Merge branch 'master' into careminster

17 files changed, 967 insertions, 911 deletions

diff --git a/OpenSim/Framework/Util.cs b/OpenSim/Framework/Util.cs
index d206fc1..4d132bb 100644
--- a/OpenSim/Framework/Util.cs
+++ b/OpenSim/Framework/Util.cs
@@ -299,6 +299,13 @@ namespace OpenSim.Framework
                 x;
         }
 
+        // Inclusive, within range test (true if equal to the endpoints)
+        public static bool InRange<T>(T x, T min, T max)
+            where T : IComparable<T>
+        {
+            return x.CompareTo(max) <= 0 && x.CompareTo(min) >= 0;
+        }
+
         public static uint GetNextXferID()
         {
             uint id = 0;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 57c5898..8e059ee 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -88,8 +88,8 @@ public sealed class BSCharacter : BSPhysObject
         // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
         //     replace with the default values.
         _size = size;
-        if (_size.X == 0f) _size.X = PhysicsScene.Params.avatarCapsuleDepth;
-        if (_size.Y == 0f) _size.Y = PhysicsScene.Params.avatarCapsuleWidth;
+        if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth;
+        if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
 
         // A motor to control the acceleration and deceleration of the avatar movement.
         // _velocityMotor = new BSVMotor("BSCharacter.Velocity", 3f, 5f, BSMotor.InfiniteVector, 1f);
@@ -108,8 +108,8 @@ public sealed class BSCharacter : BSPhysObject
         _velocity = OMV.Vector3.Zero;
         _appliedVelocity = OMV.Vector3.Zero;
         _buoyancy = ComputeBuoyancyFromFlying(isFlying);
-        _currentFriction = PhysicsScene.Params.avatarStandingFriction;
-        _avatarDensity = PhysicsScene.Params.avatarDensity;
+        _currentFriction = BSParam.AvatarStandingFriction;
+        _avatarDensity = BSParam.AvatarDensity;
 
         // The dimensions of the avatar capsule are kept in the scale.
         // Physics creates a unit capsule which is scaled by the physics engine.
@@ -134,6 +134,8 @@ public sealed class BSCharacter : BSPhysObject
     // called when this character is being destroyed and the resources should be released
     public override void Destroy()
     {
+        base.Destroy();
+
         DetailLog("{0},BSCharacter.Destroy", LocalID);
         PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
         {
@@ -156,19 +158,20 @@ public sealed class BSCharacter : BSPhysObject
         _velocityMotor.Reset();
         _velocityMotor.SetCurrent(_velocity);
         _velocityMotor.SetTarget(_velocity);
+        _velocityMotor.Enabled = false;
 
         // This will enable or disable the flying buoyancy of the avatar.
         // Needs to be reset especially when an avatar is recreated after crossing a region boundry.
         Flying = _flying;
 
-        BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.avatarRestitution);
+        BulletSimAPI.SetRestitution2(PhysBody.ptr, BSParam.AvatarRestitution);
         BulletSimAPI.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin);
         BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
-        BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
-        if (PhysicsScene.Params.ccdMotionThreshold > 0f)
+        BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, BSParam.ContactProcessingThreshold);
+        if (BSParam.CcdMotionThreshold > 0f)
         {
-            BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
-            BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+            BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold);
+            BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius);
         }
 
         UpdatePhysicalMassProperties(RawMass);
@@ -208,8 +211,8 @@ public sealed class BSCharacter : BSPhysObject
             _size = value;
             // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
             //     replace with the default values.
-            if (_size.X == 0f) _size.X = PhysicsScene.Params.avatarCapsuleDepth;
-            if (_size.Y == 0f) _size.Y = PhysicsScene.Params.avatarCapsuleWidth;
+            if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth;
+            if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
 
             ComputeAvatarScale(_size);
             ComputeAvatarVolumeAndMass();
@@ -433,13 +436,13 @@ public sealed class BSCharacter : BSPhysObject
             OMV.Vector3 targetVel = value;
             PhysicsScene.TaintedObject("BSCharacter.setTargetVelocity", delegate()
             {
-                float timeStep = 0.089f;    // DEBUG DEBUG FIX FIX FIX
                 _velocityMotor.Reset();
                 _velocityMotor.SetTarget(targetVel);
                 _velocityMotor.SetCurrent(_velocity);
-                // Compute a velocity value and make sure it gets pushed into the avatar.
-                // This makes sure the avatar will start from a stop.
-                ForceVelocity = _velocityMotor.Step(timeStep);
+                _velocityMotor.Enabled = true;
+
+                // Make sure a property update happens next step so the motor gets incorporated.
+                BulletSimAPI.PushUpdate2(PhysBody.ptr);
             });
         }
     }
@@ -448,12 +451,15 @@ public sealed class BSCharacter : BSPhysObject
         get { return _velocity; }
         set {
             _velocity = value;
-            _velocityMotor.Reset();
-            _velocityMotor.SetCurrent(_velocity);
-            _velocityMotor.SetTarget(_velocity);
             // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity);
             PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate()
             {
+                _velocityMotor.Reset();
+                _velocityMotor.SetCurrent(_velocity);
+                _velocityMotor.SetTarget(_velocity);
+                // Even though the motor is initialized, it's not used and the velocity goes straight into the avatar.
+                _velocityMotor.Enabled = false;
+
                 DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
                 ForceVelocity = _velocity;
             });
@@ -464,27 +470,27 @@ public sealed class BSCharacter : BSPhysObject
         set {
             PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity");
 
+            _velocity = value;
             // Depending on whether the avatar is moving or not, change the friction
             //    to keep the avatar from slipping around
             if (_velocity.Length() == 0)
             {
-                if (_currentFriction != PhysicsScene.Params.avatarStandingFriction)
+                if (_currentFriction != BSParam.AvatarStandingFriction)
                 {
-                    _currentFriction = PhysicsScene.Params.avatarStandingFriction;
+                    _currentFriction = BSParam.AvatarStandingFriction;
                     if (PhysBody.HasPhysicalBody)
                         BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
                 }
             }
             else
             {
-                if (_currentFriction != PhysicsScene.Params.avatarFriction)
+                if (_currentFriction != BSParam.AvatarFriction)
                 {
-                    _currentFriction = PhysicsScene.Params.avatarFriction;
+                    _currentFriction = BSParam.AvatarFriction;
                     if (PhysBody.HasPhysicalBody)
                         BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
                 }
             }
-            _velocity = value;
             // Remember the set velocity so we can suppress the reduction by friction, ...
             _appliedVelocity = value;
 
@@ -561,12 +567,6 @@ public sealed class BSCharacter : BSPhysObject
         set {
             _flying = value;
 
-            // Velocity movement is different when flying: flying velocity degrades over time.
-            if (_flying)
-                _velocityMotor.TargetValueDecayTimeScale = 1f;
-            else
-                _velocityMotor.TargetValueDecayTimeScale = BSMotor.Infinite;
-
             // simulate flying by changing the effect of gravity
             Buoyancy = ComputeBuoyancyFromFlying(_flying);
         }
@@ -750,39 +750,42 @@ public sealed class BSCharacter : BSPhysObject
         _velocity = entprop.Velocity;
         _acceleration = entprop.Acceleration;
         _rotationalVelocity = entprop.RotationalVelocity;
+
         // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
         PositionSanityCheck(true);
 
+        if (_velocityMotor.Enabled)
+        {
+            // TODO: Decide if the step parameters should be changed depending on the avatar's
+            //     state (flying, colliding, ...).
+
+            OMV.Vector3 stepVelocity = _velocityMotor.Step(PhysicsScene.LastTimeStep);
+
+            // If falling, we keep the world's downward vector no matter what the other axis specify.
+            if (!Flying && !IsColliding)
+            {
+                stepVelocity.Z = entprop.Velocity.Z;
+                DetailLog("{0},BSCharacter.UpdateProperties,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity);
+            }
+
+            // If the user has said stop and we've stopped applying velocity correction,
+            //     the motor can be turned off. Set the velocity to zero so the zero motion is sent to the viewer.
+            if (_velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f) && _velocityMotor.ErrorIsZero)
+            {
+                stepVelocity = OMV.Vector3.Zero;
+                _velocityMotor.Enabled = false;
+                DetailLog("{0},BSCharacter.UpdateProperties,taint,disableVelocityMotor,m={1}", LocalID, _velocityMotor);
+            }
+
+            _velocity = stepVelocity;
+            entprop.Velocity = _velocity;
+            BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
+        }
+
         // remember the current and last set values
         LastEntityProperties = CurrentEntityProperties;
         CurrentEntityProperties = entprop;
 
-        // Avatars don't respond to world friction, etc. They only go the speed I tell them too.
-        // Special kludge here for falling. Even though the target velocity might not have a
-        //     Z component, the avatar could be falling (walked off a ledge, stopped flying, ...)
-        //     and that velocity component must be retained.
-        float timeStep = 0.089f;        // DEBUG DEBUG FIX FIX FIX
-        OMV.Vector3 stepVelocity = _velocityMotor.Step(timeStep);
-        // Remove next line so avatars don't fly up forever. DEBUG DEBUG this is only temporary.
-        // stepVelocity.Z += entprop.Velocity.Z;
-        _velocity = stepVelocity;
-        BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
-        /*
-        OMV.Vector3 stepVelocity = _velocityMotor.Step(timeStep);
-        OMV.Vector3 avVel = new OMV.Vector3(stepVelocity.X, stepVelocity.Y, entprop.Velocity.Z);
-        _velocity = avVel;
-        BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, avVel);
-        
-        if (entprop.Velocity != LastEntityProperties.Velocity)
-        {
-            // Changes in the velocity are suppressed in avatars.
-            // That's just the way they are defined.
-            OMV.Vector3 avVel = new OMV.Vector3(_appliedVelocity.X, _appliedVelocity.Y, entprop.Velocity.Z);
-            _velocity = avVel;
-            BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, avVel);
-        }
-         */
-
         // Tell the linkset about value changes
         Linkset.UpdateProperties(this, true);
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
index 6b1e304..e77fb50 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
@@ -122,7 +122,7 @@ public abstract class BSConstraint : IDisposable
                 // Setting an object's mass to zero (making it static like when it's selected)
                 //     automatically disables the constraints.
                 // If the link is enabled, be sure to set the constraint itself to enabled.
-                BulletSimAPI.SetConstraintEnable2(m_constraint.ptr, m_world.physicsScene.NumericBool(true));
+                BulletSimAPI.SetConstraintEnable2(m_constraint.ptr, BSParam.NumericBool(true));
             }
             else
             {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index a5acd86..3fde57b 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -563,7 +563,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 // Moderate angular movement introduced by Bullet.
                 // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle.
                 //     Maybe compute linear and angular factor and damping from params.
-                float angularDamping = PhysicsScene.Params.vehicleAngularDamping;
+                float angularDamping = BSParam.VehicleAngularDamping;
                 BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping);
 
                 // Vehicles report collision events so we know when it's on the ground
@@ -634,28 +634,33 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             m_knownHas = 0;
             m_knownChanged = 0;
         }
+        // Push all the changed values back into the physics engine
         private void PushKnownChanged()
         {
             if (m_knownChanged != 0)
             {
                 if ((m_knownChanged & m_knownChangedPosition) != 0)
-                    Prim.ForcePosition = VehiclePosition;
+                    Prim.ForcePosition = m_knownPosition;
+
                 if ((m_knownChanged & m_knownChangedOrientation) != 0)
-                    Prim.ForceOrientation = VehicleOrientation;
+                    Prim.ForceOrientation = m_knownOrientation;
+
                 if ((m_knownChanged & m_knownChangedVelocity) != 0)
                 {
-                    Prim.ForceVelocity = VehicleVelocity;
+                    Prim.ForceVelocity = m_knownVelocity;
                     BulletSimAPI.SetInterpolationLinearVelocity2(Prim.PhysBody.ptr, VehicleVelocity);
                 }
+
                 if ((m_knownChanged & m_knownChangedForce) != 0)
                     Prim.AddForce((Vector3)m_knownForce, false, true);
 
                 if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0)
                 {
-                    Prim.ForceRotationalVelocity = VehicleRotationalVelocity;
+                    Prim.ForceRotationalVelocity = m_knownRotationalVelocity;
                     // Fake out Bullet by making it think the velocity is the same as last time.
-                    BulletSimAPI.SetInterpolationAngularVelocity2(Prim.PhysBody.ptr, VehicleRotationalVelocity);
+                    BulletSimAPI.SetInterpolationAngularVelocity2(Prim.PhysBody.ptr, m_knownRotationalVelocity);
                 }
+
                 if ((m_knownChanged & m_knownChangedRotationalForce) != 0)
                     Prim.AddAngularForce((Vector3)m_knownRotationalForce, false, true);
 
@@ -667,7 +672,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         }
 
         // Since the computation of terrain height can be a little involved, this routine
-        //    is used ot fetch the height only once for each vehicle simulation step.
+        //    is used to fetch the height only once for each vehicle simulation step.
         private float GetTerrainHeight(Vector3 pos)
         {
             if ((m_knownHas & m_knownChangedTerrainHeight) == 0)
@@ -699,12 +704,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     m_knownPosition = Prim.ForcePosition;
                     m_knownHas |= m_knownChangedPosition;
                 }
-                return (Vector3)m_knownPosition;
+                return m_knownPosition;
             }
             set
             {
                 m_knownPosition = value;
                 m_knownChanged |= m_knownChangedPosition;
+                m_knownHas |= m_knownChangedPosition;
             }
         }
 
@@ -717,12 +723,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     m_knownOrientation = Prim.ForceOrientation;
                     m_knownHas |= m_knownChangedOrientation;
                 }
-                return (Quaternion)m_knownOrientation;
+                return m_knownOrientation;
             }
             set
             {
                 m_knownOrientation = value;
                 m_knownChanged |= m_knownChangedOrientation;
+                m_knownHas |= m_knownChangedOrientation;
             }
         }
 
@@ -741,13 +748,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             {
                 m_knownVelocity = value;
                 m_knownChanged |= m_knownChangedVelocity;
+                m_knownHas |= m_knownChangedVelocity;
             }
         }
 
         private void VehicleAddForce(Vector3 aForce)
         {
+            if ((m_knownHas & m_knownChangedForce) == 0)
+            {
+                m_knownForce = Vector3.Zero;
+            }
             m_knownForce += aForce;
             m_knownChanged |= m_knownChangedForce;
+            m_knownHas |= m_knownChangedForce;
         }
 
         private Vector3 VehicleRotationalVelocity
@@ -765,12 +778,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             {
                 m_knownRotationalVelocity = value;
                 m_knownChanged |= m_knownChangedRotationalVelocity;
+                m_knownHas |= m_knownChangedRotationalVelocity;
             }
         }
         private void VehicleAddAngularForce(Vector3 aForce)
         {
+            if ((m_knownHas & m_knownChangedRotationalForce) == 0)
+            {
+                m_knownRotationalForce = Vector3.Zero;
+            }
             m_knownRotationalForce += aForce;
             m_knownChanged |= m_knownChangedRotationalForce;
+            m_knownHas |= m_knownChangedRotationalForce;
         }
         // Vehicle relative forward velocity
         private Vector3 VehicleForwardVelocity
@@ -782,7 +801,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     m_knownForwardVelocity = VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleOrientation));
                     m_knownHas |= m_knownChangedForwardVelocity;
                 }
-                return (Vector3)m_knownForwardVelocity;
+                return m_knownForwardVelocity;
             }
         }
         private float VehicleForwardSpeed
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 2017fa5..8580928 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -56,7 +56,7 @@ public abstract class BSLinkset
     {
         BSLinkset ret = null;
 
-        switch ((int)physScene.Params.linksetImplementation)
+        switch ((int)BSParam.LinksetImplementation)
         {
             case (int)LinksetImplementation.Constraint:
                 ret = new BSLinksetConstraints(physScene, parent);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index 8c36c31..d95f223 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -226,14 +226,14 @@ public sealed class BSLinksetConstraints : BSLinkset
         constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
 
         // tweek the constraint to increase stability
-        constrain.UseFrameOffset(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintUseFrameOffset));
-        constrain.TranslationalLimitMotor(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintEnableTransMotor),
-                        PhysicsScene.Params.linkConstraintTransMotorMaxVel,
-                        PhysicsScene.Params.linkConstraintTransMotorMaxForce);
-        constrain.SetCFMAndERP(PhysicsScene.Params.linkConstraintCFM, PhysicsScene.Params.linkConstraintERP);
-        if (PhysicsScene.Params.linkConstraintSolverIterations != 0f)
+        constrain.UseFrameOffset(BSParam.BoolNumeric(BSParam.LinkConstraintUseFrameOffset));
+        constrain.TranslationalLimitMotor(BSParam.BoolNumeric(BSParam.LinkConstraintEnableTransMotor),
+                        BSParam.LinkConstraintTransMotorMaxVel,
+                        BSParam.LinkConstraintTransMotorMaxForce);
+        constrain.SetCFMAndERP(BSParam.LinkConstraintCFM, BSParam.LinkConstraintERP);
+        if (BSParam.LinkConstraintSolverIterations != 0f)
         {
-            constrain.SetSolverIterations(PhysicsScene.Params.linkConstraintSolverIterations);
+            constrain.SetSolverIterations(BSParam.LinkConstraintSolverIterations);
         }
         return constrain;
     }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
index 34a87c6..9e1a9ba 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
@@ -43,7 +43,9 @@ public abstract class BSMotor
     {
         UseName = useName;
         PhysicsScene = null;
+        Enabled = true;
     }
+    public virtual bool Enabled { get; set; }
     public virtual void Reset() { }
     public virtual void Zero() { }
     public virtual void GenerateTestOutput(float timeStep) { }
@@ -98,6 +100,12 @@ public class BSVMotor : BSMotor
     public virtual Vector3 CurrentValue { get; protected set; }
     public virtual Vector3 LastError { get; protected set; }
 
+    public virtual bool ErrorIsZero
+    { get {
+        return (LastError == Vector3.Zero || LastError.LengthSquared() <= ErrorZeroThreshold);
+        }
+    }
+
     public BSVMotor(string useName)
         : base(useName)
     {
@@ -105,7 +113,7 @@ public class BSVMotor : BSMotor
         Efficiency = 1f;
         FrictionTimescale = BSMotor.InfiniteVector;
         CurrentValue = TargetValue = Vector3.Zero;
-        ErrorZeroThreshold = 0.01f;
+        ErrorZeroThreshold = 0.001f;
     }
     public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) 
         : this(useName)
@@ -133,6 +141,8 @@ public class BSVMotor : BSMotor
     // Compute the next step and return the new current value
     public virtual Vector3 Step(float timeStep)
     {
+        if (!Enabled) return TargetValue;
+
         Vector3 origTarget = TargetValue;       // DEBUG
         Vector3 origCurrVal = CurrentValue;     // DEBUG
 
@@ -178,7 +188,7 @@ public class BSVMotor : BSMotor
         {
             // Difference between what we have and target is small. Motor is done.
             CurrentValue = TargetValue;
-            MDetailLog("{0},  BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={2}",
+            MDetailLog("{0},  BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}",
                         BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue);
         }
 
@@ -186,6 +196,8 @@ public class BSVMotor : BSMotor
     }
     public virtual Vector3 Step(float timeStep, Vector3 error)
     {
+        if (!Enabled) return Vector3.Zero;
+
         LastError = error;
         Vector3 returnCorrection = Vector3.Zero;
         if (!error.ApproxEquals(Vector3.Zero, ErrorZeroThreshold))
@@ -268,12 +280,14 @@ public class BSPIDVMotor : BSVMotor
     public Vector3 proportionFactor { get; set; }
     public Vector3 integralFactor { get; set; }
     public Vector3 derivFactor { get; set; }
+
     // Arbritrary factor range.
     // EfficiencyHigh means move quickly to the correct number. EfficiencyLow means might over correct.
     public float EfficiencyHigh = 0.4f;
     public float EfficiencyLow = 4.0f;
 
-    Vector3 IntegralFactor { get; set; }
+    // Running integration of the error
+    Vector3 RunningIntegration { get; set; }
 
     public BSPIDVMotor(string useName)
         : base(useName)
@@ -281,7 +295,7 @@ public class BSPIDVMotor : BSVMotor
         proportionFactor = new Vector3(1.00f, 1.00f, 1.00f);
         integralFactor = new Vector3(1.00f, 1.00f, 1.00f);
         derivFactor = new Vector3(1.00f, 1.00f, 1.00f);
-        IntegralFactor = Vector3.Zero;
+        RunningIntegration = Vector3.Zero;
         LastError = Vector3.Zero;
     }
 
@@ -311,15 +325,21 @@ public class BSPIDVMotor : BSVMotor
     // Ignore Current and Target Values and just advance the PID computation on this error.
     public override Vector3 Step(float timeStep, Vector3 error)
     {
+        if (!Enabled) return Vector3.Zero;
+
         // Add up the error so we can integrate over the accumulated errors
-        IntegralFactor += error * timeStep;
+        RunningIntegration += error * timeStep;
 
         // A simple derivitive is the rate of change from the last error.
         Vector3 derivFactor = (error - LastError) * timeStep;
         LastError = error;
 
         // Correction = -(proportionOfPresentError +      accumulationOfPastError    +     rateOfChangeOfError)
-        Vector3 ret   = -(error * proportionFactor + IntegralFactor * integralFactor + derivFactor * derivFactor);
+        Vector3 ret   = -(
+                          error * proportionFactor
+                        + RunningIntegration * integralFactor 
+                        + derivFactor * derivFactor
+                        );
 
         return ret;
     }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
new file mode 100755
index 0000000..5558ad5
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -0,0 +1,559 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+using OpenSim.Region.Physics.Manager;
+
+using OpenMetaverse;
+using Nini.Config;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public static class BSParam
+{
+    // Level of Detail values kept as float because that's what the Meshmerizer wants
+    public static float MeshLOD { get; private set; }
+    public static float MeshMegaPrimLOD { get; private set; }
+    public static float MeshMegaPrimThreshold { get; private set; }
+    public static float SculptLOD { get; private set; }
+
+    public static float MinimumObjectMass { get; private set; }
+    public static float MaximumObjectMass { get; private set; }
+
+    public static float LinearDamping { get; private set; }
+    public static float AngularDamping { get; private set; }
+    public static float DeactivationTime { get; private set; }
+    public static float LinearSleepingThreshold { get; private set; }
+    public static float AngularSleepingThreshold { get; private set; }
+        public static float CcdMotionThreshold { get; private set; }
+        public static float CcdSweptSphereRadius { get; private set; }
+    public static float ContactProcessingThreshold { get; private set; }
+
+    public static bool ShouldMeshSculptedPrim { get; private set; }   // cause scuplted prims to get meshed
+    public static bool ShouldForceSimplePrimMeshing { get; private set; }   // if a cube or sphere, let Bullet do internal shapes
+    public static bool ShouldUseHullsForPhysicalObjects { get; private set; }   // 'true' if should create hulls for physical objects
+
+    public static float TerrainImplementation { get; private set; }
+    public static float TerrainFriction { get; private set; }
+    public static float TerrainHitFraction { get; private set; }
+    public static float TerrainRestitution { get; private set; }
+    public static float TerrainCollisionMargin { get; private set; }
+
+    // Avatar parameters
+    public static float AvatarFriction { get; private set; }
+    public static float AvatarStandingFriction { get; private set; }
+    public static float AvatarDensity { get; private set; }
+    public static float AvatarRestitution { get; private set; }
+    public static float AvatarCapsuleWidth { get; private set; }
+    public static float AvatarCapsuleDepth { get; private set; }
+    public static float AvatarCapsuleHeight { get; private set; }
+        public static float AvatarContactProcessingThreshold { get; private set; }
+
+    public static float VehicleAngularDamping { get; private set; }
+
+    public static float LinksetImplementation { get; private set; }
+    public static float LinkConstraintUseFrameOffset { get; private set; }
+    public static float LinkConstraintEnableTransMotor { get; private set; }
+    public static float LinkConstraintTransMotorMaxVel { get; private set; }
+    public static float LinkConstraintTransMotorMaxForce { get; private set; }
+    public static float LinkConstraintERP { get; private set; }
+    public static float LinkConstraintCFM { get; private set; }
+    public static float LinkConstraintSolverIterations { get; private set; }
+
+    public static float PID_D { get; private set; }    // derivative
+    public static float PID_P { get; private set; }    // proportional
+
+    public delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val);
+    public delegate float ParamGet(BSScene scene);
+    public delegate void ParamSet(BSScene scene, string paramName, uint localID, float val);
+    public delegate void SetOnObject(BSScene scene, BSPhysObject obj, float val);
+
+    public struct ParameterDefn
+    {
+        public string name;         // string name of the parameter
+        public string desc;         // a short description of what the parameter means
+        public float defaultValue;  // default value if not specified anywhere else
+        public ParamUser userParam; // get the value from the configuration file
+        public ParamGet getter;     // return the current value stored for this parameter
+        public ParamSet setter;     // set the current value for this parameter
+        public SetOnObject onObject;    // set the value on an object in the physical domain
+        public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s)
+        {
+            name = n;
+            desc = d;
+            defaultValue = v;
+            userParam = u;
+            getter = g;
+            setter = s;
+            onObject = null;
+        }
+        public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s, SetOnObject o)
+        {
+            name = n;
+            desc = d;
+            defaultValue = v;
+            userParam = u;
+            getter = g;
+            setter = s;
+            onObject = o;
+        }
+    }
+
+    // List of all of the externally visible parameters.
+    // For each parameter, this table maps a text name to getter and setters.
+    // To add a new externally referencable/settable parameter, add the paramter storage
+    //    location somewhere in the program and make an entry in this table with the
+    //    getters and setters.
+    // It is easiest to find an existing definition and copy it.
+    // Parameter values are floats. Booleans are converted to a floating value.
+    //
+    // A ParameterDefn() takes the following parameters:
+    //    -- the text name of the parameter. This is used for console input and ini file.
+    //    -- a short text description of the parameter. This shows up in the console listing.
+    //    -- a default value (float)
+    //    -- a delegate for fetching the parameter from the ini file.
+    //          Should handle fetching the right type from the ini file and converting it.
+    //    -- a delegate for getting the value as a float
+    //    -- a delegate for setting the value from a float
+    //    -- an optional delegate to update the value in the world. Most often used to
+    //          push the new value to an in-world object.
+    //
+    // The single letter parameters for the delegates are:
+    //    s = BSScene
+    //    o = BSPhysObject
+    //    p = string parameter name
+    //    l = localID of referenced object
+    //    v = value (float)
+    //    cf = parameter configuration class (for fetching values from ini file)
+    private static ParameterDefn[] ParameterDefinitions =
+    {
+        new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties",
+            ConfigurationParameters.numericTrue,
+            (s,cf,p,v) => { ShouldMeshSculptedPrim = cf.GetBoolean(p, BSParam.BoolNumeric(v)); },
+            (s) => { return BSParam.NumericBool(ShouldMeshSculptedPrim); },
+            (s,p,l,v) => { ShouldMeshSculptedPrim = BSParam.BoolNumeric(v); } ),
+        new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects",
+            ConfigurationParameters.numericFalse,
+            (s,cf,p,v) => { ShouldForceSimplePrimMeshing = cf.GetBoolean(p, BSParam.BoolNumeric(v)); },
+            (s) => { return BSParam.NumericBool(ShouldForceSimplePrimMeshing); },
+            (s,p,l,v) => { ShouldForceSimplePrimMeshing = BSParam.BoolNumeric(v); } ),
+        new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects",
+            ConfigurationParameters.numericTrue,
+            (s,cf,p,v) => { ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, BSParam.BoolNumeric(v)); },
+            (s) => { return BSParam.NumericBool(ShouldUseHullsForPhysicalObjects); },
+            (s,p,l,v) => { ShouldUseHullsForPhysicalObjects = BSParam.BoolNumeric(v); } ),
+
+        new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)",
+            8f,
+            (s,cf,p,v) => { MeshLOD = (float)cf.GetInt(p, (int)v); },
+            (s) => { return MeshLOD; },
+            (s,p,l,v) => { MeshLOD = v; } ),
+        new ParameterDefn("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters",
+            16f,
+            (s,cf,p,v) => { MeshMegaPrimLOD = (float)cf.GetInt(p, (int)v); },
+            (s) => { return MeshMegaPrimLOD; },
+            (s,p,l,v) => { MeshMegaPrimLOD = v; } ),
+        new ParameterDefn("MeshLevelOfDetailMegaPrimThreshold", "Size (in meters) of a mesh before using MeshMegaPrimLOD",
+            10f,
+            (s,cf,p,v) => { MeshMegaPrimThreshold = (float)cf.GetInt(p, (int)v); },
+            (s) => { return MeshMegaPrimThreshold; },
+            (s,p,l,v) => { MeshMegaPrimThreshold = v; } ),
+        new ParameterDefn("SculptLevelOfDetail", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)",
+            32f,
+            (s,cf,p,v) => { SculptLOD = (float)cf.GetInt(p, (int)v); },
+            (s) => { return SculptLOD; },
+            (s,p,l,v) => { SculptLOD = v; } ),
+
+        new ParameterDefn("MaxSubStep", "In simulation step, maximum number of substeps",
+            10f,
+            (s,cf,p,v) => { s.m_maxSubSteps = cf.GetInt(p, (int)v); },
+            (s) => { return (float)s.m_maxSubSteps; },
+            (s,p,l,v) => { s.m_maxSubSteps = (int)v; } ),
+        new ParameterDefn("FixedTimeStep", "In simulation step, seconds of one substep (1/60)",
+            1f / 60f,
+            (s,cf,p,v) => { s.m_fixedTimeStep = cf.GetFloat(p, v); },
+            (s) => { return (float)s.m_fixedTimeStep; },
+            (s,p,l,v) => { s.m_fixedTimeStep = v; } ),
+        new ParameterDefn("MaxCollisionsPerFrame", "Max collisions returned at end of each frame",
+            2048f,
+            (s,cf,p,v) => { s.m_maxCollisionsPerFrame = cf.GetInt(p, (int)v); },
+            (s) => { return (float)s.m_maxCollisionsPerFrame; },
+            (s,p,l,v) => { s.m_maxCollisionsPerFrame = (int)v; } ),
+        new ParameterDefn("MaxUpdatesPerFrame", "Max updates returned at end of each frame",
+            8000f,
+            (s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); },
+            (s) => { return (float)s.m_maxUpdatesPerFrame; },
+            (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ),
+        new ParameterDefn("MaxTaintsToProcessPerStep", "Number of update taints to process before each simulation step",
+            500f,
+            (s,cf,p,v) => { s.m_taintsToProcessPerStep = cf.GetInt(p, (int)v); },
+            (s) => { return (float)s.m_taintsToProcessPerStep; },
+            (s,p,l,v) => { s.m_taintsToProcessPerStep = (int)v; } ),
+        new ParameterDefn("MinObjectMass", "Minimum object mass (0.0001)",
+            0.0001f,
+            (s,cf,p,v) => { MinimumObjectMass = cf.GetFloat(p, v); },
+            (s) => { return (float)MinimumObjectMass; },
+            (s,p,l,v) => { MinimumObjectMass = v; } ),
+        new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)",
+            10000.01f,
+            (s,cf,p,v) => { MaximumObjectMass = cf.GetFloat(p, v); },
+            (s) => { return (float)MaximumObjectMass; },
+            (s,p,l,v) => { MaximumObjectMass = v; } ),
+
+        new ParameterDefn("PID_D", "Derivitive factor for motion smoothing",
+            2200f,
+            (s,cf,p,v) => { PID_D = cf.GetFloat(p, v); },
+            (s) => { return (float)PID_D; },
+            (s,p,l,v) => { PID_D = v; } ),
+        new ParameterDefn("PID_P", "Parameteric factor for motion smoothing",
+            900f,
+            (s,cf,p,v) => { PID_P = cf.GetFloat(p, v); },
+            (s) => { return (float)PID_P; },
+            (s,p,l,v) => { PID_P = v; } ),
+
+        new ParameterDefn("DefaultFriction", "Friction factor used on new objects",
+            0.2f,
+            (s,cf,p,v) => { s.UnmanagedParams[0].defaultFriction = cf.GetFloat(p, v); },
+            (s) => { return s.UnmanagedParams[0].defaultFriction; },
+            (s,p,l,v) => { s.UnmanagedParams[0].defaultFriction = v; } ),
+        new ParameterDefn("DefaultDensity", "Density for new objects" ,
+            10.000006836f,  // Aluminum g/cm3
+            (s,cf,p,v) => { s.UnmanagedParams[0].defaultDensity = cf.GetFloat(p, v); },
+            (s) => { return s.UnmanagedParams[0].defaultDensity; },
+            (s,p,l,v) => { s.UnmanagedParams[0].defaultDensity = v; } ),
+        new ParameterDefn("DefaultRestitution", "Bouncyness of an object" ,
+            0f,
+            (s,cf,p,v) => { s.UnmanagedParams[0].defaultRestitution = cf.GetFloat(p, v); },
+            (s) => { return s.UnmanagedParams[0].defaultRestitution; },
+            (s,p,l,v) => { s.UnmanagedParams[0].defaultRestitution = v; } ),
+        new ParameterDefn("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)",
+            0.04f,
+            (s,cf,p,v) => { s.UnmanagedParams[0].collisionMargin = cf.GetFloat(p, v); },
+            (s) => { return s.UnmanagedParams[0].collisionMargin; },
+            (s,p,l,v) => { s.UnmanagedParams[0].collisionMargin = v; } ),
+        new ParameterDefn("Gravity", "Vertical force of gravity (negative means down)",
+            -9.80665f,
+            (s,cf,p,v) => { s.UnmanagedParams[0].gravity = cf.GetFloat(p, v); },
+            (s) => { return s.UnmanagedParams[0].gravity; },
+            (s,p,l,v) => { s.UpdateParameterObject((x)=>{s.UnmanagedParams[0].gravity=x;}, p, PhysParameterEntry.APPLY_TO_NONE, v); },
+            (s,o,v) => { BulletSimAPI.SetGravity2(s.World.ptr, new Vector3(0f,0f,v)); } ),
+
+
+        new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)",
+            0f,
+            (s,cf,p,v) => { LinearDamping = cf.GetFloat(p, v); },
+            (s) => { return LinearDamping; },
+            (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearDamping=x;}, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, AngularDamping); } ),
+        new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)",
+            0f,
+            (s,cf,p,v) => { AngularDamping = cf.GetFloat(p, v); },
+            (s) => { return AngularDamping; },
+            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularDamping=x;}, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, LinearDamping, v); } ),
+        new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static",
+            0.2f,
+            (s,cf,p,v) => { DeactivationTime = cf.GetFloat(p, v); },
+            (s) => { return DeactivationTime; },
+            (s,p,l,v) => { s.UpdateParameterObject((x)=>{DeactivationTime=x;}, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.PhysBody.ptr, v); } ),
+        new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static",
+            0.8f,
+            (s,cf,p,v) => { LinearSleepingThreshold = cf.GetFloat(p, v); },
+            (s) => { return LinearSleepingThreshold; },
+            (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearSleepingThreshold=x;}, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ),
+        new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static",
+            1.0f,
+            (s,cf,p,v) => { AngularSleepingThreshold = cf.GetFloat(p, v); },
+            (s) => { return AngularSleepingThreshold; },
+            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularSleepingThreshold=x;}, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ),
+        new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ,
+            0f,     // set to zero to disable
+            (s,cf,p,v) => { CcdMotionThreshold = cf.GetFloat(p, v); },
+            (s) => { return CcdMotionThreshold; },
+            (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdMotionThreshold=x;}, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.PhysBody.ptr, v); } ),
+        new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" ,
+            0f,
+            (s,cf,p,v) => { CcdSweptSphereRadius = cf.GetFloat(p, v); },
+            (s) => { return CcdSweptSphereRadius; },
+            (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdSweptSphereRadius=x;}, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.PhysBody.ptr, v); } ),
+        new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" ,
+            0.1f,
+            (s,cf,p,v) => { ContactProcessingThreshold = cf.GetFloat(p, v); },
+            (s) => { return ContactProcessingThreshold; },
+            (s,p,l,v) => { s.UpdateParameterObject((x)=>{ContactProcessingThreshold=x;}, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.PhysBody.ptr, v); } ),
+
+            new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)",
+            (float)BSTerrainPhys.TerrainImplementation.Mesh,
+            (s,cf,p,v) => { TerrainImplementation = cf.GetFloat(p,v); },
+            (s) => { return TerrainImplementation; },
+            (s,p,l,v) => { TerrainImplementation = v; } ),
+        new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" ,
+            0.3f,
+            (s,cf,p,v) => { TerrainFriction = cf.GetFloat(p, v); },
+            (s) => { return TerrainFriction; },
+            (s,p,l,v) => { TerrainFriction = v;  /* TODO: set on real terrain */} ),
+        new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" ,
+            0.8f,
+            (s,cf,p,v) => { TerrainHitFraction = cf.GetFloat(p, v); },
+            (s) => { return TerrainHitFraction; },
+            (s,p,l,v) => { TerrainHitFraction = v; /* TODO: set on real terrain */ } ),
+        new ParameterDefn("TerrainRestitution", "Bouncyness" ,
+            0f,
+            (s,cf,p,v) => { TerrainRestitution = cf.GetFloat(p, v); },
+            (s) => { return TerrainRestitution; },
+            (s,p,l,v) => { TerrainRestitution = v;  /* TODO: set on real terrain */ } ),
+        new ParameterDefn("TerrainCollisionMargin", "Margin where collision checking starts" ,
+            0.04f,
+            (s,cf,p,v) => { TerrainCollisionMargin = cf.GetFloat(p, v); },
+            (s) => { return TerrainCollisionMargin; },
+            (s,p,l,v) => { TerrainCollisionMargin = v;  /* TODO: set on real terrain */ } ),
+
+        new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.",
+            0.2f,
+            (s,cf,p,v) => { AvatarFriction = cf.GetFloat(p, v); },
+            (s) => { return AvatarFriction; },
+            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarFriction=x;}, p, l, v); } ),
+        new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
+            10.0f,
+            (s,cf,p,v) => { AvatarStandingFriction = cf.GetFloat(p, v); },
+            (s) => { return AvatarStandingFriction; },
+            (s,p,l,v) => { AvatarStandingFriction = v; } ),
+        new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
+            60f,
+            (s,cf,p,v) => { AvatarDensity = cf.GetFloat(p, v); },
+            (s) => { return AvatarDensity; },
+            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarDensity=x;}, p, l, v); } ),
+        new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.",
+            0f,
+            (s,cf,p,v) => { AvatarRestitution = cf.GetFloat(p, v); },
+            (s) => { return AvatarRestitution; },
+            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarRestitution=x;}, p, l, v); } ),
+        new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule",
+            0.6f,
+            (s,cf,p,v) => { AvatarCapsuleWidth = cf.GetFloat(p, v); },
+            (s) => { return AvatarCapsuleWidth; },
+            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleWidth=x;}, p, l, v); } ),
+        new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule",
+            0.45f,
+            (s,cf,p,v) => { AvatarCapsuleDepth = cf.GetFloat(p, v); },
+            (s) => { return AvatarCapsuleDepth; },
+            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleDepth=x;}, p, l, v); } ),
+        new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar",
+            1.5f,
+            (s,cf,p,v) => { AvatarCapsuleHeight = cf.GetFloat(p, v); },
+            (s) => { return AvatarCapsuleHeight; },
+            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleHeight=x;}, p, l, v); } ),
+            new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions",
+            0.1f,
+            (s,cf,p,v) => { AvatarContactProcessingThreshold = cf.GetFloat(p, v); },
+            (s) => { return AvatarContactProcessingThreshold; },
+            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarContactProcessingThreshold=x;}, p, l, v); } ),
+
+        new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)",
+            0.95f,
+            (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); },
+            (s) => { return VehicleAngularDamping; },
+            (s,p,l,v) => { VehicleAngularDamping = v; } ),
+
+            new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
+            0f,
+            (s,cf,p,v) => { s.UnmanagedParams[0].maxPersistantManifoldPoolSize = cf.GetFloat(p, v); },
+            (s) => { return s.UnmanagedParams[0].maxPersistantManifoldPoolSize; },
+            (s,p,l,v) => { s.UnmanagedParams[0].maxPersistantManifoldPoolSize = v; } ),
+            new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)",
+            0f,
+            (s,cf,p,v) => { s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); },
+            (s) => { return s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize; },
+            (s,p,l,v) => { s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = v; } ),
+            new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count",
+            ConfigurationParameters.numericFalse,
+            (s,cf,p,v) => { s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
+            (s) => { return s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation; },
+            (s,p,l,v) => { s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = v; } ),
+            new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step",
+            ConfigurationParameters.numericFalse,
+            (s,cf,p,v) => { s.UnmanagedParams[0].shouldForceUpdateAllAabbs = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
+            (s) => { return s.UnmanagedParams[0].shouldForceUpdateAllAabbs; },
+            (s,p,l,v) => { s.UnmanagedParams[0].shouldForceUpdateAllAabbs = v; } ),
+            new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction",
+            ConfigurationParameters.numericTrue,
+            (s,cf,p,v) => { s.UnmanagedParams[0].shouldRandomizeSolverOrder = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
+            (s) => { return s.UnmanagedParams[0].shouldRandomizeSolverOrder; },
+            (s,p,l,v) => { s.UnmanagedParams[0].shouldRandomizeSolverOrder = v; } ),
+            new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands",
+            ConfigurationParameters.numericTrue,
+            (s,cf,p,v) => { s.UnmanagedParams[0].shouldSplitSimulationIslands = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
+            (s) => { return s.UnmanagedParams[0].shouldSplitSimulationIslands; },
+            (s,p,l,v) => { s.UnmanagedParams[0].shouldSplitSimulationIslands = v; } ),
+            new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching",
+            ConfigurationParameters.numericFalse,
+            (s,cf,p,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
+            (s) => { return s.UnmanagedParams[0].shouldEnableFrictionCaching; },
+            (s,p,l,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = v; } ),
+            new ParameterDefn("NumberOfSolverIterations", "Number of internal iterations (0 means default)",
+            0f,     // zero says use Bullet default
+            (s,cf,p,v) => { s.UnmanagedParams[0].numberOfSolverIterations = cf.GetFloat(p, v); },
+            (s) => { return s.UnmanagedParams[0].numberOfSolverIterations; },
+            (s,p,l,v) => { s.UnmanagedParams[0].numberOfSolverIterations = v; } ),
+
+            new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)",
+            (float)BSLinkset.LinksetImplementation.Compound,
+            (s,cf,p,v) => { LinksetImplementation = cf.GetFloat(p,v); },
+            (s) => { return LinksetImplementation; },
+            (s,p,l,v) => { LinksetImplementation = v; } ),
+            new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.",
+            ConfigurationParameters.numericFalse,
+            (s,cf,p,v) => { LinkConstraintUseFrameOffset = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
+            (s) => { return LinkConstraintUseFrameOffset; },
+            (s,p,l,v) => { LinkConstraintUseFrameOffset = v; } ),
+            new ParameterDefn("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints",
+            ConfigurationParameters.numericTrue,
+            (s,cf,p,v) => { LinkConstraintEnableTransMotor = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
+            (s) => { return LinkConstraintEnableTransMotor; },
+            (s,p,l,v) => { LinkConstraintEnableTransMotor = v; } ),
+            new ParameterDefn("LinkConstraintTransMotorMaxVel", "Maximum velocity to be applied by translational motor in linkset constraints",
+            5.0f,
+            (s,cf,p,v) => { LinkConstraintTransMotorMaxVel = cf.GetFloat(p, v); },
+            (s) => { return LinkConstraintTransMotorMaxVel; },
+            (s,p,l,v) => { LinkConstraintTransMotorMaxVel = v; } ),
+            new ParameterDefn("LinkConstraintTransMotorMaxForce", "Maximum force to be applied by translational motor in linkset constraints",
+            0.1f,
+            (s,cf,p,v) => { LinkConstraintTransMotorMaxForce = cf.GetFloat(p, v); },
+            (s) => { return LinkConstraintTransMotorMaxForce; },
+            (s,p,l,v) => { LinkConstraintTransMotorMaxForce = v; } ),
+            new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1",
+            0.1f,
+            (s,cf,p,v) => { LinkConstraintCFM = cf.GetFloat(p, v); },
+            (s) => { return LinkConstraintCFM; },
+            (s,p,l,v) => { LinkConstraintCFM = v; } ),
+            new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2",
+            0.1f,
+            (s,cf,p,v) => { LinkConstraintERP = cf.GetFloat(p, v); },
+            (s) => { return LinkConstraintERP; },
+            (s,p,l,v) => { LinkConstraintERP = v; } ),
+            new ParameterDefn("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)",
+            40,
+            (s,cf,p,v) => { LinkConstraintSolverIterations = cf.GetFloat(p, v); },
+            (s) => { return LinkConstraintSolverIterations; },
+            (s,p,l,v) => { LinkConstraintSolverIterations = v; } ),
+
+        new ParameterDefn("LogPhysicsStatisticsFrames", "Frames between outputting detailed phys stats. (0 is off)",
+            0f,
+            (s,cf,p,v) => { s.UnmanagedParams[0].physicsLoggingFrames = cf.GetInt(p, (int)v); },
+            (s) => { return (float)s.UnmanagedParams[0].physicsLoggingFrames; },
+            (s,p,l,v) => { s.UnmanagedParams[0].physicsLoggingFrames = (int)v; } ),
+    };
+
+    // Convert a boolean to our numeric true and false values
+    public static float NumericBool(bool b)
+    {
+        return (b ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse);
+    }
+
+    // Convert numeric true and false values to a boolean
+    public static bool BoolNumeric(float b)
+    {
+        return (b == ConfigurationParameters.numericTrue ? true : false);
+    }
+
+    // Search through the parameter definitions and return the matching
+    //    ParameterDefn structure.
+    // Case does not matter as names are compared after converting to lower case.
+    // Returns 'false' if the parameter is not found.
+    internal static bool TryGetParameter(string paramName, out ParameterDefn defn)
+    {
+        bool ret = false;
+        ParameterDefn foundDefn = new ParameterDefn();
+        string pName = paramName.ToLower();
+
+        foreach (ParameterDefn parm in ParameterDefinitions)
+        {
+            if (pName == parm.name.ToLower())
+            {
+                foundDefn = parm;
+                ret = true;
+                break;
+            }
+        }
+        defn = foundDefn;
+        return ret;
+    }
+
+    // Pass through the settable parameters and set the default values
+    internal static void SetParameterDefaultValues(BSScene physicsScene)
+    {
+        foreach (ParameterDefn parm in ParameterDefinitions)
+        {
+            parm.setter(physicsScene, parm.name, PhysParameterEntry.APPLY_TO_NONE, parm.defaultValue);
+        }
+    }
+
+    // Get user set values out of the ini file.
+    internal static void SetParameterConfigurationValues(BSScene physicsScene, IConfig cfg)
+    {
+        foreach (ParameterDefn parm in ParameterDefinitions)
+        {
+            parm.userParam(physicsScene, cfg, parm.name, parm.defaultValue);
+        }
+    }
+
+    internal static PhysParameterEntry[] SettableParameters = new PhysParameterEntry[1];
+
+    // This creates an array in the correct format for returning the list of
+    //    parameters. This is used by the 'list' option of the 'physics' command.
+    internal static void BuildParameterTable()
+    {
+        if (SettableParameters.Length < ParameterDefinitions.Length)
+        {
+            List<PhysParameterEntry> entries = new List<PhysParameterEntry>();
+            for (int ii = 0; ii < ParameterDefinitions.Length; ii++)
+            {
+                ParameterDefn pd = ParameterDefinitions[ii];
+                entries.Add(new PhysParameterEntry(pd.name, pd.desc));
+            }
+
+            // make the list in alphabetical order for estetic reasons
+            entries.Sort(delegate(PhysParameterEntry ppe1, PhysParameterEntry ppe2)
+            {
+                return ppe1.name.CompareTo(ppe2.name);
+            });
+
+            SettableParameters = entries.ToArray();
+        }
+    }
+
+
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 92a5f2f..c76f869 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -45,6 +45,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin
  *      ForceVariableName: direct reference (store and fetch) to the value in the physics engine.
  *  The last two (and certainly the last one) should be referenced only in taint-time.
  */
+
+/*
+ * As of 20121221, the following are the call sequences (going down) for different script physical functions:
+ * llApplyImpulse       llApplyRotImpulse           llSetTorque             llSetForce
+ * SOP.ApplyImpulse     SOP.ApplyAngularImpulse     SOP.SetAngularImpulse   SOP.SetForce
+ * SOG.ApplyImpulse     SOG.ApplyAngularImpulse     SOG.SetAngularImpulse
+ * PA.AddForce          PA.AddAngularForce          PA.Torque = v           PA.Force = v
+ * BS.ApplyCentralForce BS.ApplyTorque              
+ */
+
 public abstract class BSPhysObject : PhysicsActor
 {
     protected BSPhysObject()
@@ -69,6 +79,12 @@ public abstract class BSPhysObject : PhysicsActor
         CollidingGroundStep = 0;
     }
 
+    // Tell the object to clean up.
+    public virtual void Destroy()
+    {
+        UnRegisterAllPreStepActions();
+    }
+
     public BSScene PhysicsScene { get; protected set; }
     // public override uint LocalID { get; set; } // Use the LocalID definition in PhysicsActor
     public string PhysObjectName { get; protected set; }
@@ -130,9 +146,6 @@ public abstract class BSPhysObject : PhysicsActor
     // Update the physical location and motion of the object. Called with data from Bullet.
     public abstract void UpdateProperties(EntityProperties entprop);
 
-    // Tell the object to clean up.
-    public abstract void Destroy();
-
     public abstract OMV.Vector3 RawPosition { get; set; }
     public abstract OMV.Vector3 ForcePosition { get; set; }
 
@@ -140,7 +153,7 @@ public abstract class BSPhysObject : PhysicsActor
     public abstract OMV.Quaternion ForceOrientation { get; set; }
 
     // The system is telling us the velocity it wants to move at.
-    protected OMV.Vector3 m_targetVelocity;
+    // protected OMV.Vector3 m_targetVelocity;  // use the definition in PhysicsActor
     public override OMV.Vector3 TargetVelocity
     {
         get { return m_targetVelocity; }
@@ -280,11 +293,53 @@ public abstract class BSPhysObject : PhysicsActor
 
     #endregion // Collisions
 
+    #region Per Simulation Step actions
+    // There are some actions that must be performed for a physical object before each simulation step.
+    // These actions are optional so, rather than scanning all the physical objects and asking them
+    //     if they have anything to do, a physical object registers for an event call before the step is performed.
+    // This bookkeeping makes it easy to add, remove and clean up after all these registrations.
+    private Dictionary<string, BSScene.PreStepAction> RegisteredActions = new Dictionary<string, BSScene.PreStepAction>();
+    protected void RegisterPreStepAction(string op, uint id, BSScene.PreStepAction actn)
+    {
+        string identifier = op + "-" + id.ToString();
+        RegisteredActions[identifier] = actn;
+        PhysicsScene.BeforeStep += actn;
+        DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier);
+    }
+
+    // Unregister a pre step action. Safe to call if the action has not been registered.
+    protected void UnRegisterPreStepAction(string op, uint id)
+    {
+        string identifier = op + "-" + id.ToString();
+        bool removed = false;
+        if (RegisteredActions.ContainsKey(identifier))
+        {
+            PhysicsScene.BeforeStep -= RegisteredActions[identifier];
+            RegisteredActions.Remove(identifier);
+            removed = true;
+        }
+        DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed);
+    }
+
+    protected void UnRegisterAllPreStepActions()
+    {
+        foreach (KeyValuePair<string, BSScene.PreStepAction> kvp in RegisteredActions)
+        {
+            PhysicsScene.BeforeStep -= kvp.Value;
+        }
+        RegisteredActions.Clear();
+        DetailLog("{0},BSPhysObject.UnRegisterAllPreStepActions,", LocalID);
+    }
+
+    
+    #endregion // Per Simulation Step actions
+
     // High performance detailed logging routine used by the physical objects.
     protected void DetailLog(string msg, params Object[] args)
     {
         if (PhysicsScene.PhysicsLogging.Enabled)
             PhysicsScene.DetailLog(msg, args);
     }
+
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 68a0db6..26b8df5 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -129,6 +129,7 @@ public sealed class BSPrim : BSPhysObject
     public override void Destroy()
     {
         // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID);
+        base.Destroy();
 
         // Undo any links between me and any other object
         BSPhysObject parentBefore = Linkset.LinksetRoot;
@@ -434,12 +435,26 @@ public sealed class BSPrim : BSPhysObject
         get { return _force; }
         set {
             _force = value;
-            PhysicsScene.TaintedObject("BSPrim.setForce", delegate()
+            if (_force != OMV.Vector3.Zero)
             {
-                // DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
-                if (PhysBody.HasPhysicalBody)
-                    BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
-            });
+                // If the force is non-zero, it must be reapplied each tick because
+                //    Bullet clears the forces applied last frame.
+                RegisterPreStepAction("BSPrim.setForce", LocalID,
+                    delegate(float timeStep)
+                    {
+                        DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force);
+                        if (PhysBody.HasPhysicalBody)
+                        {
+                            BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, _force);
+                            ActivateIfPhysical(false);
+                        }
+                    }
+                );
+            }
+            else
+            {
+                UnRegisterPreStepAction("BSPrim.setForce", LocalID);
+            }
         }
     }
 
@@ -450,15 +465,18 @@ public sealed class BSPrim : BSPhysObject
         set {
             Vehicle type = (Vehicle)value;
 
-            // Tell the scene about the vehicle so it will get processing each frame.
-            PhysicsScene.VehicleInSceneTypeChanged(this, type);
-
             PhysicsScene.TaintedObject("setVehicleType", delegate()
             {
                 // Done at taint time so we're sure the physics engine is not using the variables
                 // Vehicle code changes the parameters for this vehicle type.
                 _vehicle.ProcessTypeChange(type);
                 ActivateIfPhysical(false);
+
+                // If an active vehicle, register the vehicle code to be called before each step
+                if (_vehicle.Type == Vehicle.TYPE_NONE)
+                    UnRegisterPreStepAction("BSPrim.Vehicle", LocalID);
+                else
+                    RegisterPreStepAction("BSPrim.Vehicle", LocalID, _vehicle.Step);
             });
         }
     }
@@ -494,23 +512,6 @@ public sealed class BSPrim : BSPhysObject
         });
     }
 
-    // Called each simulation step to advance vehicle characteristics.
-    // Called from Scene when doing simulation step so we're in taint processing time.
-    public override void StepVehicle(float timeStep)
-    {
-        if (IsPhysical && _vehicle.IsActive)
-        {
-            _vehicle.Step(timeStep);
-            /* // TEST TEST DEBUG DEBUG -- trying to reduce the extra action of Bullet simulation step
-            PhysicsScene.PostTaintObject("BSPrim.StepVehicles", LocalID, delegate()
-            {
-                // This resets the interpolation values and recomputes the tensor variables
-                BulletSimAPI.SetCenterOfMassByPosRot2(BSBody.ptr, ForcePosition, ForceOrientation);
-            });
-             */
-        }
-    }
-
     // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
     public override void SetVolumeDetect(int param) {
         bool newValue = (param != 0);
@@ -543,14 +544,32 @@ public sealed class BSPrim : BSPhysObject
 
             _velocity = value;
             if (PhysBody.HasPhysicalBody)
+            {
                 BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
+                ActivateIfPhysical(false);
+            }
         }
     }
     public override OMV.Vector3 Torque {
         get { return _torque; }
         set {
             _torque = value;
-            AddAngularForce(_torque, false, false);
+            if (_torque != OMV.Vector3.Zero)
+            {
+                // If the torque is non-zero, it must be reapplied each tick because
+                //    Bullet clears the forces applied last frame.
+                RegisterPreStepAction("BSPrim.setTorque", LocalID,
+                    delegate(float timeStep)
+                    {
+                        if (PhysBody.HasPhysicalBody)
+                            AddAngularForce(_torque, false, true);
+                    }
+                );
+            }
+            else
+            {
+                UnRegisterPreStepAction("BSPrim.setTorque", LocalID);
+            }
             // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
         }
     }
@@ -720,10 +739,10 @@ public sealed class BSPrim : BSPhysObject
             // Mass is zero which disables a bunch of physics stuff in Bullet
             UpdatePhysicalMassProperties(0f);
             // Set collision detection parameters
-            if (PhysicsScene.Params.ccdMotionThreshold > 0f)
+            if (BSParam.CcdMotionThreshold > 0f)
             {
-                BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
-                BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+                BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold);
+                BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius);
             }
 
             // The activation state is 'disabled' so Bullet will not try to act on it.
@@ -761,17 +780,17 @@ public sealed class BSPrim : BSPhysObject
             UpdatePhysicalMassProperties(RawMass);
 
             // Set collision detection parameters
-            if (PhysicsScene.Params.ccdMotionThreshold > 0f)
+            if (BSParam.CcdMotionThreshold > 0f)
             {
-                BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
-                BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+                BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold);
+                BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius);
             }
 
             // Various values for simulation limits
-            BulletSimAPI.SetDamping2(PhysBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping);
-            BulletSimAPI.SetDeactivationTime2(PhysBody.ptr, PhysicsScene.Params.deactivationTime);
-            BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
-            BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
+            BulletSimAPI.SetDamping2(PhysBody.ptr, BSParam.LinearDamping, BSParam.AngularDamping);
+            BulletSimAPI.SetDeactivationTime2(PhysBody.ptr, BSParam.DeactivationTime);
+            BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold);
+            BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, BSParam.ContactProcessingThreshold);
 
             // This collides like an object.
             PhysBody.collisionType = CollisionType.Dynamic;
@@ -819,7 +838,7 @@ public sealed class BSPrim : BSPhysObject
     // Called in taint-time!!
     private void ActivateIfPhysical(bool forceIt)
     {
-        if (IsPhysical)
+        if (IsPhysical && PhysBody.HasPhysicalBody)
             BulletSimAPI.Activate2(PhysBody.ptr, forceIt);
     }
 
@@ -893,8 +912,7 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
             {
                 DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
-                if (PhysBody.HasPhysicalBody)
-                    BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+                ForceRotationalVelocity = _rotationalVelocity;
             });
         }
     }
@@ -904,7 +922,11 @@ public sealed class BSPrim : BSPhysObject
         }
         set {
             _rotationalVelocity = value;
-            BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+            if (PhysBody.HasPhysicalBody)
+            {
+                BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+                ActivateIfPhysical(false);
+            }
         }
     }
     public override bool Kinematic {
@@ -933,6 +955,7 @@ public sealed class BSPrim : BSPhysObject
             {
                 float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
                 BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
+                ActivateIfPhysical(false);
             }
         }
     }
@@ -969,56 +992,35 @@ public sealed class BSPrim : BSPhysObject
     public override float APIDStrength { set { return; } }
     public override float APIDDamping { set { return; } }
 
-    private List<OMV.Vector3> m_accumulatedForces = new List<OMV.Vector3>();
     public override void AddForce(OMV.Vector3 force, bool pushforce) {
         AddForce(force, pushforce, false);
     }
     // Applying a force just adds this to the total force on the object.
+    // This added force will only last the next simulation tick.
     public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
         // for an object, doesn't matter if force is a pushforce or not
         if (force.IsFinite())
         {
-            // _force += force;
-            lock (m_accumulatedForces)
-                m_accumulatedForces.Add(new OMV.Vector3(force));
+            OMV.Vector3 addForce = force;
+            DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce);
+            PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
+            {
+                // Bullet adds this central force to the total force for this tick
+                DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce);
+                if (PhysBody.HasPhysicalBody)
+                {
+                    BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, addForce);
+                    ActivateIfPhysical(false);
+                }
+            });
         }
         else
         {
             m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
             return;
         }
-        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
-        {
-            OMV.Vector3 fSum = OMV.Vector3.Zero;
-            lock (m_accumulatedForces)
-            {
-                // Sum the accumulated additional forces for one big force to apply once.
-                foreach (OMV.Vector3 v in m_accumulatedForces)
-                {
-                    fSum += v;
-                }
-                m_accumulatedForces.Clear();
-            }
-            DetailLog("{0},BSPrim.AddForce,taint,force={1}", LocalID, fSum);
-            if (fSum != OMV.Vector3.Zero)
-                if (PhysBody.HasPhysicalBody)
-                    BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum);
-        });
     }
 
-    // An impulse force is scaled by the mass of the object.
-    public void ApplyForceImpulse(OMV.Vector3 impulse, bool inTaintTime)
-    {
-        OMV.Vector3 applyImpulse = impulse;
-        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyForceImpulse", delegate()
-        {
-            DetailLog("{0},BSPrim.ApplyForceImpulse,taint,tImpulse={1}", LocalID, applyImpulse);
-            if (PhysBody.HasPhysicalBody)
-                BulletSimAPI.ApplyCentralImpulse2(PhysBody.ptr, applyImpulse);
-        });
-    }
-
-    private List<OMV.Vector3> m_accumulatedAngularForces = new List<OMV.Vector3>();
     public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
         AddAngularForce(force, pushforce, false);
     }
@@ -1026,36 +1028,23 @@ public sealed class BSPrim : BSPhysObject
     {
         if (force.IsFinite())
         {
-            // _force += force;
-            lock (m_accumulatedAngularForces)
-                m_accumulatedAngularForces.Add(new OMV.Vector3(force));
+            OMV.Vector3 angForce = force;
+            PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate()
+            {
+                if (PhysBody.HasPhysicalBody)
+                {
+                    BulletSimAPI.ApplyTorque2(PhysBody.ptr, angForce);
+                    ActivateIfPhysical(false);
+                }
+            });
         }
         else
         {
             m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
             return;
         }
-        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate()
-        {
-            OMV.Vector3 fSum = OMV.Vector3.Zero;
-            lock (m_accumulatedAngularForces)
-            {
-                // Sum the accumulated additional forces for one big force to apply once.
-                foreach (OMV.Vector3 v in m_accumulatedAngularForces)
-                {
-                    fSum += v;
-                }
-                m_accumulatedAngularForces.Clear();
-            }
-            DetailLog("{0},BSPrim.AddAngularForce,taint,aForce={1}", LocalID, fSum);
-            if (fSum != OMV.Vector3.Zero)
-            {
-                if (PhysBody.HasPhysicalBody)
-                    BulletSimAPI.ApplyTorque2(PhysBody.ptr, fSum);
-                _torque = fSum;
-            }
-        });
     }
+
     // A torque impulse.
     // ApplyTorqueImpulse adds torque directly to the angularVelocity.
     // AddAngularForce accumulates the force and applied it to the angular velocity all at once.
@@ -1066,7 +1055,10 @@ public sealed class BSPrim : BSPhysObject
         PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate()
         {
             if (PhysBody.HasPhysicalBody)
+            {
                 BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse);
+                ActivateIfPhysical(false);
+            }
         });
     }
 
@@ -1361,11 +1353,7 @@ public sealed class BSPrim : BSPhysObject
         }
          */
 
-        if (returnMass <= 0)
-            returnMass = 0.0001f;
-
-        if (returnMass > PhysicsScene.MaximumObjectMass)
-            returnMass = PhysicsScene.MaximumObjectMass;
+        returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass);
 
         return returnMass;
     }// end CalculateMass
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 2ca4912..e8e0d50 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -69,20 +69,10 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     //    every tick so OpenSim will update its animation.
     private HashSet<BSPhysObject> m_avatars = new HashSet<BSPhysObject>();
 
-    // List of all the objects that have vehicle properties and should be called
-    //    to update each physics step.
-    private List<BSPhysObject> m_vehicles = new List<BSPhysObject>();
-
     // let my minuions use my logger
     public ILog Logger { get { return m_log; } }
 
     public IMesher mesher;
-    // Level of Detail values kept as float because that's what the Meshmerizer wants
-    public float MeshLOD { get; private set; }
-    public float MeshMegaPrimLOD { get; private set; }
-    public float MeshMegaPrimThreshold { get; private set; }
-    public float SculptLOD { get; private set; }
-
     public uint WorldID { get; private set; }
     public BulletSim World { get; private set; }
 
@@ -90,24 +80,18 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     public BSConstraintCollection Constraints { get; private set; }
 
     // Simulation parameters
-    private int m_maxSubSteps;
-    private float m_fixedTimeStep;
-    private long m_simulationStep = 0;
+    internal int m_maxSubSteps;
+    internal float m_fixedTimeStep;
+    internal long m_simulationStep = 0;
     public long SimulationStep { get { return m_simulationStep; } }
-    private int m_taintsToProcessPerStep;
-
-    // Avatar parameters
-    public float ParamAvatarFriction { get; private set; }
-    public float ParamAvatarStandingFriction { get; private set; }
-    public float ParamAvatarDensity { get; private set; }
-    public float ParamAvatarRestitution { get; private set; }
-    public float ParamAvatarCapsuleWidth { get; private set; }
-    public float ParamAvatarCapsuleDepth { get; private set; }
-    public float ParamAvatarCapsuleHeight { get; private set; }
-        public float ParamAvatarContactProcessingThreshold { get; private set; }
+    internal int m_taintsToProcessPerStep;
+    internal float LastTimeStep { get; private set; }
 
+    // Physical objects can register for prestep or poststep events
     public delegate void PreStepAction(float timeStep);
+    public delegate void PostStepAction(float timeStep);
     public event PreStepAction BeforeStep;
+    public event PreStepAction AfterStep;
 
     // A value of the time now so all the collision and update routines do not have to get their own
     // Set to 'now' just before all the prims and actors are called for collisions and updates
@@ -121,20 +105,13 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     public bool InTaintTime { get; private set; }
 
     // Pinned memory used to pass step information between managed and unmanaged
-    private int m_maxCollisionsPerFrame;
-    private CollisionDesc[] m_collisionArray;
-    private GCHandle m_collisionArrayPinnedHandle;
-
-    private int m_maxUpdatesPerFrame;
-    private EntityProperties[] m_updateArray;
-    private GCHandle m_updateArrayPinnedHandle;
+    internal int m_maxCollisionsPerFrame;
+    internal CollisionDesc[] m_collisionArray;
+    internal GCHandle m_collisionArrayPinnedHandle;
 
-    public bool ShouldMeshSculptedPrim { get; private set; }   // cause scuplted prims to get meshed
-    public bool ShouldForceSimplePrimMeshing { get; private set; }   // if a cube or sphere, let Bullet do internal shapes
-    public bool ShouldUseHullsForPhysicalObjects { get; private set; }   // 'true' if should create hulls for physical objects
-
-    public float PID_D { get; private set; }    // derivative
-    public float PID_P { get; private set; }    // proportional
+    internal int m_maxUpdatesPerFrame;
+    internal EntityProperties[] m_updateArray;
+    internal GCHandle m_updateArrayPinnedHandle;
 
     public const uint TERRAIN_ID = 0;       // OpenSim senses terrain with a localID of zero
     public const uint GROUNDPLANE_ID = 1;
@@ -145,7 +122,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
 
     public ConfigurationParameters Params
     {
-        get { return m_params[0]; }
+        get { return UnmanagedParams[0]; }
     }
     public Vector3 DefaultGravity
     {
@@ -157,8 +134,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         get { return Params.gravity; }
     }
 
-    public float MaximumObjectMass { get; private set; }
-
     // When functions in the unmanaged code must be called, it is only
     //   done at a known time just before the simulation step. The taint
     //   system saves all these function calls and executes them in
@@ -181,7 +156,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
 
     // A pointer to an instance if this structure is passed to the C++ code
     // Used to pass basic configuration values to the unmanaged code.
-    ConfigurationParameters[] m_params;
+    internal ConfigurationParameters[] UnmanagedParams;
     GCHandle m_paramsHandle;
 
     // Handle to the callback used by the unmanaged code to call into the managed code.
@@ -218,8 +193,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         Shapes = new BSShapeCollection(this);
 
         // Allocate pinned memory to pass parameters.
-        m_params = new ConfigurationParameters[1];
-        m_paramsHandle = GCHandle.Alloc(m_params, GCHandleType.Pinned);
+        UnmanagedParams = new ConfigurationParameters[1];
+        m_paramsHandle = GCHandle.Alloc(UnmanagedParams, GCHandleType.Pinned);
 
         // Set default values for physics parameters plus any overrides from the ini file
         GetInitialParameterValues(config);
@@ -277,7 +252,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         TerrainManager = new BSTerrainManager(this);
         TerrainManager.CreateInitialGroundPlaneAndTerrain();
 
-        m_log.WarnFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)Params.linksetImplementation);
+        m_log.WarnFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation);
 
         InTaintTime = false;
         m_initialized = true;
@@ -288,9 +263,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     private void GetInitialParameterValues(IConfigSource config)
     {
         ConfigurationParameters parms = new ConfigurationParameters();
-        m_params[0] = parms;
+        UnmanagedParams[0] = parms;
 
-        SetParameterDefaultValues();
+        BSParam.SetParameterDefaultValues(this);
 
         if (config != null)
         {
@@ -298,7 +273,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             IConfig pConfig = config.Configs["BulletSim"];
             if (pConfig != null)
             {
-                SetParameterConfigurationValues(pConfig);
+                BSParam.SetParameterConfigurationValues(this, pConfig);
 
                 // Very detailed logging for physics debugging
                 m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false);
@@ -492,6 +467,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     // Simulate one timestep
     public override float Simulate(float timeStep)
     {
+        // prevent simulation until we've been initialized
+        if (!m_initialized) return 5.0f;
+
+        LastTimeStep = timeStep;
+
         int updatedEntityCount = 0;
         IntPtr updatedEntitiesPtr;
         int collidersCount = 0;
@@ -500,26 +480,27 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         int beforeTime = 0;
         int simTime = 0;
 
-        // prevent simulation until we've been initialized
-        if (!m_initialized) return 5.0f;
-
         // update the prim states while we know the physics engine is not busy
         int numTaints = _taintOperations.Count;
+
+        InTaintTime = true; // Only used for debugging so locking is not necessary.
+
         ProcessTaints();
 
-        // Some of the prims operate with special vehicle properties
-        DoPreStepActions(timeStep);
+        // Some of the physical objects requre individual, pre-step calls
+        TriggerPreStepEvent(timeStep);
 
         // the prestep actions might have added taints
         ProcessTaints();
 
+        InTaintTime = false; // Only used for debugging so locking is not necessary.
+
         // step the physical world one interval
         m_simulationStep++;
         int numSubSteps = 0;
 
         try
         {
-            if (VehiclePhysicalLoggingEnabled) DumpVehicles();  // DEBUG
             if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
 
             numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
@@ -529,7 +510,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}",
                                     DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, 
                                     updatedEntityCount, collidersCount, ObjectsWithCollisions.Count);
-            if (VehiclePhysicalLoggingEnabled) DumpVehicles();  // DEBUG
         }
         catch (Exception e)
         {
@@ -608,7 +588,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             }
         }
 
-        ProcessPostStepTaints();
+        TriggerPostStepEvent(timeStep);
 
         // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
         // Only enable this in a limited test world with few objects.
@@ -700,6 +680,15 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     public override bool IsThreaded { get { return false;  } }
 
     #region Taints
+    // The simulation execution order is:
+    // Simulate()
+    //    DoOneTimeTaints
+    //    TriggerPreStepEvent
+    //    DoOneTimeTaints
+    //    Step()
+    //       ProcessAndForwardCollisions
+    //       ProcessAndForwardPropertyUpdates
+    //    TriggerPostStepEvent
 
     // Calls to the PhysicsActors can't directly call into the physics engine
     //       because it might be busy. We delay changes to a known time.
@@ -726,58 +715,35 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             TaintedObject(ident, callback);
     }
 
+    private void TriggerPreStepEvent(float timeStep)
+    {
+        PreStepAction actions = BeforeStep;
+        if (actions != null)
+            actions(timeStep);
+
+    }
+
+    private void TriggerPostStepEvent(float timeStep)
+    {
+        PreStepAction actions = AfterStep;
+        if (actions != null)
+            actions(timeStep);
+
+    }
+
     // When someone tries to change a property on a BSPrim or BSCharacter, the object queues
     // a callback into itself to do the actual property change. That callback is called
     // here just before the physics engine is called to step the simulation.
     public void ProcessTaints()
     {
-        InTaintTime = true; // Only used for debugging so locking is not necessary.
         ProcessRegularTaints();
         ProcessPostTaintTaints();
-        InTaintTime = false;
     }
 
     private void ProcessRegularTaints()
     {
         if (_taintOperations.Count > 0)  // save allocating new list if there is nothing to process
         {
-            /*
-            // Code to limit the number of taints processed per step. Meant to limit step time.
-            // Unsure if a good idea as code assumes that taints are done before the step.
-            int taintCount = m_taintsToProcessPerStep;
-            TaintCallbackEntry oneCallback = new TaintCallbackEntry();
-            while (_taintOperations.Count > 0 && taintCount-- > 0)
-            {
-                bool gotOne = false;
-                lock (_taintLock)
-                {
-                    if (_taintOperations.Count > 0)
-                    {
-                        oneCallback = _taintOperations[0];
-                        _taintOperations.RemoveAt(0);
-                        gotOne = true;
-                    }
-                }
-                if (gotOne)
-                {
-                    try
-                    {
-                        DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, oneCallback.ident);
-                        oneCallback.callback();
-                    }
-                    catch (Exception e)
-                    {
-                        DetailLog("{0},BSScene.ProcessTaints,doTaintException,id={1}", DetailLogZero, oneCallback.ident); // DEBUG DEBUG DEBUG
-                        m_log.ErrorFormat("{0}: ProcessTaints: {1}: Exception: {2}", LogHeader, oneCallback.ident, e);
-                    }
-                }
-            }
-            if (_taintOperations.Count > 0)
-            {
-                DetailLog("{0},BSScene.ProcessTaints,leftTaintsOnList,numNotProcessed={1}", DetailLogZero, _taintOperations.Count);
-            }
-             */
-
             // swizzle a new list into the list location so we can process what's there
             List<TaintCallbackEntry> oldList;
             lock (_taintLock)
@@ -816,6 +782,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         return;
     }
 
+    // Taints that happen after the normal taint processing but before the simulation step.
     private void ProcessPostTaintTaints()
     {
         if (_postTaintOperations.Count > 0)
@@ -843,45 +810,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         }
     }
 
-    public void PostStepTaintObject(String ident, TaintCallback callback)
-    {
-        if (!m_initialized) return;
-
-        lock (_taintLock)
-        {
-            _postStepOperations.Add(new TaintCallbackEntry(ident, callback));
-        }
-
-        return;
-    }
-
-    private void ProcessPostStepTaints()
-    {
-        if (_postStepOperations.Count > 0)
-        {
-            List<TaintCallbackEntry> oldList;
-            lock (_taintLock)
-            {
-                oldList = _postStepOperations;
-                _postStepOperations = new List<TaintCallbackEntry>();
-            }
-
-            foreach (TaintCallbackEntry tcbe in oldList)
-            {
-                try
-                {
-                    DetailLog("{0},BSScene.ProcessPostStepTaints,doTaint,id={1}", DetailLogZero, tcbe.ident); // DEBUG DEBUG DEBUG
-                    tcbe.callback();
-                }
-                catch (Exception e)
-                {
-                    m_log.ErrorFormat("{0}: ProcessPostStepTaints: {1}: Exception: {2}", LogHeader, tcbe.ident, e);
-                }
-            }
-            oldList.Clear();
-        }
-    }
-
     // Only used for debugging. Does not change state of anything so locking is not necessary.
     public bool AssertInTaintTime(string whereFrom)
     {
@@ -889,540 +817,21 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         {
             DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom);
             m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom);
-            Util.PrintCallStack();  // Prints the stack into the DEBUG log file.
+            Util.PrintCallStack(DetailLog);
         }
         return InTaintTime;
     }
 
     #endregion // Taints
 
-    #region Vehicles
-
-    public void VehicleInSceneTypeChanged(BSPrim vehic, Vehicle newType)
-    {
-        RemoveVehiclePrim(vehic);
-        if (newType != Vehicle.TYPE_NONE)
-        {
-           // make it so the scene will call us each tick to do vehicle things
-           AddVehiclePrim(vehic);
-        }
-    }
-
-    // Make so the scene will call this prim for vehicle actions each tick.
-    // Safe to call if prim is already in the vehicle list.
-    public void AddVehiclePrim(BSPrim vehicle)
-    {
-        lock (m_vehicles)
-        {
-            if (!m_vehicles.Contains(vehicle))
-            {
-                m_vehicles.Add(vehicle);
-            }
-        }
-    }
-
-    // Remove a prim from our list of vehicles.
-    // Safe to call if the prim is not in the vehicle list.
-    public void RemoveVehiclePrim(BSPrim vehicle)
-    {
-        lock (m_vehicles)
-        {
-            if (m_vehicles.Contains(vehicle))
-            {
-                m_vehicles.Remove(vehicle);
-            }
-        }
-    }
-
-    private void DoPreStepActions(float timeStep)
-    {
-        ProcessVehicles(timeStep);
-
-        PreStepAction actions = BeforeStep;
-        if (actions != null)
-            actions(timeStep);
-
-    }
-
-    // Some prims have extra vehicle actions
-    // Called at taint time!
-    private void ProcessVehicles(float timeStep)
-    {
-        foreach (BSPhysObject pobj in m_vehicles)
-        {
-            pobj.StepVehicle(timeStep);
-        }
-    }
-    #endregion Vehicles
-
     #region INI and command line parameter processing
 
-    delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val);
-    delegate float ParamGet(BSScene scene);
-    delegate void ParamSet(BSScene scene, string paramName, uint localID, float val);
-    delegate void SetOnObject(BSScene scene, BSPhysObject obj, float val);
-
-    private struct ParameterDefn
-    {
-        public string name;         // string name of the parameter
-        public string desc;         // a short description of what the parameter means
-        public float defaultValue;  // default value if not specified anywhere else
-        public ParamUser userParam; // get the value from the configuration file
-        public ParamGet getter;     // return the current value stored for this parameter
-        public ParamSet setter;     // set the current value for this parameter
-        public SetOnObject onObject;    // set the value on an object in the physical domain
-        public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s)
-        {
-            name = n;
-            desc = d;
-            defaultValue = v;
-            userParam = u;
-            getter = g;
-            setter = s;
-            onObject = null;
-        }
-        public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s, SetOnObject o)
-        {
-            name = n;
-            desc = d;
-            defaultValue = v;
-            userParam = u;
-            getter = g;
-            setter = s;
-            onObject = o;
-        }
-    }
-
-    // List of all of the externally visible parameters.
-    // For each parameter, this table maps a text name to getter and setters.
-    // To add a new externally referencable/settable parameter, add the paramter storage
-    //    location somewhere in the program and make an entry in this table with the
-    //    getters and setters.
-    // It is easiest to find an existing definition and copy it.
-    // Parameter values are floats. Booleans are converted to a floating value.
-    //
-    // A ParameterDefn() takes the following parameters:
-    //    -- the text name of the parameter. This is used for console input and ini file.
-    //    -- a short text description of the parameter. This shows up in the console listing.
-    //    -- a delegate for fetching the parameter from the ini file.
-    //          Should handle fetching the right type from the ini file and converting it.
-    //    -- a delegate for getting the value as a float
-    //    -- a delegate for setting the value from a float
-    //    -- an optional delegate to update the value in the world. Most often used to
-    //          push the new value to an in-world object.
-    //
-    // The single letter parameters for the delegates are:
-    //    s = BSScene
-    //    o = BSPhysObject
-    //    p = string parameter name
-    //    l = localID of referenced object
-    //    v = float value
-    //    cf = parameter configuration class (for fetching values from ini file)
-    private ParameterDefn[] ParameterDefinitions =
-    {
-        new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties",
-            ConfigurationParameters.numericTrue,
-            (s,cf,p,v) => { s.ShouldMeshSculptedPrim = cf.GetBoolean(p, s.BoolNumeric(v)); },
-            (s) => { return s.NumericBool(s.ShouldMeshSculptedPrim); },
-            (s,p,l,v) => { s.ShouldMeshSculptedPrim = s.BoolNumeric(v); } ),
-        new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects",
-            ConfigurationParameters.numericFalse,
-            (s,cf,p,v) => { s.ShouldForceSimplePrimMeshing = cf.GetBoolean(p, s.BoolNumeric(v)); },
-            (s) => { return s.NumericBool(s.ShouldForceSimplePrimMeshing); },
-            (s,p,l,v) => { s.ShouldForceSimplePrimMeshing = s.BoolNumeric(v); } ),
-        new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects",
-            ConfigurationParameters.numericTrue,
-            (s,cf,p,v) => { s.ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, s.BoolNumeric(v)); },
-            (s) => { return s.NumericBool(s.ShouldUseHullsForPhysicalObjects); },
-            (s,p,l,v) => { s.ShouldUseHullsForPhysicalObjects = s.BoolNumeric(v); } ),
-
-        new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)",
-            8f,
-            (s,cf,p,v) => { s.MeshLOD = (float)cf.GetInt(p, (int)v); },
-            (s) => { return s.MeshLOD; },
-            (s,p,l,v) => { s.MeshLOD = v; } ),
-        new ParameterDefn("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters",
-            16f,
-            (s,cf,p,v) => { s.MeshMegaPrimLOD = (float)cf.GetInt(p, (int)v); },
-            (s) => { return s.MeshMegaPrimLOD; },
-            (s,p,l,v) => { s.MeshMegaPrimLOD = v; } ),
-        new ParameterDefn("MeshLevelOfDetailMegaPrimThreshold", "Size (in meters) of a mesh before using MeshMegaPrimLOD",
-            10f,
-            (s,cf,p,v) => { s.MeshMegaPrimThreshold = (float)cf.GetInt(p, (int)v); },
-            (s) => { return s.MeshMegaPrimThreshold; },
-            (s,p,l,v) => { s.MeshMegaPrimThreshold = v; } ),
-        new ParameterDefn("SculptLevelOfDetail", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)",
-            32f,
-            (s,cf,p,v) => { s.SculptLOD = (float)cf.GetInt(p, (int)v); },
-            (s) => { return s.SculptLOD; },
-            (s,p,l,v) => { s.SculptLOD = v; } ),
-
-        new ParameterDefn("MaxSubStep", "In simulation step, maximum number of substeps",
-            10f,
-            (s,cf,p,v) => { s.m_maxSubSteps = cf.GetInt(p, (int)v); },
-            (s) => { return (float)s.m_maxSubSteps; },
-            (s,p,l,v) => { s.m_maxSubSteps = (int)v; } ),
-        new ParameterDefn("FixedTimeStep", "In simulation step, seconds of one substep (1/60)",
-            1f / 60f,
-            (s,cf,p,v) => { s.m_fixedTimeStep = cf.GetFloat(p, v); },
-            (s) => { return (float)s.m_fixedTimeStep; },
-            (s,p,l,v) => { s.m_fixedTimeStep = v; } ),
-        new ParameterDefn("MaxCollisionsPerFrame", "Max collisions returned at end of each frame",
-            2048f,
-            (s,cf,p,v) => { s.m_maxCollisionsPerFrame = cf.GetInt(p, (int)v); },
-            (s) => { return (float)s.m_maxCollisionsPerFrame; },
-            (s,p,l,v) => { s.m_maxCollisionsPerFrame = (int)v; } ),
-        new ParameterDefn("MaxUpdatesPerFrame", "Max updates returned at end of each frame",
-            8000f,
-            (s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); },
-            (s) => { return (float)s.m_maxUpdatesPerFrame; },
-            (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ),
-        new ParameterDefn("MaxTaintsToProcessPerStep", "Number of update taints to process before each simulation step",
-            500f,
-            (s,cf,p,v) => { s.m_taintsToProcessPerStep = cf.GetInt(p, (int)v); },
-            (s) => { return (float)s.m_taintsToProcessPerStep; },
-            (s,p,l,v) => { s.m_taintsToProcessPerStep = (int)v; } ),
-        new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)",
-            10000.01f,
-            (s,cf,p,v) => { s.MaximumObjectMass = cf.GetFloat(p, v); },
-            (s) => { return (float)s.MaximumObjectMass; },
-            (s,p,l,v) => { s.MaximumObjectMass = v; } ),
-
-        new ParameterDefn("PID_D", "Derivitive factor for motion smoothing",
-            2200f,
-            (s,cf,p,v) => { s.PID_D = cf.GetFloat(p, v); },
-            (s) => { return (float)s.PID_D; },
-            (s,p,l,v) => { s.PID_D = v; } ),
-        new ParameterDefn("PID_P", "Parameteric factor for motion smoothing",
-            900f,
-            (s,cf,p,v) => { s.PID_P = cf.GetFloat(p, v); },
-            (s) => { return (float)s.PID_P; },
-            (s,p,l,v) => { s.PID_P = v; } ),
-
-        new ParameterDefn("DefaultFriction", "Friction factor used on new objects",
-            0.2f,
-            (s,cf,p,v) => { s.m_params[0].defaultFriction = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].defaultFriction; },
-            (s,p,l,v) => { s.m_params[0].defaultFriction = v; } ),
-        new ParameterDefn("DefaultDensity", "Density for new objects" ,
-            10.000006836f,  // Aluminum g/cm3
-            (s,cf,p,v) => { s.m_params[0].defaultDensity = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].defaultDensity; },
-            (s,p,l,v) => { s.m_params[0].defaultDensity = v; } ),
-        new ParameterDefn("DefaultRestitution", "Bouncyness of an object" ,
-            0f,
-            (s,cf,p,v) => { s.m_params[0].defaultRestitution = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].defaultRestitution; },
-            (s,p,l,v) => { s.m_params[0].defaultRestitution = v; } ),
-        new ParameterDefn("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)",
-            0.04f,
-            (s,cf,p,v) => { s.m_params[0].collisionMargin = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].collisionMargin; },
-            (s,p,l,v) => { s.m_params[0].collisionMargin = v; } ),
-        new ParameterDefn("Gravity", "Vertical force of gravity (negative means down)",
-            -9.80665f,
-            (s,cf,p,v) => { s.m_params[0].gravity = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].gravity; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].gravity, p, PhysParameterEntry.APPLY_TO_NONE, v); },
-            (s,o,v) => { BulletSimAPI.SetGravity2(s.World.ptr, new Vector3(0f,0f,v)); } ),
-
-
-        new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)",
-            0f,
-            (s,cf,p,v) => { s.m_params[0].linearDamping = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].linearDamping; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearDamping, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, s.m_params[0].angularDamping); } ),
-        new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)",
-            0f,
-            (s,cf,p,v) => { s.m_params[0].angularDamping = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].angularDamping; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularDamping, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, s.m_params[0].linearDamping, v); } ),
-        new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static",
-            0.2f,
-            (s,cf,p,v) => { s.m_params[0].deactivationTime = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].deactivationTime; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].deactivationTime, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.PhysBody.ptr, v); } ),
-        new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static",
-            0.8f,
-            (s,cf,p,v) => { s.m_params[0].linearSleepingThreshold = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].linearSleepingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearSleepingThreshold, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ),
-        new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static",
-            1.0f,
-            (s,cf,p,v) => { s.m_params[0].angularSleepingThreshold = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].angularSleepingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularSleepingThreshold, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ),
-        new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ,
-            0f,     // set to zero to disable
-            (s,cf,p,v) => { s.m_params[0].ccdMotionThreshold = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].ccdMotionThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdMotionThreshold, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.PhysBody.ptr, v); } ),
-        new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" ,
-            0f,
-            (s,cf,p,v) => { s.m_params[0].ccdSweptSphereRadius = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].ccdSweptSphereRadius; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.PhysBody.ptr, v); } ),
-        new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" ,
-            0.1f,
-            (s,cf,p,v) => { s.m_params[0].contactProcessingThreshold = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].contactProcessingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].contactProcessingThreshold, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.PhysBody.ptr, v); } ),
-
-            new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)",
-            (float)BSTerrainPhys.TerrainImplementation.Mesh,
-            (s,cf,p,v) => { s.m_params[0].terrainImplementation = cf.GetFloat(p,v); },
-            (s) => { return s.m_params[0].terrainImplementation; },
-            (s,p,l,v) => { s.m_params[0].terrainImplementation = v; } ),
-        new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" ,
-            0.3f,
-            (s,cf,p,v) => { s.m_params[0].terrainFriction = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].terrainFriction; },
-            (s,p,l,v) => { s.m_params[0].terrainFriction = v;  /* TODO: set on real terrain */} ),
-        new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" ,
-            0.8f,
-            (s,cf,p,v) => { s.m_params[0].terrainHitFraction = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].terrainHitFraction; },
-            (s,p,l,v) => { s.m_params[0].terrainHitFraction = v; /* TODO: set on real terrain */ } ),
-        new ParameterDefn("TerrainRestitution", "Bouncyness" ,
-            0f,
-            (s,cf,p,v) => { s.m_params[0].terrainRestitution = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].terrainRestitution; },
-            (s,p,l,v) => { s.m_params[0].terrainRestitution = v;  /* TODO: set on real terrain */ } ),
-        new ParameterDefn("TerrainCollisionMargin", "Margin where collision checking starts" ,
-            0.04f,
-            (s,cf,p,v) => { s.m_params[0].terrainCollisionMargin = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].terrainCollisionMargin; },
-            (s,p,l,v) => { s.m_params[0].terrainCollisionMargin = v;  /* TODO: set on real terrain */ } ),
-
-        new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.",
-            0.2f,
-            (s,cf,p,v) => { s.m_params[0].avatarFriction = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].avatarFriction; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarFriction, p, l, v); } ),
-        new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
-            10.0f,
-            (s,cf,p,v) => { s.m_params[0].avatarStandingFriction = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].avatarStandingFriction; },
-            (s,p,l,v) => { s.m_params[0].avatarStandingFriction = v; } ),
-        new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
-            60f,
-            (s,cf,p,v) => { s.m_params[0].avatarDensity = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].avatarDensity; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarDensity, p, l, v); } ),
-        new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.",
-            0f,
-            (s,cf,p,v) => { s.m_params[0].avatarRestitution = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].avatarRestitution; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarRestitution, p, l, v); } ),
-        new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule",
-            0.6f,
-            (s,cf,p,v) => { s.m_params[0].avatarCapsuleWidth = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].avatarCapsuleWidth; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleWidth, p, l, v); } ),
-        new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule",
-            0.45f,
-            (s,cf,p,v) => { s.m_params[0].avatarCapsuleDepth = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].avatarCapsuleDepth; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleDepth, p, l, v); } ),
-        new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar",
-            1.5f,
-            (s,cf,p,v) => { s.m_params[0].avatarCapsuleHeight = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].avatarCapsuleHeight; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleHeight, p, l, v); } ),
-            new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions",
-            0.1f,
-            (s,cf,p,v) => { s.m_params[0].avatarContactProcessingThreshold = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].avatarContactProcessingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarContactProcessingThreshold, p, l, v); } ),
-
-        new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)",
-            0.95f,
-            (s,cf,p,v) => { s.m_params[0].vehicleAngularDamping = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].vehicleAngularDamping; },
-            (s,p,l,v) => { s.m_params[0].vehicleAngularDamping = v; } ),
-
-            new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
-            0f,
-            (s,cf,p,v) => { s.m_params[0].maxPersistantManifoldPoolSize = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].maxPersistantManifoldPoolSize; },
-            (s,p,l,v) => { s.m_params[0].maxPersistantManifoldPoolSize = v; } ),
-            new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)",
-            0f,
-            (s,cf,p,v) => { s.m_params[0].maxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].maxCollisionAlgorithmPoolSize; },
-            (s,p,l,v) => { s.m_params[0].maxCollisionAlgorithmPoolSize = v; } ),
-            new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count",
-            ConfigurationParameters.numericFalse,
-            (s,cf,p,v) => { s.m_params[0].shouldDisableContactPoolDynamicAllocation = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
-            (s) => { return s.m_params[0].shouldDisableContactPoolDynamicAllocation; },
-            (s,p,l,v) => { s.m_params[0].shouldDisableContactPoolDynamicAllocation = v; } ),
-            new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step",
-            ConfigurationParameters.numericFalse,
-            (s,cf,p,v) => { s.m_params[0].shouldForceUpdateAllAabbs = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
-            (s) => { return s.m_params[0].shouldForceUpdateAllAabbs; },
-            (s,p,l,v) => { s.m_params[0].shouldForceUpdateAllAabbs = v; } ),
-            new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction",
-            ConfigurationParameters.numericTrue,
-            (s,cf,p,v) => { s.m_params[0].shouldRandomizeSolverOrder = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
-            (s) => { return s.m_params[0].shouldRandomizeSolverOrder; },
-            (s,p,l,v) => { s.m_params[0].shouldRandomizeSolverOrder = v; } ),
-            new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands",
-            ConfigurationParameters.numericTrue,
-            (s,cf,p,v) => { s.m_params[0].shouldSplitSimulationIslands = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
-            (s) => { return s.m_params[0].shouldSplitSimulationIslands; },
-            (s,p,l,v) => { s.m_params[0].shouldSplitSimulationIslands = v; } ),
-            new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching",
-            ConfigurationParameters.numericFalse,
-            (s,cf,p,v) => { s.m_params[0].shouldEnableFrictionCaching = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
-            (s) => { return s.m_params[0].shouldEnableFrictionCaching; },
-            (s,p,l,v) => { s.m_params[0].shouldEnableFrictionCaching = v; } ),
-            new ParameterDefn("NumberOfSolverIterations", "Number of internal iterations (0 means default)",
-            0f,     // zero says use Bullet default
-            (s,cf,p,v) => { s.m_params[0].numberOfSolverIterations = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].numberOfSolverIterations; },
-            (s,p,l,v) => { s.m_params[0].numberOfSolverIterations = v; } ),
-
-            new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)",
-            (float)BSLinkset.LinksetImplementation.Compound,
-            (s,cf,p,v) => { s.m_params[0].linksetImplementation = cf.GetFloat(p,v); },
-            (s) => { return s.m_params[0].linksetImplementation; },
-            (s,p,l,v) => { s.m_params[0].linksetImplementation = v; } ),
-            new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.",
-            ConfigurationParameters.numericFalse,
-            (s,cf,p,v) => { s.m_params[0].linkConstraintUseFrameOffset = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
-            (s) => { return s.m_params[0].linkConstraintUseFrameOffset; },
-            (s,p,l,v) => { s.m_params[0].linkConstraintUseFrameOffset = v; } ),
-            new ParameterDefn("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints",
-            ConfigurationParameters.numericTrue,
-            (s,cf,p,v) => { s.m_params[0].linkConstraintEnableTransMotor = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
-            (s) => { return s.m_params[0].linkConstraintEnableTransMotor; },
-            (s,p,l,v) => { s.m_params[0].linkConstraintEnableTransMotor = v; } ),
-            new ParameterDefn("LinkConstraintTransMotorMaxVel", "Maximum velocity to be applied by translational motor in linkset constraints",
-            5.0f,
-            (s,cf,p,v) => { s.m_params[0].linkConstraintTransMotorMaxVel = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].linkConstraintTransMotorMaxVel; },
-            (s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxVel = v; } ),
-            new ParameterDefn("LinkConstraintTransMotorMaxForce", "Maximum force to be applied by translational motor in linkset constraints",
-            0.1f,
-            (s,cf,p,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].linkConstraintTransMotorMaxForce; },
-            (s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = v; } ),
-            new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1",
-            0.1f,
-            (s,cf,p,v) => { s.m_params[0].linkConstraintCFM = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].linkConstraintCFM; },
-            (s,p,l,v) => { s.m_params[0].linkConstraintCFM = v; } ),
-            new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2",
-            0.1f,
-            (s,cf,p,v) => { s.m_params[0].linkConstraintERP = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].linkConstraintERP; },
-            (s,p,l,v) => { s.m_params[0].linkConstraintERP = v; } ),
-            new ParameterDefn("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)",
-            40,
-            (s,cf,p,v) => { s.m_params[0].linkConstraintSolverIterations = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].linkConstraintSolverIterations; },
-            (s,p,l,v) => { s.m_params[0].linkConstraintSolverIterations = v; } ),
-
-        new ParameterDefn("LogPhysicsStatisticsFrames", "Frames between outputting detailed phys stats. (0 is off)",
-            0f,
-            (s,cf,p,v) => { s.m_params[0].physicsLoggingFrames = cf.GetInt(p, (int)v); },
-            (s) => { return (float)s.m_params[0].physicsLoggingFrames; },
-            (s,p,l,v) => { s.m_params[0].physicsLoggingFrames = (int)v; } ),
-    };
-
-    // Convert a boolean to our numeric true and false values
-    public float NumericBool(bool b)
-    {
-        return (b ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse);
-    }
-
-    // Convert numeric true and false values to a boolean
-    public bool BoolNumeric(float b)
-    {
-        return (b == ConfigurationParameters.numericTrue ? true : false);
-    }
-
-    // Search through the parameter definitions and return the matching
-    //    ParameterDefn structure.
-    // Case does not matter as names are compared after converting to lower case.
-    // Returns 'false' if the parameter is not found.
-    private bool TryGetParameter(string paramName, out ParameterDefn defn)
-    {
-        bool ret = false;
-        ParameterDefn foundDefn = new ParameterDefn();
-        string pName = paramName.ToLower();
-
-        foreach (ParameterDefn parm in ParameterDefinitions)
-        {
-            if (pName == parm.name.ToLower())
-            {
-                foundDefn = parm;
-                ret = true;
-                break;
-            }
-        }
-        defn = foundDefn;
-        return ret;
-    }
-
-    // Pass through the settable parameters and set the default values
-    private void SetParameterDefaultValues()
-    {
-        foreach (ParameterDefn parm in ParameterDefinitions)
-        {
-            parm.setter(this, parm.name, PhysParameterEntry.APPLY_TO_NONE, parm.defaultValue);
-        }
-    }
-
-    // Get user set values out of the ini file.
-    private void SetParameterConfigurationValues(IConfig cfg)
-    {
-        foreach (ParameterDefn parm in ParameterDefinitions)
-        {
-            parm.userParam(this, cfg, parm.name, parm.defaultValue);
-        }
-    }
-
-    private PhysParameterEntry[] SettableParameters = new PhysParameterEntry[1];
-
-    // This creates an array in the correct format for returning the list of
-    //    parameters. This is used by the 'list' option of the 'physics' command.
-    private void BuildParameterTable()
-    {
-        if (SettableParameters.Length < ParameterDefinitions.Length)
-        {
-            List<PhysParameterEntry> entries = new List<PhysParameterEntry>();
-            for (int ii = 0; ii < ParameterDefinitions.Length; ii++)
-            {
-                ParameterDefn pd = ParameterDefinitions[ii];
-                entries.Add(new PhysParameterEntry(pd.name, pd.desc));
-            }
-
-            // make the list in alphabetical order for estetic reasons
-            entries.Sort(delegate(PhysParameterEntry ppe1, PhysParameterEntry ppe2)
-            {
-                return ppe1.name.CompareTo(ppe2.name);
-            });
-
-            SettableParameters = entries.ToArray();
-        }
-    }
-
-
     #region IPhysicsParameters
     // Get the list of parameters this physics engine supports
     public PhysParameterEntry[] GetParameterList()
     {
-        BuildParameterTable();
-        return SettableParameters;
+        BSParam.BuildParameterTable();
+        return BSParam.SettableParameters;
     }
 
     // Set parameter on a specific or all instances.
@@ -1434,8 +843,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     public bool SetPhysicsParameter(string parm, float val, uint localID)
     {
         bool ret = false;
-        ParameterDefn theParam;
-        if (TryGetParameter(parm, out theParam))
+        BSParam.ParameterDefn theParam;
+        if (BSParam.TryGetParameter(parm, out theParam))
         {
             theParam.setter(this, parm, localID, val);
             ret = true;
@@ -1447,19 +856,20 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     // If the local ID is APPLY_TO_NONE, just change the default value
     // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs
     // If the localID is a specific object, apply the parameter change to only that object
-    private void UpdateParameterObject(ref float defaultLoc, string parm, uint localID, float val)
+    internal delegate void AssignVal(float x);
+    internal void UpdateParameterObject(AssignVal setDefault, string parm, uint localID, float val)
     {
         List<uint> objectIDs = new List<uint>();
         switch (localID)
         {
             case PhysParameterEntry.APPLY_TO_NONE:
-                defaultLoc = val;   // setting only the default value
+                setDefault(val);            // setting only the default value
                 // This will cause a call into the physical world if some operation is specified (SetOnObject).
                 objectIDs.Add(TERRAIN_ID);
                 TaintedUpdateParameter(parm, objectIDs, val);
                 break;
             case PhysParameterEntry.APPLY_TO_ALL:
-                defaultLoc = val;  // setting ALL also sets the default value
+                setDefault(val);  // setting ALL also sets the default value
                 lock (PhysObjects) objectIDs = new List<uint>(PhysObjects.Keys);
                 TaintedUpdateParameter(parm, objectIDs, val);
                 break;
@@ -1478,8 +888,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         List<uint> xlIDs = lIDs;
         string xparm = parm;
         TaintedObject("BSScene.UpdateParameterSet", delegate() {
-            ParameterDefn thisParam;
-            if (TryGetParameter(xparm, out thisParam))
+            BSParam.ParameterDefn thisParam;
+            if (BSParam.TryGetParameter(xparm, out thisParam))
             {
                 if (thisParam.onObject != null)
                 {
@@ -1500,8 +910,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     {
         float val = 0f;
         bool ret = false;
-        ParameterDefn theParam;
-        if (TryGetParameter(parm, out theParam))
+        BSParam.ParameterDefn theParam;
+        if (BSParam.TryGetParameter(parm, out theParam))
         {
             val = theParam.getter(this);
             ret = true;
@@ -1514,16 +924,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
 
     #endregion Runtime settable parameters
 
-    // Debugging routine for dumping detailed physical information for vehicle prims
-    private void DumpVehicles()
-    {
-        foreach (BSPrim prim in m_vehicles)
-        {
-            BulletSimAPI.DumpRigidBody2(World.ptr, prim.PhysBody.ptr);
-            BulletSimAPI.DumpCollisionShape2(World.ptr, prim.PhysShape.ptr);
-        }
-    }
-
     // Invoke the detailed logger and output something if it's enabled.
     public void DetailLog(string msg, params Object[] args)
     {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index d6e2fe9..855be0b 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -456,7 +456,7 @@ public sealed class BSShapeCollection : IDisposable
         if (!haveShape
                 && pbs != null
                 && nativeShapePossible
-                && ((pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim)
+                && ((pbs.SculptEntry && !BSParam.ShouldMeshSculptedPrim)
                     || (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
                         && pbs.ProfileHollow == 0
                         && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
@@ -520,7 +520,7 @@ public sealed class BSShapeCollection : IDisposable
         bool ret = false;
         // Note that if it's a native shape, the check for physical/non-physical is not
         //     made. Native shapes work in either case.
-        if (prim.IsPhysical && PhysicsScene.ShouldUseHullsForPhysicalObjects)
+        if (prim.IsPhysical && BSParam.ShouldUseHullsForPhysicalObjects)
         {
             // Update prim.BSShape to reference a hull of this shape.
             ret = GetReferenceToHull(prim,shapeCallback);
@@ -836,14 +836,14 @@ public sealed class BSShapeCollection : IDisposable
     private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs, out float retLod)
     {
         // level of detail based on size and type of the object
-        float lod = PhysicsScene.MeshLOD;
+        float lod = BSParam.MeshLOD;
         if (pbs.SculptEntry)
-            lod = PhysicsScene.SculptLOD;
+            lod = BSParam.SculptLOD;
 
         // Mega prims usually get more detail because one can interact with shape approximations at this size.
         float maxAxis = Math.Max(size.X, Math.Max(size.Y, size.Z));
-        if (maxAxis > PhysicsScene.MeshMegaPrimThreshold)
-            lod = PhysicsScene.MeshMegaPrimLOD;
+        if (maxAxis > BSParam.MeshMegaPrimThreshold)
+            lod = BSParam.MeshMegaPrimLOD;
 
         retLod = lod;
         return pbs.GetMeshKey(size, lod);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
index 2b120d6..07a9fd8 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
@@ -93,7 +93,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
     {
         m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID,
                                 m_mapInfo.minCoords, m_mapInfo.maxCoords, 
-                                m_mapInfo.heightMap, PhysicsScene.Params.terrainCollisionMargin);
+                                m_mapInfo.heightMap, BSParam.TerrainCollisionMargin);
 
         // Create the terrain shape from the mapInfo
         m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr),
@@ -110,9 +110,9 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
                                             m_mapInfo.ID, centerPos, Quaternion.Identity));
 
         // Set current terrain attributes
-        BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainFriction);
-        BulletSimAPI.SetHitFraction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
-        BulletSimAPI.SetRestitution2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution);
+        BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, BSParam.TerrainFriction);
+        BulletSimAPI.SetHitFraction2(m_mapInfo.terrainBody.ptr, BSParam.TerrainHitFraction);
+        BulletSimAPI.SetRestitution2(m_mapInfo.terrainBody.ptr, BSParam.TerrainRestitution);
         BulletSimAPI.SetCollisionFlags2(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
 
         // Return the new terrain to the world of physical objects
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
index 3428b9c..86ccfbb 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
@@ -135,7 +135,7 @@ public sealed class BSTerrainManager : IDisposable
         // The ground plane is here to catch things that are trying to drop to negative infinity
         BulletShape groundPlaneShape = new BulletShape(
                     BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, 
-                                    PhysicsScene.Params.terrainCollisionMargin),
+                                    BSParam.TerrainCollisionMargin),
                     BSPhysicsShapeType.SHAPE_GROUNDPLANE);
         m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID,
                         BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID,
@@ -309,9 +309,9 @@ public sealed class BSTerrainManager : IDisposable
     {
         PhysicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}", 
                                             LogHeader, PhysicsScene.RegionName, terrainRegionBase, 
-                                            (BSTerrainPhys.TerrainImplementation)PhysicsScene.Params.terrainImplementation);
+                                            (BSTerrainPhys.TerrainImplementation)BSParam.TerrainImplementation);
         BSTerrainPhys newTerrainPhys = null;
-        switch ((int)PhysicsScene.Params.terrainImplementation)
+        switch ((int)BSParam.TerrainImplementation)
         {
             case (int)BSTerrainPhys.TerrainImplementation.Heightmap:
                 newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, terrainRegionBase, id,
@@ -324,8 +324,8 @@ public sealed class BSTerrainManager : IDisposable
             default:
                 PhysicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. Type={1}/{2},Region={3}/{4}",
                                             LogHeader, 
-                                            (int)PhysicsScene.Params.terrainImplementation, 
-                                            PhysicsScene.Params.terrainImplementation,
+                                            (int)BSParam.TerrainImplementation, 
+                                            BSParam.TerrainImplementation,
                                             PhysicsScene.RegionName, terrainRegionBase);
                 break;
         }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
index 6dc0d92..061e232 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
@@ -116,9 +116,9 @@ public sealed class BSTerrainMesh : BSTerrainPhys
         }
 
         // Set current terrain attributes
-        BulletSimAPI.SetFriction2(m_terrainBody.ptr, PhysicsScene.Params.terrainFriction);
-        BulletSimAPI.SetHitFraction2(m_terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
-        BulletSimAPI.SetRestitution2(m_terrainBody.ptr, PhysicsScene.Params.terrainRestitution);
+        BulletSimAPI.SetFriction2(m_terrainBody.ptr, BSParam.TerrainFriction);
+        BulletSimAPI.SetHitFraction2(m_terrainBody.ptr, BSParam.TerrainHitFraction);
+        BulletSimAPI.SetRestitution2(m_terrainBody.ptr, BSParam.TerrainRestitution);
         BulletSimAPI.SetCollisionFlags2(m_terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
 
         // Static objects are not very massive.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index 962b540..7857eaa 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -141,6 +141,8 @@ public struct EntityProperties
 }
 
 // Format of this structure must match the definition in the C++ code
+// NOTE: adding the X causes compile breaks if used. These are unused symbols
+//      that can be removed from both here and the unmanaged definition of this structure.
 [StructLayout(LayoutKind.Sequential)]
 public struct ConfigurationParameters
 {
@@ -150,31 +152,31 @@ public struct ConfigurationParameters
     public float collisionMargin;
     public float gravity;
 
-    public float linearDamping;
-    public float angularDamping;
-    public float deactivationTime;
-    public float linearSleepingThreshold;
-    public float angularSleepingThreshold;
-        public float ccdMotionThreshold;
-        public float ccdSweptSphereRadius;
-    public float contactProcessingThreshold;
-
-    public float terrainImplementation;
-    public float terrainFriction;
-    public float terrainHitFraction;
-    public float terrainRestitution;
-    public float terrainCollisionMargin;
-
-    public float avatarFriction;
-    public float avatarStandingFriction;
-    public float avatarDensity;
-    public float avatarRestitution;
-    public float avatarCapsuleWidth;
-    public float avatarCapsuleDepth;
-    public float avatarCapsuleHeight;
-        public float avatarContactProcessingThreshold;
-
-    public float vehicleAngularDamping;
+    public float XlinearDamping;
+    public float XangularDamping;
+    public float XdeactivationTime;
+    public float XlinearSleepingThreshold;
+    public float XangularSleepingThreshold;
+        public float XccdMotionThreshold;
+        public float XccdSweptSphereRadius;
+    public float XcontactProcessingThreshold;
+
+    public float XterrainImplementation;
+    public float XterrainFriction;
+    public float XterrainHitFraction;
+    public float XterrainRestitution;
+    public float XterrainCollisionMargin;
+
+    public float XavatarFriction;
+    public float XavatarStandingFriction;
+    public float XavatarDensity;
+    public float XavatarRestitution;
+    public float XavatarCapsuleWidth;
+    public float XavatarCapsuleDepth;
+    public float XavatarCapsuleHeight;
+        public float XavatarContactProcessingThreshold;
+
+    public float XvehicleAngularDamping;
 
         public float maxPersistantManifoldPoolSize;
         public float maxCollisionAlgorithmPoolSize;
@@ -185,14 +187,14 @@ public struct ConfigurationParameters
         public float shouldEnableFrictionCaching;
         public float numberOfSolverIterations;
 
-    public float linksetImplementation;
-    public float linkConstraintUseFrameOffset;
-    public float linkConstraintEnableTransMotor;
-    public float linkConstraintTransMotorMaxVel;
-    public float linkConstraintTransMotorMaxForce;
-    public float linkConstraintERP;
-    public float linkConstraintCFM;
-    public float linkConstraintSolverIterations;
+    public float XlinksetImplementation;
+    public float XlinkConstraintUseFrameOffset;
+    public float XlinkConstraintEnableTransMotor;
+    public float XlinkConstraintTransMotorMaxVel;
+    public float XlinkConstraintTransMotorMaxForce;
+    public float XlinkConstraintERP;
+    public float XlinkConstraintCFM;
+    public float XlinkConstraintSolverIterations;
 
     public float physicsLoggingFrames;
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
index c084ab4..9a7e965 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -112,6 +112,9 @@ Test avatar walking up stairs. How does compare with SL.
 Debounce avatar contact so legs don't keep folding up when standing.
 Implement LSL physics controls. Like STATUS_ROTATE_X.
 Add border extensions to terrain to help region crossings and objects leaving region.
+Use a different capsule shape for avatar when sitting
+        LL uses a pyrimidal shape scaled by the avatar's bounding box
+        http://wiki.secondlife.com/wiki/File:Avmeshforms.png
 
 Performance test with lots of avatars. Can BulletSim support a thousand?
 Optimize collisions in C++: only send up to the object subscribed to collisions.