // create constraints between the root prim and each of the children
+        foreach (BSPrim prim in _childrenPrims)
+        {
+            // m_log.DebugFormat("{0}: CreateLinkset: AddConstraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID);
+
+            // Zero motion for children so they don't interpolate
+            prim.ZeroMotion();
+
+            // relative position normalized to the root prim
+            OMV.Vector3 childRelativePosition = (prim._position - this._position) * OMV.Quaternion.Inverse(this._orientation);
+
+            // relative rotation of the child to the parent
+            OMV.Quaternion relativeRotation = OMV.Quaternion.Inverse(prim._orientation) * this._orientation;
+
+            // this is a constraint that allows no freedom of movement between the two objects
+            // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
+            BulletSimAPI.AddConstraint(_scene.WorldID, LocalID, prim.LocalID, 
+                childRelativePosition,
+                relativeRotation,
+                OMV.Vector3.Zero,
+                OMV.Quaternion.Identity,
+                OMV.Vector3.Zero, OMV.Vector3.Zero,
+                OMV.Vector3.Zero, OMV.Vector3.Zero);
+        }
+    }
+
+    // Rebuild the geometry and object.
+    // This is called when the shape changes so we need to recreate the mesh/hull.
+    // No locking here because this is done when the physics engine is not simulating
+    private void RecreateGeomAndObject()
+    {
+        // m_log.DebugFormat("{0}: RecreateGeomAndObject. lID={1}", LogHeader, _localID);
+        CreateGeom(true);
+        CreateObject();
+        return;
+    }
+
+    // The physics engine says that properties have updated. Update same and inform
+    // the world that things have changed.
+    // TODO: do we really need to check for changed? Maybe just copy values and call RequestPhysicsterseUpdate()
+    enum UpdatedProperties {
+        Position      = 1 << 0,
+        Rotation      = 1 << 1,
+        Velocity      = 1 << 2,
+        Acceleration  = 1 << 3,
+        RotationalVel = 1 << 4
+    }
+
+    const float ROTATION_TOLERANCE = 0.01f;
+    const float VELOCITY_TOLERANCE = 0.001f;
+    const float POSITION_TOLERANCE = 0.05f;
+    const float ACCELERATION_TOLERANCE = 0.01f;
+    const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f;
+    const bool SHOULD_DAMP_UPDATES = false;
+
+    public void UpdateProperties(EntityProperties entprop)
+    {
+        UpdatedProperties changed = 0;
+        if (SHOULD_DAMP_UPDATES)
+        {
+            // assign to the local variables so the normal set action does not happen
+            // if (_position != entprop.Position)
+            if (!_position.ApproxEquals(entprop.Position, POSITION_TOLERANCE))
+            {
+                _position = entprop.Position;
+                // m_log.DebugFormat("{0}: UpdateProperties: id={1}, pos = {2}", LogHeader, LocalID, _position);
+                changed |= UpdatedProperties.Position;
+            }
+            // if (_orientation != entprop.Rotation)
+            if (!_orientation.ApproxEquals(entprop.Rotation, ROTATION_TOLERANCE))
+            {
+                _orientation = entprop.Rotation;
+                // m_log.DebugFormat("{0}: UpdateProperties: id={1}, rot = {2}", LogHeader, LocalID, _orientation);
+                changed |= UpdatedProperties.Rotation;
+            }
+            // if (_velocity != entprop.Velocity)
+            if (!_velocity.ApproxEquals(entprop.Velocity, VELOCITY_TOLERANCE))
+            {
+                _velocity = entprop.Velocity;
+                // m_log.DebugFormat("{0}: UpdateProperties: velocity = {1}", LogHeader, _velocity);
+                changed |= UpdatedProperties.Velocity;
+            }
+            // if (_acceleration != entprop.Acceleration)
+            if (!_acceleration.ApproxEquals(entprop.Acceleration, ACCELERATION_TOLERANCE))
+            {
+                _acceleration = entprop.Acceleration;
+                // m_log.DebugFormat("{0}: UpdateProperties: acceleration = {1}", LogHeader, _acceleration);
+                changed |= UpdatedProperties.Acceleration;
+            }
+            // if (_rotationalVelocity != entprop.RotationalVelocity)
+            if (!_rotationalVelocity.ApproxEquals(entprop.RotationalVelocity, ROTATIONAL_VELOCITY_TOLERANCE))
+            {
+                _rotationalVelocity = entprop.RotationalVelocity;
+                // m_log.DebugFormat("{0}: UpdateProperties: rotationalVelocity = {1}", LogHeader, _rotationalVelocity);
+                changed |= UpdatedProperties.RotationalVel;
+            }
+            if (changed != 0)
+            {
+                // m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation);
+                // Only update the position of single objects and linkset roots
+                if (this._parentPrim == null)
+                {
+                    // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation);
+                    base.RequestPhysicsterseUpdate();
+                }
+            }
+        }
+        else
+        {
+            // Don't check for damping here -- it's done in BulletSim and SceneObjectPart.
+
+            // Only updates only for individual prims and for the root object of a linkset.
+            if (this._parentPrim == null)
+            {
+                // Assign to the local variables so the normal set action does not happen
+                _position = entprop.Position;
+                _orientation = entprop.Rotation;
+                _velocity = entprop.Velocity;
+                _acceleration = entprop.Acceleration;
+                _rotationalVelocity = entprop.RotationalVelocity;
+                // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation);
+                base.RequestPhysicsterseUpdate();
+            }
+        }
+    }
+
+    // I've collided with something
+    public void Collide(uint collidingWith, ActorTypes type, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
+    {
+        // m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith);
+
+        // The following lines make IsColliding() and IsCollidingGround() work
+        _collidingStep = _scene.SimulationStep;
+        if (collidingWith == BSScene.TERRAIN_ID || collidingWith == BSScene.GROUNDPLANE_ID)
+        {
+            _collidingGroundStep = _scene.SimulationStep;
+        }
+
+        if (_subscribedEventsMs == 0) return;   // nothing in the object is waiting for collision events
+        // throttle the collisions to the number of milliseconds specified in the subscription
+        int nowTime = _scene.SimulationNowTime;
+        if (nowTime < (_lastCollisionTime + _subscribedEventsMs)) return;
+        _lastCollisionTime = nowTime;
+
+        // create the event for the collision
+        Dictionary<uint, ContactPoint> contactPoints = new Dictionary<uint, ContactPoint>();
+        contactPoints.Add(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
+        CollisionEventUpdate args = new CollisionEventUpdate(LocalID, (int)type, 1, contactPoints);
+        base.SendCollisionUpdate(args);
+    }
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
new file mode 100644
index 0000000..7704002
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -0,0 +1,860 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Runtime.InteropServices;
+using System.Text;
+using System.Threading;
+using Nini.Config;
+using log4net;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+using OpenMetaverse;
+using OpenSim.Region.Framework;
+
+// TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim)
+// Adjust character capsule size when height is adjusted (ScenePresence.SetHeight)
+// Test sculpties
+// Compute physics FPS reasonably
+// Based on material, set density and friction
+// More efficient memory usage in passing hull information from BSPrim to BulletSim
+// Four states of prim: Physical, regular, phantom and selected. Are we modeling these correctly?
+//     In SL one can set both physical and phantom (gravity, does not effect others, makes collisions with ground)
+//     At the moment, physical and phantom causes object to drop through the terrain
+// Should prim.link() and prim.delink() membership checking happen at taint time?
+// Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once
+// Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect
+// Implement the genCollisions feature in BulletSim::SetObjectProperties (don't pass up unneeded collisions)
+// Implement LockAngularMotion
+// Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation)
+// Does NeedsMeshing() really need to exclude all the different shapes?
+// 
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public class BSScene : PhysicsScene, IPhysicsParameters
+{
+    private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
+    private static readonly string LogHeader = "[BULLETS SCENE]";
+
+    public string BulletSimVersion = "?";
+
+    private Dictionary<uint, BSCharacter> m_avatars = new Dictionary<uint, BSCharacter>();
+    private Dictionary<uint, BSPrim> m_prims = new Dictionary<uint, BSPrim>();
+    private List<BSPrim> m_vehicles = new List<BSPrim>();
+    private float[] m_heightMap;
+    private float m_waterLevel;
+    private uint m_worldID;
+    public uint WorldID { get { return m_worldID; } }
+
+    private bool m_initialized = false;
+
+    public IMesher mesher;
+    private float m_meshLOD;
+    public float MeshLOD
+    {
+        get { return m_meshLOD; }
+    }
+    private float m_sculptLOD;
+    public float SculptLOD
+    {
+        get { return m_sculptLOD; }
+    }
+
+    private int m_maxSubSteps;
+    private float m_fixedTimeStep;
+    private long m_simulationStep = 0;
+    public long SimulationStep { get { return m_simulationStep; } }
+
+    // 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
+    private int m_simulationNowTime;
+    public int SimulationNowTime { get { return m_simulationNowTime; } }
+
+    private int m_maxCollisionsPerFrame;
+    private CollisionDesc[] m_collisionArray;
+    private GCHandle m_collisionArrayPinnedHandle;
+
+    private int m_maxUpdatesPerFrame;
+    private EntityProperties[] m_updateArray;
+    private GCHandle m_updateArrayPinnedHandle;
+
+    private bool _meshSculptedPrim = true;         // cause scuplted prims to get meshed
+    private bool _forceSimplePrimMeshing = false;   // if a cube or sphere, let Bullet do internal shapes
+
+    public const uint TERRAIN_ID = 0;       // OpenSim senses terrain with a localID of zero
+    public const uint GROUNDPLANE_ID = 1;
+
+    public ConfigurationParameters Params
+    {
+        get { return m_params[0]; }
+    }
+    public Vector3 DefaultGravity
+    {
+        get { return new Vector3(0f, 0f, Params.gravity); }
+    }
+
+    private float m_maximumObjectMass;
+    public float MaximumObjectMass
+    {
+        get { return m_maximumObjectMass; }
+    }
+
+    public delegate void TaintCallback();
+    private List<TaintCallback> _taintedObjects;
+    private Object _taintLock = new Object();
+
+    // A pointer to an instance if this structure is passed to the C++ code
+    ConfigurationParameters[] m_params;
+    GCHandle m_paramsHandle;
+
+    private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle;
+
+    public BSScene(string identifier)
+    {
+        m_initialized = false;
+    }
+
+    public override void Initialise(IMesher meshmerizer, IConfigSource config)
+    {
+        // Allocate pinned memory to pass parameters.
+        m_params = new ConfigurationParameters[1];
+        m_paramsHandle = GCHandle.Alloc(m_params, GCHandleType.Pinned);
+
+        // Set default values for physics parameters plus any overrides from the ini file
+        GetInitialParameterValues(config);
+
+        // allocate more pinned memory close to the above in an attempt to get the memory all together
+        m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame];
+        m_collisionArrayPinnedHandle = GCHandle.Alloc(m_collisionArray, GCHandleType.Pinned);
+        m_updateArray = new EntityProperties[m_maxUpdatesPerFrame];
+        m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned);
+
+        // Get the version of the DLL
+        // TODO: this doesn't work yet. Something wrong with marshaling the returned string.
+        // BulletSimVersion = BulletSimAPI.GetVersion();
+        // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion);
+
+        // if Debug, enable logging from the unmanaged code
+        if (m_log.IsDebugEnabled)
+        {
+            m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader);
+            m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger);
+            BulletSimAPI.SetDebugLogCallback(m_DebugLogCallbackHandle);
+        }
+
+        _taintedObjects = new List<TaintCallback>();
+
+        mesher = meshmerizer;
+        // The bounding box for the simulated world
+        Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, 4096f);
+
+        // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader);
+        m_worldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(),
+                                        m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
+                                        m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject());
+
+        m_initialized = true;
+    }
+
+    // All default parameter values are set here. There should be no values set in the
+    // variable definitions.
+    private void GetInitialParameterValues(IConfigSource config)
+    {
+        ConfigurationParameters parms = new ConfigurationParameters();
+
+        _meshSculptedPrim = true;           // mesh sculpted prims
+        _forceSimplePrimMeshing = false;    // use complex meshing if called for
+
+        m_meshLOD = 8f;
+        m_sculptLOD = 32f;
+
+        m_maxSubSteps = 10;
+        m_fixedTimeStep = 1f / 60f;
+        m_maxCollisionsPerFrame = 2048;
+        m_maxUpdatesPerFrame = 2048;
+        m_maximumObjectMass = 10000.01f;
+
+        parms.defaultFriction = 0.5f;
+        parms.defaultDensity = 10.000006836f; // Aluminum g/cm3
+        parms.defaultRestitution = 0f;
+        parms.collisionMargin = 0.0f;
+        parms.gravity = -9.80665f;
+
+        parms.linearDamping = 0.0f;
+        parms.angularDamping = 0.0f;
+        parms.deactivationTime = 0.2f;
+        parms.linearSleepingThreshold = 0.8f;
+        parms.angularSleepingThreshold = 1.0f;
+        parms.ccdMotionThreshold = 0.5f;    // set to zero to disable
+        parms.ccdSweptSphereRadius = 0.2f;
+
+        parms.terrainFriction = 0.5f;
+        parms.terrainHitFraction = 0.8f;
+        parms.terrainRestitution = 0f;
+        parms.avatarFriction = 0.0f;
+        parms.avatarDensity = 60f;
+        parms.avatarCapsuleRadius = 0.37f;
+        parms.avatarCapsuleHeight = 1.5f; // 2.140599f
+
+        if (config != null)
+        {
+            // If there are specifications in the ini file, use those values
+            // WHEN ADDING OR UPDATING THIS SECTION, BE SURE TO UPDATE OpenSimDefaults.ini
+            // ALSO REMEMBER TO UPDATE THE RUNTIME SETTING OF THE PARAMETERS.
+            IConfig pConfig = config.Configs["BulletSim"];
+            if (pConfig != null)
+            {
+                _meshSculptedPrim = pConfig.GetBoolean("MeshSculptedPrim", _meshSculptedPrim);
+                _forceSimplePrimMeshing = pConfig.GetBoolean("ForceSimplePrimMeshing", _forceSimplePrimMeshing);
+
+                m_meshLOD = pConfig.GetFloat("MeshLevelOfDetail", m_meshLOD);
+                m_sculptLOD = pConfig.GetFloat("SculptLevelOfDetail", m_sculptLOD);
+
+                m_maxSubSteps = pConfig.GetInt("MaxSubSteps", m_maxSubSteps);
+                m_fixedTimeStep = pConfig.GetFloat("FixedTimeStep", m_fixedTimeStep);
+                m_maxCollisionsPerFrame = pConfig.GetInt("MaxCollisionsPerFrame", m_maxCollisionsPerFrame);
+                m_maxUpdatesPerFrame = pConfig.GetInt("MaxUpdatesPerFrame", m_maxUpdatesPerFrame);
+                m_maximumObjectMass = pConfig.GetFloat("MaxObjectMass", m_maximumObjectMass);
+
+                parms.defaultFriction = pConfig.GetFloat("DefaultFriction", parms.defaultFriction);
+                parms.defaultDensity = pConfig.GetFloat("DefaultDensity", parms.defaultDensity);
+                parms.defaultRestitution = pConfig.GetFloat("DefaultRestitution", parms.defaultRestitution);
+                parms.collisionMargin = pConfig.GetFloat("CollisionMargin", parms.collisionMargin);
+                parms.gravity = pConfig.GetFloat("Gravity", parms.gravity);
+
+                parms.linearDamping = pConfig.GetFloat("LinearDamping", parms.linearDamping);
+                parms.angularDamping = pConfig.GetFloat("AngularDamping", parms.angularDamping);
+                parms.deactivationTime = pConfig.GetFloat("DeactivationTime", parms.deactivationTime);
+                parms.linearSleepingThreshold = pConfig.GetFloat("LinearSleepingThreshold", parms.linearSleepingThreshold);
+                parms.angularSleepingThreshold = pConfig.GetFloat("AngularSleepingThreshold", parms.angularSleepingThreshold);
+                parms.ccdMotionThreshold = pConfig.GetFloat("CcdMotionThreshold", parms.ccdMotionThreshold);
+                parms.ccdSweptSphereRadius = pConfig.GetFloat("CcdSweptSphereRadius", parms.ccdSweptSphereRadius);
+
+                parms.terrainFriction = pConfig.GetFloat("TerrainFriction", parms.terrainFriction);
+                parms.terrainHitFraction = pConfig.GetFloat("TerrainHitFraction", parms.terrainHitFraction);
+                parms.terrainRestitution = pConfig.GetFloat("TerrainRestitution", parms.terrainRestitution);
+                parms.avatarFriction = pConfig.GetFloat("AvatarFriction", parms.avatarFriction);
+                parms.avatarDensity = pConfig.GetFloat("AvatarDensity", parms.avatarDensity);
+                parms.avatarCapsuleRadius = pConfig.GetFloat("AvatarCapsuleRadius", parms.avatarCapsuleRadius);
+                parms.avatarCapsuleHeight = pConfig.GetFloat("AvatarCapsuleHeight", parms.avatarCapsuleHeight);
+            }
+        }
+        m_params[0] = parms;
+    }
+
+    // Called directly from unmanaged code so don't do much
+    private void BulletLogger(string msg)
+    {
+        m_log.Debug("[BULLETS UNMANAGED]:" + msg);
+    }
+
+    public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
+    {
+        m_log.ErrorFormat("{0}: CALL TO AddAvatar in BSScene. NOT IMPLEMENTED", LogHeader);
+        return null;
+    }
+
+    public override PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 size, bool isFlying)
+    {
+        // m_log.DebugFormat("{0}: AddAvatar: {1}", LogHeader, avName);
+        BSCharacter actor = new BSCharacter(localID, avName, this, position, size, isFlying);
+        lock (m_avatars) m_avatars.Add(localID, actor);
+        return actor;
+    }
+
+    public override void RemoveAvatar(PhysicsActor actor)
+    {
+        // m_log.DebugFormat("{0}: RemoveAvatar", LogHeader);
+        if (actor is BSCharacter)
+        {
+            ((BSCharacter)actor).Destroy();
+        }
+        try
+        {
+            lock (m_avatars) m_avatars.Remove(actor.LocalID);
+        }
+        catch (Exception e)
+        {
+            m_log.WarnFormat("{0}: Attempt to remove avatar that is not in physics scene: {1}", LogHeader, e);
+        }
+    }
+
+    public override void RemovePrim(PhysicsActor prim)
+    {
+        // m_log.DebugFormat("{0}: RemovePrim", LogHeader);
+        if (prim is BSPrim)
+        {
+            ((BSPrim)prim).Destroy();
+        }
+        try
+        {
+            lock (m_prims) m_prims.Remove(prim.LocalID);
+        }
+        catch (Exception e)
+        {
+            m_log.WarnFormat("{0}: Attempt to remove prim that is not in physics scene: {1}", LogHeader, e);
+        }
+    }
+
+    public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                              Vector3 size, Quaternion rotation, bool isPhysical, uint localID)
+    {
+        // m_log.DebugFormat("{0}: AddPrimShape2: {1}", LogHeader, primName);
+        BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical);
+        lock (m_prims) m_prims.Add(localID, prim);
+        return prim;
+    }
+
+    // This is a call from the simulator saying that some physical property has been updated.
+    // The BulletSim driver senses the changing of relevant properties so this taint 
+    // information call is not needed.
+    public override void AddPhysicsActorTaint(PhysicsActor prim) { }
+
+    // Simulate one timestep
+    public override float Simulate(float timeStep)
+    {
+        int updatedEntityCount;
+        IntPtr updatedEntitiesPtr;
+        int collidersCount;
+        IntPtr collidersPtr;
+
+        // prevent simulation until we've been initialized
+        if (!m_initialized) return 10.0f;
+
+        // update the prim states while we know the physics engine is not busy
+        ProcessTaints();
+
+        // Some of the prims operate with special vehicle properties
+        ProcessVehicles(timeStep);
+        ProcessTaints();    // the vehicles might have added taints
+
+        // step the physical world one interval
+        m_simulationStep++;
+        int numSubSteps = BulletSimAPI.PhysicsStep(m_worldID, timeStep, m_maxSubSteps, m_fixedTimeStep, 
+                    out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
+
+        // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in
+
+        // Get a value for 'now' so all the collision and update routines don't have to get their own
+        m_simulationNowTime = Util.EnvironmentTickCount();
+
+        // If there were collisions, process them by sending the event to the prim.
+        // Collisions must be processed before updates.
+        if (collidersCount > 0)
+        {
+            for (int ii = 0; ii < collidersCount; ii++)
+            {
+                uint cA = m_collisionArray[ii].aID;
+                uint cB = m_collisionArray[ii].bID;
+                Vector3 point = m_collisionArray[ii].point;
+                Vector3 normal = m_collisionArray[ii].normal;
+                SendCollision(cA, cB, point, normal, 0.01f);
+                SendCollision(cB, cA, point, -normal, 0.01f);
+            }
+        }
+
+        // If any of the objects had updated properties, tell the object it has been changed by the physics engine
+        if (updatedEntityCount > 0)
+        {
+            for (int ii = 0; ii < updatedEntityCount; ii++)
+            {
+                EntityProperties entprop = m_updateArray[ii];
+                // m_log.DebugFormat("{0}: entprop[{1}]: id={2}, pos={3}", LogHeader, ii, entprop.ID, entprop.Position);
+                BSCharacter actor;
+                if (m_avatars.TryGetValue(entprop.ID, out actor))
+                {
+                    actor.UpdateProperties(entprop);
+                    continue;
+                }
+                BSPrim prim;
+                if (m_prims.TryGetValue(entprop.ID, out prim))
+                {
+                    prim.UpdateProperties(entprop);
+                }
+            }
+        }
+
+        // TODO: FIX THIS: fps calculation wrong. This calculation always returns about 1 in normal operation.
+        return timeStep / (numSubSteps * m_fixedTimeStep) * 1000f;
+    }
+
+    // Something has collided
+    private void SendCollision(uint localID, uint collidingWith, Vector3 collidePoint, Vector3 collideNormal, float penitration)
+    {
+        if (localID == TERRAIN_ID || localID == GROUNDPLANE_ID)
+        {
+            return;         // don't send collisions to the terrain
+        }
+
+        ActorTypes type = ActorTypes.Prim;
+        if (collidingWith == TERRAIN_ID || collidingWith == GROUNDPLANE_ID)
+            type = ActorTypes.Ground;
+        else if (m_avatars.ContainsKey(collidingWith))
+            type = ActorTypes.Agent;
+
+        BSPrim prim;
+        if (m_prims.TryGetValue(localID, out prim)) {
+            prim.Collide(collidingWith, type, collidePoint, collideNormal, penitration);
+            return;
+        }
+        BSCharacter actor;
+        if (m_avatars.TryGetValue(localID, out actor)) {
+            actor.Collide(collidingWith, type, collidePoint, collideNormal, penitration);
+            return;
+        }
+        return;
+    }
+
+    public override void GetResults() { }
+
+    public override void SetTerrain(float[] heightMap) {
+        m_heightMap = heightMap;
+        this.TaintedObject(delegate()
+        {
+            BulletSimAPI.SetHeightmap(m_worldID, m_heightMap);
+        });
+    }
+
+    public float GetTerrainHeightAtXY(float tX, float tY)
+    {
+        return m_heightMap[((int)tX) * Constants.RegionSize + ((int)tY)];
+    }
+
+    public override void SetWaterLevel(float baseheight) 
+    {
+        m_waterLevel = baseheight;
+    }
+    public float GetWaterLevel()
+    {
+        return m_waterLevel;
+    }
+
+    public override void DeleteTerrain() 
+    {
+        m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader);
+    }
+
+    public override void Dispose()
+    {
+        m_log.DebugFormat("{0}: Dispose()", LogHeader);
+    }
+
+    public override Dictionary<uint, float> GetTopColliders()
+    {
+        return new Dictionary<uint, float>();
+    }
+
+    public override bool IsThreaded { get { return false;  } }
+
+    /// <summary>
+    /// Routine to figure out if we need to mesh this prim with our mesher
+    /// </summary>
+    /// <param name="pbs"></param>
+    /// <returns>true if the prim needs meshing</returns>
+    public bool NeedsMeshing(PrimitiveBaseShape pbs)
+    {
+        // most of this is redundant now as the mesher will return null if it cant mesh a prim
+        // but we still need to check for sculptie meshing being enabled so this is the most
+        // convenient place to do it for now...
+
+        // int iPropertiesNotSupportedDefault = 0;
+
+        if (pbs.SculptEntry && !_meshSculptedPrim)
+        {
+            // Render sculpties as boxes
+            return false;
+        }
+
+        // if it's a standard box or sphere with no cuts, hollows, twist or top shear, return false since Bullet 
+        // can use an internal representation for the prim
+        if (!_forceSimplePrimMeshing)
+        {
+            if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
+                || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1
+                        && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z))
+            {
+
+                if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
+                    && pbs.ProfileHollow == 0
+                    && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
+                    && pbs.PathBegin == 0 && pbs.PathEnd == 0
+                    && pbs.PathTaperX == 0 && pbs.PathTaperY == 0
+                    && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
+                    && pbs.PathShearX == 0 && pbs.PathShearY == 0)
+                {
+                    return false;
+                }
+            }
+        }
+
+        /*  TODO: verify that the mesher will now do all these shapes
+        if (pbs.ProfileHollow != 0)
+            iPropertiesNotSupportedDefault++;
+
+        if ((pbs.PathBegin != 0) || pbs.PathEnd != 0)
+            iPropertiesNotSupportedDefault++;
+
+        if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0))
+            iPropertiesNotSupportedDefault++; 
+
+        if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0)
+            iPropertiesNotSupportedDefault++;
+
+        if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100))
+            iPropertiesNotSupportedDefault++;
+
+        if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0))
+            iPropertiesNotSupportedDefault++;
+
+        if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight)
+            iPropertiesNotSupportedDefault++;
+
+        if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 && (pbs.Scale.X != pbs.Scale.Y || pbs.Scale.Y != pbs.Scale.Z || pbs.Scale.Z != pbs.Scale.X))
+            iPropertiesNotSupportedDefault++;
+
+        if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte) Extrusion.Curve1)
+            iPropertiesNotSupportedDefault++;
+
+        // test for torus
+        if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square)
+        {
+            if (pbs.PathCurve == (byte)Extrusion.Curve1)
+            {
+                iPropertiesNotSupportedDefault++;
+            }
+        }
+        else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle)
+        {
+            if (pbs.PathCurve == (byte)Extrusion.Straight)
+            {
+                iPropertiesNotSupportedDefault++;
+            }
+            // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits
+            else if (pbs.PathCurve == (byte)Extrusion.Curve1)
+            {
+                iPropertiesNotSupportedDefault++;
+            }
+        }
+        else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle)
+        {
+            if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2)
+            {
+                iPropertiesNotSupportedDefault++;
+            }
+        }
+        else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle)
+        {
+            if (pbs.PathCurve == (byte)Extrusion.Straight)
+            {
+                iPropertiesNotSupportedDefault++;
+            }
+            else if (pbs.PathCurve == (byte)Extrusion.Curve1)
+            {
+                iPropertiesNotSupportedDefault++;
+            }
+        }
+        if (iPropertiesNotSupportedDefault == 0)
+        {
+            return false;
+        }
+         */
+        return true; 
+    }
+
+    // The calls to the PhysicsActors can't directly call into the physics engine
+    // because it might be busy. We we delay changes to a known time.
+    // We rely on C#'s closure to save and restore the context for the delegate.
+    public void TaintedObject(TaintCallback callback)
+    {
+        lock (_taintLock)
+            _taintedObjects.Add(callback);
+        return;
+    }
+
+    // When someone tries to change a property on a BSPrim or BSCharacter, the object queues
+    // a callback into itself to do the actual property change. That callback is called
+    // here just before the physics engine is called to step the simulation.
+    public void ProcessTaints()
+    {
+        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
+            List<TaintCallback> oldList;
+            lock (_taintLock)
+            {
+                oldList = _taintedObjects;
+                _taintedObjects = new List<TaintCallback>();
+            }
+
+            foreach (TaintCallback callback in oldList)
+            {
+                try
+                {
+                    callback();
+                }
+                catch (Exception e)
+                {
+                    m_log.ErrorFormat("{0}: ProcessTaints: Exception: {1}", LogHeader, e);
+                }
+            }
+            oldList.Clear();
+        }
+    }
+
+    #region Vehicles
+    // Make so the scene will call this prim for vehicle actions each tick.
+    // Safe to call if prim is already in the vehicle list.
+    public void AddVehiclePrim(BSPrim vehicle)
+    {
+        lock (m_vehicles)
+        {
+            if (!m_vehicles.Contains(vehicle))
+            {
+                m_vehicles.Add(vehicle);
+            }
+        }
+    }
+
+    // Remove a prim from our list of vehicles.
+    // Safe to call if the prim is not in the vehicle list.
+    public void RemoveVehiclePrim(BSPrim vehicle)
+    {
+        lock (m_vehicles)
+        {
+            if (m_vehicles.Contains(vehicle))
+            {
+                m_vehicles.Remove(vehicle);
+            }
+        }
+    }
+
+    // Some prims have extra vehicle actions
+    // no locking because only called when physics engine is not busy
+    private void ProcessVehicles(float timeStep)
+    {
+        foreach (BSPrim prim in m_vehicles)
+        {
+            prim.StepVehicle(timeStep);
+        }
+    }
+    #endregion Vehicles
+
+    #region Runtime settable parameters
+    public static PhysParameterEntry[] SettableParameters = new PhysParameterEntry[]
+    {
+        new PhysParameterEntry("MeshLOD", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)"),
+        new PhysParameterEntry("SculptLOD", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)"),
+        new PhysParameterEntry("MaxSubStep", "In simulation step, maximum number of substeps"),
+        new PhysParameterEntry("FixedTimeStep", "In simulation step, seconds of one substep (1/60)"),
+        new PhysParameterEntry("MaxObjectMass", "Maximum object mass (10000.01)"),
+
+        new PhysParameterEntry("DefaultFriction", "Friction factor used on new objects"),
+        new PhysParameterEntry("DefaultDensity", "Density for new objects" ),
+        new PhysParameterEntry("DefaultRestitution", "Bouncyness of an object" ),
+        // new PhysParameterEntry("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!!)" ),
+        new PhysParameterEntry("Gravity", "Vertical force of gravity (negative means down)" ),
+
+        new PhysParameterEntry("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)" ),
+        new PhysParameterEntry("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)" ),
+        new PhysParameterEntry("DeactivationTime", "Seconds before considering an object potentially static" ),
+        new PhysParameterEntry("LinearSleepingThreshold", "Seconds to measure linear movement before considering static" ),
+        new PhysParameterEntry("AngularSleepingThreshold", "Seconds to measure angular movement before considering static" ),
+        // new PhysParameterEntry("CcdMotionThreshold", "" ),
+        // new PhysParameterEntry("CcdSweptSphereRadius", "" ),
+
+        new PhysParameterEntry("TerrainFriction", "Factor to reduce movement against terrain surface" ),
+        new PhysParameterEntry("TerrainHitFraction", "Distance to measure hit collisions" ),
+        new PhysParameterEntry("TerrainRestitution", "Bouncyness" ),
+        new PhysParameterEntry("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation." ),
+        new PhysParameterEntry("AvatarDensity", "Density of an avatar. Changed on avatar recreation." ),
+        new PhysParameterEntry("AvatarRestitution", "Bouncyness. Changed on avatar recreation." ),
+        new PhysParameterEntry("AvatarCapsuleRadius", "Radius of space around an avatar" ),
+        new PhysParameterEntry("AvatarCapsuleHeight", "Default height of space around avatar" )
+    };
+
+    #region IPhysicsParameters
+    // Get the list of parameters this physics engine supports
+    public PhysParameterEntry[] GetParameterList()
+    {
+        return SettableParameters;
+    }
+
+    // Set parameter on a specific or all instances.
+    // Return 'false' if not able to set the parameter.
+    // Setting the value in the m_params block will change the value the physics engine
+    //   will use the next time since it's pinned and shared memory.
+    // Some of the values require calling into the physics engine to get the new
+    //   value activated ('terrainFriction' for instance).
+    public bool SetPhysicsParameter(string parm, float val, uint localID)
+    {
+        bool ret = true;
+        string lparm = parm.ToLower();
+        switch (lparm)
+        {
+            case "meshlod": m_meshLOD = (int)val; break;
+            case "sculptlod": m_sculptLOD = (int)val; break;
+            case "maxsubstep": m_maxSubSteps = (int)val; break;
+            case "fixedtimestep": m_fixedTimeStep = val; break;
+            case "maxobjectmass": m_maximumObjectMass = val; break;
+
+            case "defaultfriction": m_params[0].defaultFriction = val; break;
+            case "defaultdensity": m_params[0].defaultDensity = val; break;
+            case "defaultrestitution": m_params[0].defaultRestitution = val; break;
+            case "collisionmargin": m_params[0].collisionMargin = val; break;
+            case "gravity": m_params[0].gravity = val;  TaintedUpdateParameter(lparm, PhysParameterEntry.APPLY_TO_NONE, val); break;
+
+            case "lineardamping": UpdateParameterPrims(ref m_params[0].linearDamping, lparm, localID, val); break;
+            case "angulardamping": UpdateParameterPrims(ref m_params[0].angularDamping, lparm, localID, val); break;
+            case "deactivationtime": UpdateParameterPrims(ref m_params[0].deactivationTime, lparm, localID, val); break;
+            case "linearsleepingthreshold": UpdateParameterPrims(ref m_params[0].linearSleepingThreshold, lparm, localID, val); break;
+            case "angularsleepingthreshold": UpdateParameterPrims(ref m_params[0].angularDamping, lparm, localID, val); break;
+            case "ccdmotionthreshold": UpdateParameterPrims(ref m_params[0].ccdMotionThreshold, lparm, localID, val); break;
+            case "ccdsweptsphereradius": UpdateParameterPrims(ref m_params[0].ccdSweptSphereRadius, lparm, localID, val); break;
+
+            // set a terrain physical feature and cause terrain to be recalculated
+            case "terrainfriction": m_params[0].terrainFriction = val; TaintedUpdateParameter("terrain", 0, val); break;
+            case "terrainhitfraction": m_params[0].terrainHitFraction = val; TaintedUpdateParameter("terrain", 0, val); break;
+            case "terrainrestitution": m_params[0].terrainRestitution = val; TaintedUpdateParameter("terrain", 0, val); break;
+            // set an avatar physical feature and cause avatar(s) to be recalculated
+            case "avatarfriction": UpdateParameterAvatars(ref m_params[0].avatarFriction, "avatar", localID, val); break;
+            case "avatardensity": UpdateParameterAvatars(ref m_params[0].avatarDensity, "avatar", localID, val);  break;
+            case "avatarrestitution": UpdateParameterAvatars(ref m_params[0].avatarRestitution, "avatar", localID, val); break;
+            case "avatarcapsuleradius": UpdateParameterAvatars(ref m_params[0].avatarCapsuleRadius, "avatar", localID, val);  break;
+            case "avatarcapsuleheight": UpdateParameterAvatars(ref m_params[0].avatarCapsuleHeight, "avatar", localID, val);  break;
+
+            default: ret = false; break;
+        }
+        return ret;
+    }
+
+    // check to see if we are updating a parameter for a particular or all of the prims
+    private void UpdateParameterPrims(ref float loc, string parm, uint localID, float val)
+    {
+        List<uint> operateOn;
+        lock (m_prims) operateOn = new List<uint>(m_prims.Keys);
+        UpdateParameterSet(operateOn, ref loc, parm, localID, val);
+    }
+
+    // check to see if we are updating a parameter for a particular or all of the avatars
+    private void UpdateParameterAvatars(ref float loc, string parm, uint localID, float val)
+    {
+        List<uint> operateOn;
+        lock (m_avatars) operateOn = new List<uint>(m_avatars.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
+    private void UpdateParameterSet(List<uint> lIDs, ref float defaultLoc, string parm, uint localID, float val)
+    {
+        switch (localID)
+        {
+            case PhysParameterEntry.APPLY_TO_NONE:
+                defaultLoc = val;   // setting only the default value
+                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(delegate() {
+                    foreach (uint lID in objectIDs)
+                    {
+                        BulletSimAPI.UpdateParameter(m_worldID, lID, xparm, xval);
+                    }
+                });
+                break;
+            default: 
+                // setting only one localID
+                TaintedUpdateParameter(parm, localID, val);
+                break;
+        }
+    }
+
+    // schedule the actual updating of the paramter to when the phys engine is not busy
+    private void TaintedUpdateParameter(string parm, uint localID, float val)
+    {
+        uint xlocalID = localID;
+        string xparm = parm.ToLower();
+        float xval = val;
+        TaintedObject(delegate() {
+            BulletSimAPI.UpdateParameter(m_worldID, xlocalID, xparm, xval);
+        });
+    }
+
+    // Get parameter.
+    // Return 'false' if not able to get the parameter.
+    public bool GetPhysicsParameter(string parm, out float value)
+    {
+        float val = 0f;
+        bool ret = true;
+        switch (parm.ToLower())
+        {
+            case "meshlod": val = (float)m_meshLOD; break;
+            case "sculptlod": val = (float)m_sculptLOD; break;
+            case "maxsubstep": val = (float)m_maxSubSteps; break;
+            case "fixedtimestep": val = m_fixedTimeStep; break;
+            case "maxobjectmass": val = m_maximumObjectMass; break;
+
+            case "defaultfriction": val = m_params[0].defaultFriction; break;
+            case "defaultdensity": val = m_params[0].defaultDensity; break;
+            case "defaultrestitution": val = m_params[0].defaultRestitution; break;
+            case "collisionmargin": val = m_params[0].collisionMargin; break;
+            case "gravity": val = m_params[0].gravity; break;
+
+            case "lineardamping": val = m_params[0].linearDamping; break;
+            case "angulardamping": val = m_params[0].angularDamping; break;
+            case "deactivationtime": val = m_params[0].deactivationTime; break;
+            case "linearsleepingthreshold": val = m_params[0].linearSleepingThreshold; break;
+            case "angularsleepingthreshold": val = m_params[0].angularDamping; break;
+            case "ccdmotionthreshold": val = m_params[0].ccdMotionThreshold; break;
+            case "ccdsweptsphereradius": val = m_params[0].ccdSweptSphereRadius; break;
+
+            case "terrainfriction": val = m_params[0].terrainFriction; break;
+            case "terrainhitfraction": val = m_params[0].terrainHitFraction; break;
+            case "terrainrestitution": val = m_params[0].terrainRestitution; break;
+
+            case "avatarfriction": val = m_params[0].avatarFriction; break;
+            case "avatardensity": val = m_params[0].avatarDensity; break;
+            case "avatarrestitution": val = m_params[0].avatarRestitution; break;
+            case "avatarcapsuleradius": val = m_params[0].avatarCapsuleRadius; break;
+            case "avatarcapsuleheight": val = m_params[0].avatarCapsuleHeight; break;
+            default: ret = false; break;
+
+        }
+        value = val;
+        return ret;
+    }
+
+    #endregion IPhysicsParameters
+
+    #endregion Runtime settable parameters
+
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
new file mode 100644
index 0000000..a610c8d
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -0,0 +1,257 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Runtime.InteropServices;
+using System.Security;
+using System.Text;
+using OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin {
+
+[StructLayout(LayoutKind.Sequential)]
+public struct ConvexHull 
+{
+        Vector3 Offset;
+        int VertexCount;
+        Vector3[] Vertices;
+}
+[StructLayout(LayoutKind.Sequential)]
+public struct ShapeData 
+{
+    public enum PhysicsShapeType
+    {
+                SHAPE_AVATAR = 0,
+                SHAPE_BOX = 1,
+                SHAPE_CONE = 2,
+                SHAPE_CYLINDER = 3,
+                SHAPE_SPHERE = 4,
+                SHAPE_MESH = 5,
+                SHAPE_HULL = 6
+    };
+    public uint ID;
+    public PhysicsShapeType Type;
+    public Vector3 Position;
+    public Quaternion Rotation;
+    public Vector3 Velocity;
+    public Vector3 Scale;
+    public float Mass;
+    public float Buoyancy;
+    public System.UInt64 HullKey;
+    public System.UInt64 MeshKey;
+    public float Friction;
+    public float Restitution;
+    public int Collidable;
+    public int Static;  // true if a static object. Otherwise gravity, etc.
+
+    // note that bools are passed as ints since bool size changes by language and architecture
+    public const int numericTrue = 1;
+    public const int numericFalse = 0;
+}
+[StructLayout(LayoutKind.Sequential)]
+public struct SweepHit 
+{
+    public uint ID;
+    public float Fraction;
+    public Vector3 Normal;
+    public Vector3 Point;
+}
+[StructLayout(LayoutKind.Sequential)]
+public struct RaycastHit
+{
+    public uint ID;
+    public float Fraction;
+    public Vector3 Normal;
+}
+[StructLayout(LayoutKind.Sequential)]
+public struct CollisionDesc
+{
+    public uint aID;
+    public uint bID;
+    public Vector3 point;
+    public Vector3 normal;
+}
+[StructLayout(LayoutKind.Sequential)]
+public struct EntityProperties
+{
+    public uint ID;
+    public Vector3 Position;
+    public Quaternion Rotation;
+    public Vector3 Velocity;
+    public Vector3 Acceleration;
+    public Vector3 RotationalVelocity;
+}
+
+// Format of this structure must match the definition in the C++ code
+[StructLayout(LayoutKind.Sequential)]
+public struct ConfigurationParameters
+{
+    public float defaultFriction;
+    public float defaultDensity;
+    public float defaultRestitution;
+    public float collisionMargin;
+    public float gravity;
+
+    public float linearDamping;
+    public float angularDamping;
+    public float deactivationTime;
+    public float linearSleepingThreshold;
+    public float angularSleepingThreshold;
+        public float ccdMotionThreshold;
+        public float ccdSweptSphereRadius;
+
+    public float terrainFriction;
+    public float terrainHitFraction;
+    public float terrainRestitution;
+    public float avatarFriction;
+    public float avatarDensity;
+    public float avatarRestitution;
+    public float avatarCapsuleRadius;
+    public float avatarCapsuleHeight;
+
+    public const float numericTrue = 1f;
+    public const float numericFalse = 0f;
+}
+
+static class BulletSimAPI {
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+[return: MarshalAs(UnmanagedType.LPStr)]
+public static extern string GetVersion();
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern uint Initialize(Vector3 maxPosition, IntPtr parms, 
+                        int maxCollisions, IntPtr collisionArray, 
+                        int maxUpdates, IntPtr updateArray);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool UpdateParameter(uint worldID, uint localID,
+                        [MarshalAs(UnmanagedType.LPStr)]string paramCode, float value);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void Shutdown(uint worldID);
+
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep, 
+                        out int updatedEntityCount, 
+                        out IntPtr updatedEntitiesPtr,
+                        out int collidersCount,
+                        out IntPtr collidersPtr);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool CreateHull(uint worldID, System.UInt64 meshKey, 
+                            int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls
+    );
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey, 
+                            int indexCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
+                            int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices
+    );
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool DestroyHull(uint worldID, System.UInt64 meshKey);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool DestroyMesh(uint worldID, System.UInt64 meshKey);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool CreateObject(uint worldID, ShapeData shapeData);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void CreateLinkset(uint worldID, int objectCount, ShapeData[] shapeDatas);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void AddConstraint(uint worldID, uint id1, uint id2, 
+                        Vector3 frame1, Quaternion frame1rot,
+                        Vector3 frame2, Quaternion frame2rot,
+                        Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool RemoveConstraintByID(uint worldID, uint id1);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool RemoveConstraint(uint worldID, uint id1, uint id2);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetObjectPosition(uint WorldID, uint id);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetObjectTranslation(uint worldID, uint id, Vector3 position, Quaternion rotation);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetObjectVelocity(uint worldID, uint id, Vector3 velocity);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetObjectAngularVelocity(uint worldID, uint id, Vector3 angularVelocity);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetObjectForce(uint worldID, uint id, Vector3 force);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetObjectScaleMass(uint worldID, uint id, Vector3 scale, float mass, bool isDynamic);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetObjectCollidable(uint worldID, uint id, bool phantom);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetObjectDynamic(uint worldID, uint id, bool isDynamic, float mass);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetObjectGhost(uint worldID, uint id, bool ghostly);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetObjectProperties(uint worldID, uint id, bool isStatic, bool isSolid, bool genCollisions, float mass);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetObjectBuoyancy(uint worldID, uint id, float buoyancy);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool HasObject(uint worldID, uint id);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool DestroyObject(uint worldID, uint id);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern SweepHit ConvexSweepTest(uint worldID, uint id, Vector3 to, float extraMargin);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern RaycastHit RayTest(uint worldID, uint id, Vector3 from, Vector3 to);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 RecoverFromPenetration(uint worldID, uint id);
+
+// Log a debug message
+[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
+public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetDebugLogCallback(DebugLogCallback callback);
+}
+}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/CTri.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/CTri.cs
new file mode 100644
index 0000000..4d84c44
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/CTri.cs
@@ -0,0 +1,341 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+using System.Collections.Generic;
+
+namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
+{
+    public class Wpoint
+    {
+        public float3 mPoint;
+        public float mWeight;
+
+        public Wpoint(float3 p, float w)
+        {
+            mPoint = p;
+            mWeight = w;
+        }
+    }
+
+    public class CTri
+    {
+        private const int WSCALE = 4;
+
+        public float3 mP1;
+        public float3 mP2;
+        public float3 mP3;
+        public float3 mNear1;
+        public float3 mNear2;
+        public float3 mNear3;
+        public float3 mNormal;
+        public float mPlaneD;
+        public float mConcavity;
+        public float mC1;
+        public float mC2;
+        public float mC3;
+        public int mI1;
+        public int mI2;
+        public int mI3;
+        public int mProcessed; // already been added...
+
+        public CTri(float3 p1, float3 p2, float3 p3, int i1, int i2, int i3)
+        {
+            mProcessed = 0;
+            mI1 = i1;
+            mI2 = i2;
+            mI3 = i3;
+
+            mP1 = new float3(p1);
+            mP2 = new float3(p2);
+            mP3 = new float3(p3);
+
+            mNear1 = new float3();
+            mNear2 = new float3();
+            mNear3 = new float3();
+
+            mNormal = new float3();
+            mPlaneD = mNormal.ComputePlane(mP1, mP2, mP3);
+        }
+
+        public float Facing(CTri t)
+        {
+            return float3.dot(mNormal, t.mNormal);
+        }
+
+        public bool clip(float3 start, ref float3 end)
+        {
+            float3 sect = new float3();
+            bool hit = lineIntersectsTriangle(start, end, mP1, mP2, mP3, ref sect);
+
+            if (hit)
+                end = sect;
+            return hit;
+        }
+
+        public bool Concave(float3 p, ref float distance, ref float3 n)
+        {
+            n.NearestPointInTriangle(p, mP1, mP2, mP3);
+            distance = p.Distance(n);
+            return true;
+        }
+
+        public void addTri(int[] indices, int i1, int i2, int i3, ref int tcount)
+        {
+            indices[tcount * 3 + 0] = i1;
+            indices[tcount * 3 + 1] = i2;
+            indices[tcount * 3 + 2] = i3;
+            tcount++;
+        }
+
+        public float getVolume()
+        {
+            int[] indices = new int[8 * 3];
+
+            int tcount = 0;
+
+            addTri(indices, 0, 1, 2, ref tcount);
+            addTri(indices, 3, 4, 5, ref tcount);
+
+            addTri(indices, 0, 3, 4, ref tcount);
+            addTri(indices, 0, 4, 1, ref tcount);
+
+            addTri(indices, 1, 4, 5, ref tcount);
+            addTri(indices, 1, 5, 2, ref tcount);
+
+            addTri(indices, 0, 3, 5, ref tcount);
+            addTri(indices, 0, 5, 2, ref tcount);
+
+            List<float3> vertices = new List<float3> { mP1, mP2, mP3, mNear1, mNear2, mNear3 };
+            List<int> indexList = new List<int>(indices);
+
+            float v = Concavity.computeMeshVolume(vertices, indexList);
+            return v;
+        }
+
+        public float raySect(float3 p, float3 dir, ref float3 sect)
+        {
+            float4 plane = new float4();
+
+            plane.x = mNormal.x;
+            plane.y = mNormal.y;
+            plane.z = mNormal.z;
+            plane.w = mPlaneD;
+
+            float3 dest = p + dir * 100000f;
+
+            intersect(p, dest, ref sect, plane);
+
+            return sect.Distance(p); // return the intersection distance
+        }
+
+        public float planeDistance(float3 p)
+        {
+            float4 plane = new float4();
+
+            plane.x = mNormal.x;
+            plane.y = mNormal.y;
+            plane.z = mNormal.z;
+            plane.w = mPlaneD;
+
+            return DistToPt(p, plane);
+        }
+
+        public bool samePlane(CTri t)
+        {
+            const float THRESH = 0.001f;
+            float dd = Math.Abs(t.mPlaneD - mPlaneD);
+            if (dd > THRESH)
+                return false;
+            dd = Math.Abs(t.mNormal.x - mNormal.x);
+            if (dd > THRESH)
+                return false;
+            dd = Math.Abs(t.mNormal.y - mNormal.y);
+            if (dd > THRESH)
+                return false;
+            dd = Math.Abs(t.mNormal.z - mNormal.z);
+            if (dd > THRESH)
+                return false;
+            return true;
+        }
+
+        public bool hasIndex(int i)
+        {
+            if (i == mI1 || i == mI2 || i == mI3)
+                return true;
+            return false;
+        }
+
+        public bool sharesEdge(CTri t)
+        {
+            bool ret = false;
+            uint count = 0;
+
+            if (t.hasIndex(mI1))
+                count++;
+            if (t.hasIndex(mI2))
+                count++;
+            if (t.hasIndex(mI3))
+                count++;
+
+            if (count >= 2)
+                ret = true;
+
+            return ret;
+        }
+
+        public float area()
+        {
+            float a = mConcavity * mP1.Area(mP2, mP3);
+            return a;
+        }
+
+        public void addWeighted(List<Wpoint> list)
+        {
+            Wpoint p1 = new Wpoint(mP1, mC1);
+            Wpoint p2 = new Wpoint(mP2, mC2);
+            Wpoint p3 = new Wpoint(mP3, mC3);
+
+            float3 d1 = mNear1 - mP1;
+            float3 d2 = mNear2 - mP2;
+            float3 d3 = mNear3 - mP3;
+
+            d1 *= WSCALE;
+            d2 *= WSCALE;
+            d3 *= WSCALE;
+
+            d1 = d1 + mP1;
+            d2 = d2 + mP2;
+            d3 = d3 + mP3;
+
+            Wpoint p4 = new Wpoint(d1, mC1);
+            Wpoint p5 = new Wpoint(d2, mC2);
+            Wpoint p6 = new Wpoint(d3, mC3);
+
+            list.Add(p1);
+            list.Add(p2);
+            list.Add(p3);
+
+            list.Add(p4);
+            list.Add(p5);
+            list.Add(p6);
+        }
+
+        private static float DistToPt(float3 p, float4 plane)
+            {
+                    float x = p.x;
+                    float y = p.y;
+                    float z = p.z;
+                    float d = x*plane.x + y*plane.y + z*plane.z + plane.w;
+                    return d;
+            }
+
+        private static void intersect(float3 p1, float3 p2, ref float3 split, float4 plane)
+        {
+            float dp1 = DistToPt(p1, plane);
+
+            float3 dir = new float3();
+            dir.x = p2[0] - p1[0];
+            dir.y = p2[1] - p1[1];
+            dir.z = p2[2] - p1[2];
+
+            float dot1 = dir[0] * plane[0] + dir[1] * plane[1] + dir[2] * plane[2];
+            float dot2 = dp1 - plane[3];
+
+            float t = -(plane[3] + dot2) / dot1;
+
+            split.x = (dir[0] * t) + p1[0];
+            split.y = (dir[1] * t) + p1[1];
+            split.z = (dir[2] * t) + p1[2];
+        }
+
+        private static bool rayIntersectsTriangle(float3 p, float3 d, float3 v0, float3 v1, float3 v2, out float t)
+        {
+            t = 0f;
+
+            float3 e1, e2, h, s, q;
+            float a, f, u, v;
+
+            e1 = v1 - v0;
+            e2 = v2 - v0;
+            h = float3.cross(d, e2);
+            a = float3.dot(e1, h);
+
+            if (a > -0.00001f && a < 0.00001f)
+                return false;
+
+            f = 1f / a;
+            s = p - v0;
+            u = f * float3.dot(s, h);
+
+            if (u < 0.0f || u > 1.0f)
+                return false;
+
+            q = float3.cross(s, e1);
+            v = f * float3.dot(d, q);
+            if (v < 0.0f || u + v > 1.0f)
+                return false;
+
+            // at this stage we can compute t to find out where
+            // the intersection point is on the line
+            t = f * float3.dot(e2, q);
+            if (t > 0f) // ray intersection
+                return true;
+            else // this means that there is a line intersection but not a ray intersection
+                return false;
+        }
+
+        private static bool lineIntersectsTriangle(float3 rayStart, float3 rayEnd, float3 p1, float3 p2, float3 p3, ref float3 sect)
+        {
+            float3 dir = rayEnd - rayStart;
+
+            float d = (float)Math.Sqrt(dir[0] * dir[0] + dir[1] * dir[1] + dir[2] * dir[2]);
+            float r = 1.0f / d;
+
+            dir *= r;
+
+            float t;
+            bool ret = rayIntersectsTriangle(rayStart, dir, p1, p2, p3, out t);
+
+            if (ret)
+            {
+                if (t > d)
+                {
+                    sect.x = rayStart.x + dir.x * t;
+                    sect.y = rayStart.y + dir.y * t;
+                    sect.z = rayStart.z + dir.z * t;
+                }
+                else
+                {
+                    ret = false;
+                }
+            }
+
+            return ret;
+        }
+    }
+}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/Concavity.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/Concavity.cs
new file mode 100644
index 0000000..cc6383a
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/Concavity.cs
@@ -0,0 +1,233 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
+{
+    public static class Concavity
+    {
+        // compute's how 'concave' this object is and returns the total volume of the
+        // convex hull as well as the volume of the 'concavity' which was found.
+        public static float computeConcavity(List<float3> vertices, List<int> indices, ref float4 plane, ref float volume)
+        {
+            float cret = 0f;
+            volume = 1f;
+
+            HullResult result = new HullResult();
+            HullDesc desc = new HullDesc();
+
+            desc.MaxFaces = 256;
+            desc.MaxVertices = 256;
+            desc.SetHullFlag(HullFlag.QF_TRIANGLES);
+            desc.Vertices = vertices;
+
+            HullError ret = HullUtils.CreateConvexHull(desc, ref result);
+
+            if (ret == HullError.QE_OK)
+            {
+                volume = computeMeshVolume2(result.OutputVertices, result.Indices);
+
+                // ok..now..for each triangle on the original mesh..
+                // we extrude the points to the nearest point on the hull.
+                List<CTri> tris = new List<CTri>();
+
+                for (int i = 0; i < result.Indices.Count / 3; i++)
+                {
+                    int i1 = result.Indices[i * 3 + 0];
+                    int i2 = result.Indices[i * 3 + 1];
+                    int i3 = result.Indices[i * 3 + 2];
+
+                    float3 p1 = result.OutputVertices[i1];
+                    float3 p2 = result.OutputVertices[i2];
+                    float3 p3 = result.OutputVertices[i3];
+
+                    CTri t = new CTri(p1, p2, p3, i1, i2, i3);
+                    tris.Add(t);
+                }
+
+                // we have not pre-computed the plane equation for each triangle in the convex hull..
+                float totalVolume = 0;
+
+                List<CTri> ftris = new List<CTri>(); // 'feature' triangles.
+                List<CTri> input_mesh = new List<CTri>();
+
+                for (int i = 0; i < indices.Count / 3; i++)
+                {
+                    int i1 = indices[i * 3 + 0];
+                    int i2 = indices[i * 3 + 1];
+                    int i3 = indices[i * 3 + 2];
+
+                    float3 p1 = vertices[i1];
+                    float3 p2 = vertices[i2];
+                    float3 p3 = vertices[i3];
+
+                    CTri t = new CTri(p1, p2, p3, i1, i2, i3);
+                    input_mesh.Add(t);
+                }
+
+                for (int i = 0; i < indices.Count / 3; i++)
+                {
+                    int i1 = indices[i * 3 + 0];
+                    int i2 = indices[i * 3 + 1];
+                    int i3 = indices[i * 3 + 2];
+
+                    float3 p1 = vertices[i1];
+                    float3 p2 = vertices[i2];
+                    float3 p3 = vertices[i3];
+
+                    CTri t = new CTri(p1, p2, p3, i1, i2, i3);
+
+                    featureMatch(t, tris, input_mesh);
+
+                    if (t.mConcavity > 0.05f)
+                    {
+                        float v = t.getVolume();
+                        totalVolume += v;
+                        ftris.Add(t);
+                    }
+                }
+
+                SplitPlane.computeSplitPlane(vertices, indices, ref plane);
+                cret = totalVolume;
+            }
+
+            return cret;
+        }
+
+        public static bool featureMatch(CTri m, List<CTri> tris, List<CTri> input_mesh)
+        {
+            bool ret = false;
+            float neardot = 0.707f;
+            m.mConcavity = 0;
+
+            for (int i = 0; i < tris.Count; i++)
+            {
+                CTri t = tris[i];
+
+                if (t.samePlane(m))
+                {
+                    ret = false;
+                    break;
+                }
+
+                float dot = float3.dot(t.mNormal, m.mNormal);
+
+                if (dot > neardot)
+                {
+                    float d1 = t.planeDistance(m.mP1);
+                    float d2 = t.planeDistance(m.mP2);
+                    float d3 = t.planeDistance(m.mP3);
+
+                    if (d1 > 0.001f || d2 > 0.001f || d3 > 0.001f) // can't be near coplaner!
+                    {
+                        neardot = dot;
+
+                        t.raySect(m.mP1, m.mNormal, ref m.mNear1);
+                        t.raySect(m.mP2, m.mNormal, ref m.mNear2);
+                        t.raySect(m.mP3, m.mNormal, ref m.mNear3);
+
+                        ret = true;
+                    }
+                }
+            }
+
+            if (ret)
+            {
+                m.mC1 = m.mP1.Distance(m.mNear1);
+                m.mC2 = m.mP2.Distance(m.mNear2);
+                m.mC3 = m.mP3.Distance(m.mNear3);
+
+                m.mConcavity = m.mC1;
+
+                if (m.mC2 > m.mConcavity)
+                    m.mConcavity = m.mC2;
+                if (m.mC3 > m.mConcavity)
+                    m.mConcavity = m.mC3;
+            }
+
+            return ret;
+        }
+
+        private static float det(float3 p1, float3 p2, float3 p3)
+        {
+            return p1.x * p2.y * p3.z + p2.x * p3.y * p1.z + p3.x * p1.y * p2.z - p1.x * p3.y * p2.z - p2.x * p1.y * p3.z - p3.x * p2.y * p1.z;
+        }
+
+        public static float computeMeshVolume(List<float3> vertices, List<int> indices)
+        {
+            float volume = 0f;
+
+            for (int i = 0; i < indices.Count / 3; i++)
+            {
+                float3 p1 = vertices[indices[i * 3 + 0]];
+                float3 p2 = vertices[indices[i * 3 + 1]];
+                float3 p3 = vertices[indices[i * 3 + 2]];
+
+                volume += det(p1, p2, p3); // compute the volume of the tetrahedran relative to the origin.
+            }
+
+            volume *= (1.0f / 6.0f);
+            if (volume < 0f)
+                return -volume;
+            return volume;
+        }
+
+        public static float computeMeshVolume2(List<float3> vertices, List<int> indices)
+        {
+            float volume = 0f;
+
+            float3 p0 = vertices[0];
+            for (int i = 0; i < indices.Count / 3; i++)
+            {
+                float3 p1 = vertices[indices[i * 3 + 0]];
+                float3 p2 = vertices[indices[i * 3 + 1]];
+                float3 p3 = vertices[indices[i * 3 + 2]];
+
+                volume += tetVolume(p0, p1, p2, p3); // compute the volume of the tetrahedron relative to the root vertice
+            }
+
+            return volume * (1.0f / 6.0f);
+        }
+
+        private static float tetVolume(float3 p0, float3 p1, float3 p2, float3 p3)
+        {
+            float3 a = p1 - p0;
+            float3 b = p2 - p0;
+            float3 c = p3 - p0;
+
+            float3 cross = float3.cross(b, c);
+            float volume = float3.dot(a, cross);
+
+            if (volume < 0f)
+                return -volume;
+            return volume;
+        }
+    }
+}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/ConvexBuilder.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/ConvexBuilder.cs
new file mode 100644
index 0000000..dfaede1
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/ConvexBuilder.cs
@@ -0,0 +1,411 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+
+namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
+{
+    public class DecompDesc
+    {
+        public List<float3> mVertices;
+        public List<int> mIndices;
+
+        // options
+        public uint mDepth; // depth to split, a maximum of 10, generally not over 7.
+        public float mCpercent; // the concavity threshold percentage. 0=20 is reasonable.
+        public float mPpercent; // the percentage volume conservation threshold to collapse hulls. 0-30 is reasonable.
+
+        // hull output limits.
+        public uint mMaxVertices; // maximum number of vertices in the output hull. Recommended 32 or less.
+        public float mSkinWidth; // a skin width to apply to the output hulls.
+
+        public ConvexDecompositionCallback mCallback; // the interface to receive back the results.
+
+        public DecompDesc()
+        {
+            mDepth = 5;
+            mCpercent = 5;
+            mPpercent = 5;
+            mMaxVertices = 32;
+        }
+    }
+
+    public class CHull
+    {
+        public float[] mMin = new float[3];
+        public float[] mMax = new float[3];
+        public float mVolume;
+        public float mDiagonal;
+        public ConvexResult mResult;
+
+        public CHull(ConvexResult result)
+        {
+            mResult = new ConvexResult(result);
+            mVolume = Concavity.computeMeshVolume(result.HullVertices, result.HullIndices);
+
+            mDiagonal = getBoundingRegion(result.HullVertices, mMin, mMax);
+
+            float dx = mMax[0] - mMin[0];
+            float dy = mMax[1] - mMin[1];
+            float dz = mMax[2] - mMin[2];
+
+            dx *= 0.1f; // inflate 1/10th on each edge
+            dy *= 0.1f; // inflate 1/10th on each edge
+            dz *= 0.1f; // inflate 1/10th on each edge
+
+            mMin[0] -= dx;
+            mMin[1] -= dy;
+            mMin[2] -= dz;
+
+            mMax[0] += dx;
+            mMax[1] += dy;
+            mMax[2] += dz;
+        }
+
+        public void Dispose()
+        {
+            mResult = null;
+        }
+
+        public bool overlap(CHull h)
+        {
+            return overlapAABB(mMin, mMax, h.mMin, h.mMax);
+        }
+
+        // returns the d1Giagonal distance
+        private static float getBoundingRegion(List<float3> points, float[] bmin, float[] bmax)
+        {
+            float3 first = points[0];
+
+            bmin[0] = first.x;
+            bmin[1] = first.y;
+            bmin[2] = first.z;
+
+            bmax[0] = first.x;
+            bmax[1] = first.y;
+            bmax[2] = first.z;
+
+            for (int i = 1; i < points.Count; i++)
+            {
+                float3 p = points[i];
+
+                if (p[0] < bmin[0]) bmin[0] = p[0];
+                if (p[1] < bmin[1]) bmin[1] = p[1];
+                if (p[2] < bmin[2]) bmin[2] = p[2];
+
+                if (p[0] > bmax[0]) bmax[0] = p[0];
+                if (p[1] > bmax[1]) bmax[1] = p[1];
+                if (p[2] > bmax[2]) bmax[2] = p[2];
+            }
+
+            float dx = bmax[0] - bmin[0];
+            float dy = bmax[1] - bmin[1];
+            float dz = bmax[2] - bmin[2];
+
+            return (float)Math.Sqrt(dx * dx + dy * dy + dz * dz);
+        }
+
+        // return true if the two AABB's overlap.
+        private static bool overlapAABB(float[] bmin1, float[] bmax1, float[] bmin2, float[] bmax2)
+        {
+            if (bmax2[0] < bmin1[0]) return false; // if the maximum is less than our minimum on any axis
+            if (bmax2[1] < bmin1[1]) return false;
+            if (bmax2[2] < bmin1[2]) return false;
+
+            if (bmin2[0] > bmax1[0]) return false; // if the minimum is greater than our maximum on any axis
+            if (bmin2[1] > bmax1[1]) return false; // if the minimum is greater than our maximum on any axis
+            if (bmin2[2] > bmax1[2]) return false; // if the minimum is greater than our maximum on any axis
+
+            return true; // the extents overlap
+        }
+    }
+
+    public class ConvexBuilder
+    {
+        public List<CHull> mChulls = new List<CHull>();
+        private ConvexDecompositionCallback mCallback;
+
+        private int MAXDEPTH = 8;
+        private float CONCAVE_PERCENT = 1f;
+        private float MERGE_PERCENT = 2f;
+
+        public ConvexBuilder(ConvexDecompositionCallback callback)
+        {
+            mCallback = callback;
+        }
+
+        public void Dispose()
+        {
+            int i;
+            for (i = 0; i < mChulls.Count; i++)
+            {
+                CHull cr = mChulls[i];
+                cr.Dispose();
+            }
+        }
+
+        public bool isDuplicate(uint i1, uint i2, uint i3, uint ci1, uint ci2, uint ci3)
+        {
+            uint dcount = 0;
+
+            Debug.Assert(i1 != i2 && i1 != i3 && i2 != i3);
+            Debug.Assert(ci1 != ci2 && ci1 != ci3 && ci2 != ci3);
+
+            if (i1 == ci1 || i1 == ci2 || i1 == ci3)
+                dcount++;
+            if (i2 == ci1 || i2 == ci2 || i2 == ci3)
+                dcount++;
+            if (i3 == ci1 || i3 == ci2 || i3 == ci3)
+                dcount++;
+
+            return dcount == 3;
+        }
+
+        public void getMesh(ConvexResult cr, VertexPool vc, List<int> indices)
+        {
+            List<int> src = cr.HullIndices;
+
+            for (int i = 0; i < src.Count / 3; i++)
+            {
+                int i1 = src[i * 3 + 0];
+                int i2 = src[i * 3 + 1];
+                int i3 = src[i * 3 + 2];
+
+                float3 p1 = cr.HullVertices[i1];
+                float3 p2 = cr.HullVertices[i2];
+                float3 p3 = cr.HullVertices[i3];
+
+                i1 = vc.getIndex(p1);
+                i2 = vc.getIndex(p2);
+                i3 = vc.getIndex(p3);
+            }
+        }
+
+        public CHull canMerge(CHull a, CHull b)
+        {
+            if (!a.overlap(b)) // if their AABB's (with a little slop) don't overlap, then return.
+                return null;
+
+            CHull ret = null;
+
+            // ok..we are going to combine both meshes into a single mesh
+            // and then we are going to compute the concavity...
+
+            VertexPool vc = new VertexPool();
+
+            List<int> indices = new List<int>();
+
+            getMesh(a.mResult, vc, indices);
+            getMesh(b.mResult, vc, indices);
+
+            int vcount = vc.GetSize();
+            List<float3> vertices = vc.GetVertices();
+            int tcount = indices.Count / 3;
+
+            //don't do anything if hull is empty
+            if (tcount == 0)
+            {
+                vc.Clear();
+                return null;
+            }
+
+            HullResult hresult = new HullResult();
+            HullDesc desc = new HullDesc();
+
+            desc.SetHullFlag(HullFlag.QF_TRIANGLES);
+            desc.Vertices = vertices;
+
+            HullError hret = HullUtils.CreateConvexHull(desc, ref hresult);
+
+            if (hret == HullError.QE_OK)
+            {
+                float combineVolume = Concavity.computeMeshVolume(hresult.OutputVertices, hresult.Indices);
+                float sumVolume = a.mVolume + b.mVolume;
+
+                float percent = (sumVolume * 100) / combineVolume;
+                if (percent >= (100.0f - MERGE_PERCENT))
+                {
+                    ConvexResult cr = new ConvexResult(hresult.OutputVertices, hresult.Indices);
+                    ret = new CHull(cr);
+                }
+            }
+
+            vc.Clear();
+            return ret;
+        }
+
+        public bool combineHulls()
+        {
+            bool combine = false;
+
+            sortChulls(mChulls); // sort the convex hulls, largest volume to least...
+
+            List<CHull> output = new List<CHull>(); // the output hulls...
+
+            int i;
+            for (i = 0; i < mChulls.Count && !combine; ++i)
+            {
+                CHull cr = mChulls[i];
+
+                int j;
+                for (j = 0; j < mChulls.Count; j++)
+                {
+                    CHull match = mChulls[j];
+
+                    if (cr != match) // don't try to merge a hull with itself, that be stoopid
+                    {
+
+                        CHull merge = canMerge(cr, match); // if we can merge these two....
+
+                        if (merge != null)
+                        {
+                            output.Add(merge);
+
+                            ++i;
+                            while (i != mChulls.Count)
+                            {
+                                CHull cr2 = mChulls[i];
+                                if (cr2 != match)
+                                {
+                                    output.Add(cr2);
+                                }
+                                i++;
+                            }
+
+                            cr.Dispose();
+                            match.Dispose();
+                            combine = true;
+                            break;
+                        }
+                    }
+                }
+
+                if (combine)
+                {
+                    break;
+                }
+                else
+                {
+                    output.Add(cr);
+                }
+            }
+
+            if (combine)
+            {
+                mChulls.Clear();
+                mChulls = output;
+                output.Clear();
+            }
+
+            return combine;
+        }
+
+        public int process(DecompDesc desc)
+        {
+            int ret = 0;
+
+            MAXDEPTH = (int)desc.mDepth;
+            CONCAVE_PERCENT = desc.mCpercent;
+            MERGE_PERCENT = desc.mPpercent;
+
+            ConvexDecomposition.calcConvexDecomposition(desc.mVertices, desc.mIndices, ConvexDecompResult, 0f, 0, MAXDEPTH, CONCAVE_PERCENT, MERGE_PERCENT);
+
+            while (combineHulls()) // keep combinging hulls until I can't combine any more...
+                ;
+
+            int i;
+            for (i = 0; i < mChulls.Count; i++)
+            {
+                CHull cr = mChulls[i];
+
+                // before we hand it back to the application, we need to regenerate the hull based on the
+                // limits given by the user.
+
+                ConvexResult c = cr.mResult; // the high resolution hull...
+
+                HullResult result = new HullResult();
+                HullDesc hdesc = new HullDesc();
+
+                hdesc.SetHullFlag(HullFlag.QF_TRIANGLES);
+
+                hdesc.Vertices = c.HullVertices;
+                hdesc.MaxVertices = desc.mMaxVertices; // maximum number of vertices allowed in the output
+
+                if (desc.mSkinWidth != 0f)
+                {
+                    hdesc.SkinWidth = desc.mSkinWidth;
+                    hdesc.SetHullFlag(HullFlag.QF_SKIN_WIDTH); // do skin width computation.
+                }
+
+                HullError ret2 = HullUtils.CreateConvexHull(hdesc, ref result);
+
+                if (ret2 == HullError.QE_OK)
+                {
+                    ConvexResult r = new ConvexResult(result.OutputVertices, result.Indices);
+
+                    r.mHullVolume = Concavity.computeMeshVolume(result.OutputVertices, result.Indices); // the volume of the hull.
+
+                    // compute the best fit OBB
+                    //computeBestFitOBB(result.mNumOutputVertices, result.mOutputVertices, sizeof(float) * 3, r.mOBBSides, r.mOBBTransform);
+
+                    //r.mOBBVolume = r.mOBBSides[0] * r.mOBBSides[1] * r.mOBBSides[2]; // compute the OBB volume.
+
+                    //fm_getTranslation(r.mOBBTransform, r.mOBBCenter); // get the translation component of the 4x4 matrix.
+
+                    //fm_matrixToQuat(r.mOBBTransform, r.mOBBOrientation); // extract the orientation as a quaternion.
+
+                    //r.mSphereRadius = computeBoundingSphere(result.mNumOutputVertices, result.mOutputVertices, r.mSphereCenter);
+                    //r.mSphereVolume = fm_sphereVolume(r.mSphereRadius);
+
+                    mCallback(r);
+                }
+
+                result = null;
+                cr.Dispose();
+            }
+
+            ret = mChulls.Count;
+
+            mChulls.Clear();
+
+            return ret;
+        }
+
+        public void ConvexDecompResult(ConvexResult result)
+        {
+            CHull ch = new CHull(result);
+            mChulls.Add(ch);
+        }
+
+        public void sortChulls(List<CHull> hulls)
+        {
+            hulls.Sort(delegate(CHull a, CHull b) { return a.mVolume.CompareTo(b.mVolume); });
+        }
+    }
+}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/ConvexDecomposition.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/ConvexDecomposition.cs
new file mode 100644
index 0000000..2e2bb70
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/ConvexDecomposition.cs
@@ -0,0 +1,200 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+
+namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
+{
+    public delegate void ConvexDecompositionCallback(ConvexResult result);
+
+    public class FaceTri
+    {
+        public float3 P1;
+        public float3 P2;
+        public float3 P3;
+
+        public FaceTri() { }
+
+        public FaceTri(List<float3> vertices, int i1, int i2, int i3)
+        {
+            P1 = new float3(vertices[i1]);
+            P2 = new float3(vertices[i2]);
+            P3 = new float3(vertices[i3]);
+        }
+    }
+
+    public static class ConvexDecomposition
+    {
+        private static void addTri(VertexPool vl, List<int> list, float3 p1, float3 p2, float3 p3)
+        {
+            int i1 = vl.getIndex(p1);
+            int i2 = vl.getIndex(p2);
+            int i3 = vl.getIndex(p3);
+
+            // do *not* process degenerate triangles!
+            if ( i1 != i2 && i1 != i3 && i2 != i3 )
+            {
+                list.Add(i1);
+                list.Add(i2);
+                list.Add(i3);
+            }
+        }
+
+        public static void calcConvexDecomposition(List<float3> vertices, List<int> indices, ConvexDecompositionCallback callback, float masterVolume, int depth,
+            int maxDepth, float concavePercent, float mergePercent)
+        {
+            float4 plane = new float4();
+            bool split = false;
+
+            if (depth < maxDepth)
+            {
+                float volume = 0f;
+                float c = Concavity.computeConcavity(vertices, indices, ref plane, ref volume);
+
+                if (depth == 0)
+                {
+                    masterVolume = volume;
+                }
+
+                float percent = (c * 100.0f) / masterVolume;
+
+                if (percent > concavePercent) // if great than 5% of the total volume is concave, go ahead and keep splitting.
+                {
+                    split = true;
+                }
+            }
+
+            if (depth >= maxDepth || !split)
+            {
+                HullResult result = new HullResult();
+                HullDesc desc = new HullDesc();
+
+                desc.SetHullFlag(HullFlag.QF_TRIANGLES);
+
+                desc.Vertices = vertices;
+
+                HullError ret = HullUtils.CreateConvexHull(desc, ref result);
+
+                if (ret == HullError.QE_OK)
+                {
+                    ConvexResult r = new ConvexResult(result.OutputVertices, result.Indices);
+                    callback(r);
+                }
+
+                return;
+            }
+
+            List<int> ifront = new List<int>();
+            List<int> iback = new List<int>();
+
+            VertexPool vfront = new VertexPool();
+            VertexPool vback = new VertexPool();
+
+            // ok..now we are going to 'split' all of the input triangles against this plane!
+            for (int i = 0; i < indices.Count / 3; i++)
+            {
+                int i1 = indices[i * 3 + 0];
+                int i2 = indices[i * 3 + 1];
+                int i3 = indices[i * 3 + 2];
+
+                FaceTri t = new FaceTri(vertices, i1, i2, i3);
+
+                float3[] front = new float3[4];
+                float3[] back = new float3[4];
+
+                int fcount = 0;
+                int bcount = 0;
+
+                PlaneTriResult result = PlaneTri.planeTriIntersection(plane, t, 0.00001f, ref front, out fcount, ref back, out bcount);
+
+                if (fcount > 4 || bcount > 4)
+                {
+                    result = PlaneTri.planeTriIntersection(plane, t, 0.00001f, ref front, out fcount, ref back, out bcount);
+                }
+
+                switch (result)
+                {
+                    case PlaneTriResult.PTR_FRONT:
+                        Debug.Assert(fcount == 3);
+                        addTri(vfront, ifront, front[0], front[1], front[2]);
+                        break;
+                    case PlaneTriResult.PTR_BACK:
+                        Debug.Assert(bcount == 3);
+                        addTri(vback, iback, back[0], back[1], back[2]);
+                        break;
+                    case PlaneTriResult.PTR_SPLIT:
+                        Debug.Assert(fcount >= 3 && fcount <= 4);
+                        Debug.Assert(bcount >= 3 && bcount <= 4);
+
+                        addTri(vfront, ifront, front[0], front[1], front[2]);
+                        addTri(vback, iback, back[0], back[1], back[2]);
+
+                        if (fcount == 4)
+                        {
+                            addTri(vfront, ifront, front[0], front[2], front[3]);
+                        }
+
+                        if (bcount == 4)
+                        {
+                            addTri(vback, iback, back[0], back[2], back[3]);
+                        }
+
+                        break;
+                }
+            }
+
+            // ok... here we recursively call
+            if (ifront.Count > 0)
+            {
+                int vcount = vfront.GetSize();
+                List<float3> vertices2 = vfront.GetVertices();
+                for (int i = 0; i < vertices2.Count; i++)
+                    vertices2[i] = new float3(vertices2[i]);
+                int tcount = ifront.Count / 3;
+
+                calcConvexDecomposition(vertices2, ifront, callback, masterVolume, depth + 1, maxDepth, concavePercent, mergePercent);
+            }
+
+            ifront.Clear();
+            vfront.Clear();
+
+            if (iback.Count > 0)
+            {
+                int vcount = vback.GetSize();
+                List<float3> vertices2 = vback.GetVertices();
+                int tcount = iback.Count / 3;
+
+                calcConvexDecomposition(vertices2, iback, callback, masterVolume, depth + 1, maxDepth, concavePercent, mergePercent);
+            }
+
+            iback.Clear();
+            vback.Clear();
+        }
+    }
+}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/ConvexResult.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/ConvexResult.cs
new file mode 100644
index 0000000..87758b5
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/ConvexResult.cs
@@ -0,0 +1,74 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+using System.Collections.Generic;
+
+namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
+{
+    public class ConvexResult
+    {
+        public List<float3> HullVertices;
+        public List<int> HullIndices;
+
+        public float mHullVolume; // the volume of the convex hull.
+
+        //public float[] OBBSides = new float[3]; // the width, height and breadth of the best fit OBB
+        //public float[] OBBCenter = new float[3]; // the center of the OBB
+        //public float[] OBBOrientation = new float[4]; // the quaternion rotation of the OBB.
+        //public float[] OBBTransform = new float[16]; // the 4x4 transform of the OBB.
+        //public float OBBVolume; // the volume of the OBB
+
+        //public float SphereRadius; // radius and center of best fit sphere
+        //public float[] SphereCenter = new float[3];
+        //public float SphereVolume; // volume of the best fit sphere
+
+        public ConvexResult()
+        {
+            HullVertices = new List<float3>();
+            HullIndices = new List<int>();
+        }
+
+        public ConvexResult(List<float3> hvertices, List<int> hindices)
+        {
+            HullVertices = hvertices;
+            HullIndices = hindices;
+        }
+
+        public ConvexResult(ConvexResult r)
+        {
+            HullVertices = new List<float3>(r.HullVertices);
+            HullIndices = new List<int>(r.HullIndices);
+        }
+
+        public void Dispose()
+        {
+            HullVertices = null;
+            HullIndices = null;
+        }
+    }
+}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/HullClasses.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/HullClasses.cs
new file mode 100644
index 0000000..d81df26
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/HullClasses.cs
@@ -0,0 +1,171 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+using System.Collections.Generic;
+
+namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
+{
+    public class HullResult
+    {
+        public bool Polygons = true; // true if indices represents polygons, false indices are triangles
+        public List<float3> OutputVertices = new List<float3>();
+        public List<int> Indices;
+
+        // If triangles, then indices are array indexes into the vertex list.
+        // If polygons, indices are in the form (number of points in face) (p1, p2, p3, ..) etc..
+    }
+
+    public class PHullResult
+    {
+        public List<float3> Vertices = new List<float3>();
+        public List<int> Indices = new List<int>();
+    }
+
+    [Flags]
+    public enum HullFlag : int
+    {
+        QF_DEFAULT = 0,
+        QF_TRIANGLES = (1 << 0), // report results as triangles, not polygons.
+        QF_SKIN_WIDTH = (1 << 2) // extrude hull based on this skin width
+    }
+
+    public enum HullError : int
+    {
+        QE_OK, // success!
+        QE_FAIL // failed.
+    }
+
+    public class HullDesc
+    {
+        public HullFlag Flags; // flags to use when generating the convex hull.
+        public List<float3> Vertices;
+        public float NormalEpsilon; // the epsilon for removing duplicates. This is a normalized value, if normalized bit is on.
+        public float SkinWidth;
+        public uint MaxVertices; // maximum number of vertices to be considered for the hull!
+        public uint MaxFaces;
+
+        public HullDesc()
+        {
+            Flags = HullFlag.QF_DEFAULT;
+            Vertices = new List<float3>();
+            NormalEpsilon = 0.001f;
+            MaxVertices = 4096;
+            MaxFaces = 4096;
+            SkinWidth = 0.01f;
+        }
+
+        public HullDesc(HullFlag flags, List<float3> vertices)
+        {
+            Flags = flags;
+            Vertices = new List<float3>(vertices);
+            NormalEpsilon = 0.001f;
+            MaxVertices = 4096;
+            MaxFaces = 4096;
+            SkinWidth = 0.01f;
+        }
+
+        public bool HasHullFlag(HullFlag flag)
+        {
+            return (Flags & flag) != 0;
+        }
+
+        public void SetHullFlag(HullFlag flag)
+        {
+            Flags |= flag;
+        }
+
+        public void ClearHullFlag(HullFlag flag)
+        {
+            Flags &= ~flag;
+        }
+    }
+
+    public class ConvexH
+    {
+        public struct HalfEdge
+        {
+            public short ea; // the other half of the edge (index into edges list)
+            public byte v; // the vertex at the start of this edge (index into vertices list)
+            public byte p; // the facet on which this edge lies (index into facets list)
+
+            public HalfEdge(short _ea, byte _v, byte _p)
+            {
+                ea = _ea;
+                v = _v;
+                p = _p;
+            }
+
+            public HalfEdge(HalfEdge e)
+            {
+                ea = e.ea;
+                v = e.v;
+                p = e.p;
+            }
+        }
+
+        public List<float3> vertices = new List<float3>();
+        public List<HalfEdge> edges = new List<HalfEdge>();
+        public List<Plane> facets = new List<Plane>();
+
+        public ConvexH(int vertices_size, int edges_size, int facets_size)
+        {
+            vertices = new List<float3>(vertices_size);
+            edges = new List<HalfEdge>(edges_size);
+            facets = new List<Plane>(facets_size);
+        }
+    }
+
+    public class VertFlag
+    {
+        public byte planetest;
+        public byte junk;
+        public byte undermap;
+        public byte overmap;
+    }
+
+    public class EdgeFlag
+    {
+        public byte planetest;
+        public byte fixes;
+        public short undermap;
+        public short overmap;
+    }
+
+    public class PlaneFlag
+    {
+        public byte undermap;
+        public byte overmap;
+    }
+
+    public class Coplanar
+    {
+        public ushort ea;
+        public byte v0;
+        public byte v1;
+    }
+}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/HullTriangle.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/HullTriangle.cs
new file mode 100644
index 0000000..1119a75
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/HullTriangle.cs
@@ -0,0 +1,99 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+
+namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
+{
+    public class HullTriangle : int3
+    {
+        public int3 n = new int3();
+        public int id;
+        public int vmax;
+        public float rise;
+        private List<HullTriangle> tris;
+
+        public HullTriangle(int a, int b, int c, List<HullTriangle> tris)
+            : base(a, b, c)
+        {
+            this.tris = tris;
+
+            n = new int3(-1, -1, -1);
+            id = tris.Count;
+            tris.Add(this);
+            vmax = -1;
+            rise = 0.0f;
+        }
+
+        public void Dispose()
+        {
+            Debug.Assert(tris[id] == this);
+            tris[id] = null;
+        }
+
+        public int neib(int a, int b)
+        {
+            int i;
+
+            for (i = 0; i < 3; i++)
+            {
+                int i1 = (i + 1) % 3;
+                int i2 = (i + 2) % 3;
+                if ((this)[i] == a && (this)[i1] == b)
+                    return n[i2];
+                if ((this)[i] == b && (this)[i1] == a)
+                    return n[i2];
+            }
+
+            Debug.Assert(false);
+            return -1;
+        }
+
+        public void setneib(int a, int b, int value)
+        {
+            int i;
+
+            for (i = 0; i < 3; i++)
+            {
+                int i1 = (i + 1) % 3;
+                int i2 = (i + 2) % 3;
+                if ((this)[i] == a && (this)[i1] == b)
+                {
+                    n[i2] = value;
+                    return;
+                }
+                if ((this)[i] == b && (this)[i1] == a)
+                {
+                    n[i2] = value;
+                    return;
+                }
+            }
+        }
+    }
+}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/HullUtils.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/HullUtils.cs
new file mode 100644
index 0000000..c9ccfe2
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/HullUtils.cs
@@ -0,0 +1,1868 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+
+namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
+{
+    public static class HullUtils
+    {
+        public static int argmin(float[] a, int n)
+        {
+            int r = 0;
+            for (int i = 1; i < n; i++)
+            {
+                if (a[i] < a[r])
+                {
+                    r = i;
+                }
+            }
+            return r;
+        }
+
+        public static float clampf(float a)
+        {
+            return Math.Min(1.0f, Math.Max(0.0f, a));
+        }
+
+        public static float Round(float a, float precision)
+        {
+            return (float)Math.Floor(0.5f + a / precision) * precision;
+        }
+
+        public static float Interpolate(float f0, float f1, float alpha)
+        {
+            return f0 * (1 - alpha) + f1 * alpha;
+        }
+
+        public static void Swap<T>(ref T a, ref T b)
+        {
+            T tmp = a;
+            a = b;
+            b = tmp;
+        }
+
+        public static bool above(List<float3> vertices, int3 t, float3 p, float epsilon)
+        {
+            float3 vtx = vertices[t.x];
+            float3 n = TriNormal(vtx, vertices[t.y], vertices[t.z]);
+            return (float3.dot(n, p - vtx) > epsilon); // EPSILON???
+        }
+
+        public static int hasedge(int3 t, int a, int b)
+        {
+            for (int i = 0; i < 3; i++)
+            {
+                int i1 = (i + 1) % 3;
+                if (t[i] == a && t[i1] == b)
+                    return 1;
+            }
+            return 0;
+        }
+
+        public static bool hasvert(int3 t, int v)
+        {
+            return (t[0] == v || t[1] == v || t[2] == v);
+        }
+
+        public static int shareedge(int3 a, int3 b)
+        {
+            int i;
+            for (i = 0; i < 3; i++)
+            {
+                int i1 = (i + 1) % 3;
+                if (hasedge(a, b[i1], b[i]) != 0)
+                    return 1;
+            }
+            return 0;
+        }
+
+        public static void b2bfix(HullTriangle s, HullTriangle t, List<HullTriangle> tris)
+        {
+            int i;
+            for (i = 0; i < 3; i++)
+            {
+                int i1 = (i + 1) % 3;
+                int i2 = (i + 2) % 3;
+                int a = (s)[i1];
+                int b = (s)[i2];
+                Debug.Assert(tris[s.neib(a, b)].neib(b, a) == s.id);
+                Debug.Assert(tris[t.neib(a, b)].neib(b, a) == t.id);
+                tris[s.neib(a, b)].setneib(b, a, t.neib(b, a));
+                tris[t.neib(b, a)].setneib(a, b, s.neib(a, b));
+            }
+        }
+
+        public static void removeb2b(HullTriangle s, HullTriangle t, List<HullTriangle> tris)
+        {
+            b2bfix(s, t, tris);
+            s.Dispose();
+            t.Dispose();
+        }
+
+        public static void checkit(HullTriangle t, List<HullTriangle> tris)
+        {
+            int i;
+            Debug.Assert(tris[t.id] == t);
+            for (i = 0; i < 3; i++)
+            {
+                int i1 = (i + 1) % 3;
+                int i2 = (i + 2) % 3;
+                int a = (t)[i1];
+                int b = (t)[i2];
+                Debug.Assert(a != b);
+                Debug.Assert(tris[t.n[i]].neib(b, a) == t.id);
+            }
+        }
+
+        public static void extrude(HullTriangle t0, int v, List<HullTriangle> tris)
+        {
+            int3 t = t0;
+            int n = tris.Count;
+            HullTriangle ta = new HullTriangle(v, t[1], t[2], tris);
+            ta.n = new int3(t0.n[0], n + 1, n + 2);
+            tris[t0.n[0]].setneib(t[1], t[2], n + 0);
+            HullTriangle tb = new HullTriangle(v, t[2], t[0], tris);
+            tb.n = new int3(t0.n[1], n + 2, n + 0);
+            tris[t0.n[1]].setneib(t[2], t[0], n + 1);
+            HullTriangle tc = new HullTriangle(v, t[0], t[1], tris);
+            tc.n = new int3(t0.n[2], n + 0, n + 1);
+            tris[t0.n[2]].setneib(t[0], t[1], n + 2);
+            checkit(ta, tris);
+            checkit(tb, tris);
+            checkit(tc, tris);
+            if (hasvert(tris[ta.n[0]], v))
+                removeb2b(ta, tris[ta.n[0]], tris);
+            if (hasvert(tris[tb.n[0]], v))
+                removeb2b(tb, tris[tb.n[0]], tris);
+            if (hasvert(tris[tc.n[0]], v))
+                removeb2b(tc, tris[tc.n[0]], tris);
+            t0.Dispose();
+        }
+
+        public static HullTriangle extrudable(float epsilon, List<HullTriangle> tris)
+        {
+            int i;
+            HullTriangle t = null;
+            for (i = 0; i < tris.Count; i++)
+            {
+                if (t == null || (tris.Count > i && (object)tris[i] != null && t.rise < tris[i].rise))
+                {
+                    t = tris[i];
+                }
+            }
+            return (t.rise > epsilon) ? t : null;
+        }
+
+        public static Quaternion RotationArc(float3 v0, float3 v1)
+        {
+            Quaternion q = new Quaternion();
+            v0 = float3.normalize(v0); // Comment these two lines out if you know its not needed.
+            v1 = float3.normalize(v1); // If vector is already unit length then why do it again?
+            float3 c = float3.cross(v0, v1);
+            float d = float3.dot(v0, v1);
+            if (d <= -1.0f) // 180 about x axis
+            {
+                return new Quaternion(1f, 0f, 0f, 0f);
+            }
+            float s = (float)Math.Sqrt((1 + d) * 2f);
+            q.x = c.x / s;
+            q.y = c.y / s;
+            q.z = c.z / s;
+            q.w = s / 2.0f;
+            return q;
+        }
+
+        public static float3 PlaneLineIntersection(Plane plane, float3 p0, float3 p1)
+        {
+            // returns the point where the line p0-p1 intersects the plane n&d
+            float3 dif = p1 - p0;
+            float dn = float3.dot(plane.normal, dif);
+            float t = -(plane.dist + float3.dot(plane.normal, p0)) / dn;
+            return p0 + (dif * t);
+        }
+
+        public static float3 LineProject(float3 p0, float3 p1, float3 a)
+        {
+            float3 w = new float3();
+            w = p1 - p0;
+            float t = float3.dot(w, (a - p0)) / (w.x * w.x + w.y * w.y + w.z * w.z);
+            return p0 + w * t;
+        }
+
+        public static float3 PlaneProject(Plane plane, float3 point)
+        {
+            return point - plane.normal * (float3.dot(point, plane.normal) + plane.dist);
+        }
+
+        public static float LineProjectTime(float3 p0, float3 p1, float3 a)
+        {
+            float3 w = new float3();
+            w = p1 - p0;
+            float t = float3.dot(w, (a - p0)) / (w.x * w.x + w.y * w.y + w.z * w.z);
+            return t;
+        }
+
+        public static float3 ThreePlaneIntersection(Plane p0, Plane p1, Plane p2)
+        {
+            float3x3 mp = float3x3.Transpose(new float3x3(p0.normal, p1.normal, p2.normal));
+            float3x3 mi = float3x3.Inverse(mp);
+            float3 b = new float3(p0.dist, p1.dist, p2.dist);
+            return -b * mi;
+        }
+
+        public static bool PolyHit(List<float3> vert, float3 v0, float3 v1)
+        {
+            float3 impact = new float3();
+            float3 normal = new float3();
+            return PolyHit(vert, v0, v1, out impact, out normal);
+        }
+
+        public static bool PolyHit(List<float3> vert, float3 v0, float3 v1, out float3 impact)
+        {
+            float3 normal = new float3();
+            return PolyHit(vert, v0, v1, out impact, out normal);
+        }
+
+        public static bool PolyHit(List<float3> vert, float3 v0, float3 v1, out float3 impact, out float3 normal)
+        {
+            float3 the_point = new float3();
+
+            impact = null;
+            normal = null;
+
+            int i;
+            float3 nrml = new float3(0, 0, 0);
+            for (i = 0; i < vert.Count; i++)
+            {
+                int i1 = (i + 1) % vert.Count;
+                int i2 = (i + 2) % vert.Count;
+                nrml = nrml + float3.cross(vert[i1] - vert[i], vert[i2] - vert[i1]);
+            }
+
+            float m = float3.magnitude(nrml);
+            if (m == 0.0)
+            {
+                return false;
+            }
+            nrml = nrml * (1.0f / m);
+            float dist = -float3.dot(nrml, vert[0]);
+            float d0;
+            float d1;
+            if ((d0 = float3.dot(v0, nrml) + dist) < 0 || (d1 = float3.dot(v1, nrml) + dist) > 0)
+            {
+                return false;
+            }
+
+            // By using the cached plane distances d0 and d1
+            // we can optimize the following:
+            //     the_point = planelineintersection(nrml,dist,v0,v1);
+            float a = d0 / (d0 - d1);
+            the_point = v0 * (1 - a) + v1 * a;
+
+
+            bool inside = true;
+            for (int j = 0; inside && j < vert.Count; j++)
+            {
+                // let inside = 0 if outside
+                float3 pp1 = new float3();
+                float3 pp2 = new float3();
+                float3 side = new float3();
+                pp1 = vert[j];
+                pp2 = vert[(j + 1) % vert.Count];
+                side = float3.cross((pp2 - pp1), (the_point - pp1));
+                inside = (float3.dot(nrml, side) >= 0.0);
+            }
+            if (inside)
+            {
+                if (normal != null)
+                {
+                    normal = nrml;
+                }
+                if (impact != null)
+                {
+                    impact = the_point;
+                }
+            }
+            return inside;
+        }
+
+        public static bool BoxInside(float3 p, float3 bmin, float3 bmax)
+        {
+            return (p.x >= bmin.x && p.x <= bmax.x && p.y >= bmin.y && p.y <= bmax.y && p.z >= bmin.z && p.z <= bmax.z);
+        }
+
+        public static bool BoxIntersect(float3 v0, float3 v1, float3 bmin, float3 bmax, float3 impact)
+        {
+            if (BoxInside(v0, bmin, bmax))
+            {
+                impact = v0;
+                return true;
+            }
+            if (v0.x <= bmin.x && v1.x >= bmin.x)
+            {
+                float a = (bmin.x - v0.x) / (v1.x - v0.x);
+                //v.x = bmin.x;
+                float vy = (1 - a) * v0.y + a * v1.y;
+                float vz = (1 - a) * v0.z + a * v1.z;
+                if (vy >= bmin.y && vy <= bmax.y && vz >= bmin.z && vz <= bmax.z)
+                {
+                    impact.x = bmin.x;
+                    impact.y = vy;
+                    impact.z = vz;
+                    return true;
+                }
+            }
+            else if (v0.x >= bmax.x && v1.x <= bmax.x)
+            {
+                float a = (bmax.x - v0.x) / (v1.x - v0.x);
+                //v.x = bmax.x;
+                float vy = (1 - a) * v0.y + a * v1.y;
+                float vz = (1 - a) * v0.z + a * v1.z;
+                if (vy >= bmin.y && vy <= bmax.y && vz >= bmin.z && vz <= bmax.z)
+                {
+                    impact.x = bmax.x;
+                    impact.y = vy;
+                    impact.z = vz;
+                    return true;
+                }
+            }
+            if (v0.y <= bmin.y && v1.y >= bmin.y)
+            {
+                float a = (bmin.y - v0.y) / (v1.y - v0.y);
+                float vx = (1 - a) * v0.x + a * v1.x;
+                //v.y = bmin.y;
+                float vz = (1 - a) * v0.z + a * v1.z;
+                if (vx >= bmin.x && vx <= bmax.x && vz >= bmin.z && vz <= bmax.z)
+                {
+                    impact.x = vx;
+                    impact.y = bmin.y;
+                    impact.z = vz;
+                    return true;
+                }
+            }
+            else if (v0.y >= bmax.y && v1.y <= bmax.y)
+            {
+                float a = (bmax.y - v0.y) / (v1.y - v0.y);
+                float vx = (1 - a) * v0.x + a * v1.x;
+                // vy = bmax.y;
+                float vz = (1 - a) * v0.z + a * v1.z;
+                if (vx >= bmin.x && vx <= bmax.x && vz >= bmin.z && vz <= bmax.z)
+                {
+                    impact.x = vx;
+                    impact.y = bmax.y;
+                    impact.z = vz;
+                    return true;
+                }
+            }
+            if (v0.z <= bmin.z && v1.z >= bmin.z)
+            {
+                float a = (bmin.z - v0.z) / (v1.z - v0.z);
+                float vx = (1 - a) * v0.x + a * v1.x;
+                float vy = (1 - a) * v0.y + a * v1.y;
+                // v.z = bmin.z;
+                if (vy >= bmin.y && vy <= bmax.y && vx >= bmin.x && vx <= bmax.x)
+                {
+                    impact.x = vx;
+                    impact.y = vy;
+                    impact.z = bmin.z;
+                    return true;
+                }
+            }
+            else if (v0.z >= bmax.z && v1.z <= bmax.z)
+            {
+                float a = (bmax.z - v0.z) / (v1.z - v0.z);
+                float vx = (1 - a) * v0.x + a * v1.x;
+                float vy = (1 - a) * v0.y + a * v1.y;
+                // v.z = bmax.z;
+                if (vy >= bmin.y && vy <= bmax.y && vx >= bmin.x && vx <= bmax.x)
+                {
+                    impact.x = vx;
+                    impact.y = vy;
+                    impact.z = bmax.z;
+                    return true;
+                }
+            }
+            return false;
+        }
+
+        public static float DistanceBetweenLines(float3 ustart, float3 udir, float3 vstart, float3 vdir, float3 upoint)
+        {
+            return DistanceBetweenLines(ustart, udir, vstart, vdir, upoint, null);
+        }
+
+        public static float DistanceBetweenLines(float3 ustart, float3 udir, float3 vstart, float3 vdir)
+        {
+            return DistanceBetweenLines(ustart, udir, vstart, vdir, null, null);
+        }
+
+        public static float DistanceBetweenLines(float3 ustart, float3 udir, float3 vstart, float3 vdir, float3 upoint, float3 vpoint)
+        {
+            float3 cp = float3.normalize(float3.cross(udir, vdir));
+
+            float distu = -float3.dot(cp, ustart);
+            float distv = -float3.dot(cp, vstart);
+            float dist = (float)Math.Abs(distu - distv);
+            if (upoint != null)
+            {
+                Plane plane = new Plane();
+                plane.normal = float3.normalize(float3.cross(vdir, cp));
+                plane.dist = -float3.dot(plane.normal, vstart);
+                upoint = PlaneLineIntersection(plane, ustart, ustart + udir);
+            }
+            if (vpoint != null)
+            {
+                Plane plane = new Plane();
+                plane.normal = float3.normalize(float3.cross(udir, cp));
+                plane.dist = -float3.dot(plane.normal, ustart);
+                vpoint = PlaneLineIntersection(plane, vstart, vstart + vdir);
+            }
+            return dist;
+        }
+
+        public static float3 TriNormal(float3 v0, float3 v1, float3 v2)
+        {
+            // return the normal of the triangle
+            // inscribed by v0, v1, and v2
+            float3 cp = float3.cross(v1 - v0, v2 - v1);
+            float m = float3.magnitude(cp);
+            if (m == 0)
+                return new float3(1, 0, 0);
+            return cp * (1.0f / m);
+        }
+
+        public static int PlaneTest(Plane p, float3 v, float planetestepsilon)
+        {
+            float a = float3.dot(v, p.normal) + p.dist;
+            int flag = (a > planetestepsilon) ? (2) : ((a < -planetestepsilon) ? (1) : (0));
+            return flag;
+        }
+
+        public static int SplitTest(ref ConvexH convex, Plane plane, float planetestepsilon)
+        {
+            int flag = 0;
+            for (int i = 0; i < convex.vertices.Count; i++)
+            {
+                flag |= PlaneTest(plane, convex.vertices[i], planetestepsilon);
+            }
+            return flag;
+        }
+
+        public static Quaternion VirtualTrackBall(float3 cop, float3 cor, float3 dir1, float3 dir2)
+        {
+            // routine taken from game programming gems.
+            // Implement track ball functionality to spin stuf on the screen
+            //  cop   center of projection
+            //  cor   center of rotation
+            //  dir1  old mouse direction
+            //  dir2  new mouse direction
+            // pretend there is a sphere around cor.  Then find the points
+            // where dir1 and dir2 intersect that sphere.  Find the
+            // rotation that takes the first point to the second.
+            float m;
+            // compute plane
+            float3 nrml = cor - cop;
+            float fudgefactor = 1.0f / (float3.magnitude(nrml) * 0.25f); // since trackball proportional to distance from cop
+            nrml = float3.normalize(nrml);
+            float dist = -float3.dot(nrml, cor);
+            float3 u = PlaneLineIntersection(new Plane(nrml, dist), cop, cop + dir1);
+            u = u - cor;
+            u = u * fudgefactor;
+            m = float3.magnitude(u);
+            if (m > 1)
+            {
+                u /= m;
+            }
+            else
+            {
+                u = u - (nrml * (float)Math.Sqrt(1 - m * m));
+            }
+            float3 v = PlaneLineIntersection(new Plane(nrml, dist), cop, cop + dir2);
+            v = v - cor;
+            v = v * fudgefactor;
+            m = float3.magnitude(v);
+            if (m > 1)
+            {
+                v /= m;
+            }
+            else
+            {
+                v = v - (nrml * (float)Math.Sqrt(1 - m * m));
+            }
+            return RotationArc(u, v);
+        }
+
+        public static bool AssertIntact(ConvexH convex, float planetestepsilon)
+        {
+            int i;
+            int estart = 0;
+            for (i = 0; i < convex.edges.Count; i++)
+            {
+                if (convex.edges[estart].p != convex.edges[i].p)
+                {
+                    estart = i;
+                }
+                int inext = i + 1;
+                if (inext >= convex.edges.Count || convex.edges[inext].p != convex.edges[i].p)
+                {
+                    inext = estart;
+                }
+                Debug.Assert(convex.edges[inext].p == convex.edges[i].p);
+                int nb = convex.edges[i].ea;
+                Debug.Assert(nb != 255);
+                if (nb == 255 || nb == -1)
+                    return false;
+                Debug.Assert(nb != -1);
+                Debug.Assert(i == convex.edges[nb].ea);
+            }
+            for (i = 0; i < convex.edges.Count; i++)
+            {
+                Debug.Assert((0) == PlaneTest(convex.facets[convex.edges[i].p], convex.vertices[convex.edges[i].v], planetestepsilon));
+                if ((0) != PlaneTest(convex.facets[convex.edges[i].p], convex.vertices[convex.edges[i].v], planetestepsilon))
+                    return false;
+                if (convex.edges[estart].p != convex.edges[i].p)
+                {
+                    estart = i;
+                }
+                int i1 = i + 1;
+                if (i1 >= convex.edges.Count || convex.edges[i1].p != convex.edges[i].p)
+                {
+                    i1 = estart;
+                }
+                int i2 = i1 + 1;
+                if (i2 >= convex.edges.Count || convex.edges[i2].p != convex.edges[i].p)
+                {
+                    i2 = estart;
+                }
+                if (i == i2) // i sliced tangent to an edge and created 2 meaningless edges
+                    continue;
+                float3 localnormal = TriNormal(convex.vertices[convex.edges[i].v], convex.vertices[convex.edges[i1].v], convex.vertices[convex.edges[i2].v]);
+                Debug.Assert(float3.dot(localnormal, convex.facets[convex.edges[i].p].normal) > 0);
+                if (float3.dot(localnormal, convex.facets[convex.edges[i].p].normal) <= 0)
+                    return false;
+            }
+            return true;
+        }
+
+        public static ConvexH test_btbq(float planetestepsilon)
+        {
+            // back to back quads
+            ConvexH convex = new ConvexH(4, 8, 2);
+            convex.vertices[0] = new float3(0, 0, 0);
+            convex.vertices[1] = new float3(1, 0, 0);
+            convex.vertices[2] = new float3(1, 1, 0);
+            convex.vertices[3] = new float3(0, 1, 0);
+            convex.facets[0] = new Plane(new float3(0, 0, 1), 0);
+            convex.facets[1] = new Plane(new float3(0, 0, -1), 0);
+            convex.edges[0] = new ConvexH.HalfEdge(7, 0, 0);
+            convex.edges[1] = new ConvexH.HalfEdge(6, 1, 0);
+            convex.edges[2] = new ConvexH.HalfEdge(5, 2, 0);
+            convex.edges[3] = new ConvexH.HalfEdge(4, 3, 0);
+
+            convex.edges[4] = new ConvexH.HalfEdge(3, 0, 1);
+            convex.edges[5] = new ConvexH.HalfEdge(2, 3, 1);
+            convex.edges[6] = new ConvexH.HalfEdge(1, 2, 1);
+            convex.edges[7] = new ConvexH.HalfEdge(0, 1, 1);
+            AssertIntact(convex, planetestepsilon);
+            return convex;
+        }
+
+        public static ConvexH test_cube()
+        {
+            ConvexH convex = new ConvexH(8, 24, 6);
+            convex.vertices[0] = new float3(0, 0, 0);
+            convex.vertices[1] = new float3(0, 0, 1);
+            convex.vertices[2] = new float3(0, 1, 0);
+            convex.vertices[3] = new float3(0, 1, 1);
+            convex.vertices[4] = new float3(1, 0, 0);
+            convex.vertices[5] = new float3(1, 0, 1);
+            convex.vertices[6] = new float3(1, 1, 0);
+            convex.vertices[7] = new float3(1, 1, 1);
+
+            convex.facets[0] = new Plane(new float3(-1, 0, 0), 0);
+            convex.facets[1] = new Plane(new float3(1, 0, 0), -1);
+            convex.facets[2] = new Plane(new float3(0, -1, 0), 0);
+            convex.facets[3] = new Plane(new float3(0, 1, 0), -1);
+            convex.facets[4] = new Plane(new float3(0, 0, -1), 0);
+            convex.facets[5] = new Plane(new float3(0, 0, 1), -1);
+
+            convex.edges[0] = new ConvexH.HalfEdge(11, 0, 0);
+            convex.edges[1] = new ConvexH.HalfEdge(23, 1, 0);
+            convex.edges[2] = new ConvexH.HalfEdge(15, 3, 0);
+            convex.edges[3] = new ConvexH.HalfEdge(16, 2, 0);
+
+            convex.edges[4] = new ConvexH.HalfEdge(13, 6, 1);
+            convex.edges[5] = new ConvexH.HalfEdge(21, 7, 1);
+            convex.edges[6] = new ConvexH.HalfEdge(9, 5, 1);
+            convex.edges[7] = new ConvexH.HalfEdge(18, 4, 1);
+
+            convex.edges[8] = new ConvexH.HalfEdge(19, 0, 2);
+            convex.edges[9] = new ConvexH.HalfEdge(6, 4, 2);
+            convex.edges[10] = new ConvexH.HalfEdge(20, 5, 2);
+            convex.edges[11] = new ConvexH.HalfEdge(0, 1, 2);
+
+            convex.edges[12] = new ConvexH.HalfEdge(22, 3, 3);
+            convex.edges[13] = new ConvexH.HalfEdge(4, 7, 3);
+            convex.edges[14] = new ConvexH.HalfEdge(17, 6, 3);
+            convex.edges[15] = new ConvexH.HalfEdge(2, 2, 3);
+
+            convex.edges[16] = new ConvexH.HalfEdge(3, 0, 4);
+            convex.edges[17] = new ConvexH.HalfEdge(14, 2, 4);
+            convex.edges[18] = new ConvexH.HalfEdge(7, 6, 4);
+            convex.edges[19] = new ConvexH.HalfEdge(8, 4, 4);
+
+            convex.edges[20] = new ConvexH.HalfEdge(10, 1, 5);
+            convex.edges[21] = new ConvexH.HalfEdge(5, 5, 5);
+            convex.edges[22] = new ConvexH.HalfEdge(12, 7, 5);
+            convex.edges[23] = new ConvexH.HalfEdge(1, 3, 5);
+
+            return convex;
+        }
+
+        public static ConvexH ConvexHMakeCube(float3 bmin, float3 bmax)
+        {
+            ConvexH convex = test_cube();
+            convex.vertices[0] = new float3(bmin.x, bmin.y, bmin.z);
+            convex.vertices[1] = new float3(bmin.x, bmin.y, bmax.z);
+            convex.vertices[2] = new float3(bmin.x, bmax.y, bmin.z);
+            convex.vertices[3] = new float3(bmin.x, bmax.y, bmax.z);
+            convex.vertices[4] = new float3(bmax.x, bmin.y, bmin.z);
+            convex.vertices[5] = new float3(bmax.x, bmin.y, bmax.z);
+            convex.vertices[6] = new float3(bmax.x, bmax.y, bmin.z);
+            convex.vertices[7] = new float3(bmax.x, bmax.y, bmax.z);
+
+            convex.facets[0] = new Plane(new float3(-1, 0, 0), bmin.x);
+            convex.facets[1] = new Plane(new float3(1, 0, 0), -bmax.x);
+            convex.facets[2] = new Plane(new float3(0, -1, 0), bmin.y);
+            convex.facets[3] = new Plane(new float3(0, 1, 0), -bmax.y);
+            convex.facets[4] = new Plane(new float3(0, 0, -1), bmin.z);
+            convex.facets[5] = new Plane(new float3(0, 0, 1), -bmax.z);
+            return convex;
+        }
+
+        public static ConvexH ConvexHCrop(ref ConvexH convex, Plane slice, float planetestepsilon)
+        {
+            int i;
+            int vertcountunder = 0;
+            int vertcountover = 0;
+            List<int> vertscoplanar = new List<int>(); // existing vertex members of convex that are coplanar
+            List<int> edgesplit = new List<int>(); // existing edges that members of convex that cross the splitplane
+
+            Debug.Assert(convex.edges.Count < 480);
+
+            EdgeFlag[] edgeflag = new EdgeFlag[512];
+            VertFlag[] vertflag = new VertFlag[256];
+            PlaneFlag[] planeflag = new PlaneFlag[128];
+            ConvexH.HalfEdge[] tmpunderedges = new ConvexH.HalfEdge[512];
+            Plane[] tmpunderplanes = new Plane[128];
+            Coplanar[] coplanaredges = new Coplanar[512];
+            int coplanaredges_num = 0;
+
+            List<float3> createdverts = new List<float3>();
+
+            // do the side-of-plane tests
+            for (i = 0; i < convex.vertices.Count; i++)
+            {
+                vertflag[i].planetest = (byte)PlaneTest(slice, convex.vertices[i], planetestepsilon);
+                if (vertflag[i].planetest == (0))
+                {
+                    // ? vertscoplanar.Add(i);
+                    vertflag[i].undermap = (byte)vertcountunder++;
+                    vertflag[i].overmap = (byte)vertcountover++;
+                }
+                else if (vertflag[i].planetest == (1))
+                {
+                    vertflag[i].undermap = (byte)vertcountunder++;
+                }
+                else
+                {
+                    Debug.Assert(vertflag[i].planetest == (2));
+                    vertflag[i].overmap = (byte)vertcountover++;
+                    vertflag[i].undermap = 255; // for debugging purposes
+                }
+            }
+            int vertcountunderold = vertcountunder; // for debugging only
+
+            int under_edge_count = 0;
+            int underplanescount = 0;
+            int e0 = 0;
+
+            for (int currentplane = 0; currentplane < convex.facets.Count; currentplane++)
+            {
+                int estart = e0;
+                int enextface = 0;
+                int planeside = 0;
+                int e1 = e0 + 1;
+                int vout = -1;
+                int vin = -1;
+                int coplanaredge = -1;
+                do
+                {
+
+                    if (e1 >= convex.edges.Count || convex.edges[e1].p != currentplane)
+                    {
+                        enextface = e1;
+                        e1 = estart;
+                    }
+                    ConvexH.HalfEdge edge0 = convex.edges[e0];
+                    ConvexH.HalfEdge edge1 = convex.edges[e1];
+                    ConvexH.HalfEdge edgea = convex.edges[edge0.ea];
+
+                    planeside |= vertflag[edge0.v].planetest;
+                    //if((vertflag[edge0.v].planetest & vertflag[edge1.v].planetest)  == COPLANAR) {
+                    //  assert(ecop==-1);
+                    //  ecop=e;
+                    //}
+
+                    if (vertflag[edge0.v].planetest == (2) && vertflag[edge1.v].planetest == (2))
+                    {
+                        // both endpoints over plane
+                        edgeflag[e0].undermap = -1;
+                    }
+                    else if ((vertflag[edge0.v].planetest | vertflag[edge1.v].planetest) == (1))
+                    {
+                        // at least one endpoint under, the other coplanar or under
+
+                        edgeflag[e0].undermap = (short)under_edge_count;
+                        tmpunderedges[under_edge_count].v = vertflag[edge0.v].undermap;
+                        tmpunderedges[under_edge_count].p = (byte)underplanescount;
+                        if (edge0.ea < e0)
+                        {
+                            // connect the neighbors
+                            Debug.Assert(edgeflag[edge0.ea].undermap != -1);
+                            tmpunderedges[under_edge_count].ea = edgeflag[edge0.ea].undermap;
+                            tmpunderedges[edgeflag[edge0.ea].undermap].ea = (short)under_edge_count;
+                        }
+                        under_edge_count++;
+                    }
+                    else if ((vertflag[edge0.v].planetest | vertflag[edge1.v].planetest) == (0))
+                    {
+                        // both endpoints coplanar 
+                        // must check a 3rd point to see if UNDER
+                        int e2 = e1 + 1;
+                        if (e2 >= convex.edges.Count || convex.edges[e2].p != currentplane)
+                        {
+                            e2 = estart;
+                        }
+                        Debug.Assert(convex.edges[e2].p == currentplane);
+                        ConvexH.HalfEdge edge2 = convex.edges[e2];
+                        if (vertflag[edge2.v].planetest == (1))
+                        {
+
+                            edgeflag[e0].undermap = (short)under_edge_count;
+                            tmpunderedges[under_edge_count].v = vertflag[edge0.v].undermap;
+                            tmpunderedges[under_edge_count].p = (byte)underplanescount;
+                            tmpunderedges[under_edge_count].ea = -1;
+                            // make sure this edge is added to the "coplanar" list
+                            coplanaredge = under_edge_count;
+                            vout = vertflag[edge0.v].undermap;
+                            vin = vertflag[edge1.v].undermap;
+                            under_edge_count++;
+                        }
+                        else
+                        {
+                            edgeflag[e0].undermap = -1;
+                        }
+                    }
+                    else if (vertflag[edge0.v].planetest == (1) && vertflag[edge1.v].planetest == (2))
+                    {
+                        // first is under 2nd is over 
+
+                        edgeflag[e0].undermap = (short)under_edge_count;
+                        tmpunderedges[under_edge_count].v = vertflag[edge0.v].undermap;
+                        tmpunderedges[under_edge_count].p = (byte)underplanescount;
+                        if (edge0.ea < e0)
+                        {
+                            Debug.Assert(edgeflag[edge0.ea].undermap != -1);
+                            // connect the neighbors
+                            tmpunderedges[under_edge_count].ea = edgeflag[edge0.ea].undermap;
+                            tmpunderedges[edgeflag[edge0.ea].undermap].ea = (short)under_edge_count;
+                            vout = tmpunderedges[edgeflag[edge0.ea].undermap].v;
+                        }
+                        else
+                        {
+                            Plane p0 = convex.facets[edge0.p];
+                            Plane pa = convex.facets[edgea.p];
+                            createdverts.Add(ThreePlaneIntersection(p0, pa, slice));
+                            //createdverts.Add(PlaneProject(slice,PlaneLineIntersection(slice,convex.vertices[edge0.v],convex.vertices[edgea.v])));
+                            //createdverts.Add(PlaneLineIntersection(slice,convex.vertices[edge0.v],convex.vertices[edgea.v]));
+                            vout = vertcountunder++;
+                        }
+                        under_edge_count++;
+                        /// hmmm something to think about: i might be able to output this edge regarless of 
+                        // wheter or not we know v-in yet.  ok i;ll try this now:
+                        tmpunderedges[under_edge_count].v = (byte)vout;
+                        tmpunderedges[under_edge_count].p = (byte)underplanescount;
+                        tmpunderedges[under_edge_count].ea = -1;
+                        coplanaredge = under_edge_count;
+                        under_edge_count++;
+
+                        if (vin != -1)
+                        {
+                            // we previously processed an edge  where we came under
+                            // now we know about vout as well
+
+                            // ADD THIS EDGE TO THE LIST OF EDGES THAT NEED NEIGHBOR ON PARTITION PLANE!!
+                        }
+
+                    }
+                    else if (vertflag[edge0.v].planetest == (0) && vertflag[edge1.v].planetest == (2))
+                    {
+                        // first is coplanar 2nd is over 
+
+                        edgeflag[e0].undermap = -1;
+                        vout = vertflag[edge0.v].undermap;
+                        // I hate this but i have to make sure part of this face is UNDER before ouputting this vert
+                        int k = estart;
+                        Debug.Assert(edge0.p == currentplane);
+                        while (!((planeside & 1) != 0) && k < convex.edges.Count && convex.edges[k].p == edge0.p)
+                        {
+                            planeside |= vertflag[convex.edges[k].v].planetest;
+                            k++;
+                        }
+                        if ((planeside & 1) != 0)
+                        {
+                            tmpunderedges[under_edge_count].v = (byte)vout;
+                            tmpunderedges[under_edge_count].p = (byte)underplanescount;
+                            tmpunderedges[under_edge_count].ea = -1;
+                            coplanaredge = under_edge_count; // hmmm should make a note of the edge # for later on
+                            under_edge_count++;
+
+                        }
+                    }
+                    else if (vertflag[edge0.v].planetest == (2) && vertflag[edge1.v].planetest == (1))
+                    {
+                        // first is over next is under 
+                        // new vertex!!!
+                        Debug.Assert(vin == -1);
+                        if (e0 < edge0.ea)
+                        {
+                            Plane p0 = convex.facets[edge0.p];
+                            Plane pa = convex.facets[edgea.p];
+                            createdverts.Add(ThreePlaneIntersection(p0, pa, slice));
+                            //createdverts.Add(PlaneLineIntersection(slice,convex.vertices[edge0.v],convex.vertices[edgea.v]));
+                            //createdverts.Add(PlaneProject(slice,PlaneLineIntersection(slice,convex.vertices[edge0.v],convex.vertices[edgea.v])));
+                            vin = vertcountunder++;
+                        }
+                        else
+                        {
+                            // find the new vertex that was created by edge[edge0.ea]
+                            int nea = edgeflag[edge0.ea].undermap;
+                            Debug.Assert(tmpunderedges[nea].p == tmpunderedges[nea + 1].p);
+                            vin = tmpunderedges[nea + 1].v;
+                            Debug.Assert(vin < vertcountunder);
+                            Debug.Assert(vin >= vertcountunderold); // for debugging only
+                        }
+                        if (vout != -1)
+                        {
+                            // we previously processed an edge  where we went over
+                            // now we know vin too
+                            // ADD THIS EDGE TO THE LIST OF EDGES THAT NEED NEIGHBOR ON PARTITION PLANE!!
+                        }
+                        // output edge
+                        tmpunderedges[under_edge_count].v = (byte)vin;
+                        tmpunderedges[under_edge_count].p = (byte)underplanescount;
+                        edgeflag[e0].undermap = (short)under_edge_count;
+                        if (e0 > edge0.ea)
+                        {
+                            Debug.Assert(edgeflag[edge0.ea].undermap != -1);
+                            // connect the neighbors
+                            tmpunderedges[under_edge_count].ea = edgeflag[edge0.ea].undermap;
+                            tmpunderedges[edgeflag[edge0.ea].undermap].ea = (short)under_edge_count;
+                        }
+                        Debug.Assert(edgeflag[e0].undermap == under_edge_count);
+                        under_edge_count++;
+                    }
+                    else if (vertflag[edge0.v].planetest == (2) && vertflag[edge1.v].planetest == (0))
+                    {
+                        // first is over next is coplanar 
+
+                        edgeflag[e0].undermap = -1;
+                        vin = vertflag[edge1.v].undermap;
+                        Debug.Assert(vin != -1);
+                        if (vout != -1)
+                        {
+                            // we previously processed an edge  where we came under
+                            // now we know both endpoints
+                            // ADD THIS EDGE TO THE LIST OF EDGES THAT NEED NEIGHBOR ON PARTITION PLANE!!
+                        }
+
+                    }
+                    else
+                    {
+                        Debug.Assert(false);
+                    }
+
+
+                    e0 = e1;
+                    e1++; // do the modulo at the beginning of the loop
+
+                } while (e0 != estart);
+                e0 = enextface;
+                if ((planeside & 1) != 0)
+                {
+                    planeflag[currentplane].undermap = (byte)underplanescount;
+                    tmpunderplanes[underplanescount] = convex.facets[currentplane];
+                    underplanescount++;
+                }
+                else
+                {
+                    planeflag[currentplane].undermap = 0;
+                }
+                if (vout >= 0 && (planeside & 1) != 0)
+                {
+                    Debug.Assert(vin >= 0);
+                    Debug.Assert(coplanaredge >= 0);
+                    Debug.Assert(coplanaredge != 511);
+                    coplanaredges[coplanaredges_num].ea = (ushort)coplanaredge;
+                    coplanaredges[coplanaredges_num].v0 = (byte)vin;
+                    coplanaredges[coplanaredges_num].v1 = (byte)vout;
+                    coplanaredges_num++;
+                }
+            }
+
+            // add the new plane to the mix:
+            if (coplanaredges_num > 0)
+            {
+                tmpunderplanes[underplanescount++] = slice;
+            }
+            for (i = 0; i < coplanaredges_num - 1; i++)
+            {
+                if (coplanaredges[i].v1 != coplanaredges[i + 1].v0)
+                {
+                    int j = 0;
+                    for (j = i + 2; j < coplanaredges_num; j++)
+                    {
+                        if (coplanaredges[i].v1 == coplanaredges[j].v0)
+                        {
+                            Coplanar tmp = coplanaredges[i + 1];
+                            coplanaredges[i + 1] = coplanaredges[j];
+                            coplanaredges[j] = tmp;
+                            break;
+                        }
+                    }
+                    if (j >= coplanaredges_num)
+                    {
+                        Debug.Assert(j < coplanaredges_num);
+                        return null;
+                    }
+                }
+            }
+
+            ConvexH punder = new ConvexH(vertcountunder, under_edge_count + coplanaredges_num, underplanescount);
+            ConvexH under = punder;
+
+            {
+                int k = 0;
+                for (i = 0; i < convex.vertices.Count; i++)
+                {
+                    if (vertflag[i].planetest != (2))
+                    {
+                        under.vertices[k++] = convex.vertices[i];
+                    }
+                }
+                i = 0;
+                while (k < vertcountunder)
+                {
+                    under.vertices[k++] = createdverts[i++];
+                }
+                Debug.Assert(i == createdverts.Count);
+            }
+
+            for (i = 0; i < coplanaredges_num; i++)
+            {
+                ConvexH.HalfEdge edge = under.edges[under_edge_count + i];
+                edge.p = (byte)(underplanescount - 1);
+                edge.ea = (short)coplanaredges[i].ea;
+                edge.v = (byte)coplanaredges[i].v0;
+                under.edges[under_edge_count + i] = edge;
+
+                tmpunderedges[coplanaredges[i].ea].ea = (short)(under_edge_count + i);
+            }
+
+            under.edges = new List<ConvexH.HalfEdge>(tmpunderedges);
+            under.facets = new List<Plane>(tmpunderplanes);
+            return punder;
+        }
+
+        public static ConvexH ConvexHDup(ConvexH src)
+        {
+            ConvexH dst = new ConvexH(src.vertices.Count, src.edges.Count, src.facets.Count);
+            dst.vertices = new List<float3>(src.vertices.Count);
+            foreach (float3 f in src.vertices)
+                dst.vertices.Add(new float3(f));
+            dst.edges = new List<ConvexH.HalfEdge>(src.edges.Count);
+            foreach (ConvexH.HalfEdge e in src.edges)
+                dst.edges.Add(new ConvexH.HalfEdge(e));
+            dst.facets = new List<Plane>(src.facets.Count);
+            foreach (Plane p in src.facets)
+                dst.facets.Add(new Plane(p));
+            return dst;
+        }
+
+        public static int candidateplane(List<Plane> planes, int planes_count, ConvexH convex, float epsilon)
+        {
+            int p = 0;
+            float md = 0;
+            int i;
+            for (i = 0; i < planes_count; i++)
+            {
+                float d = 0;
+                for (int j = 0; j < convex.vertices.Count; j++)
+                {
+                    d = Math.Max(d, float3.dot(convex.vertices[j], planes[i].normal) + planes[i].dist);
+                }
+                if (i == 0 || d > md)
+                {
+                    p = i;
+                    md = d;
+                }
+            }
+            return (md > epsilon) ? p : -1;
+        }
+
+        public static float3 orth(float3 v)
+        {
+            float3 a = float3.cross(v, new float3(0f, 0f, 1f));
+            float3 b = float3.cross(v, new float3(0f, 1f, 0f));
+            return float3.normalize((float3.magnitude(a) > float3.magnitude(b)) ? a : b);
+        }
+
+        public static int maxdir(List<float3> p, int count, float3 dir)
+        {
+            Debug.Assert(count != 0);
+            int m = 0;
+            float currDotm = float3.dot(p[0], dir);
+            for (int i = 1; i < count; i++)
+            {
+                float currDoti = float3.dot(p[i], dir);
+                if (currDoti > currDotm)
+                {
+                    currDotm = currDoti;
+                    m = i;
+                }
+            }
+            return m;
+        }
+
+        public static int maxdirfiltered(List<float3> p, int count, float3 dir, byte[] allow)
+        {
+            //Debug.Assert(count != 0);
+            int m = 0;
+            float currDotm = float3.dot(p[0], dir);
+            float currDoti;
+
+            while (allow[m] == 0)
+                m++;
+
+            for (int i = 1; i < count; i++)
+            {
+                if (allow[i] != 0)
+                {
+                    currDoti = float3.dot(p[i], dir);
+                    if (currDoti > currDotm)
+                    {
+                        currDotm = currDoti;
+                        m = i;
+                    }
+                }
+            }
+            //Debug.Assert(m != -1);
+            return m;
+        }
+
+        public static int maxdirsterid(List<float3> p, int count, float3 dir, byte[] allow)
+        {
+            int m = -1;
+            while (m == -1)
+            {
+                m = maxdirfiltered(p, count, dir, allow);
+                if (allow[m] == 3)
+                    return m;
+                float3 u = orth(dir);
+                float3 v = float3.cross(u, dir);
+                int ma = -1;
+                for (float x = 0.0f; x <= 360.0f; x += 45.0f)
+                {
+                    int mb;
+                    {
+                        float s = (float)Math.Sin((3.14159264f / 180.0f) * (x));
+                        float c = (float)Math.Cos((3.14159264f / 180.0f) * (x));
+                        mb = maxdirfiltered(p, count, dir + (u * s + v * c) * 0.025f, allow);
+                    }
+                    if (ma == m && mb == m)
+                    {
+                        allow[m] = 3;
+                        return m;
+                    }
+                    if (ma != -1 && ma != mb) // Yuck - this is really ugly
+                    {
+                        int mc = ma;
+                        for (float xx = x - 40.0f; xx <= x; xx += 5.0f)
+                        {
+                            float s = (float)Math.Sin((3.14159264f / 180.0f) * (xx));
+                            float c = (float)Math.Cos((3.14159264f / 180.0f) * (xx));
+                            int md = maxdirfiltered(p, count, dir + (u * s + v * c) * 0.025f, allow);
+                            if (mc == m && md == m)
+                            {
+                                allow[m] = 3;
+                                return m;
+                            }
+                            mc = md;
+                        }
+                    }
+                    ma = mb;
+                }
+                allow[m] = 0;
+                m = -1;
+            }
+
+            Debug.Assert(false);
+            return m;
+        }
+
+        public static int4 FindSimplex(List<float3> verts, byte[] allow)
+        {
+            float3[] basis = new float3[3];
+            basis[0] = new float3(0.01f, 0.02f, 1.0f);
+            int p0 = maxdirsterid(verts, verts.Count, basis[0], allow);
+            int p1 = maxdirsterid(verts, verts.Count, -basis[0], allow);
+            basis[0] = verts[p0] - verts[p1];
+            if (p0 == p1 || basis[0] == new float3(0, 0, 0))
+                return new int4(-1, -1, -1, -1);
+            basis[1] = float3.cross(new float3(1, 0.02f, 0), basis[0]);
+            basis[2] = float3.cross(new float3(-0.02f, 1, 0), basis[0]);
+            basis[1] = float3.normalize((float3.magnitude(basis[1]) > float3.magnitude(basis[2])) ? basis[1] : basis[2]);
+            int p2 = maxdirsterid(verts, verts.Count, basis[1], allow);
+            if (p2 == p0 || p2 == p1)
+            {
+                p2 = maxdirsterid(verts, verts.Count, -basis[1], allow);
+            }
+            if (p2 == p0 || p2 == p1)
+                return new int4(-1, -1, -1, -1);
+            basis[1] = verts[p2] - verts[p0];
+            basis[2] = float3.normalize(float3.cross(basis[1], basis[0]));
+            int p3 = maxdirsterid(verts, verts.Count, basis[2], allow);
+            if (p3 == p0 || p3 == p1 || p3 == p2)
+                p3 = maxdirsterid(verts, verts.Count, -basis[2], allow);
+            if (p3 == p0 || p3 == p1 || p3 == p2)
+                return new int4(-1, -1, -1, -1);
+            Debug.Assert(!(p0 == p1 || p0 == p2 || p0 == p3 || p1 == p2 || p1 == p3 || p2 == p3));
+            if (float3.dot(verts[p3] - verts[p0], float3.cross(verts[p1] - verts[p0], verts[p2] - verts[p0])) < 0)
+            {
+                Swap(ref p2, ref p3);
+            }
+            return new int4(p0, p1, p2, p3);
+        }
+
+        public static float GetDist(float px, float py, float pz, float3 p2)
+        {
+            float dx = px - p2.x;
+            float dy = py - p2.y;
+            float dz = pz - p2.z;
+
+            return dx * dx + dy * dy + dz * dz;
+        }
+
+        public static void ReleaseHull(PHullResult result)
+        {
+            if (result.Indices != null)
+                result.Indices = null;
+            if (result.Vertices != null)
+                result.Vertices = null;
+        }
+
+        public static int calchullgen(List<float3> verts, int vlimit, List<HullTriangle> tris)
+        {
+            if (verts.Count < 4)
+                return 0;
+            if (vlimit == 0)
+                vlimit = 1000000000;
+            int j;
+            float3 bmin = new float3(verts[0]);
+            float3 bmax = new float3(verts[0]);
+            List<int> isextreme = new List<int>(verts.Count);
+            byte[] allow = new byte[verts.Count];
+            for (j = 0; j < verts.Count; j++)
+            {
+                allow[j] = 1;
+                isextreme.Add(0);
+                bmin = float3.VectorMin(bmin, verts[j]);
+                bmax = float3.VectorMax(bmax, verts[j]);
+            }
+            float epsilon = float3.magnitude(bmax - bmin) * 0.001f;
+
+            int4 p = FindSimplex(verts, allow);
+            if (p.x == -1) // simplex failed
+                return 0;
+
+            float3 center = (verts[p[0]] + verts[p[1]] + verts[p[2]] + verts[p[3]]) / 4.0f; // a valid interior point
+            HullTriangle t0 = new HullTriangle(p[2], p[3], p[1], tris);
+            t0.n = new int3(2, 3, 1);
+            HullTriangle t1 = new HullTriangle(p[3], p[2], p[0], tris);
+            t1.n = new int3(3, 2, 0);
+            HullTriangle t2 = new HullTriangle(p[0], p[1], p[3], tris);
+            t2.n = new int3(0, 1, 3);
+            HullTriangle t3 = new HullTriangle(p[1], p[0], p[2], tris);
+            t3.n = new int3(1, 0, 2);
+            isextreme[p[0]] = isextreme[p[1]] = isextreme[p[2]] = isextreme[p[3]] = 1;
+            checkit(t0, tris);
+            checkit(t1, tris);
+            checkit(t2, tris);
+            checkit(t3, tris);
+
+            for (j = 0; j < tris.Count; j++)
+            {
+                HullTriangle t = tris[j];
+                Debug.Assert((object)t != null);
+                Debug.Assert(t.vmax < 0);
+                float3 n = TriNormal(verts[(t)[0]], verts[(t)[1]], verts[(t)[2]]);
+                t.vmax = maxdirsterid(verts, verts.Count, n, allow);
+                t.rise = float3.dot(n, verts[t.vmax] - verts[(t)[0]]);
+            }
+            HullTriangle te;
+            vlimit -= 4;
+            while (vlimit > 0 && (te = extrudable(epsilon, tris)) != null)
+            {
+                int3 ti = te;
+                int v = te.vmax;
+                Debug.Assert(isextreme[v] == 0); // wtf we've already done this vertex
+                isextreme[v] = 1;
+                //if(v==p0 || v==p1 || v==p2 || v==p3) continue; // done these already
+                j = tris.Count;
+                while (j-- != 0)
+                {
+                    if (tris.Count <= j || (object)tris[j] == null)
+                        continue;
+                    int3 t = tris[j];
+                    if (above(verts, t, verts[v], 0.01f * epsilon))
+                    {
+                        extrude(tris[j], v, tris);
+                    }
+                }
+                // now check for those degenerate cases where we have a flipped triangle or a really skinny triangle
+                j = tris.Count;
+                while (j-- != 0)
+                {
+                    if (tris.Count <= j || (object)tris[j] == null)
+                        continue;
+                    if (!hasvert(tris[j], v))
+                        break;
+                    int3 nt = tris[j];
+                    if (above(verts, nt, center, 0.01f * epsilon) || float3.magnitude(float3.cross(verts[nt[1]] - verts[nt[0]], verts[nt[2]] - verts[nt[1]])) < epsilon * epsilon * 0.1f)
+                    {
+                        HullTriangle nb = tris[tris[j].n[0]];
+                        Debug.Assert(nb != null);
+                        Debug.Assert(!hasvert(nb, v));
+                        Debug.Assert(nb.id < j);
+                        extrude(nb, v, tris);
+                        j = tris.Count;
+                    }
+                }
+                j = tris.Count;
+                while (j-- != 0)
+                {
+                    HullTriangle t = tris[j];
+                    if (t == null)
+                        continue;
+                    if (t.vmax >= 0)
+                        break;
+                    float3 n = TriNormal(verts[(t)[0]], verts[(t)[1]], verts[(t)[2]]);
+                    t.vmax = maxdirsterid(verts, verts.Count, n, allow);
+                    if (isextreme[t.vmax] != 0)
+                    {
+                        t.vmax = -1; // already done that vertex - algorithm needs to be able to terminate.
+                    }
+                    else
+                    {
+                        t.rise = float3.dot(n, verts[t.vmax] - verts[(t)[0]]);
+                    }
+                }
+                vlimit--;
+            }
+            return 1;
+        }
+
+        public static bool calchull(List<float3> verts, out List<int> tris_out, int vlimit, List<HullTriangle> tris)
+        {
+            tris_out = null;
+
+            int rc = calchullgen(verts, vlimit, tris);
+            if (rc == 0)
+                return false;
+            List<int> ts = new List<int>();
+            for (int i = 0; i < tris.Count; i++)
+            {
+                if ((object)tris[i] != null)
+                {
+                    for (int j = 0; j < 3; j++)
+                        ts.Add((tris[i])[j]);
+                    tris[i] = null;
+                }
+            }
+
+            tris_out = ts;
+            tris.Clear();
+            return true;
+        }
+
+        public static int calchullpbev(List<float3> verts, int vlimit, out List<Plane> planes, float bevangle, List<HullTriangle> tris)
+        {
+            int i;
+            int j;
+            planes = new List<Plane>();
+            int rc = calchullgen(verts, vlimit, tris);
+            if (rc == 0)
+                return 0;
+            for (i = 0; i < tris.Count; i++)
+            {
+                if (tris[i] != null)
+                {
+                    Plane p = new Plane();
+                    HullTriangle t = tris[i];
+                    p.normal = TriNormal(verts[(t)[0]], verts[(t)[1]], verts[(t)[2]]);
+                    p.dist = -float3.dot(p.normal, verts[(t)[0]]);
+                    planes.Add(p);
+                    for (j = 0; j < 3; j++)
+                    {
+                        if (t.n[j] < t.id)
+                            continue;
+                        HullTriangle s = tris[t.n[j]];
+                        float3 snormal = TriNormal(verts[(s)[0]], verts[(s)[1]], verts[(s)[2]]);
+                        if (float3.dot(snormal, p.normal) >= Math.Cos(bevangle * (3.14159264f / 180.0f)))
+                            continue;
+                        float3 n = float3.normalize(snormal + p.normal);
+                        planes.Add(new Plane(n, -float3.dot(n, verts[maxdir(verts, verts.Count, n)])));
+                    }
+                }
+            }
+
+            tris.Clear();
+            return 1;
+        }
+
+        public static int overhull(List<Plane> planes, List<float3> verts, int maxplanes, out List<float3> verts_out, out List<int> faces_out, float inflate)
+        {
+            verts_out = null;
+            faces_out = null;
+
+            int i;
+            int j;
+            if (verts.Count < 4)
+                return 0;
+            maxplanes = Math.Min(maxplanes, planes.Count);
+            float3 bmin = new float3(verts[0]);
+            float3 bmax = new float3(verts[0]);
+            for (i = 0; i < verts.Count; i++)
+            {
+                bmin = float3.VectorMin(bmin, verts[i]);
+                bmax = float3.VectorMax(bmax, verts[i]);
+            }
+            //  float diameter = magnitude(bmax-bmin);
+            //  inflate *=diameter;   // RELATIVE INFLATION
+            bmin -= new float3(inflate, inflate, inflate);
+            bmax += new float3(inflate, inflate, inflate);
+            for (i = 0; i < planes.Count; i++)
+            {
+                planes[i].dist -= inflate;
+            }
+            float3 emin = new float3(bmin);
+            float3 emax = new float3(bmax);
+            float epsilon = float3.magnitude(emax - emin) * 0.025f;
+            float planetestepsilon = float3.magnitude(emax - emin) * (0.001f);
+            // todo: add bounding cube planes to force bevel. or try instead not adding the diameter expansion ??? must think.
+            // ConvexH *convex = ConvexHMakeCube(bmin - float3(diameter,diameter,diameter),bmax+float3(diameter,diameter,diameter));
+            ConvexH c = ConvexHMakeCube(new float3(bmin), new float3(bmax));
+            int k;
+            while (maxplanes-- != 0 && (k = candidateplane(planes, planes.Count, c, epsilon)) >= 0)
+            {
+                ConvexH tmp = c;
+                c = ConvexHCrop(ref tmp, planes[k], planetestepsilon);
+                if (c == null) // might want to debug this case better!!!
+                {
+                    c = tmp;
+                    break;
+                }
+                if (AssertIntact(c, planetestepsilon) == false) // might want to debug this case better too!!!
+                {
+                    c = tmp;
+                    break;
+                }
+                tmp.edges = null;
+                tmp.facets = null;
+                tmp.vertices = null;
+            }
+
+            Debug.Assert(AssertIntact(c, planetestepsilon));
+            //return c;
+            //C++ TO C# CONVERTER TODO TASK: The memory management function 'malloc' has no equivalent in C#:
+            faces_out = new List<int>(); //(int)malloc(sizeof(int) * (1 + c.facets.Count + c.edges.Count)); // new int[1+c->facets.count+c->edges.count];
+            int faces_count_out = 0;
+            i = 0;
+            faces_out[faces_count_out++] = -1;
+            k = 0;
+            while (i < c.edges.Count)
+            {
+                j = 1;
+                while (j + i < c.edges.Count && c.edges[i].p == c.edges[i + j].p)
+                {
+                    j++;
+                }
+                faces_out[faces_count_out++] = j;
+                while (j-- != 0)
+                {
+                    faces_out[faces_count_out++] = c.edges[i].v;
+                    i++;
+                }
+                k++;
+            }
+            faces_out[0] = k; // number of faces.
+            Debug.Assert(k == c.facets.Count);
+            Debug.Assert(faces_count_out == 1 + c.facets.Count + c.edges.Count);
+            verts_out = c.vertices; // new float3[c->vertices.count];
+            int verts_count_out = c.vertices.Count;
+            for (i = 0; i < c.vertices.Count; i++)
+            {
+                verts_out[i] = new float3(c.vertices[i]);
+            }
+
+            c.edges = null;
+            c.facets = null;
+            c.vertices = null;
+            return 1;
+        }
+
+        public static int overhullv(List<float3> verts, int maxplanes, out List<float3> verts_out, out List<int> faces_out, float inflate, float bevangle, int vlimit, List<HullTriangle> tris)
+        {
+            verts_out = null;
+            faces_out = null;
+
+            if (verts.Count == 0)
+                return 0;
+            List<Plane> planes = new List<Plane>();
+            int rc = calchullpbev(verts, vlimit, out planes, bevangle, tris);
+            if (rc == 0)
+                return 0;
+            return overhull(planes, verts, maxplanes, out verts_out, out faces_out, inflate);
+        }
+
+        public static void addPoint(ref uint vcount, List<float3> p, float x, float y, float z)
+        {
+            p.Add(new float3(x, y, z));
+            vcount++;
+        }
+
+        public static bool ComputeHull(List<float3> vertices, ref PHullResult result, int vlimit, float inflate)
+        {
+            List<HullTriangle> tris = new List<HullTriangle>();
+            List<int> faces;
+            List<float3> verts_out;
+
+            if (inflate == 0.0f)
+            {
+                List<int> tris_out;
+                bool ret = calchull(vertices, out tris_out, vlimit, tris);
+                if (ret == false)
+                    return false;
+
+                result.Indices = tris_out;
+                result.Vertices = vertices;
+                return true;
+            }
+            else
+            {
+                int ret = overhullv(vertices, 35, out verts_out, out faces, inflate, 120.0f, vlimit, tris);
+                if (ret == 0)
+                    return false;
+
+                List<int3> tris2 = new List<int3>();
+                int n = faces[0];
+                int k = 1;
+                for (int i = 0; i < n; i++)
+                {
+                    int pn = faces[k++];
+                    for (int j = 2; j < pn; j++)
+                        tris2.Add(new int3(faces[k], faces[k + j - 1], faces[k + j]));
+                    k += pn;
+                }
+                Debug.Assert(tris2.Count == faces.Count - 1 - (n * 3));
+
+                result.Indices = new List<int>(tris2.Count * 3);
+                for (int i = 0; i < tris2.Count; i++)
+                {
+                    result.Indices.Add(tris2[i].x);
+                    result.Indices.Add(tris2[i].y);
+                    result.Indices.Add(tris2[i].z);
+                }
+                result.Vertices = verts_out;
+
+                return true;
+            }
+        }
+
+        private static bool CleanupVertices(List<float3> svertices, out List<float3> vertices, float normalepsilon, out float3 scale)
+        {
+            const float EPSILON = 0.000001f;
+
+            vertices = new List<float3>();
+            scale = new float3(1f, 1f, 1f);
+
+            if (svertices.Count == 0)
+                return false;
+
+            uint vcount = 0;
+
+            float[] recip = new float[3];
+
+            float[] bmin = { Single.MaxValue, Single.MaxValue, Single.MaxValue };
+            float[] bmax = { Single.MinValue, Single.MinValue, Single.MinValue };
+
+            for (int i = 0; i < svertices.Count; i++)
+            {
+                float3 p = svertices[i];
+
+                for (int j = 0; j < 3; j++)
+                {
+                    if (p[j] < bmin[j])
+                        bmin[j] = p[j];
+                    if (p[j] > bmax[j])
+                        bmax[j] = p[j];
+                }
+            }
+
+            float dx = bmax[0] - bmin[0];
+            float dy = bmax[1] - bmin[1];
+            float dz = bmax[2] - bmin[2];
+
+            float3 center = new float3();
+
+            center.x = dx * 0.5f + bmin[0];
+            center.y = dy * 0.5f + bmin[1];
+            center.z = dz * 0.5f + bmin[2];
+
+            if (dx < EPSILON || dy < EPSILON || dz < EPSILON || svertices.Count < 3)
+            {
+                float len = Single.MaxValue;
+
+                if (dx > EPSILON && dx < len)
+                    len = dx;
+                if (dy > EPSILON && dy < len)
+                    len = dy;
+                if (dz > EPSILON && dz < len)
+                    len = dz;
+
+                if (len == Single.MaxValue)
+                {
+                    dx = dy = dz = 0.01f; // one centimeter
+                }
+                else
+                {
+                    if (dx < EPSILON) // 1/5th the shortest non-zero edge.
+                        dx = len * 0.05f;
+                    if (dy < EPSILON)
+                        dy = len * 0.05f;
+                    if (dz < EPSILON)
+                        dz = len * 0.05f;
+                }
+
+                float x1 = center[0] - dx;
+                float x2 = center[0] + dx;
+
+                float y1 = center[1] - dy;
+                float y2 = center[1] + dy;
+
+                float z1 = center[2] - dz;
+                float z2 = center[2] + dz;
+
+                addPoint(ref vcount, vertices, x1, y1, z1);
+                addPoint(ref vcount, vertices, x2, y1, z1);
+                addPoint(ref vcount, vertices, x2, y2, z1);
+                addPoint(ref vcount, vertices, x1, y2, z1);
+                addPoint(ref vcount, vertices, x1, y1, z2);
+                addPoint(ref vcount, vertices, x2, y1, z2);
+                addPoint(ref vcount, vertices, x2, y2, z2);
+                addPoint(ref vcount, vertices, x1, y2, z2);
+
+                return true; // return cube     
+            }
+            else
+            {
+                scale.x = dx;
+                scale.y = dy;
+                scale.z = dz;
+
+                recip[0] = 1f / dx;
+                recip[1] = 1f / dy;
+                recip[2] = 1f / dz;
+
+                center.x *= recip[0];
+                center.y *= recip[1];
+                center.z *= recip[2];
+            }
+
+            for (int i = 0; i < svertices.Count; i++)
+            {
+                float3 p = svertices[i];
+
+                float px = p[0];
+                float py = p[1];
+                float pz = p[2];
+
+                px = px * recip[0]; // normalize
+                py = py * recip[1]; // normalize
+                pz = pz * recip[2]; // normalize
+
+                if (true)
+                {
+                    int j;
+
+                    for (j = 0; j < vcount; j++)
+                    {
+                        float3 v = vertices[j];
+
+                        float x = v[0];
+                        float y = v[1];
+                        float z = v[2];
+
+                        float dx1 = Math.Abs(x - px);
+                        float dy1 = Math.Abs(y - py);
+                        float dz1 = Math.Abs(z - pz);
+
+                        if (dx1 < normalepsilon && dy1 < normalepsilon && dz1 < normalepsilon)
+                        {
+                            // ok, it is close enough to the old one
+                            // now let us see if it is further from the center of the point cloud than the one we already recorded.
+                            // in which case we keep this one instead.
+                            float dist1 = GetDist(px, py, pz, center);
+                            float dist2 = GetDist(v[0], v[1], v[2], center);
+
+                            if (dist1 > dist2)
+                            {
+                                v.x = px;
+                                v.y = py;
+                                v.z = pz;
+                            }
+
+                            break;
+                        }
+                    }
+
+                    if (j == vcount)
+                    {
+                        float3 dest = new float3(px, py, pz);
+                        vertices.Add(dest);
+                        vcount++;
+                    }
+                }
+            }
+
+            // ok..now make sure we didn't prune so many vertices it is now invalid.
+            if (true)
+            {
+                float[] bmin2 = { Single.MaxValue, Single.MaxValue, Single.MaxValue };
+                float[] bmax2 = { Single.MinValue, Single.MinValue, Single.MinValue };
+
+                for (int i = 0; i < vcount; i++)
+                {
+                    float3 p = vertices[i];
+                    for (int j = 0; j < 3; j++)
+                    {
+                        if (p[j] < bmin2[j])
+                            bmin2[j] = p[j];
+                        if (p[j] > bmax2[j])
+                            bmax2[j] = p[j];
+                    }
+                }
+
+                float dx2 = bmax2[0] - bmin2[0];
+                float dy2 = bmax2[1] - bmin2[1];
+                float dz2 = bmax2[2] - bmin2[2];
+
+                if (dx2 < EPSILON || dy2 < EPSILON || dz2 < EPSILON || vcount < 3)
+                {
+                    float cx = dx2 * 0.5f + bmin2[0];
+                    float cy = dy2 * 0.5f + bmin2[1];
+                    float cz = dz2 * 0.5f + bmin2[2];
+
+                    float len = Single.MaxValue;
+
+                    if (dx2 >= EPSILON && dx2 < len)
+                        len = dx2;
+                    if (dy2 >= EPSILON && dy2 < len)
+                        len = dy2;
+                    if (dz2 >= EPSILON && dz2 < len)
+                        len = dz2;
+
+                    if (len == Single.MaxValue)
+                    {
+                        dx2 = dy2 = dz2 = 0.01f; // one centimeter
+                    }
+                    else
+                    {
+                        if (dx2 < EPSILON) // 1/5th the shortest non-zero edge.
+                            dx2 = len * 0.05f;
+                        if (dy2 < EPSILON)
+                            dy2 = len * 0.05f;
+                        if (dz2 < EPSILON)
+                            dz2 = len * 0.05f;
+                    }
+
+                    float x1 = cx - dx2;
+                    float x2 = cx + dx2;
+
+                    float y1 = cy - dy2;
+                    float y2 = cy + dy2;
+
+                    float z1 = cz - dz2;
+                    float z2 = cz + dz2;
+
+                    vcount = 0; // add box
+
+                    addPoint(ref vcount, vertices, x1, y1, z1);
+                    addPoint(ref vcount, vertices, x2, y1, z1);
+                    addPoint(ref vcount, vertices, x2, y2, z1);
+                    addPoint(ref vcount, vertices, x1, y2, z1);
+                    addPoint(ref vcount, vertices, x1, y1, z2);
+                    addPoint(ref vcount, vertices, x2, y1, z2);
+                    addPoint(ref vcount, vertices, x2, y2, z2);
+                    addPoint(ref vcount, vertices, x1, y2, z2);
+
+                    return true;
+                }
+            }
+
+            return true;
+        }
+
+        private static void BringOutYourDead(List<float3> verts, out List<float3> overts, List<int> indices)
+        {
+            int[] used = new int[verts.Count];
+            int ocount = 0;
+
+            overts = new List<float3>();
+
+            for (int i = 0; i < indices.Count; i++)
+            {
+                int v = indices[i]; // original array index
+
+                Debug.Assert(v >= 0 && v < verts.Count);
+
+                if (used[v] != 0) // if already remapped
+                {
+                    indices[i] = used[v] - 1; // index to new array
+                }
+                else
+                {
+                    indices[i] = ocount; // new index mapping
+
+                    overts.Add(verts[v]); // copy old vert to new vert array
+
+                    ocount++; // increment output vert count
+
+                    Debug.Assert(ocount >= 0 && ocount <= verts.Count);
+
+                    used[v] = ocount; // assign new index remapping
+                }
+            }
+        }
+
+        public static HullError CreateConvexHull(HullDesc desc, ref HullResult result)
+        {
+            HullError ret = HullError.QE_FAIL;
+
+            PHullResult hr = new PHullResult();
+
+            uint vcount = (uint)desc.Vertices.Count;
+            if (vcount < 8)
+                vcount = 8;
+
+            List<float3> vsource;
+            float3 scale = new float3();
+
+            bool ok = CleanupVertices(desc.Vertices, out vsource, desc.NormalEpsilon, out scale); // normalize point cloud, remove duplicates!
+
+            if (ok)
+            {
+                if (true) // scale vertices back to their original size.
+                {
+                    for (int i = 0; i < vsource.Count; i++)
+                    {
+                        float3 v = vsource[i];
+                        v.x *= scale[0];
+                        v.y *= scale[1];
+                        v.z *= scale[2];
+                    }
+                }
+
+                float skinwidth = 0;
+                if (desc.HasHullFlag(HullFlag.QF_SKIN_WIDTH))
+                    skinwidth = desc.SkinWidth;
+
+                ok = ComputeHull(vsource, ref hr, (int)desc.MaxVertices, skinwidth);
+
+                if (ok)
+                {
+                    List<float3> vscratch;
+                    BringOutYourDead(hr.Vertices, out vscratch, hr.Indices);
+
+                    ret = HullError.QE_OK;
+
+                    if (desc.HasHullFlag(HullFlag.QF_TRIANGLES)) // if he wants the results as triangle!
+                    {
+                        result.Polygons = false;
+                        result.Indices = hr.Indices;
+                        result.OutputVertices = vscratch;
+                    }
+                    else
+                    {
+                        result.Polygons = true;
+                        result.OutputVertices = vscratch;
+
+                        if (true)
+                        {
+                            List<int> source = hr.Indices;
+                            List<int> dest = new List<int>();
+                            for (int i = 0; i < hr.Indices.Count / 3; i++)
+                            {
+                                dest.Add(3);
+                                dest.Add(source[i * 3 + 0]);
+                                dest.Add(source[i * 3 + 1]);
+                                dest.Add(source[i * 3 + 2]);
+                            }
+
+                            result.Indices = dest;
+                        }
+                    }
+                }
+            }
+
+            return ret;
+        }
+    }
+}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/LICENSE.txt b/OpenSim/Region/Physics/ConvexDecompositionDotNet/LICENSE.txt
new file mode 100644
index 0000000..714ae89
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/LICENSE.txt
@@ -0,0 +1,28 @@
+ConvexDecompositionDotNet
+-------------------------
+
+The MIT License
+
+Copyright (c) 2010 Intel Corporation.
+All rights reserved.
+
+Based on the convexdecomposition library from 
+<http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/Plane.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/Plane.cs
new file mode 100644
index 0000000..d099676
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/Plane.cs
@@ -0,0 +1,99 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+
+namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
+{
+    public class Plane
+    {
+        public float3 normal = new float3();
+        public float dist; // distance below origin - the D from plane equasion Ax+By+Cz+D=0
+
+        public Plane(float3 n, float d)
+        {
+            normal = new float3(n);
+            dist = d;
+        }
+
+        public Plane(Plane p)
+        {
+            normal = new float3(p.normal);
+            dist = p.dist;
+        }
+
+        public Plane()
+        {
+            dist = 0;
+        }
+
+        public void Transform(float3 position, Quaternion orientation)
+        {
+            //   Transforms the plane to the space defined by the
+            //   given position/orientation
+            float3 newNormal = Quaternion.Inverse(orientation) * normal;
+            float3 origin = Quaternion.Inverse(orientation) * (-normal * dist - position);
+
+            normal = newNormal;
+            dist = -float3.dot(newNormal, origin);
+        }
+
+        public override int GetHashCode()
+        {
+            return normal.GetHashCode() ^ dist.GetHashCode();
+        }
+
+        public override bool Equals(object obj)
+        {
+            Plane p = obj as Plane;
+            if (p == null)
+                return false;
+
+            return this == p;
+        }
+
+        public static bool operator ==(Plane a, Plane b)
+        {
+            return (a.normal == b.normal && a.dist == b.dist);
+        }
+
+        public static bool operator !=(Plane a, Plane b)
+        {
+            return !(a == b);
+        }
+
+        public static Plane PlaneFlip(Plane plane)
+        {
+            return new Plane(-plane.normal, -plane.dist);
+        }
+
+        public static bool coplanar(Plane a, Plane b)
+        {
+            return (a == b || a == PlaneFlip(b));
+        }
+    }
+}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/PlaneTri.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/PlaneTri.cs
new file mode 100644
index 0000000..31f0182
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/PlaneTri.cs
@@ -0,0 +1,211 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+
+namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
+{
+    public enum PlaneTriResult : int
+    {
+        PTR_FRONT,
+        PTR_BACK,
+        PTR_SPLIT
+    }
+
+    public static class PlaneTri
+    {
+        private static float DistToPt(float3 p, float4 plane)
+        {
+            return p.x * plane.x + p.y * plane.y + p.z * plane.z + plane.w;
+        }
+
+        private static PlaneTriResult getSidePlane(float3 p, float4 plane, float epsilon)
+        {
+            float d = DistToPt(p, plane);
+
+            if ((d + epsilon) > 0f)
+                return PlaneTriResult.PTR_FRONT; // it is 'in front' within the provided epsilon value.
+
+            return PlaneTriResult.PTR_BACK;
+        }
+
+        private static void add(float3 p, float3[] dest, ref int pcount)
+        {
+            dest[pcount++] = new float3(p);
+            Debug.Assert(pcount <= 4);
+        }
+
+        // assumes that the points are on opposite sides of the plane!
+        private static void intersect(float3 p1, float3 p2, float3 split, float4 plane)
+        {
+            float dp1 = DistToPt(p1, plane);
+            float[] dir = new float[3];
+
+            dir[0] = p2[0] - p1[0];
+            dir[1] = p2[1] - p1[1];
+            dir[2] = p2[2] - p1[2];
+
+            float dot1 = dir[0] * plane[0] + dir[1] * plane[1] + dir[2] * plane[2];
+            float dot2 = dp1 - plane[3];
+
+            float t = -(plane[3] + dot2) / dot1;
+
+            split.x = (dir[0] * t) + p1[0];
+            split.y = (dir[1] * t) + p1[1];
+            split.z = (dir[2] * t) + p1[2];
+        }
+
+        public static PlaneTriResult planeTriIntersection(float4 plane, FaceTri triangle, float epsilon, ref float3[] front, out int fcount, ref float3[] back, out int bcount)
+        {
+            fcount = 0;
+            bcount = 0;
+
+            // get the three vertices of the triangle.
+            float3 p1 = triangle.P1;
+            float3 p2 = triangle.P2;
+            float3 p3 = triangle.P3;
+
+            PlaneTriResult r1 = getSidePlane(p1, plane, epsilon); // compute the side of the plane each vertex is on
+            PlaneTriResult r2 = getSidePlane(p2, plane, epsilon);
+            PlaneTriResult r3 = getSidePlane(p3, plane, epsilon);
+
+            if (r1 == r2 && r1 == r3) // if all three vertices are on the same side of the plane.
+            {
+                if (r1 == PlaneTriResult.PTR_FRONT) // if all three are in front of the plane, then copy to the 'front' output triangle.
+                {
+                    add(p1, front, ref fcount);
+                    add(p2, front, ref fcount);
+                    add(p3, front, ref fcount);
+                }
+                else
+                {
+                    add(p1, back, ref bcount); // if all three are in 'back' then copy to the 'back' output triangle.
+                    add(p2, back, ref bcount);
+                    add(p3, back, ref bcount);
+                }
+                return r1; // if all three points are on the same side of the plane return result
+            }
+
+            // ok.. we need to split the triangle at the plane.
+
+            // First test ray segment P1 to P2
+            if (r1 == r2) // if these are both on the same side...
+            {
+                if (r1 == PlaneTriResult.PTR_FRONT)
+                {
+                    add(p1, front, ref fcount);
+                    add(p2, front, ref fcount);
+                }
+                else
+                {
+                    add(p1, back, ref bcount);
+                    add(p2, back, ref bcount);
+                }
+            }
+            else
+            {
+                float3 split = new float3();
+                intersect(p1, p2, split, plane);
+
+                if (r1 == PlaneTriResult.PTR_FRONT)
+                {
+
+                    add(p1, front, ref fcount);
+                    add(split, front, ref fcount);
+
+                    add(split, back, ref bcount);
+                    add(p2, back, ref bcount);
+
+                }
+                else
+                {
+                    add(p1, back, ref bcount);
+                    add(split, back, ref bcount);
+
+                    add(split, front, ref fcount);
+                    add(p2, front, ref fcount);
+                }
+
+            }
+
+            // Next test ray segment P2 to P3
+            if (r2 == r3) // if these are both on the same side...
+            {
+                if (r3 == PlaneTriResult.PTR_FRONT)
+                {
+                    add(p3, front, ref fcount);
+                }
+                else
+                {
+                    add(p3, back, ref bcount);
+                }
+            }
+            else
+            {
+                float3 split = new float3(); // split the point
+                intersect(p2, p3, split, plane);
+
+                if (r3 == PlaneTriResult.PTR_FRONT)
+                {
+                    add(split, front, ref fcount);
+                    add(split, back, ref bcount);
+
+                    add(p3, front, ref fcount);
+                }
+                else
+                {
+                    add(split, front, ref fcount);
+                    add(split, back, ref bcount);
+
+                    add(p3, back, ref bcount);
+                }
+            }
+
+            // Next test ray segment P3 to P1
+            if (r3 != r1) // if these are both on the same side...
+            {
+                float3 split = new float3(); // split the point
+                intersect(p3, p1, split, plane);
+
+                if (r1 == PlaneTriResult.PTR_FRONT)
+                {
+                    add(split, front, ref fcount);
+                    add(split, back, ref bcount);
+                }
+                else
+                {
+                    add(split, front, ref fcount);
+                    add(split, back, ref bcount);
+                }
+            }
+
+            return PlaneTriResult.PTR_SPLIT;
+        }
+    }
+}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/Properties/AssemblyInfo.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/Properties/AssemblyInfo.cs
new file mode 100644
index 0000000..4285e8c
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/Properties/AssemblyInfo.cs
@@ -0,0 +1,36 @@
+using System.Reflection;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+
+// General Information about an assembly is controlled through the following 
+// set of attributes. Change these attribute values to modify the information
+// associated with an assembly.
+[assembly: AssemblyTitle("ConvexDecompositionDotNet")]
+[assembly: AssemblyDescription("")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("Intel Corporation")]
+[assembly: AssemblyProduct("ConvexDecompositionDotNet")]
+[assembly: AssemblyCopyright("Copyright © Intel Corporation 2010")]
+[assembly: AssemblyTrademark("")]
+[assembly: AssemblyCulture("")]
+
+// Setting ComVisible to false makes the types in this assembly not visible 
+// to COM components.  If you need to access a type in this assembly from 
+// COM, set the ComVisible attribute to true on that type.
+[assembly: ComVisible(false)]
+
+// The following GUID is for the ID of the typelib if this project is exposed to COM
+[assembly: Guid("2a1c9467-1a17-4c8d-bf9f-4b4d86dd0cbb")]
+
+// Version information for an assembly consists of the following four values:
+//
+//      Major Version
+//      Minor Version 
+//      Build Number
+//      Revision
+//
+// You can specify all the values or you can default the Build and Revision Numbers 
+// by using the '*' as shown below:
+// [assembly: AssemblyVersion("1.0.*")]
+[assembly: AssemblyVersion("1.0.0.0")]
+[assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/Quaternion.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/Quaternion.cs
new file mode 100644
index 0000000..0ba8f17
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/Quaternion.cs
@@ -0,0 +1,209 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+
+namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
+{
+    public class Quaternion : float4
+    {
+        public Quaternion()
+        {
+            x = y = z = 0.0f;
+            w = 1.0f;
+        }
+
+        public Quaternion(float3 v, float t)
+        {
+            v = float3.normalize(v);
+            w = (float)Math.Cos(t / 2.0f);
+            v = v * (float)Math.Sin(t / 2.0f);
+            x = v.x;
+            y = v.y;
+            z = v.z;
+        }
+
+        public Quaternion(float _x, float _y, float _z, float _w)
+        {
+            x = _x;
+            y = _y;
+            z = _z;
+            w = _w;
+        }
+
+        public float angle()
+        {
+            return (float)Math.Acos(w) * 2.0f;
+        }
+
+        public float3 axis()
+        {
+            float3 a = new float3(x, y, z);
+            if (Math.Abs(angle()) < 0.0000001f)
+                return new float3(1f, 0f, 0f);
+            return a * (1 / (float)Math.Sin(angle() / 2.0f));
+        }
+
+        public float3 xdir()
+        {
+            return new float3(1 - 2 * (y * y + z * z), 2 * (x * y + w * z), 2 * (x * z - w * y));
+        }
+
+        public float3 ydir()
+        {
+            return new float3(2 * (x * y - w * z), 1 - 2 * (x * x + z * z), 2 * (y * z + w * x));
+        }
+
+        public float3 zdir()
+        {
+            return new float3(2 * (x * z + w * y), 2 * (y * z - w * x), 1 - 2 * (x * x + y * y));
+        }
+
+        public float3x3 getmatrix()
+        {
+            return new float3x3(xdir(), ydir(), zdir());
+        }
+
+        public static implicit operator float3x3(Quaternion q)
+        {
+            return q.getmatrix();
+        }
+
+        public static Quaternion operator *(Quaternion a, Quaternion b)
+        {
+            Quaternion c = new Quaternion();
+            c.w = a.w * b.w - a.x * b.x - a.y * b.y - a.z * b.z;
+            c.x = a.w * b.x + a.x * b.w + a.y * b.z - a.z * b.y;
+            c.y = a.w * b.y - a.x * b.z + a.y * b.w + a.z * b.x;
+            c.z = a.w * b.z + a.x * b.y - a.y * b.x + a.z * b.w;
+            return c;
+        }
+
+        public static float3 operator *(Quaternion q, float3 v)
+        {
+            // The following is equivalent to:
+            //return (q.getmatrix() * v);
+            float qx2 = q.x * q.x;
+            float qy2 = q.y * q.y;
+            float qz2 = q.z * q.z;
+
+            float qxqy = q.x * q.y;
+            float qxqz = q.x * q.z;
+            float qxqw = q.x * q.w;
+            float qyqz = q.y * q.z;
+            float qyqw = q.y * q.w;
+            float qzqw = q.z * q.w;
+            return new float3((1 - 2 * (qy2 + qz2)) * v.x + (2 * (qxqy - qzqw)) * v.y + (2 * (qxqz + qyqw)) * v.z, (2 * (qxqy + qzqw)) * v.x + (1 - 2 * (qx2 + qz2)) * v.y + (2 * (qyqz - qxqw)) * v.z, (2 * (qxqz - qyqw)) * v.x + (2 * (qyqz + qxqw)) * v.y + (1 - 2 * (qx2 + qy2)) * v.z);
+        }
+
+        public static Quaternion operator +(Quaternion a, Quaternion b)
+        {
+            return new Quaternion(a.x + b.x, a.y + b.y, a.z + b.z, a.w + b.w);
+        }
+
+        public static Quaternion operator *(Quaternion a, float b)
+            {
+                    return new Quaternion(a.x *b, a.y *b, a.z *b, a.w *b);
+            }
+
+        public static Quaternion normalize(Quaternion a)
+        {
+            float m = (float)Math.Sqrt(a.w * a.w + a.x * a.x + a.y * a.y + a.z * a.z);
+            if (m < 0.000000001f)
+            {
+                a.w = 1;
+                a.x = a.y = a.z = 0;
+                return a;
+            }
+            return a * (1f / m);
+        }
+
+        public static float dot(Quaternion a, Quaternion b)
+        {
+            return (a.w * b.w + a.x * b.x + a.y * b.y + a.z * b.z);
+        }
+
+        public static Quaternion slerp(Quaternion a, Quaternion b, float interp)
+        {
+            if (dot(a, b) < 0.0)
+            {
+                a.w = -a.w;
+                a.x = -a.x;
+                a.y = -a.y;
+                a.z = -a.z;
+            }
+            float d = dot(a, b);
+            if (d >= 1.0)
+            {
+                return a;
+            }
+            float theta = (float)Math.Acos(d);
+            if (theta == 0.0f)
+            {
+                return (a);
+            }
+            return a * ((float)Math.Sin(theta - interp * theta) / (float)Math.Sin(theta)) + b * ((float)Math.Sin(interp * theta) / (float)Math.Sin(theta));
+        }
+
+        public static Quaternion Interpolate(Quaternion q0, Quaternion q1, float alpha)
+        {
+            return slerp(q0, q1, alpha);
+        }
+
+        public static Quaternion Inverse(Quaternion q)
+        {
+            return new Quaternion(-q.x, -q.y, -q.z, q.w);
+        }
+
+        public static Quaternion YawPitchRoll(float yaw, float pitch, float roll)
+        {
+            roll *= (3.14159264f / 180.0f);
+            yaw *= (3.14159264f / 180.0f);
+            pitch *= (3.14159264f / 180.0f);
+            return new Quaternion(new float3(0.0f, 0.0f, 1.0f), yaw) * new Quaternion(new float3(1.0f, 0.0f, 0.0f), pitch) * new Quaternion(new float3(0.0f, 1.0f, 0.0f), roll);
+        }
+
+        public static float Yaw(Quaternion q)
+        {
+            float3 v = q.ydir();
+            return (v.y == 0.0 && v.x == 0.0) ? 0.0f : (float)Math.Atan2(-v.x, v.y) * (180.0f / 3.14159264f);
+        }
+
+        public static float Pitch(Quaternion q)
+        {
+            float3 v = q.ydir();
+            return (float)Math.Atan2(v.z, Math.Sqrt(v.x * v.x + v.y * v.y)) * (180.0f / 3.14159264f);
+        }
+
+        public static float Roll(Quaternion q)
+        {
+            q = new Quaternion(new float3(0.0f, 0.0f, 1.0f), -Yaw(q) * (3.14159264f / 180.0f)) * q;
+            q = new Quaternion(new float3(1.0f, 0.0f, 0.0f), -Pitch(q) * (3.14159264f / 180.0f)) * q;
+            return (float)Math.Atan2(-q.xdir().z, q.xdir().x) * (180.0f / 3.14159264f);
+        }
+    }
+}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/README.txt b/OpenSim/Region/Physics/ConvexDecompositionDotNet/README.txt
new file mode 100644
index 0000000..fc53ae7
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/README.txt
@@ -0,0 +1,7 @@
+ConvexDecompositionDotNet
+=========================
+
+A C# port of the ConvexDecomposition library by John W. Ratcliff and Stan Melax. 
+The original C++ version is available at <http://codesuppository.googlecode.com/>. 
+See the blog post at <http://codesuppository.blogspot.com/2006/08/approximate-convexdecomposition.html> 
+for a thorough explanation of generating convex hulls from concave meshes.
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/SplitPlane.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/SplitPlane.cs
new file mode 100644
index 0000000..9f06a9a
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/SplitPlane.cs
@@ -0,0 +1,265 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+using System.Collections.Generic;
+
+namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
+{
+    public class Rect3d
+    {
+        public float[] mMin = new float[3];
+        public float[] mMax = new float[3];
+
+        public Rect3d()
+        {
+        }
+
+        public Rect3d(float[] bmin, float[] bmax)
+        {
+            mMin[0] = bmin[0];
+            mMin[1] = bmin[1];
+            mMin[2] = bmin[2];
+
+            mMax[0] = bmax[0];
+            mMax[1] = bmax[1];
+            mMax[2] = bmax[2];
+        }
+
+        public void SetMin(float[] bmin)
+        {
+            mMin[0] = bmin[0];
+            mMin[1] = bmin[1];
+            mMin[2] = bmin[2];
+        }
+
+        public void SetMax(float[] bmax)
+        {
+            mMax[0] = bmax[0];
+            mMax[1] = bmax[1];
+            mMax[2] = bmax[2];
+        }
+
+        public void SetMin(float x, float y, float z)
+        {
+            mMin[0] = x;
+            mMin[1] = y;
+            mMin[2] = z;
+        }
+
+        public void SetMax(float x, float y, float z)
+        {
+            mMax[0] = x;
+            mMax[1] = y;
+            mMax[2] = z;
+        }
+    }
+
+    public static class SplitPlane
+    {
+        public static bool computeSplitPlane(List<float3> vertices, List<int> indices, ref float4 plane)
+        {
+            float[] bmin = { Single.MaxValue, Single.MaxValue, Single.MaxValue };
+            float[] bmax = { Single.MinValue, Single.MinValue, Single.MinValue };
+
+            for (int i = 0; i < vertices.Count; i++)
+            {
+                float3 p = vertices[i];
+
+                if (p[0] < bmin[0])
+                    bmin[0] = p[0];
+                if (p[1] < bmin[1])
+                    bmin[1] = p[1];
+                if (p[2] < bmin[2])
+                    bmin[2] = p[2];
+
+                if (p[0] > bmax[0])
+                    bmax[0] = p[0];
+                if (p[1] > bmax[1])
+                    bmax[1] = p[1];
+                if (p[2] > bmax[2])
+                    bmax[2] = p[2];
+            }
+
+            float dx = bmax[0] - bmin[0];
+            float dy = bmax[1] - bmin[1];
+            float dz = bmax[2] - bmin[2];
+
+            float laxis = dx;
+
+            int axis = 0;
+
+            if (dy > dx)
+            {
+                axis = 1;
+                laxis = dy;
+            }
+
+            if (dz > dx && dz > dy)
+            {
+                axis = 2;
+                laxis = dz;
+            }
+
+            float[] p1 = new float[3];
+            float[] p2 = new float[3];
+            float[] p3 = new float[3];
+
+            p3[0] = p2[0] = p1[0] = bmin[0] + dx * 0.5f;
+            p3[1] = p2[1] = p1[1] = bmin[1] + dy * 0.5f;
+            p3[2] = p2[2] = p1[2] = bmin[2] + dz * 0.5f;
+
+            Rect3d b = new Rect3d(bmin, bmax);
+
+            Rect3d b1 = new Rect3d();
+            Rect3d b2 = new Rect3d();
+
+            splitRect(axis, b, b1, b2, p1);
+
+            switch (axis)
+            {
+                case 0:
+                    p2[1] = bmin[1];
+                    p2[2] = bmin[2];
+
+                    if (dz > dy)
+                    {
+                        p3[1] = bmax[1];
+                        p3[2] = bmin[2];
+                    }
+                    else
+                    {
+                        p3[1] = bmin[1];
+                        p3[2] = bmax[2];
+                    }
+
+                    break;
+                case 1:
+                    p2[0] = bmin[0];
+                    p2[2] = bmin[2];
+
+                    if (dx > dz)
+                    {
+                        p3[0] = bmax[0];
+                        p3[2] = bmin[2];
+                    }
+                    else
+                    {
+                        p3[0] = bmin[0];
+                        p3[2] = bmax[2];
+                    }
+
+                    break;
+                case 2:
+                    p2[0] = bmin[0];
+                    p2[1] = bmin[1];
+
+                    if (dx > dy)
+                    {
+                        p3[0] = bmax[0];
+                        p3[1] = bmin[1];
+                    }
+                    else
+                    {
+                        p3[0] = bmin[0];
+                        p3[1] = bmax[1];
+                    }
+
+                    break;
+            }
+
+            computePlane(p1, p2, p3, plane);
+
+            return true;
+        }
+
+        internal static void computePlane(float[] A, float[] B, float[] C, float4 plane)
+        {
+            float vx = (B[0] - C[0]);
+            float vy = (B[1] - C[1]);
+            float vz = (B[2] - C[2]);
+
+            float wx = (A[0] - B[0]);
+            float wy = (A[1] - B[1]);
+            float wz = (A[2] - B[2]);
+
+            float vw_x = vy * wz - vz * wy;
+            float vw_y = vz * wx - vx * wz;
+            float vw_z = vx * wy - vy * wx;
+
+            float mag = (float)Math.Sqrt((vw_x * vw_x) + (vw_y * vw_y) + (vw_z * vw_z));
+
+            if (mag < 0.000001f)
+            {
+                mag = 0;
+            }
+            else
+            {
+                mag = 1.0f / mag;
+            }
+
+            float x = vw_x * mag;
+            float y = vw_y * mag;
+            float z = vw_z * mag;
+
+            float D = 0.0f - ((x * A[0]) + (y * A[1]) + (z * A[2]));
+
+            plane.x = x;
+            plane.y = y;
+            plane.z = z;
+            plane.w = D;
+        }
+
+        public static void splitRect(int axis, Rect3d source, Rect3d b1, Rect3d b2, float[] midpoint)
+        {
+            switch (axis)
+            {
+                case 0:
+                    b1.SetMin(source.mMin);
+                    b1.SetMax(midpoint[0], source.mMax[1], source.mMax[2]);
+
+                    b2.SetMin(midpoint[0], source.mMin[1], source.mMin[2]);
+                    b2.SetMax(source.mMax);
+                    break;
+                case 1:
+                    b1.SetMin(source.mMin);
+                    b1.SetMax(source.mMax[0], midpoint[1], source.mMax[2]);
+
+                    b2.SetMin(source.mMin[0], midpoint[1], source.mMin[2]);
+                    b2.SetMax(source.mMax);
+                    break;
+                case 2:
+                    b1.SetMin(source.mMin);
+                    b1.SetMax(source.mMax[0], source.mMax[1], midpoint[2]);
+
+                    b2.SetMin(source.mMin[0], source.mMin[1], midpoint[2]);
+                    b2.SetMax(source.mMax);
+                    break;
+            }
+        }
+    }
+}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/VertexLookup.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/VertexLookup.cs
new file mode 100644
index 0000000..6f17c9f
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/VertexLookup.cs
@@ -0,0 +1,70 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+using System.Collections.Generic;
+
+namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
+{
+    public class VertexPool
+    {
+        private List<float3> mVertices = new List<float3>();
+        private Dictionary<float3, int> mIndices = new Dictionary<float3, int>();
+
+        public int getIndex(float3 vtx)
+        {
+            int idx;
+            if (mIndices.TryGetValue(vtx, out idx))
+                return idx;
+
+            idx = mVertices.Count;
+            mVertices.Add(vtx);
+            mIndices.Add(vtx, idx);
+            return idx;
+        }
+
+        public float3 Get(int idx)
+        {
+            return mVertices[idx];
+        }
+
+        public int GetSize()
+        {
+            return mVertices.Count;
+        }
+
+        public List<float3> GetVertices()
+        {
+            return mVertices;
+        }
+
+        public void Clear()
+        {
+            mVertices.Clear();
+        }
+    }
+}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/float2.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/float2.cs
new file mode 100644
index 0000000..ce88fc8
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/float2.cs
@@ -0,0 +1,70 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+
+namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
+{
+    public class float2
+    {
+        public float x;
+        public float y;
+
+        public float2()
+        {
+        }
+
+        public float2(float _x, float _y)
+        {
+            x = _x;
+            y = _y;
+        }
+
+        public float this[int i]
+        {
+            get
+            {
+                switch (i)
+                {
+                    case 0: return x;
+                    case 1: return y;
+                }
+                throw new ArgumentOutOfRangeException();
+            }
+        }
+
+        public static float2 operator -(float2 a, float2 b)
+        {
+            return new float2(a.x - b.x, a.y - b.y);
+        }
+
+        public static float2 operator +(float2 a, float2 b)
+        {
+            return new float2(a.x + b.x, a.y + b.y);
+        }
+    }
+}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/float3.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/float3.cs
new file mode 100644
index 0000000..4389114
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/float3.cs
@@ -0,0 +1,444 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+
+namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
+{
+    public class float3 : IEquatable<float3>
+    {
+        public float x;
+        public float y;
+        public float z;
+
+        public float3()
+        {
+            x = 0;
+            y = 0;
+            z = 0;
+        }
+
+        public float3(float _x, float _y, float _z)
+        {
+            x = _x;
+            y = _y;
+            z = _z;
+        }
+
+        public float3(float3 f)
+        {
+            x = f.x;
+            y = f.y;
+            z = f.z;
+        }
+
+        public float this[int i]
+        {
+            get
+            {
+                switch (i)
+                {
+                    case 0: return x;
+                    case 1: return y;
+                    case 2: return z;
+                }
+                throw new ArgumentOutOfRangeException();
+            }
+        }
+
+        public float Distance(float3 a)
+        {
+            float3 d = new float3(a.x - x, a.y - y, a.z - z);
+            return d.Length();
+        }
+
+        public float Distance2(float3 a)
+        {
+            float dx = a.x - x;
+            float dy = a.y - y;
+            float dz = a.z - z;
+            return dx * dx + dy * dy + dz * dz;
+        }
+
+        public float Length()
+        {
+            return (float)Math.Sqrt(x * x + y * y + z * z);
+        }
+
+        public float Area(float3 p1, float3 p2)
+        {
+            float A = Partial(p1);
+            A += p1.Partial(p2);
+            A += p2.Partial(this);
+            return A * 0.5f;
+        }
+
+        public float Partial(float3 p)
+        {
+            return (x * p.y) - (p.x * y);
+        }
+
+        // Given a point and a line (defined by two points), compute the closest point
+        // in the line.  (The line is treated as infinitely long.)
+        public void NearestPointInLine(float3 point, float3 line0, float3 line1)
+        {
+            float3 nearestPoint = new float3();
+            float3 lineDelta = line1 - line0;
+
+            // Handle degenerate lines
+            if (lineDelta == float3.Zero)
+            {
+                nearestPoint = line0;
+            }
+            else
+            {
+                float delta = float3.dot(point - line0, lineDelta) / float3.dot(lineDelta, lineDelta);
+                nearestPoint = line0 + lineDelta * delta;
+            }
+
+            this.x = nearestPoint.x;
+            this.y = nearestPoint.y;
+            this.z = nearestPoint.z;
+        }
+
+        // Given a point and a line segment (defined by two points), compute the closest point
+        // in the line.  Cap the point at the endpoints of the line segment.
+        public void NearestPointInLineSegment(float3 point, float3 line0, float3 line1)
+        {
+            float3 nearestPoint = new float3();
+            float3 lineDelta = line1 - line0;
+
+            // Handle degenerate lines
+            if (lineDelta == Zero)
+            {
+                nearestPoint = line0;
+            }
+            else
+            {
+                float delta = float3.dot(point - line0, lineDelta) / float3.dot(lineDelta, lineDelta);
+
+                // Clamp the point to conform to the segment's endpoints
+                if (delta < 0)
+                    delta = 0;
+                else if (delta > 1)
+                    delta = 1;
+
+                nearestPoint = line0 + lineDelta * delta;
+            }
+
+            this.x = nearestPoint.x;
+            this.y = nearestPoint.y;
+            this.z = nearestPoint.z;
+        }
+
+        // Given a point and a triangle (defined by three points), compute the closest point
+        // in the triangle.  Clamp the point so it's confined to the area of the triangle.
+        public void NearestPointInTriangle(float3 point, float3 triangle0, float3 triangle1, float3 triangle2)
+        {
+            float3 nearestPoint = new float3();
+
+            float3 lineDelta0 = triangle1 - triangle0;
+            float3 lineDelta1 = triangle2 - triangle0;
+
+            // Handle degenerate triangles
+            if ((lineDelta0 == Zero) || (lineDelta1 == Zero))
+            {
+                nearestPoint.NearestPointInLineSegment(point, triangle1, triangle2);
+            }
+            else if (lineDelta0 == lineDelta1)
+            {
+                nearestPoint.NearestPointInLineSegment(point, triangle0, triangle1);
+            }
+            else
+            {
+                float3[] axis = new float3[3] { new float3(), new float3(), new float3() };
+                axis[0].NearestPointInLine(triangle0, triangle1, triangle2);
+                axis[1].NearestPointInLine(triangle1, triangle0, triangle2);
+                axis[2].NearestPointInLine(triangle2, triangle0, triangle1);
+
+                float3 axisDot = new float3();
+                axisDot.x = dot(triangle0 - axis[0], point - axis[0]);
+                axisDot.y = dot(triangle1 - axis[1], point - axis[1]);
+                axisDot.z = dot(triangle2 - axis[2], point - axis[2]);
+
+                bool bForce = true;
+                float bestMagnitude2 = 0;
+                float closeMagnitude2;
+                float3 closePoint = new float3();
+
+                if (axisDot.x < 0f)
+                {
+                    closePoint.NearestPointInLineSegment(point, triangle1, triangle2);
+                    closeMagnitude2 = point.Distance2(closePoint);
+                    if (bForce || (bestMagnitude2 > closeMagnitude2))
+                    {
+                        bForce = false;
+                        bestMagnitude2 = closeMagnitude2;
+                        nearestPoint = closePoint;
+                    }
+                }
+                if (axisDot.y < 0f)
+                {
+                    closePoint.NearestPointInLineSegment(point, triangle0, triangle2);
+                    closeMagnitude2 = point.Distance2(closePoint);
+                    if (bForce || (bestMagnitude2 > closeMagnitude2))
+                    {
+                        bForce = false;
+                        bestMagnitude2 = closeMagnitude2;
+                        nearestPoint = closePoint;
+                    }
+                }
+                if (axisDot.z < 0f)
+                {
+                    closePoint.NearestPointInLineSegment(point, triangle0, triangle1);
+                    closeMagnitude2 = point.Distance2(closePoint);
+                    if (bForce || (bestMagnitude2 > closeMagnitude2))
+                    {
+                        bForce = false;
+                        bestMagnitude2 = closeMagnitude2;
+                        nearestPoint = closePoint;
+                    }
+                }
+
+                // If bForce is true at this point, it means the nearest point lies
+                // inside the triangle; use the nearest-point-on-a-plane equation
+                if (bForce)
+                {
+                    float3 normal;
+
+                    // Get the normal of the polygon (doesn't have to be a unit vector)
+                    normal = float3.cross(lineDelta0, lineDelta1);
+
+                    float3 pointDelta = point - triangle0;
+                    float delta = float3.dot(normal, pointDelta) / float3.dot(normal, normal);
+
+                    nearestPoint = point - normal * delta;
+                }
+            }
+
+            this.x = nearestPoint.x;
+            this.y = nearestPoint.y;
+            this.z = nearestPoint.z;
+        }
+
+        public static float3 operator +(float3 a, float3 b)
+        {
+            return new float3(a.x + b.x, a.y + b.y, a.z + b.z);
+        }
+
+        public static float3 operator -(float3 a, float3 b)
+        {
+            return new float3(a.x - b.x, a.y - b.y, a.z - b.z);
+        }
+
+        public static float3 operator -(float3 a, float s)
+        {
+            return new float3(a.x - s, a.y - s, a.z - s);
+        }
+
+        public static float3 operator -(float3 v)
+        {
+            return new float3(-v.x, -v.y, -v.z);
+        }
+
+        public static float3 operator *(float3 v, float s)
+        {
+            return new float3(v.x * s, v.y * s, v.z * s);
+        }
+
+        public static float3 operator *(float s, float3 v)
+        {
+            return new float3(v.x * s, v.y * s, v.z * s);
+        }
+
+        public static float3 operator *(float3 v, float3x3 m)
+        {
+            return new float3((m.x.x * v.x + m.y.x * v.y + m.z.x * v.z), (m.x.y * v.x + m.y.y * v.y + m.z.y * v.z), (m.x.z * v.x + m.y.z * v.y + m.z.z * v.z));
+        }
+
+        public static float3 operator *(float3x3 m, float3 v)
+        {
+            return new float3(dot(m.x, v), dot(m.y, v), dot(m.z, v));
+        }
+
+        public static float3 operator /(float3 v, float s)
+        {
+            float sinv = 1.0f / s;
+            return new float3(v.x * sinv, v.y * sinv, v.z * sinv);
+        }
+
+        public bool Equals(float3 other)
+        {
+            return this == other;
+        }
+
+        public override bool Equals(object obj)
+        {
+            float3 f = obj as float3;
+            if (f == null)
+                return false;
+
+            return this == f;
+        }
+
+        public override int GetHashCode()
+        {
+            return x.GetHashCode() ^ y.GetHashCode() ^ z.GetHashCode();
+        }
+
+        public static bool operator ==(float3 a, float3 b)
+        {
+            // If both are null, or both are same instance, return true.
+            if (System.Object.ReferenceEquals(a, b))
+                return true;
+            // If one is null, but not both, return false.
+            if (((object)a == null) || ((object)b == null))
+                return false;
+
+            return (a.x == b.x && a.y == b.y && a.z == b.z);
+        }
+
+        public static bool operator !=(float3 a, float3 b)
+        {
+            return (a.x != b.x || a.y != b.y || a.z != b.z);
+        }
+
+        public static float dot(float3 a, float3 b)
+        {
+            return a.x * b.x + a.y * b.y + a.z * b.z;
+        }
+
+        public static float3 cmul(float3 v1, float3 v2)
+        {
+            return new float3(v1.x * v2.x, v1.y * v2.y, v1.z * v2.z);
+        }
+
+        public static float3 cross(float3 a, float3 b)
+        {
+            return new float3(a.y * b.z - a.z * b.y, a.z * b.x - a.x * b.z, a.x * b.y - a.y * b.x);
+        }
+
+        public static float3 Interpolate(float3 v0, float3 v1, float alpha)
+        {
+            return v0 * (1 - alpha) + v1 * alpha;
+        }
+
+        public static float3 Round(float3 a, int digits)
+        {
+            return new float3((float)Math.Round(a.x, digits), (float)Math.Round(a.y, digits), (float)Math.Round(a.z, digits));
+        }
+
+        public static float3 VectorMax(float3 a, float3 b)
+        {
+            return new float3(Math.Max(a.x, b.x), Math.Max(a.y, b.y), Math.Max(a.z, b.z));
+        }
+
+        public static float3 VectorMin(float3 a, float3 b)
+        {
+            return new float3(Math.Min(a.x, b.x), Math.Min(a.y, b.y), Math.Min(a.z, b.z));
+        }
+
+        public static float3 vabs(float3 v)
+        {
+            return new float3(Math.Abs(v.x), Math.Abs(v.y), Math.Abs(v.z));
+        }
+
+        public static float magnitude(float3 v)
+        {
+            return (float)Math.Sqrt(v.x * v.x + v.y * v.y + v.z * v.z);
+        }
+
+        public static float3 normalize(float3 v)
+        {
+            float d = magnitude(v);
+            if (d == 0)
+                d = 0.1f;
+            d = 1 / d;
+            return new float3(v.x * d, v.y * d, v.z * d);
+        }
+
+        public static float3 safenormalize(float3 v)
+        {
+            if (magnitude(v) <= 0.0f)
+                return new float3(1, 0, 0);
+            else
+                return normalize(v);
+        }
+
+        public static float Yaw(float3 v)
+        {
+            return (v.y == 0.0 && v.x == 0.0) ? 0.0f : (float)Math.Atan2(-v.x, v.y) * (180.0f / 3.14159264f);
+        }
+
+        public static float Pitch(float3 v)
+        {
+            return (float)Math.Atan2(v.z, Math.Sqrt(v.x * v.x + v.y * v.y)) * (180.0f / 3.14159264f);
+        }
+
+        public float ComputePlane(float3 A, float3 B, float3 C)
+        {
+            float vx, vy, vz, wx, wy, wz, vw_x, vw_y, vw_z, mag;
+
+            vx = (B.x - C.x);
+            vy = (B.y - C.y);
+            vz = (B.z - C.z);
+
+            wx = (A.x - B.x);
+            wy = (A.y - B.y);
+            wz = (A.z - B.z);
+
+            vw_x = vy * wz - vz * wy;
+            vw_y = vz * wx - vx * wz;
+            vw_z = vx * wy - vy * wx;
+
+            mag = (float)Math.Sqrt((vw_x * vw_x) + (vw_y * vw_y) + (vw_z * vw_z));
+
+            if (mag < 0.000001f)
+            {
+                mag = 0;
+            }
+            else
+            {
+                mag = 1.0f / mag;
+            }
+
+            x = vw_x * mag;
+            y = vw_y * mag;
+            z = vw_z * mag;
+
+            float D = 0.0f - ((x * A.x) + (y * A.y) + (z * A.z));
+            return D;
+        }
+
+        public override string ToString()
+        {
+            return String.Format("<{0}, {1}, {2}>", x, y, z);
+        }
+
+        public static readonly float3 Zero = new float3();
+    }
+}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/float3x3.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/float3x3.cs
new file mode 100644
index 0000000..76cf063
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/float3x3.cs
@@ -0,0 +1,195 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+
+namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
+{
+    public class float3x3
+    {
+        public float3 x = new float3();
+        public float3 y = new float3();
+        public float3 z = new float3();
+
+        public float3x3()
+        {
+        }
+
+        public float3x3(float xx, float xy, float xz, float yx, float yy, float yz, float zx, float zy, float zz)
+        {
+            x = new float3(xx, xy, xz);
+            y = new float3(yx, yy, yz);
+            z = new float3(zx, zy, zz);
+        }
+
+        public float3x3(float3 _x, float3 _y, float3 _z)
+        {
+            x = new float3(_x);
+            y = new float3(_y);
+            z = new float3(_z);
+        }
+
+        public float3 this[int i]
+        {
+            get
+            {
+                switch (i)
+                {
+                    case 0: return x;
+                    case 1: return y;
+                    case 2: return z;
+                }
+                throw new ArgumentOutOfRangeException();
+            }
+        }
+
+        public float this[int i, int j]
+        {
+            get
+            {
+                switch (i)
+                {
+                    case 0:
+                        switch (j)
+                        {
+                            case 0: return x.x;
+                            case 1: return x.y;
+                            case 2: return x.z;
+                        }
+                        break;
+                    case 1:
+                        switch (j)
+                        {
+                            case 0: return y.x;
+                            case 1: return y.y;
+                            case 2: return y.z;
+                        }
+                        break;
+                    case 2:
+                        switch (j)
+                        {
+                            case 0: return z.x;
+                            case 1: return z.y;
+                            case 2: return z.z;
+                        }
+                        break;
+                }
+                throw new ArgumentOutOfRangeException();
+            }
+            set
+            {
+                switch (i)
+                {
+                    case 0:
+                        switch (j)
+                        {
+                            case 0: x.x = value; return;
+                            case 1: x.y = value; return;
+                            case 2: x.z = value; return;
+                        }
+                        break;
+                    case 1:
+                        switch (j)
+                        {
+                            case 0: y.x = value; return;
+                            case 1: y.y = value; return;
+                            case 2: y.z = value; return;
+                        }
+                        break;
+                    case 2:
+                        switch (j)
+                        {
+                            case 0: z.x = value; return;
+                            case 1: z.y = value; return;
+                            case 2: z.z = value; return;
+                        }
+                        break;
+                }
+                throw new ArgumentOutOfRangeException();
+            }
+        }
+
+        public static float3x3 Transpose(float3x3 m)
+        {
+            return new float3x3(new float3(m.x.x, m.y.x, m.z.x), new float3(m.x.y, m.y.y, m.z.y), new float3(m.x.z, m.y.z, m.z.z));
+        }
+
+        public static float3x3 operator *(float3x3 a, float3x3 b)
+        {
+            return new float3x3(a.x * b, a.y * b, a.z * b);
+        }
+
+        public static float3x3 operator *(float3x3 a, float s)
+        {
+            return new float3x3(a.x * s, a.y * s, a.z * s);
+        }
+
+        public static float3x3 operator /(float3x3 a, float s)
+        {
+            float t = 1f / s;
+            return new float3x3(a.x * t, a.y * t, a.z * t);
+        }
+
+        public static float3x3 operator +(float3x3 a, float3x3 b)
+        {
+            return new float3x3(a.x + b.x, a.y + b.y, a.z + b.z);
+        }
+
+        public static float3x3 operator -(float3x3 a, float3x3 b)
+        {
+            return new float3x3(a.x - b.x, a.y - b.y, a.z - b.z);
+        }
+
+        public static float Determinant(float3x3 m)
+        {
+            return m.x.x * m.y.y * m.z.z + m.y.x * m.z.y * m.x.z + m.z.x * m.x.y * m.y.z - m.x.x * m.z.y * m.y.z - m.y.x * m.x.y * m.z.z - m.z.x * m.y.y * m.x.z;
+        }
+
+        public static float3x3 Inverse(float3x3 a)
+        {
+            float3x3 b = new float3x3();
+            float d = Determinant(a);
+            Debug.Assert(d != 0);
+            for (int i = 0; i < 3; i++)
+            {
+                for (int j = 0; j < 3; j++)
+                {
+                    int i1 = (i + 1) % 3;
+                    int i2 = (i + 2) % 3;
+                    int j1 = (j + 1) % 3;
+                    int j2 = (j + 2) % 3;
+
+                    // reverse indexs i&j to take transpose
+                    b[i, j] = (a[i1][j1] * a[i2][j2] - a[i1][j2] * a[i2][j1]) / d;
+                }
+            }
+            return b;
+        }
+    }
+}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/float4.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/float4.cs
new file mode 100644
index 0000000..fa60876
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/float4.cs
@@ -0,0 +1,170 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+
+namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
+{
+    public class float4
+    {
+        public float x;
+        public float y;
+        public float z;
+        public float w;
+
+        public float4()
+        {
+            x = 0;
+            y = 0;
+            z = 0;
+            w = 0;
+        }
+
+        public float4(float _x, float _y, float _z, float _w)
+        {
+            x = _x;
+            y = _y;
+            z = _z;
+            w = _w;
+        }
+
+        public float4(float3 v, float _w)
+        {
+            x = v.x;
+            y = v.y;
+            z = v.z;
+            w = _w;
+        }
+
+        public float4(float4 f)
+        {
+            x = f.x;
+            y = f.y;
+            z = f.z;
+            w = f.w;
+        }
+
+        public float this[int i]
+        {
+            get
+            {
+                switch (i)
+                {
+                    case 0: return x;
+                    case 1: return y;
+                    case 2: return z;
+                    case 3: return w;
+                }
+                throw new ArgumentOutOfRangeException();
+            }
+        }
+
+        public float3 xyz()
+        {
+            return new float3(x, y, z);
+        }
+
+        public void setxyz(float3 xyz)
+        {
+            x = xyz.x;
+            y = xyz.y;
+            z = xyz.z;
+        }
+
+        public override int GetHashCode()
+        {
+            return x.GetHashCode() ^ y.GetHashCode() ^ z.GetHashCode() ^ w.GetHashCode();
+        }
+
+        public override bool Equals(object obj)
+        {
+            float4 f = obj as float4;
+            if (f == null)
+                return false;
+
+            return this == f;
+        }
+
+        public static float4 Homogenize(float3 v3)
+        {
+            return Homogenize(v3, 1.0f);
+        }
+
+        //C++ TO C# CONVERTER NOTE: C# does not allow default values for parameters. Overloaded methods are inserted above.
+        //ORIGINAL LINE: float4 Homogenize(const float3 &v3, const float &w =1.0f)
+        public static float4 Homogenize(float3 v3, float w)
+        {
+            return new float4(v3.x, v3.y, v3.z, w);
+        }
+
+        public static float4 cmul(float4 a, float4 b)
+        {
+            return new float4(a.x * b.x, a.y * b.y, a.z * b.z, a.w * b.w);
+        }
+
+        public static float4 operator +(float4 a, float4 b)
+        {
+            return new float4(a.x + b.x, a.y + b.y, a.z + b.z, a.w + b.w);
+        }
+        public static float4 operator -(float4 a, float4 b)
+        {
+            return new float4(a.x - b.x, a.y - b.y, a.z - b.z, a.w - b.w);
+        }
+
+        public static float4 operator *(float4 v, float4x4 m)
+        {
+            return v.x * m.x + v.y * m.y + v.z * m.z + v.w * m.w; // yes this actually works
+        }
+
+        public static bool operator ==(float4 a, float4 b)
+        {
+            // If both are null, or both are same instance, return true.
+            if (System.Object.ReferenceEquals(a, b))
+                return true;
+            // If one is null, but not both, return false.
+            if (((object)a == null) || ((object)b == null))
+                return false;
+
+            return (a.x == b.x && a.y == b.y && a.z == b.z && a.w == b.w);
+        }
+
+        public static bool operator !=(float4 a, float4 b)
+        {
+            return !(a == b);
+        }
+
+        public static float4 operator *(float4 v, float s)
+        {
+            return new float4(v.x * s, v.y * s, v.z * s, v.w * s);
+        }
+
+        public static float4 operator *(float s, float4 v)
+        {
+            return new float4(v.x * s, v.y * s, v.z * s, v.w * s);
+        }
+    }
+}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/float4x4.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/float4x4.cs
new file mode 100644
index 0000000..7d1592f
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/float4x4.cs
@@ -0,0 +1,284 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+
+namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
+{
+    public class float4x4
+    {
+        public float4 x = new float4();
+        public float4 y = new float4();
+        public float4 z = new float4();
+        public float4 w = new float4();
+
+        public float4x4()
+        {
+        }
+
+        public float4x4(float4 _x, float4 _y, float4 _z, float4 _w)
+        {
+            x = new float4(_x);
+            y = new float4(_y);
+            z = new float4(_z);
+            w = new float4(_w);
+        }
+
+        public float4x4(
+            float m00, float m01, float m02, float m03,
+            float m10, float m11, float m12, float m13,
+            float m20, float m21, float m22, float m23,
+            float m30, float m31, float m32, float m33)
+        {
+            x = new float4(m00, m01, m02, m03);
+            y = new float4(m10, m11, m12, m13);
+            z = new float4(m20, m21, m22, m23);
+            w = new float4(m30, m31, m32, m33);
+        }
+
+        public float4x4(float4x4 m)
+        {
+            x = new float4(m.x);
+            y = new float4(m.y);
+            z = new float4(m.z);
+            w = new float4(m.w);
+        }
+
+        public float4 this[int i]
+        {
+            get
+            {
+                switch (i)
+                {
+                    case 0: return x;
+                    case 1: return y;
+                    case 2: return z;
+                    case 3: return w;
+                }
+                throw new ArgumentOutOfRangeException();
+            }
+            set
+            {
+                switch (i)
+                {
+                    case 0: x = value; return;
+                    case 1: y = value; return;
+                    case 2: z = value; return;
+                    case 3: w = value; return;
+                }
+                throw new ArgumentOutOfRangeException();
+            }
+        }
+
+        public override int GetHashCode()
+        {
+            return x.GetHashCode() ^ y.GetHashCode() ^ z.GetHashCode() ^ w.GetHashCode();
+        }
+
+        public override bool Equals(object obj)
+        {
+            float4x4 m = obj as float4x4;
+            if (m == null)
+                return false;
+
+            return this == m;
+        }
+
+        public static float4x4 operator *(float4x4 a, float4x4 b)
+        {
+            return new float4x4(a.x * b, a.y * b, a.z * b, a.w * b);
+        }
+
+        public static bool operator ==(float4x4 a, float4x4 b)
+        {
+            return (a.x == b.x && a.y == b.y && a.z == b.z && a.w == b.w);
+        }
+
+        public static bool operator !=(float4x4 a, float4x4 b)
+        {
+            return !(a == b);
+        }
+
+        public static float4x4 Inverse(float4x4 m)
+            {
+                    float4x4 d = new float4x4();
+                    //float dst = d.x.x;
+                    float[] tmp = new float[12]; // temp array for pairs
+                    float[] src = new float[16]; // array of transpose source matrix
+                    float det; // determinant
+                    // transpose matrix
+                    for (int i = 0; i < 4; i++)
+                    {
+                            src[i] = m[i].x;
+                            src[i + 4] = m[i].y;
+                            src[i + 8] = m[i].z;
+                            src[i + 12] = m[i].w;
+                    }
+                    // calculate pairs for first 8 elements (cofactors)
+                    tmp[0] = src[10] * src[15];
+                    tmp[1] = src[11] * src[14];
+                    tmp[2] = src[9] * src[15];
+                    tmp[3] = src[11] * src[13];
+                    tmp[4] = src[9] * src[14];
+                    tmp[5] = src[10] * src[13];
+                    tmp[6] = src[8] * src[15];
+                    tmp[7] = src[11] * src[12];
+                    tmp[8] = src[8] * src[14];
+                    tmp[9] = src[10] * src[12];
+                    tmp[10] = src[8] * src[13];
+                    tmp[11] = src[9] * src[12];
+                    // calculate first 8 elements (cofactors)
+                    d.x.x = tmp[0]*src[5] + tmp[3]*src[6] + tmp[4]*src[7];
+                    d.x.x -= tmp[1]*src[5] + tmp[2]*src[6] + tmp[5]*src[7];
+                    d.x.y = tmp[1]*src[4] + tmp[6]*src[6] + tmp[9]*src[7];
+                    d.x.y -= tmp[0]*src[4] + tmp[7]*src[6] + tmp[8]*src[7];
+                    d.x.z = tmp[2]*src[4] + tmp[7]*src[5] + tmp[10]*src[7];
+                    d.x.z -= tmp[3]*src[4] + tmp[6]*src[5] + tmp[11]*src[7];
+                    d.x.w = tmp[5]*src[4] + tmp[8]*src[5] + tmp[11]*src[6];
+                    d.x.w -= tmp[4]*src[4] + tmp[9]*src[5] + tmp[10]*src[6];
+                    d.y.x = tmp[1]*src[1] + tmp[2]*src[2] + tmp[5]*src[3];
+                    d.y.x -= tmp[0]*src[1] + tmp[3]*src[2] + tmp[4]*src[3];
+                    d.y.y = tmp[0]*src[0] + tmp[7]*src[2] + tmp[8]*src[3];
+                    d.y.y -= tmp[1]*src[0] + tmp[6]*src[2] + tmp[9]*src[3];
+                    d.y.z = tmp[3]*src[0] + tmp[6]*src[1] + tmp[11]*src[3];
+                    d.y.z -= tmp[2]*src[0] + tmp[7]*src[1] + tmp[10]*src[3];
+                    d.y.w = tmp[4]*src[0] + tmp[9]*src[1] + tmp[10]*src[2];
+                    d.y.w -= tmp[5]*src[0] + tmp[8]*src[1] + tmp[11]*src[2];
+                    // calculate pairs for second 8 elements (cofactors)
+                    tmp[0] = src[2]*src[7];
+                    tmp[1] = src[3]*src[6];
+                    tmp[2] = src[1]*src[7];
+                    tmp[3] = src[3]*src[5];
+                    tmp[4] = src[1]*src[6];
+                    tmp[5] = src[2]*src[5];
+                    tmp[6] = src[0]*src[7];
+                    tmp[7] = src[3]*src[4];
+                    tmp[8] = src[0]*src[6];
+                    tmp[9] = src[2]*src[4];
+                    tmp[10] = src[0]*src[5];
+                    tmp[11] = src[1]*src[4];
+                    // calculate second 8 elements (cofactors)
+                    d.z.x = tmp[0]*src[13] + tmp[3]*src[14] + tmp[4]*src[15];
+                    d.z.x -= tmp[1]*src[13] + tmp[2]*src[14] + tmp[5]*src[15];
+                    d.z.y = tmp[1]*src[12] + tmp[6]*src[14] + tmp[9]*src[15];
+                    d.z.y -= tmp[0]*src[12] + tmp[7]*src[14] + tmp[8]*src[15];
+                    d.z.z = tmp[2]*src[12] + tmp[7]*src[13] + tmp[10]*src[15];
+                    d.z.z -= tmp[3]*src[12] + tmp[6]*src[13] + tmp[11]*src[15];
+                    d.z.w = tmp[5]*src[12] + tmp[8]*src[13] + tmp[11]*src[14];
+                    d.z.w-= tmp[4]*src[12] + tmp[9]*src[13] + tmp[10]*src[14];
+                    d.w.x = tmp[2]*src[10] + tmp[5]*src[11] + tmp[1]*src[9];
+                    d.w.x-= tmp[4]*src[11] + tmp[0]*src[9] + tmp[3]*src[10];
+                    d.w.y = tmp[8]*src[11] + tmp[0]*src[8] + tmp[7]*src[10];
+                    d.w.y-= tmp[6]*src[10] + tmp[9]*src[11] + tmp[1]*src[8];
+                    d.w.z = tmp[6]*src[9] + tmp[11]*src[11] + tmp[3]*src[8];
+                    d.w.z-= tmp[10]*src[11] + tmp[2]*src[8] + tmp[7]*src[9];
+                    d.w.w = tmp[10]*src[10] + tmp[4]*src[8] + tmp[9]*src[9];
+                    d.w.w-= tmp[8]*src[9] + tmp[11]*src[10] + tmp[5]*src[8];
+                    // calculate determinant
+            det = src[0] * d.x.x + src[1] * d.x.y + src[2] * d.x.z + src[3] * d.x.w;
+                    // calculate matrix inverse
+                    det = 1/det;
+            for (int j = 0; j < 4; j++)
+                d[j] *= det;
+                    return d;
+            }
+
+        public static float4x4 MatrixRigidInverse(float4x4 m)
+        {
+            float4x4 trans_inverse = MatrixTranslation(-m.w.xyz());
+            float4x4 rot = new float4x4(m);
+            rot.w = new float4(0f, 0f, 0f, 1f);
+            return trans_inverse * MatrixTranspose(rot);
+        }
+        public static float4x4 MatrixTranspose(float4x4 m)
+        {
+            return new float4x4(m.x.x, m.y.x, m.z.x, m.w.x, m.x.y, m.y.y, m.z.y, m.w.y, m.x.z, m.y.z, m.z.z, m.w.z, m.x.w, m.y.w, m.z.w, m.w.w);
+        }
+        public static float4x4 MatrixPerspectiveFov(float fovy, float aspect, float zn, float zf)
+        {
+            float h = 1.0f / (float)Math.Tan(fovy / 2.0f); // view space height
+            float w = h / aspect; // view space width
+            return new float4x4(w, 0, 0, 0, 0, h, 0, 0, 0, 0, zf / (zn - zf), -1, 0, 0, zn * zf / (zn - zf), 0);
+        }
+        public static float4x4 MatrixTranslation(float3 t)
+        {
+            return new float4x4(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, t.x, t.y, t.z, 1);
+        }
+        public static float4x4 MatrixRotationZ(float angle_radians)
+        {
+            float s = (float)Math.Sin(angle_radians);
+            float c = (float)Math.Cos(angle_radians);
+            return new float4x4(c, s, 0, 0, -s, c, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1);
+        }
+        public static float4x4 MatrixLookAt(float3 eye, float3 at, float3 up)
+        {
+            float4x4 m = new float4x4();
+            m.w.w = 1.0f;
+            m.w.setxyz(eye);
+            m.z.setxyz(float3.normalize(eye - at));
+            m.x.setxyz(float3.normalize(float3.cross(up, m.z.xyz())));
+            m.y.setxyz(float3.cross(m.z.xyz(), m.x.xyz()));
+            return MatrixRigidInverse(m);
+        }
+
+        public static float4x4 MatrixFromQuatVec(Quaternion q, float3 v)
+        {
+            // builds a 4x4 transformation matrix based on orientation q and translation v
+            float qx2 = q.x * q.x;
+            float qy2 = q.y * q.y;
+            float qz2 = q.z * q.z;
+
+            float qxqy = q.x * q.y;
+            float qxqz = q.x * q.z;
+            float qxqw = q.x * q.w;
+            float qyqz = q.y * q.z;
+            float qyqw = q.y * q.w;
+            float qzqw = q.z * q.w;
+
+            return new float4x4(
+                1 - 2 * (qy2 + qz2),
+                2 * (qxqy + qzqw),
+                2 * (qxqz - qyqw),
+                0,
+                2 * (qxqy - qzqw),
+                1 - 2 * (qx2 + qz2),
+                2 * (qyqz + qxqw),
+                0,
+                2 * (qxqz + qyqw),
+                2 * (qyqz - qxqw),
+                1 - 2 * (qx2 + qy2),
+                0,
+                v.x,
+                v.y,
+                v.z,
+                1.0f);
+        }
+    }
+}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/int3.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/int3.cs
new file mode 100644
index 0000000..9c5760d
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/int3.cs
@@ -0,0 +1,128 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+
+namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
+{
+    public class int3
+    {
+        public int x;
+        public int y;
+        public int z;
+
+        public int3()
+        {
+        }
+
+        public int3(int _x, int _y, int _z)
+        {
+            x = _x;
+            y = _y;
+            z = _z;
+        }
+
+        public int this[int i]
+        {
+            get
+            {
+                switch (i)
+                {
+                    case 0: return x;
+                    case 1: return y;
+                    case 2: return z;
+                }
+                throw new ArgumentOutOfRangeException();
+            }
+            set
+            {
+                switch (i)
+                {
+                    case 0: x = value; return;
+                    case 1: y = value; return;
+                    case 2: z = value; return;
+                }
+                throw new ArgumentOutOfRangeException();
+            }
+        }
+
+        public override int GetHashCode()
+        {
+            return x.GetHashCode() ^ y.GetHashCode() ^ z.GetHashCode();
+        }
+
+        public override bool Equals(object obj)
+        {
+            int3 i = obj as int3;
+            if (i == null)
+                return false;
+
+            return this == i;
+        }
+
+        public static bool operator ==(int3 a, int3 b)
+        {
+            // If both are null, or both are same instance, return true.
+            if (System.Object.ReferenceEquals(a, b))
+                return true;
+            // If one is null, but not both, return false.
+            if (((object)a == null) || ((object)b == null))
+                return false;
+
+            for (int i = 0; i < 3; i++)
+            {
+                if (a[i] != b[i])
+                    return false;
+            }
+            return true;
+        }
+
+        public static bool operator !=(int3 a, int3 b)
+        {
+            return !(a == b);
+        }
+
+        public static int3 roll3(int3 a)
+        {
+            int tmp = a[0];
+            a[0] = a[1];
+            a[1] = a[2];
+            a[2] = tmp;
+            return a;
+        }
+
+        public static bool isa(int3 a, int3 b)
+        {
+            return (a == b || roll3(a) == b || a == roll3(b));
+        }
+
+        public static bool b2b(int3 a, int3 b)
+        {
+            return isa(a, new int3(b[2], b[1], b[0]));
+        }
+    }
+}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/int4.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/int4.cs
new file mode 100644
index 0000000..c2b32e5
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/int4.cs
@@ -0,0 +1,66 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+
+namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
+{
+    public class int4
+    {
+        public int x;
+        public int y;
+        public int z;
+        public int w;
+
+        public int4()
+        {
+        }
+
+        public int4(int _x, int _y, int _z, int _w)
+        {
+            x = _x;
+            y = _y;
+            z = _z;
+            w = _w;
+        }
+
+        public int this[int i]
+        {
+            get
+            {
+                switch (i)
+                {
+                    case 0: return x;
+                    case 1: return y;
+                    case 2: return z;
+                    case 3: return w;
+                }
+                throw new ArgumentOutOfRangeException();
+            }
+        }
+    }
+}
diff --git a/OpenSim/Region/Physics/Manager/IMesher.cs b/OpenSim/Region/Physics/Manager/IMesher.cs
index 1181b8d..3a9ca1b 100644
--- a/OpenSim/Region/Physics/Manager/IMesher.cs
+++ b/OpenSim/Region/Physics/Manager/IMesher.cs
@@ -38,6 +38,17 @@ namespace OpenSim.Region.Physics.Manager
         IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical);
     }
 
+    // Values for level of detail to be passed to the mesher.
+    // Values origionally chosen for the LOD of sculpties (the sqrt(width*heigth) of sculpt texture)
+    // Lower level of detail reduces the number of vertices used to represent the meshed shape.
+    public enum LevelOfDetail 
+    {
+        High = 32,
+        Medium = 16,
+        Low = 8,
+        VeryLow = 4
+    }
+
     public interface IVertex
     {
     }
diff --git a/OpenSim/Region/Physics/Manager/IPhysicsParameters.cs b/OpenSim/Region/Physics/Manager/IPhysicsParameters.cs
new file mode 100755
index 0000000..b8676ba
--- /dev/null
+++ b/OpenSim/Region/Physics/Manager/IPhysicsParameters.cs
@@ -0,0 +1,73 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections.Generic;
+using OpenSim.Framework;
+using OpenMetaverse;
+
+namespace OpenSim.Region.Physics.Manager
+{
+    public struct PhysParameterEntry
+    {
+        // flags to say to apply to all or no instances (I wish one could put consts into interfaces)
+        public const uint APPLY_TO_ALL = 0xfffffff3;
+        public const uint APPLY_TO_NONE = 0xfffffff4;
+
+        // values that denote true and false values
+        public const float NUMERIC_TRUE = 1f;
+        public const float NUMERIC_FALSE = 0f;
+
+        public string name;
+        public string desc;
+
+        public PhysParameterEntry(string n, string d)
+        {
+            name = n;
+            desc = d;
+        }
+    }
+
+    // Interface for a physics scene that implements the runtime setting and getting of physics parameters
+    public interface IPhysicsParameters
+    {
+        // Get the list of parameters this physics engine supports
+        PhysParameterEntry[] GetParameterList();
+
+        // Set parameter on a specific or all instances.
+        // Return 'false' if not able to set the parameter.
+        bool SetPhysicsParameter(string parm, float value, uint localID);
+
+        // Get parameter.
+        // Return 'false' if not able to get the parameter.
+        bool GetPhysicsParameter(string parm, out float value);
+
+        // Get parameter from a particular object
+        // TODO:
+        // bool GetPhysicsParameter(string parm, out float value, uint localID);
+    }
+}
diff --git a/OpenSim/Region/Physics/Manager/PhysicsScene.cs b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
index de22fae..72b01ac 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsScene.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
@@ -37,6 +37,18 @@ namespace OpenSim.Region.Physics.Manager
     public delegate void physicsCrash();
 
     public delegate void RaycastCallback(bool hitYN, Vector3 collisionPoint, uint localid, float distance, Vector3 normal);
+    public delegate void RayCallback(List<ContactResult> list);
+
+    /// <summary>
+    /// Contact result from a raycast.
+    /// </summary>
+    public struct ContactResult
+    {
+        public Vector3 Pos;
+        public float Depth;
+        public uint ConsumerID;
+        public Vector3 Normal;
+    }
 
     public abstract class PhysicsScene
     {
@@ -61,7 +73,6 @@ namespace OpenSim.Region.Physics.Manager
             }
         }
 
-
         public abstract void Initialise(IMesher meshmerizer, IConfigSource config);
 
         public abstract PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying);
@@ -75,6 +86,10 @@ namespace OpenSim.Region.Physics.Manager
 
         public abstract void RemoveAvatar(PhysicsActor actor);
 
+        /// <summary>
+        /// Remove a prim from the physics scene.
+        /// </summary>
+        /// <param name="prim"></param>
         public abstract void RemovePrim(PhysicsActor prim);
 
         //public abstract PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
@@ -83,17 +98,6 @@ namespace OpenSim.Region.Physics.Manager
         public abstract PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
                                                   Vector3 size, Quaternion rotation, bool isPhysical, uint localid);
 
-        public virtual PhysicsActor AddPrimShape(uint localID, string primName, PrimitiveBaseShape pbs, Vector3 position,
-                                                  Vector3 size, Quaternion rotation, bool isPhysical, uint localid)
-        {
-            PhysicsActor ret = AddPrimShape(primName, pbs, position, size, rotation, isPhysical, localid);
-
-            if (ret != null)
-                ret.LocalID = localID;
-
-            return ret;
-        }
-
         public virtual float TimeDilation
         {
             get { return 1.0f; }
@@ -226,6 +230,17 @@ namespace OpenSim.Region.Physics.Manager
                 retMethod(false, Vector3.Zero, 0, 999999999999f, Vector3.Zero);
         }
 
+        public virtual void RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod)
+        {
+            if (retMethod != null)
+                retMethod(new List<ContactResult>());
+        }
+
+        public virtual List<ContactResult> RaycastWorld(Vector3 position, Vector3 direction, float length, int Count)
+        {
+            return new List<ContactResult>();
+        }
+
         private class NullPhysicsScene : PhysicsScene
         {
             private static int m_workIndicator;
diff --git a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
index b79e1a1..53d5e4c 100644
--- a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
+++ b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
@@ -193,67 +193,6 @@ namespace OpenSim.Region.Physics.Meshing
             m_log.Error("****** PrimMesh Parameters ******\n" + primMesh.ParamsToDisplayString());
         }
 
-        private ulong GetMeshKey(PrimitiveBaseShape pbs, Vector3 size, float lod)
-        {
-            ulong hash = 5381;
-
-            hash = djb2(hash, pbs.PathCurve);
-            hash = djb2(hash, (byte)((byte)pbs.HollowShape | (byte)pbs.ProfileShape));
-            hash = djb2(hash, pbs.PathBegin);
-            hash = djb2(hash, pbs.PathEnd);
-            hash = djb2(hash, pbs.PathScaleX);
-            hash = djb2(hash, pbs.PathScaleY);
-            hash = djb2(hash, pbs.PathShearX);
-            hash = djb2(hash, pbs.PathShearY);
-            hash = djb2(hash, (byte)pbs.PathTwist);
-            hash = djb2(hash, (byte)pbs.PathTwistBegin);
-            hash = djb2(hash, (byte)pbs.PathRadiusOffset);
-            hash = djb2(hash, (byte)pbs.PathTaperX);
-            hash = djb2(hash, (byte)pbs.PathTaperY);
-            hash = djb2(hash, pbs.PathRevolutions);
-            hash = djb2(hash, (byte)pbs.PathSkew);
-            hash = djb2(hash, pbs.ProfileBegin);
-            hash = djb2(hash, pbs.ProfileEnd);
-            hash = djb2(hash, pbs.ProfileHollow);
-
-            // TODO: Separate scale out from the primitive shape data (after
-            // scaling is supported at the physics engine level)
-            byte[] scaleBytes = size.GetBytes();
-            for (int i = 0; i < scaleBytes.Length; i++)
-                hash = djb2(hash, scaleBytes[i]);
-
-            // Include LOD in hash, accounting for endianness
-            byte[] lodBytes = new byte[4];
-            Buffer.BlockCopy(BitConverter.GetBytes(lod), 0, lodBytes, 0, 4);
-            if (!BitConverter.IsLittleEndian)
-            {
-                Array.Reverse(lodBytes, 0, 4);
-            }
-            for (int i = 0; i < lodBytes.Length; i++)
-                hash = djb2(hash, lodBytes[i]);
-
-            // include sculpt UUID
-            if (pbs.SculptEntry)
-            {
-                scaleBytes = pbs.SculptTexture.GetBytes();
-                for (int i = 0; i < scaleBytes.Length; i++)
-                    hash = djb2(hash, scaleBytes[i]);
-            }
-
-            return hash;
-        }
-
-        private ulong djb2(ulong hash, byte c)
-        {
-            return ((hash << 5) + hash) + (ulong)c;
-        }
-
-        private ulong djb2(ulong hash, ushort c)
-        {
-            hash = ((hash << 5) + hash) + (ulong)((byte)c);
-            return ((hash << 5) + hash) + (ulong)(c >> 8);
-        }
-
         /// <summary>
         /// Add a submesh to an existing list of coords and faces.
         /// </summary>
@@ -301,16 +240,22 @@ namespace OpenSim.Region.Physics.Meshing
             }
         }
 
+        /// <summary>
+        /// Create a physics mesh from data that comes with the prim.  The actual data used depends on the prim type.
+        /// </summary>
+        /// <param name="primName"></param>
+        /// <param name="primShape"></param>
+        /// <param name="size"></param>
+        /// <param name="lod"></param>
+        /// <returns></returns>
         private Mesh CreateMeshFromPrimMesher(string primName, PrimitiveBaseShape primShape, Vector3 size, float lod)
         {
-            PrimMesh primMesh;
-            PrimMesher.SculptMesh sculptMesh;
-
-            List<Coord> coords = new List<Coord>();
-            List<Face> faces = new List<Face>();
+//            m_log.DebugFormat(
+//                "[MESH]: Creating physics proxy for {0}, shape {1}",
+//                primName, (OpenMetaverse.SculptType)primShape.SculptType);
 
-            Image idata = null;
-            string decodedSculptFileName = "";
+            List<Coord> coords;
+            List<Face> faces;
 
             if (primShape.SculptEntry)
             {
@@ -319,337 +264,440 @@ namespace OpenSim.Region.Physics.Meshing
                     if (!useMeshiesPhysicsMesh)
                         return null;
 
-                    m_log.Debug("[MESH]: experimental mesh proxy generation");
+                    if (!GenerateCoordsAndFacesFromPrimMeshData(primName, primShape, size, out coords, out faces))
+                        return null;
+                }
+                else
+                {
+                    if (!GenerateCoordsAndFacesFromPrimSculptData(primName, primShape, size, lod, out coords, out faces))
+                        return null;
+                }
+            }
+            else
+            {
+                if (!GenerateCoordsAndFacesFromPrimShapeData(primName, primShape, size, lod, out coords, out faces))
+                    return null;
+            }
 
-                    OSD meshOsd = null;
+            // Remove the reference to any JPEG2000 sculpt data so it can be GCed
+            primShape.SculptData = Utils.EmptyBytes;
 
-                    if (primShape.SculptData.Length <= 0)
-                    {
-                        m_log.Error("[MESH]: asset data is zero length");
-                        return null;
-                    }
+            int numCoords = coords.Count;
+            int numFaces = faces.Count;
 
-                    long start = 0;
-                    using (MemoryStream data = new MemoryStream(primShape.SculptData))
-                    {
-                        try
-                        {
-                            OSD osd = OSDParser.DeserializeLLSDBinary(data);
-                            if (osd is OSDMap)
-                                meshOsd = (OSDMap)osd;
-                            else
-                            {
-                                m_log.Warn("[Mesh}: unable to cast mesh asset to OSDMap");
-                                return null;
-                            }
-                        }
-                        catch (Exception e)
-                        {
-                            m_log.Error("[MESH]: Exception deserializing mesh asset header:" + e.ToString());
-                        }
+            // Create the list of vertices
+            List<Vertex> vertices = new List<Vertex>();
+            for (int i = 0; i < numCoords; i++)
+            {
+                Coord c = coords[i];
+                vertices.Add(new Vertex(c.X, c.Y, c.Z));
+            }
 
-                        start = data.Position;
-                    }
+            Mesh mesh = new Mesh();
+            // Add the corresponding triangles to the mesh
+            for (int i = 0; i < numFaces; i++)
+            {
+                Face f = faces[i];
+                mesh.Add(new Triangle(vertices[f.v1], vertices[f.v2], vertices[f.v3]));
+            }
+
+            return mesh;
+        }
+
+        /// <summary>
+        /// Generate the co-ords and faces necessary to construct a mesh from the mesh data the accompanies a prim.
+        /// </summary>
+        /// <param name="primName"></param>
+        /// <param name="primShape"></param>
+        /// <param name="size"></param>
+        /// <param name="coords">Coords are added to this list by the method.</param>
+        /// <param name="faces">Faces are added to this list by the method.</param>
+        /// <returns>true if coords and faces were successfully generated, false if not</returns>
+        private bool GenerateCoordsAndFacesFromPrimMeshData(
+            string primName, PrimitiveBaseShape primShape, Vector3 size, out List<Coord> coords, out List<Face> faces)
+        {
+            m_log.DebugFormat("[MESH]: experimental mesh proxy generation for {0}", primName);
+
+            coords = new List<Coord>();
+            faces = new List<Face>();
+            OSD meshOsd = null;
+
+            if (primShape.SculptData.Length <= 0)
+            {
+                m_log.Error("[MESH]: asset data is zero length");
+                return false;
+            }
 
-                    if (meshOsd is OSDMap)
+            long start = 0;
+            using (MemoryStream data = new MemoryStream(primShape.SculptData))
+            {
+                try
+                {
+                    OSD osd = OSDParser.DeserializeLLSDBinary(data);
+                    if (osd is OSDMap)
+                        meshOsd = (OSDMap)osd;
+                    else
                     {
-                        OSDMap physicsParms = null;
-                        OSDMap map = (OSDMap)meshOsd;
-                        if (map.ContainsKey("physics_shape"))
-                            physicsParms = (OSDMap)map["physics_shape"]; // old asset format
-                        else if (map.ContainsKey("physics_mesh"))
-                            physicsParms = (OSDMap)map["physics_mesh"]; // new asset format
-
-                        if (physicsParms == null)
-                        {
-                            m_log.Warn("[MESH]: no recognized physics mesh found in mesh asset");
-                            return null;
-                        }
+                        m_log.Warn("[Mesh}: unable to cast mesh asset to OSDMap");
+                        return false;
+                    }
+                }
+                catch (Exception e)
+                {
+                    m_log.Error("[MESH]: Exception deserializing mesh asset header:" + e.ToString());
+                }
+
+                start = data.Position;
+            }
+
+            if (meshOsd is OSDMap)
+            {
+                OSDMap physicsParms = null;
+                OSDMap map = (OSDMap)meshOsd;
+                if (map.ContainsKey("physics_shape"))
+                    physicsParms = (OSDMap)map["physics_shape"]; // old asset format
+                else if (map.ContainsKey("physics_mesh"))
+                    physicsParms = (OSDMap)map["physics_mesh"]; // new asset format
+
+                if (physicsParms == null)
+                {
+                    m_log.Warn("[MESH]: no recognized physics mesh found in mesh asset");
+                    return false;
+                }
 
-                        int physOffset = physicsParms["offset"].AsInteger() + (int)start;
-                        int physSize = physicsParms["size"].AsInteger();
+                int physOffset = physicsParms["offset"].AsInteger() + (int)start;
+                int physSize = physicsParms["size"].AsInteger();
 
-                        if (physOffset < 0 || physSize == 0)
-                            return null; // no mesh data in asset
+                if (physOffset < 0 || physSize == 0)
+                    return false; // no mesh data in asset
 
-                        OSD decodedMeshOsd = new OSD();
-                        byte[] meshBytes = new byte[physSize];
-                        System.Buffer.BlockCopy(primShape.SculptData, physOffset, meshBytes, 0, physSize);
+                OSD decodedMeshOsd = new OSD();
+                byte[] meshBytes = new byte[physSize];
+                System.Buffer.BlockCopy(primShape.SculptData, physOffset, meshBytes, 0, physSize);
 //                        byte[] decompressed = new byte[physSize * 5];
-                        try
+                try
+                {
+                    using (MemoryStream inMs = new MemoryStream(meshBytes))
+                    {
+                        using (MemoryStream outMs = new MemoryStream())
                         {
-                            using (MemoryStream inMs = new MemoryStream(meshBytes))
+                            using (ZOutputStream zOut = new ZOutputStream(outMs))
                             {
-                                using (MemoryStream outMs = new MemoryStream())
+                                byte[] readBuffer = new byte[2048];
+                                int readLen = 0;
+                                while ((readLen = inMs.Read(readBuffer, 0, readBuffer.Length)) > 0)
                                 {
-                                    using (ZOutputStream zOut = new ZOutputStream(outMs))
-                                    {
-                                        byte[] readBuffer = new byte[2048];
-                                        int readLen = 0;
-                                        while ((readLen = inMs.Read(readBuffer, 0, readBuffer.Length)) > 0)
-                                        {
-                                            zOut.Write(readBuffer, 0, readLen);
-                                        }
-                                        zOut.Flush();
-                                        outMs.Seek(0, SeekOrigin.Begin);
-
-                                        byte[] decompressedBuf = outMs.GetBuffer();
-
-                                        decodedMeshOsd = OSDParser.DeserializeLLSDBinary(decompressedBuf);
-                                    }
+                                    zOut.Write(readBuffer, 0, readLen);
                                 }
+                                zOut.Flush();
+                                outMs.Seek(0, SeekOrigin.Begin);
+
+                                byte[] decompressedBuf = outMs.GetBuffer();
+
+                                decodedMeshOsd = OSDParser.DeserializeLLSDBinary(decompressedBuf);
                             }
                         }
-                        catch (Exception e)
-                        {
-                            m_log.Error("[MESH]: exception decoding physical mesh: " + e.ToString());
-                            return null;
-                        }
+                    }
+                }
+                catch (Exception e)
+                {
+                    m_log.Error("[MESH]: exception decoding physical mesh: " + e.ToString());
+                    return false;
+                }
 
-                        OSDArray decodedMeshOsdArray = null;
+                OSDArray decodedMeshOsdArray = null;
 
-                        // physics_shape is an array of OSDMaps, one for each submesh
-                        if (decodedMeshOsd is OSDArray)
-                        {
+                // physics_shape is an array of OSDMaps, one for each submesh
+                if (decodedMeshOsd is OSDArray)
+                {
 //                            Console.WriteLine("decodedMeshOsd for {0} - {1}", primName, Util.GetFormattedXml(decodedMeshOsd));
 
-                            decodedMeshOsdArray = (OSDArray)decodedMeshOsd;
-                            foreach (OSD subMeshOsd in decodedMeshOsdArray)
-                            {
-                                if (subMeshOsd is OSDMap)
-                                    AddSubMesh(subMeshOsd as OSDMap, size, coords, faces);
-                            }
-                        }
+                    decodedMeshOsdArray = (OSDArray)decodedMeshOsd;
+                    foreach (OSD subMeshOsd in decodedMeshOsdArray)
+                    {
+                        if (subMeshOsd is OSDMap)
+                            AddSubMesh(subMeshOsd as OSDMap, size, coords, faces);
                     }
                 }
-                else
+            }
+
+            return true;
+        }
+
+        /// <summary>
+        /// Generate the co-ords and faces necessary to construct a mesh from the sculpt data the accompanies a prim.
+        /// </summary>
+        /// <param name="primName"></param>
+        /// <param name="primShape"></param>
+        /// <param name="size"></param>
+        /// <param name="lod"></param>
+        /// <param name="coords">Coords are added to this list by the method.</param>
+        /// <param name="faces">Faces are added to this list by the method.</param>
+        /// <returns>true if coords and faces were successfully generated, false if not</returns>
+        private bool GenerateCoordsAndFacesFromPrimSculptData(
+            string primName, PrimitiveBaseShape primShape, Vector3 size, float lod, out List<Coord> coords, out List<Face> faces)
+        {
+            coords = new List<Coord>();
+            faces = new List<Face>();
+            PrimMesher.SculptMesh sculptMesh;
+            Image idata = null;
+            string decodedSculptFileName = "";
+
+            if (cacheSculptMaps && primShape.SculptTexture != UUID.Zero)
+            {
+                decodedSculptFileName = System.IO.Path.Combine(decodedSculptMapPath, "smap_" + primShape.SculptTexture.ToString());
+                try
                 {
-                    if (cacheSculptMaps && primShape.SculptTexture != UUID.Zero)
+                    if (File.Exists(decodedSculptFileName))
                     {
-                        decodedSculptFileName = System.IO.Path.Combine(decodedSculptMapPath, "smap_" + primShape.SculptTexture.ToString());
-                        try
-                        {
-                            if (File.Exists(decodedSculptFileName))
-                            {
-                                idata = Image.FromFile(decodedSculptFileName);
-                            }
-                        }
-                        catch (Exception e)
-                        {
-                            m_log.Error("[SCULPT]: unable to load cached sculpt map " + decodedSculptFileName + " " + e.Message);
-
-                        }
-                        //if (idata != null)
-                        //    m_log.Debug("[SCULPT]: loaded cached map asset for map ID: " + primShape.SculptTexture.ToString());
+                        idata = Image.FromFile(decodedSculptFileName);
                     }
+                }
+                catch (Exception e)
+                {
+                    m_log.Error("[SCULPT]: unable to load cached sculpt map " + decodedSculptFileName + " " + e.Message);
+
+                }
+                //if (idata != null)
+                //    m_log.Debug("[SCULPT]: loaded cached map asset for map ID: " + primShape.SculptTexture.ToString());
+            }
+
+            if (idata == null)
+            {
+                if (primShape.SculptData == null || primShape.SculptData.Length == 0)
+                    return false;
+
+                try
+                {
+                    OpenMetaverse.Imaging.ManagedImage unusedData;
+                    OpenMetaverse.Imaging.OpenJPEG.DecodeToImage(primShape.SculptData, out unusedData, out idata);
 
                     if (idata == null)
                     {
-                        if (primShape.SculptData == null || primShape.SculptData.Length == 0)
-                            return null;
+                        // In some cases it seems that the decode can return a null bitmap without throwing
+                        // an exception
+                        m_log.WarnFormat("[PHYSICS]: OpenJPEG decoded sculpt data for {0} to a null bitmap.  Ignoring.", primName);
 
-                        try
-                        {
-                            OpenMetaverse.Imaging.ManagedImage unusedData;
-                            OpenMetaverse.Imaging.OpenJPEG.DecodeToImage(primShape.SculptData, out unusedData, out idata);
-                            unusedData = null;
+                        return false;
+                    }
 
-                            //idata = CSJ2K.J2kImage.FromBytes(primShape.SculptData);
+                    unusedData = null;
 
-                            if (cacheSculptMaps && idata != null)
-                            {
-                                try { idata.Save(decodedSculptFileName, ImageFormat.MemoryBmp); }
-                                catch (Exception e) { m_log.Error("[SCULPT]: unable to cache sculpt map " + decodedSculptFileName + " " + e.Message); }
-                            }
-                        }
-                        catch (DllNotFoundException)
-                        {
-                            m_log.Error("[PHYSICS]: OpenJpeg is not installed correctly on this system. Physics Proxy generation failed.  Often times this is because of an old version of GLIBC.  You must have version 2.4 or above!");
-                            return null;
-                        }
-                        catch (IndexOutOfRangeException)
-                        {
-                            m_log.Error("[PHYSICS]: OpenJpeg was unable to decode this. Physics Proxy generation failed");
-                            return null;
-                        }
-                        catch (Exception ex)
-                        {
-                            m_log.Error("[PHYSICS]: Unable to generate a Sculpty physics proxy. Sculpty texture decode failed: " + ex.Message);
-                            return null;
-                        }
-                    }
+                    //idata = CSJ2K.J2kImage.FromBytes(primShape.SculptData);
 
-                    PrimMesher.SculptMesh.SculptType sculptType;
-                    switch ((OpenMetaverse.SculptType)primShape.SculptType)
+                    if (cacheSculptMaps)
                     {
-                        case OpenMetaverse.SculptType.Cylinder:
-                            sculptType = PrimMesher.SculptMesh.SculptType.cylinder;
-                            break;
-                        case OpenMetaverse.SculptType.Plane:
-                            sculptType = PrimMesher.SculptMesh.SculptType.plane;
-                            break;
-                        case OpenMetaverse.SculptType.Torus:
-                            sculptType = PrimMesher.SculptMesh.SculptType.torus;
-                            break;
-                        case OpenMetaverse.SculptType.Sphere:
-                            sculptType = PrimMesher.SculptMesh.SculptType.sphere;
-                            break;
-                        default:
-                            sculptType = PrimMesher.SculptMesh.SculptType.plane;
-                            break;
+                        try { idata.Save(decodedSculptFileName, ImageFormat.MemoryBmp); }
+                        catch (Exception e) { m_log.Error("[SCULPT]: unable to cache sculpt map " + decodedSculptFileName + " " + e.Message); }
                     }
+                }
+                catch (DllNotFoundException)
+                {
+                    m_log.Error("[PHYSICS]: OpenJpeg is not installed correctly on this system. Physics Proxy generation failed.  Often times this is because of an old version of GLIBC.  You must have version 2.4 or above!");
+                    return false;
+                }
+                catch (IndexOutOfRangeException)
+                {
+                    m_log.Error("[PHYSICS]: OpenJpeg was unable to decode this. Physics Proxy generation failed");
+                    return false;
+                }
+                catch (Exception ex)
+                {
+                    m_log.Error("[PHYSICS]: Unable to generate a Sculpty physics proxy. Sculpty texture decode failed: " + ex.Message);
+                    return false;
+                }
+            }
+
+            PrimMesher.SculptMesh.SculptType sculptType;
+            switch ((OpenMetaverse.SculptType)primShape.SculptType)
+            {
+                case OpenMetaverse.SculptType.Cylinder:
+                    sculptType = PrimMesher.SculptMesh.SculptType.cylinder;
+                    break;
+                case OpenMetaverse.SculptType.Plane:
+                    sculptType = PrimMesher.SculptMesh.SculptType.plane;
+                    break;
+                case OpenMetaverse.SculptType.Torus:
+                    sculptType = PrimMesher.SculptMesh.SculptType.torus;
+                    break;
+                case OpenMetaverse.SculptType.Sphere:
+                    sculptType = PrimMesher.SculptMesh.SculptType.sphere;
+                    break;
+                default:
+                    sculptType = PrimMesher.SculptMesh.SculptType.plane;
+                    break;
+            }
 
-                    bool mirror = ((primShape.SculptType & 128) != 0);
-                    bool invert = ((primShape.SculptType & 64) != 0);
+            bool mirror = ((primShape.SculptType & 128) != 0);
+            bool invert = ((primShape.SculptType & 64) != 0);
 
-                    sculptMesh = new PrimMesher.SculptMesh((Bitmap)idata, sculptType, (int)lod, false, mirror, invert);
-                    
-                    idata.Dispose();
+            sculptMesh = new PrimMesher.SculptMesh((Bitmap)idata, sculptType, (int)lod, false, mirror, invert);
 
-                    sculptMesh.DumpRaw(baseDir, primName, "primMesh");
+            idata.Dispose();
 
-                    sculptMesh.Scale(size.X, size.Y, size.Z);
+            sculptMesh.DumpRaw(baseDir, primName, "primMesh");
 
-                    coords = sculptMesh.coords;
-                    faces = sculptMesh.faces;
+            sculptMesh.Scale(size.X, size.Y, size.Z);
+
+            coords = sculptMesh.coords;
+            faces = sculptMesh.faces;
+
+            return true;
+        }
+
+        /// <summary>
+        /// Generate the co-ords and faces necessary to construct a mesh from the shape data the accompanies a prim.
+        /// </summary>
+        /// <param name="primName"></param>
+        /// <param name="primShape"></param>
+        /// <param name="size"></param>
+        /// <param name="coords">Coords are added to this list by the method.</param>
+        /// <param name="faces">Faces are added to this list by the method.</param>
+        /// <returns>true if coords and faces were successfully generated, false if not</returns>
+        private bool GenerateCoordsAndFacesFromPrimShapeData(
+            string primName, PrimitiveBaseShape primShape, Vector3 size, float lod, out List<Coord> coords, out List<Face> faces)
+        {
+            PrimMesh primMesh;
+            coords = new List<Coord>();
+            faces = new List<Face>();            
+
+            float pathShearX = primShape.PathShearX < 128 ? (float)primShape.PathShearX * 0.01f : (float)(primShape.PathShearX - 256) * 0.01f;
+            float pathShearY = primShape.PathShearY < 128 ? (float)primShape.PathShearY * 0.01f : (float)(primShape.PathShearY - 256) * 0.01f;
+            float pathBegin = (float)primShape.PathBegin * 2.0e-5f;
+            float pathEnd = 1.0f - (float)primShape.PathEnd * 2.0e-5f;
+            float pathScaleX = (float)(primShape.PathScaleX - 100) * 0.01f;
+            float pathScaleY = (float)(primShape.PathScaleY - 100) * 0.01f;
+
+            float profileBegin = (float)primShape.ProfileBegin * 2.0e-5f;
+            float profileEnd = 1.0f - (float)primShape.ProfileEnd * 2.0e-5f;
+            float profileHollow = (float)primShape.ProfileHollow * 2.0e-5f;
+            if (profileHollow > 0.95f)
+                profileHollow = 0.95f;
+
+            int sides = 4;
+            LevelOfDetail iLOD = (LevelOfDetail)lod;
+            if ((primShape.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle)
+                sides = 3;
+            else if ((primShape.ProfileCurve & 0x07) == (byte)ProfileShape.Circle)
+            {
+                switch (iLOD)
+                {
+                    case LevelOfDetail.High:    sides = 24;     break;
+                    case LevelOfDetail.Medium:  sides = 12;     break;
+                    case LevelOfDetail.Low:     sides = 6;      break;
+                    case LevelOfDetail.VeryLow: sides = 3;      break;
+                    default:                    sides = 24;     break;
                 }
             }
-            else
+            else if ((primShape.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle)
+            { // half circle, prim is a sphere
+                switch (iLOD)
+                {
+                    case LevelOfDetail.High:    sides = 24;     break;
+                    case LevelOfDetail.Medium:  sides = 12;     break;
+                    case LevelOfDetail.Low:     sides = 6;      break;
+                    case LevelOfDetail.VeryLow: sides = 3;      break;
+                    default:                    sides = 24;     break;
+                }
+
+                profileBegin = 0.5f * profileBegin + 0.5f;
+                profileEnd = 0.5f * profileEnd + 0.5f;
+            }
+
+            int hollowSides = sides;
+            if (primShape.HollowShape == HollowShape.Circle)
             {
-                float pathShearX = primShape.PathShearX < 128 ? (float)primShape.PathShearX * 0.01f : (float)(primShape.PathShearX - 256) * 0.01f;
-                float pathShearY = primShape.PathShearY < 128 ? (float)primShape.PathShearY * 0.01f : (float)(primShape.PathShearY - 256) * 0.01f;
-                float pathBegin = (float)primShape.PathBegin * 2.0e-5f;
-                float pathEnd = 1.0f - (float)primShape.PathEnd * 2.0e-5f;
-                float pathScaleX = (float)(primShape.PathScaleX - 100) * 0.01f;
-                float pathScaleY = (float)(primShape.PathScaleY - 100) * 0.01f;
-
-                float profileBegin = (float)primShape.ProfileBegin * 2.0e-5f;
-                float profileEnd = 1.0f - (float)primShape.ProfileEnd * 2.0e-5f;
-                float profileHollow = (float)primShape.ProfileHollow * 2.0e-5f;
-                if (profileHollow > 0.95f)
-                    profileHollow = 0.95f;
-
-                int sides = 4;
-                if ((primShape.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle)
-                    sides = 3;
-                else if ((primShape.ProfileCurve & 0x07) == (byte)ProfileShape.Circle)
-                    sides = 24;
-                else if ((primShape.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle)
-                { // half circle, prim is a sphere
-                    sides = 24;
-
-                    profileBegin = 0.5f * profileBegin + 0.5f;
-                    profileEnd = 0.5f * profileEnd + 0.5f;
+                switch (iLOD)
+                {
+                    case LevelOfDetail.High:    hollowSides = 24;     break;
+                    case LevelOfDetail.Medium:  hollowSides = 12;     break;
+                    case LevelOfDetail.Low:     hollowSides = 6;      break;
+                    case LevelOfDetail.VeryLow: hollowSides = 3;      break;
+                    default:                    hollowSides = 24;     break;
                 }
+            }
+            else if (primShape.HollowShape == HollowShape.Square)
+                hollowSides = 4;
+            else if (primShape.HollowShape == HollowShape.Triangle)
+                hollowSides = 3;
 
-                int hollowSides = sides;
-                if (primShape.HollowShape == HollowShape.Circle)
-                    hollowSides = 24;
-                else if (primShape.HollowShape == HollowShape.Square)
-                    hollowSides = 4;
-                else if (primShape.HollowShape == HollowShape.Triangle)
-                    hollowSides = 3;
+            primMesh = new PrimMesh(sides, profileBegin, profileEnd, profileHollow, hollowSides);
 
-                primMesh = new PrimMesh(sides, profileBegin, profileEnd, profileHollow, hollowSides);
+            if (primMesh.errorMessage != null)
+                if (primMesh.errorMessage.Length > 0)
+                    m_log.Error("[ERROR] " + primMesh.errorMessage);
 
-                if (primMesh.errorMessage != null)
-                    if (primMesh.errorMessage.Length > 0)
-                        m_log.Error("[ERROR] " + primMesh.errorMessage);
+            primMesh.topShearX = pathShearX;
+            primMesh.topShearY = pathShearY;
+            primMesh.pathCutBegin = pathBegin;
+            primMesh.pathCutEnd = pathEnd;
 
-                primMesh.topShearX = pathShearX;
-                primMesh.topShearY = pathShearY;
-                primMesh.pathCutBegin = pathBegin;
-                primMesh.pathCutEnd = pathEnd;
+            if (primShape.PathCurve == (byte)Extrusion.Straight || primShape.PathCurve == (byte) Extrusion.Flexible)
+            {
+                primMesh.twistBegin = primShape.PathTwistBegin * 18 / 10;
+                primMesh.twistEnd = primShape.PathTwist * 18 / 10;
+                primMesh.taperX = pathScaleX;
+                primMesh.taperY = pathScaleY;
 
-                if (primShape.PathCurve == (byte)Extrusion.Straight || primShape.PathCurve == (byte) Extrusion.Flexible)
+                if (profileBegin < 0.0f || profileBegin >= profileEnd || profileEnd > 1.0f)
                 {
-                    primMesh.twistBegin = primShape.PathTwistBegin * 18 / 10;
-                    primMesh.twistEnd = primShape.PathTwist * 18 / 10;
-                    primMesh.taperX = pathScaleX;
-                    primMesh.taperY = pathScaleY;
-
-                    if (profileBegin < 0.0f || profileBegin >= profileEnd || profileEnd > 1.0f)
-                    {
-                        ReportPrimError("*** CORRUPT PRIM!! ***", primName, primMesh);
-                        if (profileBegin < 0.0f) profileBegin = 0.0f;
-                        if (profileEnd > 1.0f) profileEnd = 1.0f;
-                    }
+                    ReportPrimError("*** CORRUPT PRIM!! ***", primName, primMesh);
+                    if (profileBegin < 0.0f) profileBegin = 0.0f;
+                    if (profileEnd > 1.0f) profileEnd = 1.0f;
+                }
 #if SPAM
-                m_log.Debug("****** PrimMesh Parameters (Linear) ******\n" + primMesh.ParamsToDisplayString());
+            m_log.Debug("****** PrimMesh Parameters (Linear) ******\n" + primMesh.ParamsToDisplayString());
 #endif
-                    try
-                    {
-                        primMesh.ExtrudeLinear();
-                    }
-                    catch (Exception ex)
-                    {
-                        ReportPrimError("Extrusion failure: exception: " + ex.ToString(), primName, primMesh);
-                        return null;
-                    }
+                try
+                {
+                    primMesh.ExtrudeLinear();
                 }
-                else
+                catch (Exception ex)
                 {
-                    primMesh.holeSizeX = (200 - primShape.PathScaleX) * 0.01f;
-                    primMesh.holeSizeY = (200 - primShape.PathScaleY) * 0.01f;
-                    primMesh.radius = 0.01f * primShape.PathRadiusOffset;
-                    primMesh.revolutions = 1.0f + 0.015f * primShape.PathRevolutions;
-                    primMesh.skew = 0.01f * primShape.PathSkew;
-                    primMesh.twistBegin = primShape.PathTwistBegin * 36 / 10;
-                    primMesh.twistEnd = primShape.PathTwist * 36 / 10;
-                    primMesh.taperX = primShape.PathTaperX * 0.01f;
-                    primMesh.taperY = primShape.PathTaperY * 0.01f;
-
-                    if (profileBegin < 0.0f || profileBegin >= profileEnd || profileEnd > 1.0f)
-                    {
-                        ReportPrimError("*** CORRUPT PRIM!! ***", primName, primMesh);
-                        if (profileBegin < 0.0f) profileBegin = 0.0f;
-                        if (profileEnd > 1.0f) profileEnd = 1.0f;
-                    }
+                    ReportPrimError("Extrusion failure: exception: " + ex.ToString(), primName, primMesh);
+                    return false;
+                }
+            }
+            else
+            {
+                primMesh.holeSizeX = (200 - primShape.PathScaleX) * 0.01f;
+                primMesh.holeSizeY = (200 - primShape.PathScaleY) * 0.01f;
+                primMesh.radius = 0.01f * primShape.PathRadiusOffset;
+                primMesh.revolutions = 1.0f + 0.015f * primShape.PathRevolutions;
+                primMesh.skew = 0.01f * primShape.PathSkew;
+                primMesh.twistBegin = primShape.PathTwistBegin * 36 / 10;
+                primMesh.twistEnd = primShape.PathTwist * 36 / 10;
+                primMesh.taperX = primShape.PathTaperX * 0.01f;
+                primMesh.taperY = primShape.PathTaperY * 0.01f;
+
+                if (profileBegin < 0.0f || profileBegin >= profileEnd || profileEnd > 1.0f)
+                {
+                    ReportPrimError("*** CORRUPT PRIM!! ***", primName, primMesh);
+                    if (profileBegin < 0.0f) profileBegin = 0.0f;
+                    if (profileEnd > 1.0f) profileEnd = 1.0f;
+                }
 #if SPAM
-                m_log.Debug("****** PrimMesh Parameters (Circular) ******\n" + primMesh.ParamsToDisplayString());
+            m_log.Debug("****** PrimMesh Parameters (Circular) ******\n" + primMesh.ParamsToDisplayString());
 #endif
-                    try
-                    {
-                        primMesh.ExtrudeCircular();
-                    }
-                    catch (Exception ex)
-                    {
-                        ReportPrimError("Extrusion failure: exception: " + ex.ToString(), primName, primMesh);
-                        return null;
-                    }
+                try
+                {
+                    primMesh.ExtrudeCircular();
+                }
+                catch (Exception ex)
+                {
+                    ReportPrimError("Extrusion failure: exception: " + ex.ToString(), primName, primMesh);
+                    return false;
                 }
-
-                primMesh.DumpRaw(baseDir, primName, "primMesh");
-
-                primMesh.Scale(size.X, size.Y, size.Z);
-
-                coords = primMesh.coords;
-                faces = primMesh.faces;
             }
 
-            // Remove the reference to any JPEG2000 sculpt data so it can be GCed
-            primShape.SculptData = Utils.EmptyBytes;
+            primMesh.DumpRaw(baseDir, primName, "primMesh");
 
-            int numCoords = coords.Count;
-            int numFaces = faces.Count;
-
-            // Create the list of vertices
-            List<Vertex> vertices = new List<Vertex>();
-            for (int i = 0; i < numCoords; i++)
-            {
-                Coord c = coords[i];
-                vertices.Add(new Vertex(c.X, c.Y, c.Z));
-            }
+            primMesh.Scale(size.X, size.Y, size.Z);
 
-            Mesh mesh = new Mesh();
-            // Add the corresponding triangles to the mesh
-            for (int i = 0; i < numFaces; i++)
-            {
-                Face f = faces[i];
-                mesh.Add(new Triangle(vertices[f.v1], vertices[f.v2], vertices[f.v3]));
-            }
+            coords = primMesh.coords;
+            faces = primMesh.faces;
 
-            return mesh;
+            return true;
         }
 
         public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod)
@@ -668,8 +716,7 @@ namespace OpenSim.Region.Physics.Meshing
 
             // If this mesh has been created already, return it instead of creating another copy
             // For large regions with 100k+ prims and hundreds of copies of each, this can save a GB or more of memory
-
-            key = GetMeshKey(primShape, size, lod);
+            key = primShape.GetMeshKey(size, lod);
             if (m_uniqueMeshes.TryGetValue(key, out mesh))
                 return mesh;
 
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
index 0e7dd81..c165a41 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
@@ -258,7 +258,11 @@ namespace OpenSim.Region.Physics.OdePlugin
         public override bool Flying
         {
             get { return flying; }
-            set { flying = value; }
+            set
+            {
+                flying = value;
+//                m_log.DebugFormat("[PHYSICS]: Set OdeCharacter Flying to {0}", flying);
+            }
         }
 
         /// <summary>
@@ -305,10 +309,12 @@ namespace OpenSim.Region.Physics.OdePlugin
                 {
                     m_iscolliding = true;
                 }
+
                 if (m_wascolliding != m_iscolliding)
                 {
                     //base.SendCollisionUpdate(new CollisionEventUpdate());
                 }
+
                 m_wascolliding = m_iscolliding;
             }
         }
@@ -1219,18 +1225,23 @@ namespace OpenSim.Region.Physics.OdePlugin
         {
             m_requestedUpdateFrequency = ms;
             m_eventsubscription = ms;
-            _parent_scene.addCollisionEventReporting(this);
+            _parent_scene.AddCollisionEventReporting(this);
         }
+
         public override void UnSubscribeEvents()
         {
-            _parent_scene.remCollisionEventReporting(this);
+            _parent_scene.RemoveCollisionEventReporting(this);
             m_requestedUpdateFrequency = 0;
             m_eventsubscription = 0;
         }
+
         public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
         {
             if (m_eventsubscription > 0)
             {
+//                m_log.DebugFormat(
+//                    "[PHYSICS]: Adding collision event for {0}, collidedWith {1}, contact {2}", "", CollidedWith, contact);
+
                 CollisionEventsThisFrame.addCollider(CollidedWith, contact);
             }
         }
@@ -1247,6 +1258,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 m_eventsubscription = 0;
             }
         }
+
         public override bool SubscribedEvents()
         {
             if (m_eventsubscription > 0)
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
index 5fe0775..0a4fc51 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
@@ -61,6 +61,22 @@ namespace OpenSim.Region.Physics.OdePlugin
     {
         private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
+        private bool m_isphysical;
+
+        /// <summary>
+        /// Is this prim subject to physics?  Even if not, it's still solid for collision purposes.
+        /// </summary>
+        public override bool IsPhysical
+        {
+            get { return m_isphysical; }
+            set
+            {
+                m_isphysical = value;
+                if (!m_isphysical) // Zero the remembered last velocity
+                    m_lastVelocity = Vector3.Zero;
+            }
+        }
+
         private Vector3 _position;
         private Vector3 _velocity;
         private Vector3 _torque;
@@ -138,12 +154,15 @@ namespace OpenSim.Region.Physics.OdePlugin
         private List<Vector3> m_forcelist = new List<Vector3>();
         private List<Vector3> m_angularforcelist = new List<Vector3>();
 
-        private IMesh _mesh;
         private PrimitiveBaseShape _pbs;
         private OdeScene _parent_scene;
+
+        /// <summary>
+        /// The physics space which contains prim geometries
+        /// </summary>
         public IntPtr m_targetSpace = IntPtr.Zero;
+
         public IntPtr prim_geom;
-        public IntPtr prev_geom;
         public IntPtr _triMeshData;
 
         private IntPtr _linkJointGroup = IntPtr.Zero;
@@ -153,7 +172,6 @@ namespace OpenSim.Region.Physics.OdePlugin
         private List<OdePrim> childrenPrim = new List<OdePrim>();
 
         private bool iscolliding;
-        private bool m_isphysical;
         private bool m_isSelected;
 
         internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively
@@ -188,7 +206,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         internal int m_material = (int)Material.Wood;
 
         public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size,
-                       Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode)
+                       Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode)
         {
             Name = primName;
             m_vehicle = new ODEDynamics();
@@ -208,9 +226,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             // m_tensor = parent_scene.bodyMotorJointMaxforceTensor;
             body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
 
-
             prim_geom = IntPtr.Zero;
-            prev_geom = IntPtr.Zero;
 
             if (!pos.IsFinite())
             {
@@ -233,20 +249,21 @@ namespace OpenSim.Region.Physics.OdePlugin
 
             _orientation = rotation;
             m_taintrot = _orientation;
-            _mesh = mesh;
             _pbs = pbs;
 
             _parent_scene = parent_scene;
             m_targetSpace = (IntPtr)0;
 
             if (pos.Z < 0)
-                m_isphysical = false;
+            {
+                IsPhysical = false;
+            }
             else
             {
-                m_isphysical = pisPhysical;
+                IsPhysical = pisPhysical;
                 // If we're physical, we need to be in the master space for now.
                 // linksets *should* be in a space together..  but are not currently
-                if (m_isphysical)
+                if (IsPhysical)
                     m_targetSpace = _parent_scene.space;
             }
 
@@ -289,7 +306,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 // through it while it's selected
                 m_collisionscore = 0;
 
-                if ((m_isphysical && !_zeroFlag) || !value)
+                if ((IsPhysical && !_zeroFlag) || !value)
                 {
                     m_taintselected = value;
                     _parent_scene.AddPhysicsActorTaint(this);
@@ -305,15 +322,21 @@ namespace OpenSim.Region.Physics.OdePlugin
             }
         }
 
+        /// <summary>
+        /// Set a new geometry for this prim.
+        /// </summary>
+        /// <param name="geom"></param>
         public void SetGeom(IntPtr geom)
         {
-            prev_geom = prim_geom;
             prim_geom = geom;
 //Console.WriteLine("SetGeom to " + prim_geom + " for " + Name);
             if (prim_geom != IntPtr.Zero)
             {
                 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
                 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+
+                _parent_scene.geom_name_map[prim_geom] = Name;
+                _parent_scene.actor_name_map[prim_geom] = this;
             }
 
             if (childPrim)
@@ -332,7 +355,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         {
             if (!childPrim)
             {
-                if (m_isphysical && Body != IntPtr.Zero)
+                if (IsPhysical && Body != IntPtr.Zero)
                 {
                     d.BodyEnable(Body);
                     if (m_vehicle.Type != Vehicle.TYPE_NONE)
@@ -347,12 +370,15 @@ namespace OpenSim.Region.Physics.OdePlugin
         {
             m_disabled = true;
 
-            if (m_isphysical && Body != IntPtr.Zero)
+            if (IsPhysical && Body != IntPtr.Zero)
             {
                 d.BodyDisable(Body);
             }
         }
 
+        /// <summary>
+        /// Make a prim subject to physics.
+        /// </summary>
         public void enableBody()
         {
             // Don't enable this body if we're a child prim
@@ -638,7 +664,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             float profileEnd;
 
             if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible)
-                {
+            {
                 taperX1 = _pbs.PathScaleX * 0.01f;
                 if (taperX1 > 1.0f)
                     taperX1 = 2.0f - taperX1;
@@ -648,9 +674,9 @@ namespace OpenSim.Region.Physics.OdePlugin
                 if (taperY1 > 1.0f)
                     taperY1 = 2.0f - taperY1;
                 taperY = 1.0f - taperY1;
-                }
+            }
             else
-                {
+            {
                 taperX = _pbs.PathTaperX * 0.01f;
                 if (taperX < 0.0f)
                     taperX = -taperX;
@@ -660,9 +686,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 if (taperY < 0.0f)
                     taperY = -taperY;
                 taperY1 = 1.0f - taperY;
-
-                }
-
+            }
 
             volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY);
 
@@ -730,6 +754,9 @@ namespace OpenSim.Region.Physics.OdePlugin
             }
         }
 
+        /// <summary>
+        /// Stop a prim from being subject to physics.
+        /// </summary>
         public void disableBody()
         {
             //this kills the body so things like 'mesh' can re-create it.
@@ -780,6 +807,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                     Body = IntPtr.Zero;
                 }
             }
+
             m_disabled = true;
             m_collisionscore = 0;
         }
@@ -846,7 +874,6 @@ namespace OpenSim.Region.Physics.OdePlugin
                 return;
             }
 
-
            // if (IsPhysical && Body == (IntPtr) 0)
            // {
                 // Recreate the body
@@ -859,7 +886,9 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         public void ProcessTaints(float timestep)
         {
-Console.WriteLine("ProcessTaints for " + Name);
+#if SPAM
+Console.WriteLine("ZProcessTaints for " + Name);
+#endif
             if (m_taintadd)
             {
                 changeadd(timestep);
@@ -887,7 +916,7 @@ Console.WriteLine("ProcessTaints for " + Name);
                     }
                 }
             
-                if (m_taintPhysics != m_isphysical && !(m_taintparent != _parent))
+                if (m_taintPhysics != IsPhysical && !(m_taintparent != _parent))
                     changePhysicsStatus(timestep);
 
                 if (!_size.ApproxEquals(m_taintsize, 0f))
@@ -969,7 +998,7 @@ Console.WriteLine("ProcessTaints for " + Name);
                     OdePrim obj = (OdePrim)m_taintparent;
                     //obj.disableBody();
 //Console.WriteLine("changelink calls ParentPrim");
-                    obj.ParentPrim(this);
+                    obj.AddChildPrim(this);
 
                     /*
                     if (obj.Body != (IntPtr)0 && Body != (IntPtr)0 && obj.Body != Body)
@@ -1006,14 +1035,16 @@ Console.WriteLine("ProcessTaints for " + Name);
             }
  
             _parent = m_taintparent;
-            m_taintPhysics = m_isphysical;
+            m_taintPhysics = IsPhysical;
         }
 
-        // I'm the parent
-        // prim is the child
-        public void ParentPrim(OdePrim prim)
+        /// <summary>
+        /// Add a child prim to this parent prim.
+        /// </summary>
+        /// <param name="prim">Child prim</param>
+        public void AddChildPrim(OdePrim prim)
         {
-//Console.WriteLine("ParentPrim  " + Name);
+//Console.WriteLine("AddChildPrim  " + Name);
             if (this.m_localID != prim.m_localID)
             {
                 if (Body == IntPtr.Zero)
@@ -1036,7 +1067,6 @@ Console.WriteLine("ProcessTaints for " + Name);
                                 d.MassSetZero(out m2);
                                 d.MassSetBoxTotal(out m2, prim.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z);
 
-
                                 d.Quaternion quat = new d.Quaternion();
                                 quat.W = prm._orientation.W;
                                 quat.X = prm._orientation.X;
@@ -1106,6 +1136,7 @@ Console.WriteLine("ProcessTaints for " + Name);
                                 prm.Body = Body;
                                 _parent_scene.addActivePrim(prm);
                             }
+
                             m_collisionCategories |= CollisionCategories.Body;
                             m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
 
@@ -1114,7 +1145,6 @@ Console.WriteLine("ProcessTaints for " + Name);
 //Console.WriteLine(" Post GeomSetCategoryBits 2");
                             d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
 
-
                             d.Quaternion quat2 = new d.Quaternion();
                             quat2.W = _orientation.W;
                             quat2.X = _orientation.X;
@@ -1136,7 +1166,6 @@ Console.WriteLine("ProcessTaints for " + Name);
                             d.BodySetAutoDisableFlag(Body, true);
                             d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
 
-
                             m_interpenetrationcount = 0;
                             m_collisionscore = 0;
                             m_disabled = false;
@@ -1147,7 +1176,9 @@ Console.WriteLine("ProcessTaints for " + Name);
                                 createAMotor(m_angularlock);
                             }
                             d.BodySetPosition(Body, Position.X, Position.Y, Position.Z);
-                            if (m_vehicle.Type != Vehicle.TYPE_NONE) m_vehicle.Enable(Body, _parent_scene);
+                            if (m_vehicle.Type != Vehicle.TYPE_NONE)
+                                m_vehicle.Enable(Body, _parent_scene);
+
                             _parent_scene.addActivePrim(this);
                         }
                     }
@@ -1157,7 +1188,7 @@ Console.WriteLine("ProcessTaints for " + Name);
 
         private void ChildSetGeom(OdePrim odePrim)
         {
-            //if (m_isphysical && Body != IntPtr.Zero)
+            //if (IsPhysical && Body != IntPtr.Zero)
             lock (childrenPrim)
             {
                 foreach (OdePrim prm in childrenPrim)
@@ -1173,7 +1204,6 @@ Console.WriteLine("ProcessTaints for " + Name);
             }
             disableBody();
 
-
             if (Body != IntPtr.Zero)
             {
                 _parent_scene.remActivePrim(this);
@@ -1184,10 +1214,9 @@ Console.WriteLine("ProcessTaints for " + Name);
                 foreach (OdePrim prm in childrenPrim)
                 {
 //Console.WriteLine("ChildSetGeom calls ParentPrim");
-                    ParentPrim(prm);
+                    AddChildPrim(prm);
                 }
             }
-            
         }
 
         private void ChildDelink(OdePrim odePrim)
@@ -1224,7 +1253,7 @@ Console.WriteLine("ProcessTaints for " + Name);
                 foreach (OdePrim prm in childrenPrim)
                 {
 //Console.WriteLine("ChildDelink calls ParentPrim");
-                    ParentPrim(prm);
+                    AddChildPrim(prm);
                 }
             }
         }
@@ -1258,7 +1287,7 @@ Console.WriteLine("ProcessTaints for " + Name);
                 // first 50 again. then the last 50 are disabled. then the first 50, which were just woken
                 // up, start simulating again, which in turn wakes up the last 50.
 
-                if (m_isphysical)
+                if (IsPhysical)
                 {
                     disableBodySoft();
                 }
@@ -1269,7 +1298,7 @@ Console.WriteLine("ProcessTaints for " + Name);
                     d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
                 }
 
-                if (m_isphysical)
+                if (IsPhysical)
                 {
                     disableBodySoft();
                 }
@@ -1278,7 +1307,7 @@ Console.WriteLine("ProcessTaints for " + Name);
             {
                 m_collisionCategories = CollisionCategories.Geom;
 
-                if (m_isphysical)
+                if (IsPhysical)
                     m_collisionCategories |= CollisionCategories.Body;
 
                 m_collisionFlags = m_default_collisionFlags;
@@ -1293,7 +1322,8 @@ Console.WriteLine("ProcessTaints for " + Name);
                     d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
                     d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
                 }
-                if (m_isphysical)
+
+                if (IsPhysical)
                 {
                     if (Body != IntPtr.Zero)
                     {
@@ -1312,7 +1342,7 @@ Console.WriteLine("ProcessTaints for " + Name);
         {
             m_taintposition = _position;
             m_taintrot = _orientation;
-            m_taintPhysics = m_isphysical;
+            m_taintPhysics = IsPhysical;
             m_taintselected = m_isSelected;
             m_taintsize = _size;
             m_taintshape = false;
@@ -1321,12 +1351,19 @@ Console.WriteLine("ProcessTaints for " + Name);
             m_taintVelocity = Vector3.Zero;
         }
 
-        public void CreateGeom(IntPtr m_targetSpace, IMesh _mesh)
+        /// <summary>
+        /// Create a geometry for the given mesh in the given target space.
+        /// </summary>
+        /// <param name="m_targetSpace"></param>
+        /// <param name="mesh">If null, then a mesh is used that is based on the profile shape data.</param>
+        public void CreateGeom(IntPtr m_targetSpace, IMesh mesh)
         {
-//Console.WriteLine("CreateGeom:");
-            if (_mesh != null)
+#if SPAM
+Console.WriteLine("CreateGeom:");
+#endif
+            if (mesh != null)
             {
-                setMesh(_parent_scene, _mesh);
+                setMesh(_parent_scene, mesh);
             }
             else
             {
@@ -1399,6 +1436,39 @@ Console.WriteLine("ProcessTaints for " + Name);
             }
         }
 
+        /// <summary>
+        /// Remove the existing geom from this prim.
+        /// </summary>
+        /// <param name="m_targetSpace"></param>
+        /// <param name="mesh">If null, then a mesh is used that is based on the profile shape data.</param>
+        /// <returns>true if the geom was successfully removed, false if it was already gone or the remove failed.</returns>
+        public bool RemoveGeom()
+        {
+            if (prim_geom != IntPtr.Zero)
+            {
+                try
+                {
+                    _parent_scene.geom_name_map.Remove(prim_geom);
+                    _parent_scene.actor_name_map.Remove(prim_geom);
+                    d.GeomDestroy(prim_geom);
+                    prim_geom = IntPtr.Zero;
+                }
+                catch (System.AccessViolationException)
+                {
+                    prim_geom = IntPtr.Zero;
+                    m_log.ErrorFormat("[PHYSICS]: PrimGeom dead for {0}", Name);
+
+                    return false;
+                }
+
+                return true;
+            }
+            else
+            {
+                return false;
+            }
+        }
+
         public void changeadd(float timestep)
         {
             int[] iprimspaceArrItem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
@@ -1409,15 +1479,14 @@ Console.WriteLine("ProcessTaints for " + Name);
 
             m_targetSpace = targetspace;
 
-            if (_mesh == null)
+            IMesh mesh = null;
+
+            if (_parent_scene.needsMeshing(_pbs))
             {
-                if (_parent_scene.needsMeshing(_pbs))
-                {
-                    // Don't need to re-enable body..   it's done in SetMesh
-                    _mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, _parent_scene.meshSculptLOD, IsPhysical);
-                    // createmesh returns null when it's a shape that isn't a cube.
-                   // m_log.Debug(m_localID);
-                }
+                // Don't need to re-enable body..   it's done in SetMesh
+                mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, _parent_scene.meshSculptLOD, IsPhysical);
+                // createmesh returns null when it's a shape that isn't a cube.
+               // m_log.Debug(m_localID);
             }
 
             lock (_parent_scene.OdeLock)
@@ -1425,7 +1494,7 @@ Console.WriteLine("ProcessTaints for " + Name);
 #if SPAM
 Console.WriteLine("changeadd 1");
 #endif
-                CreateGeom(m_targetSpace, _mesh);
+                CreateGeom(m_targetSpace, mesh);
 
                 if (prim_geom != IntPtr.Zero)
                 {
@@ -1438,15 +1507,12 @@ Console.WriteLine("changeadd 1");
                     d.GeomSetQuaternion(prim_geom, ref myrot);
                 }
 
-                if (m_isphysical && Body == IntPtr.Zero)
+                if (IsPhysical && Body == IntPtr.Zero)
                 {
                     enableBody();
                 }
             }
 
-            _parent_scene.geom_name_map[prim_geom] = this.Name;
-            _parent_scene.actor_name_map[prim_geom] = (PhysicsActor)this;
-
             changeSelectedStatus(timestep);
 
             m_taintadd = false;
@@ -1454,9 +1520,8 @@ Console.WriteLine("changeadd 1");
 
         public void changemove(float timestep)
         {
-            if (m_isphysical)
+            if (IsPhysical)
             {
-                
                 if (!m_disabled && !m_taintremove && !childPrim)
                 {
                     if (Body == IntPtr.Zero)
@@ -1788,7 +1853,7 @@ Console.WriteLine(" JointCreateFixed");
             {
                 // KF: If this is a root prim do BodySet
                 d.BodySetQuaternion(Body, ref myrot);
-                if (m_isphysical)
+                if (IsPhysical)
                 {
                     if (!m_angularlock.ApproxEquals(Vector3.One, 0f))
                         createAMotor(m_angularlock);
@@ -1825,7 +1890,7 @@ Console.WriteLine(" JointCreateFixed");
 
         public void changePhysicsStatus(float timestep)
         {
-            if (m_isphysical == true)
+            if (IsPhysical)
             {
                 if (Body == IntPtr.Zero)
                 {
@@ -1845,25 +1910,12 @@ Console.WriteLine(" JointCreateFixed");
                 {
                     if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim)
                     {
-                        
+                        RemoveGeom();
 
-                        if (prim_geom != IntPtr.Zero)
-                        {
-                            try
-                            {
-                                d.GeomDestroy(prim_geom);
-                                prim_geom = IntPtr.Zero;
-                                _mesh = null;
-                            }
-                            catch (System.AccessViolationException)
-                            {
-                                prim_geom = IntPtr.Zero;
-                                m_log.ErrorFormat("[PHYSICS]: PrimGeom dead for {0}", Name);
-                            }
-                        }
 //Console.WriteLine("changePhysicsStatus for " + Name);
                         changeadd(2f);
                     }
+
                     if (childPrim)
                     {
                         if (_parent != null)
@@ -1882,7 +1934,7 @@ Console.WriteLine(" JointCreateFixed");
             changeSelectedStatus(timestep);
 
             resetCollisionAccounting();
-            m_taintPhysics = m_isphysical;
+            m_taintPhysics = IsPhysical;
         }
 
         public void changesize(float timestamp)
@@ -1891,18 +1943,10 @@ Console.WriteLine(" JointCreateFixed");
             m_log.DebugFormat("[ODE PRIM]: Called changesize");
 #endif
 
-            string oldname = _parent_scene.geom_name_map[prim_geom];
-
             if (_size.X <= 0) _size.X = 0.01f;
             if (_size.Y <= 0) _size.Y = 0.01f;
             if (_size.Z <= 0) _size.Z = 0.01f;
 
-            // Cleanup of old prim geometry
-            if (_mesh != null)
-            {
-                // TODO: Cleanup meshing here
-            }
-
             //kill body to rebuild
             if (IsPhysical && Body != IntPtr.Zero)
             {
@@ -1926,10 +1970,12 @@ Console.WriteLine(" JointCreateFixed");
                 d.SpaceRemove(m_targetSpace, prim_geom);
             }
 
-            d.GeomDestroy(prim_geom);
-            prim_geom = IntPtr.Zero;
+            RemoveGeom();
+
             // we don't need to do space calculation because the client sends a position update also.
 
+            IMesh mesh = null;
+
             // Construction of new prim
             if (_parent_scene.needsMeshing(_pbs))
             {
@@ -1939,28 +1985,11 @@ Console.WriteLine(" JointCreateFixed");
                     meshlod = _parent_scene.MeshSculptphysicalLOD;
                 // Don't need to re-enable body..   it's done in SetMesh
 
-                IMesh mesh = null;
-
                 if (_parent_scene.needsMeshing(_pbs))
-                    mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical);
-
-                //IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical);
-#if SPAM
-Console.WriteLine("changesize 1");
-#endif
-                CreateGeom(m_targetSpace, mesh);
-            }
-            else
-            {
-                _mesh = null;
-
-#if SPAM
-Console.WriteLine("changesize 2");
-#endif
-
-                CreateGeom(m_targetSpace, _mesh);
+                    mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, meshlod, IsPhysical);
             }
 
+            CreateGeom(m_targetSpace, mesh);
             d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
             d.Quaternion myrot = new d.Quaternion();
             myrot.X = _orientation.X;
@@ -1978,8 +2007,6 @@ Console.WriteLine("changesize 2");
                 d.BodyEnable(Body);
             }
 
-            _parent_scene.geom_name_map[prim_geom] = oldname;
-
             changeSelectedStatus(timestamp);
             if (childPrim)
             {
@@ -2013,8 +2040,6 @@ Console.WriteLine("changesize 2");
 
         public void changeshape(float timestamp)
         {
-            string oldname = _parent_scene.geom_name_map[prim_geom];
-
             // Cleanup of old prim geometry and Bodies
             if (IsPhysical && Body != IntPtr.Zero)
             {
@@ -2031,23 +2056,17 @@ Console.WriteLine("changesize 2");
                     disableBody();
                 }
             }
-            try
-            {
-                d.GeomDestroy(prim_geom);
-            }
-            catch (System.AccessViolationException)
-            {
-                prim_geom = IntPtr.Zero;
-                m_log.ErrorFormat("[PHYSICS]: PrimGeom dead for {0}", Name);
-            }
 
-            prim_geom = IntPtr.Zero;
+            RemoveGeom();
+
             // we don't need to do space calculation because the client sends a position update also.
             if (_size.X <= 0) _size.X = 0.01f;
             if (_size.Y <= 0) _size.Y = 0.01f;
             if (_size.Z <= 0) _size.Z = 0.01f;
             // Construction of new prim
 
+            IMesh mesh = null;
+
             if (_parent_scene.needsMeshing(_pbs))
             {
                 // Don't need to re-enable body..   it's done in CreateMesh
@@ -2056,23 +2075,11 @@ Console.WriteLine("changesize 2");
                 if (IsPhysical)
                     meshlod = _parent_scene.MeshSculptphysicalLOD;
 
-                IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical);
                 // createmesh returns null when it doesn't mesh.
-#if SPAM
-Console.WriteLine("changeshape needed meshing");
-#endif
-                CreateGeom(m_targetSpace, mesh);
-            }
-            else
-            {
-                _mesh = null;
-
-#if SPAM
-Console.WriteLine("changeshape not need meshing");
-#endif
-                CreateGeom(m_targetSpace, null);
+                mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, meshlod, IsPhysical);
             }
 
+            CreateGeom(m_targetSpace, mesh);
             d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
             d.Quaternion myrot = new d.Quaternion();
             //myrot.W = _orientation.w;
@@ -2093,7 +2100,6 @@ Console.WriteLine("changeshape not need meshing");
                     d.BodyEnable(Body);
                 }
             }
-            _parent_scene.geom_name_map[prim_geom] = oldname;
 
             changeSelectedStatus(timestamp);
             if (childPrim)
@@ -2104,6 +2110,7 @@ Console.WriteLine("changeshape not need meshing");
                     parent.ChildSetGeom(this);
                 }
             }
+
             resetCollisionAccounting();
             m_taintshape = false;
         }
@@ -2215,16 +2222,6 @@ Console.WriteLine("changeshape not need meshing");
             m_taintVelocity = Vector3.Zero;
         }
 
-        public override bool IsPhysical
-        {
-            get { return m_isphysical; }
-            set { 
-                  m_isphysical = value;
-                  if (!m_isphysical) // Zero the remembered last velocity
-                      m_lastVelocity = Vector3.Zero;
-                }
-        }
-
         public void setPrimForRemoval()
         {
             m_taintremove = true;
@@ -2283,6 +2280,7 @@ Console.WriteLine("changeshape not need meshing");
                 if (value.IsFinite())
                 {
                     _size = value;
+//                    m_log.DebugFormat("[PHYSICS]: Set size on {0} to {1}", Name, value);
                 }
                 else
                 {
@@ -2343,7 +2341,7 @@ Console.WriteLine("changeshape not need meshing");
         {
             lock (_parent_scene.OdeLock)
             {
-                m_isVolumeDetect = (param!=0);
+                m_isVolumeDetect = (param != 0);
             }
         }
 
@@ -2402,7 +2400,7 @@ Console.WriteLine("changeshape not need meshing");
         {
             get
             {
-                if (!m_isphysical || Body == IntPtr.Zero)
+                if (!IsPhysical || Body == IntPtr.Zero)
                     return Vector3.Zero;
 
                 return _torque;
@@ -2984,12 +2982,12 @@ Console.WriteLine("changeshape not need meshing");
         public override void SubscribeEvents(int ms)
         {
             m_eventsubscription = ms;
-            _parent_scene.addCollisionEventReporting(this);
+            _parent_scene.AddCollisionEventReporting(this);
         }
 
         public override void UnSubscribeEvents()
         {
-            _parent_scene.remCollisionEventReporting(this);
+            _parent_scene.RemoveCollisionEventReporting(this);
             m_eventsubscription = 0;
         }
 
@@ -2997,6 +2995,7 @@ Console.WriteLine("changeshape not need meshing");
         {
             if (CollisionEventsThisFrame == null)
                 CollisionEventsThisFrame = new CollisionEventUpdate();
+
             CollisionEventsThisFrame.addCollider(CollidedWith, contact);
         }
 
diff --git a/OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs b/OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs
index 15ccddc..9d7aa94 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs
@@ -45,11 +45,16 @@ namespace OpenSim.Region.Physics.OdePlugin
     public class ODERayCastRequestManager
     {
         /// <summary>
-        /// Pending Raycast Requests
+        /// Pending raycast requests
         /// </summary>
         protected List<ODERayCastRequest> m_PendingRequests = new List<ODERayCastRequest>();
 
         /// <summary>
+        /// Pending ray requests
+        /// </summary>
+        protected List<ODERayRequest> m_PendingRayRequests = new List<ODERayRequest>();
+
+        /// <summary>
         /// Scene that created this object.
         /// </summary>
         private OdeScene m_scene;
@@ -96,6 +101,29 @@ namespace OpenSim.Region.Physics.OdePlugin
         }
 
         /// <summary>
+        /// Queues a raycast
+        /// </summary>
+        /// <param name="position">Origin of Ray</param>
+        /// <param name="direction">Ray normal</param>
+        /// <param name="length">Ray length</param>
+        /// <param name="count"></param>
+        /// <param name="retMethod">Return method to send the results</param>
+        public void QueueRequest(Vector3 position, Vector3 direction, float length, int count, RayCallback retMethod)
+        {
+            lock (m_PendingRequests)
+            {
+                ODERayRequest req = new ODERayRequest();
+                req.callbackMethod = retMethod;
+                req.length = length;
+                req.Normal = direction;
+                req.Origin = position;
+                req.Count = count;
+
+                m_PendingRayRequests.Add(req);
+            }
+        }
+
+        /// <summary>
         /// Process all queued raycast requests
         /// </summary>
         /// <returns>Time in MS the raycasts took to process.</returns>
@@ -119,15 +147,23 @@ namespace OpenSim.Region.Physics.OdePlugin
                             //Fail silently
                         }
                     }
-                    /*
-                    foreach (ODERayCastRequest req in m_PendingRequests)
+
+                    m_PendingRequests.Clear();
+                }
+            }
+
+            lock (m_PendingRayRequests)
+            {
+                if (m_PendingRayRequests.Count > 0)
+                {
+                    ODERayRequest[] reqs = m_PendingRayRequests.ToArray();
+                    for (int i = 0; i < reqs.Length; i++)
                     {
-                        if (req.callbackMethod != null) // quick optimization here, don't raycast 
-                            RayCast(req);               // if there isn't anyone to send results to
-                            
+                        if (reqs[i].callbackMethod != null) // quick optimization here, don't raycast 
+                            RayCast(reqs[i]);               // if there isn't anyone to send results
                     }
-                    */
-                    m_PendingRequests.Clear();
+
+                    m_PendingRayRequests.Clear();
                 }
             }
 
@@ -153,7 +189,6 @@ namespace OpenSim.Region.Physics.OdePlugin
             // Remove Ray
             d.GeomDestroy(ray);
 
-
             // Define default results
             bool hitYN = false;
             uint hitConsumerID = 0;
@@ -184,6 +219,31 @@ namespace OpenSim.Region.Physics.OdePlugin
                 req.callbackMethod(hitYN, closestcontact, hitConsumerID, distance, snormal);
         }
 
+        /// <summary>
+        /// Method that actually initiates the raycast
+        /// </summary>
+        /// <param name="req"></param>
+        private void RayCast(ODERayRequest req)
+        {
+            // Create the ray
+            IntPtr ray = d.CreateRay(m_scene.space, req.length);
+            d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
+
+            // Collide test
+            d.SpaceCollide2(m_scene.space, ray, IntPtr.Zero, nearCallback);
+
+            // Remove Ray
+            d.GeomDestroy(ray);
+
+            // Find closest contact and object.
+            lock (m_contactResults)
+            {
+                // Return results
+                if (req.callbackMethod != null)
+                    req.callbackMethod(m_contactResults);
+            }
+        }
+        
         // This is the standard Near.   Uses space AABBs to speed up detection.
         private void near(IntPtr space, IntPtr g1, IntPtr g2)
         {
@@ -349,10 +409,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                             m_contactResults.Add(collisionresult);
                     }
                 }
-
-                
             }
-
         }
 
         /// <summary>
@@ -372,11 +429,12 @@ namespace OpenSim.Region.Physics.OdePlugin
         public RaycastCallback callbackMethod;
     }
 
-    public struct ContactResult
+    public struct ODERayRequest
     {
-        public Vector3 Pos;
-        public float Depth;
-        public uint ConsumerID;
+        public Vector3 Origin;
         public Vector3 Normal;
+        public int Count;
+        public float length;
+        public RayCallback callbackMethod;
     }
-}
+}
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs b/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
index 88902b0..6e603e8 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
@@ -26,7 +26,7 @@
  */
 
 //#define USE_DRAWSTUFF
-#define SPAM
+//#define SPAM
 
 using System;
 using System.Collections.Generic;
@@ -100,7 +100,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         Rubber = 6
     }
 
-    public sealed class OdeScene : PhysicsScene
+    public class OdeScene : PhysicsScene
     {
         private readonly ILog m_log;
         // private Dictionary<string, sCollisionData> m_storedCollisions = new Dictionary<string, sCollisionData>();
@@ -198,7 +198,12 @@ namespace OpenSim.Region.Physics.OdePlugin
         private readonly List<OdePrim> _taintedPrimL = new List<OdePrim>();
         private readonly HashSet<OdeCharacter> _taintedActors = new HashSet<OdeCharacter>();
         private readonly List<d.ContactGeom> _perloopContact = new List<d.ContactGeom>();
+
+        /// <summary>
+        /// A list of actors that should receive collision events.
+        /// </summary>
         private readonly List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>();
+        
         private readonly HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>();
         public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
         public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
@@ -299,7 +304,6 @@ namespace OpenSim.Region.Physics.OdePlugin
                 // Create the world and the first space
                 world = d.WorldCreate();
                 space = d.HashSpaceCreate(IntPtr.Zero);
-                
 
                 contactgroup = d.JointGroupCreate(0);
                 //contactgroup
@@ -952,7 +956,6 @@ namespace OpenSim.Region.Physics.OdePlugin
                                     character.SetPidStatus(true);
                                 }
                             }
-                            
 
                             if (p1.PhysicsActorType == (int) ActorTypes.Agent)
                             {
@@ -1053,9 +1056,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                                     {
                                         joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
                                         m_global_contactcount++;
-
                                     }
-                                    
                                 }
                                 else
                                 {
@@ -1078,7 +1079,6 @@ namespace OpenSim.Region.Physics.OdePlugin
                                     {
                                         joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
                                         m_global_contactcount++;
-
                                     }
                                 }
                             }
@@ -1290,6 +1290,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 
                             //returncollisions = true;
                             break;
+
                         case ActorTypes.Prim:
                             if (p1 is OdePrim)
                             {
@@ -1317,6 +1318,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 
                     cc2.AddCollisionEvent(obj2LocalID, contact);
                     break;
+
                 case ActorTypes.Prim:
 
                     if (p2 is OdePrim)
@@ -1421,18 +1423,18 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         public int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex)
         {
-            String name1 = null;
-            String name2 = null;
-
-            if (!geom_name_map.TryGetValue(trimesh, out name1))
-            {
-                name1 = "null";
-            }
-
-            if (!geom_name_map.TryGetValue(refObject, out name2))
-            {
-                name2 = "null";
-            }
+//            String name1 = null;
+//            String name2 = null;
+//
+//            if (!geom_name_map.TryGetValue(trimesh, out name1))
+//            {
+//                name1 = "null";
+//            }
+//
+//            if (!geom_name_map.TryGetValue(refObject, out name2))
+//            {
+//                name2 = "null";
+//            }
 
             //            m_log.InfoFormat("TriCallback: A collision was detected between {1} and {2}. Index was {3}", 0, name1, name2, triangleIndex);
 
@@ -1604,7 +1606,11 @@ namespace OpenSim.Region.Physics.OdePlugin
         } 
 // End recovered. Kitto Flora
 
-        public void addCollisionEventReporting(PhysicsActor obj)
+        /// <summary>
+        /// Add actor to the list that should receive collision events in the simulate loop.
+        /// </summary>
+        /// <param name="obj"></param>
+        public void AddCollisionEventReporting(PhysicsActor obj)
         {
             lock (_collisionEventPrim)
             {
@@ -1613,7 +1619,11 @@ namespace OpenSim.Region.Physics.OdePlugin
             }
         }
 
-        public void remCollisionEventReporting(PhysicsActor obj)
+        /// <summary>
+        /// Remove actor from the list that should receive collision events in the simulate loop.
+        /// </summary>
+        /// <param name="obj"></param>
+        public void RemoveCollisionEventReporting(PhysicsActor obj)
         {
             lock (_collisionEventPrim)
             {
@@ -1677,7 +1687,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         }
 
         private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
-                                     IMesh mesh, PrimitiveBaseShape pbs, bool isphysical)
+                                     PrimitiveBaseShape pbs, bool isphysical, uint localID)
         {
             Vector3 pos = position;
             Vector3 siz = size;
@@ -1686,12 +1696,12 @@ namespace OpenSim.Region.Physics.OdePlugin
             OdePrim newPrim;
             lock (OdeLock)
             {
-                newPrim = new OdePrim(name, this, pos, siz, rot, mesh, pbs, isphysical, ode);
+                newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical, ode);
 
                 lock (_prims)
                     _prims.Add(newPrim);
             }
-
+            newPrim.LocalID = localID;
             return newPrim;
         }
 
@@ -1714,27 +1724,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             m_log.DebugFormat("[PHYSICS]: Adding physics actor to {0}", primName);
 #endif
 
-            PhysicsActor result;
-            IMesh mesh = null;
-
-            if (needsMeshing(pbs))
-            {
-                try
-                {
-                    mesh = mesher.CreateMesh(primName, pbs, size, 32f, isPhysical);
-                }
-                catch(Exception e)
-                {
-                    m_log.ErrorFormat("[PHYSICS]: Exception while meshing prim {0}.", primName);
-                    m_log.Debug(e.ToString());
-                    mesh = null;
-                    return null;
-                }
-            }
-
-            result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical);
-
-            return result;
+            return AddPrim(primName, position, size, rotation, pbs, isPhysical, localid);
         }
 
         public override float TimeDilation
@@ -2104,6 +2094,8 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         public override void RemovePrim(PhysicsActor prim)
         {
+            // As with all ODE physics operations, we don't remove the prim immediately but signal that it should be
+            // removed in the next physics simulate pass.
             if (prim is OdePrim)
             {
                 lock (OdeLock)
@@ -2120,6 +2112,9 @@ namespace OpenSim.Region.Physics.OdePlugin
         /// <summary>
         /// This is called from within simulate but outside the locked portion
         /// We need to do our own locking here
+        /// (Note: As of 20110801 this no longer appears to be true - this is being called within lock (odeLock) in
+        /// Simulate() -- justincc).
+        ///
         /// Essentially, we need to remove the prim from our space segment, whatever segment it's in.
         ///
         /// If there are no more prim in the segment, we need to empty (spacedestroy)the segment and reclaim memory
@@ -2131,7 +2126,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 //Console.WriteLine("RemovePrimThreadLocked " +  prim.m_primName);
             lock (prim)
             {
-                remCollisionEventReporting(prim);
+                RemoveCollisionEventReporting(prim);
                 lock (ode)
                 {
                     if (prim.prim_geom != IntPtr.Zero)
@@ -2176,24 +2171,12 @@ namespace OpenSim.Region.Physics.OdePlugin
                         //}
                         //}
                         //m_log.Warn(prim.prim_geom);
-                        try
-                        {
-                            if (prim.prim_geom != IntPtr.Zero)
-                            {
-                                d.GeomDestroy(prim.prim_geom);
-                                prim.prim_geom = IntPtr.Zero;
-                            }
-                            else
-                            {
-                                m_log.Warn("[PHYSICS]: Unable to remove prim from physics scene");
-                            }
-                        }
-                        catch (AccessViolationException)
-                        {
-                            m_log.Info("[PHYSICS]: Couldn't remove prim from physics scene, it was already be removed.");
-                        }
+
+                        if (!prim.RemoveGeom())
+                            m_log.Warn("[PHYSICS]: Unable to remove prim from physics scene");
+
                         lock (_prims)
-                        _prims.Remove(prim);
+                            _prims.Remove(prim);
 
                         //If there are no more geometries in the sub-space, we don't need it in the main space anymore
                         //if (d.SpaceGetNumGeoms(prim.m_targetSpace) == 0)
@@ -2584,7 +2567,9 @@ namespace OpenSim.Region.Physics.OdePlugin
                 {
                     if (!(_taintedPrimH.Contains(taintedprim))) 
                     {
-//Console.WriteLine("AddPhysicsActorTaint to " +  taintedprim.m_primName);
+#if SPAM
+Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
+#endif
                         _taintedPrimH.Add(taintedprim);                    // HashSet for searching
                         _taintedPrimL.Add(taintedprim);                    // List for ordered readout
                     }
@@ -2684,320 +2669,148 @@ namespace OpenSim.Region.Physics.OdePlugin
                         //if (!ode.lockquery())
                         //{
                            // ode.dlock(world);
-                            try
-                            { 
-                                // Insert, remove Characters
-                                bool processedtaints = false;
 
-                                lock (_taintedActors)
-                                {
-                                    if (_taintedActors.Count > 0)
-                                    {
-                                        foreach (OdeCharacter character in _taintedActors)
-                                        {
-                                            character.ProcessTaints(timeStep);
+                    try
+                    {
+                        // Insert, remove Characters
+                        bool processedtaints = false;
 
-                                            processedtaints = true;
-                                            //character.m_collisionscore = 0;
-                                        }
+                        lock (_taintedActors)
+                        {
+                            if (_taintedActors.Count > 0)
+                            {
+                                foreach (OdeCharacter character in _taintedActors)
+                                {
+                                    character.ProcessTaints(timeStep);
 
-                                        if (processedtaints)
-                                            _taintedActors.Clear();
-                                    }
+                                    processedtaints = true;
+                                    //character.m_collisionscore = 0;
                                 }
 
-                                // Modify other objects in the scene.
-                                processedtaints = false;
+                                if (processedtaints)
+                                    _taintedActors.Clear();
+                            }
+                        }
+
+                        // Modify other objects in the scene.
+                        processedtaints = false;
 
-                                lock (_taintedPrimLock)
+                        lock (_taintedPrimLock)
+                        {
+                            foreach (OdePrim prim in _taintedPrimL)
+                            {
+                                if (prim.m_taintremove)
                                 {
-                                    foreach (OdePrim prim in _taintedPrimL)
-                                    {
-                                        if (prim.m_taintremove)
-                                        {
-                                            //Console.WriteLine("Simulate calls RemovePrimThreadLocked");
-                                            RemovePrimThreadLocked(prim);
-                                        }
-                                        else
-                                        {
-                                            //Console.WriteLine("Simulate calls ProcessTaints");
-                                            prim.ProcessTaints(timeStep);
-                                        }
-                                        processedtaints = true;
-                                        prim.m_collisionscore = 0;
-
-                                        // This loop can block up the Heartbeat for a very long time on large regions.
-                                        // We need to let the Watchdog know that the Heartbeat is not dead
-                                        // NOTE: This is currently commented out, but if things like OAR loading are 
-                                        // timing the heartbeat out we will need to uncomment it
-                                        //Watchdog.UpdateThread();
-                                    }
+//                                    Console.WriteLine("Simulate calls RemovePrimThreadLocked for {0}", prim.Name);
+                                    RemovePrimThreadLocked(prim);
+                                }
+                                else
+                                {
+//                                    Console.WriteLine("Simulate calls ProcessTaints for {0}", prim.Name);
+                                    prim.ProcessTaints(timeStep);
+                                }
 
-                                    if (SupportsNINJAJoints)
-                                    {
-                                        // Create pending joints, if possible
+                                processedtaints = true;
+                                prim.m_collisionscore = 0;
 
-                                        // joints can only be processed after ALL bodies are processed (and exist in ODE), since creating
-                                        // a joint requires specifying the body id of both involved bodies
-                                        if (pendingJoints.Count > 0)
-                                        {
-                                            List<PhysicsJoint> successfullyProcessedPendingJoints = new List<PhysicsJoint>();
-                                            //DoJointErrorMessage(joints_connecting_actor, "taint: " + pendingJoints.Count + " pending joints");
-                                            foreach (PhysicsJoint joint in pendingJoints)
-                                            {
-                                                //DoJointErrorMessage(joint, "taint: time to create joint with parms: " + joint.RawParams);
-                                                string[] jointParams = joint.RawParams.Split(" ".ToCharArray(), System.StringSplitOptions.RemoveEmptyEntries);
-                                                List<IntPtr> jointBodies = new List<IntPtr>();
-                                                bool allJointBodiesAreReady = true;
-                                                foreach (string jointParam in jointParams)
-                                                {
-                                                    if (jointParam == "NULL")
-                                                    {
-                                                        //DoJointErrorMessage(joint, "attaching NULL joint to world");
-                                                        jointBodies.Add(IntPtr.Zero);
-                                                    }
-                                                    else
-                                                    {
-                                                        //DoJointErrorMessage(joint, "looking for prim name: " + jointParam);
-                                                        bool foundPrim = false;
-                                                        lock (_prims)
-                                                        {
-                                                            foreach (OdePrim prim in _prims) // FIXME: inefficient
-                                                            {
-                                                                if (prim.SOPName == jointParam)
-                                                                {
-                                                                    //DoJointErrorMessage(joint, "found for prim name: " + jointParam);
-                                                                    if (prim.IsPhysical && prim.Body != IntPtr.Zero)
-                                                                    {
-                                                                        jointBodies.Add(prim.Body);
-                                                                        foundPrim = true;
-                                                                        break;
-                                                                    }
-                                                                    else
-                                                                    {
-                                                                        DoJointErrorMessage(joint, "prim name " + jointParam +
-                                                                            " exists but is not (yet) physical; deferring joint creation. " +
-                                                                            "IsPhysical property is " + prim.IsPhysical +
-                                                                            " and body is " + prim.Body);
-                                                                        foundPrim = false;
-                                                                        break;
-                                                                    }
-                                                                }
-                                                            }
-                                                        }
-                                                        if (foundPrim)
-                                                        {
-                                                            // all is fine
-                                                        }
-                                                        else
-                                                        {
-                                                            allJointBodiesAreReady = false;
-                                                            break;
-                                                        }
-                                                    }
-                                                }
-                                                if (allJointBodiesAreReady)
-                                                {
-                                                    //DoJointErrorMessage(joint, "allJointBodiesAreReady for " + joint.ObjectNameInScene + " with parms " + joint.RawParams);
-                                                    if (jointBodies[0] == jointBodies[1])
-                                                    {
-                                                        DoJointErrorMessage(joint, "ERROR: joint cannot be created; the joint bodies are the same, body1==body2. Raw body is " + jointBodies[0] + ". raw parms: " + joint.RawParams);
-                                                    }
-                                                    else
-                                                    {
-                                                        switch (joint.Type)
-                                                        {
-                                                            case PhysicsJointType.Ball:
-                                                                {
-                                                                    IntPtr odeJoint;
-                                                                    //DoJointErrorMessage(joint, "ODE creating ball joint ");
-                                                                    odeJoint = d.JointCreateBall(world, IntPtr.Zero);
-                                                                    //DoJointErrorMessage(joint, "ODE attaching ball joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
-                                                                    d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
-                                                                    //DoJointErrorMessage(joint, "ODE setting ball anchor: " + odeJoint + " to vec:" + joint.Position);
-                                                                    d.JointSetBallAnchor(odeJoint,
-                                                                                        joint.Position.X,
-                                                                                        joint.Position.Y,
-                                                                                        joint.Position.Z);
-                                                                    //DoJointErrorMessage(joint, "ODE joint setting OK");
-                                                                    //DoJointErrorMessage(joint, "The ball joint's bodies are here: b0: ");
-                                                                    //DoJointErrorMessage(joint, "" + (jointBodies[0] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[0]) : "fixed environment"));
-                                                                    //DoJointErrorMessage(joint, "The ball joint's bodies are here: b1: ");
-                                                                    //DoJointErrorMessage(joint, "" + (jointBodies[1] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[1]) : "fixed environment"));
-
-                                                                    if (joint is OdePhysicsJoint)
-                                                                    {
-                                                                        ((OdePhysicsJoint)joint).jointID = odeJoint;
-                                                                    }
-                                                                    else
-                                                                    {
-                                                                        DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
-                                                                    }
-                                                                }
-                                                                break;
-                                                            case PhysicsJointType.Hinge:
-                                                                {
-                                                                    IntPtr odeJoint;
-                                                                    //DoJointErrorMessage(joint, "ODE creating hinge joint ");
-                                                                    odeJoint = d.JointCreateHinge(world, IntPtr.Zero);
-                                                                    //DoJointErrorMessage(joint, "ODE attaching hinge joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
-                                                                    d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
-                                                                    //DoJointErrorMessage(joint, "ODE setting hinge anchor: " + odeJoint + " to vec:" + joint.Position);
-                                                                    d.JointSetHingeAnchor(odeJoint,
-                                                                                          joint.Position.X,
-                                                                                          joint.Position.Y,
-                                                                                          joint.Position.Z);
-                                                                    // We use the orientation of the x-axis of the joint's coordinate frame
-                                                                    // as the axis for the hinge. 
-
-                                                                    // Therefore, we must get the joint's coordinate frame based on the
-                                                                    // joint.Rotation field, which originates from the orientation of the 
-                                                                    // joint's proxy object in the scene.
-
-                                                                    // The joint's coordinate frame is defined as the transformation matrix
-                                                                    // that converts a vector from joint-local coordinates into world coordinates.
-                                                                    // World coordinates are defined as the XYZ coordinate system of the sim,
-                                                                    // as shown in the top status-bar of the viewer.
-
-                                                                    // Once we have the joint's coordinate frame, we extract its X axis (AtAxis)
-                                                                    // and use that as the hinge axis.
-
-                                                                    //joint.Rotation.Normalize();
-                                                                    Matrix4 proxyFrame = Matrix4.CreateFromQuaternion(joint.Rotation);
-
-                                                                    // Now extract the X axis of the joint's coordinate frame.
-
-                                                                    // Do not try to use proxyFrame.AtAxis or you will become mired in the
-                                                                    // tar pit of transposed, inverted, and generally messed-up orientations.
-                                                                    // (In other words, Matrix4.AtAxis() is borked.)
-                                                                    // Vector3 jointAxis = proxyFrame.AtAxis; <--- this path leadeth to madness
-
-                                                                    // Instead, compute the X axis of the coordinate frame by transforming
-                                                                    // the (1,0,0) vector. At least that works.
-
-                                                                    //m_log.Debug("PHY: making axis: complete matrix is " + proxyFrame);
-                                                                    Vector3 jointAxis = Vector3.Transform(Vector3.UnitX, proxyFrame);
-                                                                    //m_log.Debug("PHY: making axis: hinge joint axis is " + jointAxis); 
-                                                                    //DoJointErrorMessage(joint, "ODE setting hinge axis: " + odeJoint + " to vec:" + jointAxis);
-                                                                    d.JointSetHingeAxis(odeJoint,
-                                                                                        jointAxis.X,
-                                                                                        jointAxis.Y,
-                                                                                        jointAxis.Z);
-                                                                    //d.JointSetHingeParam(odeJoint, (int)dParam.CFM, 0.1f);
-                                                                    if (joint is OdePhysicsJoint)
-                                                                    {
-                                                                        ((OdePhysicsJoint)joint).jointID = odeJoint;
-                                                                    }
-                                                                    else
-                                                                    {
-                                                                        DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
-                                                                    }
-                                                                }
-                                                                break;
-                                                        }
-                                                        successfullyProcessedPendingJoints.Add(joint);
-                                                    }
-                                                }
-                                                else
-                                                {
-                                                    DoJointErrorMessage(joint, "joint could not yet be created; still pending");
-                                                }
-                                            }
-                                            foreach (PhysicsJoint successfullyProcessedJoint in successfullyProcessedPendingJoints)
-                                            {
-                                                //DoJointErrorMessage(successfullyProcessedJoint, "finalizing succesfully procsssed joint " + successfullyProcessedJoint.ObjectNameInScene + " parms " + successfullyProcessedJoint.RawParams);
-                                                //DoJointErrorMessage(successfullyProcessedJoint, "removing from pending");
-                                                InternalRemovePendingJoint(successfullyProcessedJoint);
-                                                //DoJointErrorMessage(successfullyProcessedJoint, "adding to active");
-                                                InternalAddActiveJoint(successfullyProcessedJoint);
-                                                //DoJointErrorMessage(successfullyProcessedJoint, "done");
-                                            }
-                                        }
-                                    }
+                                // This loop can block up the Heartbeat for a very long time on large regions.
+                                // We need to let the Watchdog know that the Heartbeat is not dead
+                                // NOTE: This is currently commented out, but if things like OAR loading are
+                                // timing the heartbeat out we will need to uncomment it
+                                //Watchdog.UpdateThread();
+                            }
+
+                            if (SupportsNINJAJoints)
+                                SimulatePendingNINJAJoints();
 
-                                    if (processedtaints)
+                            if (processedtaints)
+                            {
 //Console.WriteLine("Simulate calls Clear of _taintedPrim list");
-                                        _taintedPrimH.Clear();
-                                        _taintedPrimL.Clear();
-                                }
+                                _taintedPrimH.Clear();
+                                _taintedPrimL.Clear();
+                            }
+                        }
 
-                                // Move characters
-                                lock (_characters)
+                        // Move characters
+                        lock (_characters)
+                        {
+                            List<OdeCharacter> defects = new List<OdeCharacter>();
+                            foreach (OdeCharacter actor in _characters)
+                            {
+                                if (actor != null)
+                                    actor.Move(timeStep, defects);
+                            }
+                            if (0 != defects.Count)
+                            {
+                                foreach (OdeCharacter defect in defects)
                                 {
-                                    List<OdeCharacter> defects = new List<OdeCharacter>();
-                                    foreach (OdeCharacter actor in _characters)
-                                    {
-                                        if (actor != null)
-                                            actor.Move(timeStep, defects);
-                                    }
-                                    if (0 != defects.Count)
-                                    {
-                                        foreach (OdeCharacter defect in defects)
-                                        {
-                                            RemoveCharacter(defect);
-                                        }
-                                    }
+                                    RemoveCharacter(defect);
                                 }
+                            }
+                        }
 
-                                // Move other active objects
-                                lock (_activeprims)
-                                {
-                                    foreach (OdePrim prim in _activeprims)
-                                    {
-                                        prim.m_collisionscore = 0;
-                                        prim.Move(timeStep);
-                                    }
-                                }
+                        // Move other active objects
+                        lock (_activeprims)
+                        {
+                            foreach (OdePrim prim in _activeprims)
+                            {
+                                prim.m_collisionscore = 0;
+                                prim.Move(timeStep);
+                            }
+                        }
 
-                                //if ((framecount % m_randomizeWater) == 0)
-                                   // randomizeWater(waterlevel);
+                        //if ((framecount % m_randomizeWater) == 0)
+                           // randomizeWater(waterlevel);
 
-                                //int RayCastTimeMS = m_rayCastManager.ProcessQueuedRequests();
-                                m_rayCastManager.ProcessQueuedRequests();
+                        //int RayCastTimeMS = m_rayCastManager.ProcessQueuedRequests();
+                        m_rayCastManager.ProcessQueuedRequests();
+
+                        collision_optimized(timeStep);
+
+                        lock (_collisionEventPrim)
+                        {
+                            foreach (PhysicsActor obj in _collisionEventPrim)
+                            {
+                                if (obj == null)
+                                    continue;
 
-                                collision_optimized(timeStep);
+//                                m_log.DebugFormat("[PHYSICS]: Assessing {0} for collision events", obj.SOPName);
 
-                                lock (_collisionEventPrim)
+                                switch ((ActorTypes)obj.PhysicsActorType)
                                 {
-                                    foreach (PhysicsActor obj in _collisionEventPrim)
-                                    {
-                                        if (obj == null)
-                                            continue;
+                                    case ActorTypes.Agent:
+                                        OdeCharacter cobj = (OdeCharacter)obj;
+                                        cobj.AddCollisionFrameTime(100);
+                                        cobj.SendCollisions();
+                                        break;
 
-                                        switch ((ActorTypes)obj.PhysicsActorType)
-                                        {
-                                            case ActorTypes.Agent:
-                                                OdeCharacter cobj = (OdeCharacter)obj;
-                                                cobj.AddCollisionFrameTime(100);
-                                                cobj.SendCollisions();
-                                                break;
-                                            case ActorTypes.Prim:
-                                                OdePrim pobj = (OdePrim)obj;
-                                                pobj.SendCollisions();
-                                                break;
-                                        }
-                                    }
+                                    case ActorTypes.Prim:
+                                        OdePrim pobj = (OdePrim)obj;
+                                        pobj.SendCollisions();
+                                        break;
                                 }
+                            }
+                        }
 
-                                //if (m_global_contactcount > 5)
-                                //{
-                                //    m_log.DebugFormat("[PHYSICS]: Contacts:{0}", m_global_contactcount);
-                                //}
+                        //if (m_global_contactcount > 5)
+                        //{
+                        //    m_log.DebugFormat("[PHYSICS]: Contacts:{0}", m_global_contactcount);
+                        //}
 
-                                m_global_contactcount = 0;
-                                
-                                d.WorldQuickStep(world, ODE_STEPSIZE);
-                                d.JointGroupEmpty(contactgroup);
-                                //ode.dunlock(world);
-                            }
-                            catch (Exception e)
-                            {
-                                m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e);
-                                ode.dunlock(world);
-                            }
+                        m_global_contactcount = 0;
+                        
+                        d.WorldQuickStep(world, ODE_STEPSIZE);
+                        d.JointGroupEmpty(contactgroup);
+                        //ode.dunlock(world);
+                    }
+                    catch (Exception e)
+                    {
+                        m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e);
+                        ode.dunlock(world);
+                    }
 
-                            step_time -= ODE_STEPSIZE;
-                            i++;
+                    step_time -= ODE_STEPSIZE;
+                    i++;
                         //}
                         //else
                         //{
@@ -3014,6 +2827,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                         {
                             if (actor.bad)
                                 m_log.WarnFormat("[PHYSICS]: BAD Actor {0} in _characters list was not removed?", actor.m_uuid);
+
                             actor.UpdatePositionAndVelocity();
                         }
                     }
@@ -3027,6 +2841,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                         {
                             RemoveCharacter(chr);
                         }
+
                         _badCharacter.Clear();
                     }
                 }
@@ -3042,30 +2857,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                                 actor.UpdatePositionAndVelocity();
 
                                 if (SupportsNINJAJoints)
-                                {
-                                    // If an actor moved, move its joint proxy objects as well.
-                                    // There seems to be an event PhysicsActor.OnPositionUpdate that could be used
-                                    // for this purpose but it is never called! So we just do the joint
-                                    // movement code here.
-
-                                    if (actor.SOPName != null &&
-                                        joints_connecting_actor.ContainsKey(actor.SOPName) &&
-                                        joints_connecting_actor[actor.SOPName] != null &&
-                                        joints_connecting_actor[actor.SOPName].Count > 0)
-                                    {
-                                        foreach (PhysicsJoint affectedJoint in joints_connecting_actor[actor.SOPName])
-                                        {
-                                            if (affectedJoint.IsInPhysicsEngine)
-                                            {
-                                                DoJointMoved(affectedJoint);
-                                            }
-                                            else
-                                            {
-                                                DoJointErrorMessage(affectedJoint, "a body connected to a joint was moved, but the joint doesn't exist yet! this will lead to joint error. joint was: " + affectedJoint.ObjectNameInScene + " parms:" + affectedJoint.RawParams);
-                                            }
-                                        }
-                                    }
-                                }
+                                    SimulateActorPendingJoints(actor);
                             }
                         }
                     }
@@ -3076,7 +2868,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 // Finished with all sim stepping. If requested, dump world state to file for debugging.
                 // TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed?
                 // TODO: This overwrites all dump files in-place. Should this be a growing logfile, or separate snapshots?
-                if (physics_logging && (physics_logging_interval>0) && (framecount % physics_logging_interval == 0))
+                if (physics_logging && (physics_logging_interval > 0) && (framecount % physics_logging_interval == 0))
                 {
                     string fname = "state-" + world.ToString() + ".DIF"; // give each physics world a separate filename
                     string prefix = "world" + world.ToString(); // prefix for variable names in exported .DIF file
@@ -3088,8 +2880,10 @@ namespace OpenSim.Region.Physics.OdePlugin
                         fwriter.WriteLine(header);
                         fwriter.Close();
                     }
+
                     d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix);
                 }
+
                 latertickcount = Util.EnvironmentTickCount() - tickCountFrameRun;
 
                 // OpenSimulator above does 10 fps.  10 fps = means that the main thread loop and physics
@@ -3098,7 +2892,9 @@ namespace OpenSim.Region.Physics.OdePlugin
                 // If Physics stalls, it takes longer which makes the tick count ms larger.
 
                 if (latertickcount < 100)
+                {
                     m_timeDilation = 1.0f;
+                }
                 else
                 {
                     m_timeDilation = 100f / latertickcount;
@@ -3111,6 +2907,229 @@ namespace OpenSim.Region.Physics.OdePlugin
             return fps;
         }
 
+        /// <summary>
+        /// Simulate pending NINJA joints.
+        /// </summary>
+        /// <remarks>
+        /// Called by the main Simulate() loop if NINJA joints are active.  Should not be called from anywhere else.
+        /// </remarks>
+        protected void SimulatePendingNINJAJoints()
+        {
+            // Create pending joints, if possible
+
+            // joints can only be processed after ALL bodies are processed (and exist in ODE), since creating
+            // a joint requires specifying the body id of both involved bodies
+            if (pendingJoints.Count > 0)
+            {
+                List<PhysicsJoint> successfullyProcessedPendingJoints = new List<PhysicsJoint>();
+                //DoJointErrorMessage(joints_connecting_actor, "taint: " + pendingJoints.Count + " pending joints");
+                foreach (PhysicsJoint joint in pendingJoints)
+                {
+                    //DoJointErrorMessage(joint, "taint: time to create joint with parms: " + joint.RawParams);
+                    string[] jointParams = joint.RawParams.Split(" ".ToCharArray(), System.StringSplitOptions.RemoveEmptyEntries);
+                    List<IntPtr> jointBodies = new List<IntPtr>();
+                    bool allJointBodiesAreReady = true;
+                    foreach (string jointParam in jointParams)
+                    {
+                        if (jointParam == "NULL")
+                        {
+                            //DoJointErrorMessage(joint, "attaching NULL joint to world");
+                            jointBodies.Add(IntPtr.Zero);
+                        }
+                        else
+                        {
+                            //DoJointErrorMessage(joint, "looking for prim name: " + jointParam);
+                            bool foundPrim = false;
+                            lock (_prims)
+                            {
+                                foreach (OdePrim prim in _prims) // FIXME: inefficient
+                                {
+                                    if (prim.SOPName == jointParam)
+                                    {
+                                        //DoJointErrorMessage(joint, "found for prim name: " + jointParam);
+                                        if (prim.IsPhysical && prim.Body != IntPtr.Zero)
+                                        {
+                                            jointBodies.Add(prim.Body);
+                                            foundPrim = true;
+                                            break;
+                                        }
+                                        else
+                                        {
+                                            DoJointErrorMessage(joint, "prim name " + jointParam +
+                                                " exists but is not (yet) physical; deferring joint creation. " +
+                                                "IsPhysical property is " + prim.IsPhysical +
+                                                " and body is " + prim.Body);
+                                            foundPrim = false;
+                                            break;
+                                        }
+                                    }
+                                }
+                            }
+                            if (foundPrim)
+                            {
+                                // all is fine
+                            }
+                            else
+                            {
+                                allJointBodiesAreReady = false;
+                                break;
+                            }
+                        }
+                    }
+
+                    if (allJointBodiesAreReady)
+                    {
+                        //DoJointErrorMessage(joint, "allJointBodiesAreReady for " + joint.ObjectNameInScene + " with parms " + joint.RawParams);
+                        if (jointBodies[0] == jointBodies[1])
+                        {
+                            DoJointErrorMessage(joint, "ERROR: joint cannot be created; the joint bodies are the same, body1==body2. Raw body is " + jointBodies[0] + ". raw parms: " + joint.RawParams);
+                        }
+                        else
+                        {
+                            switch (joint.Type)
+                            {
+                                case PhysicsJointType.Ball:
+                                    {
+                                        IntPtr odeJoint;
+                                        //DoJointErrorMessage(joint, "ODE creating ball joint ");
+                                        odeJoint = d.JointCreateBall(world, IntPtr.Zero);
+                                        //DoJointErrorMessage(joint, "ODE attaching ball joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
+                                        d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
+                                        //DoJointErrorMessage(joint, "ODE setting ball anchor: " + odeJoint + " to vec:" + joint.Position);
+                                        d.JointSetBallAnchor(odeJoint,
+                                                            joint.Position.X,
+                                                            joint.Position.Y,
+                                                            joint.Position.Z);
+                                        //DoJointErrorMessage(joint, "ODE joint setting OK");
+                                        //DoJointErrorMessage(joint, "The ball joint's bodies are here: b0: ");
+                                        //DoJointErrorMessage(joint, "" + (jointBodies[0] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[0]) : "fixed environment"));
+                                        //DoJointErrorMessage(joint, "The ball joint's bodies are here: b1: ");
+                                        //DoJointErrorMessage(joint, "" + (jointBodies[1] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[1]) : "fixed environment"));
+
+                                        if (joint is OdePhysicsJoint)
+                                        {
+                                            ((OdePhysicsJoint)joint).jointID = odeJoint;
+                                        }
+                                        else
+                                        {
+                                            DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
+                                        }
+                                    }
+                                    break;
+                                case PhysicsJointType.Hinge:
+                                    {
+                                        IntPtr odeJoint;
+                                        //DoJointErrorMessage(joint, "ODE creating hinge joint ");
+                                        odeJoint = d.JointCreateHinge(world, IntPtr.Zero);
+                                        //DoJointErrorMessage(joint, "ODE attaching hinge joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
+                                        d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
+                                        //DoJointErrorMessage(joint, "ODE setting hinge anchor: " + odeJoint + " to vec:" + joint.Position);
+                                        d.JointSetHingeAnchor(odeJoint,
+                                                              joint.Position.X,
+                                                              joint.Position.Y,
+                                                              joint.Position.Z);
+                                        // We use the orientation of the x-axis of the joint's coordinate frame
+                                        // as the axis for the hinge.
+
+                                        // Therefore, we must get the joint's coordinate frame based on the
+                                        // joint.Rotation field, which originates from the orientation of the 
+                                        // joint's proxy object in the scene.
+
+                                        // The joint's coordinate frame is defined as the transformation matrix
+                                        // that converts a vector from joint-local coordinates into world coordinates.
+                                        // World coordinates are defined as the XYZ coordinate system of the sim,
+                                        // as shown in the top status-bar of the viewer.
+
+                                        // Once we have the joint's coordinate frame, we extract its X axis (AtAxis)
+                                        // and use that as the hinge axis.
+
+                                        //joint.Rotation.Normalize();
+                                        Matrix4 proxyFrame = Matrix4.CreateFromQuaternion(joint.Rotation);
+
+                                        // Now extract the X axis of the joint's coordinate frame.
+
+                                        // Do not try to use proxyFrame.AtAxis or you will become mired in the
+                                        // tar pit of transposed, inverted, and generally messed-up orientations.
+                                        // (In other words, Matrix4.AtAxis() is borked.)
+                                        // Vector3 jointAxis = proxyFrame.AtAxis; <--- this path leadeth to madness
+
+                                        // Instead, compute the X axis of the coordinate frame by transforming
+                                        // the (1,0,0) vector. At least that works.
+
+                                        //m_log.Debug("PHY: making axis: complete matrix is " + proxyFrame);
+                                        Vector3 jointAxis = Vector3.Transform(Vector3.UnitX, proxyFrame);
+                                        //m_log.Debug("PHY: making axis: hinge joint axis is " + jointAxis);
+                                        //DoJointErrorMessage(joint, "ODE setting hinge axis: " + odeJoint + " to vec:" + jointAxis);
+                                        d.JointSetHingeAxis(odeJoint,
+                                                            jointAxis.X,
+                                                            jointAxis.Y,
+                                                            jointAxis.Z);
+                                        //d.JointSetHingeParam(odeJoint, (int)dParam.CFM, 0.1f);
+                                        if (joint is OdePhysicsJoint)
+                                        {
+                                            ((OdePhysicsJoint)joint).jointID = odeJoint;
+                                        }
+                                        else
+                                        {
+                                            DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
+                                        }
+                                    }
+                                    break;
+                            }
+                            successfullyProcessedPendingJoints.Add(joint);
+                        }
+                    }
+                    else
+                    {
+                        DoJointErrorMessage(joint, "joint could not yet be created; still pending");
+                    }
+                }
+
+                foreach (PhysicsJoint successfullyProcessedJoint in successfullyProcessedPendingJoints)
+                {
+                    //DoJointErrorMessage(successfullyProcessedJoint, "finalizing succesfully procsssed joint " + successfullyProcessedJoint.ObjectNameInScene + " parms " + successfullyProcessedJoint.RawParams);
+                    //DoJointErrorMessage(successfullyProcessedJoint, "removing from pending");
+                    InternalRemovePendingJoint(successfullyProcessedJoint);
+                    //DoJointErrorMessage(successfullyProcessedJoint, "adding to active");
+                    InternalAddActiveJoint(successfullyProcessedJoint);
+                    //DoJointErrorMessage(successfullyProcessedJoint, "done");
+                }
+            }
+        }
+
+        /// <summary>
+        /// Simulate the joint proxies of a NINJA actor.
+        /// </summary>
+        /// <remarks>
+        /// Called as part of the Simulate() loop if NINJA physics is active.  Must only be called from there.
+        /// </remarks>
+        /// <param name="actor"></param>
+        protected void SimulateActorPendingJoints(OdePrim actor)
+        {
+            // If an actor moved, move its joint proxy objects as well.
+            // There seems to be an event PhysicsActor.OnPositionUpdate that could be used
+            // for this purpose but it is never called! So we just do the joint
+            // movement code here.
+
+            if (actor.SOPName != null &&
+                joints_connecting_actor.ContainsKey(actor.SOPName) &&
+                joints_connecting_actor[actor.SOPName] != null &&
+                joints_connecting_actor[actor.SOPName].Count > 0)
+            {
+                foreach (PhysicsJoint affectedJoint in joints_connecting_actor[actor.SOPName])
+                {
+                    if (affectedJoint.IsInPhysicsEngine)
+                    {
+                        DoJointMoved(affectedJoint);
+                    }
+                    else
+                    {
+                        DoJointErrorMessage(affectedJoint, "a body connected to a joint was moved, but the joint doesn't exist yet! this will lead to joint error. joint was: " + affectedJoint.ObjectNameInScene + " parms:" + affectedJoint.RawParams);
+                    }
+                }
+            }
+        }
+
         public override void GetResults()
         {
         }
@@ -3456,24 +3475,21 @@ namespace OpenSim.Region.Physics.OdePlugin
             float hfmin = 2000;
             float hfmax = -2000;
             
-                for (int x = 0; x < heightmapWidthSamples; x++)
+            for (int x = 0; x < heightmapWidthSamples; x++)
+            {
+                for (int y = 0; y < heightmapHeightSamples; y++)
                 {
-                    for (int y = 0; y < heightmapHeightSamples; y++)
-                    {
-                        int xx = Util.Clip(x - 1, 0, regionsize - 1);
-                        int yy = Util.Clip(y - 1, 0, regionsize - 1);
-                        
-                        
-                        float val= heightMap[yy * (int)Constants.RegionSize + xx];
-                         _heightmap[x * ((int)Constants.RegionSize + 2) + y] = val;
-                        
-                        hfmin = (val < hfmin) ? val : hfmin;
-                        hfmax = (val > hfmax) ? val : hfmax;
-                    }
+                    int xx = Util.Clip(x - 1, 0, regionsize - 1);
+                    int yy = Util.Clip(y - 1, 0, regionsize - 1);
+                    
+                    
+                    float val= heightMap[yy * (int)Constants.RegionSize + xx];
+                     _heightmap[x * ((int)Constants.RegionSize + 2) + y] = val;
+                    
+                    hfmin = (val < hfmin) ? val : hfmin;
+                    hfmax = (val > hfmax) ? val : hfmax;
                 }
-                
-            
-            
+            }
 
             lock (OdeLock)
             {
@@ -3528,7 +3544,6 @@ namespace OpenSim.Region.Physics.OdePlugin
                 }
                 RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
                 TerrainHeightFieldHeights.Add(GroundGeom,_heightmap);
-                
             }
         }
 
@@ -3691,6 +3706,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 //d.CloseODE();
             }
         }
+
         public override Dictionary<uint, float> GetTopColliders()
         {
             Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();
@@ -3727,6 +3743,34 @@ namespace OpenSim.Region.Physics.OdePlugin
             }
         }
 
+        public override void RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod)
+        {
+            if (retMethod != null)
+            {
+                m_rayCastManager.QueueRequest(position, direction, length, Count, retMethod);
+            }
+        }
+
+        public override List<ContactResult> RaycastWorld(Vector3 position, Vector3 direction, float length, int Count)
+        {
+            ContactResult[] ourResults = null;
+            RayCallback retMethod = delegate(List<ContactResult> results)
+            {
+                ourResults = new ContactResult[results.Count];
+                results.CopyTo(ourResults, 0);
+            };
+            int waitTime = 0;
+            m_rayCastManager.QueueRequest(position, direction, length, Count, retMethod);
+            while (ourResults == null && waitTime < 1000)
+            {
+                Thread.Sleep(1);
+                waitTime++;
+            }
+            if (ourResults == null)
+                return new List<ContactResult> ();
+            return new List<ContactResult>(ourResults);
+        }
+
 #if USE_DRAWSTUFF
         // Keyboard callback
         public void command(int cmd)
diff --git a/OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs b/OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs
index 5dcd6f5..2ea810f 100644
--- a/OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs
+++ b/OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs
@@ -31,17 +31,18 @@ using NUnit.Framework;
 using OpenMetaverse;
 using OpenSim.Framework;
 using OpenSim.Region.Physics.Manager;
+using OpenSim.Region.Physics.OdePlugin;
 using log4net;
 using System.Reflection;
 
-namespace OpenSim.Region.Physics.OdePlugin
+namespace OpenSim.Region.Physics.OdePlugin.Tests
 {
     [TestFixture]
     public class ODETestClass
     {
         private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
-        private OdePlugin cbt;
+        private OpenSim.Region.Physics.OdePlugin.OdePlugin cbt;
         private PhysicsScene ps;
         private IMeshingPlugin imp;