Initial update to OpenSim 0.8.2.1 source code.

11 files changed, 1774 insertions, 0 deletions

diff --git a/OpenSim/Region/PhysicsModules/SharedBase/AssemblyInfo.cs b/OpenSim/Region/PhysicsModules/SharedBase/AssemblyInfo.cs
new file mode 100644
index 0000000..33f60e4
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/SharedBase/AssemblyInfo.cs
@@ -0,0 +1,58 @@
+/*
+ * 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.Reflection;
+using System.Runtime.InteropServices;
+
+// Information about this assembly is defined by the following
+// attributes.
+//
+// change them to the information which is associated with the assembly
+// you compile.
+
+[assembly : AssemblyTitle("PhysicsManager")]
+[assembly : AssemblyDescription("")]
+[assembly : AssemblyConfiguration("")]
+[assembly : AssemblyCompany("http://opensimulator.org")]
+[assembly : AssemblyProduct("PhysicsManager")]
+[assembly : AssemblyCopyright("Copyright (c) OpenSimulator.org Developers")]
+[assembly : AssemblyTrademark("")]
+[assembly : AssemblyCulture("")]
+
+// This sets the default COM visibility of types in the assembly to invisible.
+// If you need to expose a type to COM, use [ComVisible(true)] on that type.
+
+[assembly : ComVisible(false)]
+
+// The assembly version has following format :
+//
+// Major.Minor.Build.Revision
+//
+// You can specify all values by your own or you can build default build and revision
+// numbers with the '*' character (the default):
+
+[assembly : AssemblyVersion("0.8.2.*")]
diff --git a/OpenSim/Region/PhysicsModules/SharedBase/CollisionLocker.cs b/OpenSim/Region/PhysicsModules/SharedBase/CollisionLocker.cs
new file mode 100644
index 0000000..6e658b5
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/SharedBase/CollisionLocker.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;
+
+namespace OpenSim.Region.PhysicsModules.SharedBase
+{
+    public class CollisionLocker
+    {
+        private List<IntPtr> worldlock = new List<IntPtr>();
+
+        public CollisionLocker()
+        {
+
+        }
+
+        public void dlock(IntPtr world)
+        {
+            lock (worldlock)
+            {
+                worldlock.Add(world);
+            }
+
+        }
+
+        public void dunlock(IntPtr world)
+        {
+            lock (worldlock)
+            {
+                worldlock.Remove(world);
+            }
+        }
+
+        public bool lockquery()
+        {
+            return (worldlock.Count > 0);
+        }
+
+        public void drelease(IntPtr world)
+        {
+            lock (worldlock)
+            {
+                if (worldlock.Contains(world))
+                    worldlock.Remove(world);
+            }
+        }
+    }
+}
diff --git a/OpenSim/Region/PhysicsModules/SharedBase/IMesher.cs b/OpenSim/Region/PhysicsModules/SharedBase/IMesher.cs
new file mode 100644
index 0000000..5c75307
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/SharedBase/IMesher.cs
@@ -0,0 +1,71 @@
+/*
+ * 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.PhysicsModules.SharedBase
+{
+    public interface IMesher
+    {
+        IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod);
+        IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical);
+        IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool shouldCache);
+    }
+
+    // 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
+    {
+    }
+
+    public interface IMesh
+    {
+        List<Vector3> getVertexList();
+        int[] getIndexListAsInt();
+        int[] getIndexListAsIntLocked();
+        float[] getVertexListAsFloat();
+        float[] getVertexListAsFloatLocked();
+        void getIndexListAsPtrToIntArray(out IntPtr indices, out int triStride, out int indexCount);
+        void getVertexListAsPtrToFloatArray(out IntPtr vertexList, out int vertexStride, out int vertexCount);
+        void releaseSourceMeshData();
+        void releasePinned();
+        void Append(IMesh newMesh);
+        void TransformLinear(float[,] matrix, float[] offset);
+    }
+}
diff --git a/OpenSim/Region/PhysicsModules/SharedBase/IPhysicsParameters.cs b/OpenSim/Region/PhysicsModules/SharedBase/IPhysicsParameters.cs
new file mode 100755
index 0000000..fb0c9e2
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/SharedBase/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.PhysicsModules.SharedBase
+{
+    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, string value, uint localID);
+
+        // Get parameter.
+        // Return 'false' if not able to get the parameter.
+        bool GetPhysicsParameter(string parm, out string value);
+
+        // Get parameter from a particular object
+        // TODO:
+        // bool GetPhysicsParameter(string parm, out string value, uint localID);
+    }
+}
diff --git a/OpenSim/Region/PhysicsModules/SharedBase/NullPhysicsScene.cs b/OpenSim/Region/PhysicsModules/SharedBase/NullPhysicsScene.cs
new file mode 100644
index 0000000..432708c
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/SharedBase/NullPhysicsScene.cs
@@ -0,0 +1,117 @@
+/*
+ * 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.Collections.Generic;
+using System.Reflection;
+using log4net;
+using Nini.Config;
+using OpenSim.Framework;
+using OpenMetaverse;
+
+namespace OpenSim.Region.PhysicsModules.SharedBase
+{
+    class NullPhysicsScene : PhysicsScene
+    {
+        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+        
+        private static int m_workIndicator;
+
+        public override PhysicsActor AddAvatar(
+            string avName, Vector3 position, Vector3 velocity, Vector3 size, bool isFlying)
+        {
+            m_log.InfoFormat("[PHYSICS]: NullPhysicsScene : AddAvatar({0})", position);
+            return PhysicsActor.Null;
+        }
+
+        public override void RemoveAvatar(PhysicsActor actor)
+        {
+        }
+
+        public override void RemovePrim(PhysicsActor prim)
+        {
+        }
+        public override void SetWaterLevel(float baseheight)
+        {
+
+        }
+
+/*
+        public override PhysicsActor AddPrim(Vector3 position, Vector3 size, Quaternion rotation)
+        {
+            m_log.InfoFormat("NullPhysicsScene : AddPrim({0},{1})", position, size);
+            return PhysicsActor.Null;
+        }
+*/
+
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                                  Vector3 size, Quaternion rotation, bool isPhysical, uint localid)
+        {
+            m_log.InfoFormat("[PHYSICS]: NullPhysicsScene : AddPrim({0},{1})", position, size);
+            return PhysicsActor.Null;
+        }
+
+        public override void AddPhysicsActorTaint(PhysicsActor prim)
+        {
+        }
+
+        public override float Simulate(float timeStep)
+        {
+            m_workIndicator = (m_workIndicator + 1) % 10;
+
+            return 0f;
+        }
+
+        public override void GetResults()
+        {
+            m_log.Info("[PHYSICS]: NullPhysicsScene : GetResults()");
+        }
+
+        public override void SetTerrain(float[] heightMap)
+        {
+            m_log.InfoFormat("[PHYSICS]: NullPhysicsScene : SetTerrain({0} items)", heightMap.Length);
+        }
+
+        public override void DeleteTerrain()
+        {
+        }
+
+        public override bool IsThreaded
+        {
+            get { return false; }
+        }
+
+        public override void Dispose()
+        {
+        }
+
+        public override Dictionary<uint,float> GetTopColliders()
+        {
+            Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();
+            return returncolliders;
+        }
+    }
+}
\ No newline at end of file
diff --git a/OpenSim/Region/PhysicsModules/SharedBase/PhysicsActor.cs b/OpenSim/Region/PhysicsModules/SharedBase/PhysicsActor.cs
new file mode 100644
index 0000000..c04ff58
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/SharedBase/PhysicsActor.cs
@@ -0,0 +1,584 @@
+/*
+ * 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 log4net;
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using OpenSim.Framework;
+using OpenMetaverse;
+
+namespace OpenSim.Region.PhysicsModules.SharedBase
+{
+    public delegate void PositionUpdate(Vector3 position);
+    public delegate void VelocityUpdate(Vector3 velocity);
+    public delegate void OrientationUpdate(Quaternion orientation);
+
+    public enum ActorTypes : int
+    {
+        Unknown = 0,
+        Agent = 1,
+        Prim = 2,
+        Ground = 3
+    }
+
+    public enum PIDHoverType
+    {
+        Ground,
+        GroundAndWater,
+        Water,
+        Absolute
+    }
+
+    public struct ContactPoint
+    {
+        public Vector3 Position;
+        public Vector3 SurfaceNormal;
+        public float PenetrationDepth;
+
+        public ContactPoint(Vector3 position, Vector3 surfaceNormal, float penetrationDepth)
+        {
+            Position = position;
+            SurfaceNormal = surfaceNormal;
+            PenetrationDepth = penetrationDepth;
+        }
+    }
+
+    /// <summary>
+    /// Used to pass collision information to OnCollisionUpdate listeners.
+    /// </summary>
+    public class CollisionEventUpdate : EventArgs
+    {
+        /// <summary>
+        /// Number of collision events in this update.
+        /// </summary>
+        public int Count { get { return m_objCollisionList.Count; } }
+
+        public bool CollisionsOnPreviousFrame { get; private set; }
+
+        public Dictionary<uint, ContactPoint> m_objCollisionList;
+
+        public CollisionEventUpdate(Dictionary<uint, ContactPoint> objCollisionList)
+        {
+            m_objCollisionList = objCollisionList;
+        }
+
+        public CollisionEventUpdate()
+        {
+            m_objCollisionList = new Dictionary<uint, ContactPoint>();
+        }
+
+        public void AddCollider(uint localID, ContactPoint contact)
+        {
+            if (!m_objCollisionList.ContainsKey(localID))
+            {
+                m_objCollisionList.Add(localID, contact);
+            }
+            else
+            {
+                if (m_objCollisionList[localID].PenetrationDepth < contact.PenetrationDepth)
+                    m_objCollisionList[localID] = contact;
+            }
+        }
+
+        /// <summary>
+        /// Clear added collision events.
+        /// </summary>
+        public void Clear()
+        {
+            m_objCollisionList.Clear();
+        }
+    }
+
+    public abstract class PhysicsActor
+    {
+//        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+
+        public delegate void RequestTerseUpdate();
+        public delegate void CollisionUpdate(EventArgs e);
+        public delegate void OutOfBounds(Vector3 pos);
+
+// disable warning: public events
+#pragma warning disable 67
+        public event PositionUpdate OnPositionUpdate;
+        public event VelocityUpdate OnVelocityUpdate;
+        public event OrientationUpdate OnOrientationUpdate;
+        public event RequestTerseUpdate OnRequestTerseUpdate;
+
+        /// <summary>
+        /// Subscribers to this event must synchronously handle the dictionary of collisions received, since the event
+        /// object is reused in subsequent physics frames.
+        /// </summary>
+        public event CollisionUpdate OnCollisionUpdate;
+
+        public event OutOfBounds OnOutOfBounds;
+#pragma warning restore 67
+
+        public static PhysicsActor Null
+        {
+            get { return new NullPhysicsActor(); }
+        }
+
+        public abstract bool Stopped { get; }
+
+        public abstract Vector3 Size { get; set; }
+
+        public virtual byte PhysicsShapeType { get; set; }
+
+        public abstract PrimitiveBaseShape Shape { set; }
+
+        uint m_baseLocalID;
+        public virtual uint LocalID
+        {
+            set { m_baseLocalID = value; }
+            get { return m_baseLocalID; }
+        }
+
+        public abstract bool Grabbed { set; }
+
+        public abstract bool Selected { set; }
+
+        /// <summary>
+        /// Name of this actor.
+        /// </summary>
+        /// <remarks>
+        /// XXX: Bizarrely, this cannot be "Terrain" or "Water" right now unless it really is simulating terrain or
+        /// water.  This is not a problem due to the formatting of names given by prims and avatars.
+        /// </remarks>
+        public string Name { get; protected set; }
+
+        /// <summary>
+        /// This is being used by ODE joint code.
+        /// </summary>
+        public string SOPName;
+
+        public abstract void CrossingFailure();
+
+        public abstract void link(PhysicsActor obj);
+
+        public abstract void delink();
+
+        public abstract void LockAngularMotion(Vector3 axis);
+
+        public virtual void RequestPhysicsterseUpdate()
+        {
+            // Make a temporary copy of the event to avoid possibility of
+            // a race condition if the last subscriber unsubscribes
+            // immediately after the null check and before the event is raised.
+            RequestTerseUpdate handler = OnRequestTerseUpdate;
+
+            if (handler != null)
+            {
+                handler();
+            }
+        }
+
+        public virtual void RaiseOutOfBounds(Vector3 pos)
+        {
+            // Make a temporary copy of the event to avoid possibility of
+            // a race condition if the last subscriber unsubscribes
+            // immediately after the null check and before the event is raised.
+            OutOfBounds handler = OnOutOfBounds;
+
+            if (handler != null)
+            {
+                handler(pos);
+            }
+        }
+
+        public virtual void SendCollisionUpdate(EventArgs e)
+        {
+            CollisionUpdate handler = OnCollisionUpdate;
+
+//            m_log.DebugFormat("[PHYSICS ACTOR]: Sending collision for {0}", LocalID);
+
+            if (handler != null)
+                handler(e);
+        }
+
+        public virtual void SetMaterial (int material) { }
+        public virtual float Density { get; set; }
+        public virtual float GravModifier { get; set; }
+        public virtual float Friction { get; set; }
+        public virtual float Restitution { get; set; }
+
+        /// <summary>
+        /// Position of this actor.
+        /// </summary>
+        /// <remarks>
+        /// Setting this directly moves the actor to a given position.
+        /// Getting this retrieves the position calculated by physics scene updates, using factors such as velocity and
+        /// collisions.
+        /// </remarks>
+        public abstract Vector3 Position { get; set; }
+
+        public abstract float Mass { get; }
+        public abstract Vector3 Force { get; set; }
+
+        public abstract int VehicleType { get; set; }
+        public abstract void VehicleFloatParam(int param, float value);
+        public abstract void VehicleVectorParam(int param, Vector3 value);
+        public abstract void VehicleRotationParam(int param, Quaternion rotation);
+        public abstract void VehicleFlags(int param, bool remove);
+
+        /// <summary>
+        /// Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
+        /// </summary>
+        public abstract void SetVolumeDetect(int param);
+
+        public abstract Vector3 GeometricCenter { get; }
+        public abstract Vector3 CenterOfMass { get; }
+
+        /// <summary>
+        /// The desired velocity of this actor.
+        /// </summary>
+        /// <remarks>
+        /// Setting this provides a target velocity for physics scene updates.
+        /// Getting this returns the last set target. Fetch Velocity to get the current velocity.
+        /// </remarks>
+        protected Vector3 m_targetVelocity;
+        public virtual Vector3 TargetVelocity
+        {
+            get { return m_targetVelocity; }
+            set {
+                m_targetVelocity = value;
+                Velocity = m_targetVelocity;
+            }
+        }
+
+        public abstract Vector3 Velocity { get; set; }
+
+        public abstract Vector3 Torque { get; set; }
+        public abstract float CollisionScore { get; set;}
+        public abstract Vector3 Acceleration { get; set; }
+        public abstract Quaternion Orientation { get; set; }
+        public abstract int PhysicsActorType { get; set; }
+        public abstract bool IsPhysical { get; set; }
+        public abstract bool Flying { get; set; }
+        public abstract bool SetAlwaysRun { get; set; }
+        public abstract bool ThrottleUpdates { get; set; }
+        public abstract bool IsColliding { get; set; }
+        public abstract bool CollidingGround { get; set; }
+        public abstract bool CollidingObj { get; set; }
+        public abstract bool FloatOnWater { set; }
+        public abstract Vector3 RotationalVelocity { get; set; }
+        public abstract bool Kinematic { get; set; }
+        public abstract float Buoyancy { get; set; }
+
+        // Used for MoveTo
+        public abstract Vector3 PIDTarget { set; }
+        public abstract bool PIDActive { get; set; }
+        public abstract float PIDTau { set; }
+
+        // Used for llSetHoverHeight and maybe vehicle height
+        // Hover Height will override MoveTo target's Z
+        public abstract bool PIDHoverActive { set;}
+        public abstract float PIDHoverHeight { set;}
+        public abstract PIDHoverType PIDHoverType { set;}
+        public abstract float PIDHoverTau { set;}
+
+        // For RotLookAt
+        public abstract Quaternion APIDTarget { set;}
+        public abstract bool APIDActive { set;}
+        public abstract float APIDStrength { set;}
+        public abstract float APIDDamping { set;}
+        
+        public abstract void AddForce(Vector3 force, bool pushforce);
+        public abstract void AddAngularForce(Vector3 force, bool pushforce);
+        public abstract void SetMomentum(Vector3 momentum);
+        public abstract void SubscribeEvents(int ms);
+        public abstract void UnSubscribeEvents();
+        public abstract bool SubscribedEvents();
+
+        // Extendable interface for new, physics engine specific operations
+        public virtual object Extension(string pFunct, params object[] pParams)
+        {
+            // A NOP of the physics engine does not implement this feature
+            return null;
+        }
+    }
+
+    public class NullPhysicsActor : PhysicsActor
+    {
+        public override bool Stopped
+        {
+            get{ return false; }
+        }
+
+        public override Vector3 Position
+        {
+            get { return Vector3.Zero; }
+            set { return; }
+        }
+
+        public override bool SetAlwaysRun
+        {
+            get { return false; }
+            set { return; }
+        }
+
+        public override uint LocalID
+        {
+            set { return; }
+        }
+
+        public override bool Grabbed
+        {
+            set { return; }
+        }
+
+        public override bool Selected
+        {
+            set { return; }
+        }
+
+        public override float Buoyancy
+        {
+            get { return 0f; }
+            set { return; }
+        }
+
+        public override bool  FloatOnWater
+        {
+            set { return; }
+        }
+
+        public override bool CollidingGround
+        {
+            get { return false; }
+            set { return; }
+        }
+
+        public override bool CollidingObj
+        {
+            get { return false; }
+            set { return; }
+        }
+
+        public override Vector3 Size
+        {
+            get { return Vector3.Zero; }
+            set { return; }
+        }
+
+        public override float Mass
+        {
+            get { return 0f; }
+        }
+
+        public override Vector3 Force
+        {
+            get { return Vector3.Zero; }
+            set { return; }
+        }
+
+        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)
+        {
+            
+        }
+
+        public override void SetVolumeDetect(int param)
+        {
+
+        }
+
+        public override void SetMaterial(int material)
+        {
+            
+        }
+
+        public override Vector3 CenterOfMass
+        {
+            get { return Vector3.Zero; }
+        }
+
+        public override Vector3 GeometricCenter
+        {
+            get { return Vector3.Zero; }
+        }
+
+        public override PrimitiveBaseShape Shape
+        {
+            set { return; }
+        }
+
+        public override Vector3 Velocity
+        {
+            get { return Vector3.Zero; }
+            set { return; }
+        }
+
+        public override Vector3 Torque
+        {
+            get { return Vector3.Zero; }
+            set { return; }
+        }
+
+        public override float CollisionScore
+        {
+            get { return 0f; }
+            set { }
+        }
+
+        public override void CrossingFailure()
+        {
+        }
+
+        public override Quaternion Orientation
+        {
+            get { return Quaternion.Identity; }
+            set { }
+        }
+
+        public override Vector3 Acceleration
+        {
+            get { return Vector3.Zero; }
+            set { }
+        }
+
+        public override bool IsPhysical
+        {
+            get { return false; }
+            set { return; }
+        }
+
+        public override bool Flying
+        {
+            get { return false; }
+            set { return; }
+        }
+
+        public override bool ThrottleUpdates
+        {
+            get { return false; }
+            set { return; }
+        }
+
+        public override bool IsColliding
+        {
+            get { return false; }
+            set { return; }
+        }
+
+        public override int PhysicsActorType
+        {
+            get { return (int) ActorTypes.Unknown; }
+            set { return; }
+        }
+
+        public override bool Kinematic
+        {
+            get { return true; }
+            set { return; }
+        }
+
+        public override void link(PhysicsActor obj)
+        {
+        }
+
+        public override void delink()
+        {
+        }
+
+        public override void LockAngularMotion(Vector3 axis)
+        {
+        }
+
+        public override void AddForce(Vector3 force, bool pushforce)
+        {
+        }
+
+        public override void AddAngularForce(Vector3 force, bool pushforce)
+        {
+            
+        }
+
+        public override Vector3 RotationalVelocity
+        {
+            get { return Vector3.Zero; }
+            set { return; }
+        }
+
+        public override Vector3 PIDTarget { set { return; } }
+
+        public override bool PIDActive 
+        {
+            get { return false; }
+            set { return; } 
+        }
+
+        public override float PIDTau { set { return; } }
+
+        public override float PIDHoverHeight { set { return; } }
+        public override bool PIDHoverActive { set { return; } }
+        public override PIDHoverType PIDHoverType { set { return; } }
+        public override float PIDHoverTau { set { return; } }
+        
+        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 SetMomentum(Vector3 momentum)
+        {
+        }
+
+        public override void SubscribeEvents(int ms)
+        {
+
+        }
+        public override void UnSubscribeEvents()
+        {
+
+        }
+        public override bool SubscribedEvents()
+        {
+            return false;
+        }
+    }
+}
diff --git a/OpenSim/Region/PhysicsModules/SharedBase/PhysicsJoint.cs b/OpenSim/Region/PhysicsModules/SharedBase/PhysicsJoint.cs
new file mode 100644
index 0000000..ce2bf05
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/SharedBase/PhysicsJoint.cs
@@ -0,0 +1,55 @@
+/*
+ * 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.PhysicsModules.SharedBase
+{
+    public enum PhysicsJointType : int
+    {
+        Ball = 0,
+        Hinge = 1
+    }
+
+    public class PhysicsJoint
+    {
+        public virtual bool IsInPhysicsEngine { get { return false; } } // set internally to indicate if this joint has already been passed to the physics engine or is still pending
+        public PhysicsJointType Type;
+        public string RawParams;
+        public List<string> BodyNames = new List<string>();
+        public Vector3 Position; // global coords
+        public Quaternion Rotation; // global coords
+        public string ObjectNameInScene; // proxy object in scene that represents the joint position/orientation
+        public string TrackedBodyName; // body name that this joint is attached to (ObjectNameInScene will follow TrackedBodyName)
+        public Quaternion LocalRotation; // joint orientation relative to one of the involved bodies, the tracked body
+        public int ErrorMessageCount; // total # of error messages printed for this joint since its creation. if too many, further error messages are suppressed to prevent flooding.
+        public const int maxErrorMessages = 100; // no more than this # of error messages will be printed for each joint
+    }
+}
diff --git a/OpenSim/Region/PhysicsModules/SharedBase/PhysicsScene.cs b/OpenSim/Region/PhysicsModules/SharedBase/PhysicsScene.cs
new file mode 100644
index 0000000..32691fc
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/SharedBase/PhysicsScene.cs
@@ -0,0 +1,358 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+
+using log4net;
+using Nini.Config;
+
+using OpenSim.Framework;
+using OpenMetaverse;
+
+namespace OpenSim.Region.PhysicsModules.SharedBase
+{
+    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);
+
+    public delegate void JointMoved(PhysicsJoint joint);
+    public delegate void JointDeactivated(PhysicsJoint joint);
+    public delegate void JointErrorMessage(PhysicsJoint joint, string message); // this refers to an "error message due to a problem", not "amount of joint constraint violation"
+
+    public enum RayFilterFlags : ushort
+    {
+        // the flags
+        water = 0x01,
+        land = 0x02,
+        agent = 0x04,
+        nonphysical = 0x08,
+        physical = 0x10,
+        phantom = 0x20,
+        volumedtc = 0x40,
+
+        // ray cast colision control (may only work for meshs)
+        ContactsUnImportant = 0x2000,
+        BackFaceCull = 0x4000,
+        ClosestHit = 0x8000,
+
+        // some combinations
+        LSLPhantom = phantom | volumedtc,
+        PrimsNonPhantom = nonphysical | physical,
+        PrimsNonPhantomAgents = nonphysical | physical | agent,
+
+        AllPrims = nonphysical | phantom | volumedtc | physical,
+        AllButLand = agent | nonphysical | physical | phantom | volumedtc,
+
+        ClosestAndBackCull = ClosestHit | BackFaceCull,
+
+        All = 0x3f
+    }
+
+    public delegate void RequestAssetDelegate(UUID assetID, AssetReceivedDelegate callback);
+    public delegate void AssetReceivedDelegate(AssetBase asset);
+
+    /// <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
+    {
+//        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+
+        /// <summary>
+        /// A unique identifying string for this instance of the physics engine.
+        /// Useful in debug messages to distinguish one OdeScene instance from another.
+        /// Usually set to include the region name that the physics engine is acting for.
+        /// </summary>
+        public string PhysicsSceneName { get; protected set; }
+
+        /// <summary>
+        /// A string identifying the family of this physics engine. Most common values returned
+        /// are "OpenDynamicsEngine" and "BulletSim" but others are possible.
+        /// </summary>
+        public string EngineType { get; protected set; }
+
+        // The only thing that should register for this event is the SceneGraph
+        // Anything else could cause problems.
+        public event physicsCrash OnPhysicsCrash;
+
+        public static PhysicsScene Null
+        {
+            get { return new NullPhysicsScene(); }
+        }
+
+        public RequestAssetDelegate RequestAssetMethod { get; set; }
+
+        protected void Initialise(RequestAssetDelegate m, float[] terrain, float waterHeight)
+        {
+            RequestAssetMethod = m;
+            SetTerrain(terrain);
+            SetWaterLevel(waterHeight);
+
+        }
+
+        public virtual void TriggerPhysicsBasedRestart()
+        {
+            physicsCrash handler = OnPhysicsCrash;
+            if (handler != null)
+            {
+                OnPhysicsCrash();
+            }
+        }
+
+        /// <summary>
+        /// Add an avatar
+        /// </summary>
+        /// <param name="avName"></param>
+        /// <param name="position"></param>
+        /// <param name="velocity"></param>
+        /// <param name="size"></param>
+        /// <param name="isFlying"></param>
+        /// <returns></returns>
+        public abstract PhysicsActor AddAvatar(
+            string avName, Vector3 position, Vector3 velocity, Vector3 size, bool isFlying);
+
+        /// <summary>
+        /// Add an avatar
+        /// </summary>
+        /// <param name="localID"></param>
+        /// <param name="avName"></param>
+        /// <param name="position"></param>
+        /// <param name="velocity"></param>
+        /// <param name="size"></param>
+        /// <param name="isFlying"></param>
+        /// <returns></returns>
+        public virtual PhysicsActor AddAvatar(
+            uint localID, string avName, Vector3 position, Vector3 velocity, Vector3 size, bool isFlying)
+        {
+            PhysicsActor ret = AddAvatar(avName, position, velocity, size, isFlying);
+
+            if (ret != null) 
+                ret.LocalID = localID;
+
+            return ret;
+        }
+
+        /// <summary>
+        /// Remove an avatar.
+        /// </summary>
+        /// <param name="actor"></param>
+        public abstract void RemoveAvatar(PhysicsActor actor);
+
+        /// <summary>
+        /// Remove a prim.
+        /// </summary>
+        /// <param name="prim"></param>
+        public abstract void RemovePrim(PhysicsActor prim);
+
+        public abstract PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                                  Vector3 size, Quaternion rotation, bool isPhysical, uint localid);
+
+        public virtual PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                                  Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, byte shapetype, uint localid)
+        {
+            return AddPrimShape(primName, pbs, position, size, rotation, isPhysical, localid);
+        }
+
+        public virtual float TimeDilation
+        {
+            get { return 1.0f; }
+        }
+
+        public virtual bool SupportsNINJAJoints
+        {
+            get { return false; }
+        }
+
+        public virtual PhysicsJoint RequestJointCreation(string objectNameInScene, PhysicsJointType jointType, Vector3 position,
+                                            Quaternion rotation, string parms, List<string> bodyNames, string trackedBodyName, Quaternion localRotation)
+        { return null; }
+
+        public virtual void RequestJointDeletion(string objectNameInScene)
+        { return; }
+
+        public virtual void RemoveAllJointsConnectedToActorThreadLocked(PhysicsActor actor)
+        { return; }
+
+        public virtual void DumpJointInfo()
+        { return; }
+
+        public event JointMoved OnJointMoved;
+
+        protected virtual void DoJointMoved(PhysicsJoint joint)
+        {
+            // We need this to allow subclasses (but not other classes) to invoke the event; C# does
+            // not allow subclasses to invoke the parent class event.
+            if (OnJointMoved != null)
+            {
+                OnJointMoved(joint);
+            }
+        }
+
+        public event JointDeactivated OnJointDeactivated;
+
+        protected virtual void DoJointDeactivated(PhysicsJoint joint)
+        {
+            // We need this to allow subclasses (but not other classes) to invoke the event; C# does
+            // not allow subclasses to invoke the parent class event.
+            if (OnJointDeactivated != null)
+            {
+                OnJointDeactivated(joint);
+            }
+        }
+
+        public event JointErrorMessage OnJointErrorMessage;
+
+        protected virtual void DoJointErrorMessage(PhysicsJoint joint, string message)
+        {
+            // We need this to allow subclasses (but not other classes) to invoke the event; C# does
+            // not allow subclasses to invoke the parent class event.
+            if (OnJointErrorMessage != null)
+            {
+                OnJointErrorMessage(joint, message);
+            }
+        }
+
+        public virtual Vector3 GetJointAnchor(PhysicsJoint joint)
+        { return Vector3.Zero; }
+
+        public virtual Vector3 GetJointAxis(PhysicsJoint joint)
+        { return Vector3.Zero; }
+
+        public abstract void AddPhysicsActorTaint(PhysicsActor prim);
+
+        /// <summary>
+        /// Perform a simulation of the current physics scene over the given timestep.
+        /// </summary>
+        /// <param name="timeStep"></param>
+        /// <returns>The number of frames simulated over that period.</returns>
+        public abstract float Simulate(float timeStep);
+
+        /// <summary>
+        /// Get statistics about this scene.
+        /// </summary>
+        /// <remarks>This facility is currently experimental and subject to change.</remarks>
+        /// <returns>
+        /// A dictionary where the key is the statistic name.  If no statistics are supplied then returns null.
+        /// </returns>
+        public virtual Dictionary<string, float> GetStats() { return null; }
+
+        public abstract void GetResults();
+
+        public abstract void SetTerrain(float[] heightMap);
+
+        public abstract void SetWaterLevel(float baseheight);
+
+        public abstract void DeleteTerrain();
+
+        public abstract void Dispose();
+
+        public abstract Dictionary<uint, float> GetTopColliders();
+
+        public abstract bool IsThreaded { get; }
+
+        /// <summary>
+        /// True if the physics plugin supports raycasting against the physics scene
+        /// </summary>
+        public virtual bool SupportsRayCast()
+        {
+            return false;
+        }
+
+        public virtual bool SupportsCombining()
+        {
+            return false;
+        }
+
+        public virtual void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents) {}
+
+        public virtual void UnCombine(PhysicsScene pScene) {}
+
+        /// <summary>
+        /// Queue a raycast against the physics scene.
+        /// The provided callback method will be called when the raycast is complete
+        /// 
+        /// Many physics engines don't support collision testing at the same time as 
+        /// manipulating the physics scene, so we queue the request up and callback 
+        /// a custom method when the raycast is complete.
+        /// This allows physics engines that give an immediate result to callback immediately
+        /// and ones that don't, to callback when it gets a result back.
+        /// 
+        /// ODE for example will not allow you to change the scene while collision testing or
+        /// it asserts, 'opteration not valid for locked space'.  This includes adding a ray to the scene.
+        /// 
+        /// This is named RayCastWorld to not conflict with modrex's Raycast method.
+        /// </summary>
+        /// <param name="position">Origin of the ray</param>
+        /// <param name="direction">Direction of the ray</param>
+        /// <param name="length">Length of ray in meters</param>
+        /// <param name="retMethod">Method to call when the raycast is complete</param>
+        public virtual void RaycastWorld(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
+        {
+            if (retMethod != null)
+                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>();
+        }
+
+        public virtual object RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayFilterFlags filter)
+        {
+            return null;
+        }
+
+        public virtual bool SupportsRaycastWorldFiltered()
+        {
+            return false;
+        }
+
+        // Extendable interface for new, physics engine specific operations
+        public virtual object Extension(string pFunct, params object[] pParams)
+        {
+            // A NOP if the extension thing is not implemented by the physics engine
+            return null;
+        }
+    }
+}
diff --git a/OpenSim/Region/PhysicsModules/SharedBase/PhysicsSensor.cs b/OpenSim/Region/PhysicsModules/SharedBase/PhysicsSensor.cs
new file mode 100644
index 0000000..da9c96c
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/SharedBase/PhysicsSensor.cs
@@ -0,0 +1,78 @@
+/*
+ * 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.Timers;
+using OpenMetaverse;
+
+namespace OpenSim.Region.PhysicsModules.SharedBase
+{
+    [Flags]
+    public enum SenseType : uint
+    {
+        NONE = 0,
+        AGENT = 1,
+        ACTIVE = 2,
+        PASSIVE = 3,
+        SCRIPTED = 4
+    }
+
+    public abstract class PhysicsSensor
+    {
+        public static PhysicsSensor Null
+        {
+            get { return new NullPhysicsSensor(); }
+        }
+        public abstract Vector3 Position { get; set; }
+        public abstract void TimerCallback (object obj, ElapsedEventArgs eea);
+        public abstract float radianarc {get; set;}
+        public abstract string targetname {get; set;}
+        public abstract Guid targetKey{get;set;}
+        public abstract SenseType sensetype { get;set;}
+        public abstract float range { get;set;}
+        public abstract float rateSeconds { get;set;}
+    }
+
+    public class NullPhysicsSensor : PhysicsSensor
+    {
+        public override Vector3 Position
+        {
+            get { return Vector3.Zero; }
+            set { return; }
+        }
+        public override void TimerCallback(object obj, ElapsedEventArgs eea)
+        {
+            // don't do squat
+        }
+        public override float radianarc { get { return 0f; } set { } }
+        public override string targetname { get { return ""; } set { } }
+        public override Guid targetKey { get { return Guid.Empty; } set { } }
+        public override SenseType sensetype { get { return SenseType.NONE; } set { } }
+        public override float range { get { return 0; } set { } }
+        public override float rateSeconds { get { return 0; } set { } }
+    }
+}
diff --git a/OpenSim/Region/PhysicsModules/SharedBase/PhysicsVector.cs b/OpenSim/Region/PhysicsModules/SharedBase/PhysicsVector.cs
new file mode 100644
index 0000000..76a82fa
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/SharedBase/PhysicsVector.cs
@@ -0,0 +1,186 @@
+/*
+ * 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;
+
+namespace OpenSim.Region.PhysicsModules.SharedBase
+{
+    /*public class PhysicsVector
+    {
+        public float X;
+        public float Y;
+        public float Z;
+
+        public Vector3()
+        {
+        }
+
+        public Vector3(float x, float y, float z)
+        {
+            X = x;
+            Y = y;
+            Z = z;
+        }
+
+        public Vector3(Vector3 pv) : this(pv.X, pv.Y, pv.Z)
+        {
+        }
+        
+        public void setValues(float x, float y, float z)
+        {
+            X = x;
+            Y = y;
+            Z = z;
+        }
+
+        public static readonly PhysicsVector Zero = new PhysicsVector(0f, 0f, 0f);
+
+        public override string ToString()
+        {
+            return "<" + X + "," + Y + "," + Z + ">";
+        }
+
+        /// <summary>
+        /// These routines are the easiest way to store XYZ values in an Vector3 without requiring 3 calls.
+        /// </summary>
+        /// <returns></returns>
+        public byte[] GetBytes()
+        {
+            byte[] byteArray = new byte[12];
+
+            Buffer.BlockCopy(BitConverter.GetBytes(X), 0, byteArray, 0, 4);
+            Buffer.BlockCopy(BitConverter.GetBytes(Y), 0, byteArray, 4, 4);
+            Buffer.BlockCopy(BitConverter.GetBytes(Z), 0, byteArray, 8, 4);
+
+            if (!BitConverter.IsLittleEndian)
+            {
+                Array.Reverse(byteArray, 0, 4);
+                Array.Reverse(byteArray, 4, 4);
+                Array.Reverse(byteArray, 8, 4);
+            }
+
+            return byteArray;
+        }
+
+        public void FromBytes(byte[] byteArray, int pos)
+        {
+            byte[] conversionBuffer = null;
+            if (!BitConverter.IsLittleEndian)
+            {
+                // Big endian architecture
+                if (conversionBuffer == null)
+                    conversionBuffer = new byte[12];
+
+                Buffer.BlockCopy(byteArray, pos, conversionBuffer, 0, 12);
+
+                Array.Reverse(conversionBuffer, 0, 4);
+                Array.Reverse(conversionBuffer, 4, 4);
+                Array.Reverse(conversionBuffer, 8, 4);
+
+                X = BitConverter.ToSingle(conversionBuffer, 0);
+                Y = BitConverter.ToSingle(conversionBuffer, 4);
+                Z = BitConverter.ToSingle(conversionBuffer, 8);
+            }
+            else
+            {
+                // Little endian architecture
+                X = BitConverter.ToSingle(byteArray, pos);
+                Y = BitConverter.ToSingle(byteArray, pos + 4);
+                Z = BitConverter.ToSingle(byteArray, pos + 8);
+            }
+        }
+
+        // Operations
+        public static PhysicsVector operator +(Vector3 a, Vector3 b)
+        {
+            return new PhysicsVector(a.X + b.X, a.Y + b.Y, a.Z + b.Z);
+        }
+
+        public static PhysicsVector operator -(Vector3 a, Vector3 b)
+        {
+            return new PhysicsVector(a.X - b.X, a.Y - b.Y, a.Z - b.Z);
+        }
+
+        public static PhysicsVector cross(Vector3 a, Vector3 b)
+        {
+            return new PhysicsVector(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 float length()
+        {
+            return (float) Math.Sqrt(X*X + Y*Y + Z*Z);
+        }
+
+        public static float GetDistanceTo(Vector3 a, Vector3 b)
+        {
+            float dx = a.X - b.X;
+            float dy = a.Y - b.Y;
+            float dz = a.Z - b.Z;
+            return (float) Math.Sqrt(dx * dx + dy * dy + dz * dz);
+        }
+
+        public static PhysicsVector operator /(Vector3 v, float f)
+        {
+            return new PhysicsVector(v.X/f, v.Y/f, v.Z/f);
+        }
+
+        public static PhysicsVector operator *(Vector3 v, float f)
+        {
+            return new PhysicsVector(v.X*f, v.Y*f, v.Z*f);
+        }
+
+        public static PhysicsVector operator *(float f, Vector3 v)
+        {
+            return v*f;
+        }
+
+        public static bool isFinite(Vector3 v)
+        {
+            if (v == null)
+                return false;
+            if (Single.IsInfinity(v.X) || Single.IsNaN(v.X))
+                return false;
+            if (Single.IsInfinity(v.Y) || Single.IsNaN(v.Y))
+                return false;
+            if (Single.IsInfinity(v.Z) || Single.IsNaN(v.Z))
+                return false;
+
+            return true;
+        }
+
+        public virtual bool IsIdentical(Vector3 v, float tolerance)
+        {
+            PhysicsVector diff = this - v;
+            float d = diff.length();
+            if (d <= tolerance)
+                return true;
+
+            return false;
+        }
+
+    }*/
+}
diff --git a/OpenSim/Region/PhysicsModules/SharedBase/VehicleConstants.cs b/OpenSim/Region/PhysicsModules/SharedBase/VehicleConstants.cs
new file mode 100644
index 0000000..63a8cb8
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/SharedBase/VehicleConstants.cs
@@ -0,0 +1,121 @@
+/*
+ * 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;
+
+namespace OpenSim.Region.PhysicsModules.SharedBase
+{
+    public enum Vehicle : int
+    {
+        /// <summary>
+        /// Turns off Vehicle Support
+        /// </summary>
+        TYPE_NONE = 0,
+
+        /// <summary>
+        /// No Angular motor, High Left right friction, No Hover, Linear Deflection 1, no angular deflection 
+        /// no vertical attractor, No banking, Identity rotation frame
+        /// </summary>
+        TYPE_SLED = 1,
+
+        /// <summary>
+        /// Needs Motors to be driven by timer or control events  High left/right friction, No angular friction
+        /// Linear Motor wins in a second, decays in 60 seconds.  Angular motor wins in a second, decays in 8/10ths of a second
+        /// linear deflection 2 seconds
+        /// Vertical Attractor locked UP
+        /// </summary>
+        TYPE_CAR = 2,
+        TYPE_BOAT = 3,
+        TYPE_AIRPLANE = 4,
+        TYPE_BALLOON = 5,
+        LINEAR_FRICTION_TIMESCALE = 16,
+        /// <summary>
+        /// vector of timescales for exponential decay of angular velocity about three axis
+        /// </summary>
+        ANGULAR_FRICTION_TIMESCALE = 17,
+        /// <summary>
+        /// linear velocity vehicle will try for
+        /// </summary>
+        LINEAR_MOTOR_DIRECTION = 18,
+
+        /// <summary>
+        /// Offset from center of mass where linear motor forces are added
+        /// </summary>
+        LINEAR_MOTOR_OFFSET = 20,
+        /// <summary>
+        /// angular velocity that vehicle will try for
+        /// </summary>
+        ANGULAR_MOTOR_DIRECTION = 19,
+        HOVER_HEIGHT = 24,
+        HOVER_EFFICIENCY = 25,
+        HOVER_TIMESCALE = 26,
+        BUOYANCY = 27,
+        LINEAR_DEFLECTION_EFFICIENCY = 28,
+        LINEAR_DEFLECTION_TIMESCALE = 29,
+        LINEAR_MOTOR_TIMESCALE = 30,
+        LINEAR_MOTOR_DECAY_TIMESCALE = 31,
+
+        /// <summary>
+        /// slide between 0 and 1
+        /// </summary>
+        ANGULAR_DEFLECTION_EFFICIENCY = 32,
+        ANGULAR_DEFLECTION_TIMESCALE = 33,
+        ANGULAR_MOTOR_TIMESCALE = 34,
+        ANGULAR_MOTOR_DECAY_TIMESCALE = 35,
+        VERTICAL_ATTRACTION_EFFICIENCY = 36,
+        VERTICAL_ATTRACTION_TIMESCALE = 37,
+        BANKING_EFFICIENCY = 38,
+        BANKING_MIX = 39,
+        BANKING_TIMESCALE = 40,
+        REFERENCE_FRAME = 44,
+        BLOCK_EXIT = 45,
+        ROLL_FRAME = 46
+
+    }
+
+    [Flags]
+    public enum VehicleFlag
+    {
+        NO_DEFLECTION_UP = 1,
+        LIMIT_ROLL_ONLY = 2,
+        HOVER_WATER_ONLY = 4,
+        HOVER_TERRAIN_ONLY = 8,
+        HOVER_GLOBAL_HEIGHT = 16,
+        HOVER_UP_ONLY = 32,
+        LIMIT_MOTOR_UP = 64,
+        MOUSELOOK_STEER = 128,
+        MOUSELOOK_BANK = 256,
+        CAMERA_DECOUPLED = 512,
+        NO_X = 1024,
+        NO_Y = 2048,
+        NO_Z = 4096,
+        LOCK_HOVER_HEIGHT = 8192,
+        NO_DEFLECTION = 16392,
+        LOCK_ROTATION = 32784
+    }
+        
+}