Experimental change of PhysicsVector to Vector3. Untested

author: John Hurliman 2009-10-25 23:16:12 -0700
committer: John Hurliman 2009-10-26 18:23:43 -0700
commit: d199767e6991d6f368661fce9c5a072e564b8a4b (patch)
tree: d9347b8a424c0164e208f908613aa8fe1511444b /OpenSim/Region
parent: * Double the priority on avatar bake texture requests to get avatars rezzing ... (diff)
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32 files changed, 866 insertions, 878 deletions
diff --git a/OpenSim/Region/CoreModules/World/Land/LandManagementModule.cs b/OpenSim/Region/CoreModules/World/Land/LandManagementModule.cs
index 53c64cb..93a949a 100644
--- a/OpenSim/Region/CoreModules/World/Land/LandManagementModule.cs
+++ b/OpenSim/Region/CoreModules/World/Land/LandManagementModule.cs
@@ -264,10 +264,8 @@ namespace OpenSim.Region.CoreModules.World.Land
                avatar.ControllingClient.SendAlertMessage(
                    "You are not allowed on this parcel because you are banned. Please go away.");
-                avatar.PhysicsActor.Position =
+                avatar.PhysicsActor.Position = avatar.lastKnownAllowedPosition;
-                    new PhysicsVector(avatar.lastKnownAllowedPosition.X, avatar.lastKnownAllowedPosition.Y,
+                avatar.PhysicsActor.Velocity = Vector3.Zero;
-                                      avatar.lastKnownAllowedPosition.Z);
-                avatar.PhysicsActor.Velocity = new PhysicsVector(0, 0, 0);
            }
            else
            {
diff --git a/OpenSim/Region/Framework/Scenes/Scene.cs b/OpenSim/Region/Framework/Scenes/Scene.cs
index 7eafef7..6c34056 100644
--- a/OpenSim/Region/Framework/Scenes/Scene.cs
+++ b/OpenSim/Region/Framework/Scenes/Scene.cs
@@ -4606,7 +4606,7 @@ namespace OpenSim.Region.Framework.Scenes
            {
                case PhysicsJointType.Ball:
                    {
-                        PhysicsVector jointAnchor = PhysicsScene.GetJointAnchor(joint);
+                        Vector3 jointAnchor = PhysicsScene.GetJointAnchor(joint);
                        Vector3 proxyPos = new Vector3(jointAnchor.X, jointAnchor.Y, jointAnchor.Z);
                        jointProxyObject.ParentGroup.UpdateGroupPosition(proxyPos); // schedules the entire group for a terse update
                    }
@@ -4614,7 +4614,7 @@ namespace OpenSim.Region.Framework.Scenes
                case PhysicsJointType.Hinge:
                    {
-                        PhysicsVector jointAnchor = PhysicsScene.GetJointAnchor(joint);
+                        Vector3 jointAnchor = PhysicsScene.GetJointAnchor(joint);
                        // Normally, we would just ask the physics scene to return the axis for the joint.
                        // Unfortunately, ODE sometimes returns <0,0,0> for the joint axis, which should
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
index 34ada4c..38a0cff 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
@@ -1479,8 +1479,8 @@ namespace OpenSim.Region.Framework.Scenes
                dupe.RootPart.PhysActor = m_scene.PhysicsScene.AddPrimShape(
                    dupe.RootPart.Name,
                    pbs,
-                    new PhysicsVector(dupe.RootPart.AbsolutePosition.X, dupe.RootPart.AbsolutePosition.Y, dupe.RootPart.AbsolutePosition.Z),
+                    dupe.RootPart.AbsolutePosition,
-                    new PhysicsVector(dupe.RootPart.Scale.X, dupe.RootPart.Scale.Y, dupe.RootPart.Scale.Z),
+                    dupe.RootPart.Scale,
                    dupe.RootPart.RotationOffset,
                    dupe.RootPart.PhysActor.IsPhysical);
@@ -1595,7 +1595,7 @@ namespace OpenSim.Region.Framework.Scenes
            */
        }
-        public void applyImpulse(PhysicsVector impulse)
+        public void applyImpulse(Vector3 impulse)
        {
            // We check if rootpart is null here because scripts don't delete if you delete the host.
            // This means that unfortunately, we can pass a null physics actor to Simulate!
@@ -1622,7 +1622,7 @@ namespace OpenSim.Region.Framework.Scenes
            }
        }
-        public void applyAngularImpulse(PhysicsVector impulse)
+        public void applyAngularImpulse(Vector3 impulse)
        {
            // We check if rootpart is null here because scripts don't delete if you delete the host.
            // This means that unfortunately, we can pass a null physics actor to Simulate!
@@ -1641,7 +1641,7 @@ namespace OpenSim.Region.Framework.Scenes
            }
        }
-        public void setAngularImpulse(PhysicsVector impulse)
+        public void setAngularImpulse(Vector3 impulse)
        {
            // We check if rootpart is null here because scripts don't delete if you delete the host.
            // This means that unfortunately, we can pass a null physics actor to Simulate!
@@ -1672,8 +1672,8 @@ namespace OpenSim.Region.Framework.Scenes
                {
                    if (!IsAttachment)
                    {
-                        PhysicsVector torque = rootpart.PhysActor.Torque;
+                        Vector3 torque = rootpart.PhysActor.Torque;
-                        return new Vector3(torque.X, torque.Y, torque.Z);
+                        return torque;
                    }
                }
            }
@@ -1706,7 +1706,7 @@ namespace OpenSim.Region.Framework.Scenes
                {
                    if (rootpart.PhysActor != null)
                    {
-                        rootpart.PhysActor.PIDTarget = new PhysicsVector(target.X, target.Y, target.Z);
+                        rootpart.PhysActor.PIDTarget = target;
                        rootpart.PhysActor.PIDTau = tau;
                        rootpart.PhysActor.PIDActive = true;
                    }
@@ -2374,7 +2374,7 @@ namespace OpenSim.Region.Framework.Scenes
                    if (m_rootPart.PhysActor.IsPhysical)
                    {
                        Vector3 llmoveforce = pos - AbsolutePosition;
-                        PhysicsVector grabforce = new PhysicsVector(llmoveforce.X, llmoveforce.Y, llmoveforce.Z);
+                        Vector3 grabforce = llmoveforce;
                        grabforce = (grabforce / 10) * m_rootPart.PhysActor.Mass;
                        m_rootPart.PhysActor.AddForce(grabforce,true);
                        m_scene.PhysicsScene.AddPhysicsActorTaint(m_rootPart.PhysActor);
@@ -2479,7 +2479,7 @@ namespace OpenSim.Region.Framework.Scenes
                          rotationAxis.Normalize();
                          //m_log.Error("SCENE OBJECT GROUP]: rotation axis is " + rotationAxis);
-                          PhysicsVector spinforce = new PhysicsVector(rotationAxis.X, rotationAxis.Y, rotationAxis.Z);
+                          Vector3 spinforce = new Vector3(rotationAxis.X, rotationAxis.Y, rotationAxis.Z);
                          spinforce = (spinforce/8) * m_rootPart.PhysActor.Mass; // 8 is an arbitrary torque scaling factor
                          m_rootPart.PhysActor.AddAngularForce(spinforce,true);
                          m_scene.PhysicsScene.AddPhysicsActorTaint(m_rootPart.PhysActor);
@@ -2706,8 +2706,7 @@ namespace OpenSim.Region.Framework.Scenes
                        if (scale.Z > m_scene.m_maxPhys)
                            scale.Z = m_scene.m_maxPhys;
                    }
-                    part.PhysActor.Size =
+                    part.PhysActor.Size = scale;
-                        new PhysicsVector(scale.X, scale.Y, scale.Z);
                    m_scene.PhysicsScene.AddPhysicsActorTaint(part.PhysActor);
                }
                //if (part.UUID != m_rootPart.UUID)
@@ -2851,8 +2850,7 @@ namespace OpenSim.Region.Framework.Scenes
                if (part.PhysActor != null)
                {
-                    part.PhysActor.Size =
+                    part.PhysActor.Size = prevScale;
-                        new PhysicsVector(prevScale.X, prevScale.Y, prevScale.Z);
                    m_scene.PhysicsScene.AddPhysicsActorTaint(part.PhysActor);
                }
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
index a87bde0..70f3112 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
@@ -167,9 +167,9 @@ namespace OpenSim.Region.Framework.Scenes
        [XmlIgnore]
        public uint AttachmentPoint;
-        
        [XmlIgnore]
-        public PhysicsVector RotationAxis = new PhysicsVector(1f, 1f, 1f);
+        public Vector3 RotationAxis = Vector3.One;
        [XmlIgnore]
        public bool VolumeDetectActive; // XmlIgnore set to avoid problems with persistance until I come to care for this
@@ -537,13 +537,13 @@ namespace OpenSim.Region.Framework.Scenes
                        // Root prim actually goes at Position
                        if (_parentID == 0)
                        {
-                            PhysActor.Position = new PhysicsVector(value.X, value.Y, value.Z);
+                            PhysActor.Position = value;
                        }
                        else
                        {
                            // To move the child prim in respect to the group position and rotation we have to calculate
                            Vector3 resultingposition = GetWorldPosition();
-                            PhysActor.Position = new PhysicsVector(resultingposition.X, resultingposition.Y, resultingposition.Z);
+                            PhysActor.Position = resultingposition;
                            Quaternion resultingrot = GetWorldRotation();
                            PhysActor.Orientation = resultingrot;
                        }
@@ -585,7 +585,7 @@ namespace OpenSim.Region.Framework.Scenes
                     if (_parentID != 0 && PhysActor != null)
                    {
                        Vector3 resultingposition = GetWorldPosition();
-                        PhysActor.Position = new PhysicsVector(resultingposition.X, resultingposition.Y, resultingposition.Z);
+                        PhysActor.Position = resultingposition;
                        Quaternion resultingrot = GetWorldRotation();
                        PhysActor.Orientation = resultingrot;
@@ -675,7 +675,7 @@ namespace OpenSim.Region.Framework.Scenes
                {
                    if (PhysActor.IsPhysical)
                    {
-                        PhysActor.Velocity = new PhysicsVector(value.X, value.Y, value.Z);
+                        PhysActor.Velocity = value;
                        m_parentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(PhysActor);
                    }
                }
@@ -817,7 +817,7 @@ if (m_shape != null) {
                    {
                        if (m_parentGroup.Scene.PhysicsScene != null)
                        {
-                            PhysActor.Size = new PhysicsVector(m_shape.Scale.X, m_shape.Scale.Y, m_shape.Scale.Z);
+                            PhysActor.Size = m_shape.Scale;
                            m_parentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(PhysActor);
                        }
                    }
@@ -1225,7 +1225,7 @@ if (m_shape != null) {
        /// <param name="localGlobalTF">true for the local frame, false for the global frame</param>
        public void ApplyImpulse(Vector3 impulsei, bool localGlobalTF)
        {
-            PhysicsVector impulse = new PhysicsVector(impulsei.X, impulsei.Y, impulsei.Z);
+            Vector3 impulse = impulsei;
            if (localGlobalTF)
            {
@@ -1233,7 +1233,7 @@ if (m_shape != null) {
                Quaternion AXgrot = grot;
                Vector3 AXimpulsei = impulsei;
                Vector3 newimpulse = AXimpulsei * AXgrot;
-                impulse = new PhysicsVector(newimpulse.X, newimpulse.Y, newimpulse.Z);
+                impulse = newimpulse;
            }
            if (m_parentGroup != null)
@@ -1251,7 +1251,7 @@ if (m_shape != null) {
        /// <param name="localGlobalTF">true for the local frame, false for the global frame</param>
        public void ApplyAngularImpulse(Vector3 impulsei, bool localGlobalTF)
        {
-            PhysicsVector impulse = new PhysicsVector(impulsei.X, impulsei.Y, impulsei.Z);
+            Vector3 impulse = impulsei;
            if (localGlobalTF)
            {
@@ -1259,7 +1259,7 @@ if (m_shape != null) {
                Quaternion AXgrot = grot;
                Vector3 AXimpulsei = impulsei;
                Vector3 newimpulse = AXimpulsei * AXgrot;
-                impulse = new PhysicsVector(newimpulse.X, newimpulse.Y, newimpulse.Z);
+                impulse = newimpulse;
            }
            if (m_parentGroup != null)
@@ -1277,7 +1277,7 @@ if (m_shape != null) {
        /// <param name="localGlobalTF">true for the local frame, false for the global frame</param>
        public void SetAngularImpulse(Vector3 impulsei, bool localGlobalTF)
        {
-            PhysicsVector impulse = new PhysicsVector(impulsei.X, impulsei.Y, impulsei.Z);
+            Vector3 impulse = impulsei;
            if (localGlobalTF)
            {
@@ -1285,7 +1285,7 @@ if (m_shape != null) {
                Quaternion AXgrot = grot;
                Vector3 AXimpulsei = impulsei;
                Vector3 newimpulse = AXimpulsei * AXgrot;
-                impulse = new PhysicsVector(newimpulse.X, newimpulse.Y, newimpulse.Z);
+                impulse = newimpulse;
            }
            if (m_parentGroup != null)
@@ -1333,8 +1333,8 @@ if (m_shape != null) {
                    PhysActor = m_parentGroup.Scene.PhysicsScene.AddPrimShape(
                        Name,
                        Shape,
-                        new PhysicsVector(AbsolutePosition.X, AbsolutePosition.Y, AbsolutePosition.Z),
+                        AbsolutePosition,
-                        new PhysicsVector(Scale.X, Scale.Y, Scale.Z),
+                        Scale,
                        RotationOffset,
                        RigidBody);
@@ -1523,7 +1523,7 @@ if (m_shape != null) {
                    PhysicsJoint joint;
                    joint = m_parentGroup.Scene.PhysicsScene.RequestJointCreation(Name, jointType,
-                        new PhysicsVector(AbsolutePosition.X, AbsolutePosition.Y, AbsolutePosition.Z),
+                        AbsolutePosition,
                        this.RotationOffset,
                        Description,
                        bodyNames,
@@ -1708,12 +1708,12 @@ if (m_shape != null) {
            }
        }
-        public PhysicsVector GetForce()
+        public Vector3 GetForce()
        {
            if (PhysActor != null)
                return PhysActor.Force;
            else
-                return new PhysicsVector();
+                return Vector3.Zero;
        }
        public void GetProperties(IClientAPI client)
@@ -2078,7 +2078,7 @@ if (m_shape != null) {
            }
        }
-        public void PhysicsOutOfBounds(PhysicsVector pos)
+        public void PhysicsOutOfBounds(Vector3 pos)
        {
            m_log.Error("[PHYSICS]: Physical Object went out of bounds.");
            
@@ -2564,7 +2564,7 @@ if (m_shape != null) {
            }
        }
-        public void SetForce(PhysicsVector force)
+        public void SetForce(Vector3 force)
        {
            if (PhysActor != null)
            {
@@ -2588,7 +2588,7 @@ if (m_shape != null) {
            }
        }
-        public void SetVehicleVectorParam(int param, PhysicsVector value)
+        public void SetVehicleVectorParam(int param, Vector3 value)
        {
            if (PhysActor != null)
            {
@@ -3430,8 +3430,8 @@ if (m_shape != null) {
                    PhysActor = m_parentGroup.Scene.PhysicsScene.AddPrimShape(
                        Name,
                        Shape,
-                        new PhysicsVector(AbsolutePosition.X, AbsolutePosition.Y, AbsolutePosition.Z),
+                        AbsolutePosition,
-                        new PhysicsVector(Scale.X, Scale.Y, Scale.Z),
+                        Scale,
                        RotationOffset,
                        UsePhysics);
diff --git a/OpenSim/Region/Framework/Scenes/ScenePresence.cs b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
index 0ac5be0..87fac0c 100644
--- a/OpenSim/Region/Framework/Scenes/ScenePresence.cs
+++ b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
@@ -434,7 +434,7 @@ namespace OpenSim.Region.Framework.Scenes
                    {
                        lock (m_scene.SyncRoot)
                        {
-                            m_physicsActor.Position = new PhysicsVector(value.X, value.Y, value.Z);
+                            m_physicsActor.Position = value;
                        }
                    }
                    catch (Exception e)
@@ -474,7 +474,7 @@ namespace OpenSim.Region.Framework.Scenes
                    {
                        lock (m_scene.SyncRoot)
                        {
-                            m_physicsActor.Velocity = new PhysicsVector(value.X, value.Y, value.Z);
+                            m_physicsActor.Velocity = value;
                        }
                    }
                    catch (Exception e)
@@ -1046,7 +1046,7 @@ namespace OpenSim.Region.Framework.Scenes
            m_avHeight = height;
            if (PhysicsActor != null && !IsChildAgent)
            {
-                PhysicsVector SetSize = new PhysicsVector(0.45f, 0.6f, m_avHeight);
+                Vector3 SetSize = new Vector3(0.45f, 0.6f, m_avHeight);
                PhysicsActor.Size = SetSize;
            }
        }
@@ -3345,20 +3345,18 @@ namespace OpenSim.Region.Framework.Scenes
            
            PhysicsScene scene = m_scene.PhysicsScene;
-            PhysicsVector pVec =
+            Vector3 pVec = AbsolutePosition;
-                new PhysicsVector(AbsolutePosition.X, AbsolutePosition.Y,
-                                  AbsolutePosition.Z);
            // Old bug where the height was in centimeters instead of meters
            if (m_avHeight == 127.0f)
            {
-                m_physicsActor = scene.AddAvatar(Firstname + "." + Lastname, pVec, new PhysicsVector(0, 0, 1.56f),
+                m_physicsActor = scene.AddAvatar(Firstname + "." + Lastname, pVec, new Vector3(0f, 0f, 1.56f),
                                                 isFlying);
            }
            else
            {
                m_physicsActor = scene.AddAvatar(Firstname + "." + Lastname, pVec,
-                                                 new PhysicsVector(0, 0, m_avHeight), isFlying);
+                                                 new Vector3(0f, 0f, m_avHeight), isFlying);
            }
            scene.AddPhysicsActorTaint(m_physicsActor);
            //m_physicsActor.OnRequestTerseUpdate += SendTerseUpdateToAllClients;
@@ -3369,7 +3367,7 @@ namespace OpenSim.Region.Framework.Scenes
            
        }
-        private void OutOfBoundsCall(PhysicsVector pos)
+        private void OutOfBoundsCall(Vector3 pos)
        {
            //bool flying = m_physicsActor.Flying;
            //RemoveFromPhysicalScene();
@@ -3592,7 +3590,7 @@ namespace OpenSim.Region.Framework.Scenes
            */
        }
-        internal void PushForce(PhysicsVector impulse)
+        internal void PushForce(Vector3 impulse)
        {
            if (PhysicsActor != null)
            {
diff --git a/OpenSim/Region/OptionalModules/Scripting/Minimodule/SOPObject.cs b/OpenSim/Region/OptionalModules/Scripting/Minimodule/SOPObject.cs
index 292e345..1f1ebae 100644
--- a/OpenSim/Region/OptionalModules/Scripting/Minimodule/SOPObject.cs
+++ b/OpenSim/Region/OptionalModules/Scripting/Minimodule/SOPObject.cs
@@ -525,8 +525,8 @@ namespace OpenSim.Region.OptionalModules.Scripting.Minimodule
        {
            get
            {
-                PhysicsVector tmp = GetSOP().PhysActor.GeometricCenter;
+                Vector3 tmp = GetSOP().PhysActor.GeometricCenter;
-                return new Vector3(tmp.X, tmp.Y, tmp.Z);
+                return tmp;
            }
        }
@@ -534,8 +534,8 @@ namespace OpenSim.Region.OptionalModules.Scripting.Minimodule
        {
            get
            {
-                PhysicsVector tmp = GetSOP().PhysActor.CenterOfMass;
+                Vector3 tmp = GetSOP().PhysActor.CenterOfMass;
-                return new Vector3(tmp.X, tmp.Y, tmp.Z);
+                return tmp;
            }
        }
@@ -543,15 +543,15 @@ namespace OpenSim.Region.OptionalModules.Scripting.Minimodule
        {
            get
            {
-                PhysicsVector tmp = GetSOP().PhysActor.RotationalVelocity;
+                Vector3 tmp = GetSOP().PhysActor.RotationalVelocity;
-                return new Vector3(tmp.X, tmp.Y, tmp.Z);
+                return tmp;
            }
            set
            {
                if (!CanEdit())
                    return;
-                GetSOP().PhysActor.RotationalVelocity = new PhysicsVector(value.X, value.Y, value.Z);
+                GetSOP().PhysActor.RotationalVelocity = value;
            }
        }
@@ -559,15 +559,15 @@ namespace OpenSim.Region.OptionalModules.Scripting.Minimodule
        {
            get
            {
-                PhysicsVector tmp = GetSOP().PhysActor.Velocity;
+                Vector3 tmp = GetSOP().PhysActor.Velocity;
-                return new Vector3(tmp.X, tmp.Y, tmp.Z);
+                return tmp;
            }
            set
            {
                if (!CanEdit())
                    return;
-                GetSOP().PhysActor.Velocity = new PhysicsVector(value.X, value.Y, value.Z);
+                GetSOP().PhysActor.Velocity = value;
            }
        }
@@ -575,15 +575,15 @@ namespace OpenSim.Region.OptionalModules.Scripting.Minimodule
        {
            get
            {
-                PhysicsVector tmp = GetSOP().PhysActor.Torque;
+                Vector3 tmp = GetSOP().PhysActor.Torque;
-                return new Vector3(tmp.X, tmp.Y, tmp.Z);
+                return tmp;
            }
            set
            {
                if (!CanEdit())
                    return;
-                GetSOP().PhysActor.Torque = new PhysicsVector(value.X, value.Y, value.Z);
+                GetSOP().PhysActor.Torque = value;
            }
        }
@@ -591,8 +591,8 @@ namespace OpenSim.Region.OptionalModules.Scripting.Minimodule
        {
            get
            {
-                PhysicsVector tmp = GetSOP().PhysActor.Acceleration;
+                Vector3 tmp = GetSOP().PhysActor.Acceleration;
-                return new Vector3(tmp.X, tmp.Y, tmp.Z);
+                return tmp;
            }
        }
@@ -600,15 +600,15 @@ namespace OpenSim.Region.OptionalModules.Scripting.Minimodule
        {
            get
            {
-                PhysicsVector tmp = GetSOP().PhysActor.Force;
+                Vector3 tmp = GetSOP().PhysActor.Force;
-                return new Vector3(tmp.X, tmp.Y, tmp.Z);
+                return tmp;
            }
            set
            {
                if (!CanEdit())
                    return;
-                GetSOP().PhysActor.Force = new PhysicsVector(value.X, value.Y, value.Z);
+                GetSOP().PhysActor.Force = value;
            }
        }
@@ -627,7 +627,7 @@ namespace OpenSim.Region.OptionalModules.Scripting.Minimodule
            if (!CanEdit())
                return;
-            GetSOP().PhysActor.AddForce(new PhysicsVector(force.X, force.Y, force.Z), pushforce);
+            GetSOP().PhysActor.AddForce(force, pushforce);
        }
        public void AddAngularForce(Vector3 force, bool pushforce)
@@ -635,7 +635,7 @@ namespace OpenSim.Region.OptionalModules.Scripting.Minimodule
            if (!CanEdit())
                return;
-            GetSOP().PhysActor.AddAngularForce(new PhysicsVector(force.X, force.Y, force.Z), pushforce);
+            GetSOP().PhysActor.AddAngularForce(force, pushforce);
        }
        public void SetMomentum(Vector3 momentum)
@@ -643,7 +643,7 @@ namespace OpenSim.Region.OptionalModules.Scripting.Minimodule
            if (!CanEdit())
                return;
-            GetSOP().PhysActor.SetMomentum(new PhysicsVector(momentum.X, momentum.Y, momentum.Z));
+            GetSOP().PhysActor.SetMomentum(momentum);
        }
        #endregion
diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs
index 8d8b3fe..8df997e 100644
--- a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs
+++ b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs
@@ -36,20 +36,16 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
 {
    public class BasicActor : PhysicsActor
    {
-        private PhysicsVector _position;
+        private Vector3 _position;
-        private PhysicsVector _velocity;
+        private Vector3 _velocity;
-        private PhysicsVector _acceleration;
+        private Vector3 _acceleration;
-        private PhysicsVector _size;
+        private Vector3 _size;
-        private PhysicsVector m_rotationalVelocity = PhysicsVector.Zero;
+        private Vector3 m_rotationalVelocity;
        private bool flying;
        private bool iscolliding;
        public BasicActor()
        {
-            _velocity = new PhysicsVector();
-            _position = new PhysicsVector();
-            _acceleration = new PhysicsVector();
-            _size = new PhysicsVector();
        }
        public override int PhysicsActorType
@@ -58,7 +54,7 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
            set { return; }
        }
-        public override PhysicsVector RotationalVelocity
+        public override Vector3 RotationalVelocity
        {
            get { return m_rotationalVelocity; }
            set { m_rotationalVelocity = value; }
@@ -137,13 +133,13 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
            get { return false; }
        }
-        public override PhysicsVector Position
+        public override Vector3 Position
        {
            get { return _position; }
            set { _position = value; }
        }
-        public override PhysicsVector Size
+        public override Vector3 Size
        {
            get { return _size; }
            set {
@@ -162,9 +158,9 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
            get { return 0f; }
        }
-        public override PhysicsVector Force
+        public override Vector3 Force
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
            set { return; }
        }
@@ -179,7 +175,7 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
        }
-        public override void VehicleVectorParam(int param, PhysicsVector value)
+        public override void VehicleVectorParam(int param, Vector3 value)
        {
        }
@@ -194,25 +190,25 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
        }
-        public override PhysicsVector CenterOfMass
+        public override Vector3 CenterOfMass
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
        }
-        public override PhysicsVector GeometricCenter
+        public override Vector3 GeometricCenter
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
        }
-        public override PhysicsVector Velocity
+        public override Vector3 Velocity
        {
            get { return _velocity; }
            set { _velocity = value; }
        }
-        public override PhysicsVector Torque
+        public override Vector3 Torque
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
            set { return; }
        }
@@ -228,7 +224,7 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
            set { }
        }
-        public override PhysicsVector Acceleration
+        public override Vector3 Acceleration
        {
            get { return _acceleration; }
        }
@@ -247,24 +243,24 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
        {
        }
-        public override void LockAngularMotion(PhysicsVector axis)
+        public override void LockAngularMotion(Vector3 axis)
        {
        }
-        public void SetAcceleration(PhysicsVector accel)
+        public void SetAcceleration(Vector3 accel)
        {
            _acceleration = accel;
        }
-        public override void AddForce(PhysicsVector force, bool pushforce)
+        public override void AddForce(Vector3 force, bool pushforce)
        {
        }
-        public override void AddAngularForce(PhysicsVector force, bool pushforce)
+        public override void AddAngularForce(Vector3 force, bool pushforce)
        {
        }
-        public override void SetMomentum(PhysicsVector momentum)
+        public override void SetMomentum(Vector3 momentum)
        {
        }
@@ -272,7 +268,7 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
        {
        }
-        public override PhysicsVector PIDTarget
+        public override Vector3 PIDTarget
        {
            set { return; }
        }
diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs
index 66bd099..b6e1cb4 100644
--- a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs
+++ b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs
@@ -54,7 +54,7 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
        {
        }
-        public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying)
+        public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
        {
            BasicActor act = new BasicActor();
            act.Position = position;
@@ -77,20 +77,20 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
        }
 /*
-        public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation)
+        public override PhysicsActor AddPrim(Vector3 position, Vector3 size, Quaternion rotation)
        {
            return null;
        }
 */
-        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
-                                                  PhysicsVector size, Quaternion rotation)
+                                                  Vector3 size, Quaternion rotation)
        {
            return AddPrimShape(primName, pbs, position, size, rotation, false);
        }
-        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
-                                                  PhysicsVector size, Quaternion rotation, bool isPhysical)
+                                                  Vector3 size, Quaternion rotation, bool isPhysical)
        {
            return null;
        }
@@ -105,26 +105,28 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
            for (int i = 0; i < _actors.Count; ++i)
            {
                BasicActor actor = _actors[i];
+                Vector3 actorPosition = actor.Position;
+                Vector3 actorVelocity = actor.Velocity;
-                actor.Position.X += actor.Velocity.X*timeStep;
+                actorPosition.X += actor.Velocity.X*timeStep;
-                actor.Position.Y += actor.Velocity.Y*timeStep;
+                actorPosition.Y += actor.Velocity.Y*timeStep;
                if (actor.Position.Y < 0)
                {
-                    actor.Position.Y = 0.1F;
+                    actorPosition.Y = 0.1F;
                }
                else if (actor.Position.Y >= Constants.RegionSize)
                {
-                    actor.Position.Y = ((int)Constants.RegionSize - 0.1f);
+                    actorPosition.Y = ((int)Constants.RegionSize - 0.1f);
                }
                if (actor.Position.X < 0)
                {
-                    actor.Position.X = 0.1F;
+                    actorPosition.X = 0.1F;
                }
                else if (actor.Position.X >= Constants.RegionSize)
                {
-                    actor.Position.X = ((int)Constants.RegionSize - 0.1f);
+                    actorPosition.X = ((int)Constants.RegionSize - 0.1f);
                }
                float height = _heightMap[(int)actor.Position.Y * Constants.RegionSize + (int)actor.Position.X] + actor.Size.Z;
@@ -133,23 +135,27 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
                    if (actor.Position.Z + (actor.Velocity.Z*timeStep) <
                        _heightMap[(int)actor.Position.Y * Constants.RegionSize + (int)actor.Position.X] + 2)
                    {
-                        actor.Position.Z = height;
+                        actorPosition.Z = height;
-                        actor.Velocity.Z = 0;
+                        actorVelocity.Z = 0;
                        actor.IsColliding = true;
                    }
                    else
                    {
-                        actor.Position.Z += actor.Velocity.Z*timeStep;
+                        actorPosition.Z += actor.Velocity.Z*timeStep;
                        actor.IsColliding = false;
                    }
                }
                else
                {
-                    actor.Position.Z = height;
+                    actorPosition.Z = height;
-                    actor.Velocity.Z = 0;
+                    actorVelocity.Z = 0;
                    actor.IsColliding = true;
                }
+                actor.Position = actorPosition;
+                actor.Velocity = actorVelocity;
            }
            return fps;
        }
diff --git a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
index 8da9687..5ed3b14 100644
--- a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
+++ b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
@@ -60,15 +60,15 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
        private btQuaternion m_bodyOrientation;
        private btDefaultMotionState m_bodyMotionState;
        private btGeneric6DofConstraint m_aMotor;
-        // private PhysicsVector m_movementComparision;
+        // private Vector3 m_movementComparision;
-        private PhysicsVector m_position;
+        private Vector3 m_position;
-        private PhysicsVector m_zeroPosition;
+        private Vector3 m_zeroPosition;
        private bool m_zeroFlag = false;
        private bool m_lastUpdateSent = false;
-        private PhysicsVector m_velocity;
+        private Vector3 m_velocity;
-        private PhysicsVector m_target_velocity;
+        private Vector3 m_target_velocity;
-        private PhysicsVector m_acceleration;
+        private Vector3 m_acceleration;
-        private PhysicsVector m_rotationalVelocity;
+        private Vector3 m_rotationalVelocity;
        private bool m_pidControllerActive = true;
        public float PID_D = 80.0f;
        public float PID_P = 90.0f;
@@ -96,8 +96,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
        private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes. 
        private bool m_taintRemove = false;
        // private bool m_taintedPosition = false;
-        // private PhysicsVector m_taintedPosition_value;
+        // private Vector3 m_taintedPosition_value;
-        private PhysicsVector m_taintedForce;
+        private Vector3 m_taintedForce;
        private float m_buoyancy = 0f;
@@ -115,14 +115,10 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
        public int m_eventsubscription = 0;
        // private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
-        public BulletDotNETCharacter(string avName, BulletDotNETScene parent_scene, PhysicsVector pos, PhysicsVector size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
+        public BulletDotNETCharacter(string avName, BulletDotNETScene parent_scene, Vector3 pos, Vector3 size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
        {
-            m_taintedForce = new PhysicsVector();
-            m_velocity = new PhysicsVector();
-            m_target_velocity = new PhysicsVector();
            m_position = pos;
-            m_zeroPosition = new PhysicsVector(pos.X, pos.Y, pos.Z); // this is a class, not a struct.  Must make new, or m_zeroPosition will == position regardless
+            m_zeroPosition = pos;
-            m_acceleration = new PhysicsVector();
            m_parent_scene = parent_scene;
            PID_D = pid_d;
            PID_P = pid_p;
@@ -161,9 +157,6 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            tempTrans1 = new btTransform(tempQuat1, tempVector1);
            // m_movementComparision = new PhysicsVector(0, 0, 0);
            m_CapsuleOrientationAxis = new btVector3(1, 0, 1);
-            
-            
        }
        /// <summary>
@@ -254,18 +247,18 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            get { return m_zeroFlag; }
        }
-        public override PhysicsVector Size
+        public override Vector3 Size
        {
-            get { return new PhysicsVector(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
+            get { return new Vector3(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
            set
            {
                m_pidControllerActive = true;
-               
-                    PhysicsVector SetSize = value;
+                Vector3 SetSize = value;
                    m_tainted_CAPSULE_LENGTH = (SetSize.Z * 1.15f) - CAPSULE_RADIUS * 2.0f;
                    //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
-                    Velocity = new PhysicsVector(0f, 0f, 0f);
+                    Velocity = Vector3.Zero;
               
                m_parent_scene.AddPhysicsActorTaint(this);
            }
@@ -317,12 +310,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            
        }
-        public override void LockAngularMotion(PhysicsVector axis)
+        public override void LockAngularMotion(Vector3 axis)
        {
            
        }
-        public override PhysicsVector Position
+        public override Vector3 Position
        {
            get { return m_position; }
            set
@@ -342,9 +335,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            }
        }
-        public override PhysicsVector Force
+        public override Vector3 Force
        {
-            get { return new PhysicsVector(m_target_velocity.X, m_target_velocity.Y, m_target_velocity.Z); }
+            get { return m_target_velocity; }
            set { return; }
        }
@@ -359,7 +352,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            
        }
-        public override void VehicleVectorParam(int param, PhysicsVector value)
+        public override void VehicleVectorParam(int param, Vector3 value)
        {
            
        }
@@ -374,23 +367,22 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            
        }
-        public override PhysicsVector GeometricCenter
+        public override Vector3 GeometricCenter
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
        }
-        public override PhysicsVector CenterOfMass
+        public override Vector3 CenterOfMass
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
        }
-        public override PhysicsVector Velocity
+        public override Vector3 Velocity
        {
            get
            {
-                // There's a problem with PhysicsVector.Zero! Don't Use it Here!
                if (m_zeroFlag)
-                    return new PhysicsVector(0f, 0f, 0f);
+                    return Vector3.Zero;
                m_lastUpdateSent = false;
                return m_velocity;
            }
@@ -401,9 +393,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            }
        }
-        public override PhysicsVector Torque
+        public override Vector3 Torque
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
            set { return; }
        }
@@ -413,7 +405,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            set { }
        }
-        public override PhysicsVector Acceleration
+        public override Vector3 Acceleration
        {
            get { return m_acceleration; }
        }
@@ -586,7 +578,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            set { return; }
        }
-        public override PhysicsVector RotationalVelocity
+        public override Vector3 RotationalVelocity
        {
            get { return m_rotationalVelocity; }
            set { m_rotationalVelocity = value; }
@@ -604,7 +596,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            set { m_buoyancy = value; }
        }
-        public override PhysicsVector PIDTarget { set { return; } }
+        public override Vector3 PIDTarget { set { return; } }
        public override bool PIDActive { set { return; } }
        public override float PIDTau { set { return; } }
@@ -634,7 +626,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
        /// </summary>
        /// <param name="force"></param>
        /// <param name="pushforce">Is this a push by a script?</param>
-        public override void AddForce(PhysicsVector force, bool pushforce)
+        public override void AddForce(Vector3 force, bool pushforce)
        {
            if (pushforce)
            {
@@ -656,7 +648,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            //m_lastUpdateSent = false;
        }
-        public void doForce(PhysicsVector force, bool now)
+        public void doForce(Vector3 force, bool now)
        {
            tempVector3.setValue(force.X, force.Y, force.Z);
@@ -671,7 +663,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            }
        }
-        public void doImpulse(PhysicsVector force, bool now)
+        public void doImpulse(Vector3 force, bool now)
        {
            tempVector3.setValue(force.X, force.Y, force.Z);
@@ -686,12 +678,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            }
        }
-        public override void AddAngularForce(PhysicsVector force, bool pushforce)
+        public override void AddAngularForce(Vector3 force, bool pushforce)
        {
        }
-        public override void SetMomentum(PhysicsVector momentum)
+        public override void SetMomentum(Vector3 momentum)
        {
            
        }
@@ -808,7 +800,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                    AvatarGeomAndBodyCreation(m_position.X, m_position.Y,
                                      m_position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2));
-                    Velocity = new PhysicsVector(0f, 0f, 0f);
+                    Velocity = Vector3.Zero;
                }
                else
@@ -852,9 +844,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            }
            //PidStatus = true;
-            PhysicsVector vec = new PhysicsVector();
+            Vector3 vec = Vector3.Zero;
-            PhysicsVector vel = new PhysicsVector(tempVector2.getX(), tempVector2.getY(), tempVector2.getZ());
+            Vector3 vel = new Vector3(tempVector2.getX(), tempVector2.getY(), tempVector2.getZ());
            float movementdivisor = 1f;
@@ -885,7 +877,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                    // Avatar to Avatar collisions
                    // Prim to avatar collisions
-                    PhysicsVector pos = new PhysicsVector(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
+                    Vector3 pos = new Vector3(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
                    vec.X = (m_target_velocity.X - vel.X) * (PID_D) + (m_zeroPosition.X - pos.X) * (PID_P * 2);
                    vec.Y = (m_target_velocity.Y - vel.Y) * (PID_D) + (m_zeroPosition.Y - pos.Y) * (PID_P * 2);
                    if (m_flying)
@@ -927,7 +919,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                {
                    // We're colliding with something and we're not flying but we're moving
                    // This means we're walking or running.
-                    PhysicsVector pos = new PhysicsVector(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
+                    Vector3 pos = new Vector3(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
                    vec.Z = (m_target_velocity.Z - vel.Z) * PID_D + (m_zeroPosition.Z - pos.Z) * PID_P;
                    if (m_target_velocity.X > 0)
                    {
@@ -1016,7 +1008,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            tempVector2 = Body.getInterpolationLinearVelocity();
            //  no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
-            PhysicsVector vec = new PhysicsVector(tempVector1.getX(),tempVector1.getY(),tempVector1.getZ());
+            Vector3 vec = new Vector3(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
            //  kluge to keep things in bounds.  ODE lets dead avatars drift away (they should be removed!)
            if (vec.X < -10.0f) vec.X = 0.0f;
@@ -1048,7 +1040,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            else
            {
                m_lastUpdateSent = false;
-                vec = new PhysicsVector(tempVector2.getX(), tempVector2.getY(), tempVector2.getZ());
+                vec = new Vector3(tempVector2.getX(), tempVector2.getY(), tempVector2.getZ());
                m_velocity.X = (vec.X);
                m_velocity.Y = (vec.Y);
diff --git a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs
index f22ea71..5b542db 100644
--- a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs
+++ b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs
@@ -43,44 +43,43 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
    {
        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
-        private PhysicsVector _position;
+        private Vector3 _position;
-        private PhysicsVector m_zeroPosition;
+        private Vector3 m_zeroPosition;
-        private PhysicsVector _velocity;
+        private Vector3 _velocity;
-        private PhysicsVector _torque = new PhysicsVector(0, 0, 0);
+        private Vector3 _torque;
-        private PhysicsVector m_lastVelocity = new PhysicsVector(0.0f, 0.0f, 0.0f);
+        private Vector3 m_lastVelocity;
-        private PhysicsVector m_lastposition = new PhysicsVector(0.0f, 0.0f, 0.0f);
+        private Vector3 m_lastposition;
-        private Quaternion m_lastorientation = new Quaternion();
+        private Quaternion m_lastorientation = Quaternion.Identity;
-        private PhysicsVector m_rotationalVelocity;
+        private Vector3 m_rotationalVelocity;
-        private PhysicsVector _size;
+        private Vector3 _size;
-        private PhysicsVector _acceleration;
+        private Vector3 _acceleration;
        // private d.Vector3 _zeroPosition = new d.Vector3(0.0f, 0.0f, 0.0f);
        private Quaternion _orientation;
-        private PhysicsVector m_taintposition;
+        private Vector3 m_taintposition;
-        private PhysicsVector m_taintsize;
+        private Vector3 m_taintsize;
-        private PhysicsVector m_taintVelocity = new PhysicsVector(0, 0, 0);
+        private Vector3 m_taintVelocity;
-        private PhysicsVector m_taintTorque = new PhysicsVector(0, 0, 0);
+        private Vector3 m_taintTorque;
        private Quaternion m_taintrot;
-        private PhysicsVector m_angularlock = new PhysicsVector(1f, 1f, 1f);
+        private Vector3 m_angularlock = Vector3.One;
-        private PhysicsVector m_taintAngularLock = new PhysicsVector(1f, 1f, 1f);
+        private Vector3 m_taintAngularLock = Vector3.One;
        // private btGeneric6DofConstraint Amotor;
-        private PhysicsVector m_PIDTarget = new PhysicsVector(0, 0, 0);
+        private Vector3 m_PIDTarget;
-        private float m_PIDTau = 0f;
+        private float m_PIDTau;
-        private float m_PIDHoverHeight = 0f;
+        private float m_PIDHoverHeight;
-        private float m_PIDHoverTau = 0f;
+        private float m_PIDHoverTau;
-        private bool m_useHoverPID = false;
+        private bool m_useHoverPID;
        private PIDHoverType m_PIDHoverType = PIDHoverType.Ground;
-        private float m_targetHoverHeight = 0f;
+        private float m_targetHoverHeight;
-        private float m_groundHeight = 0f;
+        private float m_groundHeight;
-        private float m_waterHeight = 0f;
+        private float m_waterHeight;
        private float PID_D = 35f;
        private float PID_G = 25f;
        // private float m_tensor = 5f;
        // private int body_autodisable_frames = 20;
-        private IMesh primMesh = null;
+        private IMesh primMesh;
-        private bool m_usePID = false;
+        private bool m_usePID;
        private const CollisionCategories m_default_collisionFlags = (CollisionCategories.Geom
                                                        | CollisionCategories.Space
@@ -88,11 +87,11 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                                                        | CollisionCategories.Character
                                                     );
-        private bool m_taintshape = false;
+        private bool m_taintshape;
-        private bool m_taintPhysics = false;
+        private bool m_taintPhysics;
        // private bool m_collidesLand = true;
-        private bool m_collidesWater = false;
+        private bool m_collidesWater;
-        public bool m_returnCollisions = false;
+        public bool m_returnCollisions;
        // Default we're a Geometry
        // private CollisionCategories m_collisionCategories = (CollisionCategories.Geom);
@@ -100,23 +99,23 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
        // Default, Collide with Other Geometries, spaces and Bodies
        // private CollisionCategories m_collisionFlags = m_default_collisionFlags;
-        public bool m_taintremove = false;
+        public bool m_taintremove;
-        public bool m_taintdisable = false;
+        public bool m_taintdisable;
-        public bool m_disabled = false;
+        public bool m_disabled;
-        public bool m_taintadd = false;
+        public bool m_taintadd;
-        public bool m_taintselected = false;
+        public bool m_taintselected;
-        public bool m_taintCollidesWater = false;
+        public bool m_taintCollidesWater;
-        public uint m_localID = 0;
+        public uint m_localID;
        //public GCHandle gc;
        // private CollisionLocker ode;
-        private bool m_taintforce = false;
+        private bool m_taintforce;
-        private bool m_taintaddangularforce = false;
+        private bool m_taintaddangularforce;
-        private PhysicsVector m_force = new PhysicsVector(0.0f, 0.0f, 0.0f);
+        private Vector3 m_force;
-        private List<PhysicsVector> m_forcelist = new List<PhysicsVector>();
+        private List<Vector3> m_forcelist = new List<Vector3>();
-        private List<PhysicsVector> m_angularforcelist = new List<PhysicsVector>();
+        private List<Vector3> m_angularforcelist = new List<Vector3>();
        private IMesh _mesh;
        private PrimitiveBaseShape _pbs;
@@ -124,40 +123,40 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
        public btCollisionShape prim_geom;
        public IntPtr _triMeshData;
-        private PhysicsActor _parent = null;
+        private PhysicsActor _parent;
-        private PhysicsActor m_taintparent = null;
+        private PhysicsActor m_taintparent;
        private List<BulletDotNETPrim> childrenPrim = new List<BulletDotNETPrim>();
-        private bool iscolliding = false;
+        private bool iscolliding;
-        private bool m_isphysical = false;
+        private bool m_isphysical;
-        private bool m_isSelected = false;
+        private bool m_isSelected;
-        internal bool m_isVolumeDetect = false; // If true, this prim only detects collisions but doesn't collide actively
+        internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively
-        private bool m_throttleUpdates = false;
+        private bool m_throttleUpdates;
-        // private int throttleCounter = 0;
+        // private int throttleCounter;
-        public int m_interpenetrationcount = 0;
+        public int m_interpenetrationcount;
-        public float m_collisionscore = 0;
+        public float m_collisionscore;
-        public int m_roundsUnderMotionThreshold = 0;
+        public int m_roundsUnderMotionThreshold;
-        private int m_crossingfailures = 0;
+        private int m_crossingfailures;
-        public float m_buoyancy = 0f;
+        public float m_buoyancy;
-        public bool outofBounds = false;
+        public bool outofBounds;
        private float m_density = 10.000006836f; // Aluminum g/cm3;
-        public bool _zeroFlag = false;
+        public bool _zeroFlag;
-        private bool m_lastUpdateSent = false;
+        private bool m_lastUpdateSent;
        private String m_primName;
-        private PhysicsVector _target_velocity;
+        private Vector3 _target_velocity;
-        public int m_eventsubscription = 0;
+        public int m_eventsubscription;
        // private CollisionEventUpdate CollisionEventsThisFrame = null;
-        public volatile bool childPrim = false;
+        public volatile bool childPrim;
        private btVector3 tempPosition1;
        private btVector3 tempPosition2;
@@ -190,7 +189,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
        public btRigidBody Body;
-        public BulletDotNETPrim(String primName, BulletDotNETScene parent_scene, PhysicsVector pos, PhysicsVector size,
+        public BulletDotNETPrim(String primName, BulletDotNETScene parent_scene, Vector3 pos, Vector3 size,
                       Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical)
        {
            tempPosition1 = new btVector3(0, 0, 0);
@@ -225,8 +224,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            AxisLockLinearHigh = new btVector3((int)Constants.RegionSize, (int)Constants.RegionSize, (int)Constants.RegionSize);
-            _target_velocity = new PhysicsVector(0, 0, 0);
+            _target_velocity = Vector3.Zero;
-            _velocity = new PhysicsVector();
+            _velocity = Vector3.Zero;
            _position = pos;
            m_taintposition = pos;
            PID_D = parent_scene.bodyPIDD;
@@ -244,8 +243,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            _size = size;
            m_taintsize = _size;
-            _acceleration = new PhysicsVector();
+            _acceleration = Vector3.Zero;
-            m_rotationalVelocity = PhysicsVector.Zero;
+            m_rotationalVelocity = Vector3.Zero;
            _orientation = rotation;
            m_taintrot = _orientation;
            _mesh = mesh;
@@ -274,7 +273,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            get { return _zeroFlag; }
        }
-        public override PhysicsVector Size
+        public override Vector3 Size
        {
            get { return _size; }
            set { _size = value; }
@@ -348,13 +347,13 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            m_taintparent = null;
        }
-        public override void LockAngularMotion(PhysicsVector axis)
+        public override void LockAngularMotion(Vector3 axis)
        {
            m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z);
-            m_taintAngularLock = new PhysicsVector(axis.X, axis.Y, axis.Z);
+            m_taintAngularLock = axis;
        }
-        public override PhysicsVector Position
+        public override Vector3 Position
        {
            get { return _position; }
@@ -370,9 +369,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            get { return CalculateMass(); }
        }
-        public override PhysicsVector Force
+        public override Vector3 Force
        {
-            //get { return PhysicsVector.Zero; }
+            //get { return Vector3.Zero; }
            get { return m_force; }
            set { m_force = value; }
        }
@@ -388,7 +387,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            //TODO:
        }
-        public override void VehicleVectorParam(int param, PhysicsVector value)
+        public override void VehicleVectorParam(int param, Vector3 value)
        {
            //TODO:
        }
@@ -405,23 +404,23 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
        }
-        public override PhysicsVector GeometricCenter
+        public override Vector3 GeometricCenter
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
        }
-        public override PhysicsVector CenterOfMass
+        public override Vector3 CenterOfMass
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
        }
-        public override PhysicsVector Velocity
+        public override Vector3 Velocity
        {
            get
            {
                // Averate previous velocity with the new one so
                // client object interpolation works a 'little' better
-                PhysicsVector returnVelocity = new PhysicsVector();
+                Vector3 returnVelocity;
                returnVelocity.X = (m_lastVelocity.X + _velocity.X) / 2;
                returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y) / 2;
                returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z) / 2;
@@ -436,12 +435,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            }
        }
-        public override PhysicsVector Torque
+        public override Vector3 Torque
        {
            get
            {
                if (!m_isphysical || Body.Handle == IntPtr.Zero)
-                    return new PhysicsVector(0, 0, 0);
+                    return Vector3.Zero;
                return _torque;
            }
@@ -459,7 +458,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            set { m_collisionscore = value; }
        }
-        public override PhysicsVector Acceleration
+        public override Vector3 Acceleration
        {
            get { return _acceleration; }
        }
@@ -528,16 +527,16 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            }
        }
-        public override PhysicsVector RotationalVelocity
+        public override Vector3 RotationalVelocity
        {
            get
            {
-                PhysicsVector pv = new PhysicsVector(0, 0, 0);
+                Vector3 pv = Vector3.Zero;
                if (_zeroFlag)
                    return pv;
                m_lastUpdateSent = false;
-                if (m_rotationalVelocity.IsIdentical(pv, 0.2f))
+                if (m_rotationalVelocity.ApproxEquals(pv, 0.2f))
                    return pv;
                return m_rotationalVelocity;
@@ -557,7 +556,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            set { m_buoyancy = value; }
        }
-        public override PhysicsVector PIDTarget { set { m_PIDTarget = value; ; } }
+        public override Vector3 PIDTarget { set { m_PIDTarget = value; ; } }
        public override bool PIDActive { set { m_usePID = value; } }
        public override float PIDTau { set { m_PIDTau = value; } }
@@ -567,20 +566,20 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
        public override float PIDHoverTau { set { m_PIDHoverTau = value; } }
-        public override void AddForce(PhysicsVector force, bool pushforce)
+        public override void AddForce(Vector3 force, bool pushforce)
        {
            m_forcelist.Add(force);
            m_taintforce = true;
            //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() +  " to prim at " + Position.ToString());
        }
-        public override void AddAngularForce(PhysicsVector force, bool pushforce)
+        public override void AddAngularForce(Vector3 force, bool pushforce)
        {
            m_angularforcelist.Add(force);
            m_taintaddangularforce = true;
        }
-        public override void SetMomentum(PhysicsVector momentum)
+        public override void SetMomentum(Vector3 momentum)
        {
        }
@@ -778,7 +777,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            }
-            if (!_position.IsIdentical(m_taintposition, 0f))
+            if (!_position.ApproxEquals(m_taintposition, 0f))
            {
                m_log.Debug("[PHYSICS]: TaintMove");
                changemove(timestep);
@@ -796,7 +795,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            }
            //
-            if (!_size.IsIdentical(m_taintsize, 0))
+            if (!_size.ApproxEquals(m_taintsize, 0f))
            {
                m_log.Debug("[PHYSICS]: TaintSize");
                changesize(timestep);
@@ -820,7 +819,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                m_log.Debug("[PHYSICS]: TaintAngularForce");
                changeAddAngularForce(timestep);
            }
-            if (!m_taintTorque.IsIdentical(PhysicsVector.Zero, 0.001f))
+            if (!m_taintTorque.ApproxEquals(Vector3.Zero, 0.001f))
            {
                m_log.Debug("[PHYSICS]: TaintTorque");
                changeSetTorque(timestep);
@@ -835,7 +834,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                m_log.Debug("[PHYSICS]: TaintSelected");
                changeSelectedStatus(timestep);
            }
-            if (!m_taintVelocity.IsIdentical(PhysicsVector.Zero, 0.001f))
+            if (!m_taintVelocity.ApproxEquals(Vector3.Zero, 0.001f))
            {
                m_log.Debug("[PHYSICS]: TaintVelocity");
                changevelocity(timestep);
@@ -849,7 +848,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            {
                changefloatonwater(timestep);
            }
-            if (!m_angularlock.IsIdentical(m_taintAngularLock, 0))
+            if (!m_angularlock.ApproxEquals(m_taintAngularLock, 0))
            {
                m_log.Debug("[PHYSICS]: TaintAngularLock");
                changeAngularLock(timestep);
@@ -1012,7 +1011,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
        {
            if (_parent_scene.needsMeshing(_pbs))
            {
-                ProcessGeomCreationAsTriMesh(PhysicsVector.Zero, Quaternion.Identity);
+                ProcessGeomCreationAsTriMesh(Vector3.Zero, Quaternion.Identity);
                // createmesh returns null when it doesn't mesh.
                CreateGeom(IntPtr.Zero, _mesh);
            }
@@ -1029,7 +1028,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            return _parent_scene.needsMeshing(_pbs);
        }
-        internal void ProcessGeomCreationAsTriMesh(PhysicsVector positionOffset, Quaternion orientation)
+        internal void ProcessGeomCreationAsTriMesh(Vector3 positionOffset, Quaternion orientation)
        {
            // Don't need to re-enable body..   it's done in SetMesh
            float meshlod = _parent_scene.meshSculptLOD;
@@ -1038,7 +1037,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                meshlod = _parent_scene.MeshSculptphysicalLOD;
            IMesh mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical);
-            if (!positionOffset.IsIdentical(PhysicsVector.Zero, 0.001f) || orientation != Quaternion.Identity)
+            if (!positionOffset.ApproxEquals(Vector3.Zero, 0.001f) || orientation != Quaternion.Identity)
            {
                float[] xyz = new float[3];
@@ -1202,7 +1201,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                    //m_log.Info("[PHYSICS]: dequeing forcelist");
                    if (IsPhysical)
                    {
-                        PhysicsVector iforce = new PhysicsVector();
+                        Vector3 iforce = Vector3.Zero;
                        for (int i = 0; i < m_forcelist.Count; i++)
                        {
                            iforce = iforce + m_forcelist[i];
@@ -1237,7 +1236,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                    //m_log.Info("[PHYSICS]: dequeing forcelist");
                    if (IsPhysical)
                    {
-                        PhysicsVector iforce = new PhysicsVector();
+                        Vector3 iforce = Vector3.Zero;
                        for (int i = 0; i < m_angularforcelist.Count; i++)
                        {
                            iforce = iforce + m_angularforcelist[i];
@@ -1276,7 +1275,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                    }
                }
            }
-            m_taintTorque = new PhysicsVector(0, 0, 0);
+            m_taintTorque = Vector3.Zero;
        }
        private void changedisable(float timestep)
@@ -1317,7 +1316,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                //resetCollisionAccounting();
            }
-            m_taintVelocity = PhysicsVector.Zero;
+            m_taintVelocity = Vector3.Zero;
        }
        private void changelink(float timestep)
@@ -1361,7 +1360,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                if (m_taintparent != null)
                {
-                    m_taintparent.Position.Z = m_taintparent.Position.Z + 0.02f;
+                    Vector3 taintparentPosition = m_taintparent.Position;
+                    taintparentPosition.Z = m_taintparent.Position.Z + 0.02f;
+                    m_taintparent.Position = taintparentPosition;
                    _parent_scene.AddPhysicsActorTaint(m_taintparent);
                }
            }
@@ -1382,7 +1383,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            {
                if (_parent == null)
                {
-                    if (!m_taintAngularLock.IsIdentical(new PhysicsVector(1f, 1f, 1f), 0))
+                    if (!m_taintAngularLock.ApproxEquals(Vector3.One, 0f))
                    {
                        //d.BodySetFiniteRotationMode(Body, 0);
                        //d.BodySetFiniteRotationAxis(Body,m_taintAngularLock.X,m_taintAngularLock.Y,m_taintAngularLock.Z);
@@ -1395,7 +1396,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                }
            }
-            m_angularlock = new PhysicsVector(m_taintAngularLock.X, m_taintAngularLock.Y, m_taintAngularLock.Z);
+            m_angularlock = m_taintAngularLock;
        }
        #endregion
@@ -1460,17 +1461,17 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                    // TODO: NEED btVector3 for Linear Velocity
                    // NEED btVector3 for Position
-                    PhysicsVector pos = new PhysicsVector(_position.X, _position.Y, _position.Z); //TODO: Insert values gotten from bullet
+                    Vector3 pos = _position; //TODO: Insert values gotten from bullet
-                    PhysicsVector vel = new PhysicsVector(_velocity.X, _velocity.Y, _velocity.Z);
+                    Vector3 vel = _velocity;
                    _target_velocity =
-                        new PhysicsVector(
+                        new Vector3(
                            (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep),
                            (m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep),
                            (m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep)
                            );
-                    if (_target_velocity.IsIdentical(PhysicsVector.Zero, 0.1f))
+                    if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
                    {
                        /* TODO: Do Bullet equiv
@@ -1512,8 +1513,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                    {
                        PID_G = m_PIDTau + 1;
                    }
-                    PhysicsVector pos = new PhysicsVector(0, 0, 0); //TODO: Insert values gotten from bullet
+                    Vector3 pos = Vector3.Zero; //TODO: Insert values gotten from bullet
-                    PhysicsVector vel = new PhysicsVector(0, 0, 0);
+                    Vector3 vel = Vector3.Zero;
                    // determine what our target height really is based on HoverType
                    switch (m_PIDHoverType)
@@ -1545,13 +1546,13 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                    _target_velocity =
-                        new PhysicsVector(0.0f, 0.0f,
+                        new Vector3(0.0f, 0.0f,
                            (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep)
                            );
                    //  if velocity is zero, use position control; otherwise, velocity control
-                    if (_target_velocity.IsIdentical(PhysicsVector.Zero, 0.1f))
+                    if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
                    {
                        /* TODO: Do Bullet Equiv
@@ -1626,8 +1627,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            else
            {
                if (m_zeroPosition == null)
-                    m_zeroPosition = new PhysicsVector(0, 0, 0);
+                    m_zeroPosition = Vector3.Zero;
-                m_zeroPosition.setValues(_position.X, _position.Y, _position.Z);
+                m_zeroPosition = _position;
                return;
            }
        }
@@ -2177,7 +2178,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                //if (hasTrimesh)
                //{
-                ProcessGeomCreationAsTriMesh(PhysicsVector.Zero, Quaternion.Identity);
+                ProcessGeomCreationAsTriMesh(Vector3.Zero, Quaternion.Identity);
                // createmesh returns null when it doesn't mesh.
                /*
@@ -2197,11 +2198,11 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                {
                    if (chld == null)
                        continue;
-                    PhysicsVector offset = chld.Position - Position;
+                    Vector3 offset = chld.Position - Position;
                    Vector3 pos = new Vector3(offset.X, offset.Y, offset.Z);
                    pos *= Quaternion.Inverse(Orientation);
                    //pos *= Orientation;
-                    offset.setValues(pos.X, pos.Y, pos.Z);
+                    offset = pos;
                    chld.ProcessGeomCreationAsTriMesh(offset, chld.Orientation);
                    _mesh.Append(chld._mesh);
@@ -2433,7 +2434,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                m_collisionscore = 0;
                m_disabled = false;
                // The body doesn't already have a finite rotation mode set here
-                if ((!m_angularlock.IsIdentical(PhysicsVector.Zero, 0)) && _parent == null)
+                if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null)
                {
                    // TODO: Create Angular Motor on Axis Lock!
                }
@@ -2447,7 +2448,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            {
                if (_parent == null)
                {
-                    PhysicsVector pv = new PhysicsVector(0, 0, 0);
+                    Vector3 pv = Vector3.Zero;
                    bool lastZeroFlag = _zeroFlag;
                    if (tempPosition3 != null && tempPosition3.Handle != IntPtr.Zero)
                        tempPosition3.Dispose();
@@ -2471,10 +2472,10 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                    tempAngularVelocity1 = Body.getInterpolationAngularVelocity(); //rotvel
                    tempLinearVelocity1 = Body.getInterpolationLinearVelocity(); // vel
-                    _torque.setValues(tempAngularVelocity1.getX(), tempAngularVelocity1.getX(),
+                    _torque = new Vector3(tempAngularVelocity1.getX(), tempAngularVelocity1.getX(),
                                      tempAngularVelocity1.getZ());
-                    PhysicsVector l_position = new PhysicsVector();
+                    Vector3 l_position = Vector3.Zero;
-                    Quaternion l_orientation = new Quaternion();
+                    Quaternion l_orientation = Quaternion.Identity;
                    m_lastposition = _position;
                    m_lastorientation = _orientation;
@@ -2598,20 +2599,18 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                        _velocity.Z = tempLinearVelocity1.getZ();
                        _acceleration = ((_velocity - m_lastVelocity) / 0.1f);
-                        _acceleration = new PhysicsVector(_velocity.X - m_lastVelocity.X / 0.1f,
+                        _acceleration = new Vector3(_velocity.X - m_lastVelocity.X / 0.1f,
                                                          _velocity.Y - m_lastVelocity.Y / 0.1f,
                                                          _velocity.Z - m_lastVelocity.Z / 0.1f);
                        //m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString());
-                        if (_velocity.IsIdentical(pv, 0.5f))
+                        if (_velocity.ApproxEquals(pv, 0.5f))
                        {
                            m_rotationalVelocity = pv;
                        }
                        else
                        {
+                            m_rotationalVelocity = new Vector3(tempAngularVelocity1.getX(), tempAngularVelocity1.getY(), tempAngularVelocity1.getZ());
-                            m_rotationalVelocity.setValues(tempAngularVelocity1.getX(), tempAngularVelocity1.getY(),
-                                                           tempAngularVelocity1.getZ());
                        }
                        //m_log.Debug("ODE: " + m_rotationalVelocity.ToString());
@@ -2665,7 +2664,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            m_taintremove = true;
        }
-        internal void EnableAxisMotor(PhysicsVector axislock)
+        internal void EnableAxisMotor(Vector3 axislock)
        {
            if (m_aMotor != null)
                DisableAxisMotor();
diff --git a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETScene.cs b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETScene.cs
index 18d4bab..9e048ab 100644
--- a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETScene.cs
+++ b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETScene.cs
@@ -139,7 +139,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
        }
-        public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying)
+        public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
        {
            BulletDotNETCharacter chr = new BulletDotNETCharacter(avName, this, position, size, avPIDD, avPIDP,
                                                                  avCapRadius, avStandupTensor, avDensity,
@@ -177,14 +177,14 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            }
        }
-        private PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, Quaternion rotation,
+        private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
                                    IMesh mesh, PrimitiveBaseShape pbs, bool isphysical)
        {
-            PhysicsVector pos = new PhysicsVector(position.X, position.Y, position.Z);
+            Vector3 pos = position;
            //pos.X = position.X;
            //pos.Y = position.Y;
            //pos.Z = position.Z;
-            PhysicsVector siz = new PhysicsVector();
+            Vector3 siz = Vector3.Zero;
            siz.X = size.X;
            siz.Y = size.Y;
            siz.Z = size.Z;
@@ -201,12 +201,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
            return newPrim;
        }
-        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, Quaternion rotation)
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, Vector3 size, Quaternion rotation)
        {
            return AddPrimShape(primName, pbs, position, size, rotation, false);
        }
-        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, Quaternion rotation, bool isPhysical)
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, Vector3 size, Quaternion rotation, bool isPhysical)
        {
            PhysicsActor result;
            IMesh mesh = null;
diff --git a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
index abed8df..cbe73bb 100644
--- a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
+++ b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
@@ -52,14 +52,14 @@ namespace OpenSim.Region.Physics.BulletXPlugin
        //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
        //Vector3
-        public static Vector3 PhysicsVectorToXnaVector3(PhysicsVector physicsVector)
+        public static Vector3 PhysicsVectorToXnaVector3(OpenMetaverse.Vector3 physicsVector)
        {
            return new Vector3(physicsVector.X, physicsVector.Y, physicsVector.Z);
        }
-        public static PhysicsVector XnaVector3ToPhysicsVector(Vector3 xnaVector3)
+        public static OpenMetaverse.Vector3 XnaVector3ToPhysicsVector(Vector3 xnaVector3)
        {
-            return new PhysicsVector(xnaVector3.X, xnaVector3.Y, xnaVector3.Z);
+            return new OpenMetaverse.Vector3(xnaVector3.X, xnaVector3.Y, xnaVector3.Z);
        }
        //Quaternion
@@ -349,7 +349,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
                vertexBase = new Vector3[iVertexCount];
                for (int i = 0; i < iVertexCount; i++)
                {
-                    PhysicsVector v = mesh.getVertexList()[i];
+                    OpenMetaverse.Vector3 v = mesh.getVertexList()[i];
                    if (v != null) // Note, null has special meaning. See meshing code for details
                        vertexBase[i] = BulletXMaths.PhysicsVectorToXnaVector3(v);
                    else
@@ -392,7 +392,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
        private int preCheckCollision(BulletXActor actA, Vector3 vNormal, float fDist)
        {
            float fstartSide;
-            PhysicsVector v = actA.Position;
+            OpenMetaverse.Vector3 v = actA.Position;
            Vector3 v3 = BulletXMaths.PhysicsVectorToXnaVector3(v);
            fstartSide = Vector3.Dot(vNormal, v3) - fDist;
@@ -404,7 +404,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
        {
            Vector3 perPlaneNormal;
            float fPerPlaneDist;
-            PhysicsVector v = actA.Position;
+            OpenMetaverse.Vector3 v = actA.Position;
            Vector3 v3 = BulletXMaths.PhysicsVectorToXnaVector3(v);
            //check AB
            Vector3 v1;
@@ -573,9 +573,9 @@ namespace OpenSim.Region.Physics.BulletXPlugin
        }
-        public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying)
+        public override PhysicsActor AddAvatar(string avName, OpenMetaverse.Vector3 position, OpenMetaverse.Vector3 size, bool isFlying)
        {
-            PhysicsVector pos = new PhysicsVector();
+            OpenMetaverse.Vector3 pos = OpenMetaverse.Vector3.Zero;
            pos.X = position.X;
            pos.Y = position.Y;
            pos.Z = position.Z + 20;
@@ -611,14 +611,14 @@ namespace OpenSim.Region.Physics.BulletXPlugin
            }
        }
-        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, OpenMetaverse.Vector3 position,
-                                                  PhysicsVector size, OpenMetaverse.Quaternion rotation)
+                                                  OpenMetaverse.Vector3 size, OpenMetaverse.Quaternion rotation)
        {
            return AddPrimShape(primName, pbs, position, size, rotation, false);
        }
-        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, OpenMetaverse.Vector3 position,
-                                                  PhysicsVector size, OpenMetaverse.Quaternion rotation, bool isPhysical)
+                                                  OpenMetaverse.Vector3 size, OpenMetaverse.Quaternion rotation, bool isPhysical)
        {
            PhysicsActor result;
@@ -645,7 +645,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
            return result;
        }
-        public PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, OpenMetaverse.Quaternion rotation,
+        public PhysicsActor AddPrim(String name, OpenMetaverse.Vector3 position, OpenMetaverse.Vector3 size, OpenMetaverse.Quaternion rotation,
                                    IMesh mesh, PrimitiveBaseShape pbs, bool isPhysical)
        {
            BulletXPrim newPrim = null;
@@ -879,12 +879,12 @@ namespace OpenSim.Region.Physics.BulletXPlugin
    {
        protected bool flying = false;
        protected bool _physical = false;
-        protected PhysicsVector _position;
+        protected OpenMetaverse.Vector3 _position;
-        protected PhysicsVector _velocity;
+        protected OpenMetaverse.Vector3 _velocity;
-        protected PhysicsVector _size;
+        protected OpenMetaverse.Vector3 _size;
-        protected PhysicsVector _acceleration;
+        protected OpenMetaverse.Vector3 _acceleration;
        protected OpenMetaverse.Quaternion _orientation;
-        protected PhysicsVector m_rotationalVelocity = PhysicsVector.Zero;
+        protected OpenMetaverse.Vector3 m_rotationalVelocity;
        protected RigidBody rigidBody;
        protected int m_PhysicsActorType;
        private Boolean iscolliding = false;
@@ -900,7 +900,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
            get { return false; }
        }
-        public override PhysicsVector Position
+        public override OpenMetaverse.Vector3 Position
        {
            get { return _position; }
            set
@@ -913,13 +913,13 @@ namespace OpenSim.Region.Physics.BulletXPlugin
            }
        }
-        public override PhysicsVector RotationalVelocity
+        public override OpenMetaverse.Vector3 RotationalVelocity
        {
            get { return m_rotationalVelocity; }
            set { m_rotationalVelocity = value; }
        }
-        public override PhysicsVector Velocity
+        public override OpenMetaverse.Vector3 Velocity
        {
            get { return _velocity; }
            set
@@ -934,7 +934,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
                    }
                    else
                    {
-                        _velocity = new PhysicsVector();
+                        _velocity = OpenMetaverse.Vector3.Zero;
                    }
                }
            }
@@ -944,7 +944,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
            get { return 0f; }
            set { }
        }
-        public override PhysicsVector Size
+        public override OpenMetaverse.Vector3 Size
        {
            get { return _size; }
            set
@@ -956,9 +956,9 @@ namespace OpenSim.Region.Physics.BulletXPlugin
            }
        }
-        public override PhysicsVector Force
+        public override OpenMetaverse.Vector3 Force
        {
-            get { return PhysicsVector.Zero; }
+            get { return OpenMetaverse.Vector3.Zero; }
            set { return; }
        }
@@ -973,7 +973,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
        }
-        public override void VehicleVectorParam(int param, PhysicsVector value)
+        public override void VehicleVectorParam(int param, OpenMetaverse.Vector3 value)
        {
        }
@@ -988,14 +988,14 @@ namespace OpenSim.Region.Physics.BulletXPlugin
        }
-        public override PhysicsVector CenterOfMass
+        public override OpenMetaverse.Vector3 CenterOfMass
        {
-            get { return PhysicsVector.Zero; }
+            get { return OpenMetaverse.Vector3.Zero; }
        }
-        public override PhysicsVector GeometricCenter
+        public override OpenMetaverse.Vector3 GeometricCenter
        {
-            get { return PhysicsVector.Zero; }
+            get { return OpenMetaverse.Vector3.Zero; }
        }
        public override PrimitiveBaseShape Shape
@@ -1009,7 +1009,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
            set { return; }
        }
-        public override PhysicsVector Acceleration
+        public override OpenMetaverse.Vector3 Acceleration
        {
            get { return _acceleration; }
        }
@@ -1036,7 +1036,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
        }
-        public override void LockAngularMotion(PhysicsVector axis)
+        public override void LockAngularMotion(OpenMetaverse.Vector3 axis)
        {
        }
@@ -1129,7 +1129,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
            set { return; }
        }
-        public virtual void SetAcceleration(PhysicsVector accel)
+        public virtual void SetAcceleration(OpenMetaverse.Vector3 accel)
        {
            lock (BulletXScene.BulletXLock)
            {
@@ -1143,19 +1143,19 @@ namespace OpenSim.Region.Physics.BulletXPlugin
            set { }
        }
-        public override void AddForce(PhysicsVector force, bool pushforce)
+        public override void AddForce(OpenMetaverse.Vector3 force, bool pushforce)
        {
        }
-        public override PhysicsVector Torque
+        public override OpenMetaverse.Vector3 Torque
        {
-            get { return PhysicsVector.Zero; }
+            get { return OpenMetaverse.Vector3.Zero; }
            set { return; }
        }
-        public override void AddAngularForce(PhysicsVector force, bool pushforce)
+        public override void AddAngularForce(OpenMetaverse.Vector3 force, bool pushforce)
        {
        }
-        public override void SetMomentum(PhysicsVector momentum)
+        public override void SetMomentum(OpenMetaverse.Vector3 momentum)
        {
        }
@@ -1174,7 +1174,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
            Translate(_position);
        }
-        protected internal void Translate(PhysicsVector _newPos)
+        protected internal void Translate(OpenMetaverse.Vector3 _newPos)
        {
            Vector3 _translation;
            _translation = BulletXMaths.PhysicsVectorToXnaVector3(_newPos) - rigidBody.CenterOfMassPosition;
@@ -1186,7 +1186,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
            Speed(_velocity);
        }
-        protected internal void Speed(PhysicsVector _newSpeed)
+        protected internal void Speed(OpenMetaverse.Vector3 _newSpeed)
        {
            Vector3 _speed;
            _speed = BulletXMaths.PhysicsVectorToXnaVector3(_newSpeed);
@@ -1212,7 +1212,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
            ReSize(_size);
        }
-        protected internal virtual void ReSize(PhysicsVector _newSize)
+        protected internal virtual void ReSize(OpenMetaverse.Vector3 _newSize)
        {
        }
@@ -1227,7 +1227,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
        {
        }
-        public override PhysicsVector PIDTarget { set { return; } }
+        public override OpenMetaverse.Vector3 PIDTarget { set { return; } }
        public override bool PIDActive { set { return; } }
        public override float PIDTau { set { return; } }
@@ -1256,19 +1256,19 @@ namespace OpenSim.Region.Physics.BulletXPlugin
    /// </summary>
    public class BulletXCharacter : BulletXActor
    {
-        public BulletXCharacter(BulletXScene parent_scene, PhysicsVector pos)
+        public BulletXCharacter(BulletXScene parent_scene, OpenMetaverse.Vector3 pos)
            : this(String.Empty, parent_scene, pos)
        {
        }
-        public BulletXCharacter(String avName, BulletXScene parent_scene, PhysicsVector pos)
+        public BulletXCharacter(String avName, BulletXScene parent_scene, OpenMetaverse.Vector3 pos)
-            : this(avName, parent_scene, pos, new PhysicsVector(), new PhysicsVector(), new PhysicsVector(),
+            : this(avName, parent_scene, pos, OpenMetaverse.Vector3.Zero, OpenMetaverse.Vector3.Zero, OpenMetaverse.Vector3.Zero,
                   OpenMetaverse.Quaternion.Identity)
        {
        }
-        public BulletXCharacter(String avName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity,
+        public BulletXCharacter(String avName, BulletXScene parent_scene, OpenMetaverse.Vector3 pos, OpenMetaverse.Vector3 velocity,
-                                PhysicsVector size, PhysicsVector acceleration, OpenMetaverse.Quaternion orientation)
+                                OpenMetaverse.Vector3 size, OpenMetaverse.Vector3 acceleration, OpenMetaverse.Quaternion orientation)
            : base(avName)
        {
            //This fields will be removed. They're temporal
@@ -1323,25 +1323,25 @@ namespace OpenSim.Region.Physics.BulletXPlugin
            set { return; }
        }
-        public override PhysicsVector Position
+        public override OpenMetaverse.Vector3 Position
        {
            get { return base.Position; }
            set { base.Position = value; }
        }
-        public override PhysicsVector Velocity
+        public override OpenMetaverse.Vector3 Velocity
        {
            get { return base.Velocity; }
            set { base.Velocity = value; }
        }
-        public override PhysicsVector Size
+        public override OpenMetaverse.Vector3 Size
        {
            get { return base.Size; }
            set { base.Size = value; }
        }
-        public override PhysicsVector Acceleration
+        public override OpenMetaverse.Vector3 Acceleration
        {
            get { return base.Acceleration; }
        }
@@ -1370,17 +1370,17 @@ namespace OpenSim.Region.Physics.BulletXPlugin
            set { base.Kinematic = value; }
        }
-        public override void SetAcceleration(PhysicsVector accel)
+        public override void SetAcceleration(OpenMetaverse.Vector3 accel)
        {
            base.SetAcceleration(accel);
        }
-        public override void AddForce(PhysicsVector force, bool pushforce)
+        public override void AddForce(OpenMetaverse.Vector3 force, bool pushforce)
        {
            base.AddForce(force, pushforce);
        }
-        public override void SetMomentum(PhysicsVector momentum)
+        public override void SetMomentum(OpenMetaverse.Vector3 momentum)
        {
            base.SetMomentum(momentum);
        }
@@ -1430,7 +1430,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
                m.Translation = v3;
                rigidBody.WorldTransform = m;
                //When an Avie touch the ground it's vertical velocity it's reduced to ZERO
-                Speed(new PhysicsVector(rigidBody.LinearVelocity.X, rigidBody.LinearVelocity.Y, 0.0f));
+                Speed(new OpenMetaverse.Vector3(rigidBody.LinearVelocity.X, rigidBody.LinearVelocity.Y, 0.0f));
            }
        }
@@ -1452,7 +1452,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
        //For now all prims have the same density, all prims are made of water. Be water my friend! :D
        private const float _density = 1000.0f;
        private BulletXScene _parent_scene;
-        private PhysicsVector m_prev_position = new PhysicsVector(0, 0, 0);
+        private OpenMetaverse.Vector3 m_prev_position;
        private bool m_lastUpdateSent = false;
        //added by jed zhu
        private IMesh _mesh;
@@ -1460,17 +1460,17 @@ namespace OpenSim.Region.Physics.BulletXPlugin
-        public BulletXPrim(String primName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector size,
+        public BulletXPrim(String primName, BulletXScene parent_scene, OpenMetaverse.Vector3 pos, OpenMetaverse.Vector3 size,
                           OpenMetaverse.Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool isPhysical)
            : this(
-                primName, parent_scene, pos, new PhysicsVector(), size, new PhysicsVector(), rotation, mesh, pbs,
+                primName, parent_scene, pos, OpenMetaverse.Vector3.Zero, size, OpenMetaverse.Vector3.Zero, rotation, mesh, pbs,
                isPhysical)
        {
        }
-        public BulletXPrim(String primName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity,
+        public BulletXPrim(String primName, BulletXScene parent_scene, OpenMetaverse.Vector3 pos, OpenMetaverse.Vector3 velocity,
-                           PhysicsVector size,
+                           OpenMetaverse.Vector3 size,
-                           PhysicsVector acceleration, OpenMetaverse.Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs,
+                           OpenMetaverse.Vector3 acceleration, OpenMetaverse.Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs,
                           bool isPhysical)
            : base(primName)
        {
@@ -1481,7 +1481,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
            _position = pos;
            _physical = isPhysical;
-            _velocity = _physical ? velocity : new PhysicsVector();
+            _velocity = _physical ? velocity : OpenMetaverse.Vector3.Zero;
            _size = size;
            _acceleration = acceleration;
            _orientation = rotation;
@@ -1497,19 +1497,19 @@ namespace OpenSim.Region.Physics.BulletXPlugin
            set { return; }
        }
-        public override PhysicsVector Position
+        public override OpenMetaverse.Vector3 Position
        {
            get { return base.Position; }
            set { base.Position = value; }
        }
-        public override PhysicsVector Velocity
+        public override OpenMetaverse.Vector3 Velocity
        {
            get { return base.Velocity; }
            set { base.Velocity = value; }
        }
-        public override PhysicsVector Size
+        public override OpenMetaverse.Vector3 Size
        {
            get { return _size; }
            set
@@ -1522,7 +1522,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
            }
        }
-        public override PhysicsVector Acceleration
+        public override OpenMetaverse.Vector3 Acceleration
        {
            get { return base.Acceleration; }
        }
@@ -1583,7 +1583,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
            set { base.Kinematic = value; }
        }
-        public override void SetAcceleration(PhysicsVector accel)
+        public override void SetAcceleration(OpenMetaverse.Vector3 accel)
        {
            lock (BulletXScene.BulletXLock)
            {
@@ -1591,12 +1591,12 @@ namespace OpenSim.Region.Physics.BulletXPlugin
            }
        }
-        public override void AddForce(PhysicsVector force, bool pushforce)
+        public override void AddForce(OpenMetaverse.Vector3 force, bool pushforce)
        {
            base.AddForce(force,pushforce);
        }
-        public override void SetMomentum(PhysicsVector momentum)
+        public override void SetMomentum(OpenMetaverse.Vector3 momentum)
        {
            base.SetMomentum(momentum);
        }
@@ -1613,7 +1613,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
                //When a Prim touch the ground it's vertical velocity it's reduced to ZERO
                //Static objects don't have linear velocity
                if (_physical)
-                    Speed(new PhysicsVector(rigidBody.LinearVelocity.X, rigidBody.LinearVelocity.Y, 0.0f));
+                    Speed(new OpenMetaverse.Vector3(rigidBody.LinearVelocity.X, rigidBody.LinearVelocity.Y, 0.0f));
            }
        }
@@ -1632,7 +1632,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
                {
                    if (!m_lastUpdateSent)
                    {
-                        _velocity = new PhysicsVector(0, 0, 0);
+                        _velocity = OpenMetaverse.Vector3.Zero;
                        base.ScheduleTerseUpdate();
                        m_lastUpdateSent = true;
                    }
@@ -1654,8 +1654,8 @@ namespace OpenSim.Region.Physics.BulletXPlugin
        #region Methods for updating values of RigidBody
-        protected internal void CreateRigidBody(BulletXScene parent_scene, IMesh mesh, PhysicsVector pos,
+        protected internal void CreateRigidBody(BulletXScene parent_scene, IMesh mesh, OpenMetaverse.Vector3 pos,
-                                                PhysicsVector size)
+                                                OpenMetaverse.Vector3 size)
        {
            //For RigidBody Constructor. The next values might change
            float _linearDamping = 0.0f;
@@ -1683,7 +1683,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
                    Vector3[] v3Vertices = new Vector3[iVertexCount];
                    for (int i = 0; i < iVertexCount; i++)
                    {
-                        PhysicsVector v = mesh.getVertexList()[i];
+                        OpenMetaverse.Vector3 v = mesh.getVertexList()[i];
                        if (v != null) // Note, null has special meaning. See meshing code for details
                            v3Vertices[i] = BulletXMaths.PhysicsVectorToXnaVector3(v);
                        else
@@ -1709,7 +1709,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
            }
        }
-        protected internal void ReCreateRigidBody(PhysicsVector size)
+        protected internal void ReCreateRigidBody(OpenMetaverse.Vector3 size)
        {
            //There is a bug when trying to remove a rigidBody that is colliding with something..
            try
@@ -1729,7 +1729,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
            GC.Collect();
        }
-        protected internal override void ReSize(PhysicsVector _newSize)
+        protected internal override void ReSize(OpenMetaverse.Vector3 _newSize)
        {
            //I wonder to know how to resize with a simple instruction in BulletX. It seems that for now there isn't
            //so i have to do it manually. That's recreating rigidbody
@@ -1744,8 +1744,8 @@ namespace OpenSim.Region.Physics.BulletXPlugin
    /// </summary>
    internal class BulletXPlanet
    {
-        private PhysicsVector _staticPosition;
+        private OpenMetaverse.Vector3 _staticPosition;
-//         private PhysicsVector _staticVelocity;
+//         private Vector3 _staticVelocity;
 //         private OpenMetaverse.Quaternion _staticOrientation;
        private float _mass;
        // private BulletXScene _parentscene;
@@ -1759,7 +1759,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
        internal BulletXPlanet(BulletXScene parent_scene, float[] heightField)
        {
-            _staticPosition = new PhysicsVector(BulletXScene.MaxXY/2, BulletXScene.MaxXY/2, 0);
+            _staticPosition = new OpenMetaverse.Vector3(BulletXScene.MaxXY / 2, BulletXScene.MaxXY / 2, 0);
 //             _staticVelocity = new PhysicsVector();
 //             _staticOrientation = OpenMetaverse.Quaternion.Identity;
            _mass = 0; //No active
diff --git a/OpenSim/Region/Physics/Manager/IMesher.cs b/OpenSim/Region/Physics/Manager/IMesher.cs
index 1a8c948..1181b8d 100644
--- a/OpenSim/Region/Physics/Manager/IMesher.cs
+++ b/OpenSim/Region/Physics/Manager/IMesher.cs
@@ -28,13 +28,14 @@
 using System;
 using System.Collections.Generic;
 using OpenSim.Framework;
+using OpenMetaverse;
 namespace OpenSim.Region.Physics.Manager
 {
    public interface IMesher
    {
-        IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, PhysicsVector size, float lod);
+        IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod);
-        IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, PhysicsVector size, float lod, bool isPhysical);
+        IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical);
    }
    public interface IVertex
@@ -43,7 +44,7 @@ namespace OpenSim.Region.Physics.Manager
    public interface IMesh
    {
-        List<PhysicsVector> getVertexList();
+        List<Vector3> getVertexList();
        int[] getIndexListAsInt();
        int[] getIndexListAsIntLocked();
        float[] getVertexListAsFloatLocked();
diff --git a/OpenSim/Region/Physics/Manager/PhysicsActor.cs b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
index 7603131..6bfdff2 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsActor.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
@@ -32,8 +32,8 @@ using OpenMetaverse;
 namespace OpenSim.Region.Physics.Manager
 {
-    public delegate void PositionUpdate(PhysicsVector position);
+    public delegate void PositionUpdate(Vector3 position);
-    public delegate void VelocityUpdate(PhysicsVector velocity);
+    public delegate void VelocityUpdate(Vector3 velocity);
    public delegate void OrientationUpdate(Quaternion orientation);
    public enum ActorTypes : int
@@ -106,7 +106,7 @@ namespace OpenSim.Region.Physics.Manager
    {
        public delegate void RequestTerseUpdate();
        public delegate void CollisionUpdate(EventArgs e);
-        public delegate void OutOfBounds(PhysicsVector pos);
+        public delegate void OutOfBounds(Vector3 pos);
 // disable warning: public events
 #pragma warning disable 67
@@ -125,7 +125,7 @@ namespace OpenSim.Region.Physics.Manager
        public abstract bool Stopped { get; }
-        public abstract PhysicsVector Size { get; set; }
+        public abstract Vector3 Size { get; set; }
        public abstract PrimitiveBaseShape Shape { set; }
@@ -144,7 +144,7 @@ namespace OpenSim.Region.Physics.Manager
        public abstract void delink();
-        public abstract void LockAngularMotion(PhysicsVector axis);
+        public abstract void LockAngularMotion(Vector3 axis);
        public virtual void RequestPhysicsterseUpdate()
        {
@@ -159,7 +159,7 @@ namespace OpenSim.Region.Physics.Manager
            }
        }
-        public virtual void RaiseOutOfBounds(PhysicsVector pos)
+        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
@@ -187,23 +187,23 @@ namespace OpenSim.Region.Physics.Manager
            
        }
-        public abstract PhysicsVector Position { get; set; }
+        public abstract Vector3 Position { get; set; }
        public abstract float Mass { get; }
-        public abstract PhysicsVector Force { get; set; }
+        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, PhysicsVector value);
+        public abstract void VehicleVectorParam(int param, Vector3 value);
        public abstract void VehicleRotationParam(int param, Quaternion rotation);
        public abstract void SetVolumeDetect(int param);    // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
-        public abstract PhysicsVector GeometricCenter { get; }
+        public abstract Vector3 GeometricCenter { get; }
-        public abstract PhysicsVector CenterOfMass { get; }
+        public abstract Vector3 CenterOfMass { get; }
-        public abstract PhysicsVector Velocity { get; set; }
+        public abstract Vector3 Velocity { get; set; }
-        public abstract PhysicsVector Torque { get; set; }
+        public abstract Vector3 Torque { get; set; }
        public abstract float CollisionScore { get; set;}
-        public abstract PhysicsVector Acceleration { get; }
+        public abstract Vector3 Acceleration { get; }
        public abstract Quaternion Orientation { get; set; }
        public abstract int PhysicsActorType { get; set; }
        public abstract bool IsPhysical { get; set; }
@@ -214,12 +214,12 @@ namespace OpenSim.Region.Physics.Manager
        public abstract bool CollidingGround { get; set; }
        public abstract bool CollidingObj { get; set; }
        public abstract bool FloatOnWater { set; }
-        public abstract PhysicsVector RotationalVelocity { get; set; }
+        public abstract Vector3 RotationalVelocity { get; set; }
        public abstract bool Kinematic { get; set; }
        public abstract float Buoyancy { get; set; }
        // Used for MoveTo
-        public abstract PhysicsVector PIDTarget { set;}
+        public abstract Vector3 PIDTarget { set; }
        public abstract bool  PIDActive { set;}
        public abstract float PIDTau { set; }
@@ -231,9 +231,9 @@ namespace OpenSim.Region.Physics.Manager
        public abstract float PIDHoverTau { set;}
-        public abstract void AddForce(PhysicsVector force, bool pushforce);
+        public abstract void AddForce(Vector3 force, bool pushforce);
-        public abstract void AddAngularForce(PhysicsVector force, bool pushforce);
+        public abstract void AddAngularForce(Vector3 force, bool pushforce);
-        public abstract void SetMomentum(PhysicsVector momentum);
+        public abstract void SetMomentum(Vector3 momentum);
        public abstract void SubscribeEvents(int ms);
        public abstract void UnSubscribeEvents();
        public abstract bool SubscribedEvents();
@@ -246,9 +246,9 @@ namespace OpenSim.Region.Physics.Manager
            get{ return false; }
        }
-        public override PhysicsVector Position
+        public override Vector3 Position
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
            set { return; }
        }
@@ -296,9 +296,9 @@ namespace OpenSim.Region.Physics.Manager
            set { return; }
        }
-        public override PhysicsVector Size
+        public override Vector3 Size
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
            set { return; }
        }
@@ -307,9 +307,9 @@ namespace OpenSim.Region.Physics.Manager
            get { return 0f; }
        }
-        public override PhysicsVector Force
+        public override Vector3 Force
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
            set { return; }
        }
@@ -324,7 +324,7 @@ namespace OpenSim.Region.Physics.Manager
        }
-        public override void VehicleVectorParam(int param, PhysicsVector value)
+        public override void VehicleVectorParam(int param, Vector3 value)
        {
        }
@@ -344,14 +344,14 @@ namespace OpenSim.Region.Physics.Manager
            
        }
-        public override PhysicsVector CenterOfMass
+        public override Vector3 CenterOfMass
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
        }
-        public override PhysicsVector GeometricCenter
+        public override Vector3 GeometricCenter
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
        }
        public override PrimitiveBaseShape Shape
@@ -359,15 +359,15 @@ namespace OpenSim.Region.Physics.Manager
            set { return; }
        }
-        public override PhysicsVector Velocity
+        public override Vector3 Velocity
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
            set { return; }
        }
-        public override PhysicsVector Torque
+        public override Vector3 Torque
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
            set { return; }
        }
@@ -387,9 +387,9 @@ namespace OpenSim.Region.Physics.Manager
            set { }
        }
-        public override PhysicsVector Acceleration
+        public override Vector3 Acceleration
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
        }
        public override bool IsPhysical
@@ -436,26 +436,26 @@ namespace OpenSim.Region.Physics.Manager
        {
        }
-        public override void LockAngularMotion(PhysicsVector axis)
+        public override void LockAngularMotion(Vector3 axis)
        {
        }
-        public override void AddForce(PhysicsVector force, bool pushforce)
+        public override void AddForce(Vector3 force, bool pushforce)
        {
        }
-        public override void AddAngularForce(PhysicsVector force, bool pushforce)
+        public override void AddAngularForce(Vector3 force, bool pushforce)
        {
            
        }
-        public override PhysicsVector RotationalVelocity
+        public override Vector3 RotationalVelocity
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
            set { return; }
        }
-        public override PhysicsVector PIDTarget { set { return; } }
+        public override Vector3 PIDTarget { set { return; } }
        public override bool PIDActive { set { return; } }
        public override float PIDTau { set { return; } }
@@ -464,7 +464,7 @@ namespace OpenSim.Region.Physics.Manager
        public override PIDHoverType PIDHoverType { set { return; } }
        public override float PIDHoverTau { set { return; } }
-        public override void SetMomentum(PhysicsVector momentum)
+        public override void SetMomentum(Vector3 momentum)
        {
        }
diff --git a/OpenSim/Region/Physics/Manager/PhysicsJoint.cs b/OpenSim/Region/Physics/Manager/PhysicsJoint.cs
index f463597..b685d04 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsJoint.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsJoint.cs
@@ -44,7 +44,7 @@ namespace OpenSim.Region.Physics.Manager
        public PhysicsJointType Type;
        public string RawParams;
        public List<string> BodyNames = new List<string>();
-        public PhysicsVector Position; // global coords
+        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)
diff --git a/OpenSim/Region/Physics/Manager/PhysicsScene.cs b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
index 6dd26bb..bb0d18e 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsScene.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
@@ -64,23 +64,23 @@ namespace OpenSim.Region.Physics.Manager
        public abstract void Initialise(IMesher meshmerizer, IConfigSource config);
-        public abstract PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying);
+        public abstract PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying);
        public abstract void RemoveAvatar(PhysicsActor actor);
        public abstract void RemovePrim(PhysicsActor prim);
-        public abstract PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
+        public abstract PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
-                                                  PhysicsVector size, Quaternion rotation); //To be removed
+                                                  Vector3 size, Quaternion rotation); //To be removed
-        public abstract PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
+        public abstract PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
-                                                  PhysicsVector size, Quaternion rotation, bool isPhysical);
+                                                  Vector3 size, Quaternion rotation, bool isPhysical);
        public virtual bool SupportsNINJAJoints
        {
            get { return false; }
        }
-        public virtual PhysicsJoint RequestJointCreation(string objectNameInScene, PhysicsJointType jointType, PhysicsVector position,
+        public virtual PhysicsJoint RequestJointCreation(string objectNameInScene, PhysicsJointType jointType, Vector3 position,
                                            Quaternion rotation, string parms, List<string> bodyNames, string trackedBodyName, Quaternion localRotation)
        { return null; }
@@ -129,11 +129,11 @@ namespace OpenSim.Region.Physics.Manager
            }
        }
-        public virtual PhysicsVector GetJointAnchor(PhysicsJoint joint)
+        public virtual Vector3 GetJointAnchor(PhysicsJoint joint)
-        { return null; }
+        { return Vector3.Zero; }
-        public virtual PhysicsVector GetJointAxis(PhysicsJoint joint)
+        public virtual Vector3 GetJointAxis(PhysicsJoint joint)
-        { return null; }
+        { return Vector3.Zero; }
        public abstract void AddPhysicsActorTaint(PhysicsActor prim);
@@ -212,7 +212,7 @@ namespace OpenSim.Region.Physics.Manager
                // Does nothing right now
            }
-            public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying)
+            public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
            {
                m_log.InfoFormat("[PHYSICS]: NullPhysicsScene : AddAvatar({0})", position);
                return PhysicsActor.Null;
@@ -231,21 +231,21 @@ namespace OpenSim.Region.Physics.Manager
            }
 /*
-            public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation)
+            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, PhysicsVector position,
+            public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
-                                                      PhysicsVector size, Quaternion rotation) //To be removed
+                                                      Vector3 size, Quaternion rotation) //To be removed
            {
                return AddPrimShape(primName, pbs, position, size, rotation, false);
            }
-            public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
+            public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
-                                                      PhysicsVector size, Quaternion rotation, bool isPhysical)
+                                                      Vector3 size, Quaternion rotation, bool isPhysical)
            {
                m_log.InfoFormat("[PHYSICS]: NullPhysicsScene : AddPrim({0},{1})", position, size);
                return PhysicsActor.Null;
diff --git a/OpenSim/Region/Physics/Manager/PhysicsSensor.cs b/OpenSim/Region/Physics/Manager/PhysicsSensor.cs
index 090ad52..f480d71 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsSensor.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsSensor.cs
@@ -27,6 +27,7 @@
 using System;
 using System.Timers;
+using OpenMetaverse;
 namespace OpenSim.Region.Physics.Manager
 {
@@ -46,7 +47,7 @@ namespace OpenSim.Region.Physics.Manager
        {
            get { return new NullPhysicsSensor(); }
        }
-        public abstract PhysicsVector Position {get; set;}
+        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;}
@@ -58,9 +59,9 @@ namespace OpenSim.Region.Physics.Manager
    public class NullPhysicsSensor : PhysicsSensor
    {
-        public override PhysicsVector Position
+        public override Vector3 Position
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
            set { return; }
        }
        public override void TimerCallback(object obj, ElapsedEventArgs eea)
diff --git a/OpenSim/Region/Physics/Manager/PhysicsVector.cs b/OpenSim/Region/Physics/Manager/PhysicsVector.cs
index d6f4d0d..f60a636 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsVector.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsVector.cs
@@ -29,24 +29,24 @@ using System;
 namespace OpenSim.Region.Physics.Manager
 {
-    public class PhysicsVector
+    /*public class PhysicsVector
    {
        public float X;
        public float Y;
        public float Z;
-        public PhysicsVector()
+        public Vector3()
        {
        }
-        public PhysicsVector(float x, float y, float z)
+        public Vector3(float x, float y, float z)
        {
            X = x;
            Y = y;
            Z = z;
        }
-        public PhysicsVector(PhysicsVector pv) : this(pv.X, pv.Y, pv.Z)
+        public Vector3(Vector3 pv) : this(pv.X, pv.Y, pv.Z)
        {
        }
        
@@ -115,17 +115,17 @@ namespace OpenSim.Region.Physics.Manager
        }
        // Operations
-        public static PhysicsVector operator +(PhysicsVector a, PhysicsVector b)
+        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 -(PhysicsVector a, PhysicsVector b)
+        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(PhysicsVector a, PhysicsVector b)
+        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);
        }
@@ -135,7 +135,7 @@ namespace OpenSim.Region.Physics.Manager
            return (float) Math.Sqrt(X*X + Y*Y + Z*Z);
        }
-        public static float GetDistanceTo(PhysicsVector a, PhysicsVector b)
+        public static float GetDistanceTo(Vector3 a, Vector3 b)
        {
            float dx = a.X - b.X;
            float dy = a.Y - b.Y;
@@ -143,22 +143,22 @@ namespace OpenSim.Region.Physics.Manager
            return (float) Math.Sqrt(dx * dx + dy * dy + dz * dz);
        }
-        public static PhysicsVector operator /(PhysicsVector v, float 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 *(PhysicsVector v, float 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, PhysicsVector v)
+        public static PhysicsVector operator *(float f, Vector3 v)
        {
            return v*f;
        }
-        public static bool isFinite(PhysicsVector v)
+        public static bool isFinite(Vector3 v)
        {
            if (v == null)
                return false;
@@ -172,7 +172,7 @@ namespace OpenSim.Region.Physics.Manager
            return true;
        }
-        public virtual bool IsIdentical(PhysicsVector v, float tolerance)
+        public virtual bool IsIdentical(Vector3 v, float tolerance)
        {
            PhysicsVector diff = this - v;
            float d = diff.length();
@@ -182,5 +182,5 @@ namespace OpenSim.Region.Physics.Manager
            return false;
        }
-    }
+    }*/
 }
diff --git a/OpenSim/Region/Physics/Manager/ZeroMesher.cs b/OpenSim/Region/Physics/Manager/ZeroMesher.cs
index 81eeed2..e6e75f9 100644
--- a/OpenSim/Region/Physics/Manager/ZeroMesher.cs
+++ b/OpenSim/Region/Physics/Manager/ZeroMesher.cs
@@ -27,6 +27,7 @@
 using System;
 using OpenSim.Framework;
+using OpenMetaverse;
 /*
 * This is the zero mesher.
@@ -60,12 +61,12 @@ namespace OpenSim.Region.Physics.Manager
    public class ZeroMesher : IMesher
    {
-        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, PhysicsVector size, float lod)
+        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod)
        {
            return CreateMesh(primName, primShape, size, lod, false);
        }
-        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, PhysicsVector size, float lod, bool isPhysical)
+        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical)
        {
            // Remove the reference to the encoded JPEG2000 data so it can be GCed
            primShape.SculptData = OpenMetaverse.Utils.EmptyBytes;
diff --git a/OpenSim/Region/Physics/Meshing/HelperTypes.cs b/OpenSim/Region/Physics/Meshing/HelperTypes.cs
index 232245f..8cd8dcf 100644
--- a/OpenSim/Region/Physics/Meshing/HelperTypes.cs
+++ b/OpenSim/Region/Physics/Meshing/HelperTypes.cs
@@ -33,30 +33,52 @@ using OpenMetaverse;
 using OpenSim.Region.Physics.Manager;
 using OpenSim.Region.Physics.Meshing;
-public class Vertex : PhysicsVector, IComparable<Vertex>
+public class Vertex : IComparable<Vertex>
 {
+    Vector3 vector;
+    public float X
+    {
+        get { return vector.X; }
+        set { vector.X = value; }
+    }
+    public float Y
+    {
+        get { return vector.Y; }
+        set { vector.Y = value; }
+    }
+    public float Z
+    {
+        get { return vector.Z; }
+        set { vector.Z = value; }
+    }
    public Vertex(float x, float y, float z)
-        : base(x, y, z)
    {
+        vector.X = x;
+        vector.Y = y;
+        vector.Z = z;
    }
    public Vertex normalize()
    {
-        float tlength = length();
+        float tlength = vector.Length();
-        if (tlength != 0)
+        if (tlength != 0f)
        {
            float mul = 1.0f / tlength;
-            return new Vertex(X * mul, Y * mul, Z * mul);
+            return new Vertex(vector.X * mul, vector.Y * mul, vector.Z * mul);
        }
        else
        {
-            return new Vertex(0, 0, 0);
+            return new Vertex(0f, 0f, 0f);
        }
    }
    public Vertex cross(Vertex v)
    {
-        return new Vertex(Y * v.Z - Z * v.Y, Z * v.X - X * v.Z, X * v.Y - Y * v.X);
+        return new Vertex(vector.Y * v.Z - vector.Z * v.Y, vector.Z * v.X - vector.X * v.Z, vector.X * v.Y - vector.Y * v.X);
    }
    // disable warning: mono compiler moans about overloading
@@ -160,9 +182,9 @@ public class Vertex : PhysicsVector, IComparable<Vertex>
        return X * v.X + Y * v.Y + Z * v.Z;
    }
-    public Vertex(PhysicsVector v)
+    public Vertex(Vector3 v)
-        : base(v.X, v.Y, v.Z)
    {
+        vector = v;
    }
    public Vertex Clone()
@@ -175,11 +197,15 @@ public class Vertex : PhysicsVector, IComparable<Vertex>
        return new Vertex((float) Math.Cos(angle), (float) Math.Sin(angle), 0.0f);
    }
+    public float Length()
+    {
+        return vector.Length();
+    }
    public virtual bool Equals(Vertex v, float tolerance)
    {
-        PhysicsVector diff = this - v;
+        Vertex diff = this - v;
-        float d = diff.length();
+        float d = diff.Length();
        if (d < tolerance)
            return true;
@@ -369,22 +395,22 @@ public class Triangle
        return s1 + ";" + s2 + ";" + s3;
    }
-    public PhysicsVector getNormal()
+    public Vector3 getNormal()
    {
        // Vertices
        // Vectors for edges
-        PhysicsVector e1;
+        Vector3 e1;
-        PhysicsVector e2;
+        Vector3 e2;
-        e1 = new PhysicsVector(v1.X - v2.X, v1.Y - v2.Y, v1.Z - v2.Z);
+        e1 = new Vector3(v1.X - v2.X, v1.Y - v2.Y, v1.Z - v2.Z);
-        e2 = new PhysicsVector(v1.X - v3.X, v1.Y - v3.Y, v1.Z - v3.Z);
+        e2 = new Vector3(v1.X - v3.X, v1.Y - v3.Y, v1.Z - v3.Z);
        // Cross product for normal
-        PhysicsVector n = PhysicsVector.cross(e1, e2);
+        Vector3 n = Vector3.Cross(e1, e2);
        // Length
-        float l = n.length();
+        float l = n.Length();
        // Normalized "normal"
        n = n/l;
diff --git a/OpenSim/Region/Physics/Meshing/Mesh.cs b/OpenSim/Region/Physics/Meshing/Mesh.cs
index e8a3e19..f781ff9 100644
--- a/OpenSim/Region/Physics/Meshing/Mesh.cs
+++ b/OpenSim/Region/Physics/Meshing/Mesh.cs
@@ -31,6 +31,7 @@ using System.IO;
 using System.Runtime.InteropServices;
 using OpenSim.Region.Physics.Manager;
 using PrimMesher;
+using OpenMetaverse;
 namespace OpenSim.Region.Physics.Meshing
 {
@@ -141,12 +142,12 @@ namespace OpenSim.Region.Physics.Meshing
            }
        }
-        public List<PhysicsVector> getVertexList()
+        public List<Vector3> getVertexList()
        {
-            List<PhysicsVector> result = new List<PhysicsVector>();
+            List<Vector3> result = new List<Vector3>();
            foreach (Vertex v in m_vertices.Keys)
            {
-                result.Add(v);
+                result.Add(new Vector3(v.X, v.Y, v.Z));
            }
            return result;
        }
diff --git a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
index 01093e2..a90a89a 100644
--- a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
+++ b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
@@ -61,7 +61,6 @@ namespace OpenSim.Region.Physics.Meshing
    public class Meshmerizer : IMesher
    {
        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
-        //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
        // Setting baseDir to a path will enable the dumping of raw files
        // raw files can be imported by blender so a visual inspection of the results can be done
@@ -160,7 +159,7 @@ namespace OpenSim.Region.Physics.Meshing
            float minZ = float.MaxValue;
            float maxZ = float.MinValue;
-            foreach (Vertex v in meshIn.getVertexList())
+            foreach (Vector3 v in meshIn.getVertexList())
            {
                if (v != null)
                {
@@ -185,7 +184,7 @@ namespace OpenSim.Region.Physics.Meshing
        }
-        private ulong GetMeshKey(PrimitiveBaseShape pbs, PhysicsVector size, float lod)
+        private ulong GetMeshKey(PrimitiveBaseShape pbs, Vector3 size, float lod)
        {
            ulong hash = 5381;
@@ -245,9 +244,9 @@ namespace OpenSim.Region.Physics.Meshing
            hash = ((hash << 5) + hash) + (ulong)((byte)c);
            return ((hash << 5) + hash) + (ulong)(c >> 8);
        }
-        
-        private Mesh CreateMeshFromPrimMesher(string primName, PrimitiveBaseShape primShape, PhysicsVector size, float lod)
+        private Mesh CreateMeshFromPrimMesher(string primName, PrimitiveBaseShape primShape, Vector3 size, float lod)
        {
            PrimMesh primMesh;
            PrimMesher.SculptMesh sculptMesh;
@@ -289,9 +288,6 @@ namespace OpenSim.Region.Physics.Meshing
                        ManagedImage managedImage;  // we never use this
                        OpenJPEG.DecodeToImage(primShape.SculptData, out managedImage, out idata);
-                        // Remove the reference to the encoded JPEG2000 data so it can be GCed
-                        primShape.SculptData = Utils.EmptyBytes;
                        if (cacheSculptMaps)
                        {
                            try { idata.Save(decodedSculptFileName, ImageFormat.MemoryBmp); }
@@ -315,8 +311,6 @@ namespace OpenSim.Region.Physics.Meshing
                    }
                }
                PrimMesher.SculptMesh.SculptType sculptType;
                switch ((OpenMetaverse.SculptType)primShape.SculptType)
                {
@@ -351,7 +345,6 @@ namespace OpenSim.Region.Physics.Meshing
                coords = sculptMesh.coords;
                faces = sculptMesh.faces;
            }
            else
            {
                float pathShearX = primShape.PathShearX < 128 ? (float)primShape.PathShearX * 0.01f : (float)(primShape.PathShearX - 256) * 0.01f;
@@ -466,6 +459,8 @@ namespace OpenSim.Region.Physics.Meshing
                faces = primMesh.faces;
            }
+            // Remove the reference to any JPEG2000 sculpt data so it can be GCed
+            primShape.SculptData = Utils.EmptyBytes;
            int numCoords = coords.Count;
            int numFaces = faces.Count;
@@ -488,12 +483,12 @@ namespace OpenSim.Region.Physics.Meshing
            return mesh;
        }
-        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, PhysicsVector size, float lod)
+        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod)
        {
            return CreateMesh(primName, primShape, size, lod, false);
        }
-        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, PhysicsVector size, float lod, bool isPhysical)
+        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical)
        {
            Mesh mesh = null;
            ulong key = 0;
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
index 71ace16..c86bc62 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
@@ -68,15 +68,15 @@ namespace OpenSim.Region.Physics.OdePlugin
    {
        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
-        private PhysicsVector _position;
+        private Vector3 _position;
        private d.Vector3 _zeroPosition;
        // private d.Matrix3 m_StandUpRotation;
        private bool _zeroFlag = false;
        private bool m_lastUpdateSent = false;
-        private PhysicsVector _velocity;
+        private Vector3 _velocity;
-        private PhysicsVector _target_velocity;
+        private Vector3 _target_velocity;
-        private PhysicsVector _acceleration;
+        private Vector3 _acceleration;
-        private PhysicsVector m_rotationalVelocity;
+        private Vector3 m_rotationalVelocity;
        private float m_mass = 80f;
        public float m_density = 60f;
        private bool m_pidControllerActive = true;
@@ -99,7 +99,7 @@ namespace OpenSim.Region.Physics.OdePlugin
        private bool m_hackSentFall = false;
        private bool m_hackSentFly = false;
        private int m_requestedUpdateFrequency = 0;
-        private PhysicsVector m_taintPosition = new PhysicsVector(0, 0, 0);
+        private Vector3 m_taintPosition = Vector3.Zero;
        public uint m_localID = 0;
        public bool m_returnCollisions = false;
        // taints and their non-tainted counterparts
@@ -143,22 +143,17 @@ namespace OpenSim.Region.Physics.OdePlugin
        public UUID m_uuid;
        public bool bad = false;
-        public OdeCharacter(String avName, OdeScene parent_scene, PhysicsVector pos, CollisionLocker dode, PhysicsVector size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
+        public OdeCharacter(String avName, OdeScene parent_scene, Vector3 pos, CollisionLocker dode, Vector3 size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
        {
            m_uuid = UUID.Random();
-            // ode = dode;
+            if (pos.IsFinite())
-            _velocity = new PhysicsVector();
-            _target_velocity = new PhysicsVector();
-            if (PhysicsVector.isFinite(pos))
            {
-                if (pos.Z > 9999999)
+                if (pos.Z > 9999999f)
                {
                    pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
                }
-                if (pos.Z < -90000)
+                if (pos.Z < -90000f)
                {
                    pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
                }
@@ -169,15 +164,13 @@ namespace OpenSim.Region.Physics.OdePlugin
            }
            else
            {
-                _position = new PhysicsVector(((int)_parent_scene.WorldExtents.X * 0.5f), ((int)_parent_scene.WorldExtents.Y * 0.5f), parent_scene.GetTerrainHeightAtXY(128, 128) + 10);
+                _position = new Vector3(((float)_parent_scene.WorldExtents.X * 0.5f), ((float)_parent_scene.WorldExtents.Y * 0.5f), parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f);
                m_taintPosition.X = _position.X;
                m_taintPosition.Y = _position.Y;
                m_taintPosition.Z = _position.Z;
                m_log.Warn("[PHYSICS]: Got NaN Position on Character Create");
            }
-            _acceleration = new PhysicsVector();
            _parent_scene = parent_scene;
            PID_D = pid_d;
@@ -189,7 +182,6 @@ namespace OpenSim.Region.Physics.OdePlugin
            walkDivisor = walk_divisor;
            runDivisor = rundivisor;
            // m_StandUpRotation =
            //     new d.Matrix3(0.5f, 0.7071068f, 0.5f, -0.7071068f, 0f, 0.7071068f, 0.5f, -0.7071068f,
            //                   0.5f);
@@ -205,7 +197,6 @@ namespace OpenSim.Region.Physics.OdePlugin
            m_isPhysical = false; // current status: no ODE information exists
            m_tainted_isPhysical = true; // new tainted status: need to create ODE information
-            
            _parent_scene.AddPhysicsActorTaint(this);
            
            m_name = avName;
@@ -412,20 +403,20 @@ namespace OpenSim.Region.Physics.OdePlugin
        /// Not really a good choice unless you 'know' it's a good
        /// spot otherwise you're likely to orbit the avatar.
        /// </summary>
-        public override PhysicsVector Position
+        public override Vector3 Position
        {
            get { return _position; }
            set
            {
                if (Body == IntPtr.Zero || Shell == IntPtr.Zero)
                {
-                    if (PhysicsVector.isFinite(value))
+                    if (value.IsFinite())
                    {
-                        if (value.Z > 9999999)
+                        if (value.Z > 9999999f)
                        {
                            value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
                        }
-                        if (value.Z < -90000)
+                        if (value.Z < -90000f)
                        {
                            value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
                        }
@@ -447,7 +438,7 @@ namespace OpenSim.Region.Physics.OdePlugin
            }
        }
-        public override PhysicsVector RotationalVelocity
+        public override Vector3 RotationalVelocity
        {
            get { return m_rotationalVelocity; }
            set { m_rotationalVelocity = value; }
@@ -457,20 +448,20 @@ namespace OpenSim.Region.Physics.OdePlugin
        /// This property sets the height of the avatar only.  We use the height to make sure the avatar stands up straight
        /// and use it to offset landings properly
        /// </summary>
-        public override PhysicsVector Size
+        public override Vector3 Size
        {
-            get { return new PhysicsVector(CAPSULE_RADIUS*2, CAPSULE_RADIUS*2, CAPSULE_LENGTH); }
+            get { return new Vector3(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
            set
            {
-                if (PhysicsVector.isFinite(value))
+                if (value.IsFinite())
                {
                    m_pidControllerActive = true;
-                    PhysicsVector SetSize = value;
+                    Vector3 SetSize = value;
                    m_tainted_CAPSULE_LENGTH = (SetSize.Z*1.15f) - CAPSULE_RADIUS*2.0f;
                    //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
-                    Velocity = new PhysicsVector(0f, 0f, 0f);
+                    Velocity = Vector3.Zero;
                    _parent_scene.AddPhysicsActorTaint(this);
                }
@@ -481,7 +472,7 @@ namespace OpenSim.Region.Physics.OdePlugin
            }
        }
-        private void AlignAvatarTiltWithCurrentDirectionOfMovement(PhysicsVector movementVector)
+        private void AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3 movementVector)
        {
            movementVector.Z = 0f;
            float magnitude = (float)Math.Sqrt((double)(movementVector.X * movementVector.X + movementVector.Y * movementVector.Y));
@@ -643,7 +634,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                // (with -0..0 motor stops) falls into the terrain for reasons yet
                // to be comprehended in their entirety.
                #endregion
-                AlignAvatarTiltWithCurrentDirectionOfMovement(new PhysicsVector(0,0,0));
+                AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3.Zero);
                d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f);
                d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
                d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f);
@@ -688,7 +679,7 @@ namespace OpenSim.Region.Physics.OdePlugin
        }
-        public override void LockAngularMotion(PhysicsVector axis)
+        public override void LockAngularMotion(Vector3 axis)
        {
        }
@@ -716,9 +707,9 @@ namespace OpenSim.Region.Physics.OdePlugin
 //             //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
 //         }
-        public override PhysicsVector Force
+        public override Vector3 Force
        {
-            get { return new PhysicsVector(_target_velocity.X, _target_velocity.Y, _target_velocity.Z); }
+            get { return _target_velocity; }
            set { return; }
        }
@@ -733,7 +724,7 @@ namespace OpenSim.Region.Physics.OdePlugin
        }
-        public override void VehicleVectorParam(int param, PhysicsVector value)
+        public override void VehicleVectorParam(int param, Vector3 value)
        {
        }
@@ -748,14 +739,14 @@ namespace OpenSim.Region.Physics.OdePlugin
        }
-        public override PhysicsVector CenterOfMass
+        public override Vector3 CenterOfMass
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
        }
-        public override PhysicsVector GeometricCenter
+        public override Vector3 GeometricCenter
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
        }
        public override PrimitiveBaseShape Shape
@@ -763,18 +754,18 @@ namespace OpenSim.Region.Physics.OdePlugin
            set { return; }
        }
-        public override PhysicsVector Velocity
+        public override Vector3 Velocity
        {
            get {
-                // There's a problem with PhysicsVector.Zero! Don't Use it Here!
+                // There's a problem with Vector3.Zero! Don't Use it Here!
                if (_zeroFlag)
-                    return new PhysicsVector(0f, 0f, 0f);
+                    return Vector3.Zero;
                m_lastUpdateSent = false;
                return _velocity;
            }
            set
            {
-                if (PhysicsVector.isFinite(value))
+                if (value.IsFinite())
                {
                    m_pidControllerActive = true;
                    _target_velocity = value;
@@ -786,9 +777,9 @@ namespace OpenSim.Region.Physics.OdePlugin
            }
        }
-        public override PhysicsVector Torque
+        public override Vector3 Torque
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
            set { return; }
        }
@@ -814,12 +805,12 @@ namespace OpenSim.Region.Physics.OdePlugin
            }
        }
-        public override PhysicsVector Acceleration
+        public override Vector3 Acceleration
        {
            get { return _acceleration; }
        }
-        public void SetAcceleration(PhysicsVector accel)
+        public void SetAcceleration(Vector3 accel)
        {
            m_pidControllerActive = true;
            _acceleration = accel;
@@ -830,9 +821,9 @@ namespace OpenSim.Region.Physics.OdePlugin
        /// The PID controller takes this target velocity and tries to make it a reality
        /// </summary>
        /// <param name="force"></param>
-        public override void AddForce(PhysicsVector force, bool pushforce)
+        public override void AddForce(Vector3 force, bool pushforce)
        {
-            if (PhysicsVector.isFinite(force))
+            if (force.IsFinite())
            {
                if (pushforce)
                {
@@ -861,7 +852,7 @@ namespace OpenSim.Region.Physics.OdePlugin
            //m_lastUpdateSent = false;
        }
-        public override void AddAngularForce(PhysicsVector force, bool pushforce)
+        public override void AddAngularForce(Vector3 force, bool pushforce)
        {
        }
@@ -870,7 +861,7 @@ namespace OpenSim.Region.Physics.OdePlugin
        /// After all of the forces add up with 'add force' we apply them with doForce
        /// </summary>
        /// <param name="force"></param>
-        public void doForce(PhysicsVector force)
+        public void doForce(Vector3 force)
        {
            if (!collidelock)
            {
@@ -881,7 +872,7 @@ namespace OpenSim.Region.Physics.OdePlugin
            }
        }
-        public override void SetMomentum(PhysicsVector momentum)
+        public override void SetMomentum(Vector3 momentum)
        {
        }
@@ -908,9 +899,9 @@ namespace OpenSim.Region.Physics.OdePlugin
            //PidStatus = true;
            d.Vector3 localpos = d.BodyGetPosition(Body);
-            PhysicsVector localPos = new PhysicsVector(localpos.X, localpos.Y, localpos.Z);
+            Vector3 localPos = new Vector3(localpos.X, localpos.Y, localpos.Z);
            
-            if (!PhysicsVector.isFinite(localPos))
+            if (!localPos.IsFinite())
            {
                m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
@@ -946,7 +937,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                return;
            }
-            PhysicsVector vec = new PhysicsVector();
+            Vector3 vec = Vector3.Zero;
            d.Vector3 vel = d.BodyGetLinearVel(Body);
            float movementdivisor = 1f;
@@ -1059,12 +1050,12 @@ namespace OpenSim.Region.Physics.OdePlugin
                }
                // end add Kitto Flora
            }
-            if (PhysicsVector.isFinite(vec))
+            if (vec.IsFinite())
            {
                doForce(vec);
                if (!_zeroFlag)
                {
-                  AlignAvatarTiltWithCurrentDirectionOfMovement(new PhysicsVector(vec.X, vec.Y, vec.Z));
+                  AlignAvatarTiltWithCurrentDirectionOfMovement(vec);
                }
            }
            else
@@ -1197,7 +1188,7 @@ namespace OpenSim.Region.Physics.OdePlugin
        {
        }
-        public override PhysicsVector PIDTarget { set { return; } }
+        public override Vector3 PIDTarget { set { return; } }
        public override bool PIDActive { set { return; } }
        public override float PIDTau { set { return; } }
@@ -1311,7 +1302,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                    d.GeomDestroy(Shell);
                    AvatarGeomAndBodyCreation(_position.X, _position.Y,
                                      _position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2), m_tensor);
-                    Velocity = new PhysicsVector(0f, 0f, 0f);
+                    Velocity = Vector3.Zero;
                    _parent_scene.geom_name_map[Shell] = m_name;
                    _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
@@ -1325,7 +1316,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                }
            }
-            if (!m_taintPosition.IsIdentical(_position, 0.05f))
+            if (!m_taintPosition.ApproxEquals(_position, 0.05f))
            {
                if (Body != IntPtr.Zero)
                {
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs
index 019c78b..4a802cd 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs
@@ -232,7 +232,7 @@ namespace OpenSim.Region.Physics.OdePlugin
            
        }//end ProcessFloatVehicleParam
-        internal void ProcessVectorVehicleParam(Vehicle pParam, PhysicsVector pValue)
+        internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
        {
            switch (pParam)
            {
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
index 09c8582..5ff9d32 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
@@ -57,44 +57,43 @@ namespace OpenSim.Region.Physics.OdePlugin
    {
        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
-        private PhysicsVector _position;
+        private Vector3 _position;
-        private PhysicsVector _velocity;
+        private Vector3 _velocity;
-        private PhysicsVector _torque = new PhysicsVector(0,0,0);
+        private Vector3 _torque;
-        private PhysicsVector m_lastVelocity = new PhysicsVector(0.0f, 0.0f, 0.0f);
+        private Vector3 m_lastVelocity;
-        private PhysicsVector m_lastposition = new PhysicsVector(0.0f, 0.0f, 0.0f);
+        private Vector3 m_lastposition;
        private Quaternion m_lastorientation = new Quaternion();
-        private PhysicsVector m_rotationalVelocity;
+        private Vector3 m_rotationalVelocity;
-        private PhysicsVector _size;
+        private Vector3 _size;
-        private PhysicsVector _acceleration;
+        private Vector3 _acceleration;
        // private d.Vector3 _zeroPosition = new d.Vector3(0.0f, 0.0f, 0.0f);
        private Quaternion _orientation;
-        private PhysicsVector m_taintposition;
+        private Vector3 m_taintposition;
-        private PhysicsVector m_taintsize;
+        private Vector3 m_taintsize;
-        private PhysicsVector m_taintVelocity = new PhysicsVector(0, 0, 0);
+        private Vector3 m_taintVelocity;
-        private PhysicsVector m_taintTorque = new PhysicsVector(0, 0, 0);
+        private Vector3 m_taintTorque;
        private Quaternion m_taintrot;
-        private PhysicsVector m_angularlock = new PhysicsVector(1f, 1f, 1f);
+        private Vector3 m_angularlock = Vector3.One;
-        private PhysicsVector m_taintAngularLock = new PhysicsVector(1f, 1f, 1f);
+        private Vector3 m_taintAngularLock = Vector3.One;
        private IntPtr Amotor = IntPtr.Zero;
-        private PhysicsVector m_PIDTarget = new PhysicsVector(0, 0, 0);
+        private Vector3 m_PIDTarget;
-        // private PhysicsVector m_taintPIDTarget = new PhysicsVector(0, 0, 0);
+        private float m_PIDTau;
-        private float m_PIDTau = 0f;
        private float PID_D = 35f;
        private float PID_G = 25f;
-        private bool m_usePID = false;
+        private bool m_usePID;
        // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau),
        // and are for non-VEHICLES only.
-         
-        private float m_PIDHoverHeight = 0f;
+        private float m_PIDHoverHeight;
-        private float m_PIDHoverTau = 0f;
+        private float m_PIDHoverTau;
-        private bool m_useHoverPID = false;
+        private bool m_useHoverPID;
        private PIDHoverType m_PIDHoverType = PIDHoverType.Ground;
-        private float m_targetHoverHeight = 0f;
+        private float m_targetHoverHeight;
-        private float m_groundHeight = 0f;
+        private float m_groundHeight;
-        private float m_waterHeight = 0f;
+        private float m_waterHeight;
-        private float m_buoyancy = 0f;                          //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. 
+        private float m_buoyancy;                               //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. 
        // private float m_tensor = 5f;
        private int body_autodisable_frames = 20;
@@ -105,11 +104,11 @@ namespace OpenSim.Region.Physics.OdePlugin
                                                        | CollisionCategories.Body
                                                        | CollisionCategories.Character
                                                        );
-        private bool m_taintshape = false;
+        private bool m_taintshape;
-        private bool m_taintPhysics = false;
+        private bool m_taintPhysics;
        private bool m_collidesLand = true;
-        private bool m_collidesWater = false;
+        private bool m_collidesWater;
-        public bool m_returnCollisions = false;
+        public bool m_returnCollisions;
        // Default we're a Geometry
        private CollisionCategories m_collisionCategories = (CollisionCategories.Geom);
@@ -117,85 +116,83 @@ namespace OpenSim.Region.Physics.OdePlugin
        // Default, Collide with Other Geometries, spaces and Bodies
        private CollisionCategories m_collisionFlags = m_default_collisionFlags;
-        public bool m_taintremove = false;
+        public bool m_taintremove;
-        public bool m_taintdisable = false;
+        public bool m_taintdisable;
-        public bool m_disabled = false;
+        public bool m_disabled;
-        public bool m_taintadd = false;
+        public bool m_taintadd;
-        public bool m_taintselected = false;
+        public bool m_taintselected;
-        public bool m_taintCollidesWater = false;
+        public bool m_taintCollidesWater;
-        public uint m_localID = 0;
+        public uint m_localID;
        //public GCHandle gc;
        private CollisionLocker ode;
        private bool m_taintforce = false;
        private bool m_taintaddangularforce = false;
-        private PhysicsVector m_force = new PhysicsVector(0.0f, 0.0f, 0.0f);
+        private Vector3 m_force;
-        private List<PhysicsVector> m_forcelist = new List<PhysicsVector>();
+        private List<Vector3> m_forcelist = new List<Vector3>();
-        private List<PhysicsVector> m_angularforcelist = new List<PhysicsVector>();
+        private List<Vector3> m_angularforcelist = new List<Vector3>();
        private IMesh _mesh;
        private PrimitiveBaseShape _pbs;
        private OdeScene _parent_scene;
-        public IntPtr m_targetSpace = (IntPtr) 0;
+        public IntPtr m_targetSpace = IntPtr.Zero;
        public IntPtr prim_geom;
        public IntPtr prev_geom;
        public IntPtr _triMeshData;
-        private IntPtr _linkJointGroup = (IntPtr)0;
+        private IntPtr _linkJointGroup = IntPtr.Zero;
-        private PhysicsActor _parent = null;
+        private PhysicsActor _parent;
-        private PhysicsActor m_taintparent = null;
+        private PhysicsActor m_taintparent;
        private List<OdePrim> childrenPrim = new List<OdePrim>();
-        private bool iscolliding = false;
+        private bool iscolliding;
-        private bool m_isphysical = false;
+        private bool m_isphysical;
-        private bool m_isSelected = false;
+        private bool m_isSelected;
-        internal bool m_isVolumeDetect = false; // If true, this prim only detects collisions but doesn't collide actively
+        internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively
-        private bool m_throttleUpdates = false;
+        private bool m_throttleUpdates;
-        private int throttleCounter = 0;
+        private int throttleCounter;
-        public int m_interpenetrationcount = 0;
+        public int m_interpenetrationcount;
-        public float m_collisionscore = 0;
+        public float m_collisionscore;
-        public int m_roundsUnderMotionThreshold = 0;
+        public int m_roundsUnderMotionThreshold;
-        private int m_crossingfailures = 0;
+        private int m_crossingfailures;
-        public bool outofBounds = false;
+        public bool outofBounds;
        private float m_density = 10.000006836f; // Aluminum g/cm3;
-        public bool _zeroFlag = false;
+        public bool _zeroFlag;
-        private bool m_lastUpdateSent = false;
+        private bool m_lastUpdateSent;
-        public IntPtr Body = (IntPtr) 0;
+        public IntPtr Body = IntPtr.Zero;
        public String m_primName;
-//        private String m_primName;
+        private Vector3 _target_velocity;
-        private PhysicsVector _target_velocity;
        public d.Mass pMass;
-        public int m_eventsubscription = 0;
+        public int m_eventsubscription;
-        private CollisionEventUpdate CollisionEventsThisFrame = null;
+        private CollisionEventUpdate CollisionEventsThisFrame;
-        private IntPtr m_linkJoint = (IntPtr)0;
+        private IntPtr m_linkJoint = IntPtr.Zero;
-        public volatile bool childPrim = false;
+        public volatile bool childPrim;
        private ODEDynamics m_vehicle;
        internal int m_material = (int)Material.Wood;
-        public OdePrim(String primName, OdeScene parent_scene, PhysicsVector pos, PhysicsVector size,
+        public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size,
                       Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode)
        {
-            _target_velocity = new PhysicsVector(0, 0, 0);
            m_vehicle = new ODEDynamics();
            //gc = GCHandle.Alloc(prim_geom, GCHandleType.Pinned);
            ode = dode;
-            _velocity = new PhysicsVector();
+            if (!pos.IsFinite())
-            if (!PhysicsVector.isFinite(pos))
            {
-                pos = new PhysicsVector(((int)Constants.RegionSize * 0.5f), ((int)Constants.RegionSize * 0.5f), parent_scene.GetTerrainHeightAtXY(((int)Constants.RegionSize * 0.5f), ((int)Constants.RegionSize * 0.5f)) + 0.5f);
+                pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f),
+                    parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f);
                m_log.Warn("[PHYSICS]: Got nonFinite Object create Position");
            }
            _position = pos;
@@ -210,9 +207,9 @@ namespace OpenSim.Region.Physics.OdePlugin
            prim_geom = IntPtr.Zero;
            prev_geom = IntPtr.Zero;
-            if (!PhysicsVector.isFinite(pos))
+            if (!pos.IsFinite())
            {
-                size = new PhysicsVector(0.5f, 0.5f, 0.5f);
+                size = new Vector3(0.5f, 0.5f, 0.5f);
                m_log.Warn("[PHYSICS]: Got nonFinite Object create Size");
            }
@@ -222,8 +219,6 @@ namespace OpenSim.Region.Physics.OdePlugin
            _size = size;
            m_taintsize = _size;
-            _acceleration = new PhysicsVector();
-            m_rotationalVelocity = PhysicsVector.Zero;
            if (!QuaternionIsFinite(rotation))
            {
@@ -388,7 +383,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                m_disabled = false;
                // The body doesn't already have a finite rotation mode set here
-                if ((!m_angularlock.IsIdentical(PhysicsVector.Zero, 0)) && _parent == null)
+                if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0.0f)) && _parent == null)
                {
                    createAMotor(m_angularlock);
                }
@@ -882,7 +877,7 @@ namespace OpenSim.Region.Physics.OdePlugin
            
            if (prim_geom != IntPtr.Zero)
            {
-                         if (!_position.IsIdentical(m_taintposition,0f))
+                         if (!_position.ApproxEquals(m_taintposition, 0f))
                            changemove(timestep);
                     if (m_taintrot != _orientation)
@@ -907,7 +902,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                    changePhysicsStatus(timestep);
                //
-                if (!_size.IsIdentical(m_taintsize,0))
+                if (!_size.ApproxEquals(m_taintsize,0f))
                    changesize(timestep);
                //
@@ -921,7 +916,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                if (m_taintaddangularforce)
                    changeAddAngularForce(timestep);
-                if (!m_taintTorque.IsIdentical(PhysicsVector.Zero, 0.001f))
+                if (!m_taintTorque.ApproxEquals(Vector3.Zero, 0.001f))
                    changeSetTorque(timestep);
                if (m_taintdisable)
@@ -930,7 +925,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                if (m_taintselected != m_isSelected)
                    changeSelectedStatus(timestep);
-                if (!m_taintVelocity.IsIdentical(PhysicsVector.Zero, 0.001f))
+                if (!m_taintVelocity.ApproxEquals(Vector3.Zero, 0.001f))
                    changevelocity(timestep);
                if (m_taintparent != _parent)
@@ -939,7 +934,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                if (m_taintCollidesWater != m_collidesWater)
                    changefloatonwater(timestep);
-                if (!m_angularlock.IsIdentical(m_taintAngularLock,0))
+                if (!m_angularlock.ApproxEquals(m_taintAngularLock,0f))
                    changeAngularLock(timestep);
 
            }
@@ -959,7 +954,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                //If we have a parent then we're not authorative here
                if (_parent == null)
                {
-                    if (!m_taintAngularLock.IsIdentical(new PhysicsVector(1f,1f,1f), 0))
+                    if (!m_taintAngularLock.ApproxEquals(Vector3.One, 0f))
                    {
                        //d.BodySetFiniteRotationMode(Body, 0);
                        //d.BodySetFiniteRotationAxis(Body,m_taintAngularLock.X,m_taintAngularLock.Y,m_taintAngularLock.Z);
@@ -976,7 +971,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                }
            }
            // Store this for later in case we get turned into a separate body
-            m_angularlock = new PhysicsVector(m_taintAngularLock.X, m_taintAngularLock.Y, m_taintAngularLock.Z);
+            m_angularlock = m_taintAngularLock;
            
        }
@@ -1120,7 +1115,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                                prm.m_disabled = false;
                                // The body doesn't already have a finite rotation mode set here
-                                if ((!m_angularlock.IsIdentical(PhysicsVector.Zero, 0)) && _parent == null)
+                                if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null)
                                {
                                    prm.createAMotor(m_angularlock);
                                }
@@ -1163,7 +1158,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                            m_disabled = false;
                            // The body doesn't already have a finite rotation mode set here
-                            if ((!m_angularlock.IsIdentical(PhysicsVector.Zero, 0)) && _parent == null)
+                            if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null)
                            {
                                createAMotor(m_angularlock);
                            }
@@ -1347,7 +1342,7 @@ namespace OpenSim.Region.Physics.OdePlugin
            m_taintshape = false;
            m_taintforce = false;
            m_taintdisable = false;
-            m_taintVelocity = PhysicsVector.Zero;
+            m_taintVelocity = Vector3.Zero;
        }
        public void CreateGeom(IntPtr m_targetSpace, IMesh _mesh)
@@ -1576,7 +1571,7 @@ Console.WriteLine(" JointCreateFixed");
 //Console.WriteLine("Move " +  m_primName);             
                        if(!d.BodyIsEnabled (Body))  d.BodyEnable (Body); // KF add 161009
                        // NON-'VEHICLES' are dealt with here
-                        if (d.BodyIsEnabled(Body) && !m_angularlock.IsIdentical(PhysicsVector.Zero, 0.003f))
+                        if (d.BodyIsEnabled(Body) && !m_angularlock.ApproxEquals(Vector3.Zero, 0.003f))
                        {
                            d.Vector3 avel2 = d.BodyGetAngularVel(Body);
                            if (m_angularlock.X == 1)
@@ -1633,7 +1628,7 @@ Console.WriteLine(" JointCreateFixed");
                            d.Vector3 pos = d.BodyGetPosition(Body);
                            _target_velocity =
-                                new PhysicsVector(
+                            new Vector3(
                                    (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep),
                                    (m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep),
                                    (m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep)
@@ -1641,7 +1636,7 @@ Console.WriteLine(" JointCreateFixed");
                            //  if velocity is zero, use position control; otherwise, velocity control
-                            if (_target_velocity.IsIdentical(PhysicsVector.Zero,0.1f))
+                            if (_target_velocity.ApproxEquals(Vector3.Zero,0.1f))
                            {
                                //  keep track of where we stopped.  No more slippin' & slidin'
        
@@ -1726,13 +1721,13 @@ Console.WriteLine(" JointCreateFixed");
                            _target_velocity =
-                            new PhysicsVector(0.0f, 0.0f,
+                            new Vector3(0.0f, 0.0f,
                                (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep)
                                );
                        //  if velocity is zero, use position control; otherwise, velocity control
-                        if (_target_velocity.IsIdentical(PhysicsVector.Zero, 0.1f))
+                        if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
                        {
                            //  keep track of where we stopped.  No more slippin' & slidin'
        
@@ -1821,7 +1816,7 @@ Console.WriteLine(" JointCreateFixed");
                d.BodySetQuaternion(Body, ref myrot);
                    if (m_isphysical)
                    {
-                        if (!m_angularlock.IsIdentical(new PhysicsVector(1, 1, 1), 0))
+                    if (!m_angularlock.ApproxEquals(Vector3.One, 0f))
                            createAMotor(m_angularlock);
                    }
                }
@@ -2130,7 +2125,7 @@ Console.WriteLine(" JointCreateFixed");
                    //m_log.Info("[PHYSICS]: dequeing forcelist");
                    if (IsPhysical)
                    {
-                        PhysicsVector iforce = new PhysicsVector();
+                        Vector3 iforce = Vector3.Zero;
                        for (int i = 0; i < m_forcelist.Count; i++)
                        {
                            iforce = iforce + (m_forcelist[i] * 100);
@@ -2160,8 +2155,8 @@ Console.WriteLine(" JointCreateFixed");
                    d.BodySetTorque(Body, m_taintTorque.X, m_taintTorque.Y, m_taintTorque.Z);
                }
            }
-            
-            m_taintTorque = new PhysicsVector(0, 0, 0);
+            m_taintTorque = Vector3.Zero;
        }
        public void changeAddAngularForce(float timestamp)
@@ -2173,7 +2168,7 @@ Console.WriteLine(" JointCreateFixed");
                    //m_log.Info("[PHYSICS]: dequeing forcelist");
                    if (IsPhysical)
                    {
-                        PhysicsVector iforce = new PhysicsVector();
+                        Vector3 iforce = Vector3.Zero;
                        for (int i = 0; i < m_angularforcelist.Count; i++)
                        {
                            iforce = iforce + (m_angularforcelist[i] * 100);
@@ -2207,7 +2202,7 @@ Console.WriteLine(" JointCreateFixed");
                
                //resetCollisionAccounting();
            }
-            m_taintVelocity = PhysicsVector.Zero;
+            m_taintVelocity = Vector3.Zero;
        }
        public override bool IsPhysical
@@ -2216,7 +2211,7 @@ Console.WriteLine(" JointCreateFixed");
            set { 
                  m_isphysical = value;
                  if (!m_isphysical) // Zero the remembered last velocity
-                      m_lastVelocity = new PhysicsVector(0.0f, 0.0f, 0.0f);
+                      m_lastVelocity = Vector3.Zero;
                }
        }
@@ -2261,7 +2256,7 @@ Console.WriteLine(" JointCreateFixed");
            get { return _zeroFlag; }
        }
-        public override PhysicsVector Position
+        public override Vector3 Position
        {
            get { return _position; }
@@ -2270,12 +2265,12 @@ Console.WriteLine(" JointCreateFixed");
            }
        }
-        public override PhysicsVector Size
+        public override Vector3 Size
        {
            get { return _size; }
            set
            {
-                if (PhysicsVector.isFinite(value))
+                if (value.IsFinite())
                {
                    _size = value;
                }
@@ -2291,13 +2286,13 @@ Console.WriteLine(" JointCreateFixed");
            get { return CalculateMass(); }
        }
-        public override PhysicsVector Force
+        public override Vector3 Force
        {
-            //get { return PhysicsVector.Zero; }
+            //get { return Vector3.Zero; }
            get { return m_force; }
            set
            {
-                if (PhysicsVector.isFinite(value))
+                if (value.IsFinite())
                {
                    m_force = value;
                }
@@ -2319,7 +2314,7 @@ Console.WriteLine(" JointCreateFixed");
            m_vehicle.ProcessFloatVehicleParam((Vehicle) param, value);
        }
-        public override void VehicleVectorParam(int param, PhysicsVector value)
+        public override void VehicleVectorParam(int param, Vector3 value)
        {
            m_vehicle.ProcessVectorVehicleParam((Vehicle) param, value);
        }
@@ -2337,14 +2332,14 @@ Console.WriteLine(" JointCreateFixed");
            }
        }
-        public override PhysicsVector CenterOfMass
+        public override Vector3 CenterOfMass
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
        }
-        public override PhysicsVector GeometricCenter
+        public override Vector3 GeometricCenter
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
        }
        public override PrimitiveBaseShape Shape
@@ -2356,13 +2351,13 @@ Console.WriteLine(" JointCreateFixed");
            }
        }
-        public override PhysicsVector Velocity
+        public override Vector3 Velocity
        {
            get
            {
                // Averate previous velocity with the new one so
                // client object interpolation works a 'little' better
-                PhysicsVector returnVelocity = new PhysicsVector();
+                Vector3 returnVelocity = Vector3.Zero;
                returnVelocity.X = (m_lastVelocity.X + _velocity.X)/2;
                returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y)/2;
                returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z)/2;
@@ -2370,7 +2365,7 @@ Console.WriteLine(" JointCreateFixed");
            }
            set
            {
-                if (PhysicsVector.isFinite(value))
+                if (value.IsFinite())
                {
                    _velocity = value;
@@ -2385,19 +2380,19 @@ Console.WriteLine(" JointCreateFixed");
            }
        }
-        public override PhysicsVector Torque
+        public override Vector3 Torque
        {
            get
            {
                if (!m_isphysical || Body == IntPtr.Zero)
-                    return new PhysicsVector(0,0,0);
+                    return Vector3.Zero;
                return _torque;
            }
            set
            {
-                if (PhysicsVector.isFinite(value))
+                if (value.IsFinite())
                {
                    m_taintTorque = value;
                    _parent_scene.AddPhysicsActorTaint(this);
@@ -2449,20 +2444,20 @@ Console.WriteLine(" JointCreateFixed");
            return true;
        }
-        public override PhysicsVector Acceleration
+        public override Vector3 Acceleration
        {
            get { return _acceleration; }
        }
-        public void SetAcceleration(PhysicsVector accel)
+        public void SetAcceleration(Vector3 accel)
        {
            _acceleration = accel;
        }
-        public override void AddForce(PhysicsVector force, bool pushforce)
+        public override void AddForce(Vector3 force, bool pushforce)
        {
-            if (PhysicsVector.isFinite(force))
+            if (force.IsFinite())
            {
                m_forcelist.Add(force);
                m_taintforce = true;
@@ -2474,9 +2469,9 @@ Console.WriteLine(" JointCreateFixed");
            //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() +  " to prim at " + Position.ToString());
        }
-        public override void AddAngularForce(PhysicsVector force, bool pushforce)
+        public override void AddAngularForce(Vector3 force, bool pushforce)
        {
-            if (PhysicsVector.isFinite(force))
+            if (force.IsFinite())
            {
                m_angularforcelist.Add(force);
                m_taintaddangularforce = true;
@@ -2487,23 +2482,23 @@ Console.WriteLine(" JointCreateFixed");
            }
        }
-        public override PhysicsVector RotationalVelocity
+        public override Vector3 RotationalVelocity
        {
            get
            {
-                PhysicsVector pv = new PhysicsVector(0, 0, 0);
+                Vector3 pv = Vector3.Zero;
                if (_zeroFlag)
                    return pv;
                m_lastUpdateSent = false;
-                if (m_rotationalVelocity.IsIdentical(pv, 0.2f))
+                if (m_rotationalVelocity.ApproxEquals(pv, 0.2f))
                    return pv;
                return m_rotationalVelocity;
            }
            set
            {
-                if (PhysicsVector.isFinite(value))
+                if (value.IsFinite())
                {
                    m_rotationalVelocity = value;
                }
@@ -2544,16 +2539,16 @@ Console.WriteLine(" JointCreateFixed");
            m_taintparent = null;
        }
-        public override void LockAngularMotion(PhysicsVector axis)
+        public override void LockAngularMotion(Vector3 axis)
        {
            // reverse the zero/non zero values for ODE.
-            if (PhysicsVector.isFinite(axis))
+            if (axis.IsFinite())
            {
                axis.X = (axis.X > 0) ? 1f : 0f;
                axis.Y = (axis.Y > 0) ? 1f : 0f;
                axis.Z = (axis.Z > 0) ? 1f : 0f;
                m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z);
-                m_taintAngularLock = new PhysicsVector(axis.X, axis.Y, axis.Z);
+                m_taintAngularLock = axis;
            }
            else
            {
@@ -2566,7 +2561,7 @@ Console.WriteLine(" JointCreateFixed");
            //  no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
            if (_parent == null)
            {
-                PhysicsVector pv = new PhysicsVector(0, 0, 0);
+                Vector3 pv = Vector3.Zero;
                bool lastZeroFlag = _zeroFlag;
                if (Body != (IntPtr)0) // FIXME -> or if it is a joint
                {
@@ -2575,9 +2570,9 @@ Console.WriteLine(" JointCreateFixed");
                    d.Vector3 vel = d.BodyGetLinearVel(Body);
                    d.Vector3 rotvel = d.BodyGetAngularVel(Body);
                    d.Vector3 torque = d.BodyGetTorque(Body);
-                    _torque.setValues(torque.X, torque.Y, torque.Z);
+                    _torque = new Vector3(torque.X, torque.Y, torque.Z);
-                    PhysicsVector l_position = new PhysicsVector();
+                    Vector3 l_position = Vector3.Zero;
-                    Quaternion l_orientation = new Quaternion();
+                    Quaternion l_orientation = Quaternion.Identity;
                    //  kluge to keep things in bounds.  ODE lets dead avatars drift away (they should be removed!)
                    //if (vec.X < 0.0f) { vec.X = 0.0f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); }
@@ -2712,16 +2707,16 @@ Console.WriteLine(" JointCreateFixed");
                        _velocity.Z = vel.Z;
                        _acceleration = ((_velocity - m_lastVelocity) / 0.1f);
-                        _acceleration = new PhysicsVector(_velocity.X - m_lastVelocity.X / 0.1f, _velocity.Y - m_lastVelocity.Y / 0.1f, _velocity.Z - m_lastVelocity.Z / 0.1f);
+                        _acceleration = new Vector3(_velocity.X - m_lastVelocity.X / 0.1f, _velocity.Y - m_lastVelocity.Y / 0.1f, _velocity.Z - m_lastVelocity.Z / 0.1f);
                        //m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString());
-                        if (_velocity.IsIdentical(pv, 0.5f))
+                        if (_velocity.ApproxEquals(pv, 0.5f))
                        {
                            m_rotationalVelocity = pv;
                        }
                        else
                        {
-                            m_rotationalVelocity.setValues(rotvel.X, rotvel.Y, rotvel.Z);
+                            m_rotationalVelocity = new Vector3(rotvel.X, rotvel.Y, rotvel.Z);
                        }
                        //m_log.Debug("ODE: " + m_rotationalVelocity.ToString());
@@ -2769,15 +2764,15 @@ Console.WriteLine(" JointCreateFixed");
            }
        }
-        public override void SetMomentum(PhysicsVector momentum)
+        public override void SetMomentum(Vector3 momentum)
        {
        }
-        public override PhysicsVector PIDTarget 
+        public override Vector3 PIDTarget 
        { 
            set
            {
-                if (PhysicsVector.isFinite(value))
+                if (value.IsFinite())
                {
                    m_PIDTarget = value;
                }
@@ -2793,7 +2788,7 @@ Console.WriteLine(" JointCreateFixed");
        public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } }
        public override float PIDHoverTau { set { m_PIDHoverTau = value; } }
-        private void createAMotor(PhysicsVector axis)
+        private void createAMotor(Vector3 axis)
        {
            if (Body == IntPtr.Zero)
                return;
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
index 0eb0c45..2f42646 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
@@ -684,7 +684,7 @@ namespace OpenSim.Region.Physics.OdePlugin
        /// </summary>
        /// <param name="pos"></param>
        /// <returns>Returns which split up space the given position is in.</returns>
-        public string whichspaceamIin(PhysicsVector pos)
+        public string whichspaceamIin(Vector3 pos)
        {
            return calculateSpaceForGeom(pos).ToString();
        }
@@ -963,7 +963,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                                    //p2.CollidingObj = true;
                                    contacts[i].depth = 0.00000003f;
-                                    p2.Velocity = p2.Velocity + new PhysicsVector(0, 0, 0.5f);
+                                    p2.Velocity = p2.Velocity + new Vector3(0f, 0f, 0.5f);
                                    contacts[i].pos =
                                        new d.Vector3(contacts[i].pos.X + (p1.Size.X/2),
                                                      contacts[i].pos.Y + (p1.Size.Y/2),
@@ -981,7 +981,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                                    //p2.CollidingObj = true;
                                    contacts[i].depth = 0.00000003f;
-                                    p1.Velocity = p1.Velocity + new PhysicsVector(0, 0, 0.5f);
+                                    p1.Velocity = p1.Velocity + new Vector3(0f, 0f, 0.5f);
                                    contacts[i].pos =
                                        new d.Vector3(contacts[i].pos.X + (p1.Size.X/2),
                                                      contacts[i].pos.Y + (p1.Size.Y/2),
@@ -1646,9 +1646,9 @@ namespace OpenSim.Region.Physics.OdePlugin
        #region Add/Remove Entities
-        public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying)
+        public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
        {
-            PhysicsVector pos = new PhysicsVector();
+            Vector3 pos;
            pos.X = position.X;
            pos.Y = position.Y;
            pos.Z = position.Z;
@@ -1698,18 +1698,12 @@ namespace OpenSim.Region.Physics.OdePlugin
            
        }
-        private PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, Quaternion rotation,
+        private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
                                     IMesh mesh, PrimitiveBaseShape pbs, bool isphysical)
        {
-            
-            PhysicsVector pos = new PhysicsVector(position.X, position.Y, position.Z);
+            Vector3 pos = position;
-            //pos.X = position.X;
+            Vector3 siz = size;
-            //pos.Y = position.Y;
-            //pos.Z = position.Z;
-            PhysicsVector siz = new PhysicsVector();
-            siz.X = size.X;
-            siz.Y = size.Y;
-            siz.Z = size.Z;
            Quaternion rot = rotation;
            OdePrim newPrim;
@@ -1736,14 +1730,14 @@ namespace OpenSim.Region.Physics.OdePlugin
            }
        }
-        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
-                                                  PhysicsVector size, Quaternion rotation) //To be removed
+                                                  Vector3 size, Quaternion rotation) //To be removed
        {
            return AddPrimShape(primName, pbs, position, size, rotation, false);
        }
-        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
-                                                  PhysicsVector size, Quaternion rotation, bool isPhysical)
+                                                  Vector3 size, Quaternion rotation, bool isPhysical)
        {
            PhysicsActor result;
            IMesh mesh = null;
@@ -1976,7 +1970,7 @@ namespace OpenSim.Region.Physics.OdePlugin
        // this joint will just be added to a waiting list that is NOT processed during the main
        // Simulate() loop (to avoid deadlocks). After Simulate() is finished, we handle unprocessed joint requests.
-        public override PhysicsJoint RequestJointCreation(string objectNameInScene, PhysicsJointType jointType, PhysicsVector position,
+        public override PhysicsJoint RequestJointCreation(string objectNameInScene, PhysicsJointType jointType, Vector3 position,
                                            Quaternion rotation, string parms, List<string> bodyNames, string trackedBodyName, Quaternion localRotation)
        {
@@ -1984,7 +1978,7 @@ namespace OpenSim.Region.Physics.OdePlugin
            OdePhysicsJoint joint = new OdePhysicsJoint();
            joint.ObjectNameInScene = objectNameInScene;
            joint.Type = jointType;
-            joint.Position = new PhysicsVector(position.X, position.Y, position.Z);
+            joint.Position = position;
            joint.Rotation = rotation;
            joint.RawParams = parms;
            joint.BodyNames = new List<string>(bodyNames);
@@ -2036,7 +2030,7 @@ namespace OpenSim.Region.Physics.OdePlugin
        }
        // normally called from within OnJointMoved, which is called from within a lock (OdeLock)
-        public override PhysicsVector GetJointAnchor(PhysicsJoint joint)
+        public override Vector3 GetJointAnchor(PhysicsJoint joint)
        {
            Debug.Assert(joint.IsInPhysicsEngine);
            d.Vector3 pos = new d.Vector3();
@@ -2058,14 +2052,14 @@ namespace OpenSim.Region.Physics.OdePlugin
                        break;
                }
            }
-            return new PhysicsVector(pos.X, pos.Y, pos.Z);
+            return new Vector3(pos.X, pos.Y, pos.Z);
        }
        // normally called from within OnJointMoved, which is called from within a lock (OdeLock)
        // WARNING: ODE sometimes returns <0,0,0> as the joint axis! Therefore this function
        // appears to be unreliable. Fortunately we can compute the joint axis ourselves by
        // keeping track of the joint's original orientation relative to one of the involved bodies.
-        public override PhysicsVector GetJointAxis(PhysicsJoint joint)
+        public override Vector3 GetJointAxis(PhysicsJoint joint)
        {
            Debug.Assert(joint.IsInPhysicsEngine);
            d.Vector3 axis = new d.Vector3();
@@ -2087,7 +2081,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                        break;
                }
            }
-            return new PhysicsVector(axis.X, axis.Y, axis.Z);
+            return new Vector3(axis.X, axis.Y, axis.Z);
        }
@@ -2255,7 +2249,7 @@ namespace OpenSim.Region.Physics.OdePlugin
        /// <param name="pos">the position that the geom moved to</param>
        /// <param name="currentspace">a pointer to the space it was in before it was moved.</param>
        /// <returns>a pointer to the new space it's in</returns>
-        public IntPtr recalculateSpaceForGeom(IntPtr geom, PhysicsVector pos, IntPtr currentspace)
+        public IntPtr recalculateSpaceForGeom(IntPtr geom, Vector3 pos, IntPtr currentspace)
        {
            // Called from setting the Position and Size of an ODEPrim so
            // it's already in locked space.
@@ -2402,7 +2396,7 @@ namespace OpenSim.Region.Physics.OdePlugin
        /// </summary>
        /// <param name="pos"></param>
        /// <returns>a pointer to the space. This could be a new space or reused space.</returns>
-        public IntPtr calculateSpaceForGeom(PhysicsVector pos)
+        public IntPtr calculateSpaceForGeom(Vector3 pos)
        {
            int[] xyspace = calculateSpaceArrayItemFromPos(pos);
            //m_log.Info("[Physics]: Attempting to use arrayItem: " + xyspace[0].ToString() + "," + xyspace[1].ToString());
@@ -2414,7 +2408,7 @@ namespace OpenSim.Region.Physics.OdePlugin
        /// </summary>
        /// <param name="pos"></param>
        /// <returns>an array item based on the position</returns>
-        public int[] calculateSpaceArrayItemFromPos(PhysicsVector pos)
+        public int[] calculateSpaceArrayItemFromPos(Vector3 pos)
        {
            int[] returnint = new int[2];
diff --git a/OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs b/OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs
index cdd38c4..69e2d03 100644
--- a/OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs
+++ b/OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs
@@ -76,8 +76,8 @@ namespace OpenSim.Region.Physics.OdePlugin
        public void CreateAndDropPhysicalCube()
        {
            PrimitiveBaseShape newcube = PrimitiveBaseShape.CreateBox();
-            PhysicsVector position = new PhysicsVector(((int)Constants.RegionSize * 0.5f), ((int)Constants.RegionSize * 0.5f), 128);
+            Vector3 position = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f), 128f);
-            PhysicsVector size = new PhysicsVector(0.5f, 0.5f, 0.5f);
+            Vector3 size = new Vector3(0.5f, 0.5f, 0.5f);
            Quaternion rot = Quaternion.Identity;
            PhysicsActor prim = ps.AddPrimShape("CoolShape", newcube, position, size, rot, true);
            OdePrim oprim = (OdePrim)prim;
diff --git a/OpenSim/Region/Physics/POSPlugin/POSCharacter.cs b/OpenSim/Region/Physics/POSPlugin/POSCharacter.cs
index 35fc616..26cd1dd 100644
--- a/OpenSim/Region/Physics/POSPlugin/POSCharacter.cs
+++ b/OpenSim/Region/Physics/POSPlugin/POSCharacter.cs
@@ -36,20 +36,17 @@ namespace OpenSim.Region.Physics.POSPlugin
 {
    public class POSCharacter : PhysicsActor
    {
-        private PhysicsVector _position;
+        private Vector3 _position;
-        public PhysicsVector _velocity;
+        public Vector3 _velocity;
-        public PhysicsVector _target_velocity = PhysicsVector.Zero;
+        public Vector3 _target_velocity = Vector3.Zero;
-        public PhysicsVector _size = PhysicsVector.Zero;
+        public Vector3 _size = Vector3.Zero;
-        private PhysicsVector _acceleration;
+        private Vector3 _acceleration;
-        private PhysicsVector m_rotationalVelocity = PhysicsVector.Zero;
+        private Vector3 m_rotationalVelocity = Vector3.Zero;
        private bool flying;
        private bool isColliding;
        public POSCharacter()
        {
-            _velocity = new PhysicsVector();
-            _position = new PhysicsVector();
-            _acceleration = new PhysicsVector();
        }
        public override int PhysicsActorType
@@ -58,7 +55,7 @@ namespace OpenSim.Region.Physics.POSPlugin
            set { return; }
        }
-        public override PhysicsVector RotationalVelocity
+        public override Vector3 RotationalVelocity
        {
            get { return m_rotationalVelocity; }
            set { m_rotationalVelocity = value; }
@@ -137,13 +134,13 @@ namespace OpenSim.Region.Physics.POSPlugin
            get { return false; }
        }
-        public override PhysicsVector Position
+        public override Vector3 Position
        {
            get { return _position; }
            set { _position = value; }
        }
-        public override PhysicsVector Size
+        public override Vector3 Size
        {
            get { return _size; }
            set
@@ -158,9 +155,9 @@ namespace OpenSim.Region.Physics.POSPlugin
            get { return 0f; }
        }
-        public override PhysicsVector Force
+        public override Vector3 Force
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
            set { return; }
        }
@@ -175,7 +172,7 @@ namespace OpenSim.Region.Physics.POSPlugin
        }
-        public override void VehicleVectorParam(int param, PhysicsVector value)
+        public override void VehicleVectorParam(int param, Vector3 value)
        {
        }
@@ -190,14 +187,14 @@ namespace OpenSim.Region.Physics.POSPlugin
        }
-        public override PhysicsVector CenterOfMass
+        public override Vector3 CenterOfMass
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
        }
-        public override PhysicsVector GeometricCenter
+        public override Vector3 GeometricCenter
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
        }
        public override PrimitiveBaseShape Shape
@@ -205,15 +202,15 @@ namespace OpenSim.Region.Physics.POSPlugin
            set { return; }
        }
-        public override PhysicsVector Velocity
+        public override Vector3 Velocity
        {
            get { return _velocity; }
            set { _target_velocity = value; }
        }
-        public override PhysicsVector Torque
+        public override Vector3 Torque
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
            set { return; }
        }
@@ -229,7 +226,7 @@ namespace OpenSim.Region.Physics.POSPlugin
            set { }
        }
-        public override PhysicsVector Acceleration
+        public override Vector3 Acceleration
        {
            get { return _acceleration; }
        }
@@ -248,24 +245,24 @@ namespace OpenSim.Region.Physics.POSPlugin
        {
        }
-        public override void LockAngularMotion(PhysicsVector axis)
+        public override void LockAngularMotion(Vector3 axis)
        {
        }
-        public void SetAcceleration(PhysicsVector accel)
+        public void SetAcceleration(Vector3 accel)
        {
            _acceleration = accel;
        }
-        public override void AddForce(PhysicsVector force, bool pushforce)
+        public override void AddForce(Vector3 force, bool pushforce)
        {
        }
-        public override void AddAngularForce(PhysicsVector force, bool pushforce)
+        public override void AddAngularForce(Vector3 force, bool pushforce)
        {
        }
-        public override void SetMomentum(PhysicsVector momentum)
+        public override void SetMomentum(Vector3 momentum)
        {
        }
@@ -273,7 +270,7 @@ namespace OpenSim.Region.Physics.POSPlugin
        {
        }
-        public override PhysicsVector PIDTarget
+        public override Vector3 PIDTarget
        {
            set { return; }
        }
diff --git a/OpenSim/Region/Physics/POSPlugin/POSPrim.cs b/OpenSim/Region/Physics/POSPlugin/POSPrim.cs
index b50364b..96c3e26 100644
--- a/OpenSim/Region/Physics/POSPlugin/POSPrim.cs
+++ b/OpenSim/Region/Physics/POSPlugin/POSPrim.cs
@@ -36,19 +36,16 @@ namespace OpenSim.Region.Physics.POSPlugin
 {
    public class POSPrim : PhysicsActor
    {
-        private PhysicsVector _position;
+        private Vector3 _position;
-        private PhysicsVector _velocity;
+        private Vector3 _velocity;
-        private PhysicsVector _acceleration;
+        private Vector3 _acceleration;
-        private PhysicsVector _size;
+        private Vector3 _size;
-        private PhysicsVector m_rotationalVelocity = PhysicsVector.Zero;
+        private Vector3 m_rotationalVelocity = Vector3.Zero;
        private Quaternion _orientation;
        private bool iscolliding;
        public POSPrim()
        {
-            _velocity = new PhysicsVector();
-            _position = new PhysicsVector();
-            _acceleration = new PhysicsVector();
        }
        public override int PhysicsActorType
@@ -57,7 +54,7 @@ namespace OpenSim.Region.Physics.POSPlugin
            set { return; }
        }
-        public override PhysicsVector RotationalVelocity
+        public override Vector3 RotationalVelocity
        {
            get { return m_rotationalVelocity; }
            set { m_rotationalVelocity = value; }
@@ -98,13 +95,13 @@ namespace OpenSim.Region.Physics.POSPlugin
            get { return false; }
        }
-        public override PhysicsVector Position
+        public override Vector3 Position
        {
            get { return _position; }
            set { _position = value; }
        }
-        public override PhysicsVector Size
+        public override Vector3 Size
        {
            get { return _size; }
            set { _size = value; }
@@ -115,9 +112,9 @@ namespace OpenSim.Region.Physics.POSPlugin
            get { return 0f; }
        }
-        public override PhysicsVector Force
+        public override Vector3 Force
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
            set { return; }
        }
@@ -132,7 +129,7 @@ namespace OpenSim.Region.Physics.POSPlugin
        }
-        public override void VehicleVectorParam(int param, PhysicsVector value)
+        public override void VehicleVectorParam(int param, Vector3 value)
        {
        }
@@ -147,14 +144,14 @@ namespace OpenSim.Region.Physics.POSPlugin
        }
-        public override PhysicsVector CenterOfMass
+        public override Vector3 CenterOfMass
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
        }
-        public override PhysicsVector GeometricCenter
+        public override Vector3 GeometricCenter
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
        }
        public override PrimitiveBaseShape Shape
@@ -173,7 +170,7 @@ namespace OpenSim.Region.Physics.POSPlugin
            set { return; }
        }
-        public override PhysicsVector Velocity
+        public override Vector3 Velocity
        {
            get { return _velocity; }
            set { _velocity = value; }
@@ -191,7 +188,7 @@ namespace OpenSim.Region.Physics.POSPlugin
            set { _orientation = value; }
        }
-        public override PhysicsVector Acceleration
+        public override Vector3 Acceleration
        {
            get { return _acceleration; }
        }
@@ -202,26 +199,26 @@ namespace OpenSim.Region.Physics.POSPlugin
            set { }
        }
-        public void SetAcceleration(PhysicsVector accel)
+        public void SetAcceleration(Vector3 accel)
        {
            _acceleration = accel;
        }
-        public override void AddForce(PhysicsVector force, bool pushforce)
+        public override void AddForce(Vector3 force, bool pushforce)
        {
        }
-        public override void AddAngularForce(PhysicsVector force, bool pushforce)
+        public override void AddAngularForce(Vector3 force, bool pushforce)
        {
        }
-        public override PhysicsVector Torque
+        public override Vector3 Torque
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
            set { return; }
        }
-        public override void SetMomentum(PhysicsVector momentum)
+        public override void SetMomentum(Vector3 momentum)
        {
        }
@@ -255,7 +252,7 @@ namespace OpenSim.Region.Physics.POSPlugin
        {
        }
-        public override void LockAngularMotion(PhysicsVector axis)
+        public override void LockAngularMotion(Vector3 axis)
        {
        }
@@ -268,7 +265,7 @@ namespace OpenSim.Region.Physics.POSPlugin
        {
        }
-        public override PhysicsVector PIDTarget
+        public override Vector3 PIDTarget
        {
            set { return; }
        }
diff --git a/OpenSim/Region/Physics/POSPlugin/POSScene.cs b/OpenSim/Region/Physics/POSPlugin/POSScene.cs
index fa8cc70..c3f5040 100644
--- a/OpenSim/Region/Physics/POSPlugin/POSScene.cs
+++ b/OpenSim/Region/Physics/POSPlugin/POSScene.cs
@@ -56,7 +56,7 @@ namespace OpenSim.Region.Physics.POSPlugin
        {
        }
-        public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying)
+        public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
        {
            POSCharacter act = new POSCharacter();
            act.Position = position;
@@ -84,20 +84,20 @@ namespace OpenSim.Region.Physics.POSPlugin
        }
 /*
-        public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation)
+        public override PhysicsActor AddPrim(Vector3 position, Vector3 size, Quaternion rotation)
        {
            return null;
        }
 */
-        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
-                                                  PhysicsVector size, Quaternion rotation)
+                                                  Vector3 size, Quaternion rotation)
        {
            return AddPrimShape(primName, pbs, position, size, rotation, false);
        }
-        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
-                                                  PhysicsVector size, Quaternion rotation, bool isPhysical)
+                                                  Vector3 size, Quaternion rotation, bool isPhysical)
        {
            POSPrim prim = new POSPrim();
            prim.Position = position;
@@ -152,23 +152,25 @@ namespace OpenSim.Region.Physics.POSPlugin
                    character._target_velocity.Z += gravity * timeStep;
                }
-                character.Position.X += character._target_velocity.X * timeStep;
+                Vector3 characterPosition = character.Position;
-                character.Position.Y += character._target_velocity.Y * timeStep;
-                character.Position.X = Util.Clamp(character.Position.X, 0.01f, Constants.RegionSize - 0.01f);
+                characterPosition.X += character._target_velocity.X * timeStep;
-                character.Position.Y = Util.Clamp(character.Position.Y, 0.01f, Constants.RegionSize - 0.01f);
+                characterPosition.Y += character._target_velocity.Y * timeStep;
+                characterPosition.X = Util.Clamp(character.Position.X, 0.01f, Constants.RegionSize - 0.01f);
+                characterPosition.Y = Util.Clamp(character.Position.Y, 0.01f, Constants.RegionSize - 0.01f);
                bool forcedZ = false;
                float terrainheight = _heightMap[(int)character.Position.Y * Constants.RegionSize + (int)character.Position.X];
                if (character.Position.Z + (character._target_velocity.Z * timeStep) < terrainheight + 2)
                {
-                    character.Position.Z = terrainheight + character.Size.Z;
+                    characterPosition.Z = terrainheight + character.Size.Z;
                    forcedZ = true;
                }
                else
                {
-                    character.Position.Z += character._target_velocity.Z*timeStep;
+                    characterPosition.Z += character._target_velocity.Z*timeStep;
                }
                /// this is it -- the magic you've all been waiting for!  Ladies and gentlemen --
@@ -177,29 +179,29 @@ namespace OpenSim.Region.Physics.POSPlugin
                if (isCollidingWithPrim(character))
                {
-                    character.Position.Z = oldposZ; //  first try Z axis
+                    characterPosition.Z = oldposZ; //  first try Z axis
                    if (isCollidingWithPrim(character))
                    {
-                        character.Position.Z = oldposZ + character.Size.Z / 4.4f; // try harder
+                        characterPosition.Z = oldposZ + character.Size.Z / 4.4f; // try harder
                        if (isCollidingWithPrim(character))
                        {
-                            character.Position.Z = oldposZ + character.Size.Z / 2.2f; // try very hard
+                            characterPosition.Z = oldposZ + character.Size.Z / 2.2f; // try very hard
                            if (isCollidingWithPrim(character))
                            {
-                                character.Position.X = oldposX;
+                                characterPosition.X = oldposX;
-                                character.Position.Y = oldposY;
+                                characterPosition.Y = oldposY;
-                                character.Position.Z = oldposZ;
+                                characterPosition.Z = oldposZ;
-                                character.Position.X += character._target_velocity.X * timeStep;
+                                characterPosition.X += character._target_velocity.X * timeStep;
                                if (isCollidingWithPrim(character))
                                {
-                                    character.Position.X = oldposX;
+                                    characterPosition.X = oldposX;
                                }
-                                character.Position.Y += character._target_velocity.Y * timeStep;
+                                characterPosition.Y += character._target_velocity.Y * timeStep;
                                if (isCollidingWithPrim(character))
                                {
-                                    character.Position.Y = oldposY;
+                                    characterPosition.Y = oldposY;
                                }
                            }
                            else
@@ -218,8 +220,10 @@ namespace OpenSim.Region.Physics.POSPlugin
                    }
                }
-                character.Position.X = Util.Clamp(character.Position.X, 0.01f, Constants.RegionSize - 0.01f);
+                characterPosition.X = Util.Clamp(character.Position.X, 0.01f, Constants.RegionSize - 0.01f);
-                character.Position.Y = Util.Clamp(character.Position.Y, 0.01f, Constants.RegionSize - 0.01f);
+                characterPosition.Y = Util.Clamp(character.Position.Y, 0.01f, Constants.RegionSize - 0.01f);
+                character.Position = characterPosition;
                character._velocity.X = (character.Position.X - oldposX)/timeStep;
                character._velocity.Y = (character.Position.Y - oldposY)/timeStep;
diff --git a/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs b/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
index e7d989c..8bdb18d 100644
--- a/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
+++ b/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
@@ -34,6 +34,7 @@ using PhysXWrapper;
 using Quaternion=OpenMetaverse.Quaternion;
 using System.Reflection;
 using log4net;
+using OpenMetaverse;
 namespace OpenSim.Region.Physics.PhysXPlugin
 {
@@ -106,7 +107,7 @@ namespace OpenSim.Region.Physics.PhysXPlugin
        }
-        public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying)
+        public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
        {
            Vec3 pos = new Vec3();
            pos.X = position.X;
@@ -127,7 +128,7 @@ namespace OpenSim.Region.Physics.PhysXPlugin
        {
        }
-        private PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation)
+        private PhysicsActor AddPrim(Vector3 position, Vector3 size, Quaternion rotation)
        {
            Vec3 pos = new Vec3();
            pos.X = position.X;
@@ -142,14 +143,14 @@ namespace OpenSim.Region.Physics.PhysXPlugin
            return act;
        }
-        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
-                                                  PhysicsVector size, Quaternion rotation) //To be removed
+                                                  Vector3 size, Quaternion rotation) //To be removed
        {
            return AddPrimShape(primName, pbs, position, size, rotation, false);
        }
-        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
-                                                  PhysicsVector size, Quaternion rotation, bool isPhysical)
+                                                  Vector3 size, Quaternion rotation, bool isPhysical)
        {
            return AddPrim(position, size, rotation);
        }
@@ -219,10 +220,10 @@ namespace OpenSim.Region.Physics.PhysXPlugin
    public class PhysXCharacter : PhysicsActor
    {
-        private PhysicsVector _position;
+        private Vector3 _position;
-        private PhysicsVector _velocity;
+        private Vector3 _velocity;
-        private PhysicsVector m_rotationalVelocity = PhysicsVector.Zero;
+        private Vector3 m_rotationalVelocity = Vector3.Zero;
-        private PhysicsVector _acceleration;
+        private Vector3 _acceleration;
        private NxCharacter _character;
        private bool flying;
        private bool iscolliding = false;
@@ -230,9 +231,6 @@ namespace OpenSim.Region.Physics.PhysXPlugin
        public PhysXCharacter(NxCharacter character)
        {
-            _velocity = new PhysicsVector();
-            _position = new PhysicsVector();
-            _acceleration = new PhysicsVector();
            _character = character;
        }
@@ -310,7 +308,7 @@ namespace OpenSim.Region.Physics.PhysXPlugin
            set { return; }
        }
-        public override PhysicsVector RotationalVelocity
+        public override Vector3 RotationalVelocity
        {
            get { return m_rotationalVelocity; }
            set { m_rotationalVelocity = value; }
@@ -321,7 +319,7 @@ namespace OpenSim.Region.Physics.PhysXPlugin
            get { return false; }
        }
-        public override PhysicsVector Position
+        public override Vector3 Position
        {
            get { return _position; }
            set
@@ -335,9 +333,9 @@ namespace OpenSim.Region.Physics.PhysXPlugin
            }
        }
-        public override PhysicsVector Size
+        public override Vector3 Size
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
            set { }
        }
@@ -346,9 +344,9 @@ namespace OpenSim.Region.Physics.PhysXPlugin
            get { return 0f; }
        }
-        public override PhysicsVector Force
+        public override Vector3 Force
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
            set { return; }
        }
@@ -363,7 +361,7 @@ namespace OpenSim.Region.Physics.PhysXPlugin
        }
-        public override void VehicleVectorParam(int param, PhysicsVector value)
+        public override void VehicleVectorParam(int param, Vector3 value)
        {
        }
@@ -379,17 +377,17 @@ namespace OpenSim.Region.Physics.PhysXPlugin
        }
-        public override PhysicsVector CenterOfMass
+        public override Vector3 CenterOfMass
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
        }
-        public override PhysicsVector GeometricCenter
+        public override Vector3 GeometricCenter
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
        }
-        public override PhysicsVector Velocity
+        public override Vector3 Velocity
        {
            get { return _velocity; }
            set { _velocity = value; }
@@ -413,25 +411,25 @@ namespace OpenSim.Region.Physics.PhysXPlugin
            set { }
        }
-        public override PhysicsVector Acceleration
+        public override Vector3 Acceleration
        {
            get { return _acceleration; }
        }
-        public void SetAcceleration(PhysicsVector accel)
+        public void SetAcceleration(Vector3 accel)
        {
            _acceleration = accel;
        }
-        public override void AddForce(PhysicsVector force, bool pushforce)
+        public override void AddForce(Vector3 force, bool pushforce)
        {
        }
-        public override PhysicsVector Torque
+        public override Vector3 Torque
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
            set { return; }
        }
-        public override void AddAngularForce(PhysicsVector force, bool pushforce)
+        public override void AddAngularForce(Vector3 force, bool pushforce)
        {
        }
@@ -445,12 +443,12 @@ namespace OpenSim.Region.Physics.PhysXPlugin
        }
-        public override void LockAngularMotion(PhysicsVector axis)
+        public override void LockAngularMotion(Vector3 axis)
        {
        }
-        public override void SetMomentum(PhysicsVector momentum)
+        public override void SetMomentum(Vector3 momentum)
        {
        }
@@ -492,7 +490,7 @@ namespace OpenSim.Region.Physics.PhysXPlugin
        }
-        public override PhysicsVector PIDTarget { set { return; } }
+        public override Vector3 PIDTarget { set { return; } }
        public override bool PIDActive { set { return; } }
        public override float PIDTau { set { return; } }
@@ -518,15 +516,15 @@ namespace OpenSim.Region.Physics.PhysXPlugin
    public class PhysXPrim : PhysicsActor
    {
-        private PhysicsVector _velocity;
+        private Vector3 _velocity;
-        private PhysicsVector _acceleration;
+        private Vector3 _acceleration;
-        private PhysicsVector m_rotationalVelocity;
+        private Vector3 m_rotationalVelocity;
        private NxActor _prim;
        public PhysXPrim(NxActor prim)
        {
-            _velocity = new PhysicsVector();
+            _velocity = Vector3.Zero;
-            _acceleration = new PhysicsVector();
+            _acceleration = Vector3.Zero;
            _prim = prim;
        }
@@ -580,7 +578,7 @@ namespace OpenSim.Region.Physics.PhysXPlugin
            set { return; }
        }
-        public override PhysicsVector RotationalVelocity
+        public override Vector3 RotationalVelocity
        {
            get { return m_rotationalVelocity; }
            set { m_rotationalVelocity = value; }
@@ -616,11 +614,11 @@ namespace OpenSim.Region.Physics.PhysXPlugin
            get { return false; }
        }
-        public override PhysicsVector Position
+        public override Vector3 Position
        {
            get
            {
-                PhysicsVector pos = new PhysicsVector();
+                Vector3 pos = Vector3.Zero;
                Vec3 vec = _prim.Position;
                pos.X = vec.X;
                pos.Y = vec.Y;
@@ -629,7 +627,7 @@ namespace OpenSim.Region.Physics.PhysXPlugin
            }
            set
            {
-                PhysicsVector vec = value;
+                Vector3 vec = value;
                Vec3 pos = new Vec3();
                pos.X = vec.X;
                pos.Y = vec.Y;
@@ -643,15 +641,15 @@ namespace OpenSim.Region.Physics.PhysXPlugin
            set { return; }
        }
-        public override PhysicsVector Velocity
+        public override Vector3 Velocity
        {
            get { return _velocity; }
            set { _velocity = value; }
        }
-        public override PhysicsVector Torque
+        public override Vector3 Torque
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
            set { return; }
        }
@@ -682,31 +680,31 @@ namespace OpenSim.Region.Physics.PhysXPlugin
            set { }
        }
-        public override PhysicsVector Acceleration
+        public override Vector3 Acceleration
        {
            get { return _acceleration; }
        }
-        public void SetAcceleration(PhysicsVector accel)
+        public void SetAcceleration(Vector3 accel)
        {
            _acceleration = accel;
        }
-        public override void AddForce(PhysicsVector force, bool pushforce)
+        public override void AddForce(Vector3 force, bool pushforce)
        {
        }
-        public override void AddAngularForce(PhysicsVector force, bool pushforce)
+        public override void AddAngularForce(Vector3 force, bool pushforce)
        {
        }
-        public override void SetMomentum(PhysicsVector momentum)
+        public override void SetMomentum(Vector3 momentum)
        {
        }
-        public override PhysicsVector Size
+        public override Vector3 Size
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
            set { }
        }
@@ -718,7 +716,7 @@ namespace OpenSim.Region.Physics.PhysXPlugin
        {
        }
-        public override void LockAngularMotion(PhysicsVector axis)
+        public override void LockAngularMotion(Vector3 axis)
        {
        }
@@ -728,9 +726,9 @@ namespace OpenSim.Region.Physics.PhysXPlugin
            get { return 0f; }
        }
-        public override PhysicsVector Force
+        public override Vector3 Force
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
            set { return; }
        }
@@ -745,7 +743,7 @@ namespace OpenSim.Region.Physics.PhysXPlugin
        }
-        public override void VehicleVectorParam(int param, PhysicsVector value)
+        public override void VehicleVectorParam(int param, Vector3 value)
        {
        }
@@ -760,21 +758,21 @@ namespace OpenSim.Region.Physics.PhysXPlugin
        }
-        public override PhysicsVector CenterOfMass
+        public override Vector3 CenterOfMass
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
        }
-        public override PhysicsVector GeometricCenter
+        public override Vector3 GeometricCenter
        {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
        }
        public override void CrossingFailure()
        {
        }
-        public override PhysicsVector PIDTarget { set { return; } }
+        public override Vector3 PIDTarget { set { return; } }
        public override bool PIDActive { set { return; } }
        public override float PIDTau { set { return; } }
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
index 56d4d28..3849558 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
@@ -2047,7 +2047,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                    if (local != 0)
                        force *= llGetRot();
-                    m_host.ParentGroup.RootPart.SetForce(new PhysicsVector((float)force.x, (float)force.y, (float)force.z));
+                    m_host.ParentGroup.RootPart.SetForce(new Vector3((float)force.x, (float)force.y, (float)force.z));
                }
            }
        }
@@ -2062,7 +2062,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
            {
                if (!m_host.ParentGroup.IsDeleted)
                {
-                    PhysicsVector tmpForce = m_host.ParentGroup.RootPart.GetForce();
+                    Vector3 tmpForce = m_host.ParentGroup.RootPart.GetForce();
                    force.x = tmpForce.X;
                    force.y = tmpForce.Y;
                    force.z = tmpForce.Z;
@@ -4180,7 +4180,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                            {
                                applied_linear_impulse *= m_host.GetWorldRotation();
                            }
-                            pusheeav.PhysicsActor.AddForce(new PhysicsVector(applied_linear_impulse.X, applied_linear_impulse.Y, applied_linear_impulse.Z), true);
+                            pusheeav.PhysicsActor.AddForce(applied_linear_impulse, true);
                        }
                    }
                }
@@ -6088,7 +6088,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                if (!m_host.ParentGroup.IsDeleted)
                {
                    m_host.ParentGroup.RootPart.SetVehicleVectorParam(param,
-                        new PhysicsVector((float)vec.x, (float)vec.y, (float)vec.z));
+                        new Vector3((float)vec.x, (float)vec.y, (float)vec.z));
                }
            }
        }
author	John Hurliman	2009-10-25 23:16:12 -0700
committer	John Hurliman	2009-10-26 18:23:43 -0700
commit	d199767e6991d6f368661fce9c5a072e564b8a4b (patch)
tree	d9347b8a424c0164e208f908613aa8fe1511444b /OpenSim/Region
parent	* Double the priority on avatar bake texture requests to get avatars rezzing ... (diff)
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