Merge branch 'master' into careminster

12 files changed, 186 insertions, 268 deletions

diff --git a/OpenSim/ApplicationPlugins/RemoteController/RemoteAdminPlugin.cs b/OpenSim/ApplicationPlugins/RemoteController/RemoteAdminPlugin.cs
index c2fa1ed..50d8a73 100644
--- a/OpenSim/ApplicationPlugins/RemoteController/RemoteAdminPlugin.cs
+++ b/OpenSim/ApplicationPlugins/RemoteController/RemoteAdminPlugin.cs
@@ -161,6 +161,7 @@ namespace OpenSim.ApplicationPlugins.RemoteController
                     availableMethods["admin_acl_add"] = (req, ep) => InvokeXmlRpcMethod(req, ep, XmlRpcAccessListAdd);
                     availableMethods["admin_acl_remove"] = (req, ep) => InvokeXmlRpcMethod(req, ep, XmlRpcAccessListRemove);
                     availableMethods["admin_acl_list"] = (req, ep) => InvokeXmlRpcMethod(req, ep, XmlRpcAccessListList);
+                    availableMethods["admin_estate_reload"] = (req, ep) => InvokeXmlRpcMethod(req, ep, XmlRpcEstateReload);
 
                     // Misc
                     availableMethods["admin_refresh_search"] = (req, ep) => InvokeXmlRpcMethod(req, ep, XmlRpcRefreshSearch);
@@ -1903,6 +1904,22 @@ namespace OpenSim.ApplicationPlugins.RemoteController
             m_log.Info("[RADMIN]: Access List List Request complete");
         }
 
+        private void XmlRpcEstateReload(XmlRpcRequest request, XmlRpcResponse response, IPEndPoint remoteClient)
+        {
+            m_log.Info("[RADMIN]: Received Estate Reload Request");
+
+            Hashtable responseData = (Hashtable)response.Value;
+            Hashtable requestData = (Hashtable)request.Params[0];
+
+            m_application.SceneManager.ForEachScene(s => 
+                s.RegionInfo.EstateSettings = m_application.EstateDataService.LoadEstateSettings(s.RegionInfo.RegionID, false)                
+            );
+
+            responseData["success"] = true;
+
+            m_log.Info("[RADMIN]: Estate Reload Request complete");
+        }
+
         private void XmlRpcGetAgentsMethod(XmlRpcRequest request, XmlRpcResponse response, IPEndPoint remoteClient)
         {
             Hashtable responseData = (Hashtable)response.Value;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs
index 4e067b5..ac8c30c 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs
@@ -118,7 +118,6 @@ public class BSActorAvatarMove : BSActor
             m_velocityMotor = new BSVMotor("BSCharacter.Velocity",
                                                 0.2f,                       // time scale
                                                 BSMotor.Infinite,           // decay time scale
-                                                BSMotor.InfiniteVector,     // friction timescale
                                                 1f                          // efficiency
             );
             // _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs
index 3630ca8..8a79809 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs
@@ -102,7 +102,6 @@ public class BSActorHover : BSActor
             m_hoverMotor = new BSFMotor("BSActorHover",
                                         m_controllingPrim.HoverTau,               // timeScale
                                         BSMotor.Infinite,           // decay time scale
-                                        BSMotor.Infinite,           // friction timescale
                                         1f                          // efficiency
             );
             m_hoverMotor.SetTarget(ComputeCurrentHoverHeight());
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
index 7801d8e..8b0fdeb 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
@@ -64,9 +64,9 @@ public class BSActorLockAxis : BSActor
     public override void Refresh()
     {
         m_physicsScene.DetailLog("{0},BSActorLockAxis,refresh,lockedAxis={1},enabled={2},pActive={3}",
-                                    m_controllingPrim.LocalID, m_controllingPrim.LockedAxis, Enabled, m_controllingPrim.IsPhysicallyActive);
+                                    m_controllingPrim.LocalID, m_controllingPrim.LockedAngularAxis, Enabled, m_controllingPrim.IsPhysicallyActive);
         // If all the axis are free, we don't need to exist
-        if (m_controllingPrim.LockedAxis == m_controllingPrim.LockedAxisFree)
+        if (m_controllingPrim.LockedAngularAxis == m_controllingPrim.LockedAxisFree)
         {
             Enabled = false;
         }
@@ -123,23 +123,38 @@ public class BSActorLockAxis : BSActor
             // Free to move linearly in the region
             OMV.Vector3 linearLow = OMV.Vector3.Zero;
             OMV.Vector3 linearHigh = m_physicsScene.TerrainManager.DefaultRegionSize;
+            if (m_controllingPrim.LockedLinearAxis.X != BSPhysObject.FreeAxis)
+            {
+                linearLow.X = m_controllingPrim.RawPosition.X;
+                linearHigh.X = m_controllingPrim.RawPosition.X;
+            }
+            if (m_controllingPrim.LockedLinearAxis.Y != BSPhysObject.FreeAxis)
+            {
+                linearLow.Y = m_controllingPrim.RawPosition.Y;
+                linearHigh.Y = m_controllingPrim.RawPosition.Y;
+            }
+            if (m_controllingPrim.LockedLinearAxis.Z != BSPhysObject.FreeAxis)
+            {
+                linearLow.Z = m_controllingPrim.RawPosition.Z;
+                linearHigh.Z = m_controllingPrim.RawPosition.Z;
+            }
             axisConstrainer.SetLinearLimits(linearLow, linearHigh);
 
             // Angular with some axis locked
             float fPI = (float)Math.PI;
             OMV.Vector3 angularLow = new OMV.Vector3(-fPI, -fPI, -fPI);
             OMV.Vector3 angularHigh = new OMV.Vector3(fPI, fPI, fPI);
-            if (m_controllingPrim.LockedAxis.X != 1f)
+            if (m_controllingPrim.LockedAngularAxis.X != BSPhysObject.FreeAxis)
             {
                 angularLow.X = 0f;
                 angularHigh.X = 0f;
             }
-            if (m_controllingPrim.LockedAxis.Y != 1f)
+            if (m_controllingPrim.LockedAngularAxis.Y != BSPhysObject.FreeAxis)
             {
                 angularLow.Y = 0f;
                 angularHigh.Y = 0f;
             }
-            if (m_controllingPrim.LockedAxis.Z != 1f)
+            if (m_controllingPrim.LockedAngularAxis.Z != BSPhysObject.FreeAxis)
             {
                 angularLow.Z = 0f;
                 angularHigh.Z = 0f;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
index 1b598fd..75ff24e 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
@@ -105,7 +105,6 @@ public class BSActorMoveToTarget : BSActor
             m_targetMotor = new BSVMotor("BSActorMoveToTargget.Activate",
                                         m_controllingPrim.MoveToTargetTau,                    // timeScale
                                         BSMotor.Infinite,           // decay time scale
-                                        BSMotor.InfiniteVector,     // friction timescale
                                         1f                          // efficiency
             );
             m_targetMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG so motor will output detail log messages.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs
index c0f40fd..96fa0b6 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs
@@ -101,7 +101,7 @@ public class BSActorSetForce : BSActor
         if (m_forceMotor == null)
         {
             // A fake motor that might be used someday
-            m_forceMotor = new BSFMotor("setForce", 1f, 1f, 1f, 1f);
+            m_forceMotor = new BSFMotor("setForce", 1f, 1f, 1f);
 
             m_physicsScene.BeforeStep += Mover;
         }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs
index b3806e1..65098e1 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs
@@ -101,7 +101,7 @@ public class BSActorSetTorque : BSActor
         if (m_torqueMotor == null)
         {
             // A fake motor that might be used someday
-            m_torqueMotor = new BSFMotor("setTorque", 1f, 1f, 1f, 1f);
+            m_torqueMotor = new BSFMotor("setTorque", 1f, 1f, 1f);
 
             m_physicsScene.BeforeStep += Mover;
         }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index c5bee6d..272a162 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -146,7 +146,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             enableAngularVerticalAttraction = true;
             enableAngularDeflection = false;
             enableAngularBanking = true;
-            if (BSParam.VehicleDebuggingEnabled)
+            if (BSParam.VehicleDebuggingEnable)
             {
                 enableAngularVerticalAttraction = true;
                 enableAngularDeflection = false;
@@ -235,7 +235,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 // set all of the components to the same value
                 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
                     m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
-                    m_angularMotor.FrictionTimescale = m_angularFrictionTimescale;
                     break;
                 case Vehicle.ANGULAR_MOTOR_DIRECTION:
                     m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
@@ -244,7 +243,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     break;
                 case Vehicle.LINEAR_FRICTION_TIMESCALE:
                     m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
-                    m_linearMotor.FrictionTimescale = m_linearFrictionTimescale;
                     break;
                 case Vehicle.LINEAR_MOTOR_DIRECTION:
                     m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
@@ -265,7 +263,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             {
                 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
                     m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
-                    m_angularMotor.FrictionTimescale = m_angularFrictionTimescale;
                     break;
                 case Vehicle.ANGULAR_MOTOR_DIRECTION:
                     // Limit requested angular speed to 2 rps= 4 pi rads/sec
@@ -278,7 +275,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     break;
                 case Vehicle.LINEAR_FRICTION_TIMESCALE:
                     m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
-                    m_linearMotor.FrictionTimescale = m_linearFrictionTimescale;
                     break;
                 case Vehicle.LINEAR_MOTOR_DIRECTION:
                     m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
@@ -559,14 +555,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     break;
             }
 
-            m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale,
-                                m_linearMotorDecayTimescale, m_linearFrictionTimescale,
-                                1f);
+            m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale, m_linearMotorDecayTimescale, 1f);
             m_linearMotor.PhysicsScene = m_physicsScene;  // DEBUG DEBUG DEBUG (enables detail logging)
 
-            m_angularMotor = new BSVMotor("AngularMotor", m_angularMotorTimescale,
-                                m_angularMotorDecayTimescale, m_angularFrictionTimescale,
-                                1f);
+            m_angularMotor = new BSVMotor("AngularMotor", m_angularMotorTimescale, m_angularMotorDecayTimescale, 1f);
             m_angularMotor.PhysicsScene = m_physicsScene;  // DEBUG DEBUG DEBUG (enables detail logging)
 
             /*  Not implemented
@@ -574,7 +566,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                                 BSMotor.Infinite, BSMotor.InfiniteVector,
                                 m_verticalAttractionEfficiency);
             // Z goes away and we keep X and Y
-            m_verticalAttractionMotor.FrictionTimescale = new Vector3(BSMotor.Infinite, BSMotor.Infinite, 0.1f);
             m_verticalAttractionMotor.PhysicsScene = PhysicsScene;  // DEBUG DEBUG DEBUG (enables detail logging)
              */
 
@@ -1050,8 +1041,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             // Add this correction to the velocity to make it faster/slower.
             VehicleVelocity += linearMotorVelocityW;
 
-            VDetailLog("{0},  MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5}",
-                        ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV, linearMotorVelocityW, VehicleVelocity);
+            // Friction reduces vehicle motion
+            Vector3 frictionFactor = ComputeFrictionFactor(m_linearFrictionTimescale, pTimestep);
+            VehicleVelocity -= (VehicleVelocity * frictionFactor);
+
+            VDetailLog("{0},  MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5},fricFact={6}",
+                        ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV,
+                        linearMotorVelocityW, VehicleVelocity, frictionFactor);
         }
 
         public void ComputeLinearTerrainHeightCorrection(float pTimestep)
@@ -1342,6 +1338,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
           //  }
 
             VehicleRotationalVelocity += angularMotorContributionV * VehicleOrientation;
+
+            // Reduce any velocity by friction.
+            Vector3 frictionFactor = ComputeFrictionFactor(m_angularFrictionTimescale, pTimestep);
+            VehicleRotationalVelocity -= (VehicleRotationalVelocity * frictionFactor);
+
             VDetailLog("{0},  MoveAngular,angularTurning,angularMotorContrib={1}", ControllingPrim.LocalID, angularMotorContributionV);
         }
 
@@ -1629,6 +1630,23 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
         }
 
+        // Given a friction vector (reduction in seconds) and a timestep, return the factor to reduce
+        //     some value by to apply this friction.
+        private Vector3 ComputeFrictionFactor(Vector3 friction, float pTimestep)
+        {
+            Vector3 frictionFactor = Vector3.Zero;
+            if (friction != BSMotor.InfiniteVector)
+            {
+                // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep;
+                // Individual friction components can be 'infinite' so compute each separately.
+                frictionFactor.X = (friction.X == BSMotor.Infinite) ? 0f : (1f / friction.X);
+                frictionFactor.Y = (friction.Y == BSMotor.Infinite) ? 0f : (1f / friction.Y);
+                frictionFactor.Z = (friction.Z == BSMotor.Infinite) ? 0f : (1f / friction.Z);
+                frictionFactor *= pTimestep;
+            }
+            return frictionFactor;
+        }
+
         private float ClampInRange(float low, float val, float high)
         {
             return Math.Max(low, Math.Min(val, high));
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
index 0128d8d..ef662b5 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
@@ -65,13 +65,11 @@ public abstract class BSMotor
 }
 
 // Motor which moves CurrentValue to TargetValue over TimeScale seconds.
-// The TargetValue decays in TargetValueDecayTimeScale and
-//     the CurrentValue will be held back by FrictionTimeScale.
+// The TargetValue decays in TargetValueDecayTimeScale.
 // This motor will "zero itself" over time in that the targetValue will
 //    decay to zero and the currentValue will follow it to that zero.
 //    The overall effect is for the returned correction value to go from large
-//    values (the total difference between current and target minus friction)
-//    to small and eventually zero values.
+//    values to small and eventually zero values.
 // TimeScale and TargetDelayTimeScale may be 'infinite' which means no decay.
 
 // For instance, if something is moving at speed X and the desired speed is Y,
@@ -88,7 +86,6 @@ public class BSVMotor : BSMotor
 
     public virtual float TimeScale { get; set; }
     public virtual float TargetValueDecayTimeScale { get; set; }
-    public virtual Vector3 FrictionTimescale { get; set; }
     public virtual float Efficiency { get; set; }
 
     public virtual float ErrorZeroThreshold { get; set; }
@@ -111,16 +108,14 @@ public class BSVMotor : BSMotor
     {
         TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite;
         Efficiency = 1f;
-        FrictionTimescale = BSMotor.InfiniteVector;
         CurrentValue = TargetValue = Vector3.Zero;
         ErrorZeroThreshold = 0.001f;
     }
-    public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency)
+    public BSVMotor(string useName, float timeScale, float decayTimeScale, float efficiency)
         : this(useName)
     {
         TimeScale = timeScale;
         TargetValueDecayTimeScale = decayTimeScale;
-        FrictionTimescale = frictionTimeScale;
         Efficiency = efficiency;
         CurrentValue = TargetValue = Vector3.Zero;
     }
@@ -165,26 +160,11 @@ public class BSVMotor : BSMotor
                 TargetValue *= (1f - decayFactor);
             }
 
-            // The amount we can correct the error is reduced by the friction
-            Vector3 frictionFactor = Vector3.Zero;
-            if (FrictionTimescale != BSMotor.InfiniteVector)
-            {
-                // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep;
-                // Individual friction components can be 'infinite' so compute each separately.
-                frictionFactor.X = (FrictionTimescale.X == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.X);
-                frictionFactor.Y = (FrictionTimescale.Y == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.Y);
-                frictionFactor.Z = (FrictionTimescale.Z == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.Z);
-                frictionFactor *= timeStep;
-                CurrentValue *= (Vector3.One - frictionFactor);
-            }
-
             MDetailLog("{0},  BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},err={5},corr={6}",
                                 BSScene.DetailLogZero, UseName, origCurrVal, origTarget,
                                 timeStep, error, correction);
-            MDetailLog("{0},  BSVMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},frictTS={4},frictFact={5},tgt={6},curr={7}",
-                                BSScene.DetailLogZero, UseName,
-                                TargetValueDecayTimeScale, decayFactor, FrictionTimescale, frictionFactor,
-                                TargetValue, CurrentValue);
+            MDetailLog("{0},  BSVMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},tgt={4},curr={5}",
+                                BSScene.DetailLogZero, UseName, TargetValueDecayTimeScale, decayFactor, TargetValue, CurrentValue);
         }
         else
         {
@@ -235,9 +215,9 @@ public class BSVMotor : BSMotor
         // maximum number of outputs to generate.
         int maxOutput = 50;
         MDetailLog("{0},BSVMotor.Test,{1},===================================== BEGIN Test Output", BSScene.DetailLogZero, UseName);
-        MDetailLog("{0},BSVMotor.Test,{1},timeScale={2},targDlyTS={3},frictTS={4},eff={5},curr={6},tgt={7}",
+        MDetailLog("{0},BSVMotor.Test,{1},timeScale={2},targDlyTS={3},eff={4},curr={5},tgt={6}",
                                 BSScene.DetailLogZero, UseName,
-                                TimeScale, TargetValueDecayTimeScale, FrictionTimescale, Efficiency,
+                                TimeScale, TargetValueDecayTimeScale, Efficiency,
                                 CurrentValue, TargetValue);
 
         LastError = BSMotor.InfiniteVector;
@@ -254,8 +234,8 @@ public class BSVMotor : BSMotor
 
     public override string ToString()
     {
-        return String.Format("<{0},curr={1},targ={2},lastErr={3},decayTS={4},frictTS={5}>",
-            UseName, CurrentValue, TargetValue, LastError, TargetValueDecayTimeScale, FrictionTimescale);
+        return String.Format("<{0},curr={1},targ={2},lastErr={3},decayTS={4}>",
+            UseName, CurrentValue, TargetValue, LastError, TargetValueDecayTimeScale);
     }
 }
 
@@ -265,7 +245,6 @@ public class BSFMotor : BSMotor
 {
     public virtual float TimeScale { get; set; }
     public virtual float TargetValueDecayTimeScale { get; set; }
-    public virtual float FrictionTimescale { get; set; }
     public virtual float Efficiency { get; set; }
 
     public virtual float ErrorZeroThreshold { get; set; }
@@ -283,12 +262,11 @@ public class BSFMotor : BSMotor
         return (err >= -ErrorZeroThreshold && err <= ErrorZeroThreshold);
     }
 
-    public BSFMotor(string useName, float timeScale, float decayTimescale, float friction, float efficiency)
+    public BSFMotor(string useName, float timeScale, float decayTimescale, float efficiency)
         : base(useName)
     {
         TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite;
         Efficiency = 1f;
-        FrictionTimescale = BSMotor.Infinite;
         CurrentValue = TargetValue = 0f;
         ErrorZeroThreshold = 0.01f;
     }
@@ -331,24 +309,11 @@ public class BSFMotor : BSMotor
                 TargetValue *= (1f - decayFactor);
             }
 
-            // The amount we can correct the error is reduced by the friction
-            float frictionFactor = 0f;
-            if (FrictionTimescale != BSMotor.Infinite)
-            {
-                // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep;
-                // Individual friction components can be 'infinite' so compute each separately.
-                frictionFactor = 1f / FrictionTimescale;
-                frictionFactor *= timeStep;
-                CurrentValue *= (1f - frictionFactor);
-            }
-
             MDetailLog("{0},  BSFMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},err={5},corr={6}",
                                 BSScene.DetailLogZero, UseName, origCurrVal, origTarget,
                                 timeStep, error, correction);
-            MDetailLog("{0},  BSFMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},frictTS={4},frictFact={5},tgt={6},curr={7}",
-                                BSScene.DetailLogZero, UseName,
-                                TargetValueDecayTimeScale, decayFactor, FrictionTimescale, frictionFactor,
-                                TargetValue, CurrentValue);
+            MDetailLog("{0},  BSFMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},tgt={4},curr={5}",
+                                BSScene.DetailLogZero, UseName, TargetValueDecayTimeScale, decayFactor, TargetValue, CurrentValue);
         }
         else
         {
@@ -390,8 +355,8 @@ public class BSFMotor : BSMotor
 
     public override string ToString()
     {
-        return String.Format("<{0},curr={1},targ={2},lastErr={3},decayTS={4},frictTS={5}>",
-            UseName, CurrentValue, TargetValue, LastError, TargetValueDecayTimeScale, FrictionTimescale);
+        return String.Format("<{0},curr={1},targ={2},lastErr={3},decayTS={4}>",
+            UseName, CurrentValue, TargetValue, LastError, TargetValueDecayTimeScale);
     }
 
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index 2ac68e3..3ca7e16 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -26,6 +26,7 @@
  */
 using System;
 using System.Collections.Generic;
+using System.Reflection;
 using System.Text;
 
 using OpenSim.Region.Physics.Manager;
@@ -144,7 +145,7 @@ public static class BSParam
     public static Vector3 VehicleAngularFactor { get; private set; }
     public static float VehicleGroundGravityFudge { get; private set; }
     public static float VehicleAngularBankingTimescaleFudge { get; private set; }
-    public static bool VehicleDebuggingEnabled { get; private set; }
+    public static bool VehicleDebuggingEnable { get; private set; }
 
     // Convex Hulls
     public static int CSHullMaxDepthSplit { get; private set; }
@@ -236,17 +237,41 @@ public static class BSParam
             getter = pGetter;
             objectSet = pObjSetter;
         }
-        /* Wish I could simplify using this definition but CLR doesn't store references so closure around delegates of references won't work
-         * TODO: Maybe use reflection and the name of the variable to create a reference for the getter/setter.
-        public ParameterDefn(string pName, string pDesc, T pDefault, ref T loc)
+        // Simple parameter variable where property name is the same as the INI file name
+        //     and the value is only a simple get and set.
+        public ParameterDefn(string pName, string pDesc, T pDefault)
             : base(pName, pDesc)
         {
             defaultValue = pDefault;
-            setter = (s, v) => { loc = v; };
-            getter = (s) => { return loc; };
+            setter = (s, v) => { SetValueByName(s, name, v); };
+            getter = (s) => { return GetValueByName(s, name); };
             objectSet = null;
         }
-         */
+        // Use reflection to find the property named 'pName' in BSParam and assign 'val' to same.
+        private void SetValueByName(BSScene s, string pName, T val)
+        {
+            PropertyInfo prop = typeof(BSParam).GetProperty(pName, BindingFlags.Public | BindingFlags.Static | BindingFlags.FlattenHierarchy);
+            if (prop == null)
+            {
+                // This should only be output when someone adds a new INI parameter and misspells the name.
+                s.Logger.ErrorFormat("{0} SetValueByName: did not find '{1}'. Verify specified property name is the same as the given INI parameters name.", LogHeader, pName);
+            }
+            else
+            {
+                prop.SetValue(null, val, null);
+            }
+        }
+        // Use reflection to find the property named 'pName' in BSParam and return the value in same.
+        private T GetValueByName(BSScene s, string pName)
+        {
+            PropertyInfo prop = typeof(BSParam).GetProperty(pName, BindingFlags.Public | BindingFlags.Static | BindingFlags.FlattenHierarchy);
+            if (prop == null)
+            {
+                // This should only be output when someone adds a new INI parameter and misspells the name.
+                s.Logger.ErrorFormat("{0} GetValueByName: did not find '{1}'. Verify specified property name is the same as the given INI parameter name.", LogHeader, pName);
+            }
+            return (T)prop.GetValue(null, null);
+        }
         public override void AssignDefault(BSScene s)
         {
             setter(s, defaultValue);
@@ -336,26 +361,16 @@ public static class BSParam
             (s) => { return ShouldUseHullsForPhysicalObjects; },
             (s,v) => { ShouldUseHullsForPhysicalObjects = v; } ),
         new ParameterDefn<bool>("ShouldRemoveZeroWidthTriangles", "If true, remove degenerate triangles from meshes",
-            true,
-            (s) => { return ShouldRemoveZeroWidthTriangles; },
-            (s,v) => { ShouldRemoveZeroWidthTriangles = v; } ),
+            true ),
         new ParameterDefn<bool>("ShouldUseBulletHACD", "If true, use the Bullet version of HACD",
-            false,
-            (s) => { return ShouldUseBulletHACD; },
-            (s,v) => { ShouldUseBulletHACD = v; } ),
+            false ),
         new ParameterDefn<bool>("ShouldUseSingleConvexHullForPrims", "If true, use a single convex hull shape for physical prims",
-            true,
-            (s) => { return ShouldUseSingleConvexHullForPrims; },
-            (s,v) => { ShouldUseSingleConvexHullForPrims = v; } ),
+            true ),
 
         new ParameterDefn<int>("CrossingFailuresBeforeOutOfBounds", "How forgiving we are about getting into adjactent regions",
-            5,
-            (s) => { return CrossingFailuresBeforeOutOfBounds; },
-            (s,v) => { CrossingFailuresBeforeOutOfBounds = v; } ),
+            5 ),
         new ParameterDefn<float>("UpdateVelocityChangeThreshold", "Change in updated velocity required before reporting change to simulator",
-            0.1f,
-            (s) => { return UpdateVelocityChangeThreshold; },
-            (s,v) => { UpdateVelocityChangeThreshold = v; } ),
+            0.1f ),
 
         new ParameterDefn<float>("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)",
             32f,
@@ -422,18 +437,12 @@ public static class BSParam
             (s,v) => { MaxAddForceMagnitude = v; MaxAddForceMagnitudeSquared = v * v; } ),
         // Density is passed around as 100kg/m3. This scales that to 1kg/m3.
         new ParameterDefn<float>("DensityScaleFactor", "Conversion for simulator/viewer density (100kg/m3) to physical density (1kg/m3)",
-            0.01f,
-            (s) => { return DensityScaleFactor; },
-            (s,v) => { DensityScaleFactor = v; } ),
+            0.01f ),
 
         new ParameterDefn<float>("PID_D", "Derivitive factor for motion smoothing",
-            2200f,
-            (s) => { return (float)PID_D; },
-            (s,v) => { PID_D = v; } ),
+            2200f ),
         new ParameterDefn<float>("PID_P", "Parameteric factor for motion smoothing",
-            900f,
-            (s) => { return (float)PID_P; },
-            (s,v) => { PID_P = v; } ),
+            900f ),
 
         new ParameterDefn<float>("DefaultFriction", "Friction factor used on new objects",
             0.2f,
@@ -500,94 +509,50 @@ public static class BSParam
             (s,o) => { s.PE.SetContactProcessingThreshold(o.PhysBody, ContactProcessingThreshold); } ),
 
             new ParameterDefn<float>("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)",
-            (float)BSTerrainPhys.TerrainImplementation.Mesh,
-            (s) => { return TerrainImplementation; },
-            (s,v) => { TerrainImplementation = v; } ),
+            (float)BSTerrainPhys.TerrainImplementation.Mesh ),
         new ParameterDefn<int>("TerrainMeshMagnification", "Number of times the 256x256 heightmap is multiplied to create the terrain mesh" ,
-            2,
-            (s) => { return TerrainMeshMagnification; },
-            (s,v) => { TerrainMeshMagnification = v; } ),
+            2 ),
         new ParameterDefn<float>("TerrainFriction", "Factor to reduce movement against terrain surface" ,
-            0.3f,
-            (s) => { return TerrainFriction; },
-            (s,v) => { TerrainFriction = v;  /* TODO: set on real terrain */} ),
+            0.3f ),
         new ParameterDefn<float>("TerrainHitFraction", "Distance to measure hit collisions" ,
-            0.8f,
-            (s) => { return TerrainHitFraction; },
-            (s,v) => { TerrainHitFraction = v; /* TODO: set on real terrain */ } ),
+            0.8f ),
         new ParameterDefn<float>("TerrainRestitution", "Bouncyness" ,
-            0f,
-            (s) => { return TerrainRestitution; },
-            (s,v) => { TerrainRestitution = v;  /* TODO: set on real terrain */ } ),
+            0f ),
         new ParameterDefn<float>("TerrainContactProcessingThreshold", "Distance from terrain to stop processing collisions" ,
-            0.0f,
-            (s) => { return TerrainContactProcessingThreshold; },
-            (s,v) => { TerrainContactProcessingThreshold = v;  /* TODO: set on real terrain */ } ),
+            0.0f ),
         new ParameterDefn<float>("TerrainCollisionMargin", "Margin where collision checking starts" ,
-            0.08f,
-            (s) => { return TerrainCollisionMargin; },
-            (s,v) => { TerrainCollisionMargin = v;  /* TODO: set on real terrain */ } ),
+            0.08f ),
 
         new ParameterDefn<float>("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.",
-            0.2f,
-            (s) => { return AvatarFriction; },
-            (s,v) => { AvatarFriction = v; } ),
+            0.2f ),
         new ParameterDefn<float>("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
-            0.95f,
-            (s) => { return AvatarStandingFriction; },
-            (s,v) => { AvatarStandingFriction = v; } ),
+            0.95f ),
         new ParameterDefn<float>("AvatarAlwaysRunFactor", "Speed multiplier if avatar is set to always run",
-            1.3f,
-            (s) => { return AvatarAlwaysRunFactor; },
-            (s,v) => { AvatarAlwaysRunFactor = v; } ),
+            1.3f ),
         new ParameterDefn<float>("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
-            3.5f,
-            (s) => { return AvatarDensity; },
-            (s,v) => { AvatarDensity = v; } ),
+            3.5f) ,
         new ParameterDefn<float>("AvatarRestitution", "Bouncyness. Changed on avatar recreation.",
-            0f,
-            (s) => { return AvatarRestitution; },
-            (s,v) => { AvatarRestitution = v; } ),
+            0f ),
         new ParameterDefn<float>("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule",
-            0.6f,
-            (s) => { return AvatarCapsuleWidth; },
-            (s,v) => { AvatarCapsuleWidth = v; } ),
+            0.6f ) ,
         new ParameterDefn<float>("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule",
-            0.45f,
-            (s) => { return AvatarCapsuleDepth; },
-            (s,v) => { AvatarCapsuleDepth = v; } ),
+            0.45f ),
         new ParameterDefn<float>("AvatarCapsuleHeight", "Default height of space around avatar",
-            1.5f,
-            (s) => { return AvatarCapsuleHeight; },
-            (s,v) => { AvatarCapsuleHeight = v; } ),
+            1.5f ),
             new ParameterDefn<float>("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions",
-            0.1f,
-            (s) => { return AvatarContactProcessingThreshold; },
-            (s,v) => { AvatarContactProcessingThreshold = v; } ),
+            0.1f ),
             new ParameterDefn<float>("AvatarBelowGroundUpCorrectionMeters", "Meters to move avatar up if it seems to be below ground",
-            1.0f,
-            (s) => { return AvatarBelowGroundUpCorrectionMeters; },
-            (s,v) => { AvatarBelowGroundUpCorrectionMeters = v; } ),
+            1.0f ),
             new ParameterDefn<float>("AvatarStepHeight", "Height of a step obstacle to consider step correction",
-            0.6f,
-            (s) => { return AvatarStepHeight; },
-            (s,v) => { AvatarStepHeight = v; } ),
+            0.6f ) ,
             new ParameterDefn<float>("AvatarStepApproachFactor", "Factor to control angle of approach to step (0=straight on)",
-            0.6f,
-            (s) => { return AvatarStepApproachFactor; },
-            (s,v) => { AvatarStepApproachFactor = v; } ),
+            0.6f ),
             new ParameterDefn<float>("AvatarStepForceFactor", "Controls the amount of force up applied to step up onto a step",
-            1.0f,
-            (s) => { return AvatarStepForceFactor; },
-            (s,v) => { AvatarStepForceFactor = v; } ),
+            1.0f ),
             new ParameterDefn<float>("AvatarStepUpCorrectionFactor", "Multiplied by height of step collision to create up movement at step",
-            1.0f,
-            (s) => { return AvatarStepUpCorrectionFactor; },
-            (s,v) => { AvatarStepUpCorrectionFactor = v; } ),
+            1.0f ),
             new ParameterDefn<int>("AvatarStepSmoothingSteps", "Number of frames after a step collision that we continue walking up stairs",
-            2,
-            (s) => { return AvatarStepSmoothingSteps; },
-            (s,v) => { AvatarStepSmoothingSteps = v; } ),
+            2 ),
 
         new ParameterDefn<float>("VehicleMaxLinearVelocity", "Maximum velocity magnitude that can be assigned to a vehicle",
             1000.0f,
@@ -598,37 +563,21 @@ public static class BSParam
             (s) => { return (float)VehicleMaxAngularVelocity; },
             (s,v) => { VehicleMaxAngularVelocity = v; VehicleMaxAngularVelocitySq = v * v; } ),
         new ParameterDefn<float>("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)",
-            0.0f,
-            (s) => { return VehicleAngularDamping; },
-            (s,v) => { VehicleAngularDamping = v; } ),
+            0.0f ),
         new ParameterDefn<Vector3>("VehicleLinearFactor", "Fraction of physical linear changes applied to vehicle (<0,0,0> to <1,1,1>)",
-            new Vector3(1f, 1f, 1f),
-            (s) => { return VehicleLinearFactor; },
-            (s,v) => { VehicleLinearFactor = v; } ),
+            new Vector3(1f, 1f, 1f) ),
         new ParameterDefn<Vector3>("VehicleAngularFactor", "Fraction of physical angular changes applied to vehicle (<0,0,0> to <1,1,1>)",
-            new Vector3(1f, 1f, 1f),
-            (s) => { return VehicleAngularFactor; },
-            (s,v) => { VehicleAngularFactor = v; } ),
+            new Vector3(1f, 1f, 1f) ),
         new ParameterDefn<float>("VehicleFriction", "Friction of vehicle on the ground (0.0 - 1.0)",
-            0.0f,
-            (s) => { return VehicleFriction; },
-            (s,v) => { VehicleFriction = v; } ),
+            0.0f ),
         new ParameterDefn<float>("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)",
-            0.0f,
-            (s) => { return VehicleRestitution; },
-            (s,v) => { VehicleRestitution = v; } ),
+            0.0f ),
         new ParameterDefn<float>("VehicleGroundGravityFudge", "Factor to multiply gravity if a ground vehicle is probably on the ground (0.0 - 1.0)",
-            0.2f,
-            (s) => { return VehicleGroundGravityFudge; },
-            (s,v) => { VehicleGroundGravityFudge = v; } ),
+            0.2f ),
         new ParameterDefn<float>("VehicleAngularBankingTimescaleFudge", "Factor to multiple angular banking timescale. Tune to increase realism.",
-            60.0f,
-            (s) => { return VehicleAngularBankingTimescaleFudge; },
-            (s,v) => { VehicleAngularBankingTimescaleFudge = v; } ),
+            60.0f ),
         new ParameterDefn<bool>("VehicleDebuggingEnable", "Turn on/off vehicle debugging",
-            false,
-            (s) => { return VehicleDebuggingEnabled; },
-            (s,v) => { VehicleDebuggingEnabled = v; } ),
+            false ),
 
             new ParameterDefn<float>("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
             0f,
@@ -673,99 +622,53 @@ public static class BSParam
             (s,v) => { GlobalContactBreakingThreshold = v; s.UnmanagedParams[0].globalContactBreakingThreshold = v; } ),
 
             new ParameterDefn<int>("CSHullMaxDepthSplit", "CS impl: max depth to split for hull. 1-10 but > 7 is iffy",
-            7,
-            (s) => { return CSHullMaxDepthSplit; },
-            (s,v) => { CSHullMaxDepthSplit = v; } ),
+            7 ),
             new ParameterDefn<int>("CSHullMaxDepthSplitForSimpleShapes", "CS impl: max depth setting for simple prim shapes",
-            2,
-            (s) => { return CSHullMaxDepthSplitForSimpleShapes; },
-            (s,v) => { CSHullMaxDepthSplitForSimpleShapes = v; } ),
+            2 ),
             new ParameterDefn<float>("CSHullConcavityThresholdPercent", "CS impl: concavity threshold percent (0-20)",
-            5f,
-            (s) => { return CSHullConcavityThresholdPercent; },
-            (s,v) => { CSHullConcavityThresholdPercent = v; } ),
+            5f ),
             new ParameterDefn<float>("CSHullVolumeConservationThresholdPercent", "percent volume conservation to collapse hulls (0-30)",
-            5f,
-            (s) => { return CSHullVolumeConservationThresholdPercent; },
-            (s,v) => { CSHullVolumeConservationThresholdPercent = v; } ),
+            5f ),
             new ParameterDefn<int>("CSHullMaxVertices", "CS impl: maximum number of vertices in output hulls. Keep < 50.",
-            32,
-            (s) => { return CSHullMaxVertices; },
-            (s,v) => { CSHullMaxVertices = v; } ),
+            32 ),
             new ParameterDefn<float>("CSHullMaxSkinWidth", "CS impl: skin width to apply to output hulls.",
-            0f,
-            (s) => { return CSHullMaxSkinWidth; },
-            (s,v) => { CSHullMaxSkinWidth = v; } ),
+            0f ),
 
             new ParameterDefn<float>("BHullMaxVerticesPerHull", "Bullet impl: max number of vertices per created hull",
-            100f,
-            (s) => { return BHullMaxVerticesPerHull; },
-            (s,v) => { BHullMaxVerticesPerHull = v; } ),
+            100f ),
             new ParameterDefn<float>("BHullMinClusters", "Bullet impl: minimum number of hulls to create per mesh",
-            2f,
-            (s) => { return BHullMinClusters; },
-            (s,v) => { BHullMinClusters = v; } ),
+            2f ),
             new ParameterDefn<float>("BHullCompacityWeight", "Bullet impl: weight factor for how compact to make hulls",
-            2f,
-            (s) => { return BHullCompacityWeight; },
-            (s,v) => { BHullCompacityWeight = v; } ),
+            0.1f ),
             new ParameterDefn<float>("BHullVolumeWeight", "Bullet impl: weight factor for volume in created hull",
-            0.1f,
-            (s) => { return BHullVolumeWeight; },
-            (s,v) => { BHullVolumeWeight = v; } ),
+            0f ),
             new ParameterDefn<float>("BHullConcavity", "Bullet impl: weight factor for how convex a created hull can be",
-            100f,
-            (s) => { return BHullConcavity; },
-            (s,v) => { BHullConcavity = v; } ),
+            100f ),
             new ParameterDefn<bool>("BHullAddExtraDistPoints", "Bullet impl: whether to add extra vertices for long distance vectors",
-            false,
-            (s) => { return BHullAddExtraDistPoints; },
-            (s,v) => { BHullAddExtraDistPoints = v; } ),
+            false ),
             new ParameterDefn<bool>("BHullAddNeighboursDistPoints", "Bullet impl: whether to add extra vertices between neighbor hulls",
-            false,
-            (s) => { return BHullAddNeighboursDistPoints; },
-            (s,v) => { BHullAddNeighboursDistPoints = v; } ),
+            false ),
             new ParameterDefn<bool>("BHullAddFacesPoints", "Bullet impl: whether to add extra vertices to break up hull faces",
-            false,
-            (s) => { return BHullAddFacesPoints; },
-            (s,v) => { BHullAddFacesPoints = v; } ),
+            false ),
             new ParameterDefn<bool>("BHullShouldAdjustCollisionMargin", "Bullet impl: whether to shrink resulting hulls to account for collision margin",
-            false,
-            (s) => { return BHullShouldAdjustCollisionMargin; },
-            (s,v) => { BHullShouldAdjustCollisionMargin = v; } ),
+            false ),
 
             new ParameterDefn<float>("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)",
-            (float)BSLinkset.LinksetImplementation.Compound,
-            (s) => { return LinksetImplementation; },
-            (s,v) => { LinksetImplementation = v; } ),
+            (float)BSLinkset.LinksetImplementation.Compound ),
             new ParameterDefn<bool>("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.",
-            false,
-            (s) => { return LinkConstraintUseFrameOffset; },
-            (s,v) => { LinkConstraintUseFrameOffset = v; } ),
+            false ),
             new ParameterDefn<bool>("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints",
-            true,
-            (s) => { return LinkConstraintEnableTransMotor; },
-            (s,v) => { LinkConstraintEnableTransMotor = v; } ),
+            true ),
             new ParameterDefn<float>("LinkConstraintTransMotorMaxVel", "Maximum velocity to be applied by translational motor in linkset constraints",
-            5.0f,
-            (s) => { return LinkConstraintTransMotorMaxVel; },
-            (s,v) => { LinkConstraintTransMotorMaxVel = v; } ),
+            5.0f ),
             new ParameterDefn<float>("LinkConstraintTransMotorMaxForce", "Maximum force to be applied by translational motor in linkset constraints",
-            0.1f,
-            (s) => { return LinkConstraintTransMotorMaxForce; },
-            (s,v) => { LinkConstraintTransMotorMaxForce = v; } ),
+            0.1f ),
             new ParameterDefn<float>("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1",
-            0.1f,
-            (s) => { return LinkConstraintCFM; },
-            (s,v) => { LinkConstraintCFM = v; } ),
+            0.1f ),
             new ParameterDefn<float>("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2",
-            0.1f,
-            (s) => { return LinkConstraintERP; },
-            (s,v) => { LinkConstraintERP = v; } ),
+            0.1f ),
             new ParameterDefn<float>("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)",
-            40,
-            (s) => { return LinkConstraintSolverIterations; },
-            (s,v) => { LinkConstraintSolverIterations = v; } ),
+            40 ),
 
         new ParameterDefn<int>("PhysicsMetricFrames", "Frames between outputting detailed phys metrics. (0 is off)",
             0,
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index e796804..cca887a 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -108,7 +108,8 @@ public abstract class BSPhysObject : PhysicsActor
         CollisionScore = 0;
 
         // All axis free.
-        LockedAxis = LockedAxisFree;
+        LockedLinearAxis = LockedAxisFree;
+        LockedAngularAxis = LockedAxisFree;
     }
 
     // Tell the object to clean up.
@@ -265,8 +266,10 @@ public abstract class BSPhysObject : PhysicsActor
     // Note this is a displacement from the root's coordinates. Zero means use the root prim as center-of-mass.
     public OMV.Vector3? UserSetCenterOfMassDisplacement { get; set; }
 
-    public OMV.Vector3 LockedAxis { get; set; } // zero means locked. one means free.
-    public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(1f, 1f, 1f);  // All axis are free
+    public OMV.Vector3 LockedLinearAxis { get; set; } // zero means locked. one means free.
+    public OMV.Vector3 LockedAngularAxis { get; set; } // zero means locked. one means free.
+    public const float FreeAxis = 1f;
+    public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(FreeAxis, FreeAxis, FreeAxis);  // All axis are free
 
     // Enable physical actions. Bullet will keep sleeping non-moving physical objects so
     //     they need waking up when parameters are changed.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index d3f3475..f5b0361 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -256,9 +256,9 @@ public class BSPrim : BSPhysObject
         if (axis.X != 1) locking.X = 0f;
         if (axis.Y != 1) locking.Y = 0f;
         if (axis.Z != 1) locking.Z = 0f;
-        LockedAxis = locking;
+        LockedAngularAxis = locking;
 
-        EnableActor(LockedAxis != LockedAxisFree, LockedAxisActorName, delegate()
+        EnableActor(LockedAngularAxis != LockedAxisFree, LockedAxisActorName, delegate()
         {
             return new BSActorLockAxis(PhysScene, this, LockedAxisActorName);
         });