261 files changed, 26474 insertions, 6229 deletions

diff --git a/.gitignore b/.gitignore
index fae7509..91e9be5 100644
--- a/.gitignore
+++ b/.gitignore
@@ -98,3 +98,5 @@ OpenSim/Region/ScriptEngine/test-results/
 OpenSim/Tests/Common/test-results/
 OpenSim/Tests/test-results/
 test-results/
+doc/html
+doc/doxygen.error.log
diff --git a/.nant/local.include b/.nant/local.include
index 5185717..c207944 100644
--- a/.nant/local.include
+++ b/.nant/local.include
@@ -43,10 +43,11 @@
   <delete dir="${distbindir}/Prebuild"/>
   <delete dir="${distbindir}/%temp%"/>
   <delete dir="${distbindir}/.nant"/>
+  <delete dir="${distbindir}/ThirdParty"/>
   <delete>
     <fileset basedir="${distbindir}">
       <include name="compile.bat"/>
-      <include name="BUILDING.txt"/>
+      <include name="BUILDING.md"/>
       <include name="Makefile"/>
       <include name="nant-color"/>
       <include name="OpenSim.*"/>
diff --git a/OpenSim/Capabilities/Handlers/GetTexture/GetTextureHandler.cs b/OpenSim/Capabilities/Handlers/GetTexture/GetTextureHandler.cs
index 6437d0b..822c50d 100644
--- a/OpenSim/Capabilities/Handlers/GetTexture/GetTextureHandler.cs
+++ b/OpenSim/Capabilities/Handlers/GetTexture/GetTextureHandler.cs
@@ -225,6 +225,11 @@ namespace OpenSim.Capabilities.Handlers
                     }
                     else
                     {
+                        // Handle the case where no second range value was given.  This is equivalent to requesting
+                        // the rest of the entity.
+                        if (end == -1)
+                            end = int.MaxValue;
+
                         end = Utils.Clamp(end, 0, texture.Data.Length - 1);
                         start = Utils.Clamp(start, 0, end);
                         int len = end - start + 1;
@@ -283,15 +288,43 @@ namespace OpenSim.Capabilities.Handlers
 //                    texture.FullID, range, response.StatusCode, response.ContentLength, texture.Data.Length);
         }
 
+        /// <summary>
+        /// Parse a range header.
+        /// </summary>
+        /// <remarks>
+        /// As per http://www.w3.org/Protocols/rfc2616/rfc2616-sec14.html,
+        /// this obeys range headers with two values (e.g. 533-4165) and no second value (e.g. 533-).
+        /// Where there is no value, -1 is returned.
+        /// FIXME: Need to cover the case where only a second value is specified (e.g. -4165), probably by returning -1
+        /// for start.</remarks>
+        /// <returns></returns>
+        /// <param name='header'></param>
+        /// <param name='start'>Start of the range.  Undefined if this was not a number.</param>
+        /// <param name='end'>End of the range.  Will be -1 if no end specified.  Undefined if there was a raw string but this was not a number.</param>
         private bool TryParseRange(string header, out int start, out int end)
         {
+            start = end = 0;
+
             if (header.StartsWith("bytes="))
             {
                 string[] rangeValues = header.Substring(6).Split('-');
+
                 if (rangeValues.Length == 2)
                 {
-                    if (Int32.TryParse(rangeValues[0], out start) && Int32.TryParse(rangeValues[1], out end))
+                    if (!Int32.TryParse(rangeValues[0], out start))
+                        return false;
+
+                    string rawEnd = rangeValues[1];
+
+                    if (rawEnd == "")
+                    {
+                        end = -1;
+                        return true;
+                    }
+                    else if (Int32.TryParse(rawEnd, out end))
+                    {
                         return true;
+                    }
                 }
             }
 
diff --git a/OpenSim/Capabilities/Handlers/GetTexture/Tests/GetTextureHandlerTests.cs b/OpenSim/Capabilities/Handlers/GetTexture/Tests/GetTextureHandlerTests.cs
index b6ae41b..217a265 100644
--- a/OpenSim/Capabilities/Handlers/GetTexture/Tests/GetTextureHandlerTests.cs
+++ b/OpenSim/Capabilities/Handlers/GetTexture/Tests/GetTextureHandlerTests.cs
@@ -43,7 +43,7 @@ using OpenSim.Tests.Common.Mock;
 namespace OpenSim.Capabilities.Handlers.GetTexture.Tests
 {
     [TestFixture]
-    public class GetTextureHandlerTests
+    public class GetTextureHandlerTests : OpenSimTestCase
     {
         [Test]
         public void TestTextureNotFound()
diff --git a/OpenSim/Data/IPresenceData.cs b/OpenSim/Data/IPresenceData.cs
index b871f56..9ec48b0 100644
--- a/OpenSim/Data/IPresenceData.cs
+++ b/OpenSim/Data/IPresenceData.cs
@@ -53,5 +53,6 @@ namespace OpenSim.Data
         bool ReportAgent(UUID sessionID, UUID regionID);
         PresenceData[] Get(string field, string data);
         bool Delete(string field, string val);
+        bool VerifyAgent(UUID agentId, UUID secureSessionID);
     }
 }
diff --git a/OpenSim/Data/IXGroupData.cs b/OpenSim/Data/IXGroupData.cs
new file mode 100644
index 0000000..2965e8c
--- /dev/null
+++ b/OpenSim/Data/IXGroupData.cs
@@ -0,0 +1,71 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections.Generic;
+using OpenMetaverse;
+using OpenSim.Framework;
+
+namespace OpenSim.Data
+{
+    public class XGroup
+    {
+        public UUID groupID;
+        public UUID ownerRoleID;
+        public string name;
+        public string charter;
+        public bool showInList; 
+        public UUID insigniaID; 
+        public int membershipFee;
+        public bool openEnrollment;
+        public bool allowPublish;
+        public bool maturePublish; 
+        public UUID founderID;
+        public ulong everyonePowers;
+        public ulong ownersPowers;
+
+        public XGroup Clone()
+        {
+            return (XGroup)MemberwiseClone();
+        }
+    }
+
+    /// <summary>
+    /// Early stub interface for groups data, not final.
+    /// </summary>
+    /// <remarks>
+    /// Currently in-use only for regression test purposes.  Needs to be filled out over time.
+    /// </remarks>
+    public interface IXGroupData
+    {
+        bool StoreGroup(XGroup group);
+        XGroup[] GetGroups(string field, string val);
+        XGroup[] GetGroups(string[] fields, string[] vals);
+        bool DeleteGroups(string field, string val);
+        bool DeleteGroups(string[] fields, string[] vals);
+    }
+}
\ No newline at end of file
diff --git a/OpenSim/Data/MSSQL/MSSQLPresenceData.cs b/OpenSim/Data/MSSQL/MSSQLPresenceData.cs
index e7b3d9c..deff2ed 100644
--- a/OpenSim/Data/MSSQL/MSSQLPresenceData.cs
+++ b/OpenSim/Data/MSSQL/MSSQLPresenceData.cs
@@ -100,5 +100,18 @@ namespace OpenSim.Data.MSSQL
             return true;
         }
 
+        public bool VerifyAgent(UUID agentId, UUID secureSessionID)
+        {
+            PresenceData[] ret = Get("SecureSessionID",
+                    secureSessionID.ToString());
+            
+            if (ret.Length == 0)
+                return false;
+
+            if(ret[0].UserID != agentId.ToString())
+                return false;
+
+            return true;
+        }
     }
 }
diff --git a/OpenSim/Data/MySQL/MySQLPresenceData.cs b/OpenSim/Data/MySQL/MySQLPresenceData.cs
index 7808060..3f90639 100644
--- a/OpenSim/Data/MySQL/MySQLPresenceData.cs
+++ b/OpenSim/Data/MySQL/MySQLPresenceData.cs
@@ -95,5 +95,19 @@ namespace OpenSim.Data.MySQL
 
             return true;
         }
+
+        public bool VerifyAgent(UUID agentId, UUID secureSessionID)
+        {
+            PresenceData[] ret = Get("SecureSessionID",
+                    secureSessionID.ToString());
+
+            if (ret.Length == 0)
+                return false;
+
+            if(ret[0].UserID != agentId.ToString())
+                return false;
+
+            return true;
+        }
     }
 }
\ No newline at end of file
diff --git a/OpenSim/Data/Null/NullGenericDataHandler.cs b/OpenSim/Data/Null/NullGenericDataHandler.cs
new file mode 100644
index 0000000..dd9d190
--- /dev/null
+++ b/OpenSim/Data/Null/NullGenericDataHandler.cs
@@ -0,0 +1,67 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Reflection;
+using log4net;
+using OpenMetaverse;
+using OpenSim.Framework;
+using OpenSim.Data;
+
+namespace OpenSim.Data.Null
+{
+    /// <summary>
+    /// Not a proper generic data handler yet - probably needs to actually store the data as well instead of relying
+    /// on descendent classes
+    /// </summary>
+    public class NullGenericDataHandler
+    {
+        protected List<T> Get<T>(string[] fields, string[] vals, List<T> inputEntities)
+        {
+            List<T> entities = inputEntities;
+
+            for (int i = 0; i < fields.Length; i++)
+            {
+                entities
+                    = entities.Where(
+                        e =>
+                        {
+                            FieldInfo fi = typeof(T).GetField(fields[i]);
+                            if (fi == null)
+                                throw new NotImplementedException(string.Format("No field {0} for val {1}", fields[i], vals[i]));
+
+                            return fi.GetValue(e).ToString() == vals[i];
+                        }
+                    ).ToList();
+            }
+
+            return entities;
+        }
+    }
+}
\ No newline at end of file
diff --git a/OpenSim/Data/Null/NullPresenceData.cs b/OpenSim/Data/Null/NullPresenceData.cs
index c06c223..b85b95e 100644
--- a/OpenSim/Data/Null/NullPresenceData.cs
+++ b/OpenSim/Data/Null/NullPresenceData.cs
@@ -222,5 +222,13 @@ namespace OpenSim.Data.Null
             return true;
         }
 
+        public bool VerifyAgent(UUID agentId, UUID secureSessionID)
+        {
+            if (Instance != this)
+                return Instance.VerifyAgent(agentId, secureSessionID);
+
+            return false;
+        }
+
     }
 }
diff --git a/OpenSim/Data/Null/NullRegionData.cs b/OpenSim/Data/Null/NullRegionData.cs
index b4d701a..f707d98 100644
--- a/OpenSim/Data/Null/NullRegionData.cs
+++ b/OpenSim/Data/Null/NullRegionData.cs
@@ -113,11 +113,14 @@ namespace OpenSim.Data.Null
             // Find region data
             List<RegionData> ret = new List<RegionData>();
 
-            foreach (RegionData r in m_regionData.Values)
+            lock (m_regionData)
             {
-//                    m_log.DebugFormat("[NULL REGION DATA]: comparing {0} to {1}", cleanName, r.RegionName.ToLower());
+                foreach (RegionData r in m_regionData.Values)
+                {
+                    // m_log.DebugFormat("[NULL REGION DATA]: comparing {0} to {1}", cleanName, r.RegionName.ToLower());
                     if (queryMatch(r.RegionName.ToLower()))
                         ret.Add(r);
+                }
             }
 
             if (ret.Count > 0)
@@ -133,10 +136,13 @@ namespace OpenSim.Data.Null
 
             List<RegionData> ret = new List<RegionData>();
 
-            foreach (RegionData r in m_regionData.Values)
+            lock (m_regionData)
             {
-                if (r.posX == posX && r.posY == posY)
-                    ret.Add(r);
+                foreach (RegionData r in m_regionData.Values)
+                {
+                    if (r.posX == posX && r.posY == posY)
+                        ret.Add(r);
+                }
             }
 
             if (ret.Count > 0)
@@ -150,8 +156,11 @@ namespace OpenSim.Data.Null
             if (m_useStaticInstance && Instance != this)
                 return Instance.Get(regionID, scopeID);
 
-            if (m_regionData.ContainsKey(regionID))
-                return m_regionData[regionID];
+            lock (m_regionData)
+            {
+                if (m_regionData.ContainsKey(regionID))
+                    return m_regionData[regionID];
+            }
 
             return null;
         }
@@ -163,10 +172,13 @@ namespace OpenSim.Data.Null
 
             List<RegionData> ret = new List<RegionData>();
 
-            foreach (RegionData r in m_regionData.Values)
+            lock (m_regionData)
             {
-                if (r.posX >= startX && r.posX <= endX && r.posY >= startY && r.posY <= endY)
-                    ret.Add(r);
+                foreach (RegionData r in m_regionData.Values)
+                {
+                    if (r.posX >= startX && r.posX <= endX && r.posY >= startY && r.posY <= endY)
+                        ret.Add(r);
+                }
             }
 
             return ret;
@@ -180,7 +192,10 @@ namespace OpenSim.Data.Null
 //            m_log.DebugFormat(
 //                "[NULL REGION DATA]: Storing region {0} {1}, scope {2}", data.RegionName, data.RegionID, data.ScopeID);
 
-            m_regionData[data.RegionID] = data;
+            lock (m_regionData)
+            {
+                m_regionData[data.RegionID] = data;
+            }
 
             return true;
         }
@@ -190,10 +205,13 @@ namespace OpenSim.Data.Null
             if (m_useStaticInstance && Instance != this)
                 return Instance.SetDataItem(regionID, item, value);
 
-            if (!m_regionData.ContainsKey(regionID))
-                return false;
+            lock (m_regionData)
+            {
+                if (!m_regionData.ContainsKey(regionID))
+                    return false;
 
-            m_regionData[regionID].Data[item] = value;
+                m_regionData[regionID].Data[item] = value;
+            }
 
             return true;
         }
@@ -205,10 +223,13 @@ namespace OpenSim.Data.Null
 
 //            m_log.DebugFormat("[NULL REGION DATA]: Deleting region {0}", regionID);
 
-            if (!m_regionData.ContainsKey(regionID))
-                return false;
+            lock (m_regionData)
+            {
+                if (!m_regionData.ContainsKey(regionID))
+                    return false;
 
-            m_regionData.Remove(regionID);
+                m_regionData.Remove(regionID);
+            }
 
             return true;
         }
@@ -238,10 +259,13 @@ namespace OpenSim.Data.Null
 
             List<RegionData> ret = new List<RegionData>();
 
-            foreach (RegionData r in m_regionData.Values)
+            lock (m_regionData)
             {
-                if ((Convert.ToInt32(r.Data["flags"]) & regionFlags) != 0)
-                    ret.Add(r);
+                foreach (RegionData r in m_regionData.Values)
+                {
+                    if ((Convert.ToInt32(r.Data["flags"]) & regionFlags) != 0)
+                        ret.Add(r);
+                }
             }
 
             return ret;
diff --git a/OpenSim/Data/Null/NullXGroupData.cs b/OpenSim/Data/Null/NullXGroupData.cs
new file mode 100644
index 0000000..7a86b9f
--- /dev/null
+++ b/OpenSim/Data/Null/NullXGroupData.cs
@@ -0,0 +1,90 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Linq;
+using System.Reflection;
+using System.Threading;
+using log4net;
+using OpenMetaverse;
+using OpenSim.Framework;
+using OpenSim.Data;
+
+namespace OpenSim.Data.Null
+{
+    public class NullXGroupData : NullGenericDataHandler, IXGroupData
+    {
+//        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+
+        private Dictionary<UUID, XGroup> m_groups = new Dictionary<UUID, XGroup>();
+
+        public NullXGroupData(string connectionString, string realm) {}
+
+        public bool StoreGroup(XGroup group)
+        {
+            lock (m_groups)
+            {
+                m_groups[group.groupID] = group.Clone();
+            }
+
+            return true;
+        }
+
+        public XGroup[] GetGroups(string field, string val)
+        {
+            return GetGroups(new string[] { field }, new string[] { val });
+        }
+
+        public XGroup[] GetGroups(string[] fields, string[] vals)
+        {
+            lock (m_groups)
+            {
+                List<XGroup> origGroups = Get<XGroup>(fields, vals, m_groups.Values.ToList());
+
+                return origGroups.Select(g => g.Clone()).ToArray();
+            }
+        }
+
+        public bool DeleteGroups(string field, string val)
+        {
+            return DeleteGroups(new string[] { field }, new string[] { val });
+        }
+
+        public bool DeleteGroups(string[] fields, string[] vals)
+        {
+            lock (m_groups)
+            {
+                XGroup[] groupsToDelete = GetGroups(fields, vals);
+                Array.ForEach(groupsToDelete, g => m_groups.Remove(g.groupID));
+            }
+
+            return true;
+        }
+    }
+}
\ No newline at end of file
diff --git a/OpenSim/Data/Tests/AssetTests.cs b/OpenSim/Data/Tests/AssetTests.cs
index 1174e2f..8cb2ee0 100644
--- a/OpenSim/Data/Tests/AssetTests.cs
+++ b/OpenSim/Data/Tests/AssetTests.cs
@@ -49,7 +49,7 @@ using OpenSim.Data.SQLite;
 namespace OpenSim.Data.Tests
 {
     [TestFixture(Description = "Asset store tests (SQLite)")]
-    public class SQLiteAssetTests : AssetTests<SqliteConnection, SQLiteAssetData>
+    public class SQLiteAssetTests :  AssetTests<SqliteConnection, SQLiteAssetData>
     {
     }
 
diff --git a/OpenSim/Data/Tests/BasicDataServiceTest.cs b/OpenSim/Data/Tests/BasicDataServiceTest.cs
index 7d85f0c..69b79bf 100644
--- a/OpenSim/Data/Tests/BasicDataServiceTest.cs
+++ b/OpenSim/Data/Tests/BasicDataServiceTest.cs
@@ -33,6 +33,7 @@ using NUnit.Framework;
 using NUnit.Framework.Constraints;
 using OpenMetaverse;
 using OpenSim.Framework;
+using OpenSim.Tests.Common;
 using log4net;
 using System.Data;
 using System.Data.Common;
@@ -43,6 +44,12 @@ namespace OpenSim.Data.Tests
     /// <summary>This is a base class for testing any Data service for any DBMS. 
     /// Requires NUnit 2.5 or better (to support the generics).
     /// </summary>
+    /// <remarks>
+    /// FIXME: Should extend OpenSimTestCase but compile on mono 2.4.3 currently fails with 
+    /// AssetTests`2 : System.MemberAccessException : Cannot create an instance of OpenSim.Data.Tests.AssetTests`2[TConn,TAssetData] because Type.ContainsGenericParameters is true.
+    /// and similar on EstateTests, InventoryTests and RegionTests.
+    /// Runs fine with mono 2.10.8.1, so easiest thing is to wait until min Mono version uplifts.
+    /// </remarks>
     /// <typeparam name="TConn"></typeparam>
     /// <typeparam name="TService"></typeparam>
     public class BasicDataServiceTest<TConn, TService>
diff --git a/OpenSim/Data/Tests/PropertyCompareConstraint.cs b/OpenSim/Data/Tests/PropertyCompareConstraint.cs
index 6c79bda..b99525a 100644
--- a/OpenSim/Data/Tests/PropertyCompareConstraint.cs
+++ b/OpenSim/Data/Tests/PropertyCompareConstraint.cs
@@ -36,6 +36,7 @@ using NUnit.Framework;
 using NUnit.Framework.Constraints;
 using OpenMetaverse;
 using OpenSim.Framework;
+using OpenSim.Tests.Common;
 
 namespace OpenSim.Data.Tests
 {
@@ -254,7 +255,7 @@ namespace OpenSim.Data.Tests
     }
 
     [TestFixture]
-    public class PropertyCompareConstraintTest
+    public class PropertyCompareConstraintTest : OpenSimTestCase
     {
         public class HasInt
         {
diff --git a/OpenSim/Data/Tests/PropertyScrambler.cs b/OpenSim/Data/Tests/PropertyScrambler.cs
index c5d40c2..e0f5862 100644
--- a/OpenSim/Data/Tests/PropertyScrambler.cs
+++ b/OpenSim/Data/Tests/PropertyScrambler.cs
@@ -34,6 +34,7 @@ using System.Text;
 using NUnit.Framework;
 using OpenMetaverse;
 using OpenSim.Framework;
+using OpenSim.Tests.Common;
 
 namespace OpenSim.Data.Tests
 {
@@ -158,7 +159,7 @@ namespace OpenSim.Data.Tests
     }
 
     [TestFixture]
-    public class PropertyScramblerTests
+    public class PropertyScramblerTests : OpenSimTestCase
     {
         [Test]
         public void TestScramble()
diff --git a/OpenSim/Framework/Console/CommandConsole.cs b/OpenSim/Framework/Console/CommandConsole.cs
index d703d78..9490013 100644
--- a/OpenSim/Framework/Console/CommandConsole.cs
+++ b/OpenSim/Framework/Console/CommandConsole.cs
@@ -110,10 +110,11 @@ namespace OpenSim.Framework.Console
             // Remove initial help keyword
             helpParts.RemoveAt(0);
 
+            help.Add(""); // Will become a newline.
+
             // General help
             if (helpParts.Count == 0)
             {
-                help.Add(""); // Will become a newline.
                 help.Add(GeneralHelpText);
                 help.AddRange(CollectAllCommandsHelp());
             }
@@ -129,6 +130,8 @@ namespace OpenSim.Framework.Console
                 help.AddRange(CollectHelp(helpParts));
             }
 
+            help.Add(""); // Will become a newline.
+
             return help;
         }
 
@@ -199,14 +202,11 @@ namespace OpenSim.Framework.Console
 
                 string descriptiveHelp = commandInfo.descriptive_help;
 
-                // If we do have some descriptive help then insert a spacing line before and after for readability.
+                // If we do have some descriptive help then insert a spacing line before for readability.
                 if (descriptiveHelp != string.Empty)
                     help.Add(string.Empty);
                 
                 help.Add(commandInfo.descriptive_help);
-
-                if (descriptiveHelp != string.Empty)
-                    help.Add(string.Empty);
             }
             else
             {
diff --git a/OpenSim/Framework/Console/ConsoleDisplayTable.cs b/OpenSim/Framework/Console/ConsoleDisplayTable.cs
index c620dfe..711a337 100644
--- a/OpenSim/Framework/Console/ConsoleDisplayTable.cs
+++ b/OpenSim/Framework/Console/ConsoleDisplayTable.cs
@@ -56,7 +56,7 @@ namespace OpenSim.Framework.Console
         public List<ConsoleDisplayTableRow> Rows { get; private set; }
 
         /// <summary>
-        /// Number of spaces to indent the table.
+        /// Number of spaces to indent the whole table.
         /// </summary>
         public int Indent { get; set; }
 
@@ -84,7 +84,7 @@ namespace OpenSim.Framework.Console
             Columns.Add(new ConsoleDisplayTableColumn(name, width));
         }
 
-        public void AddRow(params string[] cells)
+        public void AddRow(params object[] cells)
         {
             Rows.Add(new ConsoleDisplayTableRow(cells));
         }
@@ -113,7 +113,8 @@ namespace OpenSim.Framework.Console
 
             for (int i = 0; i < Columns.Count; i++)
             {
-                formatSb.Append(' ', TableSpacing);
+                if (i != 0)
+                    formatSb.Append(' ', TableSpacing);
 
                 // Can only do left formatting for now
                 formatSb.AppendFormat("{{{0},-{1}}}", i, Columns[i].Width);
@@ -139,16 +140,16 @@ namespace OpenSim.Framework.Console
 
     public struct ConsoleDisplayTableRow
     {
-        public List<string> Cells { get; private set; }
+        public List<object> Cells { get; private set; }
 
-        public ConsoleDisplayTableRow(List<string> cells) : this()
+        public ConsoleDisplayTableRow(List<object> cells) : this()
         {
             Cells = cells;
         }
 
-        public ConsoleDisplayTableRow(params string[] cells) : this()
+        public ConsoleDisplayTableRow(params object[] cells) : this()
         {
-            Cells = new List<string>(cells);
+            Cells = new List<object>(cells);
         }
     }
 }
\ No newline at end of file
diff --git a/OpenSim/Framework/Console/ConsoleUtil.cs b/OpenSim/Framework/Console/ConsoleUtil.cs
index 16a63e0..dff956a 100644
--- a/OpenSim/Framework/Console/ConsoleUtil.cs
+++ b/OpenSim/Framework/Console/ConsoleUtil.cs
@@ -97,7 +97,7 @@ namespace OpenSim.Framework.Console
             if (!UUID.TryParse(rawUuid, out uuid))
             {
                 if (console != null)
-                    console.OutputFormat("{0} is not a valid uuid", rawUuid);
+                    console.OutputFormat("ERROR: {0} is not a valid uuid", rawUuid);
 
                 return false;
             }
@@ -110,7 +110,7 @@ namespace OpenSim.Framework.Console
             if (!uint.TryParse(rawLocalId, out localId))
             {
                 if (console != null)
-                    console.OutputFormat("{0} is not a valid local id", localId);
+                    console.OutputFormat("ERROR: {0} is not a valid local id", localId);
 
                 return false;
             }
@@ -118,7 +118,7 @@ namespace OpenSim.Framework.Console
             if (localId == 0)
             {
                 if (console != null)
-                    console.OutputFormat("{0} is not a valid local id - it must be greater than 0", localId);
+                    console.OutputFormat("ERROR: {0} is not a valid local id - it must be greater than 0", localId);
 
                 return false;
             }
@@ -150,10 +150,30 @@ namespace OpenSim.Framework.Console
             }
 
             if (console != null)
-                console.OutputFormat("{0} is not a valid UUID or local id", rawId);
+                console.OutputFormat("ERROR: {0} is not a valid UUID or local id", rawId);
 
             return false;
         }
+
+        /// <summary>
+        /// Convert a minimum vector input from the console to an OpenMetaverse.Vector3
+        /// </summary>
+        /// <param name='console'>Can be null if no console is available.</param>
+        /// <param name='rawConsoleVector'>/param>
+        /// <param name='vector'></param>
+        /// <returns></returns>
+        public static bool TryParseConsoleInt(ICommandConsole console, string rawConsoleInt, out int i)
+        {
+            if (!int.TryParse(rawConsoleInt, out i))
+            {
+                if (console != null)
+                    console.OutputFormat("ERROR: {0} is not a valid integer", rawConsoleInt);
+
+                return false;
+            }
+
+            return true;
+        }
     
         /// <summary>
         /// Convert a minimum vector input from the console to an OpenMetaverse.Vector3
diff --git a/OpenSim/Framework/DoubleDictionaryThreadAbortSafe.cs b/OpenSim/Framework/DoubleDictionaryThreadAbortSafe.cs
new file mode 100644
index 0000000..9056548
--- /dev/null
+++ b/OpenSim/Framework/DoubleDictionaryThreadAbortSafe.cs
@@ -0,0 +1,508 @@
+/*
+ * Copyright (c) 2008, openmetaverse.org, http://opensimulator.org/
+ * All rights reserved.
+ *
+ * - 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.
+ * - Neither the name of the openmetaverse.org 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 COPYRIGHT HOLDERS AND CONTRIBUTORS "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 COPYRIGHT OWNER OR 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.Threading;
+using System.Collections.Generic;
+
+namespace OpenSim.Framework
+{
+    /// <summary>
+    /// A double dictionary that is thread abort safe.
+    /// </summary>
+    /// <remarks>
+    /// This adapts OpenMetaverse.DoubleDictionary to be thread-abort safe by acquiring ReaderWriterLockSlim within
+    /// a finally section (which can't be interrupted by Thread.Abort()).
+    /// </remarks>
+    public class DoubleDictionaryThreadAbortSafe<TKey1, TKey2, TValue>
+    {
+        Dictionary<TKey1, TValue> Dictionary1;
+        Dictionary<TKey2, TValue> Dictionary2;
+        ReaderWriterLockSlim rwLock = new ReaderWriterLockSlim();
+
+        public DoubleDictionaryThreadAbortSafe()
+        {
+            Dictionary1 = new Dictionary<TKey1,TValue>();
+            Dictionary2 = new Dictionary<TKey2,TValue>();
+        }
+
+        public DoubleDictionaryThreadAbortSafe(int capacity)
+        {
+            Dictionary1 = new Dictionary<TKey1, TValue>(capacity);
+            Dictionary2 = new Dictionary<TKey2, TValue>(capacity);
+        }
+
+        public void Add(TKey1 key1, TKey2 key2, TValue value)
+        {
+            bool gotLock = false;
+
+            try
+            {
+                // Avoid an asynchronous Thread.Abort() from possibly never existing an acquired lock by placing
+                // the acquision inside the main try.  The inner finally block is needed because thread aborts cannot
+                // interrupt code in these blocks (hence gotLock is guaranteed to be set correctly).
+                try {}            
+                finally
+                {
+                    rwLock.EnterWriteLock();
+                    gotLock = true;
+                }
+
+                if (Dictionary1.ContainsKey(key1))
+                {
+                    if (!Dictionary2.ContainsKey(key2))
+                        throw new ArgumentException("key1 exists in the dictionary but not key2");
+                }
+                else if (Dictionary2.ContainsKey(key2))
+                {
+                    if (!Dictionary1.ContainsKey(key1))
+                        throw new ArgumentException("key2 exists in the dictionary but not key1");
+                }
+
+                Dictionary1[key1] = value;
+                Dictionary2[key2] = value;
+            }
+            finally 
+            { 
+                if (gotLock)
+                    rwLock.ExitWriteLock(); 
+            }
+        }
+
+        public bool Remove(TKey1 key1, TKey2 key2)
+        {
+            bool success;
+            bool gotLock = false;
+
+            try
+            {
+                // Avoid an asynchronous Thread.Abort() from possibly never existing an acquired lock by placing
+                // the acquision inside the main try.  The inner finally block is needed because thread aborts cannot
+                // interrupt code in these blocks (hence gotLock is guaranteed to be set correctly).
+                try {}            
+                finally
+                {
+                    rwLock.EnterWriteLock();
+                    gotLock = true;
+                }
+
+                Dictionary1.Remove(key1);
+                success = Dictionary2.Remove(key2);
+            }
+            finally 
+            { 
+                if (gotLock)
+                    rwLock.ExitWriteLock(); 
+            }
+
+            return success;
+        }
+
+        public bool Remove(TKey1 key1)
+        {
+            bool found = false;
+            bool gotLock = false;
+
+            try
+            {
+                // Avoid an asynchronous Thread.Abort() from possibly never existing an acquired lock by placing
+                // the acquision inside the main try.  The inner finally block is needed because thread aborts cannot
+                // interrupt code in these blocks (hence gotLock is guaranteed to be set correctly).
+                try {}            
+                finally
+                {
+                    rwLock.EnterWriteLock();
+                    gotLock = true;
+                }
+
+                // This is an O(n) operation!
+                TValue value;
+                if (Dictionary1.TryGetValue(key1, out value))
+                {
+                    foreach (KeyValuePair<TKey2, TValue> kvp in Dictionary2)
+                    {
+                        if (kvp.Value.Equals(value))
+                        {
+                            Dictionary1.Remove(key1);
+                            Dictionary2.Remove(kvp.Key);
+                            found = true;
+                            break;
+                        }
+                    }
+                }
+            }
+            finally 
+            { 
+                if (gotLock)
+                    rwLock.ExitWriteLock(); 
+            }
+
+            return found;
+        }
+
+        public bool Remove(TKey2 key2)
+        {
+            bool found = false;
+            bool gotLock = false;
+
+            try
+            {
+                // Avoid an asynchronous Thread.Abort() from possibly never existing an acquired lock by placing
+                // the acquision inside the main try.  The inner finally block is needed because thread aborts cannot
+                // interrupt code in these blocks (hence gotLock is guaranteed to be set correctly).
+                try {}            
+                finally
+                {
+                    rwLock.EnterWriteLock();
+                    gotLock = true;
+                }
+
+                // This is an O(n) operation!
+                TValue value;
+                if (Dictionary2.TryGetValue(key2, out value))
+                {
+                    foreach (KeyValuePair<TKey1, TValue> kvp in Dictionary1)
+                    {
+                        if (kvp.Value.Equals(value))
+                        {
+                            Dictionary2.Remove(key2);
+                            Dictionary1.Remove(kvp.Key);
+                            found = true;
+                            break;
+                        }
+                    }
+                }
+            }
+            finally 
+            { 
+                if (gotLock)
+                    rwLock.ExitWriteLock(); 
+            }
+
+            return found;
+        }
+
+        public void Clear()
+        {
+            bool gotLock = false;
+
+            try
+            {
+                // Avoid an asynchronous Thread.Abort() from possibly never existing an acquired lock by placing
+                // the acquision inside the main try.  The inner finally block is needed because thread aborts cannot
+                // interrupt code in these blocks (hence gotLock is guaranteed to be set correctly).
+                try {}            
+                finally
+                {
+                    rwLock.EnterWriteLock();
+                    gotLock = true;
+                }
+
+                Dictionary1.Clear();
+                Dictionary2.Clear();
+            }
+            finally 
+            { 
+                if (gotLock)
+                    rwLock.ExitWriteLock(); 
+            }
+        }
+
+        public int Count
+        {
+            get { return Dictionary1.Count; }
+        }
+
+        public bool ContainsKey(TKey1 key)
+        {
+            return Dictionary1.ContainsKey(key);
+        }
+
+        public bool ContainsKey(TKey2 key)
+        {
+            return Dictionary2.ContainsKey(key);
+        }
+
+        public bool TryGetValue(TKey1 key, out TValue value)
+        {
+            bool success;
+            bool gotLock = false;
+
+            try 
+            { 
+                // Avoid an asynchronous Thread.Abort() from possibly never existing an acquired lock by placing
+                // the acquision inside the main try.  The inner finally block is needed because thread aborts cannot
+                // interrupt code in these blocks (hence gotLock is guaranteed to be set correctly).
+                try {}            
+                finally
+                {
+                    rwLock.EnterReadLock();
+                    gotLock = true;
+                }
+
+                success = Dictionary1.TryGetValue(key, out value); 
+            }
+            finally 
+            { 
+                if (gotLock)
+                    rwLock.ExitReadLock(); 
+            }
+
+            return success;
+        }
+
+        public bool TryGetValue(TKey2 key, out TValue value)
+        {
+            bool success;
+            bool gotLock = false;
+
+            try 
+            { 
+                // Avoid an asynchronous Thread.Abort() from possibly never existing an acquired lock by placing
+                // the acquision inside the main try.  The inner finally block is needed because thread aborts cannot
+                // interrupt code in these blocks (hence gotLock is guaranteed to be set correctly).
+                try {}            
+                finally
+                {
+                    rwLock.EnterReadLock();
+                    gotLock = true;
+                }
+
+                success = Dictionary2.TryGetValue(key, out value); 
+            }
+            finally 
+            {   
+                if (gotLock)
+                    rwLock.ExitReadLock(); 
+            }
+
+            return success;
+        }
+
+        public void ForEach(Action<TValue> action)
+        {
+            bool gotLock = false;
+
+            try
+            {
+                // Avoid an asynchronous Thread.Abort() from possibly never existing an acquired lock by placing
+                // the acquision inside the main try.  The inner finally block is needed because thread aborts cannot
+                // interrupt code in these blocks (hence gotLock is guaranteed to be set correctly).
+                try {}            
+                finally
+                {
+                    rwLock.EnterReadLock();
+                    gotLock = true;
+                }
+
+                foreach (TValue value in Dictionary1.Values)
+                    action(value);
+            }
+            finally 
+            { 
+                if (gotLock)
+                    rwLock.ExitReadLock(); 
+            }
+        }
+
+        public void ForEach(Action<KeyValuePair<TKey1, TValue>> action)
+        {
+            bool gotLock = false;
+
+            try
+            {
+                // Avoid an asynchronous Thread.Abort() from possibly never existing an acquired lock by placing
+                // the acquision inside the main try.  The inner finally block is needed because thread aborts cannot
+                // interrupt code in these blocks (hence gotLock is guaranteed to be set correctly).
+                try {}            
+                finally
+                {
+                    rwLock.EnterReadLock();
+                    gotLock = true;
+                }
+
+                foreach (KeyValuePair<TKey1, TValue> entry in Dictionary1)
+                    action(entry);
+            }
+            finally 
+            { 
+                if (gotLock)
+                    rwLock.ExitReadLock(); 
+            }
+        }
+
+        public void ForEach(Action<KeyValuePair<TKey2, TValue>> action)
+        {
+            bool gotLock = false;
+
+            try
+            {
+                // Avoid an asynchronous Thread.Abort() from possibly never existing an acquired lock by placing
+                // the acquision inside the main try.  The inner finally block is needed because thread aborts cannot
+                // interrupt code in these blocks (hence gotLock is guaranteed to be set correctly).
+                try {}            
+                finally
+                {
+                    rwLock.EnterReadLock();
+                    gotLock = true;
+                }
+
+                foreach (KeyValuePair<TKey2, TValue> entry in Dictionary2)
+                    action(entry);
+            }
+            finally 
+            { 
+                if (gotLock)
+                    rwLock.ExitReadLock(); 
+            }
+        }
+
+        public TValue FindValue(Predicate<TValue> predicate)
+        {
+            bool gotLock = false;
+
+            try
+            {
+                // Avoid an asynchronous Thread.Abort() from possibly never existing an acquired lock by placing
+                // the acquision inside the main try.  The inner finally block is needed because thread aborts cannot
+                // interrupt code in these blocks (hence gotLock is guaranteed to be set correctly).
+                try {}            
+                finally
+                {
+                    rwLock.EnterReadLock();
+                    gotLock = true;
+                }
+
+                foreach (TValue value in Dictionary1.Values)
+                {
+                    if (predicate(value))
+                        return value;
+                }
+            }
+            finally 
+            { 
+                if (gotLock)
+                    rwLock.ExitReadLock(); 
+            }
+
+            return default(TValue);
+        }
+
+        public IList<TValue> FindAll(Predicate<TValue> predicate)
+        {
+            IList<TValue> list = new List<TValue>();
+            bool gotLock = false;
+
+            try
+            {
+                // Avoid an asynchronous Thread.Abort() from possibly never existing an acquired lock by placing
+                // the acquision inside the main try.  The inner finally block is needed because thread aborts cannot
+                // interrupt code in these blocks (hence gotLock is guaranteed to be set correctly).
+                try {}            
+                finally
+                {
+                    rwLock.EnterReadLock();
+                    gotLock = true;
+                }
+
+                foreach (TValue value in Dictionary1.Values)
+                {
+                    if (predicate(value))
+                        list.Add(value);
+                }
+            }
+            finally 
+            { 
+                if (gotLock)
+                    rwLock.ExitReadLock(); 
+            }
+
+            return list;
+        }
+
+        public int RemoveAll(Predicate<TValue> predicate)
+        {
+            IList<TKey1> list = new List<TKey1>();
+            bool gotUpgradeableLock = false;
+
+            try
+            {
+                // Avoid an asynchronous Thread.Abort() from possibly never existing an acquired lock by placing
+                // the acquision inside the main try.  The inner finally block is needed because thread aborts cannot
+                // interrupt code in these blocks (hence gotLock is guaranteed to be set correctly).
+                try {}            
+                finally
+                {
+                    rwLock.EnterUpgradeableReadLock();
+                    gotUpgradeableLock = true;
+                }
+
+                foreach (KeyValuePair<TKey1, TValue> kvp in Dictionary1)
+                {
+                    if (predicate(kvp.Value))
+                        list.Add(kvp.Key);
+                }
+
+                IList<TKey2> list2 = new List<TKey2>(list.Count);
+                foreach (KeyValuePair<TKey2, TValue> kvp in Dictionary2)
+                {
+                    if (predicate(kvp.Value))
+                        list2.Add(kvp.Key);
+                }
+
+                bool gotWriteLock = false;
+
+                try
+                {
+                    try {}            
+                    finally
+                    {
+                        rwLock.EnterUpgradeableReadLock();
+                        gotWriteLock = true;
+                    }
+
+                    for (int i = 0; i < list.Count; i++)
+                        Dictionary1.Remove(list[i]);
+
+                    for (int i = 0; i < list2.Count; i++)
+                        Dictionary2.Remove(list2[i]);
+                }
+                finally 
+                { 
+                    if (gotWriteLock)
+                        rwLock.ExitWriteLock(); 
+                }
+            }
+            finally 
+            { 
+                if (gotUpgradeableLock)
+                    rwLock.ExitUpgradeableReadLock(); 
+            }
+
+            return list.Count;
+        }
+    }
+}
\ No newline at end of file
diff --git a/OpenSim/Framework/PluginManager.cs b/OpenSim/Framework/PluginManager.cs
new file mode 100644
index 0000000..00263f5
--- /dev/null
+++ b/OpenSim/Framework/PluginManager.cs
@@ -0,0 +1,563 @@
+
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+
+using System;
+using System.Text;
+using System.Linq;
+using System.Collections;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+using Mono.Addins;
+using Mono.Addins.Setup;
+using Mono.Addins.Description;
+using OpenSim.Framework;
+
+
+namespace OpenSim.Framework
+{
+    /// <summary>
+    /// Manager for registries and plugins
+    /// </summary>
+        public class PluginManager : SetupService
+        {
+                public AddinRegistry PluginRegistry;
+
+                public PluginManager(AddinRegistry registry): base (registry)
+        {
+                        PluginRegistry = registry;
+
+                }
+
+                /// <summary>
+        /// Installs the plugin.
+        /// </summary>
+        /// <returns>
+        /// The plugin.
+        /// </returns>
+        /// <param name='args'>
+        /// Arguments.
+        /// </param>
+        public bool InstallPlugin(int ndx, out Dictionary<string, object> result)
+        {
+            Dictionary<string, object> res = new Dictionary<string, object>();
+
+            PackageCollection pack = new PackageCollection();
+            PackageCollection toUninstall;
+            DependencyCollection unresolved;
+
+            IProgressStatus ps = new ConsoleProgressStatus(false);
+
+            AddinRepositoryEntry[] available = GetSortedAvailbleAddins();
+
+            if (ndx > (available.Length - 1))
+            {
+                MainConsole.Instance.Output("Selection out of range");
+                result = res;
+                return false;
+            }
+
+            AddinRepositoryEntry aentry = available[ndx];
+
+            Package p = Package.FromRepository(aentry);
+            pack.Add(p);
+
+            ResolveDependencies(ps, pack, out toUninstall, out unresolved);
+
+            // Attempt to install the plugin disabled
+            if (Install(ps, pack) == true)
+            {
+                MainConsole.Instance.Output("Ignore the following error...");
+                PluginRegistry.Update(ps);
+                Addin addin = PluginRegistry.GetAddin(aentry.Addin.Id);
+                PluginRegistry.DisableAddin(addin.Id);
+                addin.Enabled = false;
+                
+                MainConsole.Instance.Output("Installation Success");
+                ListInstalledAddins(out res);
+                result = res;
+                return true;
+            } 
+            else
+            {                
+                MainConsole.Instance.Output("Installation Failed");
+                result = res;
+                return false;
+            }
+        }
+
+        // Remove plugin
+        /// <summary>
+        /// Uns the install.
+        /// </summary>
+        /// <param name='args'>
+        /// Arguments.
+        /// </param>
+        public void UnInstall(int ndx)
+        {
+            Addin[] addins = GetSortedAddinList("RobustPlugin");
+
+            if (ndx > (addins.Length -1))
+            {
+                MainConsole.Instance.Output("Selection out of range");
+                return;
+            }
+
+            Addin addin = addins[ndx];
+            MainConsole.Instance.OutputFormat("Uninstalling plugin {0}", addin.Id);
+            AddinManager.Registry.DisableAddin(addin.Id);
+            addin.Enabled = false;
+            IProgressStatus ps = new ConsoleProgressStatus(false);
+            Uninstall(ps, addin.Id);
+            MainConsole.Instance.Output("Uninstall Success - restart to complete operation");
+            return;
+        }
+
+        /// <summary>
+        /// Checks the installed.
+        /// </summary>
+        /// <returns>
+        /// The installed.
+        /// </returns>
+        public string CheckInstalled()
+        {
+            return "CheckInstall";
+        }
+
+        /// <summary>
+        /// Lists the installed addins.
+        /// </summary>
+        /// <param name='result'>
+        /// Result.
+        /// </param>
+        public void ListInstalledAddins(out Dictionary<string, object> result)
+        {
+            Dictionary<string, object> res = new Dictionary<string, object>();
+
+                        Addin[] addins = GetSortedAddinList("RobustPlugin");
+                        if(addins.Count() < 1)
+                        {
+                                MainConsole.Instance.Output("Error!");
+                        }
+            int count = 0;
+            foreach (Addin addin in addins)
+            {
+                Dictionary<string, object> r = new Dictionary<string, object>();
+                r["enabled"] = addin.Enabled == true ? true : false;
+                r["name"] = addin.LocalId;
+                r["version"] = addin.Version;
+
+                res.Add(count.ToString(), r);
+
+                count++;
+            }
+            result = res;
+            return;
+        }
+
+        // List compatible plugins in registered repositories
+        /// <summary>
+        /// Lists the available.
+        /// </summary>
+        /// <param name='result'>
+        /// Result.
+        /// </param>
+        public void ListAvailable(out Dictionary<string, object> result)
+        {
+            Dictionary<string, object> res = new Dictionary<string, object>();
+
+            AddinRepositoryEntry[] addins = GetSortedAvailbleAddins();
+
+            int count = 0;
+            foreach (AddinRepositoryEntry addin in addins)
+            {
+                Dictionary<string, object> r = new Dictionary<string, object>();
+                r["name"] = addin.Addin.Name;
+                r["version"] = addin.Addin.Version;
+                r["repository"] = addin.RepositoryName;
+
+                res.Add(count.ToString(), r);
+                count++;
+            }
+            result = res;
+            return;
+        }
+
+        // List available updates ** 1
+        /// <summary>
+        /// Lists the updates.
+        /// </summary>
+        public void ListUpdates()
+        {
+            IProgressStatus ps = new ConsoleProgressStatus(true);
+            Console.WriteLine ("Looking for updates...");
+            Repositories.UpdateAllRepositories (ps);
+            Console.WriteLine ("Available add-in updates:");
+            bool found = false;
+            AddinRepositoryEntry[] entries = Repositories.GetAvailableUpdates();
+
+            foreach (AddinRepositoryEntry entry in entries)
+            {
+                Console.WriteLine(String.Format("{0}",entry.Addin.Id));
+            }
+        }
+
+        // Sync to repositories
+        /// <summary>
+        /// Update this instance.
+        /// </summary>
+        public string Update()
+        {
+            IProgressStatus ps = new ConsoleProgressStatus(true);
+            Repositories.UpdateAllRepositories(ps);
+            return "Update";
+        }
+
+        // Register a repository
+        /// <summary>
+        /// Register a repository with our server.
+        /// </summary>
+        /// <returns>
+        /// result of the action
+        /// </returns>
+        /// <param name='repo'>
+        /// The URL of the repository we want to add
+        /// </param>
+        public bool AddRepository(string repo)
+        {
+            Repositories.RegisterRepository(null, repo, true);
+            PluginRegistry.Rebuild(null);
+
+            return true;
+        }
+
+        /// <summary>
+        /// Gets the repository.
+        /// </summary>
+        public void GetRepository()
+        {
+            Repositories.UpdateAllRepositories(new ConsoleProgressStatus(false));
+        }
+
+        // Remove a repository from the list
+        /// <summary>
+        /// Removes the repository.
+        /// </summary>
+        /// <param name='args'>
+        /// Arguments.
+        /// </param>
+        public void RemoveRepository(string[] args)
+        {
+            AddinRepository[] reps = Repositories.GetRepositories();
+            Array.Sort(reps, (r1,r2) => r1.Title.CompareTo(r2.Title));
+            if (reps.Length == 0)
+            {
+                MainConsole.Instance.Output("No repositories have been registered.");
+                return;
+            }
+
+            int n = Convert.ToInt16(args[2]);
+            if (n > (reps.Length -1))
+            {
+                MainConsole.Instance.Output("Selection out of range");
+                return;
+            }
+
+            AddinRepository rep = reps[n];
+            Repositories.RemoveRepository(rep.Url);
+            return;
+        }
+
+        // Enable repository
+        /// <summary>
+        /// Enables the repository.
+        /// </summary>
+        /// <param name='args'>
+        /// Arguments.
+        /// </param>
+        public void EnableRepository(string[] args)
+        {
+            AddinRepository[] reps = Repositories.GetRepositories();
+            Array.Sort(reps, (r1,r2) => r1.Title.CompareTo(r2.Title));
+            if (reps.Length == 0)
+            {
+                MainConsole.Instance.Output("No repositories have been registered.");
+                return;
+            }
+
+            int n = Convert.ToInt16(args[2]);
+            if (n > (reps.Length -1))
+            {
+                MainConsole.Instance.Output("Selection out of range");
+                return;
+            }
+
+            AddinRepository rep = reps[n];
+            Repositories.SetRepositoryEnabled(rep.Url, true);
+            return;
+        }
+
+        // Disable a repository
+        /// <summary>
+        /// Disables the repository.
+        /// </summary>
+        /// <param name='args'>
+        /// Arguments.
+        /// </param>
+        public void DisableRepository(string[] args)
+        {
+            AddinRepository[] reps = Repositories.GetRepositories();
+            Array.Sort(reps, (r1,r2) => r1.Title.CompareTo(r2.Title));
+            if (reps.Length == 0)
+            {
+                MainConsole.Instance.Output("No repositories have been registered.");
+                return;
+            }
+
+            int n = Convert.ToInt16(args[2]);
+            if (n > (reps.Length -1))
+            {
+                MainConsole.Instance.Output("Selection out of range");
+                return;
+            }
+
+            AddinRepository rep = reps[n];
+            Repositories.SetRepositoryEnabled(rep.Url, false);
+            return;
+        }
+
+        // List registered repositories
+        /// <summary>
+        /// Lists the repositories.
+        /// </summary>
+        /// <param name='result'>
+        /// Result.
+        /// </param>
+        public void ListRepositories(out Dictionary<string, object> result)
+        {
+            Dictionary<string, object> res = new Dictionary<string, object>();
+            result = res;
+
+            AddinRepository[] reps = GetSortedAddinRepo();
+            if (reps.Length == 0)
+            {
+                MainConsole.Instance.Output("No repositories have been registered.");
+                return;
+            }
+
+            int count = 0;
+            foreach (AddinRepository rep in reps)
+            {
+                Dictionary<string, object> r = new Dictionary<string, object>();
+                r["enabled"] = rep.Enabled == true ? true : false;
+                r["name"] = rep.Name;
+                r["url"] = rep.Url;
+                
+                res.Add(count.ToString(), r);
+                count++;
+            }
+            return;
+        }
+
+        /// <summary>
+        /// Updates the registry.
+        /// </summary>
+        public void UpdateRegistry()
+        {
+            PluginRegistry.Update();
+        }
+
+        // Show plugin info
+        /// <summary>
+        /// Addins the info.
+        /// </summary>
+        /// <returns>
+        /// The info.
+        /// </returns>
+        /// <param name='args'>
+        /// Arguments.
+        /// </param>
+        public bool AddinInfo(int ndx, out Dictionary<string, object> result)
+        {
+            Dictionary<string, object> res = new Dictionary<string, object>();
+            result = res;
+
+            Addin[] addins = GetSortedAddinList("RobustPlugin");
+
+            if (ndx > (addins.Length - 1))
+            {
+                MainConsole.Instance.Output("Selection out of range");
+                return false;
+            }
+            // author category description
+            Addin addin = addins[ndx];
+
+            res["author"] = addin.Description.Author;
+            res["category"] = addin.Description.Category;
+            res["description"] = addin.Description.Description;
+            res["name"] = addin.Name;
+            res["url"] = addin.Description.Url;
+            res["file_name"] = addin.Description.FileName;
+
+            result = res;
+            return true;
+        }
+
+        // Disable a plugin
+        /// <summary>
+        /// Disables the plugin.
+        /// </summary>
+        /// <param name='args'>
+        /// Arguments.
+        /// </param>
+        public void DisablePlugin(string[] args)
+        {
+            Addin[] addins = GetSortedAddinList("RobustPlugin");
+
+            int n = Convert.ToInt16(args[2]);
+            if (n > (addins.Length -1))
+            {
+                MainConsole.Instance.Output("Selection out of range");
+                return;
+            }
+
+            Addin addin = addins[n];
+            AddinManager.Registry.DisableAddin(addin.Id);
+            addin.Enabled = false;
+            return;
+        }
+
+        // Enable plugin
+        /// <summary>
+        /// Enables the plugin.
+        /// </summary>
+        /// <param name='args'>
+        /// Arguments.
+        /// </param>
+        public void EnablePlugin(string[] args)
+        {
+            Addin[] addins = GetSortedAddinList("RobustPlugin");
+
+            int n = Convert.ToInt16(args[2]);
+            if (n > (addins.Length -1))
+            {
+                MainConsole.Instance.Output("Selection out of range");
+                return;
+            }
+
+            Addin addin = addins[n];
+
+            addin.Enabled = true;
+            AddinManager.Registry.EnableAddin(addin.Id);
+            // AddinManager.Registry.Update();
+            if(PluginRegistry.IsAddinEnabled(addin.Id))
+            {
+                ConsoleProgressStatus ps = new ConsoleProgressStatus(false);
+                if (!AddinManager.AddinEngine.IsAddinLoaded(addin.Id))
+                {
+                    MainConsole.Instance.Output("Ignore the following error...");
+                    AddinManager.Registry.Rebuild(ps);
+                    AddinManager.AddinEngine.LoadAddin(ps, addin.Id);
+                }
+            }
+            else
+            {
+                MainConsole.Instance.OutputFormat("Not Enabled in this domain {0}", addin.Name);
+            }
+            return;
+        }
+
+
+                
+        #region Util
+        private void Testing()
+        {
+            Addin[] list = Registry.GetAddins();
+
+            var addins = list.Where( a => a.Description.Category == "RobustPlugin");
+
+            foreach (Addin addin in addins)
+            {
+                MainConsole.Instance.OutputFormat("Addin {0}", addin.Name);
+            }
+        }
+
+        // These will let us deal with numbered lists instead
+        // of needing to type in the full ids
+        private AddinRepositoryEntry[] GetSortedAvailbleAddins()
+        {
+            ArrayList list = new ArrayList();
+            list.AddRange(Repositories.GetAvailableAddins());
+
+            AddinRepositoryEntry[] addins = list.ToArray(typeof(AddinRepositoryEntry)) as AddinRepositoryEntry[];
+
+            Array.Sort(addins,(r1,r2) => r1.Addin.Id.CompareTo(r2.Addin.Id));
+
+            return addins;
+        }
+
+        private AddinRepository[] GetSortedAddinRepo()
+        {
+            ArrayList list = new ArrayList();
+            list.AddRange(Repositories.GetRepositories());
+
+            AddinRepository[] repos = list.ToArray(typeof(AddinRepository)) as AddinRepository[];
+            Array.Sort (repos,(r1,r2) => r1.Name.CompareTo(r2.Name));
+
+            return repos;
+        }
+
+        private Addin[] GetSortedAddinList(string category)
+        {
+
+            ArrayList xlist = new ArrayList();
+            ArrayList list = new ArrayList();
+                        try 
+                        {
+                list.AddRange(PluginRegistry.GetAddins());
+                        }
+                        catch(Exception e)
+                        {
+                                Addin[] x = xlist.ToArray(typeof(Addin)) as Addin[];
+                                return x;
+                        }
+
+            foreach (Addin addin in list)
+            {
+                if (addin.Description.Category == category)
+                    xlist.Add(addin);
+            }
+
+            Addin[] addins = xlist.ToArray(typeof(Addin)) as Addin[];
+            Array.Sort(addins,(r1,r2) => r1.Id.CompareTo(r2.Id));
+
+            return addins;
+        }
+        #endregion Util
+        }
+}
diff --git a/OpenSim/Framework/PrimitiveBaseShape.cs b/OpenSim/Framework/PrimitiveBaseShape.cs
index fcc9873..948c259 100644
--- a/OpenSim/Framework/PrimitiveBaseShape.cs
+++ b/OpenSim/Framework/PrimitiveBaseShape.cs
@@ -192,18 +192,7 @@ namespace OpenSim.Framework
 
         public PrimitiveBaseShape()
         {
-            PCode = (byte) PCodeEnum.Primitive;
-            ExtraParams = new byte[1];
-            m_textureEntry = DEFAULT_TEXTURE;
-        }
-
-        public PrimitiveBaseShape(bool noShape)
-        {
-            if (noShape)
-                return;
-
             PCode = (byte)PCodeEnum.Primitive;
-            ExtraParams = new byte[1];
             m_textureEntry = DEFAULT_TEXTURE;
         }
 
@@ -216,7 +205,6 @@ namespace OpenSim.Framework
 //            m_log.DebugFormat("[PRIMITIVE BASE SHAPE]: Creating from {0}", prim.ID);
 
             PCode = (byte)prim.PrimData.PCode;
-            ExtraParams = new byte[1];
 
             State = prim.PrimData.State;
             PathBegin = Primitive.PackBeginCut(prim.PrimData.PathBegin);
@@ -248,7 +236,10 @@ namespace OpenSim.Framework
                 SculptTexture = prim.Sculpt.SculptTexture;
                 SculptType = (byte)prim.Sculpt.Type;
             }
-            else SculptType = (byte)OpenMetaverse.SculptType.None;
+            else 
+            {  
+                SculptType = (byte)OpenMetaverse.SculptType.None;
+            }
         }
 
         [XmlIgnore]
@@ -340,9 +331,9 @@ namespace OpenSim.Framework
             _scale = new Vector3(side, side, side);
         }
 
-        public void SetHeigth(float heigth)
+        public void SetHeigth(float height)
         {
-            _scale.Z = heigth;
+            _scale.Z = height;
         }
 
         public void SetRadius(float radius)
diff --git a/OpenSim/Framework/Serialization/ArchiveConstants.cs b/OpenSim/Framework/Serialization/ArchiveConstants.cs
index 48f1c4f..0c12787 100644
--- a/OpenSim/Framework/Serialization/ArchiveConstants.cs
+++ b/OpenSim/Framework/Serialization/ArchiveConstants.cs
@@ -154,6 +154,11 @@ namespace OpenSim.Framework.Serialization
             EXTENSION_TO_ASSET_TYPE[ASSET_EXTENSION_SEPARATOR + "trashfolder.txt"]          = (sbyte)AssetType.TrashFolder;
         }
 
+        public static string CreateOarLandDataPath(LandData ld)
+        {
+            return string.Format("{0}{1}.xml", ArchiveConstants.LANDDATA_PATH, ld.GlobalID);
+        }
+
         /// <summary>
         /// Create the filename used to store an object in an OpenSim Archive.
         /// </summary>
diff --git a/OpenSim/Framework/Serialization/Tests/LandDataSerializerTests.cs b/OpenSim/Framework/Serialization/Tests/LandDataSerializerTests.cs
index 8b9756b..ea100ee 100644
--- a/OpenSim/Framework/Serialization/Tests/LandDataSerializerTests.cs
+++ b/OpenSim/Framework/Serialization/Tests/LandDataSerializerTests.cs
@@ -37,7 +37,7 @@ using OpenSim.Tests.Common;
 namespace OpenSim.Framework.Serialization.Tests
 {
     [TestFixture]
-    public class LandDataSerializerTest
+    public class LandDataSerializerTest : OpenSimTestCase
     {
         private LandData land;
         private LandData landWithParcelAccessList;
diff --git a/OpenSim/Framework/Serialization/Tests/RegionSettingsSerializerTests.cs b/OpenSim/Framework/Serialization/Tests/RegionSettingsSerializerTests.cs
index 09b6f6d..142726b 100644
--- a/OpenSim/Framework/Serialization/Tests/RegionSettingsSerializerTests.cs
+++ b/OpenSim/Framework/Serialization/Tests/RegionSettingsSerializerTests.cs
@@ -37,7 +37,7 @@ using OpenSim.Tests.Common;
 namespace OpenSim.Framework.Serialization.Tests
 {
     [TestFixture]
-    public class RegionSettingsSerializerTests
+    public class RegionSettingsSerializerTests : OpenSimTestCase
     {
         private string m_serializedRs = @"<?xml version=""1.0"" encoding=""utf-16""?>
 <RegionSettings>
diff --git a/OpenSim/Framework/Servers/BaseOpenSimServer.cs b/OpenSim/Framework/Servers/BaseOpenSimServer.cs
index 2c21800..cb47cbf 100644
--- a/OpenSim/Framework/Servers/BaseOpenSimServer.cs
+++ b/OpenSim/Framework/Servers/BaseOpenSimServer.cs
@@ -27,7 +27,6 @@
 
 using System;
 using System.Collections.Generic;
-using System.Diagnostics;
 using System.IO;
 using System.Reflection;
 using System.Text;
@@ -99,34 +98,6 @@ namespace OpenSim.Framework.Servers
             m_console.Commands.AddCommand("General", false, "shutdown",
                     "shutdown",
                     "Quit the application", HandleQuit);
-
-            m_console.Commands.AddCommand("General", false, "show threads",
-                    "show threads",
-                    "Show thread status", HandleShow);
-
-            m_console.Commands.AddCommand("General", false, "show version",
-                    "show version",
-                    "Show server version", HandleShow);
-
-            m_console.Commands.AddCommand("General", false, "threads abort",
-                    "threads abort <thread-id>",
-                    "Abort a managed thread.  Use \"show threads\" to find possible threads.", HandleThreadsAbort);
-
-            m_console.Commands.AddCommand("General", false, "threads show",
-                    "threads show",
-                    "Show thread status.  Synonym for \"show threads\"",
-                    (string module, string[] args) => Notice(GetThreadsReport()));
-
-            m_console.Commands.AddCommand("General", false, "force gc",
-                    "force gc",
-                    "Manually invoke runtime garbage collection.  For debugging purposes",
-                    HandleForceGc);
-        }
-
-        private void HandleForceGc(string module, string[] args)
-        {
-            MainConsole.Instance.Output("Manually invoking runtime garbage collection");
-            GC.Collect();
         }
         
         /// <summary>
@@ -159,54 +130,6 @@ namespace OpenSim.Framework.Servers
         }
 
         /// <summary>
-        /// Get a report about the registered threads in this server.
-        /// </summary>
-        protected string GetThreadsReport()
-        {
-            // This should be a constant field.
-            string reportFormat = "{0,6}   {1,35}   {2,16}   {3,13}   {4,10}   {5,30}";
-
-            StringBuilder sb = new StringBuilder();
-            Watchdog.ThreadWatchdogInfo[] threads = Watchdog.GetThreadsInfo();
-
-            sb.Append(threads.Length + " threads are being tracked:" + Environment.NewLine);
-
-            int timeNow = Environment.TickCount & Int32.MaxValue;
-
-            sb.AppendFormat(reportFormat, "ID", "NAME", "LAST UPDATE (MS)", "LIFETIME (MS)", "PRIORITY", "STATE");
-            sb.Append(Environment.NewLine);
-
-            foreach (Watchdog.ThreadWatchdogInfo twi in threads)
-            {
-                Thread t = twi.Thread;
-                
-                sb.AppendFormat(
-                    reportFormat,
-                    t.ManagedThreadId,
-                    t.Name,
-                    timeNow - twi.LastTick,
-                    timeNow - twi.FirstTick,
-                    t.Priority,
-                    t.ThreadState);
-
-                sb.Append("\n");
-            }
-
-            sb.Append("\n");
-
-            // For some reason mono 2.6.7 returns an empty threads set!  Not going to confuse people by reporting
-            // zero active threads.
-            int totalThreads = Process.GetCurrentProcess().Threads.Count;
-            if (totalThreads > 0)
-                sb.AppendFormat("Total threads active: {0}\n\n", totalThreads);
-
-            sb.Append("Main threadpool (excluding script engine pools)\n");
-            sb.Append(Util.GetThreadPoolReport());
-
-            return sb.ToString();
-        }
-
-        /// <summary>
         /// Performs initialisation of the scene, such as loading configuration from disk.
         /// </summary>
         public virtual void Startup()
@@ -246,50 +169,7 @@ namespace OpenSim.Framework.Servers
         private void HandleQuit(string module, string[] args)
         {
             Shutdown();
-        }
-
-        public override void HandleShow(string module, string[] cmd)
-        {
-            base.HandleShow(module, cmd);
-
-            List<string> args = new List<string>(cmd);
-
-            args.RemoveAt(0);
-
-            string[] showParams = args.ToArray();
-
-            switch (showParams[0])
-            {
-                case "threads":
-                    Notice(GetThreadsReport());
-                    break;
-
-                case "version":
-                    Notice(GetVersionText());
-                    break;
-            }
-        }
-
-        public virtual void HandleThreadsAbort(string module, string[] cmd)
-        {
-            if (cmd.Length != 3)
-            {
-                MainConsole.Instance.Output("Usage: threads abort <thread-id>");
-                return;
-            }
-
-            int threadId;
-            if (!int.TryParse(cmd[2], out threadId))
-            {
-                MainConsole.Instance.Output("ERROR: Thread id must be an integer");
-                return;
-            }
-
-            if (Watchdog.AbortThread(threadId))
-                MainConsole.Instance.OutputFormat("Aborted thread with id {0}", threadId);
-            else
-                MainConsole.Instance.OutputFormat("ERROR - Thread with id {0} not found in managed threads", threadId);
-        }       
+        }      
         
         public string osSecret {
             // Secret uuid for the simulator
diff --git a/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs b/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs
index 77fce9e..bfbc480 100644
--- a/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs
+++ b/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs
@@ -77,6 +77,7 @@ namespace OpenSim.Framework.Servers.HttpServer
         // protected HttpListener m_httpListener;
         protected CoolHTTPListener m_httpListener2;
         protected Dictionary<string, XmlRpcMethod> m_rpcHandlers        = new Dictionary<string, XmlRpcMethod>();
+        protected Dictionary<string, JsonRPCMethod> jsonRpcHandlers     = new Dictionary<string, JsonRPCMethod>();
         protected Dictionary<string, bool> m_rpcHandlersKeepAlive       = new Dictionary<string, bool>();
         protected DefaultLLSDMethod m_defaultLlsdHandler = null; // <--   Moving away from the monolithic..  and going to /registered/
         protected Dictionary<string, LLSDMethod> m_llsdHandlers         = new Dictionary<string, LLSDMethod>();
@@ -217,6 +218,37 @@ namespace OpenSim.Framework.Servers.HttpServer
                 return new List<string>(m_rpcHandlers.Keys);
         }
 
+        // JsonRPC 
+        public bool AddJsonRPCHandler(string method, JsonRPCMethod handler)
+        {
+            lock(jsonRpcHandlers)
+            {
+                jsonRpcHandlers.Add(method, handler);
+            }
+            return true;
+        }
+
+        public JsonRPCMethod GetJsonRPCHandler(string method)
+        {
+            lock (jsonRpcHandlers)
+            {
+                if (jsonRpcHandlers.ContainsKey(method))
+                {
+                    return jsonRpcHandlers[method];
+                }
+                else
+                {
+                    return null;
+                }
+            }
+        }
+
+        public List<string> GetJsonRpcHandlerKeys()
+        {
+            lock (jsonRpcHandlers)
+                return new List<string>(jsonRpcHandlers.Keys);
+        }
+
         public bool AddHTTPHandler(string methodName, GenericHTTPMethod handler)
         {
             //m_log.DebugFormat("[BASE HTTP SERVER]: Registering {0}", methodName);
@@ -437,7 +469,7 @@ namespace OpenSim.Framework.Servers.HttpServer
 //                    reqnum = String.Format("{0}:{1}",request.RemoteIPEndPoint,request.Headers["opensim-request-id"]);
                  //m_log.DebugFormat("[BASE HTTP SERVER]: <{0}> handle request for {1}",reqnum,request.RawUrl);
 
-                Thread.CurrentThread.CurrentCulture = new CultureInfo("en-US", true);
+                Culture.SetCurrentCulture();
 
 //                //  This is the REST agent interface. We require an agent to properly identify
 //                //  itself. If the REST handler recognizes the prefix it will attempt to
@@ -557,10 +589,18 @@ namespace OpenSim.Framework.Servers.HttpServer
     
                             buffer = HandleLLSDRequests(request, response);
                             break;
+
+                        case "application/json-rpc":
+                            if (DebugLevel >= 3)
+                                LogIncomingToContentTypeHandler(request);
+
+                            buffer = HandleJsonRpcRequests(request, response);
+                            break;
     
                         case "text/xml":
                         case "application/xml":
                         case "application/json":
+
                         default:
                             //m_log.Info("[Debug BASE HTTP SERVER]: in default handler");
                             // Point of note..  the DoWeHaveA methods check for an EXACT path
@@ -986,6 +1026,74 @@ namespace OpenSim.Framework.Servers.HttpServer
             return buffer;
         }
 
+        // JsonRpc (v2.0 only)
+        private byte[] HandleJsonRpcRequests(OSHttpRequest request, OSHttpResponse response)
+        {
+            Stream requestStream = request.InputStream;
+            JsonRpcResponse jsonRpcResponse = new JsonRpcResponse();
+            OSDMap jsonRpcRequest = null;
+
+            try
+            {
+                jsonRpcRequest = (OSDMap)OSDParser.DeserializeJson(requestStream);
+            }
+            catch (LitJson.JsonException e)
+            {
+                jsonRpcResponse.Error.Code = ErrorCode.InternalError;
+                jsonRpcResponse.Error.Message = e.Message;
+            }
+            
+            requestStream.Close();
+
+            if (jsonRpcRequest != null)
+            {
+                if (jsonRpcRequest.ContainsKey("jsonrpc") || jsonRpcRequest["jsonrpc"].AsString() == "2.0")
+                {
+                    jsonRpcResponse.JsonRpc = "2.0";
+
+                    // If we have no id, then it's a "notification"
+                    if (jsonRpcRequest.ContainsKey("id"))
+                    {
+                        jsonRpcResponse.Id = jsonRpcRequest["id"].AsString();
+                    }
+
+                    string methodname = jsonRpcRequest["method"];
+                    JsonRPCMethod method;
+
+                    if (jsonRpcHandlers.ContainsKey(methodname))
+                    {
+                        lock(jsonRpcHandlers)
+                        {
+                            jsonRpcHandlers.TryGetValue(methodname, out method);
+                        }
+
+                        method(jsonRpcRequest, ref jsonRpcResponse);
+                    }
+                    else // Error no hanlder defined for requested method
+                    {
+                        jsonRpcResponse.Error.Code = ErrorCode.InvalidRequest;
+                        jsonRpcResponse.Error.Message = string.Format ("No handler defined for {0}", methodname);
+                    }
+                }
+                else // not json-rpc 2.0 could be v1
+                {
+                    jsonRpcResponse.Error.Code = ErrorCode.InvalidRequest;
+                    jsonRpcResponse.Error.Message = "Must be valid json-rpc 2.0 see: http://www.jsonrpc.org/specification";
+
+                    if (jsonRpcRequest.ContainsKey("id"))
+                        jsonRpcResponse.Id = jsonRpcRequest["id"].AsString();
+                }
+            }
+
+            response.KeepAlive = true;
+            string responseData = string.Empty;
+
+            responseData = jsonRpcResponse.Serialize();
+       
+            byte[] buffer = Encoding.UTF8.GetBytes(responseData);
+            return buffer;
+        }
+
         private byte[] HandleLLSDRequests(OSHttpRequest request, OSHttpResponse response)
         {
             //m_log.Warn("[BASE HTTP SERVER]: We've figured out it's a LLSD Request");
@@ -1283,59 +1391,6 @@ namespace OpenSim.Framework.Servers.HttpServer
             map["login"] = OSD.FromString("false");
             return map;
         }
-        /// <summary>
-        /// A specific agent handler was provided. Such a handler is expecetd to have an
-        /// intimate, and highly specific relationship with the client. Consequently,
-        /// nothing is done here.
-        /// </summary>
-        /// <param name="handler"></param>
-        /// <param name="request"></param>
-        /// <param name="response"></param>
-
-        private bool HandleAgentRequest(IHttpAgentHandler handler, OSHttpRequest request, OSHttpResponse response)
-        {
-            // In the case of REST, then handler is responsible for ALL aspects of
-            // the request/response handling. Nothing is done here, not even encoding.
-
-            try
-            {
-                return handler.Handle(request, response);
-            }
-            catch (Exception e)
-            {
-                // If the handler did in fact close the stream, then this will blow
-                // chunks. So that that doesn't disturb anybody we throw away any
-                // and all exceptions raised. We've done our best to release the
-                // client.
-                try
-                {
-                    m_log.Warn("[HTTP-AGENT]: Error - " + e.Message);
-                    response.SendChunked   = false;
-                    response.KeepAlive     = true;
-                    response.StatusCode    = (int)OSHttpStatusCode.ServerErrorInternalError;
-                    //response.OutputStream.Close();
-                    try
-                    {
-                        response.Send();
-                        //response.FreeContext();
-                    }
-                    catch (SocketException f)
-                    {
-                        // This has to be here to prevent a Linux/Mono crash
-                        m_log.Warn(
-                            String.Format("[BASE HTTP SERVER]: XmlRpcRequest issue {0}.\nNOTE: this may be spurious on Linux. ", f.Message), f);
-                    }
-                }
-                catch(Exception)
-                {
-                }
-            }
-
-            // Indicate that the request has been "handled"
-
-            return true;
-
-        }
 
         public byte[] HandleHTTPRequest(OSHttpRequest request, OSHttpResponse response)
         {
diff --git a/OpenSim/Framework/Servers/HttpServer/Interfaces/IHttpServer.cs b/OpenSim/Framework/Servers/HttpServer/Interfaces/IHttpServer.cs
index 0bd3aae..13b5dd3 100644
--- a/OpenSim/Framework/Servers/HttpServer/Interfaces/IHttpServer.cs
+++ b/OpenSim/Framework/Servers/HttpServer/Interfaces/IHttpServer.cs
@@ -97,6 +97,8 @@ namespace OpenSim.Framework.Servers.HttpServer
         bool AddXmlRPCHandler(string method, XmlRpcMethod handler);
         bool AddXmlRPCHandler(string method, XmlRpcMethod handler, bool keepAlive);
 
+        bool AddJsonRPCHandler(string method, JsonRPCMethod handler);
+
         /// <summary>
         /// Gets the XML RPC handler for given method name
         /// </summary>
diff --git a/OpenSim/Framework/Servers/HttpServer/JsonRPCMethod.cs b/OpenSim/Framework/Servers/HttpServer/JsonRPCMethod.cs
new file mode 100644
index 0000000..7334049
--- /dev/null
+++ b/OpenSim/Framework/Servers/HttpServer/JsonRPCMethod.cs
@@ -0,0 +1,34 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System.Net;
+using OpenMetaverse.StructuredData;
+
+namespace OpenSim.Framework.Servers.HttpServer
+{
+    public delegate void JsonRPCMethod(OSDMap jsonRpcRequest, ref JsonRpcResponse response);
+}
diff --git a/OpenSim/Framework/Servers/HttpServer/JsonRpcResponse.cs b/OpenSim/Framework/Servers/HttpServer/JsonRpcResponse.cs
new file mode 100644
index 0000000..2c50587
--- /dev/null
+++ b/OpenSim/Framework/Servers/HttpServer/JsonRpcResponse.cs
@@ -0,0 +1,150 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Net;
+using OpenMetaverse.StructuredData;
+
+namespace OpenSim.Framework.Servers.HttpServer
+{
+    public sealed class ErrorCode
+    {
+        private ErrorCode() {}
+
+        public const int ParseError = -32700;
+        public const int InvalidRequest = -32600;
+        public const int MethodNotFound = -32601;
+        public const int InvalidParams = -32602;
+        public const int InternalError = -32604;
+
+    }
+
+    public class JsonRpcError
+    {
+        internal OSDMap Error = new OSDMap();
+
+        public int Code
+        {
+            get
+            {
+                if (Error.ContainsKey("code"))
+                    return Error["code"].AsInteger();
+                else
+                    return 0;
+            }
+            set
+            {
+                Error["code"] = OSD.FromInteger(value);
+            }
+        }
+
+        public string Message
+        {
+            get
+            {
+                if (Error.ContainsKey("message"))
+                    return Error["message"].AsString();
+                else
+                    return null;
+            }
+            set
+            {
+                Error["message"] = OSD.FromString(value);
+            }
+        }
+
+        public OSD Data
+        {
+            get; set;
+        }
+    }
+
+    public class JsonRpcResponse
+    {
+        public string JsonRpc
+        {
+            get
+            {
+                return Reply["jsonrpc"].AsString();
+            }
+            set
+            {
+                Reply["jsonrpc"] = OSD.FromString(value);
+            }
+        }
+
+        public string Id
+        {
+            get
+            {
+                return Reply["id"].AsString();
+            }
+            set
+            {
+                Reply["id"] = OSD.FromString(value);
+            }
+        }
+
+        public OSD Result
+        {
+            get; set;
+        }
+
+        public JsonRpcError Error
+        {
+            get; set;
+        }
+
+        public OSDMap Reply = new OSDMap();
+
+        public JsonRpcResponse()
+        {
+            Error = new JsonRpcError();
+        }
+
+        public string Serialize()
+        {
+            if (Result != null)
+                Reply["result"] = Result;
+
+            if (Error.Code != 0)
+            {
+                Reply["error"] = (OSD)Error.Error;
+            }
+
+            string result = string.Empty;
+            try
+            {
+                result = OSDParser.SerializeJsonString(Reply);
+            }
+            catch
+            {
+
+            }
+            return result; 
+        }
+    }
+}
diff --git a/OpenSim/Framework/Servers/MainServer.cs b/OpenSim/Framework/Servers/MainServer.cs
index ae7d515..293887f 100644
--- a/OpenSim/Framework/Servers/MainServer.cs
+++ b/OpenSim/Framework/Servers/MainServer.cs
@@ -230,6 +230,10 @@ namespace OpenSim.Framework.Servers
                     List<String> poll = httpServer.GetPollServiceHandlerKeys();
                     foreach (String s in httpServer.GetHTTPHandlerKeys())
                         handlers.AppendFormat("\t{0} {1}\n", s, (poll.Contains(s) ? "(poll service)" : string.Empty));
+                    
+                    handlers.AppendFormat("* JSONRPC:\n");
+                    foreach (String s in httpServer.GetJsonRpcHandlerKeys())
+                        handlers.AppendFormat("\t{0}\n", s);
         
 //                    handlers.AppendFormat("* Agent:\n");
 //                    foreach (String s in httpServer.GetAgentHandlerKeys())
diff --git a/OpenSim/Framework/Servers/ServerBase.cs b/OpenSim/Framework/Servers/ServerBase.cs
index c182a3a..47baac8 100644
--- a/OpenSim/Framework/Servers/ServerBase.cs
+++ b/OpenSim/Framework/Servers/ServerBase.cs
@@ -27,16 +27,19 @@
 
 using System;
 using System.Collections.Generic;
+using System.Diagnostics;
 using System.IO;
 using System.Reflection;
 using System.Text;
 using System.Text.RegularExpressions;
+using System.Threading;
 using log4net;
 using log4net.Appender;
 using log4net.Core;
 using log4net.Repository;
 using Nini.Config;
 using OpenSim.Framework.Console;
+using OpenSim.Framework.Monitoring;
 
 namespace OpenSim.Framework.Servers
 {
@@ -168,6 +171,9 @@ namespace OpenSim.Framework.Servers
                 "General", false, "show info", "show info", "Show general information about the server", HandleShow);
 
             m_console.Commands.AddCommand(
+                "General", false, "show version", "show version", "Show server version", HandleShow);
+
+            m_console.Commands.AddCommand(
                 "General", false, "show uptime", "show uptime", "Show server uptime", HandleShow);
 
             m_console.Commands.AddCommand(
@@ -206,6 +212,34 @@ namespace OpenSim.Framework.Servers
                 "General", false, "command-script",
                 "command-script <script>",
                 "Run a command script from file", HandleScript);
+
+            m_console.Commands.AddCommand(
+                "General", false, "show threads",
+                "show threads",
+                "Show thread status", HandleShow);
+
+            m_console.Commands.AddCommand(
+                "General", false, "threads abort",
+                "threads abort <thread-id>",
+                "Abort a managed thread.  Use \"show threads\" to find possible threads.", HandleThreadsAbort);
+
+            m_console.Commands.AddCommand(
+                "General", false, "threads show",
+                "threads show",
+                "Show thread status.  Synonym for \"show threads\"",
+                (string module, string[] args) => Notice(GetThreadsReport()));
+
+            m_console.Commands.AddCommand(
+                "General", false, "force gc",
+                "force gc",
+                "Manually invoke runtime garbage collection.  For debugging purposes",
+                HandleForceGc);
+        }
+
+        private void HandleForceGc(string module, string[] args)
+        {
+            Notice("Manually invoking runtime garbage collection");
+            GC.Collect();
         }
 
         public virtual void HandleShow(string module, string[] cmd)
@@ -222,9 +256,17 @@ namespace OpenSim.Framework.Servers
                     ShowInfo();
                     break;
 
+                case "version":
+                    Notice(GetVersionText());
+                    break;
+
                 case "uptime":
                     Notice(GetUptimeReport());
                     break;
+
+                case "threads":
+                    Notice(GetThreadsReport());
+                    break;
             }
         }
 
@@ -537,6 +579,75 @@ namespace OpenSim.Framework.Servers
         }
 
         /// <summary>
+        /// Get a report about the registered threads in this server.
+        /// </summary>
+        protected string GetThreadsReport()
+        {
+            // This should be a constant field.
+            string reportFormat = "{0,6}   {1,35}   {2,16}   {3,13}   {4,10}   {5,30}";
+
+            StringBuilder sb = new StringBuilder();
+            Watchdog.ThreadWatchdogInfo[] threads = Watchdog.GetThreadsInfo();
+
+            sb.Append(threads.Length + " threads are being tracked:" + Environment.NewLine);
+
+            int timeNow = Environment.TickCount & Int32.MaxValue;
+
+            sb.AppendFormat(reportFormat, "ID", "NAME", "LAST UPDATE (MS)", "LIFETIME (MS)", "PRIORITY", "STATE");
+            sb.Append(Environment.NewLine);
+
+            foreach (Watchdog.ThreadWatchdogInfo twi in threads)
+            {
+                Thread t = twi.Thread;
+                
+                sb.AppendFormat(
+                    reportFormat,
+                    t.ManagedThreadId,
+                    t.Name,
+                    timeNow - twi.LastTick,
+                    timeNow - twi.FirstTick,
+                    t.Priority,
+                    t.ThreadState);
+
+                sb.Append("\n");
+            }
+
+            sb.Append("\n");
+
+            // For some reason mono 2.6.7 returns an empty threads set!  Not going to confuse people by reporting
+            // zero active threads.
+            int totalThreads = Process.GetCurrentProcess().Threads.Count;
+            if (totalThreads > 0)
+                sb.AppendFormat("Total threads active: {0}\n\n", totalThreads);
+
+            sb.Append("Main threadpool (excluding script engine pools)\n");
+            sb.Append(Util.GetThreadPoolReport());
+
+            return sb.ToString();
+        }
+
+        public virtual void HandleThreadsAbort(string module, string[] cmd)
+        {
+            if (cmd.Length != 3)
+            {
+                MainConsole.Instance.Output("Usage: threads abort <thread-id>");
+                return;
+            }
+
+            int threadId;
+            if (!int.TryParse(cmd[2], out threadId))
+            {
+                MainConsole.Instance.Output("ERROR: Thread id must be an integer");
+                return;
+            }
+
+            if (Watchdog.AbortThread(threadId))
+                MainConsole.Instance.OutputFormat("Aborted thread with id {0}", threadId);
+            else
+                MainConsole.Instance.OutputFormat("ERROR - Thread with id {0} not found in managed threads", threadId);
+        } 
+
+        /// <summary>
         /// Console output is only possible if a console has been established.
         /// That is something that cannot be determined within this class. So
         /// all attempts to use the console MUST be verified.
diff --git a/OpenSim/Framework/Servers/Tests/OSHttpTests.cs b/OpenSim/Framework/Servers/Tests/OSHttpTests.cs
index 4c2f586..50f306e 100644
--- a/OpenSim/Framework/Servers/Tests/OSHttpTests.cs
+++ b/OpenSim/Framework/Servers/Tests/OSHttpTests.cs
@@ -35,11 +35,12 @@ using HttpServer;
 using HttpServer.FormDecoders;
 using NUnit.Framework;
 using OpenSim.Framework.Servers.HttpServer;
+using OpenSim.Tests.Common;
 
 namespace OpenSim.Framework.Servers.Tests
 {
     [TestFixture]
-    public class OSHttpTests
+    public class OSHttpTests : OpenSimTestCase
     {
         // we need an IHttpClientContext for our tests
         public class TestHttpClientContext: IHttpClientContext
diff --git a/OpenSim/Framework/Servers/Tests/VersionInfoTests.cs b/OpenSim/Framework/Servers/Tests/VersionInfoTests.cs
index 49e5061..480f2bb 100644
--- a/OpenSim/Framework/Servers/Tests/VersionInfoTests.cs
+++ b/OpenSim/Framework/Servers/Tests/VersionInfoTests.cs
@@ -29,11 +29,12 @@ using System;
 using System.Collections.Generic;
 using System.Text;
 using NUnit.Framework;
+using OpenSim.Tests.Common;
 
 namespace OpenSim.Framework.Servers.Tests
 {
     [TestFixture]
-    public class VersionInfoTests
+    public class VersionInfoTests : OpenSimTestCase
     {
         [Test]
         public void TestVersionLength()
diff --git a/OpenSim/Framework/Tests/AgentCircuitDataTest.cs b/OpenSim/Framework/Tests/AgentCircuitDataTest.cs
index 0dce414..95e9439 100644
--- a/OpenSim/Framework/Tests/AgentCircuitDataTest.cs
+++ b/OpenSim/Framework/Tests/AgentCircuitDataTest.cs
@@ -24,16 +24,17 @@
  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
+
 using System.Collections.Generic;
 using OpenMetaverse;
 using OpenMetaverse.StructuredData;
 using NUnit.Framework;
-
+using OpenSim.Tests.Common;
 
 namespace OpenSim.Framework.Tests
 {
     [TestFixture]
-    public class AgentCircuitDataTest
+    public class AgentCircuitDataTest : OpenSimTestCase
     {
         private UUID AgentId;
         private AvatarAppearance AvAppearance;
diff --git a/OpenSim/Framework/Tests/AnimationTests.cs b/OpenSim/Framework/Tests/AnimationTests.cs
index 967a355..f3be81b 100644
--- a/OpenSim/Framework/Tests/AnimationTests.cs
+++ b/OpenSim/Framework/Tests/AnimationTests.cs
@@ -38,7 +38,7 @@ using Animation = OpenSim.Framework.Animation;
 namespace OpenSim.Framework.Tests
 {
     [TestFixture]
-    public class AnimationTests
+    public class AnimationTests : OpenSimTestCase
     {
         private Animation anim1 = null;
         private Animation anim2 = null;
diff --git a/OpenSim/Framework/Tests/AssetBaseTest.cs b/OpenSim/Framework/Tests/AssetBaseTest.cs
index 6db1aa0..25d2393 100644
--- a/OpenSim/Framework/Tests/AssetBaseTest.cs
+++ b/OpenSim/Framework/Tests/AssetBaseTest.cs
@@ -30,11 +30,12 @@ using System.Collections.Generic;
 using System.Text;
 using NUnit.Framework;
 using OpenMetaverse;
+using OpenSim.Tests.Common;
 
 namespace OpenSim.Framework.Tests
 {
     [TestFixture]
-    public class AssetBaseTest
+    public class AssetBaseTest : OpenSimTestCase
     {
         [Test]
         public void TestContainsReferences()
diff --git a/OpenSim/Framework/Tests/CacheTests.cs b/OpenSim/Framework/Tests/CacheTests.cs
index c3613e6..c709860 100644
--- a/OpenSim/Framework/Tests/CacheTests.cs
+++ b/OpenSim/Framework/Tests/CacheTests.cs
@@ -28,11 +28,12 @@
 using System;
 using NUnit.Framework;
 using OpenMetaverse;
+using OpenSim.Tests.Common;
 
 namespace OpenSim.Framework.Tests
 {
     [TestFixture]
-    public class CacheTests
+    public class CacheTests : OpenSimTestCase
     {
         private Cache cache;
         private UUID cacheItemUUID;
diff --git a/OpenSim/Framework/Tests/LocationTest.cs b/OpenSim/Framework/Tests/LocationTest.cs
index 2707afa..a56ecb4 100644
--- a/OpenSim/Framework/Tests/LocationTest.cs
+++ b/OpenSim/Framework/Tests/LocationTest.cs
@@ -26,11 +26,12 @@
  */
 
 using NUnit.Framework;
+using OpenSim.Tests.Common;
 
 namespace OpenSim.Framework.Tests
 {
     [TestFixture]
-    public class LocationTest
+    public class LocationTest : OpenSimTestCase
     {
         [Test]
         public void locationRegionHandleRegionHandle()
diff --git a/OpenSim/Framework/Tests/MundaneFrameworkTests.cs b/OpenSim/Framework/Tests/MundaneFrameworkTests.cs
index 6fde488..0fbdaf3 100644
--- a/OpenSim/Framework/Tests/MundaneFrameworkTests.cs
+++ b/OpenSim/Framework/Tests/MundaneFrameworkTests.cs
@@ -32,11 +32,12 @@ using OpenMetaverse.StructuredData;
 using System;
 using System.Globalization;
 using System.Threading;
+using OpenSim.Tests.Common;
 
 namespace OpenSim.Framework.Tests
 {
     [TestFixture]
-    public class MundaneFrameworkTests
+    public class MundaneFrameworkTests : OpenSimTestCase
     {
         private bool m_RegionSettingsOnSaveEventFired;
         private bool m_RegionLightShareDataOnSaveEventFired;
@@ -302,10 +303,6 @@ namespace OpenSim.Framework.Tests
             Culture.SetCurrentCulture();
             Assert.That(Thread.CurrentThread.CurrentCulture.Name == ci.Name, "SetCurrentCulture failed to set thread culture to en-US");
 
-        }
-
-       
-
+        }     
     }
-}
-
+}
\ No newline at end of file
diff --git a/OpenSim/Framework/Tests/PrimeNumberHelperTests.cs b/OpenSim/Framework/Tests/PrimeNumberHelperTests.cs
index 36bc6e7..82e13e5 100644
--- a/OpenSim/Framework/Tests/PrimeNumberHelperTests.cs
+++ b/OpenSim/Framework/Tests/PrimeNumberHelperTests.cs
@@ -31,11 +31,12 @@ using NUnit.Framework;
 using OpenMetaverse;
 using OpenMetaverse.StructuredData;
 using OpenSim.Framework;
+using OpenSim.Tests.Common;
 
 namespace OpenSim.Framework.Tests
 {
     [TestFixture]
-    public class PrimeNumberHelperTests
+    public class PrimeNumberHelperTests : OpenSimTestCase
     {
         [Test]
         public void TestGetPrime()
diff --git a/OpenSim/Framework/Tests/UtilTest.cs b/OpenSim/Framework/Tests/UtilTest.cs
index f0d2a3f..11ca068 100644
--- a/OpenSim/Framework/Tests/UtilTest.cs
+++ b/OpenSim/Framework/Tests/UtilTest.cs
@@ -33,7 +33,7 @@ using OpenSim.Tests.Common;
 namespace OpenSim.Framework.Tests
 {
     [TestFixture]
-    public class UtilTests
+    public class UtilTests : OpenSimTestCase
     {
         [Test]
         public void VectorOperationTests()
diff --git a/OpenSim/Framework/Util.cs b/OpenSim/Framework/Util.cs
index e76a37b..c049247 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;
@@ -1652,6 +1659,7 @@ namespace OpenSim.Framework
                 throw new InvalidOperationException("SmartThreadPool is already initialized");
 
             m_ThreadPool = new SmartThreadPool(2000, maxThreads, 2);
+            m_ThreadPool.Name = "Util";
         }
 
         public static int FireAndForgetCount()
@@ -1724,7 +1732,7 @@ namespace OpenSim.Framework
                     break;
                 case FireAndForgetMethod.SmartThreadPool:
                     if (m_ThreadPool == null)
-                        m_ThreadPool = new SmartThreadPool(2000, 15, 2);
+                        InitThreadPool(15); 
                     m_ThreadPool.QueueWorkItem(SmartThreadPoolCallback, new object[] { realCallback, obj });
                     break;
                 case FireAndForgetMethod.Thread:
@@ -1753,12 +1761,16 @@ namespace OpenSim.Framework
             StringBuilder sb = new StringBuilder();
             if (FireAndForgetMethod == FireAndForgetMethod.SmartThreadPool)
             {
-                threadPoolUsed = "SmartThreadPool";
-                maxThreads = m_ThreadPool.MaxThreads;
-                minThreads = m_ThreadPool.MinThreads;
-                inUseThreads = m_ThreadPool.InUseThreads;
-                allocatedThreads = m_ThreadPool.ActiveThreads;
-                waitingCallbacks = m_ThreadPool.WaitingCallbacks;
+                // ROBUST currently leaves this the FireAndForgetMethod but never actually initializes the threadpool.
+                if (m_ThreadPool != null)
+                {
+                    threadPoolUsed = "SmartThreadPool";
+                    maxThreads = m_ThreadPool.MaxThreads;
+                    minThreads = m_ThreadPool.MinThreads;
+                    inUseThreads = m_ThreadPool.InUseThreads;
+                    allocatedThreads = m_ThreadPool.ActiveThreads;
+                    waitingCallbacks = m_ThreadPool.WaitingCallbacks;
+                }
             }
             else if (
                 FireAndForgetMethod == FireAndForgetMethod.UnsafeQueueUserWorkItem
@@ -1863,6 +1875,12 @@ namespace OpenSim.Framework
         /// </summary>
         public static void PrintCallStack()
         {
+            PrintCallStack(m_log.DebugFormat);
+        }
+
+        public delegate void DebugPrinter(string msg, params Object[] parm);
+        public static void PrintCallStack(DebugPrinter printer)
+        {
             StackTrace stackTrace = new StackTrace(true);           // get call stack
             StackFrame[] stackFrames = stackTrace.GetFrames();  // get method calls (frames)
 
@@ -1870,7 +1888,7 @@ namespace OpenSim.Framework
             foreach (StackFrame stackFrame in stackFrames)
             {
                 MethodBase mb = stackFrame.GetMethod();
-                m_log.DebugFormat("{0}.{1}:{2}", mb.DeclaringType, mb.Name, stackFrame.GetFileLineNumber()); // write method name
+                printer("{0}.{1}:{2}", mb.DeclaringType, mb.Name, stackFrame.GetFileLineNumber()); // write method name
             }
         }
 
@@ -2096,5 +2114,16 @@ namespace OpenSim.Framework
             return firstName + "." + lastName + " " + "@" + uri.Authority;
         }
         #endregion
+
+        /// <summary>
+        /// Escapes the special characters used in "LIKE".
+        /// </summary>
+        /// <remarks>
+        /// For example: EscapeForLike("foo_bar%baz") = "foo\_bar\%baz"
+        /// </remarks>
+        public static string EscapeForLike(string str)
+        {
+            return str.Replace("_", "\\_").Replace("%", "\\%");
+        }
     }
 }
diff --git a/OpenSim/Region/Application/OpenSim.cs b/OpenSim/Region/Application/OpenSim.cs
index 08e4023..e1cff69 100644
--- a/OpenSim/Region/Application/OpenSim.cs
+++ b/OpenSim/Region/Application/OpenSim.cs
@@ -236,18 +236,6 @@ namespace OpenSim
                                           + "If an avatar name is given then only packets from that avatar are logged",
                                           Debug);
 
-            m_console.Commands.AddCommand("Debug", false, "debug teleport", "debug teleport", "Toggle teleport route debugging", Debug);
-
-            m_console.Commands.AddCommand("Debug", false, "debug scene",
-                                          "debug scene active|collisions|physics|scripting|teleport true|false",
-                                          "Turn on scene debugging.",
-                                            "If active     is false then main scene update and maintenance loops are suspended.\n"
-                                          + "If collisions is false then collisions with other objects are turned off.\n"
-                                          + "If physics    is false then all physics objects are non-physical.\n"
-                                          + "If scripting  is false then no scripting operations happen.\n"
-                                          + "If teleport   is true  then some extra teleport debug information is logged.",
-                                          Debug);
-
             m_console.Commands.AddCommand("General", false, "change region",
                                           "change region <region name>",
                                           "Change current console region", ChangeSelectedRegion);
@@ -744,31 +732,6 @@ namespace OpenSim
 
                     break;
 
-                case "scene":
-                    if (args.Length == 4)
-                    {
-                        if (SceneManager.CurrentScene == null)
-                        {
-                            MainConsole.Instance.Output("Please use 'change region <regioname>' first");
-                        }
-                        else
-                        {
-                            string key = args[2];
-                            string value = args[3];
-                            SceneManager.CurrentScene.SetSceneCoreDebug(
-                                new Dictionary<string, string>() { { key, value } });
-
-                            MainConsole.Instance.OutputFormat("Set debug scene {0} = {1}", key, value);
-                        }
-                    }
-                    else
-                    {
-                        MainConsole.Instance.Output(
-                            "Usage: debug scene active|scripting|collisions|physics|teleport true|false");
-                    }
-
-                    break;
-
                 default:
                     MainConsole.Instance.Output("Unknown debug command");
                     break;
diff --git a/OpenSim/Region/ClientStack/Linden/Caps/BunchOfCaps/BunchOfCaps.cs b/OpenSim/Region/ClientStack/Linden/Caps/BunchOfCaps/BunchOfCaps.cs
index b06788b..83347e2 100644
--- a/OpenSim/Region/ClientStack/Linden/Caps/BunchOfCaps/BunchOfCaps.cs
+++ b/OpenSim/Region/ClientStack/Linden/Caps/BunchOfCaps/BunchOfCaps.cs
@@ -105,7 +105,6 @@ namespace OpenSim.Region.ClientStack.Linden
         private static readonly string m_ResourceCostSelectedPath = "0103/";
         private static readonly string m_UpdateAgentInformationPath = "0500/";
         
-
         // These are callbacks which will be setup by the scene so that we can update scene data when we
         // receive capability calls
         public NewInventoryItem AddNewInventoryItem = null;
diff --git a/OpenSim/Region/ClientStack/Linden/Caps/EventQueue/Tests/EventQueueTests.cs b/OpenSim/Region/ClientStack/Linden/Caps/EventQueue/Tests/EventQueueTests.cs
index d604cf6..ed8ec16 100644
--- a/OpenSim/Region/ClientStack/Linden/Caps/EventQueue/Tests/EventQueueTests.cs
+++ b/OpenSim/Region/ClientStack/Linden/Caps/EventQueue/Tests/EventQueueTests.cs
@@ -44,7 +44,7 @@ using OpenSim.Tests.Common.Mock;
 namespace OpenSim.Region.ClientStack.Linden.Tests
 {
     [TestFixture]
-    public class EventQueueTests
+    public class EventQueueTests : OpenSimTestCase
     {
         private TestScene m_scene;
 
diff --git a/OpenSim/Region/ClientStack/Linden/UDP/LLClientView.cs b/OpenSim/Region/ClientStack/Linden/UDP/LLClientView.cs
index 0a865ab..6428b86 100644
--- a/OpenSim/Region/ClientStack/Linden/UDP/LLClientView.cs
+++ b/OpenSim/Region/ClientStack/Linden/UDP/LLClientView.cs
@@ -6600,19 +6600,10 @@ namespace OpenSim.Region.ClientStack.LindenUDP
                 #endregion
 
                 AgentRequestSit handlerAgentRequestSit = OnAgentRequestSit;
-                if (handlerAgentRequestSit != null)
-                    if (!(agentRequestSit.AgentData == null
-                        || agentRequestSit.TargetObject == null
-                        || agentRequestSit.TargetObject.TargetID == null
-                        || agentRequestSit.TargetObject.Offset == null))
-                    {
-                        var sp = m_scene.GetScenePresence(agentRequestSit.AgentData.AgentID);
-                        if (sp == null || sp.ParentID != 0) // ignore packet if agent is already sitting
-                            return true;
 
-                        handlerAgentRequestSit(this, agentRequestSit.AgentData.AgentID,
-                                               agentRequestSit.TargetObject.TargetID, agentRequestSit.TargetObject.Offset);
-                    }
+                if (handlerAgentRequestSit != null)
+                    handlerAgentRequestSit(this, agentRequestSit.AgentData.AgentID,
+                                           agentRequestSit.TargetObject.TargetID, agentRequestSit.TargetObject.Offset);
             }
             return true;
         }
@@ -12267,11 +12258,13 @@ namespace OpenSim.Region.ClientStack.LindenUDP
                 if (logPacket)
                     m_log.DebugFormat(
                         "[CLIENT]: PACKET IN  from {0} ({1}) in {2} - {3}",
-                        Name, SceneAgent.IsChildAgent ? "child" : "root ", m_scene.RegionInfo.RegionName, packet.Type);
+                        Name, SceneAgent.IsChildAgent ? "child" : "root ", Scene.Name, packet.Type);
             }
 
             if (!ProcessPacketMethod(packet))
-                m_log.Warn("[CLIENT]: unhandled packet " + packet.Type);
+                m_log.WarnFormat(
+                    "[CLIENT]: Unhandled packet {0} from {1} ({2}) in {3}.  Ignoring.",
+                    packet.Type, Name, SceneAgent.IsChildAgent ? "child" : "root ", Scene.Name);
         }
 
         private static PrimitiveBaseShape GetShapeFromAddPacket(ObjectAddPacket addPacket)
diff --git a/OpenSim/Region/ClientStack/Linden/UDP/OpenSimUDPBase.cs b/OpenSim/Region/ClientStack/Linden/UDP/OpenSimUDPBase.cs
index 2aeb4cc..7035e38 100644
--- a/OpenSim/Region/ClientStack/Linden/UDP/OpenSimUDPBase.cs
+++ b/OpenSim/Region/ClientStack/Linden/UDP/OpenSimUDPBase.cs
@@ -204,9 +204,12 @@ namespace OpenMetaverse
         {
             UDPPacketBuffer buf;
 
-            if (UsePools)
-                buf = Pool.GetObject();
-            else
+            // FIXME: Disabled for now as this causes issues with reused packet objects interfering with each other 
+            // on Windows with m_asyncPacketHandling = true, though this has not been seen on Linux.
+            // Possibly some unexpected issue with fetching UDP data concurrently with multiple threads.  Requires more investigation.
+//            if (UsePools)
+//                buf = Pool.GetObject();
+//            else
                 buf = new UDPPacketBuffer();
 
             if (IsRunningInbound)
@@ -287,8 +290,8 @@ namespace OpenMetaverse
                 catch (ObjectDisposedException) { }
                 finally
                 {
-                    if (UsePools)
-                        Pool.ReturnObject(buffer);
+//                    if (UsePools)
+//                        Pool.ReturnObject(buffer);
 
                     // Synchronous mode waits until the packet callback completes
                     // before starting the receive to fetch another packet
diff --git a/OpenSim/Region/ClientStack/Linden/UDP/Tests/LLImageManagerTests.cs b/OpenSim/Region/ClientStack/Linden/UDP/Tests/LLImageManagerTests.cs
index 5fcf376..7d9f581 100644
--- a/OpenSim/Region/ClientStack/Linden/UDP/Tests/LLImageManagerTests.cs
+++ b/OpenSim/Region/ClientStack/Linden/UDP/Tests/LLImageManagerTests.cs
@@ -43,7 +43,7 @@ using OpenSim.Tests.Common.Mock;
 namespace OpenSim.Region.ClientStack.LindenUDP.Tests
 {
     [TestFixture]
-    public class LLImageManagerTests
+    public class LLImageManagerTests : OpenSimTestCase
     {
         private AssetBase m_testImageAsset;
         private Scene scene;
diff --git a/OpenSim/Region/ClientStack/Linden/UDP/Tests/PacketHandlerTests.cs b/OpenSim/Region/ClientStack/Linden/UDP/Tests/PacketHandlerTests.cs
index 0f88ec6..5f73a94 100644
--- a/OpenSim/Region/ClientStack/Linden/UDP/Tests/PacketHandlerTests.cs
+++ b/OpenSim/Region/ClientStack/Linden/UDP/Tests/PacketHandlerTests.cs
@@ -39,7 +39,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP.Tests
     /// Tests for the LL packet handler
     /// </summary>
     [TestFixture]
-    public class PacketHandlerTests
+    public class PacketHandlerTests : OpenSimTestCase
     {
 //        [Test]
 //        /// <summary>
diff --git a/OpenSim/Region/CoreModules/Asset/Tests/FlotsamAssetCacheTests.cs b/OpenSim/Region/CoreModules/Asset/Tests/FlotsamAssetCacheTests.cs
index 1c2bfd0..fd02b08 100644
--- a/OpenSim/Region/CoreModules/Asset/Tests/FlotsamAssetCacheTests.cs
+++ b/OpenSim/Region/CoreModules/Asset/Tests/FlotsamAssetCacheTests.cs
@@ -47,14 +47,16 @@ namespace OpenSim.Region.CoreModules.Asset.Tests
     /// At the moment we're only test the in-memory part of the FlotsamAssetCache.  This is a considerable weakness.
     /// </summary>
     [TestFixture]
-    public class FlotsamAssetCacheTests
+    public class FlotsamAssetCacheTests : OpenSimTestCase
     {
         protected TestScene m_scene;
         protected FlotsamAssetCache m_cache;
 
         [SetUp]
-        public void SetUp()
+        public override void SetUp()
         {
+            base.SetUp();
+
             IConfigSource config = new IniConfigSource();
 
             config.AddConfig("Modules");
diff --git a/OpenSim/Region/CoreModules/Avatar/Attachments/AttachmentsModule.cs b/OpenSim/Region/CoreModules/Avatar/Attachments/AttachmentsModule.cs
index acd156e..6323160 100644
--- a/OpenSim/Region/CoreModules/Avatar/Attachments/AttachmentsModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/Attachments/AttachmentsModule.cs
@@ -722,15 +722,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments
 
             if (!silent)
             {
-                // Killing it here will cause the client to deselect it
-                // It then reappears on the avatar, deselected
-                // through the full update below
-                //
-                if (so.IsSelected)
-                {
-                    m_scene.SendKillObject(new List<uint> { so.RootPart.LocalId });
-                }
-                else if (so.HasPrivateAttachmentPoint)
+                if (so.HasPrivateAttachmentPoint)
                 {
 //                    m_log.DebugFormat(
 //                        "[ATTACHMENTS MODULE]: Killing private HUD {0} for avatars other than {1} at attachment point {2}",
@@ -745,7 +737,10 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments
                             });
                 }
 
-                so.IsSelected = false; // fudge....
+                // Fudge below is an extremely unhelpful comment.  It's probably here so that the scheduled full update
+                // will succeed, as that will not update if an attachment is selected.
+                so.IsSelected = false; // fudge.... 
+
                 so.ScheduleGroupForFullUpdate();
             }
 
diff --git a/OpenSim/Region/CoreModules/Avatar/AvatarFactory/AvatarFactoryModule.cs b/OpenSim/Region/CoreModules/Avatar/AvatarFactory/AvatarFactoryModule.cs
index 27cf204..cfc7e7e 100644
--- a/OpenSim/Region/CoreModules/Avatar/AvatarFactory/AvatarFactoryModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/AvatarFactory/AvatarFactoryModule.cs
@@ -322,6 +322,9 @@ namespace OpenSim.Region.CoreModules.Avatar.AvatarFactory
 
                 if (asset != null)
                 {
+                    // Replace an HG ID with the simple asset ID so that we can persist textures for foreign HG avatars
+                    asset.ID = asset.FullID.ToString();
+
                     asset.Temporary = false;
                     asset.Local = false;
                     m_scene.AssetService.Store(asset);
diff --git a/OpenSim/Region/CoreModules/Avatar/AvatarFactory/Tests/AvatarFactoryModuleTests.cs b/OpenSim/Region/CoreModules/Avatar/AvatarFactory/Tests/AvatarFactoryModuleTests.cs
index e21547c..f090e15 100644
--- a/OpenSim/Region/CoreModules/Avatar/AvatarFactory/Tests/AvatarFactoryModuleTests.cs
+++ b/OpenSim/Region/CoreModules/Avatar/AvatarFactory/Tests/AvatarFactoryModuleTests.cs
@@ -39,7 +39,7 @@ using OpenSim.Tests.Common.Mock;
 namespace OpenSim.Region.CoreModules.Avatar.AvatarFactory
 {
     [TestFixture]
-    public class AvatarFactoryModuleTests
+    public class AvatarFactoryModuleTests : OpenSimTestCase
     {
         /// <summary>
         /// Only partial right now since we don't yet test that it's ended up in the avatar appearance service.
diff --git a/OpenSim/Region/CoreModules/Avatar/Friends/Tests/FriendModuleTests.cs b/OpenSim/Region/CoreModules/Avatar/Friends/Tests/FriendModuleTests.cs
index 7a197f7..961117e 100644
--- a/OpenSim/Region/CoreModules/Avatar/Friends/Tests/FriendModuleTests.cs
+++ b/OpenSim/Region/CoreModules/Avatar/Friends/Tests/FriendModuleTests.cs
@@ -40,7 +40,7 @@ using OpenSim.Tests.Common.Mock;
 namespace OpenSim.Region.CoreModules.Avatar.Friends.Tests
 {
     [TestFixture]
-    public class FriendsModuleTests
+    public class FriendsModuleTests : OpenSimTestCase
     {
         private FriendsModule m_fm;
         private TestScene m_scene;
diff --git a/OpenSim/Region/CoreModules/Avatar/Groups/GroupsModule.cs b/OpenSim/Region/CoreModules/Avatar/Groups/GroupsModule.cs
index af54c1a..b735c61 100644
--- a/OpenSim/Region/CoreModules/Avatar/Groups/GroupsModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/Groups/GroupsModule.cs
@@ -81,7 +81,10 @@ namespace OpenSim.Region.CoreModules.Avatar.Groups
                 }
 
                 if (groupsConfig.GetString("Module", "Default") != "Default")
+                {
+                    m_Enabled = false;
                     return;
+                }
             }
 
         }
diff --git a/OpenSim/Region/CoreModules/Avatar/InstantMessage/MessageTransferModule.cs b/OpenSim/Region/CoreModules/Avatar/InstantMessage/MessageTransferModule.cs
index cc266df..1627f6c 100644
--- a/OpenSim/Region/CoreModules/Avatar/InstantMessage/MessageTransferModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/InstantMessage/MessageTransferModule.cs
@@ -153,7 +153,7 @@ namespace OpenSim.Region.CoreModules.Avatar.InstantMessage
                 if (sp != null && !sp.IsChildAgent)
                 {
                     // Local message
-                    m_log.DebugFormat("[INSTANT MESSAGE]: Delivering IM to root agent {0} {1}", sp.Name, toAgentID);
+//                    m_log.DebugFormat("[INSTANT MESSAGE]: Delivering IM to root agent {0} {1}", sp.Name, toAgentID);
 
                     sp.ControllingClient.SendInstantMessage(im);
 
@@ -166,14 +166,14 @@ namespace OpenSim.Region.CoreModules.Avatar.InstantMessage
             // try child avatar second
             foreach (Scene scene in m_Scenes)
             {
-                //m_log.DebugFormat(
-                //    "[INSTANT MESSAGE]: Looking for child of {0} in {1}", toAgentID, scene.RegionInfo.RegionName);
+//                m_log.DebugFormat(
+//                    "[INSTANT MESSAGE]: Looking for child of {0} in {1}", toAgentID, scene.RegionInfo.RegionName);
 
                 ScenePresence sp = scene.GetScenePresence(toAgentID);
                 if (sp != null)
                 {
                     // Local message
-                    m_log.DebugFormat("[INSTANT MESSAGE]: Delivering IM to child agent {0} {1}", sp.Name, toAgentID);
+//                    m_log.DebugFormat("[INSTANT MESSAGE]: Delivering IM to child agent {0} {1}", sp.Name, toAgentID);
 
                     sp.ControllingClient.SendInstantMessage(im);
 
@@ -183,7 +183,7 @@ namespace OpenSim.Region.CoreModules.Avatar.InstantMessage
                 }
             }
 
-            m_log.DebugFormat("[INSTANT MESSAGE]: Delivering IM to {0} via XMLRPC", im.toAgentID);
+//            m_log.DebugFormat("[INSTANT MESSAGE]: Delivering IM to {0} via XMLRPC", im.toAgentID);
 
             SendGridInstantMessageViaXMLRPC(im, result);
         }
diff --git a/OpenSim/Region/CoreModules/Avatar/InstantMessage/OfflineMessageModule.cs b/OpenSim/Region/CoreModules/Avatar/InstantMessage/OfflineMessageModule.cs
index 3a44cc5..2d46276 100644
--- a/OpenSim/Region/CoreModules/Avatar/InstantMessage/OfflineMessageModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/InstantMessage/OfflineMessageModule.cs
@@ -189,20 +189,24 @@ namespace OpenSim.Region.CoreModules.Avatar.InstantMessage
                 {
                     foreach (GridInstantMessage im in msglist)
                     {
-                        // client.SendInstantMessage(im);
-
-                        // Send through scene event manager so all modules get a chance
-                        // to look at this message before it gets delivered.
-                        //
-                        // Needed for proper state management for stored group
-                        // invitations
-                        //
-
-                        im.offline = 1;
-
-                        Scene s = FindScene(client.AgentId);
-                        if (s != null)
-                            s.EventManager.TriggerIncomingInstantMessage(im);
+                        if (im.dialog == (byte)InstantMessageDialog.InventoryOffered)
+                            // send it directly or else the item will be given twice
+                            client.SendInstantMessage(im);
+                        else
+                        {
+                            // Send through scene event manager so all modules get a chance
+                            // to look at this message before it gets delivered.
+                            //
+                            // Needed for proper state management for stored group
+                            // invitations
+                            //
+
+                            im.offline = 1;
+
+                            Scene s = FindScene(client.AgentId);
+                            if (s != null)
+                                s.EventManager.TriggerIncomingInstantMessage(im);
+                        }
                     }
                 }
             }
diff --git a/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/InventoryArchiveWriteRequest.cs b/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/InventoryArchiveWriteRequest.cs
index d0e88f6..4c85637 100644
--- a/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/InventoryArchiveWriteRequest.cs
+++ b/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/InventoryArchiveWriteRequest.cs
@@ -124,7 +124,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Archiver
             SaveAssets = true;
         }
 
-        protected void ReceivedAllAssets(ICollection<UUID> assetsFoundUuids, ICollection<UUID> assetsNotFoundUuids)
+        protected void ReceivedAllAssets(ICollection<UUID> assetsFoundUuids, ICollection<UUID> assetsNotFoundUuids, bool timedOut)
         {
             Exception reportedException = null;
             bool succeeded = true;
@@ -143,6 +143,12 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Archiver
                 m_saveStream.Close();
             }
 
+            if (timedOut)
+            {
+                succeeded = false;
+                reportedException = new Exception("Loading assets timed out");
+            }
+
             m_module.TriggerInventoryArchiveSaved(
                 m_id, succeeded, m_userInfo, m_invPath, m_saveStream, reportedException);
         }
@@ -350,7 +356,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Archiver
                 {
                     m_log.DebugFormat("[INVENTORY ARCHIVER]: Not saving assets since --noassets was specified");
 
-                    ReceivedAllAssets(new List<UUID>(), new List<UUID>());
+                    ReceivedAllAssets(new List<UUID>(), new List<UUID>(), false);
                 }
             }
             catch (Exception)
diff --git a/OpenSim/Region/CoreModules/Avatar/Inventory/Transfer/InventoryTransferModule.cs b/OpenSim/Region/CoreModules/Avatar/Inventory/Transfer/InventoryTransferModule.cs
index 4cfa33d..ae58dfd 100644
--- a/OpenSim/Region/CoreModules/Avatar/Inventory/Transfer/InventoryTransferModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/Inventory/Transfer/InventoryTransferModule.cs
@@ -316,76 +316,74 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Transfer
                 }
             }
 
-            // Disabled for now as it looks like http://opensimulator.org/mantis/view.php?id=6311 was fixed by fixes
-            // to inventory folder versioning allowing the viewer to move the received folder itself as happens on the 
-            // LL grid.  Doing it again server-side then wrongly does a second create and move
-//            // XXX: This code was placed here to try and accomdate RLV which moves given folders named #RLV/~<name>
-//            // to a folder called name in #RLV.  However, this approach may not be ultimately correct - from analysis
-//            // of Firestorm 4.2.2 on sending an InventoryOffered instead of TaskInventoryOffered (as was previously
-//            // done), the viewer itself would appear to move and rename the folder, rather than the simulator doing it here.
-//            else if (im.dialog == (byte) InstantMessageDialog.TaskInventoryAccepted)
-//            {
-//                UUID destinationFolderID = UUID.Zero;
-//
-//                if (im.binaryBucket != null && im.binaryBucket.Length >= 16)
-//                {
-//                    destinationFolderID = new UUID(im.binaryBucket, 0);
-//                }
-//
-//                if (destinationFolderID != UUID.Zero)
-//                {
-//                    InventoryFolderBase destinationFolder = new InventoryFolderBase(destinationFolderID, client.AgentId);
-//                    if (destinationFolder == null)
-//                    {
-//                        m_log.WarnFormat(
-//                            "[INVENTORY TRANSFER]: TaskInventoryAccepted message from {0} in {1} specified folder {2} which does not exist",
-//                            client.Name, scene.Name, destinationFolderID);
-//
-//                        return;
-//                    }
-//
-//                    IInventoryService invService = scene.InventoryService;
-//
-//                    UUID inventoryID = new UUID(im.imSessionID); // The inventory item/folder, back from it's trip
-//
-//                    InventoryItemBase item = new InventoryItemBase(inventoryID, client.AgentId);
-//                    item = invService.GetItem(item);
-//                    InventoryFolderBase folder = null;
-//                    UUID? previousParentFolderID = null;
-//
-//                    if (item != null) // It's an item
-//                    {
-//                        previousParentFolderID = item.Folder;
-//                        item.Folder = destinationFolderID;
-//
-//                        invService.DeleteItems(item.Owner, new List<UUID>() { item.ID });
-//                        scene.AddInventoryItem(client, item);
-//                    }
-//                    else
-//                    {
-//                        folder = new InventoryFolderBase(inventoryID, client.AgentId);
-//                        folder = invService.GetFolder(folder);
-//
-//                        if (folder != null) // It's a folder
-//                        {
-//                            previousParentFolderID = folder.ParentID;
-//                            folder.ParentID = destinationFolderID;
-//                            invService.MoveFolder(folder);
-//                        }
-//                    }
-//
-//                    // Tell client about updates to original parent and new parent (this should probably be factored with existing move item/folder code).
-//                    if (previousParentFolderID != null)
-//                    {
-//                        InventoryFolderBase previousParentFolder
-//                            = new InventoryFolderBase((UUID)previousParentFolderID, client.AgentId);
-//                        previousParentFolder = invService.GetFolder(previousParentFolder);
-//                        scene.SendInventoryUpdate(client, previousParentFolder, true, true);
-//
-//                        scene.SendInventoryUpdate(client, destinationFolder, true, true);
-//                    }
-//                }
-//            }
+            // XXX: This code was placed here to try and accomodate RLV which moves given folders named #RLV/~<name>
+            // to the requested folder, which in this case is #RLV.  However, it is the viewer that appears to be 
+            // response from renaming the #RLV/~example folder to ~example.  For some reason this is not yet 
+            // happening, possibly because we are not sending the correct inventory update messages with the correct
+            // transaction IDs
+            else if (im.dialog == (byte) InstantMessageDialog.TaskInventoryAccepted)
+            {
+                UUID destinationFolderID = UUID.Zero;
+
+                if (im.binaryBucket != null && im.binaryBucket.Length >= 16)
+                {
+                    destinationFolderID = new UUID(im.binaryBucket, 0);
+                }
+
+                if (destinationFolderID != UUID.Zero)
+                {
+                    InventoryFolderBase destinationFolder = new InventoryFolderBase(destinationFolderID, client.AgentId);
+                    if (destinationFolder == null)
+                    {
+                        m_log.WarnFormat(
+                            "[INVENTORY TRANSFER]: TaskInventoryAccepted message from {0} in {1} specified folder {2} which does not exist",
+                            client.Name, scene.Name, destinationFolderID);
+
+                        return;
+                    }
+
+                    IInventoryService invService = scene.InventoryService;
+
+                    UUID inventoryID = new UUID(im.imSessionID); // The inventory item/folder, back from it's trip
+
+                    InventoryItemBase item = new InventoryItemBase(inventoryID, client.AgentId);
+                    item = invService.GetItem(item);
+                    InventoryFolderBase folder = null;
+                    UUID? previousParentFolderID = null;
+
+                    if (item != null) // It's an item
+                    {
+                        previousParentFolderID = item.Folder;
+                        item.Folder = destinationFolderID;
+
+                        invService.DeleteItems(item.Owner, new List<UUID>() { item.ID });
+                        scene.AddInventoryItem(client, item);
+                    }
+                    else
+                    {
+                        folder = new InventoryFolderBase(inventoryID, client.AgentId);
+                        folder = invService.GetFolder(folder);
+
+                        if (folder != null) // It's a folder
+                        {
+                            previousParentFolderID = folder.ParentID;
+                            folder.ParentID = destinationFolderID;
+                            invService.MoveFolder(folder);
+                        }
+                    }
+
+                    // Tell client about updates to original parent and new parent (this should probably be factored with existing move item/folder code).
+                    if (previousParentFolderID != null)
+                    {
+                        InventoryFolderBase previousParentFolder
+                            = new InventoryFolderBase((UUID)previousParentFolderID, client.AgentId);
+                        previousParentFolder = invService.GetFolder(previousParentFolder);
+                        scene.SendInventoryUpdate(client, previousParentFolder, true, true);
+
+                        scene.SendInventoryUpdate(client, destinationFolder, true, true);
+                    }
+                }
+            }
             else if (
                 im.dialog == (byte)InstantMessageDialog.InventoryDeclined
                 || im.dialog == (byte)InstantMessageDialog.TaskInventoryDeclined)
diff --git a/OpenSim/Region/CoreModules/Framework/InventoryAccess/HGAssetMapper.cs b/OpenSim/Region/CoreModules/Framework/InventoryAccess/HGAssetMapper.cs
index f8ec6de..7871eda 100644
--- a/OpenSim/Region/CoreModules/Framework/InventoryAccess/HGAssetMapper.cs
+++ b/OpenSim/Region/CoreModules/Framework/InventoryAccess/HGAssetMapper.cs
@@ -71,7 +71,7 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
 
         #region Internal functions
 
-        public AssetMetadata FetchMetadata(string url, UUID assetID)
+        private AssetMetadata FetchMetadata(string url, UUID assetID)
         {
             if (!url.EndsWith("/") && !url.EndsWith("="))
                 url = url + "/";
@@ -86,6 +86,27 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
             return meta;
         }
 
+        private AssetBase FetchAsset(string url, UUID assetID)
+        {
+            // Test if it's already here
+            AssetBase asset = m_scene.AssetService.Get(assetID.ToString());
+            if (asset == null)
+            {
+                if (!url.EndsWith("/") && !url.EndsWith("="))
+                    url = url + "/";
+
+                asset = m_scene.AssetService.Get(url + assetID.ToString());
+
+                //if (asset != null)
+                //    m_log.DebugFormat("[HG ASSET MAPPER]: Fetched asset {0} of type {1} from {2} ", assetID, asset.Metadata.Type, url);
+                //else
+                //    m_log.DebugFormat("[HG ASSET MAPPER]: Unable to fetch asset {0} from {1} ", assetID, url);
+
+            }
+
+            return asset;
+        }
+
         public bool PostAsset(string url, AssetBase asset)
         {
             if (asset != null)
@@ -228,11 +249,22 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
             if (meta == null)
                 return;
 
-            // The act of gathering UUIDs downloads the assets from the remote server
+            // The act of gathering UUIDs downloads some assets from the remote server
+            // but not all...
             Dictionary<UUID, AssetType> ids = new Dictionary<UUID, AssetType>();
             HGUuidGatherer uuidGatherer = new HGUuidGatherer(m_scene.AssetService, userAssetURL);
             uuidGatherer.GatherAssetUuids(assetID, (AssetType)meta.Type, ids);
-
+            m_log.DebugFormat("[HG ASSET MAPPER]: Preparing to get {0} assets", ids.Count);
+            bool success = true;
+            foreach (UUID uuid in ids.Keys)
+                if (FetchAsset(userAssetURL, uuid) == null)
+                    success = false;
+
+            // maybe all pieces got here...
+            if (!success)
+                m_log.DebugFormat("[HG ASSET MAPPER]: Problems getting item {0} from asset server {1}", assetID, userAssetURL);
+            else
+                m_log.DebugFormat("[HG ASSET MAPPER]: Successfully got item {0} from asset server {1}", assetID, userAssetURL);
         }
 
 
diff --git a/OpenSim/Region/CoreModules/Framework/InventoryAccess/Tests/InventoryAccessModuleTests.cs b/OpenSim/Region/CoreModules/Framework/InventoryAccess/Tests/InventoryAccessModuleTests.cs
index 21d8bd7..ac25a93 100644
--- a/OpenSim/Region/CoreModules/Framework/InventoryAccess/Tests/InventoryAccessModuleTests.cs
+++ b/OpenSim/Region/CoreModules/Framework/InventoryAccess/Tests/InventoryAccessModuleTests.cs
@@ -49,7 +49,7 @@ using OpenSim.Tests.Common.Mock;
 namespace OpenSim.Region.CoreModules.Framework.InventoryAccess.Tests
 {
     [TestFixture]
-    public class InventoryAccessModuleTests
+    public class InventoryAccessModuleTests : OpenSimTestCase
     {      
         protected TestScene m_scene;
         protected BasicInventoryAccessModule m_iam;
@@ -57,8 +57,10 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess.Tests
         protected TestClient m_tc;
             
         [SetUp]
-        public void SetUp()
+        public override void SetUp()
         {
+            base.SetUp();
+
             m_iam = new BasicInventoryAccessModule();
 
             IConfigSource config = new IniConfigSource();
diff --git a/OpenSim/Region/CoreModules/Framework/UserManagement/UserManagementModule.cs b/OpenSim/Region/CoreModules/Framework/UserManagement/UserManagementModule.cs
index 86e7004..77e8b00 100644
--- a/OpenSim/Region/CoreModules/Framework/UserManagement/UserManagementModule.cs
+++ b/OpenSim/Region/CoreModules/Framework/UserManagement/UserManagementModule.cs
@@ -181,6 +181,7 @@ namespace OpenSim.Region.CoreModules.Framework.UserManagement
 
             m_log.DebugFormat("[USER MANAGEMENT MODULE]: HandleAvatarPickerRequest for {0}", query);
 
+            // searhc the user accounts service
             List<UserAccount> accs = m_Scenes[0].UserAccountService.GetUserAccounts(m_Scenes[0].RegionInfo.ScopeID, query);
 
             List<UserData> users = new List<UserData>();
@@ -196,6 +197,12 @@ namespace OpenSim.Region.CoreModules.Framework.UserManagement
                 }
             }
 
+            // search the local cache
+            foreach (UserData data in m_UserCache.Values)
+                if (users.Find(delegate(UserData d) { return d.Id == data.Id; }) == null &&
+                    (data.FirstName.StartsWith(query) || data.LastName.StartsWith(query)))
+                    users.Add(data);
+
             AddAdditionalUsers(avatarID, query, users);
 
             AvatarPickerReplyPacket replyPacket = (AvatarPickerReplyPacket)PacketPool.Instance.GetPacket(PacketType.AvatarPickerReply);
@@ -433,6 +440,9 @@ namespace OpenSim.Region.CoreModules.Framework.UserManagement
         public void AddUser(UUID uuid, string first, string last, string homeURL)
         {
             //m_log.DebugFormat("[USER MANAGEMENT MODULE]: Adding user with id {0}, first {1}, last {2}, url {3}", uuid, first, last, homeURL);
+            if (homeURL == string.Empty)
+                return;
+
             AddUser(uuid, homeURL + ";" + first + " " + last);
         }
 
diff --git a/OpenSim/Region/CoreModules/ServiceConnectorsOut/Presence/Tests/PresenceConnectorsTests.cs b/OpenSim/Region/CoreModules/ServiceConnectorsOut/Presence/Tests/PresenceConnectorsTests.cs
index 32e47f9..69bac82 100644
--- a/OpenSim/Region/CoreModules/ServiceConnectorsOut/Presence/Tests/PresenceConnectorsTests.cs
+++ b/OpenSim/Region/CoreModules/ServiceConnectorsOut/Presence/Tests/PresenceConnectorsTests.cs
@@ -35,7 +35,6 @@ using NUnit.Framework;
 using OpenMetaverse;
 using OpenSim.Framework;
 using Nini.Config;
-
 using OpenSim.Region.CoreModules.ServiceConnectorsOut.Presence;
 using OpenSim.Region.Framework.Scenes;
 using PresenceInfo = OpenSim.Services.Interfaces.PresenceInfo;
@@ -44,11 +43,14 @@ using OpenSim.Tests.Common;
 namespace OpenSim.Region.CoreModules.ServiceConnectorsOut.Presence.Tests
 {
     [TestFixture]
-    public class PresenceConnectorsTests
+    public class PresenceConnectorsTests : OpenSimTestCase
     {
         LocalPresenceServicesConnector m_LocalConnector;
-        private void SetUp()
+
+        public override void SetUp()
         {
+            base.SetUp();
+
             IConfigSource config = new IniConfigSource();
             config.AddConfig("Modules");
             config.AddConfig("PresenceService");
diff --git a/OpenSim/Region/CoreModules/World/Archiver/ArchiveReadRequest.cs b/OpenSim/Region/CoreModules/World/Archiver/ArchiveReadRequest.cs
index ade5e76..fcfdf7c 100644
--- a/OpenSim/Region/CoreModules/World/Archiver/ArchiveReadRequest.cs
+++ b/OpenSim/Region/CoreModules/World/Archiver/ArchiveReadRequest.cs
@@ -570,13 +570,22 @@ namespace OpenSim.Region.CoreModules.World.Archiver
                 
                 // Validate User and Group UUID's
 
-                if (!ResolveUserUuid(scene, parcel.OwnerID))
-                    parcel.OwnerID = m_rootScene.RegionInfo.EstateSettings.EstateOwner;
-
-                if (!ResolveGroupUuid(parcel.GroupID))
+                if (parcel.IsGroupOwned)
+                {
+                    if (!ResolveGroupUuid(parcel.GroupID))
+                    {
+                        parcel.OwnerID = m_rootScene.RegionInfo.EstateSettings.EstateOwner;
+                        parcel.GroupID = UUID.Zero;
+                        parcel.IsGroupOwned = false;
+                    }
+                }
+                else
                 {
-                    parcel.GroupID = UUID.Zero;
-                    parcel.IsGroupOwned = false;
+                    if (!ResolveUserUuid(scene, parcel.OwnerID))
+                        parcel.OwnerID = m_rootScene.RegionInfo.EstateSettings.EstateOwner;
+
+                    if (!ResolveGroupUuid(parcel.GroupID))
+                        parcel.GroupID = UUID.Zero;
                 }
 
                 List<LandAccessEntry> accessList = new List<LandAccessEntry>();
@@ -589,8 +598,8 @@ namespace OpenSim.Region.CoreModules.World.Archiver
                 parcel.ParcelAccessList = accessList;
 
 //                m_log.DebugFormat(
-//                    "[ARCHIVER]: Adding parcel {0}, local id {1}, area {2}", 
-//                    parcel.Name, parcel.LocalID, parcel.Area);
+//                    "[ARCHIVER]: Adding parcel {0}, local id {1}, owner {2}, group {3}, isGroupOwned {4}, area {5}", 
+//                    parcel.Name, parcel.LocalID, parcel.OwnerID, parcel.GroupID, parcel.IsGroupOwned, parcel.Area);
                 
                 landData.Add(parcel);
             }
@@ -613,13 +622,18 @@ namespace OpenSim.Region.CoreModules.World.Archiver
         /// <returns></returns>
         private bool ResolveUserUuid(Scene scene, UUID uuid)
         {
-            if (!m_validUserUuids.ContainsKey(uuid))
+            lock (m_validUserUuids)
             {
-                UserAccount account = scene.UserAccountService.GetUserAccount(scene.RegionInfo.ScopeID, uuid);
-                m_validUserUuids.Add(uuid, account != null);
-            }
+                if (!m_validUserUuids.ContainsKey(uuid))
+                {
+                    // Note: we call GetUserAccount() inside the lock because this UserID is likely
+                    // to occur many times, and we only want to query the users service once.
+                    UserAccount account = scene.UserAccountService.GetUserAccount(scene.RegionInfo.ScopeID, uuid);
+                    m_validUserUuids.Add(uuid, account != null);
+                }
 
-            return m_validUserUuids[uuid];
+                return m_validUserUuids[uuid];
+            }
         }
 
         /// <summary>
@@ -632,19 +646,26 @@ namespace OpenSim.Region.CoreModules.World.Archiver
             if (uuid == UUID.Zero)
                 return true;    // this means the object has no group
 
-            if (!m_validGroupUuids.ContainsKey(uuid))
+            lock (m_validGroupUuids)
             {
-                bool exists;
-                
-                if (m_groupsModule == null)
-                    exists = false;
-                else
-                    exists = (m_groupsModule.GetGroupRecord(uuid) != null);
+                if (!m_validGroupUuids.ContainsKey(uuid))
+                {
+                    bool exists;
+                    if (m_groupsModule == null)
+                    {
+                        exists = false;
+                    }
+                    else
+                    {
+                        // Note: we call GetGroupRecord() inside the lock because this GroupID is likely
+                        // to occur many times, and we only want to query the groups service once.
+                        exists = (m_groupsModule.GetGroupRecord(uuid) != null);
+                    }
+                    m_validGroupUuids.Add(uuid, exists);
+                }
 
-                m_validGroupUuids.Add(uuid, exists);
+                return m_validGroupUuids[uuid];
             }
-
-            return m_validGroupUuids[uuid];
         }
 
         /// Load an asset
diff --git a/OpenSim/Region/CoreModules/World/Archiver/ArchiveWriteRequest.cs b/OpenSim/Region/CoreModules/World/Archiver/ArchiveWriteRequest.cs
index d751b1c..367693d 100644
--- a/OpenSim/Region/CoreModules/World/Archiver/ArchiveWriteRequest.cs
+++ b/OpenSim/Region/CoreModules/World/Archiver/ArchiveWriteRequest.cs
@@ -167,7 +167,6 @@ namespace OpenSim.Region.CoreModules.World.Archiver
             }
             scenesGroup.CalcSceneLocations();
 
-
             m_archiveWriter = new TarArchiveWriter(m_saveStream);
 
             try
@@ -216,7 +215,6 @@ namespace OpenSim.Region.CoreModules.World.Archiver
             }
         }
 
-
         private void ArchiveOneRegion(Scene scene, string regionDir, Dictionary<UUID, AssetType> assetUuids)
         {
             m_log.InfoFormat("[ARCHIVER]: Writing region {0}", scene.RegionInfo.RegionName);
@@ -540,7 +538,6 @@ namespace OpenSim.Region.CoreModules.World.Archiver
             xtw.WriteElementString("size_in_meters", string.Format("{0},{1}", size.X, size.Y));
         }
 
-
         protected void Save(Scene scene, List<SceneObjectGroup> sceneObjects, string regionDir)
         {
             if (regionDir != string.Empty)
@@ -560,8 +557,8 @@ namespace OpenSim.Region.CoreModules.World.Archiver
             foreach (ILandObject lo in landObjects)
             {
                 LandData landData = lo.LandData;
-                string landDataPath = String.Format("{0}{1}{2}.xml",
-                    regionDir, ArchiveConstants.LANDDATA_PATH, landData.GlobalID.ToString());
+                string landDataPath 
+                    = String.Format("{0}{1}", regionDir, ArchiveConstants.CreateOarLandDataPath(landData));
                 m_archiveWriter.WriteFile(landDataPath, LandDataSerializer.Serialize(landData, m_options));
             }
 
@@ -590,21 +587,30 @@ namespace OpenSim.Region.CoreModules.World.Archiver
             }
         }
         
-        protected void ReceivedAllAssets(
-            ICollection<UUID> assetsFoundUuids, ICollection<UUID> assetsNotFoundUuids)
+        protected void ReceivedAllAssets(ICollection<UUID> assetsFoundUuids, ICollection<UUID> assetsNotFoundUuids, bool timedOut)
         {
-            foreach (UUID uuid in assetsNotFoundUuids)
+            string errorMessage;
+            
+            if (timedOut)
             {
-                m_log.DebugFormat("[ARCHIVER]: Could not find asset {0}", uuid);
+                errorMessage = "Loading assets timed out";
             }
+            else
+            {
+                foreach (UUID uuid in assetsNotFoundUuids)
+                {
+                    m_log.DebugFormat("[ARCHIVER]: Could not find asset {0}", uuid);
+                }
 
-            //            m_log.InfoFormat(
-            //                "[ARCHIVER]: Received {0} of {1} assets requested",
-            //                assetsFoundUuids.Count, assetsFoundUuids.Count + assetsNotFoundUuids.Count);
+                //            m_log.InfoFormat(
+                //                "[ARCHIVER]: Received {0} of {1} assets requested",
+                //                assetsFoundUuids.Count, assetsFoundUuids.Count + assetsNotFoundUuids.Count);
 
-            CloseArchive(String.Empty);
+                errorMessage = String.Empty;
+            }
+            
+            CloseArchive(errorMessage);
         }
-
         
         /// <summary>
         /// Closes the archive and notifies that we're done.
@@ -629,6 +635,5 @@ namespace OpenSim.Region.CoreModules.World.Archiver
 
             m_rootScene.EventManager.TriggerOarFileSaved(m_requestId, errorMessage);
         }
-
     }
 }
diff --git a/OpenSim/Region/CoreModules/World/Archiver/AssetsArchiver.cs b/OpenSim/Region/CoreModules/World/Archiver/AssetsArchiver.cs
index 95d109c..c1ff94d 100644
--- a/OpenSim/Region/CoreModules/World/Archiver/AssetsArchiver.cs
+++ b/OpenSim/Region/CoreModules/World/Archiver/AssetsArchiver.cs
@@ -150,12 +150,5 @@ namespace OpenSim.Region.CoreModules.World.Archiver
                 m_log.InfoFormat("[ARCHIVER]: Added {0} assets to archive", m_assetsWritten);
         }
 
-        /// <summary>
-        /// Only call this if you need to force a close on the underlying writer.
-        /// </summary>
-        public void ForceClose()
-        {
-            m_archiveWriter.Close();
-        }
     }
 }
diff --git a/OpenSim/Region/CoreModules/World/Archiver/AssetsRequest.cs b/OpenSim/Region/CoreModules/World/Archiver/AssetsRequest.cs
index e2f8833..715bf51 100644
--- a/OpenSim/Region/CoreModules/World/Archiver/AssetsRequest.cs
+++ b/OpenSim/Region/CoreModules/World/Archiver/AssetsRequest.cs
@@ -50,7 +50,7 @@ namespace OpenSim.Region.CoreModules.World.Archiver
         /// Method called when all the necessary assets for an archive request have been received.
         /// </summary>
         public delegate void AssetsRequestCallback(
-            ICollection<UUID> assetsFoundUuids, ICollection<UUID> assetsNotFoundUuids);
+            ICollection<UUID> assetsFoundUuids, ICollection<UUID> assetsNotFoundUuids, bool timedOut);
 
         enum RequestState
         {
@@ -148,7 +148,7 @@ namespace OpenSim.Region.CoreModules.World.Archiver
             if (m_repliesRequired == 0)
             {
                 m_requestState = RequestState.Completed;
-                PerformAssetsRequestCallback(null);
+                PerformAssetsRequestCallback(false);
                 return;
             }
 
@@ -164,7 +164,7 @@ namespace OpenSim.Region.CoreModules.World.Archiver
 
         protected void OnRequestCallbackTimeout(object source, ElapsedEventArgs args)
         {
-            bool close = true;
+            bool timedOut = true;
 
             try
             {
@@ -174,7 +174,7 @@ namespace OpenSim.Region.CoreModules.World.Archiver
                     // the final request came in (assuming that such a thing is possible)
                     if (m_requestState == RequestState.Completed)
                     {
-                        close = false;
+                        timedOut = false;
                         return;
                     }
                     
@@ -223,8 +223,8 @@ namespace OpenSim.Region.CoreModules.World.Archiver
             }
             finally
             {
-                if (close)
-                    m_assetsArchiver.ForceClose();
+                if (timedOut)
+                    Util.FireAndForget(PerformAssetsRequestCallback, true);
             }
         }
 
@@ -290,7 +290,7 @@ namespace OpenSim.Region.CoreModules.World.Archiver
                         
                         // We want to stop using the asset cache thread asap 
                         // as we now need to do the work of producing the rest of the archive
-                        Util.FireAndForget(PerformAssetsRequestCallback);
+                        Util.FireAndForget(PerformAssetsRequestCallback, false);
                     }
                     else
                     {
@@ -311,9 +311,11 @@ namespace OpenSim.Region.CoreModules.World.Archiver
         {
             Culture.SetCurrentCulture();
 
+            Boolean timedOut = (Boolean)o;
+
             try
             {
-                m_assetsRequestCallback(m_foundAssetUuids, m_notFoundAssetUuids);
+                m_assetsRequestCallback(m_foundAssetUuids, m_notFoundAssetUuids, timedOut);
             }
             catch (Exception e)
             {
diff --git a/OpenSim/Region/CoreModules/World/Archiver/Tests/ArchiverTests.cs b/OpenSim/Region/CoreModules/World/Archiver/Tests/ArchiverTests.cs
index 82f49b0..eec1cec 100644
--- a/OpenSim/Region/CoreModules/World/Archiver/Tests/ArchiverTests.cs
+++ b/OpenSim/Region/CoreModules/World/Archiver/Tests/ArchiverTests.cs
@@ -31,16 +31,19 @@ using System.IO;
 using System.Reflection;
 using System.Threading;
 using log4net.Config;
+using Nini.Config;
 using NUnit.Framework;
 using OpenMetaverse;
 using OpenMetaverse.Assets;
 using OpenSim.Framework;
 using OpenSim.Framework.Serialization;
 using OpenSim.Framework.Serialization.External;
+using OpenSim.Region.CoreModules.World.Land;
 using OpenSim.Region.CoreModules.World.Serialiser;
 using OpenSim.Region.CoreModules.World.Terrain;
 using OpenSim.Region.Framework.Scenes;
 using OpenSim.Region.Framework.Scenes.Serialization;
+using OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups;
 using OpenSim.Tests.Common;
 using OpenSim.Tests.Common.Mock;
 using ArchiveConstants = OpenSim.Framework.Serialization.ArchiveConstants;
@@ -69,9 +72,6 @@ namespace OpenSim.Region.CoreModules.World.Archiver.Tests
         {
             base.SetUp();
 
-            // FIXME: Do something about this - relying on statics in unit tests causes trouble sooner or later
-            new SceneManager();
-
             m_archiverModule = new ArchiverModule();
             m_serialiserModule = new SerialiserModule();
             TerrainModule terrainModule = new TerrainModule();
@@ -127,6 +127,53 @@ namespace OpenSim.Region.CoreModules.World.Archiver.Tests
 
             return new SceneObjectPart(ownerId, shape, groupPosition, rotationOffset, offsetPosition) { Name = partName };
         }
+       
+        private void CreateTestObjects(Scene scene, out SceneObjectGroup sog1, out SceneObjectGroup sog2, out UUID ncAssetUuid)
+        {
+            SceneObjectPart part1 = CreateSceneObjectPart1();
+            sog1 = new SceneObjectGroup(part1);
+            scene.AddNewSceneObject(sog1, false);
+
+            AssetNotecard nc = new AssetNotecard();
+            nc.BodyText = "Hello World!";
+            nc.Encode();
+            ncAssetUuid = UUID.Random();
+            UUID ncItemUuid = UUID.Random();
+            AssetBase ncAsset
+                = AssetHelpers.CreateAsset(ncAssetUuid, AssetType.Notecard, nc.AssetData, UUID.Zero);
+            m_scene.AssetService.Store(ncAsset);
+
+            TaskInventoryItem ncItem
+                = new TaskInventoryItem { Name = "ncItem", AssetID = ncAssetUuid, ItemID = ncItemUuid };
+            SceneObjectPart part2 = CreateSceneObjectPart2();
+            sog2 = new SceneObjectGroup(part2);
+            part2.Inventory.AddInventoryItem(ncItem, true);
+
+            scene.AddNewSceneObject(sog2, false);
+        }
+
+        private static void CreateSoundAsset(TarArchiveWriter tar, Assembly assembly, string soundDataResourceName, out byte[] soundData, out UUID soundUuid)
+        {
+            using (Stream resource = assembly.GetManifestResourceStream(soundDataResourceName))
+            {
+                using (BinaryReader br = new BinaryReader(resource))
+                {
+                    // FIXME: Use the inspector instead
+                    soundData = br.ReadBytes(99999999);
+                    soundUuid = UUID.Parse("00000000-0000-0000-0000-000000000001");
+                    string soundAssetFileName
+                       = ArchiveConstants.ASSETS_PATH + soundUuid
+                            + ArchiveConstants.ASSET_TYPE_TO_EXTENSION[(sbyte)AssetType.SoundWAV];
+                    tar.WriteFile(soundAssetFileName, soundData);
+
+                    /*
+                    AssetBase soundAsset = AssetHelpers.CreateAsset(soundUuid, soundData);
+                    scene.AssetService.Store(soundAsset);
+                    asset1FileName = ArchiveConstants.ASSETS_PATH + soundUuid + ".wav";
+                    */
+                }
+            }
+        }
 
         /// <summary>
         /// Test saving an OpenSim Region Archive.
@@ -204,30 +251,6 @@ namespace OpenSim.Region.CoreModules.World.Archiver.Tests
             // TODO: Test presence of more files and contents of files.
         }
 
-        private void CreateTestObjects(Scene scene, out SceneObjectGroup sog1, out SceneObjectGroup sog2, out UUID ncAssetUuid)
-        {
-            SceneObjectPart part1 = CreateSceneObjectPart1();
-            sog1 = new SceneObjectGroup(part1);
-            scene.AddNewSceneObject(sog1, false);
-
-            AssetNotecard nc = new AssetNotecard();
-            nc.BodyText = "Hello World!";
-            nc.Encode();
-            ncAssetUuid = UUID.Random();
-            UUID ncItemUuid = UUID.Random();
-            AssetBase ncAsset
-                = AssetHelpers.CreateAsset(ncAssetUuid, AssetType.Notecard, nc.AssetData, UUID.Zero);
-            m_scene.AssetService.Store(ncAsset);
-
-            TaskInventoryItem ncItem
-                = new TaskInventoryItem { Name = "ncItem", AssetID = ncAssetUuid, ItemID = ncItemUuid };
-            SceneObjectPart part2 = CreateSceneObjectPart2();
-            sog2 = new SceneObjectGroup(part2);
-            part2.Inventory.AddInventoryItem(ncItem, true);
-
-            scene.AddNewSceneObject(sog2, false);
-        }
-
         /// <summary>
         /// Test saving an OpenSim Region Archive with the no assets option
         /// </summary>
@@ -309,59 +332,6 @@ namespace OpenSim.Region.CoreModules.World.Archiver.Tests
         }
 
         /// <summary>
-        /// Test loading an OpenSim Region Archive where the scene object parts are not ordered by link number (e.g.
-        /// 2 can come after 3).
-        /// </summary>
-        [Test]
-        public void TestLoadOarUnorderedParts()
-        {
-            TestHelpers.InMethod();
-
-            UUID ownerId = TestHelpers.ParseTail(0xaaaa);
-
-            MemoryStream archiveWriteStream = new MemoryStream();
-            TarArchiveWriter tar = new TarArchiveWriter(archiveWriteStream);
-
-            tar.WriteFile(
-                ArchiveConstants.CONTROL_FILE_PATH,
-                new ArchiveWriteRequest(m_scene, (Stream)null, Guid.Empty).CreateControlFile(new ArchiveScenesGroup()));
-
-            SceneObjectGroup sog1 = SceneHelpers.CreateSceneObject(1, ownerId, "obj1-", 0x11);
-            SceneObjectPart sop2
-                = SceneHelpers.CreateSceneObjectPart("obj1-Part2", TestHelpers.ParseTail(0x12), ownerId);
-            SceneObjectPart sop3
-                = SceneHelpers.CreateSceneObjectPart("obj1-Part3", TestHelpers.ParseTail(0x13), ownerId);
-
-            // Add the parts so they will be written out in reverse order to the oar
-            sog1.AddPart(sop3);
-            sop3.LinkNum = 3;
-            sog1.AddPart(sop2);
-            sop2.LinkNum = 2;
-
-            tar.WriteFile(
-                ArchiveConstants.CreateOarObjectPath(sog1.Name, sog1.UUID, sog1.AbsolutePosition),
-                SceneObjectSerializer.ToXml2Format(sog1));
-
-            tar.Close();
-
-            MemoryStream archiveReadStream = new MemoryStream(archiveWriteStream.ToArray());
-
-            lock (this)
-            {
-                m_scene.EventManager.OnOarFileLoaded += LoadCompleted;
-                m_archiverModule.DearchiveRegion(archiveReadStream);
-            }
-
-            Assert.That(m_lastErrorMessage, Is.Null);
-
-            SceneObjectPart part2 = m_scene.GetSceneObjectPart("obj1-Part2");
-            Assert.That(part2.LinkNum, Is.EqualTo(2));
-
-            SceneObjectPart part3 = m_scene.GetSceneObjectPart("obj1-Part3");
-            Assert.That(part3.LinkNum, Is.EqualTo(3));
-        }
-
-        /// <summary>
         /// Test loading an OpenSim Region Archive.
         /// </summary>
         [Test]
@@ -435,50 +405,57 @@ namespace OpenSim.Region.CoreModules.World.Archiver.Tests
             TestLoadedRegion(part1, soundItemName, soundData);
         }
 
-        private static void CreateSoundAsset(TarArchiveWriter tar, Assembly assembly, string soundDataResourceName, out byte[] soundData, out UUID soundUuid)
+        /// <summary>
+        /// Test loading an OpenSim Region Archive where the scene object parts are not ordered by link number (e.g.
+        /// 2 can come after 3).
+        /// </summary>
+        [Test]
+        public void TestLoadOarUnorderedParts()
         {
-            using (Stream resource = assembly.GetManifestResourceStream(soundDataResourceName))
-            {
-                using (BinaryReader br = new BinaryReader(resource))
-                {
-                    // FIXME: Use the inspector instead
-                    soundData = br.ReadBytes(99999999);
-                    soundUuid = UUID.Parse("00000000-0000-0000-0000-000000000001");
-                    string soundAssetFileName
-                       = ArchiveConstants.ASSETS_PATH + soundUuid
-                            + ArchiveConstants.ASSET_TYPE_TO_EXTENSION[(sbyte)AssetType.SoundWAV];
-                    tar.WriteFile(soundAssetFileName, soundData);
+            TestHelpers.InMethod();
 
-                    /*
-                    AssetBase soundAsset = AssetHelpers.CreateAsset(soundUuid, soundData);
-                    scene.AssetService.Store(soundAsset);
-                    asset1FileName = ArchiveConstants.ASSETS_PATH + soundUuid + ".wav";
-                    */
-                }
-            }
-        }
+            UUID ownerId = TestHelpers.ParseTail(0xaaaa);
 
-        private void TestLoadedRegion(SceneObjectPart part1, string soundItemName, byte[] soundData)
-        {
-            SceneObjectPart object1PartLoaded = m_scene.GetSceneObjectPart(part1.Name);
+            MemoryStream archiveWriteStream = new MemoryStream();
+            TarArchiveWriter tar = new TarArchiveWriter(archiveWriteStream);
 
-            Assert.That(object1PartLoaded, Is.Not.Null, "object1 was not loaded");
-            Assert.That(object1PartLoaded.Name, Is.EqualTo(part1.Name), "object1 names not identical");
-            Assert.That(object1PartLoaded.GroupPosition, Is.EqualTo(part1.GroupPosition), "object1 group position not equal");
-            Assert.That(
-                object1PartLoaded.RotationOffset, Is.EqualTo(part1.RotationOffset), "object1 rotation offset not equal");
-            Assert.That(
-                object1PartLoaded.OffsetPosition, Is.EqualTo(part1.OffsetPosition), "object1 offset position not equal");
-            Assert.That(object1PartLoaded.SitTargetOrientation, Is.EqualTo(part1.SitTargetOrientation));
-            Assert.That(object1PartLoaded.SitTargetPosition, Is.EqualTo(part1.SitTargetPosition));
+            tar.WriteFile(
+                ArchiveConstants.CONTROL_FILE_PATH,
+                new ArchiveWriteRequest(m_scene, (Stream)null, Guid.Empty).CreateControlFile(new ArchiveScenesGroup()));
 
-            TaskInventoryItem loadedSoundItem = object1PartLoaded.Inventory.GetInventoryItems(soundItemName)[0];
-            Assert.That(loadedSoundItem, Is.Not.Null, "loaded sound item was null");
-            AssetBase loadedSoundAsset = m_scene.AssetService.Get(loadedSoundItem.AssetID.ToString());
-            Assert.That(loadedSoundAsset, Is.Not.Null, "loaded sound asset was null");
-            Assert.That(loadedSoundAsset.Data, Is.EqualTo(soundData), "saved and loaded sound data do not match");
+            SceneObjectGroup sog1 = SceneHelpers.CreateSceneObject(1, ownerId, "obj1-", 0x11);
+            SceneObjectPart sop2
+                = SceneHelpers.CreateSceneObjectPart("obj1-Part2", TestHelpers.ParseTail(0x12), ownerId);
+            SceneObjectPart sop3
+                = SceneHelpers.CreateSceneObjectPart("obj1-Part3", TestHelpers.ParseTail(0x13), ownerId);
 
-            Assert.Greater(m_scene.LandChannel.AllParcels().Count, 0, "incorrect number of parcels");
+            // Add the parts so they will be written out in reverse order to the oar
+            sog1.AddPart(sop3);
+            sop3.LinkNum = 3;
+            sog1.AddPart(sop2);
+            sop2.LinkNum = 2;
+
+            tar.WriteFile(
+                ArchiveConstants.CreateOarObjectPath(sog1.Name, sog1.UUID, sog1.AbsolutePosition),
+                SceneObjectSerializer.ToXml2Format(sog1));
+
+            tar.Close();
+
+            MemoryStream archiveReadStream = new MemoryStream(archiveWriteStream.ToArray());
+
+            lock (this)
+            {
+                m_scene.EventManager.OnOarFileLoaded += LoadCompleted;
+                m_archiverModule.DearchiveRegion(archiveReadStream);
+            }
+
+            Assert.That(m_lastErrorMessage, Is.Null);
+
+            SceneObjectPart part2 = m_scene.GetSceneObjectPart("obj1-Part2");
+            Assert.That(part2.LinkNum, Is.EqualTo(2));
+
+            SceneObjectPart part3 = m_scene.GetSceneObjectPart("obj1-Part3");
+            Assert.That(part3.LinkNum, Is.EqualTo(3));
         }
 
         /// <summary>
@@ -538,8 +515,8 @@ namespace OpenSim.Region.CoreModules.World.Archiver.Tests
                 SerialiserModule serialiserModule = new SerialiserModule();
                 TerrainModule terrainModule = new TerrainModule();
 
-                m_sceneHelpers = new SceneHelpers();
-                TestScene scene2 = m_sceneHelpers.SetupScene();
+                SceneHelpers m_sceneHelpers2 = new SceneHelpers();
+                TestScene scene2 = m_sceneHelpers2.SetupScene();
                 SceneHelpers.SetupSceneModules(scene2, archiverModule, serialiserModule, terrainModule);
 
                 // Make sure there's a valid owner for the owner we saved (this should have been wiped if the code is
@@ -563,6 +540,71 @@ namespace OpenSim.Region.CoreModules.World.Archiver.Tests
         }
 
         /// <summary>
+        /// Test OAR loading where the land parcel is group deeded.
+        /// </summary>
+        /// <remarks>
+        /// In this situation, the owner ID is set to the group ID.
+        /// </remarks>
+        [Test]
+        public void TestLoadOarDeededLand()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
+
+            UUID landID = TestHelpers.ParseTail(0x10);
+
+            MockGroupsServicesConnector groupsService = new MockGroupsServicesConnector();
+
+            IConfigSource configSource = new IniConfigSource();
+            IConfig config = configSource.AddConfig("Groups");            
+            config.Set("Enabled", true);
+            config.Set("Module", "GroupsModule");            
+            config.Set("DebugEnabled", true);
+            SceneHelpers.SetupSceneModules(
+                m_scene, configSource, new object[] { new GroupsModule(), groupsService, new LandManagementModule() });
+
+            // Create group in scene for loading
+            // FIXME: For now we'll put up with the issue that we'll get a group ID that varies across tests.
+            UUID groupID 
+                = groupsService.CreateGroup(UUID.Zero, "group1", "", true, UUID.Zero, 3, true, true, true, UUID.Zero);
+
+            // Construct OAR
+            MemoryStream oarStream = new MemoryStream();
+            TarArchiveWriter tar = new TarArchiveWriter(oarStream);
+
+            tar.WriteDir(ArchiveConstants.LANDDATA_PATH);
+            tar.WriteFile(
+                ArchiveConstants.CONTROL_FILE_PATH,
+                new ArchiveWriteRequest(m_scene, (Stream)null, Guid.Empty).CreateControlFile(new ArchiveScenesGroup()));
+
+            LandObject lo = new LandObject(groupID, true, null);
+            lo.SetLandBitmap(lo.BasicFullRegionLandBitmap());
+            LandData ld = lo.LandData;
+            ld.GlobalID = landID;
+
+            string ldPath = ArchiveConstants.CreateOarLandDataPath(ld);
+            tar.WriteFile(ldPath, LandDataSerializer.Serialize(ld, null));
+            tar.Close();
+
+            oarStream = new MemoryStream(oarStream.ToArray());
+
+            // Load OAR
+            lock (this)
+            {
+                m_scene.EventManager.OnOarFileLoaded += LoadCompleted;
+                m_archiverModule.DearchiveRegion(oarStream);
+            }
+
+            ILandObject rLo = m_scene.LandChannel.GetLandObject(16, 16);
+            LandData rLd = rLo.LandData;
+
+            Assert.That(rLd.GlobalID, Is.EqualTo(landID));
+            Assert.That(rLd.OwnerID, Is.EqualTo(groupID));
+            Assert.That(rLd.GroupID, Is.EqualTo(groupID));
+            Assert.That(rLd.IsGroupOwned, Is.EqualTo(true));
+        }
+
+        /// <summary>
         /// Test loading the region settings of an OpenSim Region Archive.
         /// </summary>
         [Test]
@@ -781,9 +823,7 @@ namespace OpenSim.Region.CoreModules.World.Archiver.Tests
                 }
             }
 
-
             // Save OAR
-
             MemoryStream archiveWriteStream = new MemoryStream();
             m_scene.EventManager.OnOarFileSaved += SaveCompleted;
 
@@ -800,7 +840,6 @@ namespace OpenSim.Region.CoreModules.World.Archiver.Tests
 
 
             // Check that the OAR contains the expected data
-
             Assert.That(m_lastRequestId, Is.EqualTo(requestId));
 
             byte[] archive = archiveWriteStream.ToArray();
@@ -892,7 +931,7 @@ namespace OpenSim.Region.CoreModules.World.Archiver.Tests
             }
 
             ArchiveScenesGroup scenesGroup = new ArchiveScenesGroup();
-            SceneManager.Instance.ForEachScene(delegate(Scene scene)
+            m_sceneHelpers.SceneManager.ForEachScene(delegate(Scene scene)
             {
                 scenesGroup.AddScene(scene);
             });
@@ -950,13 +989,13 @@ namespace OpenSim.Region.CoreModules.World.Archiver.Tests
             
             // Delete the current objects, to test that they're loaded from the OAR and didn't
             // just remain in the scene.
-            SceneManager.Instance.ForEachScene(delegate(Scene scene)
+            m_sceneHelpers.SceneManager.ForEachScene(delegate(Scene scene)
             {
                 scene.DeleteAllSceneObjects();
             });
 
             // Create a "hole", to test that that the corresponding region isn't loaded from the OAR
-            SceneManager.Instance.CloseScene(SceneManager.Instance.Scenes[1]);
+            m_sceneHelpers.SceneManager.CloseScene(SceneManager.Instance.Scenes[1]);
 
 
             // Check thay the OAR file contains the expected data
@@ -971,10 +1010,32 @@ namespace OpenSim.Region.CoreModules.World.Archiver.Tests
 
             Assert.That(m_lastErrorMessage, Is.Null);
 
-            Assert.AreEqual(3, SceneManager.Instance.Scenes.Count);
+            Assert.AreEqual(3, m_sceneHelpers.SceneManager.Scenes.Count);
 
             TestLoadedRegion(part1, soundItemName, soundData);
         }
 
+        private void TestLoadedRegion(SceneObjectPart part1, string soundItemName, byte[] soundData)
+        {
+            SceneObjectPart object1PartLoaded = m_scene.GetSceneObjectPart(part1.Name);
+
+            Assert.That(object1PartLoaded, Is.Not.Null, "object1 was not loaded");
+            Assert.That(object1PartLoaded.Name, Is.EqualTo(part1.Name), "object1 names not identical");
+            Assert.That(object1PartLoaded.GroupPosition, Is.EqualTo(part1.GroupPosition), "object1 group position not equal");
+            Assert.That(
+                object1PartLoaded.RotationOffset, Is.EqualTo(part1.RotationOffset), "object1 rotation offset not equal");
+            Assert.That(
+                object1PartLoaded.OffsetPosition, Is.EqualTo(part1.OffsetPosition), "object1 offset position not equal");
+            Assert.That(object1PartLoaded.SitTargetOrientation, Is.EqualTo(part1.SitTargetOrientation));
+            Assert.That(object1PartLoaded.SitTargetPosition, Is.EqualTo(part1.SitTargetPosition));
+
+            TaskInventoryItem loadedSoundItem = object1PartLoaded.Inventory.GetInventoryItems(soundItemName)[0];
+            Assert.That(loadedSoundItem, Is.Not.Null, "loaded sound item was null");
+            AssetBase loadedSoundAsset = m_scene.AssetService.Get(loadedSoundItem.AssetID.ToString());
+            Assert.That(loadedSoundAsset, Is.Not.Null, "loaded sound asset was null");
+            Assert.That(loadedSoundAsset.Data, Is.EqualTo(soundData), "saved and loaded sound data do not match");
+
+            Assert.Greater(m_scene.LandChannel.AllParcels().Count, 0, "incorrect number of parcels");
+        }
     }
-}
+}
\ No newline at end of file
diff --git a/OpenSim/Region/CoreModules/World/Estate/EstateManagementModule.cs b/OpenSim/Region/CoreModules/World/Estate/EstateManagementModule.cs
index dc062b6..a5f5749 100644
--- a/OpenSim/Region/CoreModules/World/Estate/EstateManagementModule.cs
+++ b/OpenSim/Region/CoreModules/World/Estate/EstateManagementModule.cs
@@ -55,6 +55,11 @@ namespace OpenSim.Region.CoreModules.World.Estate
         
         protected EstateManagementCommands m_commands;                
 
+        /// <summary>
+        /// If false, region restart requests from the client are blocked even if they are otherwise legitimate.
+        /// </summary>
+        public bool AllowRegionRestartFromClient { get; set; }
+
         private EstateTerrainXferHandler TerrainUploader;
         public TelehubManager m_Telehub;
 
@@ -64,6 +69,53 @@ namespace OpenSim.Region.CoreModules.World.Estate
 
         private int m_delayCount = 0;
 
+        #region Region Module interface
+        
+        public string Name { get { return "EstateManagementModule"; } }
+        
+        public Type ReplaceableInterface { get { return null; } }        
+
+        public void Initialise(IConfigSource source) 
+        {
+            AllowRegionRestartFromClient = true;
+
+            IConfig config = source.Configs["EstateManagement"];
+
+            if (config != null)
+                AllowRegionRestartFromClient = config.GetBoolean("AllowRegionRestartFromClient", true);
+        }
+        
+        public void AddRegion(Scene scene)
+        {
+            Scene = scene;
+            Scene.RegisterModuleInterface<IEstateModule>(this);
+            Scene.EventManager.OnNewClient += EventManager_OnNewClient;
+            Scene.EventManager.OnRequestChangeWaterHeight += changeWaterHeight;
+
+            m_Telehub = new TelehubManager(scene);
+
+            m_commands = new EstateManagementCommands(this);
+            m_commands.Initialise();
+        }
+        
+        public void RemoveRegion(Scene scene) {}            
+        
+        public void RegionLoaded(Scene scene)
+        {
+            // Sets up the sun module based no the saved Estate and Region Settings
+            // DO NOT REMOVE or the sun will stop working
+            scene.TriggerEstateSunUpdate();
+            
+            UserManager = scene.RequestModuleInterface<IUserManagement>();            
+        }
+
+        public void Close() 
+        {
+            m_commands.Close();
+        }
+
+        #endregion
+
         #region Packet Data Responders
 
         private void clientSendDetailedEstateData(IClientAPI remote_client, UUID invoice)
@@ -76,7 +128,7 @@ namespace OpenSim.Region.CoreModules.World.Estate
         {
             uint sun = 0;
 
-            if (!Scene.RegionInfo.EstateSettings.UseGlobalTime)
+            if (Scene.RegionInfo.EstateSettings.FixedSun)
                 sun = (uint)(Scene.RegionInfo.EstateSettings.SunPosition * 1024.0) + 0x1800;
             UUID estateOwner;
             estateOwner = Scene.RegionInfo.EstateSettings.EstateOwner;
@@ -197,6 +249,7 @@ namespace OpenSim.Region.CoreModules.World.Estate
                     Scene.RegionInfo.RegionSettings.TerrainTexture4 = texture;
                     break;
             }
+
             Scene.RegionInfo.RegionSettings.Save();
             TriggerRegionInfoChange();
             sendRegionInfoPacketToAll();
@@ -228,6 +281,7 @@ namespace OpenSim.Region.CoreModules.World.Estate
                     Scene.RegionInfo.RegionSettings.Elevation2NE = highValue;
                     break;
             }
+
             Scene.RegionInfo.RegionSettings.Save();
             TriggerRegionInfoChange();
             sendRegionHandshakeToAll();
@@ -268,6 +322,12 @@ namespace OpenSim.Region.CoreModules.World.Estate
 
         private void handleEstateRestartSimRequest(IClientAPI remoteClient, int timeInSeconds)
         {
+            if (!AllowRegionRestartFromClient)
+            {
+                remoteClient.SendAlertMessage("Region restart has been disabled on this simulator.");
+                return;
+            }
+
             IRestartModule restartModule = Scene.RequestModuleInterface<IRestartModule>();
             if (restartModule != null)
             {
@@ -352,6 +412,7 @@ namespace OpenSim.Region.CoreModules.World.Estate
                 }
 
             }
+
             if ((estateAccessType & 8) != 0) // User remove
             {
                 if (Scene.Permissions.CanIssueEstateCommand(remote_client.AgentId, true))
@@ -383,6 +444,7 @@ namespace OpenSim.Region.CoreModules.World.Estate
                     remote_client.SendAlertMessage("Method EstateAccessDelta Failed, you don't have permissions");
                 }
             }
+
             if ((estateAccessType & 16) != 0) // Group add
             {
                 if (Scene.Permissions.CanIssueEstateCommand(remote_client.AgentId, true))
@@ -650,7 +712,7 @@ namespace OpenSim.Region.CoreModules.World.Estate
             }
         }
 
-        public void handleOnEstateManageTelehub (IClientAPI client, UUID invoice, UUID senderID, string cmd, uint param1)
+        public void handleOnEstateManageTelehub(IClientAPI client, UUID invoice, UUID senderID, string cmd, uint param1)
         {
             SceneObjectPart part;
 
@@ -718,13 +780,18 @@ namespace OpenSim.Region.CoreModules.World.Estate
             Scene.RegionInfo.RegionSettings.Save();
             TriggerRegionInfoChange();
 
-            Scene.SetSceneCoreDebug(
-                new Dictionary<string, string>() {
-                    { "scripting", (!disableScripts).ToString() },
-                    { "collisions", (!disableCollisions).ToString() },
-                    { "physics", (!disablePhysics).ToString() }
-                }
-            );
+            ISceneCommandsModule scm = Scene.RequestModuleInterface<ISceneCommandsModule>();
+
+            if (scm != null)
+            {
+                scm.SetSceneDebugOptions(
+                    new Dictionary<string, string>() {
+                        { "scripting", (!disableScripts).ToString() },
+                        { "collisions", (!disableCollisions).ToString() },
+                        { "physics", (!disablePhysics).ToString() }
+                    }
+                );
+            }
         }
 
         private void handleEstateTeleportOneUserHomeRequest(IClientAPI remover_client, UUID invoice, UUID senderID, UUID prey)
@@ -1066,6 +1133,7 @@ namespace OpenSim.Region.CoreModules.World.Estate
             {
                 Scene.RegionInfo.EstateSettings.UseGlobalTime = false;
                 Scene.RegionInfo.EstateSettings.SunPosition = (parms2 - 0x1800)/1024.0;
+                // Warning: FixedSun should be set to True, otherwise this sun position won't be used.
             }
 
             if ((parms1 & 0x00000010) != 0)
@@ -1118,49 +1186,6 @@ namespace OpenSim.Region.CoreModules.World.Estate
 
         #endregion
 
-        #region Region Module interface
-        
-        public string Name { get { return "EstateManagementModule"; } }
-        
-        public Type ReplaceableInterface { get { return null; } }        
-
-        public void Initialise(IConfigSource source) {}
-        
-        public void AddRegion(Scene scene)
-        {
-            m_regionChangeTimer.AutoReset = false;
-            m_regionChangeTimer.Interval = 2000;
-            m_regionChangeTimer.Elapsed += RaiseRegionInfoChange;
-
-            Scene = scene;
-            Scene.RegisterModuleInterface<IEstateModule>(this);
-            Scene.EventManager.OnNewClient += EventManager_OnNewClient;
-            Scene.EventManager.OnRequestChangeWaterHeight += changeWaterHeight;
-
-            m_Telehub = new TelehubManager(scene);
-
-            m_commands = new EstateManagementCommands(this);
-            m_commands.Initialise();
-        }
-        
-        public void RemoveRegion(Scene scene) {}            
-        
-        public void RegionLoaded(Scene scene)
-        {
-            // Sets up the sun module based no the saved Estate and Region Settings
-            // DO NOT REMOVE or the sun will stop working
-            scene.TriggerEstateSunUpdate();
-            
-            UserManager = scene.RequestModuleInterface<IUserManagement>();            
-        }
-
-        public void Close() 
-        {
-            m_commands.Close();
-        }
-
-        #endregion
-
         #region Other Functions
 
         public void changeWaterHeight(float height)
diff --git a/OpenSim/Region/CoreModules/World/Land/LandManagementModule.cs b/OpenSim/Region/CoreModules/World/Land/LandManagementModule.cs
index 1193057..b4f7d51 100644
--- a/OpenSim/Region/CoreModules/World/Land/LandManagementModule.cs
+++ b/OpenSim/Region/CoreModules/World/Land/LandManagementModule.cs
@@ -141,6 +141,7 @@ namespace OpenSim.Region.CoreModules.World.Land
             m_scene.EventManager.OnValidateLandBuy += EventManagerOnValidateLandBuy;
             m_scene.EventManager.OnLandBuy += EventManagerOnLandBuy;
             m_scene.EventManager.OnNewClient += EventManagerOnNewClient;
+            m_scene.EventManager.OnMakeChildAgent += EventMakeChildAgent;
             m_scene.EventManager.OnSignificantClientMovement += EventManagerOnSignificantClientMovement;
             m_scene.EventManager.OnNoticeNoLandDataFromStorage += EventManagerOnNoLandDataFromStorage;
             m_scene.EventManager.OnIncomingLandDataFromStorage += EventManagerOnIncomingLandDataFromStorage;
@@ -221,6 +222,11 @@ namespace OpenSim.Region.CoreModules.World.Land
             }
         }
 
+        public void EventMakeChildAgent(ScenePresence avatar)
+        {
+            avatar.currentParcelUUID = UUID.Zero;
+        }
+
         void ClientOnPreAgentUpdate(IClientAPI remoteClient, AgentUpdateArgs agentData)
         {
         }
@@ -249,17 +255,15 @@ namespace OpenSim.Region.CoreModules.World.Land
             newData.LocalID = local_id;
             ILandObject landobj = null;        
 
+            ILandObject land;
             lock (m_landList)
             {
-                if (m_landList.ContainsKey(local_id))
-                {
-                    m_landList[local_id].LandData = newData;
-                    landobj = m_landList[local_id];
-//                    m_scene.EventManager.TriggerLandObjectUpdated((uint)local_id, m_landList[local_id]);
-                }
+                if (m_landList.TryGetValue(local_id, out land))
+                    land.LandData = newData;
             }
-            if(landobj != null)
-                m_scene.EventManager.TriggerLandObjectUpdated((uint)local_id, landobj);
+
+            if (land != null)
+                m_scene.EventManager.TriggerLandObjectUpdated((uint)local_id, land);
         }
 
         public bool AllowedForcefulBans
@@ -584,7 +588,7 @@ namespace OpenSim.Region.CoreModules.World.Land
             // Only now can we add the prim counts to the land object - we rely on the global ID which is generated
             // as a random UUID inside LandData initialization
             if (m_primCountModule != null)
-                new_land.PrimCounts = m_primCountModule.GetPrimCounts(new_land.LandData.GlobalID);            
+                new_land.PrimCounts = m_primCountModule.GetPrimCounts(new_land.LandData.GlobalID);
 
             lock (m_landList)
             {
@@ -621,6 +625,7 @@ namespace OpenSim.Region.CoreModules.World.Land
         /// <param name="local_id">Land.localID of the peice of land to remove.</param>
         public void removeLandObject(int local_id)
         {
+            ILandObject land;
             lock (m_landList)
             {
                 for (int x = 0; x < 64; x++)
@@ -637,9 +642,11 @@ namespace OpenSim.Region.CoreModules.World.Land
                     }
                 }
 
-                m_scene.EventManager.TriggerLandObjectRemoved(m_landList[local_id].LandData.GlobalID);
+                land = m_landList[local_id];
                 m_landList.Remove(local_id);
             }
+
+            m_scene.EventManager.TriggerLandObjectRemoved(land.LandData.GlobalID);
         }
         
         /// <summary>
@@ -1384,9 +1391,7 @@ namespace OpenSim.Region.CoreModules.World.Land
             }
 
             for (int i = 0; i < data.Count; i++)
-            {
                 IncomingLandObjectFromStorage(data[i]);
-            }
         }
 
         public void IncomingLandObjectFromStorage(LandData data)
@@ -1401,25 +1406,72 @@ namespace OpenSim.Region.CoreModules.World.Land
 
         public void ReturnObjectsInParcel(int localID, uint returnType, UUID[] agentIDs, UUID[] taskIDs, IClientAPI remoteClient)
         {
-            ILandObject selectedParcel = null;
-            lock (m_landList)
+            if (localID != -1)
             {
-                m_landList.TryGetValue(localID, out selectedParcel);
+                ILandObject selectedParcel = null;
+                lock (m_landList)
+                {
+                    m_landList.TryGetValue(localID, out selectedParcel);
+                }
+
+                if (selectedParcel == null) 
+                    return;
+
+                selectedParcel.ReturnLandObjects(returnType, agentIDs, taskIDs, remoteClient);
             }
+            else
+            {
+                if (returnType != 1)
+                {
+                    m_log.WarnFormat("[LAND MANAGEMENT MODULE]: ReturnObjectsInParcel: unknown return type {0}", returnType);
+                    return;
+                }
+
+                // We get here when the user returns objects from the list of Top Colliders or Top Scripts.
+                // In that case we receive specific object UUID's, but no parcel ID.
+
+                Dictionary<UUID, HashSet<SceneObjectGroup>> returns = new Dictionary<UUID, HashSet<SceneObjectGroup>>();
+
+                foreach (UUID groupID in taskIDs)
+                {
+                    SceneObjectGroup obj = m_scene.GetSceneObjectGroup(groupID);
+                    if (obj != null)
+                    {
+                        if (!returns.ContainsKey(obj.OwnerID))
+                            returns[obj.OwnerID] = new HashSet<SceneObjectGroup>();
+                        returns[obj.OwnerID].Add(obj);
+                    }
+                    else
+                    {
+                        m_log.WarnFormat("[LAND MANAGEMENT MODULE]: ReturnObjectsInParcel: unknown object {0}", groupID);
+                    }
+                }
 
-            if (selectedParcel == null) return;
+                int num = 0;
+                foreach (HashSet<SceneObjectGroup> objs in returns.Values)
+                    num += objs.Count;
+                m_log.DebugFormat("[LAND MANAGEMENT MODULE]: Returning {0} specific object(s)", num);
 
-            selectedParcel.ReturnLandObjects(returnType, agentIDs, taskIDs, remoteClient);
+                foreach (HashSet<SceneObjectGroup> objs in returns.Values)
+                {
+                    List<SceneObjectGroup> objs2 = new List<SceneObjectGroup>(objs);
+                    if (m_scene.Permissions.CanReturnObjects(null, remoteClient.AgentId, objs2))
+                    {
+                        m_scene.returnObjects(objs2.ToArray(), remoteClient.AgentId);
+                    }
+                    else
+                    {
+                        m_log.WarnFormat("[LAND MANAGEMENT MODULE]: ReturnObjectsInParcel: not permitted to return {0} object(s) belonging to user {1}",
+                            objs2.Count, objs2[0].OwnerID);
+                    }
+                }
+            }
         }
 
         public void EventManagerOnNoLandDataFromStorage()
         {
-            // called methods already have locks
-//            lock (m_landList)
-            {
-                ResetSimLandObjects();
-                CreateDefaultParcel();
-            }
+            ResetSimLandObjects();
+            CreateDefaultParcel();
         }
 
         #endregion
diff --git a/OpenSim/Region/CoreModules/World/Land/LandObject.cs b/OpenSim/Region/CoreModules/World/Land/LandObject.cs
index fdac418..07d00c0 100644
--- a/OpenSim/Region/CoreModules/World/Land/LandObject.cs
+++ b/OpenSim/Region/CoreModules/World/Land/LandObject.cs
@@ -761,9 +761,10 @@ namespace OpenSim.Region.CoreModules.World.Land
             int ty = min_y * 4;
             if (ty > ((int)Constants.RegionSize - 1))
                 ty = ((int)Constants.RegionSize - 1);
+
             LandData.AABBMin =
-                new Vector3((float) (min_x * 4), (float) (min_y * 4),
-                              (float) m_scene.Heightmap[tx, ty]);
+                new Vector3(
+                    (float)(min_x * 4), (float)(min_y * 4), m_scene != null ? (float)m_scene.Heightmap[tx, ty] : 0);
 
             tx = max_x * 4;
             if (tx > ((int)Constants.RegionSize - 1))
@@ -771,9 +772,11 @@ namespace OpenSim.Region.CoreModules.World.Land
             ty = max_y * 4;
             if (ty > ((int)Constants.RegionSize - 1))
                 ty = ((int)Constants.RegionSize - 1);
-            LandData.AABBMax =
-                new Vector3((float) (max_x * 4), (float) (max_y * 4),
-                              (float) m_scene.Heightmap[tx, ty]);
+
+            LandData.AABBMax 
+                = new Vector3(
+                    (float)(max_x * 4), (float)(max_y * 4), m_scene != null ? (float)m_scene.Heightmap[tx, ty] : 0);
+
             LandData.Area = tempArea;
         }
 
diff --git a/OpenSim/Region/CoreModules/World/Land/PrimCountModule.cs b/OpenSim/Region/CoreModules/World/Land/PrimCountModule.cs
index 55b8227..771fdd2 100644
--- a/OpenSim/Region/CoreModules/World/Land/PrimCountModule.cs
+++ b/OpenSim/Region/CoreModules/World/Land/PrimCountModule.cs
@@ -490,11 +490,14 @@ namespace OpenSim.Region.CoreModules.World.Land
 
             m_Scene.ForEachSOG(AddObject);
 
-            List<UUID> primcountKeys = new List<UUID>(m_PrimCounts.Keys);
-            foreach (UUID k in primcountKeys)
+            lock (m_PrimCounts)
             {
-                if (!m_OwnerMap.ContainsKey(k))
-                    m_PrimCounts.Remove(k);
+                List<UUID> primcountKeys = new List<UUID>(m_PrimCounts.Keys);
+                foreach (UUID k in primcountKeys)
+                {
+                    if (!m_OwnerMap.ContainsKey(k))
+                        m_PrimCounts.Remove(k);
+                }
             }
             
             m_Tainted = false;
diff --git a/OpenSim/Region/CoreModules/World/Land/Tests/PrimCountModuleTests.cs b/OpenSim/Region/CoreModules/World/Land/Tests/PrimCountModuleTests.cs
index b5ee4d2..0945b43 100644
--- a/OpenSim/Region/CoreModules/World/Land/Tests/PrimCountModuleTests.cs
+++ b/OpenSim/Region/CoreModules/World/Land/Tests/PrimCountModuleTests.cs
@@ -41,7 +41,7 @@ using OpenSim.Tests.Common.Mock;
 namespace OpenSim.Region.CoreModules.World.Land.Tests
 {
     [TestFixture]
-    public class PrimCountModuleTests
+    public class PrimCountModuleTests : OpenSimTestCase
     {
         protected UUID m_userId = new UUID("00000000-0000-0000-0000-100000000000");
         protected UUID m_groupId = new UUID("00000000-0000-0000-8888-000000000000");        
@@ -60,8 +60,10 @@ namespace OpenSim.Region.CoreModules.World.Land.Tests
         protected ILandObject m_lo2;        
             
         [SetUp]
-        public void SetUp()
+        public override void SetUp()
         {
+            base.SetUp();
+
             m_pcm = new PrimCountModule();
             LandManagementModule lmm = new LandManagementModule();
             m_scene = new SceneHelpers().SetupScene();            
diff --git a/OpenSim/Region/CoreModules/World/Media/Moap/Tests/MoapTests.cs b/OpenSim/Region/CoreModules/World/Media/Moap/Tests/MoapTests.cs
index 396095a..03a96a4 100644
--- a/OpenSim/Region/CoreModules/World/Media/Moap/Tests/MoapTests.cs
+++ b/OpenSim/Region/CoreModules/World/Media/Moap/Tests/MoapTests.cs
@@ -44,14 +44,16 @@ using OpenSim.Tests.Common.Mock;
 namespace OpenSim.Region.CoreModules.World.Media.Moap.Tests
 {
     [TestFixture]
-    public class MoapTests
+    public class MoapTests : OpenSimTestCase
     {
         protected TestScene m_scene;
         protected MoapModule m_module;
             
         [SetUp]
-        public void SetUp()
+        public override void SetUp()
         {
+            base.SetUp();
+
             m_module = new MoapModule();
             m_scene = new SceneHelpers().SetupScene();
             SceneHelpers.SetupSceneModules(m_scene, m_module);            
diff --git a/OpenSim/Region/CoreModules/World/Objects/Commands/ObjectCommandsModule.cs b/OpenSim/Region/CoreModules/World/Objects/Commands/ObjectCommandsModule.cs
index ab8f143..7b235ae 100644
--- a/OpenSim/Region/CoreModules/World/Objects/Commands/ObjectCommandsModule.cs
+++ b/OpenSim/Region/CoreModules/World/Objects/Commands/ObjectCommandsModule.cs
@@ -365,7 +365,8 @@ namespace OpenSim.Region.CoreModules.World.Objects.Commands
 
             if (mainParams.Count < 4)
             {
-                m_console.OutputFormat("Usage: show part id [--full] <UUID-or-localID>");
+                //m_console.OutputFormat("Usage: show part id [--full] <UUID-or-localID>");
+                m_console.OutputFormat("Usage: show part id <UUID-or-localID>");
                 return;
             }
 
@@ -405,6 +406,7 @@ namespace OpenSim.Region.CoreModules.World.Objects.Commands
 
             if (mainParams.Count < 5)
             {
+                //m_console.OutputFormat("Usage: show part pos <start-coord> to <end-coord>");
                 m_console.OutputFormat("Usage: show part pos [--full] <start-coord> to <end-coord>");
                 return;
             }
@@ -445,7 +447,8 @@ namespace OpenSim.Region.CoreModules.World.Objects.Commands
 
             if (mainParams.Count < 4)
             {
-                m_console.OutputFormat("Usage: show part name [--full] [--regex] <name>");
+                m_console.OutputFormat("Usage: show part name [--regex] <name>");
+                //m_console.OutputFormat("Usage: show part name [--full] [--regex] <name>");
                 return;
             }
 
@@ -577,6 +580,58 @@ namespace OpenSim.Region.CoreModules.World.Objects.Commands
             cdl.AddRow("Link number", sop.LinkNum);
             cdl.AddRow("Flags", sop.Flags);
 
+            if (showFull)
+            {
+                PrimitiveBaseShape s = sop.Shape;
+                cdl.AddRow("FlexiDrag", s.FlexiDrag);
+                cdl.AddRow("FlexiEntry", s.FlexiEntry);
+                cdl.AddRow("FlexiForce", string.Format("<{0},{1},{2}>", s.FlexiForceX, s.FlexiForceY, s.FlexiForceZ));
+                cdl.AddRow("FlexiGravity", s.FlexiGravity);
+                cdl.AddRow("FlexiSoftness", s.FlexiSoftness);
+                cdl.AddRow("HollowShape", s.HollowShape);
+                cdl.AddRow(
+                    "LightColor", 
+                    string.Format("<{0},{1},{2},{3}>", s.LightColorR, s.LightColorB, s.LightColorG, s.LightColorA));
+                cdl.AddRow("FlexiDrag", s.LightCutoff);
+                cdl.AddRow("FlexiDrag", s.LightEntry);
+                cdl.AddRow("FlexiDrag", s.LightFalloff);
+                cdl.AddRow("FlexiDrag", s.LightIntensity);
+                cdl.AddRow("FlexiDrag", s.LightRadius);
+                cdl.AddRow("Media", string.Format("{0} entries", s.Media != null ? s.Media.Count.ToString() : "n/a"));
+                cdl.AddRow("PathBegin", s.PathBegin);
+                cdl.AddRow("PathEnd", s.PathEnd);
+                cdl.AddRow("PathCurve", s.PathCurve);
+                cdl.AddRow("PathRadiusOffset", s.PathRadiusOffset);
+                cdl.AddRow("PathRevolutions", s.PathRevolutions);
+                cdl.AddRow("PathScale", string.Format("<{0},{1}>", s.PathScaleX, s.PathScaleY));
+                cdl.AddRow("PathSkew", string.Format("<{0},{1}>", s.PathShearX, s.PathShearY));
+                cdl.AddRow("FlexiDrag", s.PathSkew);
+                cdl.AddRow("PathTaper", string.Format("<{0},{1}>", s.PathTaperX, s.PathTaperY));
+                cdl.AddRow("PathTwist", s.PathTwist);
+                cdl.AddRow("PathTwistBegin", s.PathTwistBegin);
+                cdl.AddRow("PCode", s.PCode);
+                cdl.AddRow("ProfileBegin", s.ProfileBegin);
+                cdl.AddRow("ProfileEnd", s.ProfileEnd);
+                cdl.AddRow("ProfileHollow", s.ProfileHollow);
+                cdl.AddRow("ProfileShape", s.ProfileShape);
+                cdl.AddRow("ProjectionAmbiance", s.ProjectionAmbiance);
+                cdl.AddRow("ProjectionEntry", s.ProjectionEntry);
+                cdl.AddRow("ProjectionFocus", s.ProjectionFocus);
+                cdl.AddRow("ProjectionFOV", s.ProjectionFOV);
+                cdl.AddRow("ProjectionTextureUUID", s.ProjectionTextureUUID);
+                cdl.AddRow("Scale", s.Scale);
+                cdl.AddRow(
+                    "SculptData", 
+                    string.Format("{0} bytes", s.SculptData != null ? s.SculptData.Length.ToString() : "n/a"));
+                cdl.AddRow("SculptEntry", s.SculptEntry);
+                cdl.AddRow("SculptTexture", s.SculptTexture);
+                cdl.AddRow("SculptType", s.SculptType);
+                cdl.AddRow("State", s.State);
+
+                // TODO, unpack and display texture entries
+                //cdl.AddRow("Textures", string.Format("{0} entries", s.Textures.
+            }
+
             object itemsOutput;
             if (showFull)
             {
@@ -588,7 +643,6 @@ namespace OpenSim.Region.CoreModules.World.Objects.Commands
                 itemsOutput = sop.Inventory.Count;
             }
 
-
             cdl.AddRow("Items", itemsOutput);
 
             return sb.Append(cdl.ToString());
diff --git a/OpenSim/Region/CoreModules/World/Serialiser/Tests/SerialiserTests.cs b/OpenSim/Region/CoreModules/World/Serialiser/Tests/SerialiserTests.cs
index 7825e3e..bcb8e2f 100644
--- a/OpenSim/Region/CoreModules/World/Serialiser/Tests/SerialiserTests.cs
+++ b/OpenSim/Region/CoreModules/World/Serialiser/Tests/SerialiserTests.cs
@@ -39,7 +39,7 @@ using OpenSim.Tests.Common;
 namespace OpenSim.Region.CoreModules.World.Serialiser.Tests
 {
     [TestFixture]
-    public class SerialiserTests
+    public class SerialiserTests : OpenSimTestCase
     {
         private string xml = @"
         <SceneObjectGroup>
diff --git a/OpenSim/Region/CoreModules/World/Sound/SoundModule.cs b/OpenSim/Region/CoreModules/World/Sound/SoundModule.cs
index 513a8f5..883045a 100644
--- a/OpenSim/Region/CoreModules/World/Sound/SoundModule.cs
+++ b/OpenSim/Region/CoreModules/World/Sound/SoundModule.cs
@@ -43,8 +43,8 @@ namespace OpenSim.Region.CoreModules.World.Sound
     [Extension(Path = "/OpenSim/RegionModules", NodeName = "RegionModule", Id = "SoundModule")]
     public class SoundModule : INonSharedRegionModule, ISoundModule
     {
-        private static readonly ILog m_log = LogManager.GetLogger(
-                MethodBase.GetCurrentMethod().DeclaringType);
+//        private static readonly ILog m_log = LogManager.GetLogger(
+//                MethodBase.GetCurrentMethod().DeclaringType);
 
         private Scene m_scene;
 
@@ -76,7 +76,7 @@ namespace OpenSim.Region.CoreModules.World.Sound
 
         public void RemoveRegion(Scene scene)
         {
-            m_scene.EventManager.OnClientLogin -= OnNewClient;
+            m_scene.EventManager.OnNewClient -= OnNewClient;
         }
 
         public void RegionLoaded(Scene scene)
@@ -85,7 +85,7 @@ namespace OpenSim.Region.CoreModules.World.Sound
                 return;
 
             m_scene = scene;
-            m_scene.EventManager.OnClientLogin += OnNewClient;
+            m_scene.EventManager.OnNewClient += OnNewClient;
 
             m_scene.RegisterModuleInterface<ISoundModule>(this);
         }
diff --git a/OpenSim/Region/CoreModules/World/Sun/SunModule.cs b/OpenSim/Region/CoreModules/World/Sun/SunModule.cs
index a321c09..6f344c8 100644
--- a/OpenSim/Region/CoreModules/World/Sun/SunModule.cs
+++ b/OpenSim/Region/CoreModules/World/Sun/SunModule.cs
@@ -252,12 +252,11 @@ namespace OpenSim.Region.CoreModules
             }
 
             // TODO: Decouple this, so we can get rid of Linden Hour info
-            // Update Region infor with new Sun Position and Hour
+            // Update Region with new Sun Vector
             // set estate settings for region access to sun position
             if (receivedEstateToolsSunUpdate)
             {
                 m_scene.RegionInfo.RegionSettings.SunVector = Position;
-                m_scene.RegionInfo.RegionSettings.SunPosition = GetCurrentTimeAsLindenSunHour();
             }
         }
 
@@ -395,7 +394,7 @@ namespace OpenSim.Region.CoreModules
             ready = false;
 
             // Remove our hooks
-            m_scene.EventManager.OnFrame     -= SunUpdate;
+            m_scene.EventManager.OnFrame -= SunUpdate;
             m_scene.EventManager.OnAvatarEnteringNewParcel -= AvatarEnteringParcel;
             m_scene.EventManager.OnEstateToolsSunUpdate -= EstateToolsSunUpdate;
             m_scene.EventManager.OnGetCurrentTimeAsLindenSunHour -= GetCurrentTimeAsLindenSunHour;
@@ -459,26 +458,33 @@ namespace OpenSim.Region.CoreModules
             SunToClient(avatar.ControllingClient);
         }
 
-        /// <summary>
-        ///
-        /// </summary>
-        /// <param name="regionHandle"></param>
-        /// <param name="FixedTime">Is the sun's position fixed?</param>
-        /// <param name="useEstateTime">Use the Region or Estate Sun hour?</param>
-        /// <param name="FixedSunHour">What hour of the day is the Sun Fixed at?</param>
-        public void EstateToolsSunUpdate(ulong regionHandle, bool FixedSun, bool useEstateTime, float FixedSunHour)
+        public void EstateToolsSunUpdate(ulong regionHandle)
         {
             if (m_scene.RegionInfo.RegionHandle == regionHandle)
             {
-                // Must limit the Sun Hour to 0 ... 24
-                while (FixedSunHour > 24.0f)
-                    FixedSunHour -= 24;
+                float sunFixedHour;
+                bool fixedSun;
 
-                while (FixedSunHour < 0)
-                    FixedSunHour += 24;
+                if (m_scene.RegionInfo.RegionSettings.UseEstateSun)
+                {
+                    sunFixedHour = (float)m_scene.RegionInfo.EstateSettings.SunPosition;
+                    fixedSun = m_scene.RegionInfo.EstateSettings.FixedSun;
+                }
+                else
+                {
+                    sunFixedHour = (float)m_scene.RegionInfo.RegionSettings.SunPosition - 6.0f;
+                    fixedSun = m_scene.RegionInfo.RegionSettings.FixedSun;
+                }
+
+                // Must limit the Sun Hour to 0 ... 24
+                while (sunFixedHour > 24.0f)
+                    sunFixedHour -= 24;
 
-                m_SunFixedHour = FixedSunHour;
-                m_SunFixed = FixedSun;
+                while (sunFixedHour < 0)
+                    sunFixedHour += 24;
+                
+                m_SunFixedHour = sunFixedHour;
+                m_SunFixed = fixedSun;
 
                 // m_log.DebugFormat("[SUN]: Sun Settings Update: Fixed Sun? : {0}", m_SunFixed.ToString());
                 // m_log.DebugFormat("[SUN]: Sun Settings Update: Sun Hour   : {0}", m_SunFixedHour.ToString());
@@ -501,7 +507,7 @@ namespace OpenSim.Region.CoreModules
         {
             m_scene.ForEachRootClient(delegate(IClientAPI client)
             {
-                    SunToClient(client);
+                SunToClient(client);
             });
         }
 
diff --git a/OpenSim/Region/CoreModules/World/Terrain/TerrainModule.cs b/OpenSim/Region/CoreModules/World/Terrain/TerrainModule.cs
index 33aabe4..4d738a5 100644
--- a/OpenSim/Region/CoreModules/World/Terrain/TerrainModule.cs
+++ b/OpenSim/Region/CoreModules/World/Terrain/TerrainModule.cs
@@ -480,7 +480,7 @@ namespace OpenSim.Region.CoreModules.World.Terrain
                 else
                 {
                     m_plugineffects[pluginName] = effect;
-                    m_log.Warn("E ... " + pluginName + " (Replaced)");
+                    m_log.Info("E ... " + pluginName + " (Replaced)");
                 }
             }
         }
diff --git a/OpenSim/Region/CoreModules/World/Terrain/Tests/TerrainTest.cs b/OpenSim/Region/CoreModules/World/Terrain/Tests/TerrainTest.cs
index 3d4f762..be719ea 100644
--- a/OpenSim/Region/CoreModules/World/Terrain/Tests/TerrainTest.cs
+++ b/OpenSim/Region/CoreModules/World/Terrain/Tests/TerrainTest.cs
@@ -30,11 +30,12 @@ using NUnit.Framework;
 using OpenSim.Framework;
 using OpenSim.Region.CoreModules.World.Terrain.PaintBrushes;
 using OpenSim.Region.Framework.Scenes;
+using OpenSim.Tests.Common;
 
 namespace OpenSim.Region.CoreModules.World.Terrain.Tests
 {
     [TestFixture]
-    public class TerrainTest
+    public class TerrainTest : OpenSimTestCase
     {
         [Test]
         public void BrushTest()
diff --git a/OpenSim/Region/CoreModules/World/Wind/WindModule.cs b/OpenSim/Region/CoreModules/World/Wind/WindModule.cs
index fd8e2b4..9de588c 100644
--- a/OpenSim/Region/CoreModules/World/Wind/WindModule.cs
+++ b/OpenSim/Region/CoreModules/World/Wind/WindModule.cs
@@ -66,7 +66,7 @@ namespace OpenSim.Region.CoreModules
         public void Initialise(IConfigSource config)
         {
             m_windConfig = config.Configs["Wind"];
-            string desiredWindPlugin = m_dWindPluginName;
+//            string desiredWindPlugin = m_dWindPluginName;
 
             if (m_windConfig != null)
             {
diff --git a/OpenSim/Region/Framework/Interfaces/ISceneCommandsModule.cs b/OpenSim/Region/Framework/Interfaces/ISceneCommandsModule.cs
new file mode 100644
index 0000000..c5e678b
--- /dev/null
+++ b/OpenSim/Region/Framework/Interfaces/ISceneCommandsModule.cs
@@ -0,0 +1,43 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSim 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 OpenMetaverse;
+using OpenSim.Framework;
+using OpenSim.Region.Framework.Scenes;
+
+namespace OpenSim.Region.Framework.Interfaces
+{
+    public interface ISceneCommandsModule
+    {
+        /// <summary>
+        /// Sets the scene debug options.
+        /// </summary>
+        void SetSceneDebugOptions(Dictionary<string, string> options);
+    }
+}
\ No newline at end of file
diff --git a/OpenSim/Region/Framework/Interfaces/IXmlRpcRouter.cs b/OpenSim/Region/Framework/Interfaces/IXmlRpcRouter.cs
index 6db6674..093d3f0 100644
--- a/OpenSim/Region/Framework/Interfaces/IXmlRpcRouter.cs
+++ b/OpenSim/Region/Framework/Interfaces/IXmlRpcRouter.cs
@@ -34,5 +34,6 @@ namespace OpenSim.Region.Framework.Interfaces
         void RegisterNewReceiver(IScriptModule scriptEngine, UUID channelID, UUID objectID, UUID itemID, string url);
         void ScriptRemoved(UUID itemID);
         void ObjectRemoved(UUID objectID);
+        void UnRegisterReceiver(string channelID, UUID itemID);
     }
 }
diff --git a/OpenSim/Region/Framework/Scenes/Animation/ScenePresenceAnimator.cs b/OpenSim/Region/Framework/Scenes/Animation/ScenePresenceAnimator.cs
index 9458079..d18571c 100644
--- a/OpenSim/Region/Framework/Scenes/Animation/ScenePresenceAnimator.cs
+++ b/OpenSim/Region/Framework/Scenes/Animation/ScenePresenceAnimator.cs
@@ -26,9 +26,10 @@
  */
 
 using System;
-using System.Threading;
 using System.Collections.Generic;
+using System.Linq;
 using System.Reflection;
+using System.Threading;
 using log4net;
 using OpenMetaverse;
 using OpenSim.Framework;
@@ -113,6 +114,8 @@ namespace OpenSim.Region.Framework.Scenes.Animation
             if (m_scenePresence.IsChildAgent)
                 return;
 
+//            m_log.DebugFormat("[SCENE PRESENCE ANIMATOR]: Removing animation {0} for {1}", animID, m_scenePresence.Name);
+
             if (m_animations.Remove(animID))
                 SendAnimPack();
         }
@@ -519,6 +522,12 @@ namespace OpenSim.Region.Framework.Scenes.Animation
             if (m_scenePresence.IsChildAgent)
                 return;
 
+//            m_log.DebugFormat(
+//                "[SCENE PRESENCE ANIMATOR]: Sending anim pack with animations '{0}', sequence '{1}', uuids '{2}'", 
+//                string.Join(",", Array.ConvertAll<UUID, string>(animations, a => a.ToString())), 
+//                string.Join(",", Array.ConvertAll<int, string>(seqs, s => s.ToString())),
+//                string.Join(",", Array.ConvertAll<UUID, string>(objectIDs, o => o.ToString())));
+
             m_scenePresence.Scene.ForEachClient(
                 delegate(IClientAPI client) 
                 { 
diff --git a/OpenSim/Region/Framework/Scenes/EntityManager.cs b/OpenSim/Region/Framework/Scenes/EntityManager.cs
index b788a3c..7181313 100644
--- a/OpenSim/Region/Framework/Scenes/EntityManager.cs
+++ b/OpenSim/Region/Framework/Scenes/EntityManager.cs
@@ -31,6 +31,7 @@ using System.Collections.Generic;
 using System.Reflection;
 using log4net;
 using OpenMetaverse;
+using OpenSim.Framework;
 
 namespace OpenSim.Region.Framework.Scenes
 {
@@ -38,7 +39,8 @@ namespace OpenSim.Region.Framework.Scenes
     {
 //        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
         
-        private readonly DoubleDictionary<UUID, uint, EntityBase> m_entities = new DoubleDictionary<UUID, uint, EntityBase>();
+        private readonly DoubleDictionaryThreadAbortSafe<UUID, uint, EntityBase> m_entities 
+            = new DoubleDictionaryThreadAbortSafe<UUID, uint, EntityBase>();
 
         public int Count
         {
diff --git a/OpenSim/Region/Framework/Scenes/EventManager.cs b/OpenSim/Region/Framework/Scenes/EventManager.cs
index 5b1c9f4..ac5f433 100644
--- a/OpenSim/Region/Framework/Scenes/EventManager.cs
+++ b/OpenSim/Region/Framework/Scenes/EventManager.cs
@@ -755,7 +755,7 @@ namespace OpenSim.Region.Framework.Scenes
         public event ScriptTimerEvent OnScriptTimerEvent;
          */
 
-        public delegate void EstateToolsSunUpdate(ulong regionHandle, bool FixedTime, bool EstateSun, float LindenHour);
+        public delegate void EstateToolsSunUpdate(ulong regionHandle);
         public delegate void GetScriptRunning(IClientAPI controllingClient, UUID objectID, UUID itemID);
 
         public event EstateToolsSunUpdate OnEstateToolsSunUpdate;
@@ -2536,13 +2536,10 @@ namespace OpenSim.Region.Framework.Scenes
         }
 
         /// <summary>
-        /// Updates the system as to how the position of the sun should be handled.
+        /// Called when the sun's position parameters have changed in the Region and/or Estate
         /// </summary>
-        /// <param name="regionHandle"></param>
-        /// <param name="FixedTime">True if the Sun Position is fixed</param>
-        /// <param name="useEstateTime">True if the Estate Settings should be used instead of region</param>
-        /// <param name="FixedSunHour">The hour 0.0 <= FixedSunHour <= 24.0 at which the sun is fixed at. Sun Hour 0 is sun-rise, when Day/Night ratio is 1:1</param>
-        public void TriggerEstateToolsSunUpdate(ulong regionHandle, bool FixedTime, bool useEstateTime, float FixedSunHour)
+        /// <param name="regionHandle">The region that changed</param>
+        public void TriggerEstateToolsSunUpdate(ulong regionHandle)
         {
             EstateToolsSunUpdate handlerEstateToolsSunUpdate = OnEstateToolsSunUpdate;
             if (handlerEstateToolsSunUpdate != null)
@@ -2551,7 +2548,7 @@ namespace OpenSim.Region.Framework.Scenes
                 {
                     try
                     {
-                        d(regionHandle, FixedTime, useEstateTime, FixedSunHour);
+                        d(regionHandle);
                     }
                     catch (Exception e)
                     {
diff --git a/OpenSim/Region/Framework/Scenes/Scene.Inventory.cs b/OpenSim/Region/Framework/Scenes/Scene.Inventory.cs
index c9d1205..9f0a0e2 100644
--- a/OpenSim/Region/Framework/Scenes/Scene.Inventory.cs
+++ b/OpenSim/Region/Framework/Scenes/Scene.Inventory.cs
@@ -683,12 +683,10 @@ namespace OpenSim.Region.Framework.Scenes
             itemCopy.SalePrice = item.SalePrice;
             itemCopy.SaleType = item.SaleType;
 
-            if (AddInventoryItem(itemCopy))
-            {
-                IInventoryAccessModule invAccess = RequestModuleInterface<IInventoryAccessModule>();
-                if (invAccess != null)
-                    Util.FireAndForget(delegate { invAccess.TransferInventoryAssets(itemCopy, senderId, recipient); });
-            }
+            IInventoryAccessModule invAccess = RequestModuleInterface<IInventoryAccessModule>();
+            if (invAccess != null)
+                invAccess.TransferInventoryAssets(itemCopy, senderId, recipient);
+            AddInventoryItem(itemCopy);
 
             if (!Permissions.BypassPermissions())
             {
@@ -1785,6 +1783,21 @@ namespace OpenSim.Region.Framework.Scenes
         /// <returns>The part where the script was rezzed if successful.  False otherwise.</returns>
         public SceneObjectPart RezNewScript(UUID agentID, InventoryItemBase itemBase)
         {
+            return RezNewScript(
+                agentID,
+                itemBase,
+                "default\n{\n    state_entry()\n    {\n        llSay(0, \"Script running\");\n    }\n}");
+        }
+
+        /// <summary>
+        /// Rez a new script from nothing with given script text.
+        /// </summary>
+        /// <param name="remoteClient"></param>
+        /// <param name="itemBase">Template item.</param>
+        /// <param name="scriptText"></param>
+        /// <returns>The part where the script was rezzed if successful.  False otherwise.</returns>
+        public SceneObjectPart RezNewScript(UUID agentID, InventoryItemBase itemBase, string scriptText)
+        {
             // The part ID is the folder ID!
             SceneObjectPart part = GetSceneObjectPart(itemBase.Folder);
             if (part == null)
@@ -1804,9 +1817,14 @@ namespace OpenSim.Region.Framework.Scenes
                 return null;
             }
 
-            AssetBase asset = CreateAsset(itemBase.Name, itemBase.Description, (sbyte)itemBase.AssetType,
-                Encoding.ASCII.GetBytes("default\n{\n    state_entry()\n    {\n        llSay(0, \"Script running\");\n    }\n\n    touch_start(integer num)\n    {\n    }\n}"),
-                agentID);
+            AssetBase asset 
+                = CreateAsset(
+                    itemBase.Name, 
+                    itemBase.Description, 
+                    (sbyte)itemBase.AssetType,
+                    Encoding.ASCII.GetBytes(scriptText), 
+                    agentID);
+
             AssetService.Store(asset);
 
             TaskInventoryItem taskItem = new TaskInventoryItem();
diff --git a/OpenSim/Region/Framework/Scenes/Scene.cs b/OpenSim/Region/Framework/Scenes/Scene.cs
index 23006f2..784fc91 100644
--- a/OpenSim/Region/Framework/Scenes/Scene.cs
+++ b/OpenSim/Region/Framework/Scenes/Scene.cs
@@ -70,12 +70,77 @@ namespace OpenSim.Region.Framework.Scenes
         /// <summary>
         /// Show debug information about teleports.
         /// </summary>
-        public bool DebugTeleporting { get; private set; }
+        public bool DebugTeleporting { get; set; }
 
         /// <summary>
         /// Show debug information about the scene loop.
         /// </summary>
-        public bool DebugUpdates { get; private set; }
+        public bool DebugUpdates { get; set; }
+
+        /// <summary>
+        /// If true then the scene is saved to persistent storage periodically, every m_update_backup frames and
+        /// if objects meet required conditions (m_dontPersistBefore and m_dontPersistAfter).
+        /// </summary>
+        /// <remarks>
+        /// Even if false, the scene will still be saved on clean shutdown.
+        /// FIXME: Currently, setting this to false will mean that objects are not periodically returned from parcels.  
+        /// This needs to be fixed.
+        /// </remarks>
+        public bool PeriodicBackup { get; set; }
+
+        /// <summary>
+        /// If false then the scene is never saved to persistence storage even if PeriodicBackup == true and even
+        /// if the scene is being shut down for the final time.
+        /// </summary>
+        public bool UseBackup { get; set; }
+
+        /// <summary>
+        /// If false then physical objects are disabled, though collisions will continue as normal.
+        /// </summary>
+        public bool PhysicsEnabled { get; set; }
+
+        /// <summary>
+        /// If false then scripts are not enabled on the smiulator
+        /// </summary>
+        public bool ScriptsEnabled 
+        { 
+            get { return m_scripts_enabled; }
+            set 
+            {
+                if (m_scripts_enabled != value)
+                {
+                    if (!value)
+                    {
+                        m_log.Info("Stopping all Scripts in Scene");
+
+                        EntityBase[] entities = Entities.GetEntities();
+                        foreach (EntityBase ent in entities)
+                        {
+                            if (ent is SceneObjectGroup)
+                                ((SceneObjectGroup)ent).RemoveScriptInstances(false);
+                        }
+                    }
+                    else
+                    {
+                        m_log.Info("Starting all Scripts in Scene");
+    
+                        EntityBase[] entities = Entities.GetEntities();
+                        foreach (EntityBase ent in entities)
+                        {
+                            if (ent is SceneObjectGroup)
+                            {
+                                SceneObjectGroup sog = (SceneObjectGroup)ent;
+                                sog.CreateScriptInstances(0, false, DefaultScriptEngine, 0);
+                                sog.ResumeScripts();
+                            }
+                        }
+                    }
+
+                    m_scripts_enabled = value;
+                }
+            }
+        }
+        private bool m_scripts_enabled;
 
         public SynchronizeSceneHandler SynchronizeScene;
 
@@ -284,8 +349,6 @@ namespace OpenSim.Region.Framework.Scenes
         private Dictionary<UUID, ReturnInfo> m_returns = new Dictionary<UUID, ReturnInfo>();
         private Dictionary<UUID, SceneObjectGroup> m_groupsWithTargets = new Dictionary<UUID, SceneObjectGroup>();
 
-        private bool m_physics_enabled = true;
-        private bool m_scripts_enabled = true;
         private string m_defaultScriptEngine;
 
         /// <summary>
@@ -348,7 +411,6 @@ namespace OpenSim.Region.Framework.Scenes
 
         private Timer m_mapGenerationTimer = new Timer();
         private bool m_generateMaptiles;
-        private bool m_useBackup = true;
 
         #endregion Fields
 
@@ -614,11 +676,6 @@ namespace OpenSim.Region.Framework.Scenes
             get { return m_authenticateHandler; }
         }
 
-        public bool UseBackup
-        {
-            get { return m_useBackup; }
-        }
-
         // an instance to the physics plugin's Scene object.
         public PhysicsScene PhysicsScene
         {
@@ -762,15 +819,22 @@ namespace OpenSim.Region.Framework.Scenes
             //
             // Out of memory
             // Operating system has killed the plugin
-            m_sceneGraph.UnRecoverableError += RestartNow;
+            m_sceneGraph.UnRecoverableError 
+                += () => 
+                    { 
+                        m_log.ErrorFormat("[SCENE]: Restarting region {0} due to unrecoverable physics crash", Name); 
+                        RestartNow(); 
+                    };
 
             RegisterDefaultSceneEvents();
 
             DumpAssetsToFile = dumpAssetsToFile;
 
+            // XXX: Don't set the public property since we don't want to activate here.  This needs to be handled 
+            // better in the future.
             m_scripts_enabled = !RegionInfo.RegionSettings.DisableScripts;
 
-            m_physics_enabled = !RegionInfo.RegionSettings.DisablePhysics;
+            PhysicsEnabled = !RegionInfo.RegionSettings.DisablePhysics;
 
             m_simulatorVersion = simulatorVersion + " (" + Util.GetRuntimeInformation() + ")";
 
@@ -787,8 +851,8 @@ namespace OpenSim.Region.Framework.Scenes
                     StartDisabled = startupConfig.GetBoolean("StartDisabled", false);
 
                     m_defaultDrawDistance = startupConfig.GetFloat("DefaultDrawDistance",m_defaultDrawDistance);
-                    m_useBackup = startupConfig.GetBoolean("UseSceneBackup", m_useBackup);
-                    if (!m_useBackup)
+                    UseBackup = startupConfig.GetBoolean("UseSceneBackup", UseBackup);
+                    if (!UseBackup)
                         m_log.InfoFormat("[SCENE]: Backup has been disabled for {0}", RegionInfo.RegionName);
                     
                     //Animation states
@@ -965,6 +1029,10 @@ namespace OpenSim.Region.Framework.Scenes
         {
             PhysicalPrims = true;
             CollidablePrims = true;
+            PhysicsEnabled = true;
+
+            PeriodicBackup = true;
+            UseBackup = true;
 
             BordersLocked = true;
             Border northBorder = new Border();
@@ -1207,83 +1275,6 @@ namespace OpenSim.Region.Framework.Scenes
             }
         }
 
-        public void SetSceneCoreDebug(Dictionary<string, string> options)
-        {
-            if (options.ContainsKey("active"))
-            {
-                bool active;
-
-                if (bool.TryParse(options["active"], out active))
-                    Active = active;
-            }
-
-            if (options.ContainsKey("scripting"))
-            {
-                bool enableScripts = true;
-                if (bool.TryParse(options["scripting"], out enableScripts) && m_scripts_enabled != enableScripts)
-                {
-                    if (!enableScripts)
-                    {
-                        m_log.Info("Stopping all Scripts in Scene");
-                        
-                        EntityBase[] entities = Entities.GetEntities();
-                        foreach (EntityBase ent in entities)
-                        {
-                            if (ent is SceneObjectGroup)
-                                ((SceneObjectGroup)ent).RemoveScriptInstances(false);
-                        }
-                    }
-                    else
-                    {
-                        m_log.Info("Starting all Scripts in Scene");
-    
-                        EntityBase[] entities = Entities.GetEntities();
-                        foreach (EntityBase ent in entities)
-                        {
-                            if (ent is SceneObjectGroup)
-                            {
-                                SceneObjectGroup sog = (SceneObjectGroup)ent;
-                                sog.CreateScriptInstances(0, false, DefaultScriptEngine, 0);
-                                sog.ResumeScripts();
-                            }
-                        }
-                    }
-
-                    m_scripts_enabled = enableScripts;
-                }
-            }
-
-            if (options.ContainsKey("physics"))
-            {
-                bool enablePhysics;
-                if (bool.TryParse(options["physics"], out enablePhysics))
-                    m_physics_enabled = enablePhysics;
-            }
-
-//            if (options.ContainsKey("collisions"))
-//            {
-//                // TODO: Implement.  If false, should stop objects colliding, though possibly should still allow
-//                // the avatar themselves to collide with the ground.
-//            }
-
-            if (options.ContainsKey("teleport"))
-            {
-                bool enableTeleportDebugging;
-                if (bool.TryParse(options["teleport"], out enableTeleportDebugging))
-                    DebugTeleporting = enableTeleportDebugging;
-            }
-
-            if (options.ContainsKey("updates"))
-            {
-                bool enableUpdateDebugging;
-                if (bool.TryParse(options["updates"], out enableUpdateDebugging))
-                {
-                    DebugUpdates = enableUpdateDebugging;
-                    GcNotify.Enabled = DebugUpdates;
-                }
-            }
-        }
-
         public int GetInaccurateNeighborCount()
         {
             return m_neighbours.Count;
@@ -1332,16 +1323,7 @@ namespace OpenSim.Region.Framework.Scenes
 
             m_log.Debug("[SCENE]: Persisting changed objects");
 
-            EntityBase[] entities = GetEntities();
-            foreach (EntityBase entity in entities)
-            {
-                if (!entity.IsDeleted && entity is SceneObjectGroup && ((SceneObjectGroup)entity).HasGroupChanged)
-                {
-                    ((SceneObjectGroup)entity).ProcessBackup(SimulationDataService, false);
-                }
-            }
-
-            m_log.Debug("[SCENE]: Graph close");
+            Backup(false);
             m_sceneGraph.Close();
 
             if (!GridService.DeregisterRegion(RegionInfo.RegionID))
@@ -1568,7 +1550,7 @@ namespace OpenSim.Region.Framework.Scenes
                     }
 
                     tmpMS = Util.EnvironmentTickCount();
-                    if ((Frame % m_update_physics == 0) && m_physics_enabled)
+                    if (PhysicsEnabled && Frame % m_update_physics == 0)
                         m_sceneGraph.UpdatePreparePhysics();
                     physicsMS2 = Util.EnvironmentTickCountSubtract(tmpMS);
     
@@ -1583,7 +1565,7 @@ namespace OpenSim.Region.Framework.Scenes
                     tmpMS = Util.EnvironmentTickCount();
                     if (Frame % m_update_physics == 0)
                     {
-                        if (m_physics_enabled)
+                        if (PhysicsEnabled)
                             physicsFPS = m_sceneGraph.UpdatePhysics(MinFrameTime);
     
                         if (SynchronizeScene != null)
@@ -1625,7 +1607,7 @@ namespace OpenSim.Region.Framework.Scenes
                         eventMS = Util.EnvironmentTickCountSubtract(tmpMS);
                     }
     
-                    if (Frame % m_update_backup == 0)
+                    if (PeriodicBackup && Frame % m_update_backup == 0)
                     {
                         tmpMS = Util.EnvironmentTickCount();
                         UpdateStorageBackup();
@@ -5615,33 +5597,7 @@ Environment.Exit(1);
 
         public void TriggerEstateSunUpdate()
         {
-            float sun;
-            if (RegionInfo.RegionSettings.UseEstateSun)
-            {
-                sun = (float)RegionInfo.EstateSettings.SunPosition;
-                if (RegionInfo.EstateSettings.UseGlobalTime)
-                {
-                    sun = EventManager.GetCurrentTimeAsSunLindenHour() - 6.0f;
-                }
-
-                // 
-                EventManager.TriggerEstateToolsSunUpdate(
-                        RegionInfo.RegionHandle,
-                        RegionInfo.EstateSettings.FixedSun,
-                        RegionInfo.RegionSettings.UseEstateSun,
-                        sun);
-            }
-            else
-            {
-                // Use the Sun Position from the Region Settings
-                sun = (float)RegionInfo.RegionSettings.SunPosition - 6.0f;
-
-                EventManager.TriggerEstateToolsSunUpdate(
-                        RegionInfo.RegionHandle,
-                        RegionInfo.RegionSettings.FixedSun,
-                        RegionInfo.RegionSettings.UseEstateSun,
-                        sun);
-            }
+            EventManager.TriggerEstateToolsSunUpdate(RegionInfo.RegionHandle);
         }
 
         private void HandleReloadEstate(string module, string[] cmd)
@@ -6037,10 +5993,17 @@ Environment.Exit(1);
             GC.Collect();
         }
 
-        // Wrappers to get physics modules retrieve assets. Has to be done this way
-        // because we can't assign the asset service to physics directly - at the
-        // time physics are instantiated it's not registered but it will be by
-        // the time the first prim exists.
+        /// <summary>
+        /// Wrappers to get physics modules retrieve assets. 
+        /// </summary>
+        /// <remarks>
+        /// Has to be done this way
+        /// because we can't assign the asset service to physics directly - at the
+        /// time physics are instantiated it's not registered but it will be by
+        /// the time the first prim exists.
+        /// </remarks>
+        /// <param name="assetID"></param>
+        /// <param name="callback"></param>
         public void PhysicsRequestAsset(UUID assetID, AssetReceivedDelegate callback)
         {
             AssetService.Get(assetID.ToString(), callback, PhysicsAssetReceived);
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
index b008e66..dd8541c 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
@@ -101,6 +101,15 @@ namespace OpenSim.Region.Framework.Scenes
     /// </summary>
     public partial class SceneObjectGroup : EntityBase, ISceneObject
     {
+        // Axis selection bitmask used by SetAxisRotation()
+        // Just happen to be the same bits used by llSetStatus() and defined in ScriptBaseClass.
+        public enum axisSelect : int
+        {
+            STATUS_ROTATE_X = 0x002,
+            STATUS_ROTATE_Y = 0x004,
+            STATUS_ROTATE_Z = 0x008,
+        }
+
         // private PrimCountTaintedDelegate handlerPrimCountTainted = null;
 
         /// <summary>
@@ -502,11 +511,19 @@ namespace OpenSim.Region.Framework.Scenes
 
                 if (Scene != null)
                 {
-                    //                    if ((Scene.TestBorderCross(val - Vector3.UnitX, Cardinals.E) || Scene.TestBorderCross(val + Vector3.UnitX, Cardinals.W)
-                    //                        || Scene.TestBorderCross(val - Vector3.UnitY, Cardinals.N) || Scene.TestBorderCross(val + Vector3.UnitY, Cardinals.S))
-                    //                        && !IsAttachmentCheckFull() && (!Scene.LoadingPrims))
-                    if ((Scene.TestBorderCross(val, Cardinals.E) || Scene.TestBorderCross(val, Cardinals.W)
-                        || Scene.TestBorderCross(val, Cardinals.N) || Scene.TestBorderCross(val, Cardinals.S))
+                    if (
+                        // (Scene.TestBorderCross(val - Vector3.UnitX, Cardinals.E)
+                        //     || Scene.TestBorderCross(val + Vector3.UnitX, Cardinals.W)
+                        //     || Scene.TestBorderCross(val - Vector3.UnitY, Cardinals.N)
+                        //     || Scene.TestBorderCross(val + Vector3.UnitY, Cardinals.S))
+                        // Experimental change for better border crossings.
+                        //    The commented out original lines above would, it seems, trigger
+                        //    a border crossing a little early or late depending on which
+                        //    direction the object was moving.
+                        (Scene.TestBorderCross(val, Cardinals.E)
+                            || Scene.TestBorderCross(val, Cardinals.W)
+                            || Scene.TestBorderCross(val, Cardinals.N)
+                            || Scene.TestBorderCross(val, Cardinals.S))
                         && !IsAttachmentCheckFull() && (!Scene.LoadingPrims))
                     {
                         IEntityTransferModule entityTransfer = m_scene.RequestModuleInterface<IEntityTransferModule>();
@@ -925,6 +942,18 @@ namespace OpenSim.Region.Framework.Scenes
         /// </remarks>
         public UUID FromFolderID { get; set; }
 
+        /// <summary>
+        /// IDs of all avatars sat on this scene object.
+        /// </summary>
+        /// <remarks>
+        /// We need this so that we can maintain a linkset wide ordering of avatars sat on different parts.
+        /// This must be locked before it is read or written.
+        /// SceneObjectPart sitting avatar add/remove code also locks on this object to avoid race conditions.
+        /// No avatar should appear more than once in this list.
+        /// Do not manipulate this list directly - use the Add/Remove sitting avatar methods on SceneObjectPart.
+        /// </remarks>
+        protected internal List<UUID> m_sittingAvatars = new List<UUID>();
+
         #endregion
 
 //        ~SceneObjectGroup()
@@ -4493,17 +4522,28 @@ namespace OpenSim.Region.Framework.Scenes
         }
 
         /// <summary>
+        /// Get a copy of the list of sitting avatars on all prims of this object.
+        /// </summary>
+        /// <remarks>
+        /// This is sorted by the order in which avatars sat down.  If an avatar stands up then all avatars that sat
+        /// down after it move one place down the list.
+        /// </remarks>
+        /// <returns>A list of the sitting avatars.  Returns an empty list if there are no sitting avatars.</returns>
+        public List<UUID> GetSittingAvatars()
+        {
+            lock (m_sittingAvatars)
+                return new List<UUID>(m_sittingAvatars);
+        }
+
+        /// <summary>
         /// Gets the number of sitting avatars.
         /// </summary>
         /// <remarks>This applies to all sitting avatars whether there is a sit target set or not.</remarks>
         /// <returns></returns>
         public int GetSittingAvatarsCount()
         {
-             int count = 0;
-
-             Array.ForEach<SceneObjectPart>(m_parts.GetArray(), p => count += p.GetSittingAvatarsCount());
-
-             return count;
+            lock (m_sittingAvatars)
+                return m_sittingAvatars.Count;
         }
 
         public override string ToString()
@@ -4512,7 +4552,7 @@ namespace OpenSim.Region.Framework.Scenes
         }
 
         #region ISceneObject
-        
+
         public virtual ISceneObject CloneForNewScene()
         {
             SceneObjectGroup sog = Copy(false);
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
index ff4ae85..b59ba68 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
@@ -1342,7 +1342,7 @@ namespace OpenSim.Region.Framework.Scenes
         public UUID SitTargetAvatar { get; set; }
 
         /// <summary>
-        /// IDs of all avatars start on this object part.
+        /// IDs of all avatars sat on this part.
         /// </summary>
         /// <remarks>
         /// We need to track this so that we can stop sat upon prims from being attached.
@@ -2431,11 +2431,11 @@ namespace OpenSim.Region.Framework.Scenes
         public int GetAxisRotation(int axis)
         {
             //Cannot use ScriptBaseClass constants as no referance to it currently.
-            if (axis == 2)//STATUS_ROTATE_X
+            if (axis == (int)SceneObjectGroup.axisSelect.STATUS_ROTATE_X)
                 return STATUS_ROTATE_X;
-            if (axis == 4)//STATUS_ROTATE_Y
+            if (axis == (int)SceneObjectGroup.axisSelect.STATUS_ROTATE_Y)
                 return STATUS_ROTATE_Y;
-            if (axis == 8)//STATUS_ROTATE_Z
+            if (axis == (int)SceneObjectGroup.axisSelect.STATUS_ROTATE_Z)
                 return STATUS_ROTATE_Z;
 
             return 0;
@@ -2895,11 +2895,14 @@ namespace OpenSim.Region.Framework.Scenes
 
         public void PhysicsOutOfBounds(Vector3 pos)
         {
-            m_log.Error("[PHYSICS]: Physical Object went out of bounds.");
+            // Note: This is only being called on the root prim at this time.
+
+            m_log.ErrorFormat(
+                "[SCENE OBJECT PART]: Physical object {0}, localID {1} went out of bounds at {2} in {3}.  Stopping at {4} and making non-physical.", 
+                Name, LocalId, pos, ParentGroup.Scene.Name, AbsolutePosition);
             
             RemFlag(PrimFlags.Physics);
             DoPhysicsPropertyUpdate(false, true);
-            //ParentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(PhysActor);
         }
 
         public void PhysicsRequestingTerseUpdate()
@@ -3322,13 +3325,13 @@ namespace OpenSim.Region.Framework.Scenes
             ParentGroup.SetAxisRotation(axis, rotate);
 
             //Cannot use ScriptBaseClass constants as no referance to it currently.
-            if (axis == 2)//STATUS_ROTATE_X
+            if ((axis & (int)SceneObjectGroup.axisSelect.STATUS_ROTATE_X) != 0)
                 STATUS_ROTATE_X = rotate;
 
-            if (axis == 4)//STATUS_ROTATE_Y
+            if ((axis & (int)SceneObjectGroup.axisSelect.STATUS_ROTATE_Y) != 0)
                 STATUS_ROTATE_Y = rotate;
 
-            if (axis == 8)//STATUS_ROTATE_Z
+            if ((axis & (int)SceneObjectGroup.axisSelect.STATUS_ROTATE_Z) != 0)
                 STATUS_ROTATE_Z = rotate;
         }
 
@@ -4558,7 +4561,7 @@ namespace OpenSim.Region.Framework.Scenes
                 if (ParentGroup.RootPart == this)
                     AngularVelocity = new Vector3(0, 0, 0);
             }
-            else
+            else if (SetVD != wasVD)
             {
                 if (ParentGroup.Scene.CollidablePrims)
                 {
@@ -4646,9 +4649,9 @@ namespace OpenSim.Region.Framework.Scenes
                                  PhysicsShapeType,
                                  m_localId);
             }
-            catch (Exception ex)
+            catch (Exception e)
             {
-                m_log.ErrorFormat("[SCENE]: AddToPhysics object {0} failed: {1}", m_uuid, ex.Message);
+                m_log.ErrorFormat("[SCENE]: caught exception meshing object {0}. Object set to phantom. e={1}", m_uuid, e);
                 pa = null;
             }
           
@@ -5202,18 +5205,22 @@ namespace OpenSim.Region.Framework.Scenes
         /// <param name='avatarId'></param>
         protected internal bool AddSittingAvatar(UUID avatarId)
         {
-            if (IsSitTargetSet && SitTargetAvatar == UUID.Zero)
-                SitTargetAvatar = avatarId;
+            lock (ParentGroup.m_sittingAvatars)
+            {
+                if (IsSitTargetSet && SitTargetAvatar == UUID.Zero)
+                    SitTargetAvatar = avatarId;
 
-            HashSet<UUID> sittingAvatars = m_sittingAvatars;
+                if (m_sittingAvatars == null)
+                    m_sittingAvatars = new HashSet<UUID>();
 
-            if (sittingAvatars == null)
-                sittingAvatars = new HashSet<UUID>();
+                if (m_sittingAvatars.Add(avatarId))
+                {
+                    ParentGroup.m_sittingAvatars.Add(avatarId);
 
-            lock (sittingAvatars)
-            {
-                m_sittingAvatars = sittingAvatars;
-                return m_sittingAvatars.Add(avatarId);
+                    return true;
+                }
+
+                return false;
             }
         }
 
@@ -5227,27 +5234,26 @@ namespace OpenSim.Region.Framework.Scenes
         /// <param name='avatarId'></param>
         protected internal bool RemoveSittingAvatar(UUID avatarId)
         {
-            if (SitTargetAvatar == avatarId)
-                SitTargetAvatar = UUID.Zero;
-
-            HashSet<UUID> sittingAvatars = m_sittingAvatars;
+            lock (ParentGroup.m_sittingAvatars)
+            {
+                if (SitTargetAvatar == avatarId)
+                    SitTargetAvatar = UUID.Zero;
 
-            // This can occur under a race condition where another thread
-            if (sittingAvatars == null)
-                return false;
+                if (m_sittingAvatars == null)
+                    return false;
 
-            lock (sittingAvatars)
-            {
-                if (sittingAvatars.Remove(avatarId))
+                if (m_sittingAvatars.Remove(avatarId))
                 {
-                    if (sittingAvatars.Count == 0)
+                    if (m_sittingAvatars.Count == 0)
                         m_sittingAvatars = null;
 
+                    ParentGroup.m_sittingAvatars.Remove(avatarId);
+
                     return true;
                 }
-            }
 
-            return false;
+                return false;
+            }
         }
 
         /// <summary>
@@ -5257,16 +5263,12 @@ namespace OpenSim.Region.Framework.Scenes
         /// <returns>A hashset of the sitting avatars.  Returns null if there are no sitting avatars.</returns>
         public HashSet<UUID> GetSittingAvatars()
         {
-            HashSet<UUID> sittingAvatars = m_sittingAvatars;
-
-            if (sittingAvatars == null)
-            {
-                return null;
-            }
-            else
+            lock (ParentGroup.m_sittingAvatars)
             {
-                lock (sittingAvatars)
-                    return new HashSet<UUID>(sittingAvatars);
+                if (m_sittingAvatars == null)
+                    return null;
+                else
+                    return new HashSet<UUID>(m_sittingAvatars);
             }
         }
 
@@ -5277,13 +5279,13 @@ namespace OpenSim.Region.Framework.Scenes
         /// <returns></returns>
         public int GetSittingAvatarsCount()
         {
-            HashSet<UUID> sittingAvatars = m_sittingAvatars;
-
-            if (sittingAvatars == null)
-                return 0;
-
-            lock (sittingAvatars)
-                return sittingAvatars.Count;
+            lock (ParentGroup.m_sittingAvatars)
+            {
+                if (m_sittingAvatars == null)
+                    return 0;
+                else
+                    return m_sittingAvatars.Count;
+            }
         }
     }
 }
diff --git a/OpenSim/Region/Framework/Scenes/ScenePresence.cs b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
index a9195f7..c2ff110 100644
--- a/OpenSim/Region/Framework/Scenes/ScenePresence.cs
+++ b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
@@ -216,8 +216,6 @@ namespace OpenSim.Region.Framework.Scenes
 
         private Quaternion m_headrotation = Quaternion.Identity;
 
-        private string m_nextSitAnimation = String.Empty;
-
         //PauPaw:Proper PID Controler for autopilot************
         public bool MovingToTarget { get; private set; }
         public Vector3 MoveToPositionTarget { get; private set; }
@@ -591,18 +589,18 @@ namespace OpenSim.Region.Framework.Scenes
             set
             {
                 m_bodyRot = value;
-                //                m_log.DebugFormat("[SCENE PRESENCE]: Body rot for {0} set to {1}", Name, m_bodyRot);
                 if (PhysicsActor != null)
                 {
                     try
                     {
-                        PhysicsActor.Orientation = value;
+                        PhysicsActor.Orientation = m_bodyRot;
                     }
                     catch (Exception e)
                     {
                         m_log.Error("[SCENE PRESENCE]: Orientation " + e.Message);
                     }
                 }
+//                m_log.DebugFormat("[SCENE PRESENCE]: Body rot for {0} set to {1}", Name, m_bodyRot);
             }
         }
 
@@ -2199,28 +2197,17 @@ namespace OpenSim.Region.Framework.Scenes
 
             if (ParentID != 0)
             {
+                var targetPart = m_scene.GetSceneObjectPart(targetID);
+                if (targetPart != null && targetPart.LocalId == ParentID)
+                    return; // already sitting here, ignore
+
                 StandUp();
             }
 
-//            if (!String.IsNullOrEmpty(sitAnimation))
-//            {
-//                m_nextSitAnimation = sitAnimation;
-//            }
-//            else
-//            {
-            m_nextSitAnimation = "SIT";
-//            }
-
-            //SceneObjectPart part = m_scene.GetSceneObjectPart(targetID);
             SceneObjectPart part = FindNextAvailableSitTarget(targetID);
 
             if (part != null)
             {
-                if (!String.IsNullOrEmpty(part.SitAnimation))
-                {
-                    m_nextSitAnimation = part.SitAnimation;
-                }
-
                 m_requestedSitTargetID = part.LocalId;
                 m_requestedSitTargetUUID = targetID;
 
@@ -2341,18 +2328,6 @@ namespace OpenSim.Region.Framework.Scenes
 
         public void HandleAgentSit(IClientAPI remoteClient, UUID agentID)
         {
-            if (!String.IsNullOrEmpty(m_nextSitAnimation))
-            {
-                HandleAgentSit(remoteClient, agentID, m_nextSitAnimation);
-            }
-            else
-            {
-                HandleAgentSit(remoteClient, agentID, "SIT");
-            }
-        }
-
-        public void HandleAgentSit(IClientAPI remoteClient, UUID agentID, string sitAnimation)
-        {
             SceneObjectPart part = m_scene.GetSceneObjectPart(m_requestedSitTargetID);
 
             if (part != null)
@@ -2425,7 +2400,12 @@ namespace OpenSim.Region.Framework.Scenes
 
                 Velocity = Vector3.Zero;
                 RemoveFromPhysicalScene();
-        
+
+                String sitAnimation = "SIT";
+                if (!String.IsNullOrEmpty(part.SitAnimation))
+                {
+                    sitAnimation = part.SitAnimation;
+                }
                 Animator.TrySetMovementAnimation(sitAnimation);
                 SendAvatarDataToAllAgents();
             }
diff --git a/OpenSim/Region/Framework/Scenes/Tests/BorderTests.cs b/OpenSim/Region/Framework/Scenes/Tests/BorderTests.cs
index 4a21dc9..e209221 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/BorderTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/BorderTests.cs
@@ -37,7 +37,7 @@ using OpenSim.Tests.Common;
 namespace OpenSim.Region.Framework.Scenes.Tests
 {
     [TestFixture]
-    public class BorderTests
+    public class BorderTests : OpenSimTestCase
     {
         [Test]
         public void TestCross()
diff --git a/OpenSim/Region/Framework/Scenes/Tests/EntityManagerTests.cs b/OpenSim/Region/Framework/Scenes/Tests/EntityManagerTests.cs
index ea9fc93..766ce83 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/EntityManagerTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/EntityManagerTests.cs
@@ -41,7 +41,7 @@ using OpenSim.Tests.Common;
 namespace OpenSim.Region.Framework.Scenes.Tests
 {
     [TestFixture, LongRunning]
-    public class EntityManagerTests
+    public class EntityManagerTests : OpenSimTestCase
     {
         static public Random random;
         SceneObjectGroup found;
diff --git a/OpenSim/Region/Framework/Scenes/Tests/SceneGraphTests.cs b/OpenSim/Region/Framework/Scenes/Tests/SceneGraphTests.cs
index d23c965..575a081 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/SceneGraphTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/SceneGraphTests.cs
@@ -40,7 +40,7 @@ using OpenSim.Tests.Common.Mock;
 namespace OpenSim.Region.Framework.Scenes.Tests
 {
     [TestFixture]
-    public class SceneGraphTests
+    public class SceneGraphTests : OpenSimTestCase
     {
         [Test]
         public void TestDuplicateObject()
diff --git a/OpenSim/Region/Framework/Scenes/Tests/SceneManagerTests.cs b/OpenSim/Region/Framework/Scenes/Tests/SceneManagerTests.cs
index ab56f4e..2d831fa 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/SceneManagerTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/SceneManagerTests.cs
@@ -41,7 +41,7 @@ using OpenSim.Tests.Common.Mock;
 namespace OpenSim.Region.Framework.Scenes.Tests
 {
     [TestFixture]
-    public class SceneManagerTests
+    public class SceneManagerTests : OpenSimTestCase
     {
         [Test]
         public void TestClose()
diff --git a/OpenSim/Region/Framework/Scenes/Tests/SceneObjectBasicTests.cs b/OpenSim/Region/Framework/Scenes/Tests/SceneObjectBasicTests.cs
index 5b334c6..a07d64c 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/SceneObjectBasicTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/SceneObjectBasicTests.cs
@@ -29,6 +29,7 @@ using System;
 using System.Collections.Generic;
 using System.Reflection;
 using System.Threading;
+using Nini.Config;
 using NUnit.Framework;
 using OpenMetaverse;
 using OpenSim.Framework;
@@ -182,6 +183,10 @@ namespace OpenSim.Region.Framework.Scenes.Tests
         /// <summary>
         /// Test deleting an object from a scene.
         /// </summary>
+        /// <remarks>
+        /// This is the most basic form of delete.  For all more sophisticated forms of derez (done asynchrnously
+        /// and where object can be taken to user inventory, etc.), see SceneObjectDeRezTests.
+        /// </remarks>
         [Test]
         public void TestDeleteSceneObject()
         {
@@ -201,100 +206,6 @@ namespace OpenSim.Region.Framework.Scenes.Tests
         }
         
         /// <summary>
-        /// Test deleting an object asynchronously
-        /// </summary>
-        [Test]
-        public void TestDeleteSceneObjectAsync()
-        {
-            TestHelpers.InMethod();
-            //log4net.Config.XmlConfigurator.Configure();
-
-            UUID agentId = UUID.Parse("00000000-0000-0000-0000-000000000001");
-
-            TestScene scene = new SceneHelpers().SetupScene();
-
-            // Turn off the timer on the async sog deleter - we'll crank it by hand for this test.
-            AsyncSceneObjectGroupDeleter sogd = scene.SceneObjectGroupDeleter;
-            sogd.Enabled = false;
-
-            SceneObjectGroup so = SceneHelpers.AddSceneObject(scene);
-
-            IClientAPI client = SceneHelpers.AddScenePresence(scene, agentId).ControllingClient;
-            scene.DeRezObjects(client, new System.Collections.Generic.List<uint>() { so.LocalId }, UUID.Zero, DeRezAction.Delete, UUID.Zero);
-
-            SceneObjectPart retrievedPart = scene.GetSceneObjectPart(so.LocalId);
-
-            Assert.That(retrievedPart, Is.Not.Null);
-
-            Assert.That(so.IsDeleted, Is.False);
-
-            sogd.InventoryDeQueueAndDelete();
-
-            Assert.That(so.IsDeleted, Is.True);
-
-            SceneObjectPart retrievedPart2 = scene.GetSceneObjectPart(so.LocalId);
-            Assert.That(retrievedPart2, Is.Null);
-        }
- 
-        /// <summary>
-        /// Test deleting an object asynchronously to user inventory.
-        /// </summary>
-//        [Test]
-        public void TestDeleteSceneObjectAsyncToUserInventory()
-        {
-            TestHelpers.InMethod();
-            TestHelpers.EnableLogging();
-
-            UUID agentId = UUID.Parse("00000000-0000-0000-0000-000000000001");
-            string myObjectName = "Fred";
-
-            TestScene scene = new SceneHelpers().SetupScene();
-
-            // Turn off the timer on the async sog deleter - we'll crank it by hand for this test.
-            AsyncSceneObjectGroupDeleter sogd = scene.SceneObjectGroupDeleter;
-            sogd.Enabled = false;
-
-            SceneObjectGroup so = SceneHelpers.AddSceneObject(scene, myObjectName, agentId);
-
-//            Assert.That(
-//                scene.CommsManager.UserAdminService.AddUser(
-//                    "Bob", "Hoskins", "test", "test@test.com", 1000, 1000, agentId),
-//                Is.EqualTo(agentId));
-
-            UserAccount ua = UserAccountHelpers.CreateUserWithInventory(scene, agentId);
-            InventoryFolderBase folder1
-                = UserInventoryHelpers.CreateInventoryFolder(scene.InventoryService, ua.PrincipalID, "folder1");
-
-            IClientAPI client = SceneHelpers.AddScenePresence(scene, agentId).ControllingClient;
-            scene.DeRezObjects(client, new List<uint>() { so.LocalId }, UUID.Zero, DeRezAction.Take, folder1.ID);
-
-            SceneObjectPart retrievedPart = scene.GetSceneObjectPart(so.LocalId);
-
-            Assert.That(retrievedPart, Is.Not.Null);
-            Assert.That(so.IsDeleted, Is.False);
-
-            sogd.InventoryDeQueueAndDelete();
-
-            Assert.That(so.IsDeleted, Is.True);
-
-            SceneObjectPart retrievedPart2 = scene.GetSceneObjectPart(so.LocalId);
-            Assert.That(retrievedPart2, Is.Null);
-
-//            SceneSetupHelpers.DeleteSceneObjectAsync(scene, part, DeRezAction.Take, userInfo.RootFolder.ID, client);
-
-            InventoryItemBase retrievedItem
-                = UserInventoryHelpers.GetInventoryItem(
-                    scene.InventoryService, ua.PrincipalID, "folder1/" + myObjectName);
-
-            // Check that we now have the taken part in our inventory
-            Assert.That(retrievedItem, Is.Not.Null);
-
-            // Check that the taken part has actually disappeared
-//            SceneObjectPart retrievedPart = scene.GetSceneObjectPart(part.LocalId);
-//            Assert.That(retrievedPart, Is.Null);
-        }
-        
-        /// <summary>
         /// Changing a scene object uuid changes the root part uuid.  This is a valid operation if the object is not
         /// in a scene and is useful if one wants to supply a UUID directly rather than use the one generated by 
         /// OpenSim.
@@ -329,4 +240,4 @@ namespace OpenSim.Region.Framework.Scenes.Tests
             Assert.That(sog.Parts.Length, Is.EqualTo(2));
         }
     }
-}
+}
\ No newline at end of file
diff --git a/OpenSim/Region/Framework/Scenes/Tests/SceneObjectDeRezTests.cs b/OpenSim/Region/Framework/Scenes/Tests/SceneObjectDeRezTests.cs
index 0076f41..c1522e7 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/SceneObjectDeRezTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/SceneObjectDeRezTests.cs
@@ -33,22 +33,24 @@ using NUnit.Framework;
 using OpenMetaverse;
 using OpenSim.Framework;
 using OpenSim.Framework.Communications;
+using OpenSim.Region.CoreModules.Framework.InventoryAccess;
 using OpenSim.Region.CoreModules.World.Permissions;
 using OpenSim.Region.Framework.Scenes;
+using OpenSim.Services.Interfaces;
 using OpenSim.Tests.Common;
 using OpenSim.Tests.Common.Mock;
 
 namespace OpenSim.Region.Framework.Scenes.Tests
 {
     /// <summary>
-    /// Tests derez of scene objects by users.
+    /// Tests derez of scene objects.
     /// </summary>
     /// <remarks>
     /// This is at a level above the SceneObjectBasicTests, which act on the scene directly.
-    /// TODO: These tests are very incomplete - they only test for a few conditions.
+    /// TODO: These tests are incomplete - need to test more kinds of derez (e.g. return object).
     /// </remarks>
     [TestFixture]
-    public class SceneObjectDeRezTests
+    public class SceneObjectDeRezTests : OpenSimTestCase
     {
         /// <summary>
         /// Test deleting an object from a scene.
@@ -76,14 +78,20 @@ namespace OpenSim.Region.Framework.Scenes.Tests
                 = new SceneObjectPart(userId, PrimitiveBaseShape.Default, Vector3.Zero, Quaternion.Identity, Vector3.Zero);
             part.Name = "obj1";
             scene.AddNewSceneObject(new SceneObjectGroup(part), false);
+
             List<uint> localIds = new List<uint>();
             localIds.Add(part.LocalId);
-
             scene.DeRezObjects(client, localIds, UUID.Zero, DeRezAction.Delete, UUID.Zero);
+
+            // Check that object isn't deleted until we crank the sogd handle.
+            SceneObjectPart retrievedPart = scene.GetSceneObjectPart(part.LocalId);
+            Assert.That(retrievedPart, Is.Not.Null);
+            Assert.That(retrievedPart.ParentGroup.IsDeleted, Is.False);
+
             sogd.InventoryDeQueueAndDelete();
             
-            SceneObjectPart retrievedPart = scene.GetSceneObjectPart(part.LocalId);
-            Assert.That(retrievedPart, Is.Null);
+            SceneObjectPart retrievedPart2 = scene.GetSceneObjectPart(part.LocalId);
+            Assert.That(retrievedPart2, Is.Null);
         }
         
         /// <summary>
@@ -124,6 +132,67 @@ namespace OpenSim.Region.Framework.Scenes.Tests
             // Object should still be in the scene.
             SceneObjectPart retrievedPart = scene.GetSceneObjectPart(part.LocalId);
             Assert.That(retrievedPart.UUID, Is.EqualTo(part.UUID));
-        }        
+        }   
+ 
+        /// <summary>
+        /// Test deleting an object asynchronously to user inventory.
+        /// </summary>
+        [Test]
+        public void TestDeleteSceneObjectAsyncToUserInventory()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
+
+            UUID agentId = UUID.Parse("00000000-0000-0000-0000-000000000001");
+            string myObjectName = "Fred";
+
+            TestScene scene = new SceneHelpers().SetupScene();
+
+            IConfigSource configSource = new IniConfigSource();
+            IConfig config = configSource.AddConfig("Modules");            
+            config.Set("InventoryAccessModule", "BasicInventoryAccessModule");
+            SceneHelpers.SetupSceneModules(
+                scene, configSource, new object[] { new BasicInventoryAccessModule() });
+
+            SceneHelpers.SetupSceneModules(scene, new object[] { });
+
+            // Turn off the timer on the async sog deleter - we'll crank it by hand for this test.
+            AsyncSceneObjectGroupDeleter sogd = scene.SceneObjectGroupDeleter;
+            sogd.Enabled = false;
+
+            SceneObjectGroup so = SceneHelpers.AddSceneObject(scene, myObjectName, agentId);
+
+            UserAccount ua = UserAccountHelpers.CreateUserWithInventory(scene, agentId);
+            InventoryFolderBase folder1
+                = UserInventoryHelpers.CreateInventoryFolder(scene.InventoryService, ua.PrincipalID, "folder1");
+
+            IClientAPI client = SceneHelpers.AddScenePresence(scene, agentId).ControllingClient;
+            scene.DeRezObjects(client, new List<uint>() { so.LocalId }, UUID.Zero, DeRezAction.Take, folder1.ID);
+
+            SceneObjectPart retrievedPart = scene.GetSceneObjectPart(so.LocalId);
+
+            Assert.That(retrievedPart, Is.Not.Null);
+            Assert.That(so.IsDeleted, Is.False);
+
+            sogd.InventoryDeQueueAndDelete();
+
+            Assert.That(so.IsDeleted, Is.True);
+
+            SceneObjectPart retrievedPart2 = scene.GetSceneObjectPart(so.LocalId);
+            Assert.That(retrievedPart2, Is.Null);
+
+//            SceneSetupHelpers.DeleteSceneObjectAsync(scene, part, DeRezAction.Take, userInfo.RootFolder.ID, client);
+
+            InventoryItemBase retrievedItem
+                = UserInventoryHelpers.GetInventoryItem(
+                    scene.InventoryService, ua.PrincipalID, "folder1/" + myObjectName);
+
+            // Check that we now have the taken part in our inventory
+            Assert.That(retrievedItem, Is.Not.Null);
+
+            // Check that the taken part has actually disappeared
+//            SceneObjectPart retrievedPart = scene.GetSceneObjectPart(part.LocalId);
+//            Assert.That(retrievedPart, Is.Null);
+        }
     }
 }
\ No newline at end of file
diff --git a/OpenSim/Region/Framework/Scenes/Tests/SceneObjectLinkingTests.cs b/OpenSim/Region/Framework/Scenes/Tests/SceneObjectLinkingTests.cs
index 0e525c9..9378e20 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/SceneObjectLinkingTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/SceneObjectLinkingTests.cs
@@ -40,7 +40,7 @@ using log4net;
 namespace OpenSim.Region.Framework.Scenes.Tests
 {
     [TestFixture]
-    public class SceneObjectLinkingTests
+    public class SceneObjectLinkingTests : OpenSimTestCase
     {
         private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
diff --git a/OpenSim/Region/Framework/Scenes/Tests/SceneObjectResizeTests.cs b/OpenSim/Region/Framework/Scenes/Tests/SceneObjectResizeTests.cs
index e931859..1182c96 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/SceneObjectResizeTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/SceneObjectResizeTests.cs
@@ -41,7 +41,7 @@ namespace OpenSim.Region.Framework.Scenes.Tests
     /// Basic scene object resize tests
     /// </summary>
     [TestFixture]
-    public class SceneObjectResizeTests
+    public class SceneObjectResizeTests : OpenSimTestCase
     {
         /// <summary>
         /// Test resizing an object
diff --git a/OpenSim/Region/Framework/Scenes/Tests/SceneObjectScriptTests.cs b/OpenSim/Region/Framework/Scenes/Tests/SceneObjectScriptTests.cs
index d2361f8..a58e735 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/SceneObjectScriptTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/SceneObjectScriptTests.cs
@@ -40,7 +40,7 @@ using OpenSim.Tests.Common.Mock;
 namespace OpenSim.Region.Framework.Scenes.Tests
 {
     [TestFixture]
-    public class SceneObjectScriptTests
+    public class SceneObjectScriptTests : OpenSimTestCase
     {
         [Test]
         public void TestAddScript()
diff --git a/OpenSim/Region/Framework/Scenes/Tests/SceneObjectSpatialTests.cs b/OpenSim/Region/Framework/Scenes/Tests/SceneObjectSpatialTests.cs
index 6d255aa..abaa1d1 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/SceneObjectSpatialTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/SceneObjectSpatialTests.cs
@@ -42,14 +42,16 @@ namespace OpenSim.Region.Framework.Scenes.Tests
     /// Spatial scene object tests (will eventually cover root and child part position, rotation properties, etc.)
     /// </summary>
     [TestFixture]
-    public class SceneObjectSpatialTests
+    public class SceneObjectSpatialTests : OpenSimTestCase
     {
         TestScene m_scene;
         UUID m_ownerId = TestHelpers.ParseTail(0x1);
 
         [SetUp]
-        public void SetUp()
+        public override void SetUp()
         {
+            base.SetUp();
+
             m_scene = new SceneHelpers().SetupScene();
         }
 
diff --git a/OpenSim/Region/Framework/Scenes/Tests/SceneObjectStatusTests.cs b/OpenSim/Region/Framework/Scenes/Tests/SceneObjectStatusTests.cs
index 742c769..8eb3191 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/SceneObjectStatusTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/SceneObjectStatusTests.cs
@@ -42,7 +42,7 @@ namespace OpenSim.Region.Framework.Scenes.Tests
     /// Basic scene object status tests
     /// </summary>
     [TestFixture]
-    public class SceneObjectStatusTests
+    public class SceneObjectStatusTests : OpenSimTestCase
     {
         private TestScene m_scene;
         private UUID m_ownerId = TestHelpers.ParseTail(0x1);
@@ -78,6 +78,26 @@ namespace OpenSim.Region.Framework.Scenes.Tests
         }
 
         [Test]
+        public void TestSetNonPhysicsVolumeDetectSinglePrim()
+        {
+            TestHelpers.InMethod();
+
+            m_scene.AddSceneObject(m_so1);
+
+            SceneObjectPart rootPart = m_so1.RootPart;
+            Assert.That(rootPart.Flags, Is.EqualTo(PrimFlags.None));
+
+            m_so1.ScriptSetVolumeDetect(true);
+
+//            Console.WriteLine("so.RootPart.Flags [{0}]", so.RootPart.Flags);
+            Assert.That(rootPart.Flags, Is.EqualTo(PrimFlags.Phantom));
+
+            m_so1.ScriptSetVolumeDetect(false);
+
+            Assert.That(rootPart.Flags, Is.EqualTo(PrimFlags.None));            
+        }
+
+        [Test]
         public void TestSetPhysicsSinglePrim()
         {
             TestHelpers.InMethod();
@@ -89,13 +109,32 @@ namespace OpenSim.Region.Framework.Scenes.Tests
 
             m_so1.ScriptSetPhysicsStatus(true);
 
-//            Console.WriteLine("so.RootPart.Flags [{0}]", so.RootPart.Flags);
             Assert.That(rootPart.Flags, Is.EqualTo(PrimFlags.Physics));
 
             m_so1.ScriptSetPhysicsStatus(false);
 
             Assert.That(rootPart.Flags, Is.EqualTo(PrimFlags.None));
         }
+
+        [Test]
+        public void TestSetPhysicsVolumeDetectSinglePrim()
+        {
+            TestHelpers.InMethod();
+
+            m_scene.AddSceneObject(m_so1);
+
+            SceneObjectPart rootPart = m_so1.RootPart;
+            Assert.That(rootPart.Flags, Is.EqualTo(PrimFlags.None));
+
+            m_so1.ScriptSetPhysicsStatus(true);
+            m_so1.ScriptSetVolumeDetect(true);
+
+            Assert.That(rootPart.Flags, Is.EqualTo(PrimFlags.Phantom | PrimFlags.Physics));
+
+            m_so1.ScriptSetVolumeDetect(false);
+
+            Assert.That(rootPart.Flags, Is.EqualTo(PrimFlags.Physics));            
+        }
         
         [Test]
         public void TestSetPhysicsLinkset()
diff --git a/OpenSim/Region/Framework/Scenes/Tests/ScenePresenceAnimationTests.cs b/OpenSim/Region/Framework/Scenes/Tests/ScenePresenceAnimationTests.cs
index 646e5fa..1cd8ae9 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/ScenePresenceAnimationTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/ScenePresenceAnimationTests.cs
@@ -51,7 +51,7 @@ namespace OpenSim.Region.Framework.Scenes.Tests
     /// Scene presence animation tests
     /// </summary>
     [TestFixture]
-    public class ScenePresenceAnimationTests
+    public class ScenePresenceAnimationTests : OpenSimTestCase
     {
         [Test]
         public void TestFlyingAnimation()
diff --git a/OpenSim/Region/Framework/Scenes/Tests/ScenePresenceAutopilotTests.cs b/OpenSim/Region/Framework/Scenes/Tests/ScenePresenceAutopilotTests.cs
index 1d1ff88..d80afd3 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/ScenePresenceAutopilotTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/ScenePresenceAutopilotTests.cs
@@ -42,7 +42,7 @@ using OpenSim.Tests.Common.Mock;
 namespace OpenSim.Region.Framework.Scenes.Tests
 {
     [TestFixture]
-    public class ScenePresenceAutopilotTests
+    public class ScenePresenceAutopilotTests : OpenSimTestCase
     {
         private TestScene m_scene;
 
diff --git a/OpenSim/Region/Framework/Scenes/Tests/ScenePresenceSitTests.cs b/OpenSim/Region/Framework/Scenes/Tests/ScenePresenceSitTests.cs
index 493ab70..acaeb90 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/ScenePresenceSitTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/ScenePresenceSitTests.cs
@@ -43,7 +43,7 @@ using System.Threading;
 namespace OpenSim.Region.Framework.Scenes.Tests
 {
     [TestFixture]
-    public class ScenePresenceSitTests
+    public class ScenePresenceSitTests : OpenSimTestCase
     {
         private TestScene m_scene;
         private ScenePresence m_sp;
diff --git a/OpenSim/Region/Framework/Scenes/Tests/ScenePresenceTeleportTests.cs b/OpenSim/Region/Framework/Scenes/Tests/ScenePresenceTeleportTests.cs
index 37b5184..8dd1f3d 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/ScenePresenceTeleportTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/ScenePresenceTeleportTests.cs
@@ -49,7 +49,7 @@ namespace OpenSim.Region.Framework.Scenes.Tests
     /// Teleport tests in a standalone OpenSim
     /// </summary>
     [TestFixture]
-    public class ScenePresenceTeleportTests
+    public class ScenePresenceTeleportTests : OpenSimTestCase
     {
         [TestFixtureSetUp]
         public void FixtureInit()
diff --git a/OpenSim/Region/Framework/Scenes/Tests/SceneTests.cs b/OpenSim/Region/Framework/Scenes/Tests/SceneTests.cs
index ac3da1e..9d8eb0b 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/SceneTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/SceneTests.cs
@@ -50,7 +50,7 @@ namespace OpenSim.Region.Framework.Scenes.Tests
     /// Scene presence tests
     /// </summary>
     [TestFixture]
-    public class SceneTests
+    public class SceneTests : OpenSimTestCase
     {
         /// <summary>
         /// Very basic scene update test.  Should become more elaborate with time.
diff --git a/OpenSim/Region/Framework/Scenes/Tests/TaskInventoryTests.cs b/OpenSim/Region/Framework/Scenes/Tests/TaskInventoryTests.cs
index a51e4e3..0b461f5 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/TaskInventoryTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/TaskInventoryTests.cs
@@ -50,7 +50,7 @@ using OpenSim.Tests.Common.Mock;
 namespace OpenSim.Region.Framework.Tests
 {
     [TestFixture]
-    public class TaskInventoryTests
+    public class TaskInventoryTests : OpenSimTestCase
     {
         [Test]
         public void TestAddTaskInventoryItem()
diff --git a/OpenSim/Region/Framework/Scenes/Tests/UuidGathererTests.cs b/OpenSim/Region/Framework/Scenes/Tests/UuidGathererTests.cs
index 198e487..dd27294 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/UuidGathererTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/UuidGathererTests.cs
@@ -38,7 +38,7 @@ using OpenSim.Tests.Common.Mock;
 namespace OpenSim.Region.Framework.Scenes.Tests
 {
     [TestFixture]
-    public class UuidGathererTests
+    public class UuidGathererTests : OpenSimTestCase
     {
         protected IAssetService m_assetService;
         protected UuidGatherer m_uuidGatherer;
diff --git a/OpenSim/Region/OptionalModules/Avatar/Animations/AnimationsCommandModule.cs b/OpenSim/Region/OptionalModules/Avatar/Animations/AnimationsCommandModule.cs
new file mode 100644
index 0000000..e951d9e
--- /dev/null
+++ b/OpenSim/Region/OptionalModules/Avatar/Animations/AnimationsCommandModule.cs
@@ -0,0 +1,215 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Reflection;
+using System.Text;
+using log4net;
+using Mono.Addins;
+using Nini.Config;
+using OpenMetaverse;
+using OpenSim.Framework;
+using OpenSim.Framework.Console;
+using OpenSim.Framework.Monitoring;
+using OpenSim.Region.ClientStack.LindenUDP;
+using OpenSim.Region.Framework.Interfaces;
+using OpenSim.Region.Framework.Scenes;
+using OpenSim.Region.Framework.Scenes.Animation;
+using OpenSim.Services.Interfaces;
+
+namespace OpenSim.Region.OptionalModules.Avatar.Animations
+{
+    /// <summary>
+    /// A module that just holds commands for inspecting avatar animations.
+    /// </summary>
+    [Extension(Path = "/OpenSim/RegionModules", NodeName = "RegionModule", Id = "AnimationsCommandModule")]
+    public class AnimationsCommandModule : ISharedRegionModule
+    {
+//        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+
+        private List<Scene> m_scenes = new List<Scene>();
+
+        public string Name { get { return "Animations Command Module"; } }
+        
+        public Type ReplaceableInterface { get { return null; } }
+        
+        public void Initialise(IConfigSource source)
+        {
+//            m_log.DebugFormat("[ANIMATIONS COMMAND MODULE]: INITIALIZED MODULE");
+        }
+        
+        public void PostInitialise()
+        {
+//            m_log.DebugFormat("[ANIMATIONS COMMAND MODULE]: POST INITIALIZED MODULE");
+        }
+        
+        public void Close()
+        {
+//            m_log.DebugFormat("[ANIMATIONS COMMAND MODULE]: CLOSED MODULE");
+        }
+        
+        public void AddRegion(Scene scene)
+        {
+//            m_log.DebugFormat("[ANIMATIONS COMMAND MODULE]: REGION {0} ADDED", scene.RegionInfo.RegionName);
+        }
+        
+        public void RemoveRegion(Scene scene)
+        {
+//            m_log.DebugFormat("[ATTACHMENTS COMMAND MODULE]: REGION {0} REMOVED", scene.RegionInfo.RegionName);
+            
+            lock (m_scenes)
+                m_scenes.Remove(scene);
+        }        
+        
+        public void RegionLoaded(Scene scene)
+        {
+//            m_log.DebugFormat("[ANIMATIONS COMMAND MODULE]: REGION {0} LOADED", scene.RegionInfo.RegionName);
+            
+            lock (m_scenes)
+                m_scenes.Add(scene);
+
+            scene.AddCommand(
+                "Users", this, "show animations",
+                "show animations [<first-name> <last-name>]",
+                "Show animation information for avatars in this simulator.",
+                "If no name is supplied then information for all avatars is shown.\n"
+                + "Please note that for inventory animations, the animation name is the name under which the animation was originally uploaded\n"
+                + ", which is not necessarily the current inventory name.",
+                HandleShowAnimationsCommand);
+        }
+
+        protected void HandleShowAnimationsCommand(string module, string[] cmd)
+        {
+            if (cmd.Length != 2 && cmd.Length < 4)
+            {
+                MainConsole.Instance.OutputFormat("Usage: show animations [<first-name> <last-name>]");
+                return;
+            }
+
+            bool targetNameSupplied = false;
+            string optionalTargetFirstName = null;
+            string optionalTargetLastName = null;
+
+            if (cmd.Length >= 4)
+            {
+                targetNameSupplied = true;
+                optionalTargetFirstName = cmd[2];
+                optionalTargetLastName = cmd[3];
+            }
+
+            StringBuilder sb = new StringBuilder();
+
+            lock (m_scenes)
+            {
+                foreach (Scene scene in m_scenes)
+                {
+                    if (targetNameSupplied)
+                    {
+                        ScenePresence sp = scene.GetScenePresence(optionalTargetFirstName, optionalTargetLastName);
+                        if (sp != null && !sp.IsChildAgent)
+                            GetAttachmentsReport(sp, sb);
+                    }
+                    else
+                    {
+                        scene.ForEachRootScenePresence(sp => GetAttachmentsReport(sp, sb));
+                    }
+                }
+            }
+
+            MainConsole.Instance.Output(sb.ToString());
+        }
+
+        private void GetAttachmentsReport(ScenePresence sp, StringBuilder sb)
+        {
+            sb.AppendFormat("Animations for {0}\n", sp.Name);
+
+            ConsoleDisplayList cdl = new ConsoleDisplayList() { Indent = 2 };
+            ScenePresenceAnimator spa = sp.Animator;
+            AnimationSet anims = sp.Animator.Animations;
+
+            string cma = spa.CurrentMovementAnimation;
+            cdl.AddRow(
+                "Current movement anim", 
+                string.Format("{0}, {1}", DefaultAvatarAnimations.GetDefaultAnimation(cma), cma));
+
+            UUID defaultAnimId = anims.DefaultAnimation.AnimID;
+            cdl.AddRow(
+                "Default anim", 
+                string.Format("{0}, {1}", defaultAnimId, GetAnimName(sp.Scene.AssetService, defaultAnimId)));
+
+            UUID implicitDefaultAnimId = anims.ImplicitDefaultAnimation.AnimID;
+            cdl.AddRow(
+                "Implicit default anim", 
+                string.Format("{0}, {1}", implicitDefaultAnimId, GetAnimName(sp.Scene.AssetService, implicitDefaultAnimId)));
+
+            cdl.AddToStringBuilder(sb);
+
+            ConsoleDisplayTable cdt = new ConsoleDisplayTable() { Indent = 2 };
+            cdt.AddColumn("Animation ID", 36);
+            cdt.AddColumn("Name", 20);
+            cdt.AddColumn("Seq", 3);
+            cdt.AddColumn("Object ID", 36);
+
+            UUID[] animIds;
+            int[] sequenceNumbers;
+            UUID[] objectIds;
+
+            sp.Animator.Animations.GetArrays(out animIds, out sequenceNumbers, out objectIds);
+
+            for (int i = 0; i < animIds.Length; i++)
+            {
+                UUID animId = animIds[i];
+                string animName = GetAnimName(sp.Scene.AssetService, animId);
+                int seq = sequenceNumbers[i];
+                UUID objectId = objectIds[i];
+
+                cdt.AddRow(animId, animName, seq, objectId);
+            }
+
+            cdt.AddToStringBuilder(sb);
+            sb.Append("\n");
+        }
+
+        private string GetAnimName(IAssetService assetService, UUID animId)
+        {
+            string animName;
+
+            if (!DefaultAvatarAnimations.AnimsNames.TryGetValue(animId, out animName))
+            {
+                AssetMetadata amd = assetService.GetMetadata(animId.ToString());
+                if (amd != null)
+                    animName = amd.Name;
+                else
+                    animName = "Unknown";
+            }
+
+            return animName;
+        }
+    }
+}
\ No newline at end of file
diff --git a/OpenSim/Region/OptionalModules/Avatar/Attachments/AttachmentsCommandModule.cs b/OpenSim/Region/OptionalModules/Avatar/Attachments/AttachmentsCommandModule.cs
index 68bcb4a..d97e3b3 100644
--- a/OpenSim/Region/OptionalModules/Avatar/Attachments/AttachmentsCommandModule.cs
+++ b/OpenSim/Region/OptionalModules/Avatar/Attachments/AttachmentsCommandModule.cs
@@ -97,6 +97,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Attachments
                 "Users", this, "attachments show",
                 "attachments show [<first-name> <last-name>]",
                 "Show attachment information for avatars in this simulator.",
+                "If no name is supplied then information for all avatars is shown.",
                 HandleShowAttachmentsCommand);
         }
 
diff --git a/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/GroupsModule.cs b/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/GroupsModule.cs
index ae0ad02..d764936 100644
--- a/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/GroupsModule.cs
+++ b/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/GroupsModule.cs
@@ -126,7 +126,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
             {
                 scene.RegisterModuleInterface<IGroupsModule>(this);
                 scene.AddCommand(
-                    "debug",
+                    "Debug",
                     this,
                     "debug groups verbose",
                     "debug groups verbose <true|false>",
diff --git a/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/IGroupsServicesConnector.cs b/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/IGroupsServicesConnector.cs
index 6d26075..6b5b40a 100644
--- a/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/IGroupsServicesConnector.cs
+++ b/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/IGroupsServicesConnector.cs
@@ -36,7 +36,22 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
     {
         UUID CreateGroup(UUID RequestingAgentID, string name, string charter, bool showInList, UUID insigniaID, int membershipFee, bool openEnrollment, bool allowPublish, bool maturePublish, UUID founderID);
         void UpdateGroup(UUID RequestingAgentID, UUID groupID, string charter, bool showInList, UUID insigniaID, int membershipFee, bool openEnrollment, bool allowPublish, bool maturePublish);
+
+        /// <summary>
+        /// Get the group record.
+        /// </summary>
+        /// <returns></returns>
+        /// <param name='RequestingAgentID'>The UUID of the user making the request.</param>
+        /// <param name='GroupID'>
+        /// The ID of the record to retrieve.  
+        /// GroupName may be specified instead, in which case this parameter will be UUID.Zero
+        /// </param>
+        /// <param name='GroupName'>
+        /// The name of the group to retrieve.
+        /// GroupID may be specified instead, in which case this parmeter will be null.
+        /// </param>
         GroupRecord GetGroupRecord(UUID RequestingAgentID, UUID GroupID, string GroupName);
+       
         List<DirGroupsReplyData> FindGroups(UUID RequestingAgentID, string search);
         List<GroupMembersData> GetGroupMembers(UUID RequestingAgentID, UUID GroupID);
 
diff --git a/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/Tests/GroupsModuleTests.cs b/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/Tests/GroupsModuleTests.cs
index ac638f1..c1bdacb 100644
--- a/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/Tests/GroupsModuleTests.cs
+++ b/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/Tests/GroupsModuleTests.cs
@@ -42,7 +42,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups.Tests
     /// Basic groups module tests
     /// </summary>
     [TestFixture]
-    public class GroupsModuleTests
+    public class GroupsModuleTests : OpenSimTestCase
     {
         [Test]
         public void TestBasic()
diff --git a/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/XmlRpcGroupsServicesConnectorModule.cs b/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/XmlRpcGroupsServicesConnectorModule.cs
index d0c3ea5..1101851 100644
--- a/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/XmlRpcGroupsServicesConnectorModule.cs
+++ b/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/XmlRpcGroupsServicesConnectorModule.cs
@@ -54,13 +54,62 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
 
         private bool m_debugEnabled = false;
 
-        public const GroupPowers m_DefaultEveryonePowers = GroupPowers.AllowSetHome |
-            GroupPowers.Accountable |
-            GroupPowers.JoinChat |
-            GroupPowers.AllowVoiceChat |
-            GroupPowers.ReceiveNotices |
-            GroupPowers.StartProposal |
-            GroupPowers.VoteOnProposal;
+        public const GroupPowers DefaultEveryonePowers 
+            = GroupPowers.AllowSetHome 
+                | GroupPowers.Accountable 
+                | GroupPowers.JoinChat 
+                | GroupPowers.AllowVoiceChat 
+                | GroupPowers.ReceiveNotices 
+                | GroupPowers.StartProposal 
+                | GroupPowers.VoteOnProposal;
+
+        // Would this be cleaner as (GroupPowers)ulong.MaxValue?
+        public const GroupPowers DefaultOwnerPowers 
+            = GroupPowers.Accountable
+                | GroupPowers.AllowEditLand
+                | GroupPowers.AllowFly
+                | GroupPowers.AllowLandmark
+                | GroupPowers.AllowRez
+                | GroupPowers.AllowSetHome
+                | GroupPowers.AllowVoiceChat
+                | GroupPowers.AssignMember
+                | GroupPowers.AssignMemberLimited
+                | GroupPowers.ChangeActions
+                | GroupPowers.ChangeIdentity
+                | GroupPowers.ChangeMedia
+                | GroupPowers.ChangeOptions
+                | GroupPowers.CreateRole
+                | GroupPowers.DeedObject
+                | GroupPowers.DeleteRole
+                | GroupPowers.Eject
+                | GroupPowers.FindPlaces
+                | GroupPowers.Invite
+                | GroupPowers.JoinChat
+                | GroupPowers.LandChangeIdentity
+                | GroupPowers.LandDeed
+                | GroupPowers.LandDivideJoin
+                | GroupPowers.LandEdit
+                | GroupPowers.LandEjectAndFreeze
+                | GroupPowers.LandGardening
+                | GroupPowers.LandManageAllowed
+                | GroupPowers.LandManageBanned
+                | GroupPowers.LandManagePasses
+                | GroupPowers.LandOptions
+                | GroupPowers.LandRelease
+                | GroupPowers.LandSetSale
+                | GroupPowers.ModerateChat
+                | GroupPowers.ObjectManipulate
+                | GroupPowers.ObjectSetForSale
+                | GroupPowers.ReceiveNotices
+                | GroupPowers.RemoveMember
+                | GroupPowers.ReturnGroupOwned
+                | GroupPowers.ReturnGroupSet
+                | GroupPowers.ReturnNonGroup
+                | GroupPowers.RoleProperties
+                | GroupPowers.SendNotices
+                | GroupPowers.SetLandingPoint
+                | GroupPowers.StartProposal
+                | GroupPowers.VoteOnProposal;
 
         private bool m_connectorEnabled = false;
 
@@ -219,59 +268,9 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
             param["AllowPublish"] = allowPublish == true ? 1 : 0;
             param["MaturePublish"] = maturePublish == true ? 1 : 0;
             param["FounderID"] = founderID.ToString();
-            param["EveryonePowers"] = ((ulong)m_DefaultEveryonePowers).ToString();
+            param["EveryonePowers"] = ((ulong)DefaultEveryonePowers).ToString();
             param["OwnerRoleID"] = OwnerRoleID.ToString();
-
-            // Would this be cleaner as (GroupPowers)ulong.MaxValue;
-            GroupPowers OwnerPowers = GroupPowers.Accountable
-                                    | GroupPowers.AllowEditLand
-                                    | GroupPowers.AllowFly
-                                    | GroupPowers.AllowLandmark
-                                    | GroupPowers.AllowRez
-                                    | GroupPowers.AllowSetHome
-                                    | GroupPowers.AllowVoiceChat
-                                    | GroupPowers.AssignMember
-                                    | GroupPowers.AssignMemberLimited
-                                    | GroupPowers.ChangeActions
-                                    | GroupPowers.ChangeIdentity
-                                    | GroupPowers.ChangeMedia
-                                    | GroupPowers.ChangeOptions
-                                    | GroupPowers.CreateRole
-                                    | GroupPowers.DeedObject
-                                    | GroupPowers.DeleteRole
-                                    | GroupPowers.Eject
-                                    | GroupPowers.FindPlaces
-                                    | GroupPowers.Invite
-                                    | GroupPowers.JoinChat
-                                    | GroupPowers.LandChangeIdentity
-                                    | GroupPowers.LandDeed
-                                    | GroupPowers.LandDivideJoin
-                                    | GroupPowers.LandEdit
-                                    | GroupPowers.LandEjectAndFreeze
-                                    | GroupPowers.LandGardening
-                                    | GroupPowers.LandManageAllowed
-                                    | GroupPowers.LandManageBanned
-                                    | GroupPowers.LandManagePasses
-                                    | GroupPowers.LandOptions
-                                    | GroupPowers.LandRelease
-                                    | GroupPowers.LandSetSale
-                                    | GroupPowers.ModerateChat
-                                    | GroupPowers.ObjectManipulate
-                                    | GroupPowers.ObjectSetForSale
-                                    | GroupPowers.ReceiveNotices
-                                    | GroupPowers.RemoveMember
-                                    | GroupPowers.ReturnGroupOwned
-                                    | GroupPowers.ReturnGroupSet
-                                    | GroupPowers.ReturnNonGroup
-                                    | GroupPowers.RoleProperties
-                                    | GroupPowers.SendNotices
-                                    | GroupPowers.SetLandingPoint
-                                    | GroupPowers.StartProposal
-                                    | GroupPowers.VoteOnProposal;
-            param["OwnersPowers"] = ((ulong)OwnerPowers).ToString();
-
-
-
+            param["OwnersPowers"] = ((ulong)DefaultOwnerPowers).ToString();
 
             Hashtable respData = XmlRpcCall(requestingAgentID, "groups.createGroup", param);
 
@@ -612,8 +611,6 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
             }
 
             return Roles;
-
-
         }
 
         public List<GroupRolesData> GetGroupRoles(UUID requestingAgentID, UUID GroupID)
@@ -676,7 +673,6 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
             }
 
             return members;
-
         }
 
         public List<GroupRoleMembersData> GetGroupRoleMembers(UUID requestingAgentID, UUID GroupID)
@@ -727,9 +723,10 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
                     values.Add(data);
                 }
             }
-            return values;
 
+            return values;
         }
+
         public GroupNoticeInfo GetGroupNotice(UUID requestingAgentID, UUID noticeID)
         {
             Hashtable param = new Hashtable();
@@ -737,7 +734,6 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
 
             Hashtable respData = XmlRpcCall(requestingAgentID, "groups.getGroupNotice", param);
 
-
             if (respData.Contains("error"))
             {
                 return null;
@@ -761,6 +757,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
 
             return data;
         }
+
         public void AddGroupNotice(UUID requestingAgentID, UUID groupID, UUID noticeID, string fromName, string subject, string message, byte[] binaryBucket)
         {
             string binBucket = OpenMetaverse.Utils.BytesToHexString(binaryBucket, "");
@@ -777,8 +774,6 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
             XmlRpcCall(requestingAgentID, "groups.addGroupNotice", param);
         }
 
-
-
         #endregion
 
         #region GroupSessionTracking
diff --git a/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcGridRouterModule.cs b/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcGridRouterModule.cs
index 6120a81..709d389 100644
--- a/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcGridRouterModule.cs
+++ b/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcGridRouterModule.cs
@@ -46,6 +46,7 @@ namespace OpenSim.Region.OptionalModules.Scripting.XmlRpcGridRouterModule
 {
     public class XmlRpcInfo
     {
+        public UUID item;
         public UUID channel;
         public string uri;
     }
@@ -88,6 +89,14 @@ namespace OpenSim.Region.OptionalModules.Scripting.XmlRpcGridRouterModule
                 return;
 
             scene.RegisterModuleInterface<IXmlRpcRouter>(this);
+
+            IScriptModule scriptEngine = scene.RequestModuleInterface<IScriptModule>();
+            if ( scriptEngine != null )
+            {
+                scriptEngine.OnScriptRemoved += this.ScriptRemoved;
+                scriptEngine.OnObjectRemoved += this.ObjectRemoved;
+          
+            }
         }
 
         public void RegionLoaded(Scene scene)
@@ -120,22 +129,36 @@ namespace OpenSim.Region.OptionalModules.Scripting.XmlRpcGridRouterModule
 
         public void RegisterNewReceiver(IScriptModule scriptEngine, UUID channel, UUID objectID, UUID itemID, string uri)
         {
-            if (!m_Channels.ContainsKey(itemID))
-            {
-                XmlRpcInfo info = new XmlRpcInfo();
-                info.channel = channel;
-                info.uri = uri;
+            if (!m_Enabled)
+                return;
 
-                bool success = SynchronousRestObjectRequester.MakeRequest<XmlRpcInfo, bool>(
-                        "POST", m_ServerURI+"/RegisterChannel/", info);
+            m_log.InfoFormat("[XMLRPC GRID ROUTER]: New receiver Obj: {0} Ch: {1} ID: {2} URI: {3}", 
+                                objectID.ToString(), channel.ToString(), itemID.ToString(), uri);
 
-                if (!success)
-                {
-                    m_log.Error("[XMLRPC GRID ROUTER] Error contacting server");
-                }
+            XmlRpcInfo info = new XmlRpcInfo();
+            info.channel = channel;
+            info.uri = uri;
+            info.item = itemID;
+
+            bool success = SynchronousRestObjectRequester.MakeRequest<XmlRpcInfo, bool>(
+                    "POST", m_ServerURI+"/RegisterChannel/", info);
 
-                m_Channels[itemID] = channel;
+            if (!success)
+            {
+                m_log.Error("[XMLRPC GRID ROUTER] Error contacting server");
             }
+
+            m_Channels[itemID] = channel;
+
+        }
+
+        public void UnRegisterReceiver(string channelID, UUID itemID)
+        {
+            if (!m_Enabled)
+                return;
+
+            RemoveChannel(itemID);
+
         }
 
         public void ScriptRemoved(UUID itemID)
@@ -143,10 +166,33 @@ namespace OpenSim.Region.OptionalModules.Scripting.XmlRpcGridRouterModule
             if (!m_Enabled)
                 return;
 
-            if (m_Channels.ContainsKey(itemID))
+            RemoveChannel(itemID);
+
+        }
+
+        public void ObjectRemoved(UUID objectID)
+        {
+            // m_log.InfoFormat("[XMLRPC GRID ROUTER]: Object Removed {0}",objectID.ToString());
+        }
+
+        private bool RemoveChannel(UUID itemID)
+        {
+            if(!m_Channels.ContainsKey(itemID))
+            {
+                m_log.InfoFormat("[XMLRPC GRID ROUTER]: Attempted to unregister non-existing Item: {0}", itemID.ToString());
+                return false;
+            }
+
+            XmlRpcInfo info = new XmlRpcInfo();
+
+            info.channel = m_Channels[itemID];
+            info.item = itemID;
+            info.uri = "http://0.0.0.0:00";
+
+            if (info != null)
             {
-                bool success = SynchronousRestObjectRequester.MakeRequest<UUID, bool>(
-                        "POST", m_ServerURI+"/RemoveChannel/", m_Channels[itemID]);
+                bool success = SynchronousRestObjectRequester.MakeRequest<XmlRpcInfo, bool>(
+                        "POST", m_ServerURI+"/RemoveChannel/", info);
 
                 if (!success)
                 {
@@ -154,11 +200,9 @@ namespace OpenSim.Region.OptionalModules.Scripting.XmlRpcGridRouterModule
                 }
 
                 m_Channels.Remove(itemID);
+                return true;
             }
-        }
-
-        public void ObjectRemoved(UUID objectID)
-        {
+            return false;
         }
     }
 }
diff --git a/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcRouterModule.cs b/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcRouterModule.cs
index 4bde52a..32549d6 100644
--- a/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcRouterModule.cs
+++ b/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcRouterModule.cs
@@ -104,12 +104,18 @@ namespace OpenSim.Region.OptionalModules.Scripting.XmlRpcRouterModule
             }
         }
 
+        public void UnRegisterReceiver(string channelID, UUID itemID)
+        {
+        }
+
         public void ScriptRemoved(UUID itemID)
         {
+            // System.Console.WriteLine("TEST Script Removed!");
         }
 
         public void ObjectRemoved(UUID objectID)
         {
+            // System.Console.WriteLine("TEST Obj Removed!");
         }
     }
 }
diff --git a/OpenSim/Region/OptionalModules/World/MoneyModule/SampleMoneyModule.cs b/OpenSim/Region/OptionalModules/World/MoneyModule/SampleMoneyModule.cs
index c7e3a7a..57d9217 100644
--- a/OpenSim/Region/OptionalModules/World/MoneyModule/SampleMoneyModule.cs
+++ b/OpenSim/Region/OptionalModules/World/MoneyModule/SampleMoneyModule.cs
@@ -49,7 +49,7 @@ namespace OpenSim.Region.OptionalModules.World.MoneyModule
     /// (such as land transfers).  There is no money code here!  Use FORGE as an example for money code.
     /// Demo Economy/Money Module.  This is a purposely crippled module!
     ///  // To land transfer you need to add:
-    /// -helperuri <ADDRESS TO THIS SERVER>
+    /// -helperuri http://serveraddress:port/
     /// to the command line parameters you use to start up your client
     /// This commonly looks like -helperuri http://127.0.0.1:9000/
     ///
@@ -116,10 +116,9 @@ namespace OpenSim.Region.OptionalModules.World.MoneyModule
         }
 
         /// <summary>
-        /// Startup
+        /// Called on startup so the module can be configured.
         /// </summary>
-        /// <param name="scene"></param>
-        /// <param name="config"></param>
+        /// <param name="config">Configuration source.</param>
         public void Initialise(IConfigSource config)
         {
             m_gConfig = config;
@@ -674,9 +673,12 @@ namespace OpenSim.Region.OptionalModules.World.MoneyModule
         }
 
         /// <summary>
-        /// When the client closes the connection we remove their accounting info from memory to free up resources.
+        /// When the client closes the connection we remove their accounting
+        /// info from memory to free up resources.
         /// </summary>
-        /// <param name="AgentID"></param>
+        /// <param name="AgentID">UUID of agent</param>
+        /// <param name="scene">Scene the agent was connected to.</param>
+        /// <see cref="OpenSim.Region.Framework.Scenes.EventManager.ClientClosed"/>
         public void ClientClosed(UUID AgentID, Scene scene)
         {
             
diff --git a/OpenSim/Region/OptionalModules/World/NPC/Tests/NPCModuleTests.cs b/OpenSim/Region/OptionalModules/World/NPC/Tests/NPCModuleTests.cs
index ef4005b..365fd78 100644
--- a/OpenSim/Region/OptionalModules/World/NPC/Tests/NPCModuleTests.cs
+++ b/OpenSim/Region/OptionalModules/World/NPC/Tests/NPCModuleTests.cs
@@ -48,7 +48,7 @@ using OpenSim.Tests.Common.Mock;
 namespace OpenSim.Region.OptionalModules.World.NPC.Tests
 {
     [TestFixture]
-    public class NPCModuleTests
+    public class NPCModuleTests : OpenSimTestCase
     {
         private TestScene m_scene;
         private AvatarFactoryModule m_afMod;
diff --git a/OpenSim/Region/OptionalModules/World/SceneCommands/SceneCommandsModule.cs b/OpenSim/Region/OptionalModules/World/SceneCommands/SceneCommandsModule.cs
new file mode 100644
index 0000000..8b8758e
--- /dev/null
+++ b/OpenSim/Region/OptionalModules/World/SceneCommands/SceneCommandsModule.cs
@@ -0,0 +1,227 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Reflection;
+using System.Text;
+using log4net;
+using Mono.Addins;
+using Nini.Config;
+using OpenMetaverse;
+using OpenSim.Framework;
+using OpenSim.Framework.Console;
+using OpenSim.Framework.Monitoring;
+using OpenSim.Region.Framework.Interfaces;
+using OpenSim.Region.Framework.Scenes;
+
+namespace OpenSim.Region.OptionalModules.Avatar.Attachments
+{
+    /// <summary>
+    /// A module that just holds commands for inspecting avatar appearance.
+    /// </summary>
+    [Extension(Path = "/OpenSim/RegionModules", NodeName = "RegionModule", Id = "SceneCommandsModule")]
+    public class SceneCommandsModule : ISceneCommandsModule, INonSharedRegionModule
+    {
+        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+
+        private Scene m_scene;
+
+        public string Name { get { return "Scene Commands Module"; } }
+        
+        public Type ReplaceableInterface { get { return null; } }
+        
+        public void Initialise(IConfigSource source)
+        {
+//            m_log.DebugFormat("[SCENE COMMANDS MODULE]: INITIALIZED MODULE");
+        }
+        
+        public void PostInitialise()
+        {
+//            m_log.DebugFormat("[SCENE COMMANDS MODULE]: POST INITIALIZED MODULE");
+        }
+        
+        public void Close()
+        {
+//            m_log.DebugFormat("[SCENE COMMANDS MODULE]: CLOSED MODULE");
+        }
+        
+        public void AddRegion(Scene scene)
+        {
+//            m_log.DebugFormat("[SCENE COMMANDS MODULE]: REGION {0} ADDED", scene.RegionInfo.RegionName);
+
+            m_scene = scene;
+            
+            m_scene.RegisterModuleInterface<ISceneCommandsModule>(this);
+        }
+        
+        public void RemoveRegion(Scene scene)
+        {
+//            m_log.DebugFormat("[SCENE COMMANDS MODULE]: REGION {0} REMOVED", scene.RegionInfo.RegionName);
+        }        
+        
+        public void RegionLoaded(Scene scene)
+        {
+//            m_log.DebugFormat("[ATTACHMENTS COMMAND MODULE]: REGION {0} LOADED", scene.RegionInfo.RegionName);
+
+            scene.AddCommand(
+                "Debug", this, "debug scene get",
+                "debug scene get",
+                "List current scene options.",
+                "If active     is false then main scene update and maintenance loops are suspended.\n"
+                    + "If collisions is false then collisions with other objects are turned off.\n"
+                    + "If pbackup    is false then periodic scene backup is turned off.\n"
+                    + "If physics    is false then all physics objects are non-physical.\n"
+                    + "If scripting  is false then no scripting operations happen.\n"
+                    + "If teleport   is true  then some extra teleport debug information is logged.\n"
+                    + "If updates    is true  then any frame which exceeds double the maximum desired frame time is logged.",
+                HandleDebugSceneGetCommand);
+
+            scene.AddCommand(
+                "Debug", this, "debug scene set",
+                "debug scene set active|collisions|pbackup|physics|scripting|teleport|updates true|false",
+                "Turn on scene debugging options.",
+                "If active     is false then main scene update and maintenance loops are suspended.\n"
+                    + "If collisions is false then collisions with other objects are turned off.\n"
+                    + "If pbackup    is false then periodic scene backup is turned off.\n"
+                    + "If physics    is false then all physics objects are non-physical.\n"
+                    + "If scripting  is false then no scripting operations happen.\n"
+                    + "If teleport   is true  then some extra teleport debug information is logged.\n"
+                    + "If updates    is true  then any frame which exceeds double the maximum desired frame time is logged.",
+                HandleDebugSceneSetCommand);
+        }
+
+        private void HandleDebugSceneGetCommand(string module, string[] args)
+        {
+            if (args.Length == 3)
+            {
+                if (MainConsole.Instance.ConsoleScene == null)
+                    MainConsole.Instance.Output("Please use 'change region <regioname>' first");
+                else
+                    OutputSceneDebugOptions();
+            }
+            else
+            {
+                MainConsole.Instance.Output("Usage: debug scene get");
+            }
+        }
+
+        private void OutputSceneDebugOptions()
+        {
+            ConsoleDisplayList cdl = new ConsoleDisplayList();
+            cdl.AddRow("active", m_scene.Active);
+            cdl.AddRow("pbackup", m_scene.PeriodicBackup);
+            cdl.AddRow("physics", m_scene.PhysicsEnabled);
+            cdl.AddRow("scripting", m_scene.ScriptsEnabled);
+            cdl.AddRow("teleport", m_scene.DebugTeleporting);
+            cdl.AddRow("updates", m_scene.DebugUpdates);
+
+            MainConsole.Instance.Output(cdl.ToString());
+        }
+
+        private void HandleDebugSceneSetCommand(string module, string[] args)
+        {
+            if (args.Length == 5)
+            {
+                if (MainConsole.Instance.ConsoleScene == null)
+                {
+                    MainConsole.Instance.Output("Please use 'change region <regioname>' first");
+                }
+                else
+                {
+                    string key = args[3];
+                    string value = args[4];
+                    SetSceneDebugOptions(new Dictionary<string, string>() { { key, value } });
+
+                    MainConsole.Instance.OutputFormat("Set debug scene {0} = {1}", key, value);
+                }
+            }
+            else
+            {
+                MainConsole.Instance.Output(
+                    "Usage: debug scene set active|collisions|pbackup|physics|scripting|teleport|updates true|false");
+            }
+        }
+
+        public void SetSceneDebugOptions(Dictionary<string, string> options)
+        {
+            if (options.ContainsKey("active"))
+            {
+                bool active;
+
+                if (bool.TryParse(options["active"], out active))
+                    m_scene.Active = active;
+            }
+
+            if (options.ContainsKey("pbackup"))
+            {
+                bool active;
+
+                if (bool.TryParse(options["pbackup"], out active))
+                    m_scene.PeriodicBackup = active;
+            }
+
+            if (options.ContainsKey("scripting"))
+            {
+                bool enableScripts = true;
+                if (bool.TryParse(options["scripting"], out enableScripts))
+                    m_scene.ScriptsEnabled = enableScripts;
+            }
+
+            if (options.ContainsKey("physics"))
+            {
+                bool enablePhysics;
+                if (bool.TryParse(options["physics"], out enablePhysics))
+                    m_scene.PhysicsEnabled = enablePhysics;
+            }
+
+//            if (options.ContainsKey("collisions"))
+//            {
+//                // TODO: Implement.  If false, should stop objects colliding, though possibly should still allow
+//                // the avatar themselves to collide with the ground.
+//            }
+
+            if (options.ContainsKey("teleport"))
+            {
+                bool enableTeleportDebugging;
+                if (bool.TryParse(options["teleport"], out enableTeleportDebugging))
+                    m_scene.DebugTeleporting = enableTeleportDebugging;
+            }
+
+            if (options.ContainsKey("updates"))
+            {
+                bool enableUpdateDebugging;
+                if (bool.TryParse(options["updates"], out enableUpdateDebugging))
+                {
+                    m_scene.DebugUpdates = enableUpdateDebugging;
+                    GcNotify.Enabled = enableUpdateDebugging;
+                }
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs
index 7ab2a03..373c7e0 100644
--- a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs
+++ b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs
@@ -49,7 +49,7 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
 
         public PhysicsScene GetScene(string sceneIdentifier)
         {
-            return new BasicScene(sceneIdentifier);
+            return new BasicScene(GetName(), sceneIdentifier);
         }
 
         public string GetName()
diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs
index f5826ed..c4b9117 100644
--- a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs
+++ b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs
@@ -49,8 +49,10 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
 
         //protected internal string sceneIdentifier;
 
-        public BasicScene(string _sceneIdentifier)
+        public BasicScene(string engineType, string _sceneIdentifier)
         {
+            EngineType = engineType;
+            Name = EngineType + "/" + _sceneIdentifier;
             //sceneIdentifier = _sceneIdentifier;
         }
 
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs
new file mode 100644
index 0000000..d91c47f
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs
@@ -0,0 +1,814 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using log4net;
+using OMV = OpenMetaverse;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+
+namespace OpenSim.Region.Physics.BulletSNPlugin
+{
+public sealed class BSCharacter : BSPhysObject
+{
+    private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+    private static readonly string LogHeader = "[BULLETS CHAR]";
+
+    // private bool _stopped;
+    private OMV.Vector3 _size;
+    private bool _grabbed;
+    private bool _selected;
+    private OMV.Vector3 _position;
+    private float _mass;
+    private float _avatarDensity;
+    private float _avatarVolume;
+    private OMV.Vector3 _force;
+    private OMV.Vector3 _velocity;
+    private OMV.Vector3 _torque;
+    private float _collisionScore;
+    private OMV.Vector3 _acceleration;
+    private OMV.Quaternion _orientation;
+    private int _physicsActorType;
+    private bool _isPhysical;
+    private bool _flying;
+    private bool _setAlwaysRun;
+    private bool _throttleUpdates;
+    private bool _isColliding;
+    private bool _collidingObj;
+    private bool _floatOnWater;
+    private OMV.Vector3 _rotationalVelocity;
+    private bool _kinematic;
+    private float _buoyancy;
+
+    // The friction and velocity of the avatar is modified depending on whether walking or not.
+    private OMV.Vector3 _appliedVelocity;   // the last velocity applied to the avatar
+    private float _currentFriction;         // the friction currently being used (changed by setVelocity).
+
+    private BSVMotor _velocityMotor;
+
+    private OMV.Vector3 _PIDTarget;
+    private bool _usePID;
+    private float _PIDTau;
+    private bool _useHoverPID;
+    private float _PIDHoverHeight;
+    private PIDHoverType _PIDHoverType;
+    private float _PIDHoverTao;
+
+    public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying)
+            : base(parent_scene, localID, avName, "BSCharacter")
+    {
+        _physicsActorType = (int)ActorTypes.Agent;
+        _position = pos;
+
+        // 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 = 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);
+        // _velocityMotor = new BSPIDVMotor("BSCharacter.Velocity", 3f, 5f, BSMotor.InfiniteVector, 1f);
+        // Infinite decay and timescale values so motor only changes current to target values.
+        _velocityMotor = new BSVMotor("BSCharacter.Velocity", 
+                                            0.2f,                       // time scale
+                                            BSMotor.Infinite,           // decay time scale
+                                            BSMotor.InfiniteVector,     // friction timescale
+                                            1f                          // efficiency
+        );
+        _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
+
+        _flying = isFlying;
+        _orientation = OMV.Quaternion.Identity;
+        _velocity = OMV.Vector3.Zero;
+        _appliedVelocity = OMV.Vector3.Zero;
+        _buoyancy = ComputeBuoyancyFromFlying(isFlying);
+        _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.
+        ComputeAvatarScale(_size);
+        // set _avatarVolume and _mass based on capsule size, _density and Scale
+        ComputeAvatarVolumeAndMass();
+        DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}",
+                            LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass);
+
+        // do actual creation in taint time
+        PhysicsScene.TaintedObject("BSCharacter.create", delegate()
+        {
+            DetailLog("{0},BSCharacter.create,taint", LocalID);
+            // New body and shape into PhysBody and PhysShape
+            PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this);
+
+            SetPhysicalProperties();
+        });
+        return;
+    }
+
+    // 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()
+        {
+            PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
+            PhysBody.Clear();
+            PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
+            PhysShape.Clear();
+        });
+    }
+
+    private void SetPhysicalProperties()
+    {
+        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
+
+        ZeroMotion(true);
+        ForcePosition = _position;
+        // Set the velocity and compute the proper friction
+        ForceVelocity = _velocity;
+        // Setting the current and target in the motor will cause it to start computing any deceleration.
+        _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, BSParam.AvatarRestitution);
+        BulletSimAPI.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin);
+        BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
+        BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, BSParam.ContactProcessingThreshold);
+        if (BSParam.CcdMotionThreshold > 0f)
+        {
+            BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold);
+            BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius);
+        }
+
+        UpdatePhysicalMassProperties(RawMass, false);
+
+        // Make so capsule does not fall over
+        BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero);
+
+        BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT);
+
+        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr, _position, _orientation);
+
+        // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG);
+        BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_DEACTIVATION);
+        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
+
+        // Do this after the object has been added to the world
+        PhysBody.collisionType = CollisionType.Avatar;
+        PhysBody.ApplyCollisionMask();
+    }
+
+    public override void RequestPhysicsterseUpdate()
+    {
+        base.RequestPhysicsterseUpdate();
+    }
+    // No one calls this method so I don't know what it could possibly mean
+    public override bool Stopped { get { return false; } }
+
+    public override OMV.Vector3 Size {
+        get
+        {
+            // Avatar capsule size is kept in the scale parameter.
+            return _size;
+        }
+
+        set {
+            // When an avatar's size is set, only the height is changed.
+            _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 = BSParam.AvatarCapsuleDepth;
+            if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
+
+            ComputeAvatarScale(_size);
+            ComputeAvatarVolumeAndMass();
+            DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}",
+                            LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass);
+
+            PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
+            {
+                if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape)
+                {
+                    BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
+                    UpdatePhysicalMassProperties(RawMass, true);
+                    // Make sure this change appears as a property update event
+                    BulletSimAPI.PushUpdate2(PhysBody.ptr);
+                }
+            });
+
+        }
+    }
+
+    public override PrimitiveBaseShape Shape
+    {
+        set { BaseShape = value; }
+    }
+    // I want the physics engine to make an avatar capsule
+    public override BSPhysicsShapeType PreferredPhysicalShape
+    {
+        get {return BSPhysicsShapeType.SHAPE_CAPSULE; }
+    }
+
+    public override bool Grabbed {
+        set { _grabbed = value; }
+    }
+    public override bool Selected {
+        set { _selected = value; }
+    }
+    public override void CrossingFailure() { return; }
+    public override void link(PhysicsActor obj) { return; }
+    public override void delink() { return; }
+
+    // Set motion values to zero.
+    // Do it to the properties so the values get set in the physics engine.
+    // Push the setting of the values to the viewer.
+    // Called at taint time!
+    public override void ZeroMotion(bool inTaintTime)
+    {
+        _velocity = OMV.Vector3.Zero;
+        _acceleration = OMV.Vector3.Zero;
+        _rotationalVelocity = OMV.Vector3.Zero;
+
+        // Zero some other properties directly into the physics engine
+        PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
+        {
+            if (PhysBody.HasPhysicalBody)
+                BulletSimAPI.ClearAllForces2(PhysBody.ptr);
+        });
+    }
+    public override void ZeroAngularMotion(bool inTaintTime)
+    {
+        _rotationalVelocity = OMV.Vector3.Zero;
+
+        PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
+        {
+            if (PhysBody.HasPhysicalBody)
+            {
+                BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
+                BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
+                // The next also get rid of applied linear force but the linear velocity is untouched.
+                BulletSimAPI.ClearForces2(PhysBody.ptr);
+            }
+        });
+    }
+
+
+    public override void LockAngularMotion(OMV.Vector3 axis) { return; }
+
+    public override OMV.Vector3 RawPosition
+    {
+        get { return _position; }
+        set { _position = value; }
+    }
+    public override OMV.Vector3 Position {
+        get {
+            // Don't refetch the position because this function is called a zillion times
+            // _position = BulletSimAPI.GetObjectPosition2(Scene.World.ptr, LocalID);
+            return _position;
+        }
+        set {
+            _position = value;
+            PositionSanityCheck();
+
+            PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate()
+            {
+                DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
+                if (PhysBody.HasPhysicalBody)
+                    BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+            });
+        }
+    }
+    public override OMV.Vector3 ForcePosition {
+        get {
+            _position = BulletSimAPI.GetPosition2(PhysBody.ptr);
+            return _position;
+        }
+        set {
+            _position = value;
+            PositionSanityCheck();
+            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+        }
+    }
+
+
+    // Check that the current position is sane and, if not, modify the position to make it so.
+    // Check for being below terrain or on water.
+    // Returns 'true' of the position was made sane by some action.
+    private bool PositionSanityCheck()
+    {
+        bool ret = false;
+
+        // TODO: check for out of bounds
+        if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(_position))
+        {
+            // The character is out of the known/simulated area.
+            // Upper levels of code will handle the transition to other areas so, for
+            //     the time, we just ignore the position.
+            return ret;
+        }
+
+        // If below the ground, move the avatar up
+        float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
+        if (Position.Z < terrainHeight)
+        {
+            DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
+            _position.Z = terrainHeight + 2.0f;
+            ret = true;
+        }
+        if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
+        {
+            float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position);
+            if (Position.Z < waterHeight)
+            {
+                _position.Z = waterHeight;
+                ret = true;
+            }
+        }
+
+        return ret;
+    }
+
+    // A version of the sanity check that also makes sure a new position value is
+    //    pushed back to the physics engine. This routine would be used by anyone
+    //    who is not already pushing the value.
+    private bool PositionSanityCheck(bool inTaintTime)
+    {
+        bool ret = false;
+        if (PositionSanityCheck())
+        {
+            // The new position value must be pushed into the physics engine but we can't
+            //    just assign to "Position" because of potential call loops.
+            PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate()
+            {
+                DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
+                if (PhysBody.HasPhysicalBody)
+                    BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+            });
+            ret = true;
+        }
+        return ret;
+    }
+
+    public override float Mass { get { return _mass; } }
+
+    // used when we only want this prim's mass and not the linkset thing
+    public override float RawMass { 
+        get {return _mass; }
+    }
+    public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
+    {
+        OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
+        BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia);
+    }
+
+    public override OMV.Vector3 Force {
+        get { return _force; }
+        set {
+            _force = value;
+            // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force);
+            PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate()
+            {
+                DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force);
+                if (PhysBody.HasPhysicalBody)
+                    BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
+            });
+        }
+    }
+
+    public bool TouchingGround()
+    {
+        bool ret = BulletSimAPI.RayCastGround(PhysicsScene.World.ptr,_position,_size.Z * 0.55f, PhysBody.ptr);
+        return ret;
+    }
+    // Avatars don't do vehicles
+    public override int VehicleType { get { return (int)Vehicle.TYPE_NONE; } set { return; } }
+    public override void VehicleFloatParam(int param, float value) { }
+    public override void VehicleVectorParam(int param, OMV.Vector3 value) {}
+    public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { }
+    public override void VehicleFlags(int param, bool remove) { }
+
+    // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
+    public override void SetVolumeDetect(int param) { return; }
+
+    public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } }
+    public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } }
+
+    // Sets the target in the motor. This starts the changing of the avatar's velocity.
+    public override OMV.Vector3 TargetVelocity
+    {
+        get
+        {
+            return _velocityMotor.TargetValue;
+        }
+        set
+        {
+            DetailLog("{0},BSCharacter.setTargetVelocity,call,vel={1}", LocalID, value);
+
+            if (!_flying)
+                if ((value.Z >= 0.0001f) || (value.Z <= -0.0001f) || _velocity.Z < -0.0001f)
+                    if (!TouchingGround())
+                        value.Z = _velocity.Z;
+            if (_setAlwaysRun)
+                value *= 1.3f;
+
+            OMV.Vector3 targetVel = value;
+
+            PhysicsScene.TaintedObject("BSCharacter.setTargetVelocity", delegate()
+            {
+                                                                                
+                _velocityMotor.Reset();
+                _velocityMotor.SetTarget(targetVel);
+                _velocityMotor.SetCurrent(_velocity);
+                _velocityMotor.Enabled = true;
+
+                // Make sure a property update happens next step so the motor gets incorporated.
+                BulletSimAPI.PushUpdate2(PhysBody.ptr);
+            });
+        }
+    }
+    // Directly setting velocity means this is what the user really wants now.
+    public override OMV.Vector3 Velocity {
+        get { return _velocity; }
+        set {
+            _velocity = value;
+            // 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;
+            });
+        }
+    }
+    public override OMV.Vector3 ForceVelocity {
+        get { return _velocity; }
+        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 != BSParam.AvatarStandingFriction)
+                {
+                    _currentFriction = BSParam.AvatarStandingFriction;
+                    if (PhysBody.HasPhysicalBody)
+                        BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
+                }
+            }
+            else
+            {
+                if (_currentFriction != BSParam.AvatarFriction)
+                {
+                    _currentFriction = BSParam.AvatarFriction;
+                    if (PhysBody.HasPhysicalBody)
+                        BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
+                }
+            }
+            // Remember the set velocity so we can suppress the reduction by friction, ...
+            _appliedVelocity = value;
+
+            BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
+            BulletSimAPI.Activate2(PhysBody.ptr, true);
+        }
+    }
+    public override OMV.Vector3 Torque {
+        get { return _torque; }
+        set { _torque = value;
+        }
+    }
+    public override float CollisionScore {
+        get { return _collisionScore; }
+        set { _collisionScore = value;
+        }
+    }
+    public override OMV.Vector3 Acceleration {
+        get { return _acceleration; }
+        set { _acceleration = value; }
+    }
+    public override OMV.Quaternion RawOrientation
+    {
+        get { return _orientation; }
+        set { _orientation = value; }
+    }
+    public override OMV.Quaternion Orientation {
+        get { return _orientation; }
+        set {
+            _orientation = value;
+            // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation);
+            PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate()
+            {
+                if (PhysBody.HasPhysicalBody)
+                {
+                    // _position = BulletSimAPI.GetPosition2(BSBody.ptr);
+                    BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+                }
+            });
+        }
+    }
+    // Go directly to Bullet to get/set the value.
+    public override OMV.Quaternion ForceOrientation
+    {
+        get
+        {
+            _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr);
+            return _orientation;
+        }
+        set
+        {
+            _orientation = value;
+            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+        }
+    }
+    public override int PhysicsActorType {
+        get { return _physicsActorType; }
+        set { _physicsActorType = value;
+        }
+    }
+    public override bool IsPhysical {
+        get { return _isPhysical; }
+        set { _isPhysical = value;
+        }
+    }
+    public override bool IsSolid {
+        get { return true; }
+    }
+    public override bool IsStatic {
+        get { return false; }
+    }
+    public override bool Flying {
+        get { return _flying; }
+        set {
+            _flying = value;
+
+            // simulate flying by changing the effect of gravity
+            Buoyancy = ComputeBuoyancyFromFlying(_flying);
+        }
+    }
+    // Flying is implimented by changing the avatar's buoyancy.
+    // Would this be done better with a vehicle type?
+    private float ComputeBuoyancyFromFlying(bool ifFlying) {
+        return ifFlying ? 1f : 0f;
+    }
+    public override bool
+        SetAlwaysRun {
+        get { return _setAlwaysRun; }
+        set { _setAlwaysRun = value; }
+    }
+    public override bool ThrottleUpdates {
+        get { return _throttleUpdates; }
+        set { _throttleUpdates = value; }
+    }
+    public override bool IsColliding {
+        get { return (CollidingStep == PhysicsScene.SimulationStep); }
+        set { _isColliding = value; }
+    }
+    public override bool CollidingGround {
+        get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
+        set { CollidingGround = value; }
+    }
+    public override bool CollidingObj {
+        get { return _collidingObj; }
+        set { _collidingObj = value; }
+    }
+    public override bool FloatOnWater {
+        set {
+            _floatOnWater = value;
+            PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate()
+            {
+                if (PhysBody.HasPhysicalBody)
+                {
+                    if (_floatOnWater)
+                        CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+                    else
+                        CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+                }
+            });
+        }
+    }
+    public override OMV.Vector3 RotationalVelocity {
+        get { return _rotationalVelocity; }
+        set { _rotationalVelocity = value; }
+    }
+    public override OMV.Vector3 ForceRotationalVelocity {
+        get { return _rotationalVelocity; }
+        set { _rotationalVelocity = value; }
+    }
+    public override bool Kinematic {
+        get { return _kinematic; }
+        set { _kinematic = value; }
+    }
+    // neg=fall quickly, 0=1g, 1=0g, pos=float up
+    public override float Buoyancy {
+        get { return _buoyancy; }
+        set { _buoyancy = value;
+            PhysicsScene.TaintedObject("BSCharacter.setBuoyancy", delegate()
+            {
+                DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
+                ForceBuoyancy = _buoyancy;
+            });
+        }
+    }
+    public override float ForceBuoyancy {
+        get { return _buoyancy; }
+        set { 
+            PhysicsScene.AssertInTaintTime("BSCharacter.ForceBuoyancy");
+
+            _buoyancy = value;
+            DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
+            // Buoyancy is faked by changing the gravity applied to the object
+            float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
+            if (PhysBody.HasPhysicalBody)
+                BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
+        }
+    }
+
+    // Used for MoveTo
+    public override OMV.Vector3 PIDTarget {
+        set { _PIDTarget = value; }
+    }
+    public override bool PIDActive {
+        set { _usePID = value; }
+    }
+    public override float PIDTau {
+        set { _PIDTau = value; }
+    }
+
+    // Used for llSetHoverHeight and maybe vehicle height
+    // Hover Height will override MoveTo target's Z
+    public override bool PIDHoverActive {
+        set { _useHoverPID = value; }
+    }
+    public override float PIDHoverHeight {
+        set { _PIDHoverHeight = value; }
+    }
+    public override PIDHoverType PIDHoverType {
+        set { _PIDHoverType = value; }
+    }
+    public override float PIDHoverTau {
+        set { _PIDHoverTao = value; }
+    }
+
+    // For RotLookAt
+    public override OMV.Quaternion APIDTarget { set { return; } }
+    public override bool APIDActive { set { return; } }
+    public override float APIDStrength { set { return; } }
+    public override float APIDDamping { set { return; } }
+
+    public override void AddForce(OMV.Vector3 force, bool pushforce) {
+        if (force.IsFinite())
+        {
+            _force.X += force.X;
+            _force.Y += force.Y;
+            _force.Z += force.Z;
+            // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force);
+            PhysicsScene.TaintedObject("BSCharacter.AddForce", delegate()
+            {
+                DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force);
+                if (PhysBody.HasPhysicalBody)
+                    BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
+            });
+        }
+        else
+        {
+            m_log.ErrorFormat("{0}: Got a NaN force applied to a Character", LogHeader);
+        }
+        //m_lastUpdateSent = false;
+    }
+
+    public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
+    }
+    public override void SetMomentum(OMV.Vector3 momentum) {
+    }
+
+    private void ComputeAvatarScale(OMV.Vector3 size)
+    {
+        OMV.Vector3 newScale = size;
+        // newScale.X = PhysicsScene.Params.avatarCapsuleWidth;
+        // newScale.Y = PhysicsScene.Params.avatarCapsuleDepth;
+
+        // From the total height, remove the capsule half spheres that are at each end
+        // The 1.15f came from ODE. Not sure what this factors in.
+        // newScale.Z = (size.Z * 1.15f) - (newScale.X + newScale.Y);
+
+        // The total scale height is the central cylindar plus the caps on the two ends.
+        newScale.Z = size.Z + (Math.Min(size.X, size.Y) * 2f);
+
+        // Convert diameters to radii and height to half height -- the way Bullet expects it.
+        Scale = newScale / 2f;
+    }
+
+    // set _avatarVolume and _mass based on capsule size, _density and Scale
+    private void ComputeAvatarVolumeAndMass()
+    {
+        _avatarVolume = (float)(
+                        Math.PI
+                        * Scale.X
+                        * Scale.Y    // the area of capsule cylinder
+                        * Scale.Z    // times height of capsule cylinder
+                      + 1.33333333f
+                        * Math.PI
+                        * Scale.X
+                        * Math.Min(Scale.X, Scale.Y)
+                        * Scale.Y    // plus the volume of the capsule end caps
+                        );
+        _mass = _avatarDensity * _avatarVolume;
+    }
+
+    // The physics engine says that properties have updated. Update same and inform
+    // the world that things have changed.
+    public override void UpdateProperties(EntityProperties entprop)
+    {
+        _position = entprop.Position;
+        _orientation = entprop.Rotation;
+        _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)
+            {
+                ZeroMotion(true);
+                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;
+
+        // Tell the linkset about value changes
+        Linkset.UpdateProperties(this, true);
+
+        // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
+        // base.RequestPhysicsterseUpdate();
+
+        DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
+                LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
+    }
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs
new file mode 100644
index 0000000..f1bed39
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs
@@ -0,0 +1,135 @@
+/*
+ * 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 OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSNPlugin
+{
+
+public abstract class BSConstraint : IDisposable
+{
+    private static string LogHeader = "[BULLETSIM CONSTRAINT]";
+
+    protected BulletWorld m_world;
+    protected BulletBody m_body1;
+    protected BulletBody m_body2;
+    protected BulletConstraint m_constraint;
+    protected bool m_enabled = false;
+
+    public BulletBody Body1 { get { return m_body1; } }
+    public BulletBody Body2 { get { return m_body2; } }
+    public BulletConstraint Constraint { get { return m_constraint; } }
+    public abstract ConstraintType Type { get; }
+    public bool IsEnabled { get { return m_enabled; } }
+
+    public BSConstraint()
+    {
+    }
+
+    public virtual void Dispose()
+    {
+        if (m_enabled)
+        {
+            m_enabled = false;
+            if (m_constraint.HasPhysicalConstraint)
+            {
+                bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr);
+                m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}",
+                                    BSScene.DetailLogZero,
+                                    m_body1.ID, m_body1.ptr.ToString(),
+                                    m_body2.ID, m_body2.ptr.ToString(),
+                                    success);
+                m_constraint.Clear();
+            }
+        }
+    }
+
+    public virtual bool SetLinearLimits(Vector3 low, Vector3 high)
+    {
+        bool ret = false;
+        if (m_enabled)
+            ret = BulletSimAPI.SetLinearLimits2(m_constraint.ptr, low, high);
+        return ret;
+    }
+
+    public virtual bool SetAngularLimits(Vector3 low, Vector3 high)
+    {
+        bool ret = false;
+        if (m_enabled)
+            ret = BulletSimAPI.SetAngularLimits2(m_constraint.ptr, low, high);
+        return ret;
+    }
+
+    public virtual bool SetSolverIterations(float cnt)
+    {
+        bool ret = false;
+        if (m_enabled)
+        {
+            BulletSimAPI.SetConstraintNumSolverIterations2(m_constraint.ptr, cnt);
+            ret = true;
+        }
+        return ret;
+    }
+
+    public virtual bool CalculateTransforms()
+    {
+        bool ret = false;
+        if (m_enabled)
+        {
+            // Recompute the internal transforms
+            BulletSimAPI.CalculateTransforms2(m_constraint.ptr);
+            ret = true;
+        }
+        return ret;
+    }
+
+    // Reset this constraint making sure it has all its internal structures
+    //    recomputed and is enabled and ready to go.
+    public virtual bool RecomputeConstraintVariables(float mass)
+    {
+        bool ret = false;
+        if (m_enabled)
+        {
+            ret = CalculateTransforms();
+            if (ret)
+            {
+                // 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, BSParam.NumericBool(true));
+            }
+            else
+            {
+                m_world.physicsScene.Logger.ErrorFormat("{0} CalculateTransforms failed. A={1}, B={2}", LogHeader, Body1.ID, Body2.ID);
+            }
+        }
+        return ret;
+    }
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs
new file mode 100644
index 0000000..d1e3f55
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs
@@ -0,0 +1,153 @@
+/*
+ * 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 OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSNPlugin
+{
+
+public sealed class BSConstraint6Dof : BSConstraint
+{
+    private static string LogHeader = "[BULLETSIM 6DOF CONSTRAINT]";
+
+    public override ConstraintType Type { get { return ConstraintType.D6_CONSTRAINT_TYPE; } }
+
+    // Create a btGeneric6DofConstraint
+    public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 frame1, Quaternion frame1rot,
+                    Vector3 frame2, Quaternion frame2rot,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+    {
+        m_world = world;
+        m_body1 = obj1;
+        m_body2 = obj2;
+        m_constraint = new BulletConstraint(
+                            BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
+                                frame1, frame1rot,
+                                frame2, frame2rot,
+                                useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+        m_enabled = true;
+        world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
+                            BSScene.DetailLogZero, world.worldID,
+                            obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString());
+    }
+
+    public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 joinPoint,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+    {
+        m_world = world;
+        m_body1 = obj1;
+        m_body2 = obj2;
+        if (!obj1.HasPhysicalBody || !obj2.HasPhysicalBody)
+        {
+            world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
+                            BSScene.DetailLogZero, world.worldID,
+                            obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString());
+            world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
+                            LogHeader, world.worldID, obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString());
+            m_enabled = false;
+        }
+        else
+        {
+            m_constraint = new BulletConstraint(
+                                BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
+                                    joinPoint,
+                                    useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+            world.physicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}",
+                                BSScene.DetailLogZero, world.worldID, m_constraint.ptr.ToString(),
+                                obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString());
+            if (!m_constraint.HasPhysicalConstraint)
+            {
+                world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}",
+                                LogHeader, obj1.ID, obj2.ID);
+                m_enabled = false;
+            }
+            else
+            {
+                m_enabled = true;
+            }
+        }
+    }
+
+    public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot)
+    {
+        bool ret = false;
+        if (m_enabled)
+        {
+            BulletSimAPI.SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
+            ret = true;
+        }
+        return ret;
+    }
+
+    public bool SetCFMAndERP(float cfm, float erp)
+    {
+        bool ret = false;
+        if (m_enabled)
+        {
+            BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
+            BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
+            BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
+            ret = true;
+        }
+        return ret;
+    }
+
+    public bool UseFrameOffset(bool useOffset)
+    {
+        bool ret = false;
+        float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
+        if (m_enabled)
+            ret = BulletSimAPI.UseFrameOffset2(m_constraint.ptr, onOff);
+        return ret;
+    }
+
+    public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce)
+    {
+        bool ret = false;
+        float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
+        if (m_enabled)
+        {
+            ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.ptr, onOff, targetVelocity, maxMotorForce);
+            m_world.physicsScene.DetailLog("{0},BS6DOFConstraint,TransLimitMotor,enable={1},vel={2},maxForce={3}",
+                            BSScene.DetailLogZero, enable, targetVelocity, maxMotorForce);
+        }
+        return ret;
+    }
+
+    public bool SetBreakingImpulseThreshold(float threshold)
+    {
+        bool ret = false;
+        if (m_enabled)
+            ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.ptr, threshold);
+        return ret;
+    }
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs
new file mode 100644
index 0000000..87d1e44
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs
@@ -0,0 +1,180 @@
+/*
+ * 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 log4net;
+using OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSNPlugin
+{
+
+public sealed class BSConstraintCollection : IDisposable
+{
+    // private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
+    // private static readonly string LogHeader = "[CONSTRAINT COLLECTION]";
+
+    delegate bool ConstraintAction(BSConstraint constrain);
+
+    private List<BSConstraint> m_constraints;
+    private BulletWorld m_world;
+
+    public BSConstraintCollection(BulletWorld world)
+    {
+        m_world = world;
+        m_constraints = new List<BSConstraint>();
+    }
+
+    public void Dispose()
+    {
+        this.Clear();
+    }
+
+    public void Clear()
+    {
+        lock (m_constraints)
+        {
+            foreach (BSConstraint cons in m_constraints)
+            {
+                cons.Dispose();
+            }
+            m_constraints.Clear();
+        }
+    }
+
+    public bool AddConstraint(BSConstraint cons)
+    {
+        lock (m_constraints)
+        {
+            // There is only one constraint between any bodies. Remove any old just to make sure.
+            RemoveAndDestroyConstraint(cons.Body1, cons.Body2);
+
+            m_constraints.Add(cons);
+        }
+
+        return true;
+    }
+
+    // Get the constraint between two bodies. There can be only one.
+    // Return 'true' if a constraint was found.
+    public bool TryGetConstraint(BulletBody body1, BulletBody body2, out BSConstraint returnConstraint)
+    {
+        bool found = false;
+        BSConstraint foundConstraint = null;
+
+        uint lookingID1 = body1.ID;
+        uint lookingID2 = body2.ID;
+        lock (m_constraints)
+        {
+            foreach (BSConstraint constrain in m_constraints)
+            {
+                if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2)
+                    || (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1))
+                {
+                    foundConstraint = constrain;
+                    found = true;
+                    break;
+                }
+            }
+        }
+        returnConstraint = foundConstraint;
+        return found;
+    }
+
+    // Remove any constraint between the passed bodies.
+    // Presumed there is only one such constraint possible.
+    // Return 'true' if a constraint was found and destroyed.
+    public bool RemoveAndDestroyConstraint(BulletBody body1, BulletBody body2)
+    {
+        bool ret = false;
+        lock (m_constraints)
+        {
+            BSConstraint constrain;
+            if (this.TryGetConstraint(body1, body2, out constrain))
+            {
+                // remove the constraint from our collection
+                RemoveAndDestroyConstraint(constrain);
+                ret = true;
+            }
+        }
+
+        return ret;
+    }
+
+    // The constraint MUST exist in the collection
+    public bool RemoveAndDestroyConstraint(BSConstraint constrain)
+    {
+        lock (m_constraints)
+        {
+            // remove the constraint from our collection
+            m_constraints.Remove(constrain);
+        }
+        // tell the engine that all its structures need to be freed
+        constrain.Dispose();
+        // we destroyed something
+        return true;
+    }
+
+    // Remove all constraints that reference the passed body.
+    // Return 'true' if any constraints were destroyed.
+    public bool RemoveAndDestroyConstraint(BulletBody body1)
+    {
+        List<BSConstraint> toRemove = new List<BSConstraint>();
+        uint lookingID = body1.ID;
+        lock (m_constraints)
+        {
+            foreach (BSConstraint constrain in m_constraints)
+            {
+                if (constrain.Body1.ID == lookingID || constrain.Body2.ID == lookingID)
+                {
+                    toRemove.Add(constrain);
+                }
+            }
+            foreach (BSConstraint constrain in toRemove)
+            {
+                m_constraints.Remove(constrain);
+                constrain.Dispose();
+            }
+        }
+        return (toRemove.Count > 0);
+    }
+
+    public bool RecalculateAllConstraints()
+    {
+        bool ret = false;
+        lock (m_constraints)
+        {
+            foreach (BSConstraint constrain in m_constraints)
+            {
+                constrain.CalculateTransforms();
+                ret = true;
+            }
+        }
+        return ret;
+    }
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintHinge.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintHinge.cs
new file mode 100644
index 0000000..fbd1bc0
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintHinge.cs
@@ -0,0 +1,57 @@
+/*
+ * 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 OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSNPlugin
+{
+
+public sealed class BSConstraintHinge : BSConstraint
+{
+    public override ConstraintType Type { get { return ConstraintType.HINGE_CONSTRAINT_TYPE; } }
+
+    public BSConstraintHinge(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 pivotInA, Vector3 pivotInB,
+                    Vector3 axisInA, Vector3 axisInB,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+    {
+        m_world = world;
+        m_body1 = obj1;
+        m_body2 = obj2;
+        m_constraint = new BulletConstraint(
+                            BulletSimAPI.CreateHingeConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
+                                pivotInA, pivotInB,
+                                axisInA, axisInB,
+                                useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+        m_enabled = true;
+    }
+
+}
+
+}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs
new file mode 100644
index 0000000..415ad4f
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs
@@ -0,0 +1,1377 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ * The quotations from http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial
+ * are Copyright (c) 2009 Linden Research, Inc and are used under their license
+ * of Creative Commons Attribution-Share Alike 3.0
+ * (http://creativecommons.org/licenses/by-sa/3.0/).
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using System.Runtime.InteropServices;
+using OpenMetaverse;
+using OpenSim.Region.Physics.Manager;
+
+namespace OpenSim.Region.Physics.BulletSNPlugin
+{
+    public sealed class BSDynamics
+    {
+        private static string LogHeader = "[BULLETSIM VEHICLE]";
+
+        private BSScene PhysicsScene { get; set; }
+        // the prim this dynamic controller belongs to
+        private BSPrim Prim { get; set; }
+
+        // mass of the vehicle fetched each time we're calles
+        private float m_vehicleMass;
+
+        // Vehicle properties
+        public Vehicle Type { get; set; }
+
+        // private Quaternion m_referenceFrame = Quaternion.Identity;   // Axis modifier
+        private VehicleFlag m_flags = (VehicleFlag) 0;                  // Boolean settings:
+                                                                        // HOVER_TERRAIN_ONLY
+                                                                        // HOVER_GLOBAL_HEIGHT
+                                                                        // NO_DEFLECTION_UP
+                                                                        // HOVER_WATER_ONLY
+                                                                        // HOVER_UP_ONLY
+                                                                        // LIMIT_MOTOR_UP
+                                                                        // LIMIT_ROLL_ONLY
+        private Vector3 m_BlockingEndPoint = Vector3.Zero;
+        private Quaternion m_RollreferenceFrame = Quaternion.Identity;
+        private Quaternion m_referenceFrame = Quaternion.Identity;
+
+        // Linear properties
+        private BSVMotor m_linearMotor = new BSVMotor("LinearMotor");
+        private Vector3 m_linearMotorDirection = Vector3.Zero;          // velocity requested by LSL, decayed by time
+        private Vector3 m_linearMotorOffset = Vector3.Zero;             // the point of force can be offset from the center
+        private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero;   // velocity requested by LSL
+        private Vector3 m_linearFrictionTimescale = Vector3.Zero;
+        private float m_linearMotorDecayTimescale = 0;
+        private float m_linearMotorTimescale = 0;
+        private Vector3 m_lastLinearVelocityVector = Vector3.Zero;
+        private Vector3 m_lastPositionVector = Vector3.Zero;
+        // private bool m_LinearMotorSetLastFrame = false;
+        // private Vector3 m_linearMotorOffset = Vector3.Zero;
+
+        //Angular properties
+        private BSVMotor m_angularMotor = new BSVMotor("AngularMotor");
+        private Vector3 m_angularMotorDirection = Vector3.Zero;         // angular velocity requested by LSL motor
+        // private int m_angularMotorApply = 0;                            // application frame counter
+        private Vector3 m_angularMotorVelocity = Vector3.Zero;          // current angular motor velocity
+        private float m_angularMotorTimescale = 0;                      // motor angular velocity ramp up rate
+        private float m_angularMotorDecayTimescale = 0;                 // motor angular velocity decay rate
+        private Vector3 m_angularFrictionTimescale = Vector3.Zero;      // body angular velocity  decay rate
+        private Vector3 m_lastAngularVelocity = Vector3.Zero;
+        private Vector3 m_lastVertAttractor = Vector3.Zero;             // what VA was last applied to body
+
+        //Deflection properties
+        private BSVMotor m_angularDeflectionMotor = new BSVMotor("AngularDeflection");
+        private float m_angularDeflectionEfficiency = 0;
+        private float m_angularDeflectionTimescale = 0;
+        private float m_linearDeflectionEfficiency = 0;
+        private float m_linearDeflectionTimescale = 0;
+
+        //Banking properties
+        private float m_bankingEfficiency = 0;
+        private float m_bankingMix = 0;
+        private float m_bankingTimescale = 0;
+
+        //Hover and Buoyancy properties
+        private BSVMotor m_hoverMotor = new BSVMotor("Hover");
+        private float m_VhoverHeight = 0f;
+        private float m_VhoverEfficiency = 0f;
+        private float m_VhoverTimescale = 0f;
+        private float m_VhoverTargetHeight = -1.0f;     // if <0 then no hover, else its the current target height
+        private float m_VehicleBuoyancy = 0f;           //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle.
+                    // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
+                    // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
+                    // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
+
+        //Attractor properties
+        private BSVMotor m_verticalAttractionMotor = new BSVMotor("VerticalAttraction");
+        private float m_verticalAttractionEfficiency = 1.0f; // damped
+        private float m_verticalAttractionCutoff = 500f;     // per the documentation
+        // Timescale > cutoff  means no vert attractor.
+        private float m_verticalAttractionTimescale = 510f;
+
+        // Just some recomputed constants:
+        static readonly float PIOverFour = ((float)Math.PI) / 4f;
+        static readonly float PIOverTwo = ((float)Math.PI) / 2f;
+
+        public BSDynamics(BSScene myScene, BSPrim myPrim)
+        {
+            PhysicsScene = myScene;
+            Prim = myPrim;
+            Type = Vehicle.TYPE_NONE;
+        }
+
+        // Return 'true' if this vehicle is doing vehicle things
+        public bool IsActive
+        {
+            get { return Type != Vehicle.TYPE_NONE && Prim.IsPhysical; }
+        }
+
+        internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
+        {
+            VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
+            switch (pParam)
+            {
+                case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
+                    m_angularDeflectionEfficiency = Math.Max(pValue, 0.01f);
+                    break;
+                case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
+                    m_angularDeflectionTimescale = Math.Max(pValue, 0.01f);
+                    break;
+                case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
+                    m_angularMotorDecayTimescale = ClampInRange(0.01f, pValue, 120);
+                    m_angularMotor.TargetValueDecayTimeScale = m_angularMotorDecayTimescale;
+                    break;
+                case Vehicle.ANGULAR_MOTOR_TIMESCALE:
+                    m_angularMotorTimescale = Math.Max(pValue, 0.01f);
+                    m_angularMotor.TimeScale = m_angularMotorTimescale;
+                    break;
+                case Vehicle.BANKING_EFFICIENCY:
+                    m_bankingEfficiency = ClampInRange(-1f, pValue, 1f);
+                    break;
+                case Vehicle.BANKING_MIX:
+                    m_bankingMix = Math.Max(pValue, 0.01f);
+                    break;
+                case Vehicle.BANKING_TIMESCALE:
+                    m_bankingTimescale = Math.Max(pValue, 0.01f);
+                    break;
+                case Vehicle.BUOYANCY:
+                    m_VehicleBuoyancy = ClampInRange(-1f, pValue, 1f);
+                    break;
+                case Vehicle.HOVER_EFFICIENCY:
+                    m_VhoverEfficiency = ClampInRange(0f, pValue, 1f);
+                    break;
+                case Vehicle.HOVER_HEIGHT:
+                    m_VhoverHeight = pValue;
+                    break;
+                case Vehicle.HOVER_TIMESCALE:
+                    m_VhoverTimescale = Math.Max(pValue, 0.01f);
+                    break;
+                case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
+                    m_linearDeflectionEfficiency = Math.Max(pValue, 0.01f);
+                    break;
+                case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
+                    m_linearDeflectionTimescale = Math.Max(pValue, 0.01f);
+                    break;
+                case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
+                    m_linearMotorDecayTimescale = ClampInRange(0.01f, pValue, 120);
+                    m_linearMotor.TargetValueDecayTimeScale = m_linearMotorDecayTimescale;
+                    break;
+                case Vehicle.LINEAR_MOTOR_TIMESCALE:
+                    m_linearMotorTimescale = Math.Max(pValue, 0.01f);
+                    m_linearMotor.TimeScale = m_linearMotorTimescale;
+                    break;
+                case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
+                    m_verticalAttractionEfficiency = ClampInRange(0.1f, pValue, 1f);
+                    m_verticalAttractionMotor.Efficiency = m_verticalAttractionEfficiency;
+                    break;
+                case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
+                    m_verticalAttractionTimescale = Math.Max(pValue, 0.01f);
+                    m_verticalAttractionMotor.TimeScale = m_verticalAttractionTimescale;
+                    break;
+
+                // These are vector properties but the engine lets you use a single float value to
+                // set all of the components to the same value
+                case Vehicle.ANGULAR_FRICTION_TIMESCALE:
+                    m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
+                    m_angularMotor.FrictionTimescale = m_angularFrictionTimescale;
+                    break;
+                case Vehicle.ANGULAR_MOTOR_DIRECTION:
+                    m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
+                    m_angularMotor.SetTarget(m_angularMotorDirection);
+                    break;
+                case Vehicle.LINEAR_FRICTION_TIMESCALE:
+                    m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
+                    m_linearMotor.FrictionTimescale = m_linearFrictionTimescale;
+                    break;
+                case Vehicle.LINEAR_MOTOR_DIRECTION:
+                    m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
+                    m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue);
+                    m_linearMotor.SetTarget(m_linearMotorDirection);
+                    break;
+                case Vehicle.LINEAR_MOTOR_OFFSET:
+                    m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
+                    break;
+
+            }
+        }//end ProcessFloatVehicleParam
+
+        internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
+        {
+            VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
+            switch (pParam)
+            {
+                case Vehicle.ANGULAR_FRICTION_TIMESCALE:
+                    m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    m_angularMotor.FrictionTimescale = m_angularFrictionTimescale;
+                    break;
+                case Vehicle.ANGULAR_MOTOR_DIRECTION:
+                    // Limit requested angular speed to 2 rps= 4 pi rads/sec
+                    pValue.X = ClampInRange(-12.56f, pValue.X, 12.56f);
+                    pValue.Y = ClampInRange(-12.56f, pValue.Y, 12.56f);
+                    pValue.Z = ClampInRange(-12.56f, pValue.Z, 12.56f);
+                    m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    m_angularMotor.SetTarget(m_angularMotorDirection);
+                    break;
+                case Vehicle.LINEAR_FRICTION_TIMESCALE:
+                    m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    m_linearMotor.FrictionTimescale = m_linearFrictionTimescale;
+                    break;
+                case Vehicle.LINEAR_MOTOR_DIRECTION:
+                    m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    m_linearMotor.SetTarget(m_linearMotorDirection);
+                    break;
+                case Vehicle.LINEAR_MOTOR_OFFSET:
+                    m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    break;
+                case Vehicle.BLOCK_EXIT:
+                    m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    break;
+            }
+        }//end ProcessVectorVehicleParam
+
+        internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
+        {
+            VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
+            switch (pParam)
+            {
+                case Vehicle.REFERENCE_FRAME:
+                    m_referenceFrame = pValue;
+                    break;
+                case Vehicle.ROLL_FRAME:
+                    m_RollreferenceFrame = pValue;
+                    break;
+            }
+        }//end ProcessRotationVehicleParam
+
+        internal void ProcessVehicleFlags(int pParam, bool remove)
+        {
+            VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", Prim.LocalID, pParam, remove);
+            VehicleFlag parm = (VehicleFlag)pParam;
+            if (pParam == -1)
+                m_flags = (VehicleFlag)0;
+            else
+            {
+                if (remove)
+                    m_flags &= ~parm;
+                else
+                    m_flags |= parm;
+            }
+        }
+
+        internal void ProcessTypeChange(Vehicle pType)
+        {
+            VDetailLog("{0},ProcessTypeChange,type={1}", Prim.LocalID, pType);
+            // Set Defaults For Type
+            Type = pType;
+            switch (pType)
+            {
+                case Vehicle.TYPE_NONE:
+                    m_linearMotorDirection = Vector3.Zero;
+                    m_linearMotorTimescale = 0;
+                    m_linearMotorDecayTimescale = 0;
+                    m_linearFrictionTimescale = new Vector3(0, 0, 0);
+
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorDecayTimescale = 0;
+                    m_angularMotorTimescale = 0;
+                    m_angularFrictionTimescale = new Vector3(0, 0, 0);
+
+                    m_VhoverHeight = 0;
+                    m_VhoverEfficiency = 0;
+                    m_VhoverTimescale = 0;
+                    m_VehicleBuoyancy = 0;
+
+                    m_linearDeflectionEfficiency = 1;
+                    m_linearDeflectionTimescale = 1;
+
+                    m_angularDeflectionEfficiency = 0;
+                    m_angularDeflectionTimescale = 1000;
+
+                    m_verticalAttractionEfficiency = 0;
+                    m_verticalAttractionTimescale = 0;
+
+                    m_bankingEfficiency = 0;
+                    m_bankingTimescale = 1000;
+                    m_bankingMix = 1;
+
+                    m_referenceFrame = Quaternion.Identity;
+                    m_flags = (VehicleFlag)0;
+
+                    break;
+
+                case Vehicle.TYPE_SLED:
+                    m_linearMotorDirection = Vector3.Zero;
+                    m_linearMotorTimescale = 1000;
+                    m_linearMotorDecayTimescale = 120;
+                    m_linearFrictionTimescale = new Vector3(30, 1, 1000);
+
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorTimescale = 1000;
+                    m_angularMotorDecayTimescale = 120;
+                    m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
+
+                    m_VhoverHeight = 0;
+                    m_VhoverEfficiency = 10;    // TODO: this looks wrong!!
+                    m_VhoverTimescale = 10;
+                    m_VehicleBuoyancy = 0;
+
+                    m_linearDeflectionEfficiency = 1;
+                    m_linearDeflectionTimescale = 1;
+
+                    m_angularDeflectionEfficiency = 1;
+                    m_angularDeflectionTimescale = 1000;
+
+                    m_verticalAttractionEfficiency = 0;
+                    m_verticalAttractionTimescale = 0;
+
+                    m_bankingEfficiency = 0;
+                    m_bankingTimescale = 10;
+                    m_bankingMix = 1;
+
+                    m_referenceFrame = Quaternion.Identity;
+                    m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
+                                | VehicleFlag.HOVER_TERRAIN_ONLY
+                                | VehicleFlag.HOVER_GLOBAL_HEIGHT
+                                | VehicleFlag.HOVER_UP_ONLY);
+                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP
+                            | VehicleFlag.LIMIT_ROLL_ONLY
+                            | VehicleFlag.LIMIT_MOTOR_UP);
+
+                    break;
+                case Vehicle.TYPE_CAR:
+                    m_linearMotorDirection = Vector3.Zero;
+                    m_linearMotorTimescale = 1;
+                    m_linearMotorDecayTimescale = 60;
+                    m_linearFrictionTimescale = new Vector3(100, 2, 1000);
+
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorTimescale = 1;
+                    m_angularMotorDecayTimescale = 0.8f;
+                    m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
+
+                    m_VhoverHeight = 0;
+                    m_VhoverEfficiency = 0;
+                    m_VhoverTimescale = 1000;
+                    m_VehicleBuoyancy = 0;
+
+                    m_linearDeflectionEfficiency = 1;
+                    m_linearDeflectionTimescale = 2;
+
+                    m_angularDeflectionEfficiency = 0;
+                    m_angularDeflectionTimescale = 10;
+
+                    m_verticalAttractionEfficiency = 1f;
+                    m_verticalAttractionTimescale = 10f;
+
+                    m_bankingEfficiency = -0.2f;
+                    m_bankingMix = 1;
+                    m_bankingTimescale = 1;
+
+                    m_referenceFrame = Quaternion.Identity;
+                    m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
+                                | VehicleFlag.HOVER_TERRAIN_ONLY
+                                | VehicleFlag.HOVER_GLOBAL_HEIGHT);
+                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP
+                                | VehicleFlag.LIMIT_ROLL_ONLY
+                                | VehicleFlag.LIMIT_MOTOR_UP
+                                | VehicleFlag.HOVER_UP_ONLY);
+                    break;
+                case Vehicle.TYPE_BOAT:
+                    m_linearMotorDirection = Vector3.Zero;
+                    m_linearMotorTimescale = 5;
+                    m_linearMotorDecayTimescale = 60;
+                    m_linearFrictionTimescale = new Vector3(10, 3, 2);
+
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorTimescale = 4;
+                    m_angularMotorDecayTimescale = 4;
+                    m_angularFrictionTimescale = new Vector3(10,10,10);
+
+                    m_VhoverHeight = 0;
+                    m_VhoverEfficiency = 0.5f;
+                    m_VhoverTimescale = 2;
+                    m_VehicleBuoyancy = 1;
+
+                    m_linearDeflectionEfficiency = 0.5f;
+                    m_linearDeflectionTimescale = 3;
+
+                    m_angularDeflectionEfficiency = 0.5f;
+                    m_angularDeflectionTimescale = 5;
+
+                    m_verticalAttractionEfficiency = 0.5f;
+                    m_verticalAttractionTimescale = 5f;
+
+                    m_bankingEfficiency = -0.3f;
+                    m_bankingMix = 0.8f;
+                    m_bankingTimescale = 1;
+
+                    m_referenceFrame = Quaternion.Identity;
+                    m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY
+                                    | VehicleFlag.HOVER_GLOBAL_HEIGHT
+                                    | VehicleFlag.LIMIT_ROLL_ONLY
+                                    | VehicleFlag.HOVER_UP_ONLY);
+                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP
+                                    | VehicleFlag.LIMIT_MOTOR_UP
+                                    | VehicleFlag.HOVER_WATER_ONLY);
+                    break;
+                case Vehicle.TYPE_AIRPLANE:
+                    m_linearMotorDirection = Vector3.Zero;
+                    m_linearMotorTimescale = 2;
+                    m_linearMotorDecayTimescale = 60;
+                    m_linearFrictionTimescale = new Vector3(200, 10, 5);
+
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorTimescale = 4;
+                    m_angularMotorDecayTimescale = 4;
+                    m_angularFrictionTimescale = new Vector3(20, 20, 20);
+
+                    m_VhoverHeight = 0;
+                    m_VhoverEfficiency = 0.5f;
+                    m_VhoverTimescale = 1000;
+                    m_VehicleBuoyancy = 0;
+
+                    m_linearDeflectionEfficiency = 0.5f;
+                    m_linearDeflectionTimescale = 3;
+
+                    m_angularDeflectionEfficiency = 1;
+                    m_angularDeflectionTimescale = 2;
+
+                    m_verticalAttractionEfficiency = 0.9f;
+                    m_verticalAttractionTimescale = 2f;
+
+                    m_bankingEfficiency = 1;
+                    m_bankingMix = 0.7f;
+                    m_bankingTimescale = 2;
+
+                    m_referenceFrame = Quaternion.Identity;
+                    m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
+                                    | VehicleFlag.HOVER_TERRAIN_ONLY
+                                    | VehicleFlag.HOVER_GLOBAL_HEIGHT
+                                    | VehicleFlag.HOVER_UP_ONLY
+                                    | VehicleFlag.NO_DEFLECTION_UP
+                                    | VehicleFlag.LIMIT_MOTOR_UP);
+                    m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
+                    break;
+                case Vehicle.TYPE_BALLOON:
+                    m_linearMotorDirection = Vector3.Zero;
+                    m_linearMotorTimescale = 5;
+                    m_linearFrictionTimescale = new Vector3(5, 5, 5);
+                    m_linearMotorDecayTimescale = 60;
+
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorTimescale = 6;
+                    m_angularFrictionTimescale = new Vector3(10, 10, 10);
+                    m_angularMotorDecayTimescale = 10;
+
+                    m_VhoverHeight = 5;
+                    m_VhoverEfficiency = 0.8f;
+                    m_VhoverTimescale = 10;
+                    m_VehicleBuoyancy = 1;
+
+                    m_linearDeflectionEfficiency = 0;
+                    m_linearDeflectionTimescale = 5;
+
+                    m_angularDeflectionEfficiency = 0;
+                    m_angularDeflectionTimescale = 5;
+
+                    m_verticalAttractionEfficiency = 1f;
+                    m_verticalAttractionTimescale = 100f;
+
+                    m_bankingEfficiency = 0;
+                    m_bankingMix = 0.7f;
+                    m_bankingTimescale = 5;
+
+                    m_referenceFrame = Quaternion.Identity;
+
+                    m_referenceFrame = Quaternion.Identity;
+                    m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
+                                    | VehicleFlag.HOVER_TERRAIN_ONLY
+                                    | VehicleFlag.HOVER_UP_ONLY
+                                    | VehicleFlag.NO_DEFLECTION_UP
+                                    | VehicleFlag.LIMIT_MOTOR_UP);
+                    m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY
+                                    | VehicleFlag.HOVER_GLOBAL_HEIGHT);
+                    break;
+            }
+
+            // Update any physical parameters based on this type.
+            Refresh();
+
+            m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale,
+                                m_linearMotorDecayTimescale, m_linearFrictionTimescale,
+                                1f);
+            m_linearMotor.PhysicsScene = PhysicsScene;  // DEBUG DEBUG DEBUG (enables detail logging)
+
+            m_angularMotor = new BSVMotor("AngularMotor", m_angularMotorTimescale,
+                                m_angularMotorDecayTimescale, m_angularFrictionTimescale,
+                                1f);
+            m_angularMotor.PhysicsScene = PhysicsScene;  // DEBUG DEBUG DEBUG (enables detail logging)
+
+            m_verticalAttractionMotor = new BSVMotor("VerticalAttraction", m_verticalAttractionTimescale,
+                                BSMotor.Infinite, BSMotor.InfiniteVector,
+                                m_verticalAttractionEfficiency);
+            // Z goes away and we keep X and Y
+            m_verticalAttractionMotor.FrictionTimescale = new Vector3(BSMotor.Infinite, BSMotor.Infinite, 0.1f);
+            m_verticalAttractionMotor.PhysicsScene = PhysicsScene;  // DEBUG DEBUG DEBUG (enables detail logging)
+        }
+
+        // Some of the properties of this prim may have changed.
+        // Do any updating needed for a vehicle
+        public void Refresh()
+        {
+            if (IsActive)
+            {
+                // Remember the mass so we don't have to fetch it every step
+                m_vehicleMass = Prim.Linkset.LinksetMass;
+
+                // Friction affects are handled by this vehicle code
+                float friction = 0f;
+                BulletSimAPI.SetFriction2(Prim.PhysBody.ptr, friction);
+
+                // 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 = BSParam.VehicleAngularDamping;
+                BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping);
+
+                // Vehicles report collision events so we know when it's on the ground
+                BulletSimAPI.AddToCollisionFlags2(Prim.PhysBody.ptr, CollisionFlags.BS_VEHICLE_COLLISIONS);
+
+                Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(Prim.PhysShape.ptr, m_vehicleMass);
+                BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia);
+                BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr);
+
+                Vector3 grav = PhysicsScene.DefaultGravity * (1f - Prim.Buoyancy);
+                BulletSimAPI.SetGravity2(Prim.PhysBody.ptr, grav);
+
+                VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4}",
+                                Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping);
+            }
+            else
+            {
+                BulletSimAPI.RemoveFromCollisionFlags2(Prim.PhysBody.ptr, CollisionFlags.BS_VEHICLE_COLLISIONS);
+            }
+        }
+
+        public bool RemoveBodyDependencies(BSPhysObject prim)
+        {
+            // If active, we need to add our properties back when the body is rebuilt.
+            return IsActive;
+        }
+
+        public void RestoreBodyDependencies(BSPhysObject prim)
+        {
+            if (Prim.LocalID != prim.LocalID)
+            {
+                // The call should be on us by our prim. Error if not.
+                PhysicsScene.Logger.ErrorFormat("{0} RestoreBodyDependencies: called by not my prim. passedLocalID={1}, vehiclePrimLocalID={2}",
+                                LogHeader, prim.LocalID, Prim.LocalID);
+                return;
+            }
+            Refresh();
+        }
+
+        #region Known vehicle value functions
+        // Vehicle physical parameters that we buffer from constant getting and setting.
+        // The "m_known*" values are unknown until they are fetched and the m_knownHas flag is set.
+        //      Changing is remembered and the parameter is stored back into the physics engine only if updated.
+        //      This does two things: 1) saves continuious calls into unmanaged code, and
+        //      2) signals when a physics property update must happen back to the simulator
+        //      to update values modified for the vehicle.
+        private int m_knownChanged;
+        private int m_knownHas;
+        private float m_knownTerrainHeight;
+        private float m_knownWaterLevel;
+        private Vector3 m_knownPosition;
+        private Vector3 m_knownVelocity;
+        private Vector3 m_knownForce;
+        private Quaternion m_knownOrientation;
+        private Vector3 m_knownRotationalVelocity;
+        private Vector3 m_knownRotationalForce;
+        private Vector3 m_knownForwardVelocity;    // vehicle relative forward speed
+
+        private const int m_knownChangedPosition           = 1 << 0;
+        private const int m_knownChangedVelocity           = 1 << 1;
+        private const int m_knownChangedForce              = 1 << 2;
+        private const int m_knownChangedOrientation        = 1 << 3;
+        private const int m_knownChangedRotationalVelocity = 1 << 4;
+        private const int m_knownChangedRotationalForce    = 1 << 5;
+        private const int m_knownChangedTerrainHeight      = 1 << 6;
+        private const int m_knownChangedWaterLevel         = 1 << 7;
+        private const int m_knownChangedForwardVelocity    = 1 << 8;
+
+        private void ForgetKnownVehicleProperties()
+        {
+            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 = m_knownPosition;
+
+                if ((m_knownChanged & m_knownChangedOrientation) != 0)
+                    Prim.ForceOrientation = m_knownOrientation;
+
+                if ((m_knownChanged & m_knownChangedVelocity) != 0)
+                {
+                    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 = m_knownRotationalVelocity;
+                    // Fake out Bullet by making it think the velocity is the same as last time.
+                    BulletSimAPI.SetInterpolationAngularVelocity2(Prim.PhysBody.ptr, m_knownRotationalVelocity);
+                }
+
+                if ((m_knownChanged & m_knownChangedRotationalForce) != 0)
+                    Prim.AddAngularForce((Vector3)m_knownRotationalForce, false, true);
+
+                // If we set one of the values (ie, the physics engine didn't do it) we must force
+                //      an UpdateProperties event to send the changes up to the simulator.
+                BulletSimAPI.PushUpdate2(Prim.PhysBody.ptr);
+            }
+            m_knownChanged = 0;
+        }
+
+        // Since the computation of terrain height can be a little involved, this routine
+        //    is used to fetch the height only once for each vehicle simulation step.
+        private float GetTerrainHeight(Vector3 pos)
+        {
+            if ((m_knownHas & m_knownChangedTerrainHeight) == 0)
+            {
+                m_knownTerrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos);
+                m_knownHas |= m_knownChangedTerrainHeight;
+            }
+            return m_knownTerrainHeight;
+        }
+
+        // Since the computation of water level can be a little involved, this routine
+        //    is used ot fetch the level only once for each vehicle simulation step.
+        private float GetWaterLevel(Vector3 pos)
+        {
+            if ((m_knownHas & m_knownChangedWaterLevel) == 0)
+            {
+                m_knownWaterLevel = Prim.PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(pos);
+                m_knownHas |= m_knownChangedWaterLevel;
+            }
+            return (float)m_knownWaterLevel;
+        }
+
+        private Vector3 VehiclePosition
+        {
+            get
+            {
+                if ((m_knownHas & m_knownChangedPosition) == 0)
+                {
+                    m_knownPosition = Prim.ForcePosition;
+                    m_knownHas |= m_knownChangedPosition;
+                }
+                return m_knownPosition;
+            }
+            set
+            {
+                m_knownPosition = value;
+                m_knownChanged |= m_knownChangedPosition;
+                m_knownHas |= m_knownChangedPosition;
+            }
+        }
+
+        private Quaternion VehicleOrientation
+        {
+            get
+            {
+                if ((m_knownHas & m_knownChangedOrientation) == 0)
+                {
+                    m_knownOrientation = Prim.ForceOrientation;
+                    m_knownHas |= m_knownChangedOrientation;
+                }
+                return m_knownOrientation;
+            }
+            set
+            {
+                m_knownOrientation = value;
+                m_knownChanged |= m_knownChangedOrientation;
+                m_knownHas |= m_knownChangedOrientation;
+            }
+        }
+
+        private Vector3 VehicleVelocity
+        {
+            get
+            {
+                if ((m_knownHas & m_knownChangedVelocity) == 0)
+                {
+                    m_knownVelocity = Prim.ForceVelocity;
+                    m_knownHas |= m_knownChangedVelocity;
+                }
+                return (Vector3)m_knownVelocity;
+            }
+            set
+            {
+                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
+        {
+            get
+            {
+                if ((m_knownHas & m_knownChangedRotationalVelocity) == 0)
+                {
+                    m_knownRotationalVelocity = Prim.ForceRotationalVelocity;
+                    m_knownHas |= m_knownChangedRotationalVelocity;
+                }
+                return (Vector3)m_knownRotationalVelocity;
+            }
+            set
+            {
+                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
+        {
+            get
+            {
+                if ((m_knownHas & m_knownChangedForwardVelocity) == 0)
+                {
+                    m_knownForwardVelocity = VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleOrientation));
+                    m_knownHas |= m_knownChangedForwardVelocity;
+                }
+                return m_knownForwardVelocity;
+            }
+        }
+        private float VehicleForwardSpeed
+        {
+            get
+            {
+                return VehicleForwardVelocity.X;
+            }
+        }
+
+        #endregion // Known vehicle value functions
+
+        // One step of the vehicle properties for the next 'pTimestep' seconds.
+        internal void Step(float pTimestep)
+        {
+            if (!IsActive) return;
+
+            ForgetKnownVehicleProperties();
+
+            MoveLinear(pTimestep);
+            MoveAngular(pTimestep);
+
+            LimitRotation(pTimestep);
+
+            // remember the position so next step we can limit absolute movement effects
+            m_lastPositionVector = VehiclePosition;
+
+            // If we forced the changing of some vehicle parameters, update the values and
+            //      for the physics engine to note the changes so an UpdateProperties event will happen.
+            PushKnownChanged();
+
+            VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}",
+                    Prim.LocalID, VehiclePosition, Prim.Force, VehicleVelocity, VehicleRotationalVelocity);
+        }
+
+        // Apply the effect of the linear motor and other linear motions (like hover and float).
+        private void MoveLinear(float pTimestep)
+        {
+            Vector3 linearMotorContribution = m_linearMotor.Step(pTimestep);
+
+            // The movement computed in the linear motor is relative to the vehicle
+            //     coordinates. Rotate the movement to world coordinates.
+            linearMotorContribution *= VehicleOrientation;
+
+            // ==================================================================
+            // Buoyancy: force to overcome gravity.
+            // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
+            // So, if zero, don't change anything (let gravity happen). If one, negate the effect of gravity.
+            Vector3 buoyancyContribution =  Prim.PhysicsScene.DefaultGravity * m_VehicleBuoyancy;
+
+            Vector3 terrainHeightContribution = ComputeLinearTerrainHeightCorrection(pTimestep);
+
+            Vector3 hoverContribution = ComputeLinearHover(pTimestep);
+
+            ComputeLinearBlockingEndPoint(pTimestep);
+
+            Vector3 limitMotorUpContribution = ComputeLinearMotorUp(pTimestep);
+
+            // ==================================================================
+            Vector3 newVelocity = linearMotorContribution
+                            + terrainHeightContribution
+                            + hoverContribution
+                            + limitMotorUpContribution;
+
+            Vector3 newForce = buoyancyContribution;
+
+            // If not changing some axis, reduce out velocity
+            if ((m_flags & (VehicleFlag.NO_X)) != 0)
+                newVelocity.X = 0;
+            if ((m_flags & (VehicleFlag.NO_Y)) != 0)
+                newVelocity.Y = 0;
+            if ((m_flags & (VehicleFlag.NO_Z)) != 0)
+                newVelocity.Z = 0;
+
+            // ==================================================================
+            // Clamp high or low velocities
+            float newVelocityLengthSq = newVelocity.LengthSquared();
+            if (newVelocityLengthSq > 1000f)
+            {
+                newVelocity /= newVelocity.Length();
+                newVelocity *= 1000f;
+            }
+            else if (newVelocityLengthSq < 0.001f)
+                newVelocity = Vector3.Zero;
+
+            // ==================================================================
+            // Stuff new linear velocity into the vehicle.
+            // Since the velocity is just being set, it is not scaled by pTimeStep. Bullet will do that for us.
+            VehicleVelocity = newVelocity;
+
+            // Other linear forces are applied as forces.
+            Vector3 totalDownForce = newForce * m_vehicleMass;
+            if (!totalDownForce.ApproxEquals(Vector3.Zero, 0.01f))
+            {
+                VehicleAddForce(totalDownForce);
+            }
+
+            VDetailLog("{0},  MoveLinear,done,newVel={1},totDown={2},IsColliding={3}",
+                                Prim.LocalID, newVelocity, totalDownForce, Prim.IsColliding);
+            VDetailLog("{0},  MoveLinear,done,linContrib={1},terrContrib={2},hoverContrib={3},limitContrib={4},buoyContrib={5}",
+                                Prim.LocalID,
+                                linearMotorContribution, terrainHeightContribution, hoverContribution, 
+                                limitMotorUpContribution, buoyancyContribution
+            );
+
+        } // end MoveLinear()
+
+        public Vector3 ComputeLinearTerrainHeightCorrection(float pTimestep)
+        {
+            Vector3 ret = Vector3.Zero;
+            // If below the terrain, move us above the ground a little.
+            // TODO: Consider taking the rotated size of the object or possibly casting a ray.
+            if (VehiclePosition.Z < GetTerrainHeight(VehiclePosition))
+            {
+                // TODO: correct position by applying force rather than forcing position.
+                Vector3 newPosition = VehiclePosition;
+                newPosition.Z = GetTerrainHeight(VehiclePosition) + 1f;
+                VehiclePosition = newPosition;
+                VDetailLog("{0},  MoveLinear,terrainHeight,terrainHeight={1},pos={2}",
+                        Prim.LocalID, GetTerrainHeight(VehiclePosition), VehiclePosition);
+            }
+            return ret;
+        }
+
+        public Vector3 ComputeLinearHover(float pTimestep)
+        {
+            Vector3 ret = Vector3.Zero;
+
+            // m_VhoverEfficiency: 0=bouncy, 1=totally damped
+            // m_VhoverTimescale: time to achieve height
+            if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
+            {
+                // We should hover, get the target height
+                if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
+                {
+                    m_VhoverTargetHeight = GetWaterLevel(VehiclePosition) + m_VhoverHeight;
+                }
+                if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
+                {
+                    m_VhoverTargetHeight = GetTerrainHeight(VehiclePosition) + m_VhoverHeight;
+                }
+                if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
+                {
+                    m_VhoverTargetHeight = m_VhoverHeight;
+                }
+
+                if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0)
+                {
+                    // If body is already heigher, use its height as target height
+                    if (VehiclePosition.Z > m_VhoverTargetHeight)
+                        m_VhoverTargetHeight = VehiclePosition.Z;
+                }
+                
+                if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
+                {
+                    if (Math.Abs(VehiclePosition.Z - m_VhoverTargetHeight) > 0.2f)
+                    {
+                        Vector3 pos = VehiclePosition;
+                        pos.Z = m_VhoverTargetHeight;
+                        VehiclePosition = pos;
+                    }
+                }
+                else
+                {
+                    // Error is positive if below the target and negative if above.
+                    float verticalError = m_VhoverTargetHeight - VehiclePosition.Z;
+                    float verticalCorrectionVelocity = verticalError / m_VhoverTimescale;
+
+                    // TODO: implement m_VhoverEfficiency correctly
+                    if (Math.Abs(verticalError) > m_VhoverEfficiency)
+                    {
+                        ret = new Vector3(0f, 0f, verticalCorrectionVelocity);
+                    }
+                }
+
+                VDetailLog("{0},  MoveLinear,hover,pos={1},ret={2},hoverTS={3},height={4},target={5}",
+                                Prim.LocalID, VehiclePosition, ret, m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight);
+            }
+
+            return ret;
+        }
+
+        public bool ComputeLinearBlockingEndPoint(float pTimestep)
+        {
+            bool changed = false;
+
+            Vector3 pos = VehiclePosition;
+            Vector3 posChange = pos - m_lastPositionVector;
+            if (m_BlockingEndPoint != Vector3.Zero)
+            {
+                if (pos.X >= (m_BlockingEndPoint.X - (float)1))
+                {
+                    pos.X -= posChange.X + 1;
+                    changed = true;
+                }
+                if (pos.Y >= (m_BlockingEndPoint.Y - (float)1))
+                {
+                    pos.Y -= posChange.Y + 1;
+                    changed = true;
+                }
+                if (pos.Z >= (m_BlockingEndPoint.Z - (float)1))
+                {
+                    pos.Z -= posChange.Z + 1;
+                    changed = true;
+                }
+                if (pos.X <= 0)
+                {
+                    pos.X += posChange.X + 1;
+                    changed = true;
+                }
+                if (pos.Y <= 0)
+                {
+                    pos.Y += posChange.Y + 1;
+                    changed = true;
+                }
+                if (changed)
+                {
+                    VehiclePosition = pos;
+                    VDetailLog("{0},  MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}",
+                                Prim.LocalID, m_BlockingEndPoint, posChange, pos);
+                }
+            }
+            return changed;
+        }
+
+        // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
+        //    Prevent ground vehicles from motoring into the sky. This flag has a subtle effect when
+        //    used with conjunction with banking: the strength of the banking will decay when the
+        //    vehicle no longer experiences collisions. The decay timescale is the same as
+        //    VEHICLE_BANKING_TIMESCALE. This is to help prevent ground vehicles from steering
+        //    when they are in mid jump. 
+        // TODO: this code is wrong. Also, what should it do for boats (height from water)?
+        //    This is just using the ground and a general collision check. Should really be using
+        //    a downward raycast to find what is below.
+        public Vector3 ComputeLinearMotorUp(float pTimestep)
+        {
+            Vector3 ret = Vector3.Zero;
+            float distanceAboveGround = 0f;
+
+            if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
+            {
+                float targetHeight = Type == Vehicle.TYPE_BOAT ? GetWaterLevel(VehiclePosition) : GetTerrainHeight(VehiclePosition);
+                distanceAboveGround = VehiclePosition.Z - targetHeight;
+                // Not colliding if the vehicle is off the ground
+                if (!Prim.IsColliding)
+                {
+                    // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale);
+                    ret = new Vector3(0, 0, -distanceAboveGround);
+                }
+                // TODO: this calculation is wrong. From the description at
+                //     (http://wiki.secondlife.com/wiki/Category:LSL_Vehicle), the downForce
+                //     has a decay factor. This says this force should
+                //     be computed with a motor.
+                // TODO: add interaction with banking.
+            }
+            VDetailLog("{0},  MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}",
+                                Prim.LocalID, distanceAboveGround, Prim.IsColliding, ret);
+            return ret;
+        }
+
+        // =======================================================================
+        // =======================================================================
+        // Apply the effect of the angular motor.
+        // The 'contribution' is how much angular correction velocity each function wants.
+        //     All the contributions are added together and the resulting velocity is
+        //     set directly on the vehicle.
+        private void MoveAngular(float pTimestep)
+        {
+            // The user wants this many radians per second angular change?
+            Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep);
+
+            // ==================================================================
+            // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
+            //    This flag prevents linear deflection parallel to world z-axis. This is useful
+            //    for preventing ground vehicles with large linear deflection, like bumper cars,
+            //    from climbing their linear deflection into the sky. 
+            // That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement
+            if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
+            {
+                angularMotorContribution.X = 0f;
+                angularMotorContribution.Y = 0f;
+                VDetailLog("{0},  MoveAngular,noDeflectionUp,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution);
+            }
+
+            Vector3 verticalAttractionContribution = ComputeAngularVerticalAttraction();
+
+            Vector3 deflectionContribution = ComputeAngularDeflection();
+
+            Vector3 bankingContribution = ComputeAngularBanking();
+
+            // ==================================================================
+            m_lastVertAttractor = verticalAttractionContribution;
+
+            m_lastAngularVelocity = angularMotorContribution
+                                    + verticalAttractionContribution
+                                    + deflectionContribution
+                                    + bankingContribution;
+
+            // ==================================================================
+            // Apply the correction velocity.
+            // TODO: Should this be applied as an angular force (torque)?
+            if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
+            {
+                VehicleRotationalVelocity = m_lastAngularVelocity;
+
+                VDetailLog("{0},  MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5}",
+                                    Prim.LocalID,
+                                    angularMotorContribution, verticalAttractionContribution,
+                                    bankingContribution, deflectionContribution,
+                                    m_lastAngularVelocity
+                                    );
+            }
+            else
+            {
+                // The vehicle is not adding anything angular wise.
+                VehicleRotationalVelocity = Vector3.Zero;
+                VDetailLog("{0},  MoveAngular,done,zero", Prim.LocalID);
+            }
+
+            // ==================================================================
+            //Offset section
+            if (m_linearMotorOffset != Vector3.Zero)
+            {
+                //Offset of linear velocity doesn't change the linear velocity,
+                //   but causes a torque to be applied, for example...
+                //
+                //      IIIII     >>>   IIIII
+                //      IIIII     >>>    IIIII
+                //      IIIII     >>>     IIIII
+                //          ^
+                //          |  Applying a force at the arrow will cause the object to move forward, but also rotate
+                //
+                //
+                // The torque created is the linear velocity crossed with the offset
+
+                // TODO: this computation should be in the linear section
+                //    because that is where we know the impulse being applied.
+                Vector3 torqueFromOffset = Vector3.Zero;
+                // torqueFromOffset = Vector3.Cross(m_linearMotorOffset, appliedImpulse);
+                if (float.IsNaN(torqueFromOffset.X))
+                    torqueFromOffset.X = 0;
+                if (float.IsNaN(torqueFromOffset.Y))
+                    torqueFromOffset.Y = 0;
+                if (float.IsNaN(torqueFromOffset.Z))
+                    torqueFromOffset.Z = 0;
+
+                VehicleAddAngularForce(torqueFromOffset * m_vehicleMass);
+                VDetailLog("{0},  BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset);
+            }
+
+        }
+        // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
+        //      Some vehicles, like boats, should always keep their up-side up. This can be done by
+        //      enabling the "vertical attractor" behavior that springs the vehicle's local z-axis to
+        //      the world z-axis (a.k.a. "up"). To take advantage of this feature you would set the
+        //      VEHICLE_VERTICAL_ATTRACTION_TIMESCALE to control the period of the spring frequency,
+        //      and then set the VEHICLE_VERTICAL_ATTRACTION_EFFICIENCY to control the damping. An
+        //      efficiency of 0.0 will cause the spring to wobble around its equilibrium, while an
+        //      efficiency of 1.0 will cause the spring to reach its equilibrium with exponential decay.
+        public Vector3 ComputeAngularVerticalAttraction()
+        {
+            Vector3 ret = Vector3.Zero;
+
+            // If vertical attaction timescale is reasonable
+            if (m_verticalAttractionTimescale < m_verticalAttractionCutoff)
+            {
+                // Take a vector pointing up and convert it from world to vehicle relative coords.
+                Vector3 verticalError = Vector3.UnitZ * VehicleOrientation;
+
+                // If vertical attraction correction is needed, the vector that was pointing up (UnitZ)
+                //    is now:
+                //    leaning to one side: rotated around the X axis with the Y value going
+                //        from zero (nearly straight up) to one (completely to the side)) or
+                //    leaning front-to-back: rotated around the Y axis with the value of X being between
+                //         zero and one.
+                // The value of Z is how far the rotation is off with 1 meaning none and 0 being 90 degrees.
+
+                // Y error means needed rotation around X axis and visa versa.
+                // Since the error goes from zero to one, the asin is the corresponding angle.
+                ret.X = (float)Math.Asin(verticalError.Y);
+                // (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.)
+                ret.Y = -(float)Math.Asin(verticalError.X);
+
+                // If verticalError.Z is negative, the vehicle is upside down. Add additional push.
+                if (verticalError.Z < 0f)
+                {
+                    ret.X += PIOverFour;
+                    ret.Y += PIOverFour;
+                }
+
+                // 'ret' is now the necessary velocity to correct tilt in one second.
+                //     Correction happens over a number of seconds.
+                Vector3 unscaledContrib = ret;
+                ret /= m_verticalAttractionTimescale;
+
+                VDetailLog("{0},  MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},ts={4},vertAttr={5}",
+                                Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, ret);
+            }
+            return ret;
+        }
+
+        // Return the angular correction to correct the direction the vehicle is pointing to be
+        //      the direction is should want to be pointing.
+        // The vehicle is moving in some direction and correct its orientation to it is pointing
+        //     in that direction.
+        // TODO: implement reference frame.
+        public Vector3 ComputeAngularDeflection()
+        {
+            Vector3 ret = Vector3.Zero;
+            return ret;         // DEBUG DEBUG DEBUG
+            // Disable angular deflection for the moment.
+            // Since angularMotorUp and angularDeflection are computed independently, they will calculate
+            //     approximately the same X or Y correction. When added together (when contributions are combined)
+            //     this creates an over-correction and then wabbling as the target is overshot.
+            // TODO: rethink how the different correction computations inter-relate.
+
+            if (m_angularDeflectionEfficiency != 0)
+            {
+                // The direction the vehicle is moving
+                Vector3 movingDirection = VehicleVelocity;
+                movingDirection.Normalize();
+
+                // The direction the vehicle is pointing
+                Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation;
+                pointingDirection.Normalize();
+
+                // The difference between what is and what should be.
+                Vector3 deflectionError = movingDirection - pointingDirection;
+
+                // Don't try to correct very large errors (not our job)
+                if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = 0f;
+                if (Math.Abs(deflectionError.Y) > PIOverFour) deflectionError.Y = 0f;
+                if (Math.Abs(deflectionError.Z) > PIOverFour) deflectionError.Z = 0f;
+
+                // ret = m_angularDeflectionCorrectionMotor(1f, deflectionError);
+
+                // Scale the correction by recovery timescale and efficiency
+                ret = (-deflectionError) * m_angularDeflectionEfficiency;
+                ret /= m_angularDeflectionTimescale;
+
+                VDetailLog("{0},  MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}",
+                    Prim.LocalID, movingDirection, pointingDirection, deflectionError, ret);
+                VDetailLog("{0},  MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3}",
+                    Prim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale);
+            }
+            return ret;
+        }
+
+        // Return an angular change to rotate the vehicle around the Z axis when the vehicle
+        //     is tipped around the X axis.
+        // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
+        //      The vertical attractor feature must be enabled in order for the banking behavior to
+        //      function. The way banking works is this: a rotation around the vehicle's roll-axis will
+        //      produce a angular velocity around the yaw-axis, causing the vehicle to turn. The magnitude
+        //      of the yaw effect will be proportional to the
+        //          VEHICLE_BANKING_EFFICIENCY, the angle of the roll rotation, and sometimes the vehicle's
+        //                 velocity along its preferred axis of motion. 
+        //          The VEHICLE_BANKING_EFFICIENCY can vary between -1 and +1. When it is positive then any
+        //                  positive rotation (by the right-hand rule) about the roll-axis will effect a
+        //                  (negative) torque around the yaw-axis, making it turn to the right--that is the
+        //                  vehicle will lean into the turn, which is how real airplanes and motorcycle's work.
+        //                  Negating the banking coefficient will make it so that the vehicle leans to the
+        //                  outside of the turn (not very "physical" but might allow interesting vehicles so why not?). 
+        //           The VEHICLE_BANKING_MIX is a fake (i.e. non-physical) parameter that is useful for making
+        //                  banking vehicles do what you want rather than what the laws of physics allow.
+        //                  For example, consider a real motorcycle...it must be moving forward in order for
+        //                  it to turn while banking, however video-game motorcycles are often configured
+        //                  to turn in place when at a dead stop--because they are often easier to control
+        //                  that way using the limited interface of the keyboard or game controller. The
+        //                  VEHICLE_BANKING_MIX enables combinations of both realistic and non-realistic
+        //                  banking by functioning as a slider between a banking that is correspondingly
+        //                  totally static (0.0) and totally dynamic (1.0). By "static" we mean that the
+        //                  banking effect depends only on the vehicle's rotation about its roll-axis compared
+        //                  to "dynamic" where the banking is also proportional to its velocity along its
+        //                  roll-axis. Finding the best value of the "mixture" will probably require trial and error. 
+        //      The time it takes for the banking behavior to defeat a preexisting angular velocity about the
+        //      world z-axis is determined by the VEHICLE_BANKING_TIMESCALE. So if you want the vehicle to
+        //      bank quickly then give it a banking timescale of about a second or less, otherwise you can
+        //      make a sluggish vehicle by giving it a timescale of several seconds. 
+        public Vector3 ComputeAngularBanking()
+        {
+            Vector3 ret = Vector3.Zero;
+
+            if (m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
+            {
+                // This works by rotating a unit vector to the orientation of the vehicle. The
+                //    roll (tilt) will be Y component of a tilting Z vector (zero for no tilt
+                //    up to one for full over).
+                Vector3 rollComponents = Vector3.UnitZ * VehicleOrientation;
+
+                // Figure out the yaw value for this much roll.
+                float turnComponent = rollComponents.Y * rollComponents.Y * m_bankingEfficiency;
+                // Keep the sign
+                if (rollComponents.Y < 0f)
+                    turnComponent = -turnComponent;
+
+                // TODO: there must be a better computation of the banking force.
+                float bankingTurnForce = turnComponent;
+
+                //        actual error  =       static turn error            +           dynamic turn error
+                float mixedBankingError = bankingTurnForce * (1f - m_bankingMix) + bankingTurnForce * m_bankingMix * VehicleForwardSpeed;
+                // TODO: the banking effect should not go to infinity but what to limit it to?
+                mixedBankingError = ClampInRange(-20f, mixedBankingError, 20f);
+
+                // Build the force vector to change rotation from what it is to what it should be
+                ret.Z = -mixedBankingError;
+
+                // Don't do it all at once.
+                ret /= m_bankingTimescale;
+
+                VDetailLog("{0},  MoveAngular,Banking,rollComp={1},speed={2},turnComp={3},bankErr={4},mixedBankErr={5},ret={6}",
+                            Prim.LocalID, rollComponents, VehicleForwardSpeed, turnComponent, bankingTurnForce, mixedBankingError, ret);
+            }
+            return ret;
+        }
+
+        // This is from previous instantiations of XXXDynamics.cs.
+        // Applies roll reference frame.
+        // TODO: is this the right way to separate the code to do this operation?
+        //    Should this be in MoveAngular()?
+        internal void LimitRotation(float timestep)
+        {
+            Quaternion rotq = VehicleOrientation;
+            Quaternion m_rot = rotq;
+            if (m_RollreferenceFrame != Quaternion.Identity)
+            {
+                if (rotq.X >= m_RollreferenceFrame.X)
+                {
+                    m_rot.X = rotq.X - (m_RollreferenceFrame.X / 2);
+                }
+                if (rotq.Y >= m_RollreferenceFrame.Y)
+                {
+                    m_rot.Y = rotq.Y - (m_RollreferenceFrame.Y / 2);
+                }
+                if (rotq.X <= -m_RollreferenceFrame.X)
+                {
+                    m_rot.X = rotq.X + (m_RollreferenceFrame.X / 2);
+                }
+                if (rotq.Y <= -m_RollreferenceFrame.Y)
+                {
+                    m_rot.Y = rotq.Y + (m_RollreferenceFrame.Y / 2);
+                }
+            }
+            if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0)
+            {
+                m_rot.X = 0;
+                m_rot.Y = 0;
+            }
+            if (rotq != m_rot)
+            {
+                VehicleOrientation = m_rot;
+                VDetailLog("{0},  LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot);
+            }
+
+        }
+
+        private float ClampInRange(float low, float val, float high)
+        {
+            return Math.Max(low, Math.Min(val, high));
+            // return Utils.Clamp(val, low, high);
+        }
+
+        // Invoke the detailed logger and output something if it's enabled.
+        private void VDetailLog(string msg, params Object[] args)
+        {
+            if (Prim.PhysicsScene.VehicleLoggingEnabled)
+                Prim.PhysicsScene.DetailLog(msg, args);
+        }
+    }
+}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs
new file mode 100644
index 0000000..845a113
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs
@@ -0,0 +1,329 @@
+/*
+ * 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 OMV = OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSNPlugin
+{
+
+// A BSPrim can get individual information about its linkedness attached
+//    to it through an instance of a subclass of LinksetInfo.
+// Each type of linkset will define the information needed for its type.
+public abstract class BSLinksetInfo
+{
+    public virtual void Clear() { }
+}
+
+public abstract class BSLinkset
+{
+    // private static string LogHeader = "[BULLETSIM LINKSET]";
+
+    public enum LinksetImplementation
+    {
+        Constraint   = 0,   // linkset tied together with constraints
+        Compound     = 1,   // linkset tied together as a compound object
+        Manual       = 2    // linkset tied together manually (code moves all the pieces)
+    }
+    // Create the correct type of linkset for this child
+    public static BSLinkset Factory(BSScene physScene, BSPhysObject parent)
+    {
+        BSLinkset ret = null;
+
+        switch ((int)BSParam.LinksetImplementation)
+        {
+            case (int)LinksetImplementation.Constraint:
+                ret = new BSLinksetConstraints(physScene, parent);
+                break;
+            case (int)LinksetImplementation.Compound:
+                ret = new BSLinksetCompound(physScene, parent);
+                break;
+            case (int)LinksetImplementation.Manual:
+                // ret = new BSLinksetManual(physScene, parent);
+                break;
+            default:
+                ret = new BSLinksetCompound(physScene, parent);
+                break;
+        }
+        return ret;
+    }
+
+    public BSPhysObject LinksetRoot { get; protected set; }
+
+    public BSScene PhysicsScene { get; private set; }
+
+    static int m_nextLinksetID = 1;
+    public int LinksetID { get; private set; }
+
+    // The children under the root in this linkset.
+    protected HashSet<BSPhysObject> m_children;
+
+    // We lock the diddling of linkset classes to prevent any badness.
+    // This locks the modification of the instances of this class. Changes
+    //    to the physical representation is done via the tainting mechenism.
+    protected object m_linksetActivityLock = new Object();
+
+    // Some linksets have a preferred physical shape.
+    // Returns SHAPE_UNKNOWN if there is no preference. Causes the correct shape to be selected.
+    public virtual BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor)
+    {
+        return BSPhysicsShapeType.SHAPE_UNKNOWN;
+    }
+
+    // We keep the prim's mass in the linkset structure since it could be dependent on other prims
+    public float LinksetMass { get; protected set; }
+
+    public virtual bool LinksetIsColliding { get { return false; } }
+
+    public OMV.Vector3 CenterOfMass
+    {
+        get { return ComputeLinksetCenterOfMass(); }
+    }
+
+    public OMV.Vector3 GeometricCenter
+    {
+        get { return ComputeLinksetGeometricCenter(); }
+    }
+
+    protected BSLinkset(BSScene scene, BSPhysObject parent)
+    {
+        // A simple linkset of one (no children)
+        LinksetID = m_nextLinksetID++;
+        // We create LOTS of linksets.
+        if (m_nextLinksetID <= 0)
+            m_nextLinksetID = 1;
+        PhysicsScene = scene;
+        LinksetRoot = parent;
+        m_children = new HashSet<BSPhysObject>();
+        LinksetMass = parent.RawMass;
+        Rebuilding = false;
+    }
+
+    // Link to a linkset where the child knows the parent.
+    // Parent changing should not happen so do some sanity checking.
+    // We return the parent's linkset so the child can track its membership.
+    // Called at runtime.
+    public BSLinkset AddMeToLinkset(BSPhysObject child)
+    {
+        lock (m_linksetActivityLock)
+        {
+            // Don't add the root to its own linkset
+            if (!IsRoot(child))
+                AddChildToLinkset(child);
+            LinksetMass = ComputeLinksetMass();
+        }
+        return this;
+    }
+
+    // Remove a child from a linkset.
+    // Returns a new linkset for the child which is a linkset of one (just the
+    //    orphened child).
+    // Called at runtime.
+    public BSLinkset RemoveMeFromLinkset(BSPhysObject child)
+    {
+        lock (m_linksetActivityLock)
+        {
+            if (IsRoot(child))
+            {
+                // Cannot remove the root from a linkset.
+                return this;
+            }
+            RemoveChildFromLinkset(child);
+            LinksetMass = ComputeLinksetMass();
+        }
+
+        // The child is down to a linkset of just itself
+        return BSLinkset.Factory(PhysicsScene, child);
+    }
+
+    // Return 'true' if the passed object is the root object of this linkset
+    public bool IsRoot(BSPhysObject requestor)
+    {
+        return (requestor.LocalID == LinksetRoot.LocalID);
+    }
+
+    public int NumberOfChildren { get { return m_children.Count; } }
+
+    // Return 'true' if this linkset has any children (more than the root member)
+    public bool HasAnyChildren { get { return (m_children.Count > 0); } }
+
+    // Return 'true' if this child is in this linkset
+    public bool HasChild(BSPhysObject child)
+    {
+        bool ret = false;
+        lock (m_linksetActivityLock)
+        {
+            ret = m_children.Contains(child);
+            /* Safer version but the above should work
+            foreach (BSPhysObject bp in m_children)
+            {
+                if (child.LocalID == bp.LocalID)
+                {
+                    ret = true;
+                    break;
+                }
+            }
+             */
+        }
+        return ret;
+    }
+
+    // Perform an action on each member of the linkset including root prim.
+    // Depends on the action on whether this should be done at taint time.
+    public delegate bool ForEachMemberAction(BSPhysObject obj);
+    public virtual bool ForEachMember(ForEachMemberAction action)
+    {
+        bool ret = false;
+        lock (m_linksetActivityLock)
+        {
+            action(LinksetRoot);
+            foreach (BSPhysObject po in m_children)
+            {
+                if (action(po))
+                    break;
+            }
+        }
+        return ret;
+    }
+
+    // I am the root of a linkset and a new child is being added
+    // Called while LinkActivity is locked.
+    protected abstract void AddChildToLinkset(BSPhysObject child);
+    
+    // I am the root of a linkset and one of my children is being removed.
+    // Safe to call even if the child is not really in my linkset.
+    protected abstract void RemoveChildFromLinkset(BSPhysObject child);
+
+    // When physical properties are changed the linkset needs to recalculate
+    //   its internal properties.
+    // May be called at runtime or taint-time.
+    public virtual void Refresh(BSPhysObject requestor)
+    {
+        LinksetMass = ComputeLinksetMass();
+    }
+
+    // Flag denoting the linkset is in the process of being rebuilt.
+    // Used to know not the schedule a rebuild in the middle of a rebuild.
+    protected bool Rebuilding { get; set; }
+
+    // The object is going dynamic (physical). Do any setup necessary
+    //     for a dynamic linkset.
+    // Only the state of the passed object can be modified. The rest of the linkset
+    //     has not yet been fully constructed.
+    // Return 'true' if any properties updated on the passed object.
+    // Called at taint-time!
+    public abstract bool MakeDynamic(BSPhysObject child);
+
+    // The object is going static (non-physical). Do any setup necessary
+    //     for a static linkset.
+    // Return 'true' if any properties updated on the passed object.
+    // Called at taint-time!
+    public abstract bool MakeStatic(BSPhysObject child);
+
+    // Called when a parameter update comes from the physics engine for any object
+    //      of the linkset is received.
+    // Passed flag is update came from physics engine (true) or the user (false).
+    // Called at taint-time!!
+    public abstract void UpdateProperties(BSPhysObject physObject, bool physicalUpdate);
+
+    // Routine used when rebuilding the body of the root of the linkset
+    // Destroy all the constraints have have been made to root.
+    // This is called when the root body is changing.
+    // Returns 'true' of something was actually removed and would need restoring
+    // Called at taint-time!!
+    public abstract bool RemoveBodyDependencies(BSPrim child);
+
+    // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
+    //     this routine will restore the removed constraints.
+    // Called at taint-time!!
+    public abstract void RestoreBodyDependencies(BSPrim child);
+
+    // ================================================================
+    protected virtual float ComputeLinksetMass()
+    {
+        float mass = LinksetRoot.RawMass;
+        if (HasAnyChildren)
+        {
+            lock (m_linksetActivityLock)
+            {
+                foreach (BSPhysObject bp in m_children)
+                {
+                    mass += bp.RawMass;
+                }
+            }
+        }
+        return mass;
+    }
+
+    protected virtual OMV.Vector3 ComputeLinksetCenterOfMass()
+    {
+        OMV.Vector3 com;
+        lock (m_linksetActivityLock)
+        {
+            com = LinksetRoot.Position * LinksetRoot.RawMass;
+            float totalMass = LinksetRoot.RawMass;
+
+            foreach (BSPhysObject bp in m_children)
+            {
+                com += bp.Position * bp.RawMass;
+                totalMass += bp.RawMass;
+            }
+            if (totalMass != 0f)
+                com /= totalMass;
+        }
+
+        return com;
+    }
+
+    protected virtual OMV.Vector3 ComputeLinksetGeometricCenter()
+    {
+        OMV.Vector3 com;
+        lock (m_linksetActivityLock)
+        {
+            com = LinksetRoot.Position;
+
+            foreach (BSPhysObject bp in m_children)
+            {
+                com += bp.Position * bp.RawMass;
+            }
+            com /= (m_children.Count + 1);
+        }
+
+        return com;
+    }
+
+    // Invoke the detailed logger and output something if it's enabled.
+    protected void DetailLog(string msg, params Object[] args)
+    {
+        if (PhysicsScene.PhysicsLogging.Enabled)
+            PhysicsScene.DetailLog(msg, args);
+    }
+
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs
new file mode 100644
index 0000000..9a977e6
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs
@@ -0,0 +1,397 @@
+/*
+ * 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.Framework;
+
+using OMV = OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSNPlugin
+{
+
+// When a child is linked, the relationship position of the child to the parent
+//    is remembered so the child's world position can be recomputed when it is
+//    removed from the linkset.
+sealed class BSLinksetCompoundInfo : BSLinksetInfo
+{
+    public OMV.Vector3 OffsetPos;
+    public OMV.Quaternion OffsetRot;
+    public BSLinksetCompoundInfo(OMV.Vector3 p, OMV.Quaternion r)
+    {
+        OffsetPos = p;
+        OffsetRot = r;
+    }
+    public override void Clear()
+    {
+        OffsetPos = OMV.Vector3.Zero;
+        OffsetRot = OMV.Quaternion.Identity;
+    }
+    public override string ToString()
+    {
+        StringBuilder buff = new StringBuilder();
+        buff.Append("<p=");
+        buff.Append(OffsetPos.ToString());
+        buff.Append(",r=");
+        buff.Append(OffsetRot.ToString());
+        buff.Append(">");
+        return buff.ToString();
+    }
+};
+
+public sealed class BSLinksetCompound : BSLinkset
+{
+    private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]";
+
+    public BSLinksetCompound(BSScene scene, BSPhysObject parent) : base(scene, parent)
+    {
+    }
+
+    // For compound implimented linksets, if there are children, use compound shape for the root.
+    public override BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor)
+    { 
+        // Returning 'unknown' means we don't have a preference.
+        BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
+        if (IsRoot(requestor) && HasAnyChildren)
+        {
+            ret = BSPhysicsShapeType.SHAPE_COMPOUND;
+        }
+        // DetailLog("{0},BSLinksetCompound.PreferredPhysicalShape,call,shape={1}", LinksetRoot.LocalID, ret);
+        return ret;
+    }
+
+    // When physical properties are changed the linkset needs to recalculate
+    //   its internal properties.
+    public override void Refresh(BSPhysObject requestor)
+    {
+        base.Refresh(requestor);
+
+        // Something changed so do the rebuilding thing
+        // ScheduleRebuild();
+    }
+
+    // Schedule a refresh to happen after all the other taint processing.
+    private void ScheduleRebuild(BSPhysObject requestor)
+    {
+        DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1}", 
+                            requestor.LocalID, Rebuilding);
+        // When rebuilding, it is possible to set properties that would normally require a rebuild.
+        //    If already rebuilding, don't request another rebuild.
+        if (!Rebuilding)
+        {
+            PhysicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate()
+            {
+                if (HasAnyChildren)
+                    RecomputeLinksetCompound();
+            });
+        }
+    }
+
+    // The object is going dynamic (physical). Do any setup necessary
+    //     for a dynamic linkset.
+    // Only the state of the passed object can be modified. The rest of the linkset
+    //     has not yet been fully constructed.
+    // Return 'true' if any properties updated on the passed object.
+    // Called at taint-time!
+    public override bool MakeDynamic(BSPhysObject child)
+    {
+        bool ret = false;
+        DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child));
+        if (IsRoot(child))
+        {
+            // The root is going dynamic. Make sure mass is properly set.
+            ScheduleRebuild(LinksetRoot);
+        }
+        else
+        {
+            // The origional prims are removed from the world as the shape of the root compound
+            //     shape takes over.
+            BulletSimAPI.AddToCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            BulletSimAPI.ForceActivationState2(child.PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
+            // We don't want collisions from the old linkset children.
+            BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+
+            child.PhysBody.collisionType = CollisionType.LinksetChild;
+
+            ret = true;
+        }
+        return ret;
+    }
+
+    // The object is going static (non-physical). Do any setup necessary for a static linkset.
+    // Return 'true' if any properties updated on the passed object.
+    // This doesn't normally happen -- OpenSim removes the objects from the physical
+    //     world if it is a static linkset.
+    // Called at taint-time!
+    public override bool MakeStatic(BSPhysObject child)
+    {
+        bool ret = false;
+        DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
+        if (IsRoot(child))
+        {
+            ScheduleRebuild(LinksetRoot);
+        }
+        else
+        {
+            // The non-physical children can come back to life.
+            BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+
+            child.PhysBody.collisionType = CollisionType.LinksetChild;
+
+            // Don't force activation so setting of DISABLE_SIMULATION can stay if used.
+            BulletSimAPI.Activate2(child.PhysBody.ptr, false);
+            ret = true;
+        }
+        return ret;
+    }
+
+    public override void UpdateProperties(BSPhysObject updated, bool physicalUpdate)
+    {
+        // The user moving a child around requires the rebuilding of the linkset compound shape
+        // One problem is this happens when a border is crossed -- the simulator implementation
+        //    is to store the position into the group which causes the move of the object
+        //    but it also means all the child positions get updated.
+        //    What would cause an unnecessary rebuild so we make sure the linkset is in a
+        //    region before bothering to do a rebuild.
+        if (!IsRoot(updated) 
+                && !physicalUpdate 
+                && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))
+        {
+            updated.LinksetInfo = null;
+            ScheduleRebuild(updated);
+        }
+    }
+
+    // Routine called when rebuilding the body of some member of the linkset.
+    // Since we don't keep in world relationships, do nothing unless it's a child changing.
+    // Returns 'true' of something was actually removed and would need restoring
+    // Called at taint-time!!
+    public override bool RemoveBodyDependencies(BSPrim child)
+    {
+        bool ret = false;
+
+        DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}",
+                        child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString(), IsRoot(child));
+
+        if (!IsRoot(child))
+        {
+            // Because it is a convenient time, recompute child world position and rotation based on
+            //    its position in the linkset.
+            RecomputeChildWorldPosition(child, true);
+        }
+
+        // Cannot schedule a refresh/rebuild here because this routine is called when
+        //     the linkset is being rebuilt.
+        // InternalRefresh(LinksetRoot);
+
+        return ret;
+    }
+
+    // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
+    //     this routine will restore the removed constraints.
+    // Called at taint-time!!
+    public override void RestoreBodyDependencies(BSPrim child)
+    {
+    }
+
+    // When the linkset is built, the child shape is added to the compound shape relative to the
+    //    root shape. The linkset then moves around but this does not move the actual child
+    //    prim. The child prim's location must be recomputed based on the location of the root shape.
+    private void RecomputeChildWorldPosition(BSPhysObject child, bool inTaintTime)
+    {
+        BSLinksetCompoundInfo lci = child.LinksetInfo as BSLinksetCompoundInfo;
+        if (lci != null)
+        {
+            if (inTaintTime)
+            {
+                OMV.Vector3 oldPos = child.RawPosition;
+                child.ForcePosition = LinksetRoot.RawPosition + lci.OffsetPos;
+                child.ForceOrientation = LinksetRoot.RawOrientation * lci.OffsetRot;
+                DetailLog("{0},BSLinksetCompound.RecomputeChildWorldPosition,oldPos={1},lci={2},newPos={3}",
+                                            child.LocalID, oldPos, lci, child.RawPosition);
+            }
+            else
+            {
+                // TaintedObject is not used here so the raw position is set now and not at taint-time.
+                child.Position = LinksetRoot.RawPosition + lci.OffsetPos;
+                child.Orientation = LinksetRoot.RawOrientation * lci.OffsetRot;
+            }
+        }
+        else
+        {
+            // This happens when children have been added to the linkset but the linkset
+            //     has not been constructed yet. So like, at taint time, adding children to a linkset
+            //     and then changing properties of the children (makePhysical, for instance)
+            //     but the post-print action of actually rebuilding the linkset has not yet happened.
+            // PhysicsScene.Logger.WarnFormat("{0} Restoring linkset child position failed because of no relative position computed. ID={1}",
+            //                                 LogHeader, child.LocalID);
+            DetailLog("{0},BSLinksetCompound.recomputeChildWorldPosition,noRelativePositonInfo", child.LocalID);
+        }
+    }
+
+    // ================================================================
+
+    // Add a new child to the linkset.
+    // Called while LinkActivity is locked.
+    protected override void AddChildToLinkset(BSPhysObject child)
+    {
+        if (!HasChild(child))
+        {
+            m_children.Add(child);
+
+            DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
+
+            // Rebuild the compound shape with the new child shape included
+            ScheduleRebuild(child);
+        }
+        return;
+    }
+
+    // Remove the specified child from the linkset.
+    // Safe to call even if the child is not really in the linkset.
+    protected override void RemoveChildFromLinkset(BSPhysObject child)
+    {
+        if (m_children.Remove(child))
+        {
+            DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
+                            child.LocalID,
+                            LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString(),
+                            child.LocalID, child.PhysBody.ptr.ToString());
+
+            // Cause the child's body to be rebuilt and thus restored to normal operation
+            RecomputeChildWorldPosition(child, false);
+            child.ForceBodyShapeRebuild(false);
+
+            if (!HasAnyChildren)
+            {
+                // The linkset is now empty. The root needs rebuilding.
+                LinksetRoot.ForceBodyShapeRebuild(false);
+            }
+            else
+            {
+                // Rebuild the compound shape with the child removed
+                ScheduleRebuild(child);
+            }
+        }
+        return;
+    }
+
+    // Called before the simulation step to make sure the compound based linkset
+    //    is all initialized.
+    // Constraint linksets are rebuilt every time.
+    // Note that this works for rebuilding just the root after a linkset is taken apart.
+    // Called at taint time!!
+    private void RecomputeLinksetCompound()
+    {
+        try
+        {
+            // Suppress rebuilding while rebuilding
+            Rebuilding = true;
+
+            // Cause the root shape to be rebuilt as a compound object with just the root in it
+            LinksetRoot.ForceBodyShapeRebuild(true);
+
+            DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}",
+                            LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren);
+
+            // Add a shape for each of the other children in the linkset
+            ForEachMember(delegate(BSPhysObject cPrim)
+            {
+                if (!IsRoot(cPrim))
+                {
+                    // Compute the displacement of the child from the root of the linkset.
+                    // This info is saved in the child prim so the relationship does not
+                    //    change over time and the new child position can be computed
+                    //    when the linkset is being disassembled (the linkset may have moved).
+                    BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo;
+                    if (lci == null)
+                    {
+                        // Each child position and rotation is given relative to the root.
+                        OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation);
+                        OMV.Vector3 displacementPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation;
+                        OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation;
+
+                        // Save relative position for recomputing child's world position after moving linkset.
+                        lci = new BSLinksetCompoundInfo(displacementPos, displacementRot);
+                        cPrim.LinksetInfo = lci;
+                        DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci);
+                    }
+
+                    DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addMemberToShape,mID={1},mShape={2},dispPos={3},dispRot={4}",
+                        LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, lci.OffsetPos, lci.OffsetRot);
+
+                    if (cPrim.PhysShape.isNativeShape)
+                    {
+                        // A native shape is turning into a hull collision shape because native
+                        //    shapes are not shared so we have to hullify it so it will be tracked
+                        //    and freed at the correct time. This also solves the scaling problem
+                        //    (native shapes scaled but hull/meshes are assumed to not be).
+                        // TODO: decide of the native shape can just be used in the compound shape.
+                        //    Use call to CreateGeomNonSpecial().
+                        BulletShape saveShape = cPrim.PhysShape;
+                        cPrim.PhysShape.Clear();        // Don't let the create free the child's shape
+                        // PhysicsScene.Shapes.CreateGeomNonSpecial(true, cPrim, null);
+                        PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null);
+                        BulletShape newShape = cPrim.PhysShape;
+                        cPrim.PhysShape = saveShape;
+                        BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, newShape.ptr, lci.OffsetPos, lci.OffsetRot);
+                    }
+                    else
+                    {
+                        // For the shared shapes (meshes and hulls), just use the shape in the child.
+                        // The reference count added here will be decremented when the compound shape
+                        //     is destroyed in BSShapeCollection (the child shapes are looped over and dereferenced).
+                        if (PhysicsScene.Shapes.ReferenceShape(cPrim.PhysShape))
+                        {
+                            PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}",
+                                                LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape);
+                        }
+                        BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, cPrim.PhysShape.ptr, lci.OffsetPos, lci.OffsetRot);
+                    }
+                }
+                return false;   // 'false' says to move onto the next child in the list
+            });
+
+            // With all of the linkset packed into the root prim, it has the mass of everyone.
+            LinksetMass = LinksetMass;
+            LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true);
+        }
+        finally
+        {
+            Rebuilding = false;
+        }
+
+        BulletSimAPI.RecalculateCompoundShapeLocalAabb2(LinksetRoot.PhysShape.ptr);
+
+        // DEBUG: see of inter-linkset collisions are causing problems for constraint linksets.
+        // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, 
+        //                     (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
+
+    }
+}
+}
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs
new file mode 100644
index 0000000..46ff99f
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs
@@ -0,0 +1,316 @@
+/*
+ * 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 OMV = OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSNPlugin
+{
+public sealed class BSLinksetConstraints : BSLinkset
+{
+    // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]";
+
+    public BSLinksetConstraints(BSScene scene, BSPhysObject parent) : base(scene, parent)
+    {
+    }
+
+    // When physical properties are changed the linkset needs to recalculate
+    //   its internal properties.
+    // This is queued in the 'post taint' queue so the
+    //   refresh will happen once after all the other taints are applied.
+    public override void Refresh(BSPhysObject requestor)
+    {
+        base.Refresh(requestor);
+
+        // Queue to happen after all the other taint processing
+        PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
+            {
+                if (HasAnyChildren && IsRoot(requestor))
+                    RecomputeLinksetConstraints();
+            });
+    }
+
+    // The object is going dynamic (physical). Do any setup necessary
+    //     for a dynamic linkset.
+    // Only the state of the passed object can be modified. The rest of the linkset
+    //     has not yet been fully constructed.
+    // Return 'true' if any properties updated on the passed object.
+    // Called at taint-time!
+    public override bool MakeDynamic(BSPhysObject child)
+    {
+        // What is done for each object in BSPrim is what we want.
+        return false;
+    }
+
+    // The object is going static (non-physical). Do any setup necessary for a static linkset.
+    // Return 'true' if any properties updated on the passed object.
+    // This doesn't normally happen -- OpenSim removes the objects from the physical
+    //     world if it is a static linkset.
+    // Called at taint-time!
+    public override bool MakeStatic(BSPhysObject child)
+    {
+        // What is done for each object in BSPrim is what we want.
+        return false;
+    }
+
+    // Called at taint-time!!
+    public override void UpdateProperties(BSPhysObject updated, bool inTaintTime)
+    {
+        // Nothing to do for constraints on property updates
+    }
+
+    // Routine called when rebuilding the body of some member of the linkset.
+    // Destroy all the constraints have have been made to root and set
+    //     up to rebuild the constraints before the next simulation step.
+    // Returns 'true' of something was actually removed and would need restoring
+    // Called at taint-time!!
+    public override bool RemoveBodyDependencies(BSPrim child)
+    {
+        bool ret = false;
+
+        DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
+                                    child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString());
+
+        lock (m_linksetActivityLock)
+        {
+            // Just undo all the constraints for this linkset. Rebuild at the end of the step.
+            ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
+            // Cause the constraints, et al to be rebuilt before the next simulation step.
+            Refresh(LinksetRoot);
+        }
+        return ret;
+    }
+
+    // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
+    // this routine will restore the removed constraints.
+    // Called at taint-time!!
+    public override void RestoreBodyDependencies(BSPrim child)
+    {
+        // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints.
+    }
+
+    // ================================================================
+
+    // Add a new child to the linkset.
+    // Called while LinkActivity is locked.
+    protected override void AddChildToLinkset(BSPhysObject child)
+    {
+        if (!HasChild(child))
+        {
+            m_children.Add(child);
+
+            DetailLog("{0},BSLinksetConstraints.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
+
+            // Cause constraints and assorted properties to be recomputed before the next simulation step.
+            Refresh(LinksetRoot);
+        }
+        return;
+    }
+
+    // Remove the specified child from the linkset.
+    // Safe to call even if the child is not really in my linkset.
+    protected override void RemoveChildFromLinkset(BSPhysObject child)
+    {
+        if (m_children.Remove(child))
+        {
+            BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
+            BSPhysObject childx = child;
+
+            DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
+                            childx.LocalID,
+                            rootx.LocalID, rootx.PhysBody.ptr.ToString(),
+                            childx.LocalID, childx.PhysBody.ptr.ToString());
+
+            PhysicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate()
+            {
+                PhysicallyUnlinkAChildFromRoot(rootx, childx);
+            });
+            // See that the linkset parameters are recomputed at the end of the taint time.
+            Refresh(LinksetRoot);
+        }
+        else
+        {
+            // Non-fatal occurance.
+            // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader);
+        }
+        return;
+    }
+
+    // Create a constraint between me (root of linkset) and the passed prim (the child).
+    // Called at taint time!
+    private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
+    {
+        // Don't build the constraint when asked. Put it off until just before the simulation step.
+        Refresh(rootPrim);
+    }
+
+    private BSConstraint BuildConstraint(BSPhysObject rootPrim, BSPhysObject childPrim)
+    {
+        // Zero motion for children so they don't interpolate
+        childPrim.ZeroMotion(true);
+
+        // Relative position normalized to the root prim
+        // Essentually a vector pointing from center of rootPrim to center of childPrim
+        OMV.Vector3 childRelativePosition = childPrim.Position - rootPrim.Position;
+
+        // real world coordinate of midpoint between the two objects
+        OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2);
+
+        DetailLog("{0},BSLinksetConstraint.BuildConstraint,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
+                                        rootPrim.LocalID,
+                                        rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString(),
+                                        childPrim.LocalID, childPrim.PhysBody.ptr.ToString(),
+                                        rootPrim.Position, childPrim.Position, midPoint);
+
+        // create a constraint that allows no freedom of movement between the two objects
+        // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
+
+        BSConstraint6Dof constrain = new BSConstraint6Dof(
+                            PhysicsScene.World, rootPrim.PhysBody, childPrim.PhysBody, midPoint, true, true );
+                            // PhysicsScene.World, childPrim.BSBody, rootPrim.BSBody, midPoint, true, true );
+
+        /* NOTE: below is an attempt to build constraint with full frame computation, etc.
+         *     Using the midpoint is easier since it lets the Bullet code manipulate the transforms
+         *     of the objects.
+         * Code left for future programmers.
+        // ==================================================================================
+        // relative position normalized to the root prim
+        OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation);
+        OMV.Vector3 childRelativePosition = (childPrim.Position - rootPrim.Position) * invThisOrientation;
+
+        // relative rotation of the child to the parent
+        OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation;
+        OMV.Quaternion inverseChildRelativeRotation = OMV.Quaternion.Inverse(childRelativeRotation);
+
+        DetailLog("{0},BSLinksetConstraint.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
+        BS6DofConstraint constrain = new BS6DofConstraint(
+                        PhysicsScene.World, rootPrim.Body, childPrim.Body,
+                        OMV.Vector3.Zero,
+                        OMV.Quaternion.Inverse(rootPrim.Orientation),
+                        OMV.Vector3.Zero,
+                        OMV.Quaternion.Inverse(childPrim.Orientation),
+                        true,
+                        true
+                        );
+        // ==================================================================================
+        */
+
+        PhysicsScene.Constraints.AddConstraint(constrain);
+
+        // zero linear and angular limits makes the objects unable to move in relation to each other
+        constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
+        constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
+
+        // tweek the constraint to increase stability
+        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(BSParam.LinkConstraintSolverIterations);
+        }
+        return constrain;
+    }
+
+    // Remove linkage between the linkset root and a particular child
+    // The root and child bodies are passed in because we need to remove the constraint between
+    //      the bodies that were present at unlink time.
+    // Called at taint time!
+    private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
+    {
+        bool ret = false;
+        DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
+                            rootPrim.LocalID,
+                            rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString(),
+                            childPrim.LocalID, childPrim.PhysBody.ptr.ToString());
+
+        // Find the constraint for this link and get rid of it from the overall collection and from my list
+        if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody))
+        {
+            // Make the child refresh its location
+            BulletSimAPI.PushUpdate2(childPrim.PhysBody.ptr);
+            ret = true;
+        }
+
+        return ret;
+    }
+
+    // Remove linkage between myself and any possible children I might have.
+    // Returns 'true' of any constraints were destroyed.
+    // Called at taint time!
+    private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim)
+    {
+        DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
+
+        return PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody);
+    }
+
+    // Call each of the constraints that make up this linkset and recompute the
+    //    various transforms and variables. Create constraints of not created yet.
+    // Called before the simulation step to make sure the constraint based linkset
+    //    is all initialized.
+    // Called at taint time!!
+    private void RecomputeLinksetConstraints()
+    {
+        float linksetMass = LinksetMass;
+        LinksetRoot.UpdatePhysicalMassProperties(linksetMass, true);
+
+        // DEBUG: see of inter-linkset collisions are causing problems
+        // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, 
+        //                     (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
+        DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}",
+                            LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString(), linksetMass);
+
+        foreach (BSPhysObject child in m_children)
+        {
+            // A child in the linkset physically shows the mass of the whole linkset.
+            // This allows Bullet to apply enough force on the child to move the whole linkset.
+            // (Also do the mass stuff before recomputing the constraint so mass is not zero.)
+            child.UpdatePhysicalMassProperties(linksetMass, true);
+
+            BSConstraint constrain;
+            if (!PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain))
+            {
+                // If constraint doesn't exist yet, create it.
+                constrain = BuildConstraint(LinksetRoot, child);
+            }
+            constrain.RecomputeConstraintVariables(linksetMass);
+
+            // DEBUG: see of inter-linkset collisions are causing problems
+            // BulletSimAPI.SetCollisionFilterMask2(child.BSBody.ptr, 
+            //                 (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
+
+            // BulletSimAPI.DumpConstraint2(PhysicsScene.World.ptr, constrain.Constraint.ptr);    // DEBUG DEBUG
+        }
+
+    }
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSMaterials.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSMaterials.cs
new file mode 100644
index 0000000..d7941b6
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSMaterials.cs
@@ -0,0 +1,200 @@
+/*
+ * 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 System.Reflection;
+using Nini.Config;
+
+namespace OpenSim.Region.Physics.BulletSNPlugin
+{
+
+public struct MaterialAttributes
+{
+    // Material type values that correspond with definitions for LSL
+    public enum Material : int
+    {
+        Stone = 0,
+        Metal,
+        Glass,
+        Wood,
+        Flesh,
+        Plastic,
+        Rubber,
+        Light,
+        // Hereafter are BulletSim additions
+        Avatar,
+        NumberOfTypes   // the count of types in the enum.
+    }
+
+    // Names must be in the order of the above enum.
+    // These names must coorespond to the lower case field names in the MaterialAttributes
+    //     structure as reflection is used to select the field to put the value in.
+    public static readonly string[] MaterialAttribs = { "Density", "Friction", "Restitution"};
+
+    public MaterialAttributes(string t, float d, float f, float r)
+    {
+        type = t;
+        density = d;
+        friction = f;
+        restitution = r;
+    }
+    public string type;
+    public float density;
+    public float friction;
+    public float restitution;
+}
+
+public static class BSMaterials
+{
+    // Attributes for each material type
+    private static readonly MaterialAttributes[] Attributes;
+
+    // Map of material name to material type code
+    public static readonly Dictionary<string, MaterialAttributes.Material> MaterialMap;
+
+    static BSMaterials()
+    {
+        // Attribute sets for both the non-physical and physical instances of materials.
+        Attributes = new MaterialAttributes[(int)MaterialAttributes.Material.NumberOfTypes * 2];
+
+        // Map of name to type code.
+        MaterialMap = new Dictionary<string, MaterialAttributes.Material>();
+        MaterialMap.Add("Stone", MaterialAttributes.Material.Stone);
+        MaterialMap.Add("Metal", MaterialAttributes.Material.Metal);
+        MaterialMap.Add("Glass", MaterialAttributes.Material.Glass);
+        MaterialMap.Add("Wood", MaterialAttributes.Material.Wood);
+        MaterialMap.Add("Flesh", MaterialAttributes.Material.Flesh);
+        MaterialMap.Add("Plastic", MaterialAttributes.Material.Plastic);
+        MaterialMap.Add("Rubber", MaterialAttributes.Material.Rubber);
+        MaterialMap.Add("Light", MaterialAttributes.Material.Light);
+        MaterialMap.Add("Avatar", MaterialAttributes.Material.Avatar);
+    }
+
+    // This is where all the default material attributes are defined.
+    public static void InitializeFromDefaults(ConfigurationParameters parms)
+    {
+        // Values from http://wiki.secondlife.com/wiki/PRIM_MATERIAL
+        float dDensity = parms.defaultDensity;
+        float dFriction = parms.defaultFriction;
+        float dRestitution = parms.defaultRestitution;
+        Attributes[(int)MaterialAttributes.Material.Stone] =
+                    new MaterialAttributes("stone",dDensity, 0.8f, 0.4f);
+        Attributes[(int)MaterialAttributes.Material.Metal] =
+                    new MaterialAttributes("metal",dDensity, 0.3f, 0.4f);
+        Attributes[(int)MaterialAttributes.Material.Glass] =
+                    new MaterialAttributes("glass",dDensity, 0.2f, 0.7f);
+        Attributes[(int)MaterialAttributes.Material.Wood] =
+                    new MaterialAttributes("wood",dDensity, 0.6f, 0.5f);
+        Attributes[(int)MaterialAttributes.Material.Flesh] =
+                    new MaterialAttributes("flesh",dDensity, 0.9f, 0.3f);
+        Attributes[(int)MaterialAttributes.Material.Plastic] =
+                    new MaterialAttributes("plastic",dDensity, 0.4f, 0.7f);
+        Attributes[(int)MaterialAttributes.Material.Rubber] =
+                    new MaterialAttributes("rubber",dDensity, 0.9f, 0.9f);
+        Attributes[(int)MaterialAttributes.Material.Light] =
+                    new MaterialAttributes("light",dDensity, dFriction, dRestitution);
+        Attributes[(int)MaterialAttributes.Material.Avatar] =
+                    new MaterialAttributes("avatar",3.5f, 0.2f, 0f);
+
+        Attributes[(int)MaterialAttributes.Material.Stone + (int)MaterialAttributes.Material.NumberOfTypes] =
+                    new MaterialAttributes("stonePhysical",dDensity, 0.8f, 0.4f);
+        Attributes[(int)MaterialAttributes.Material.Metal + (int)MaterialAttributes.Material.NumberOfTypes] =
+                    new MaterialAttributes("metalPhysical",dDensity, 0.3f, 0.4f);
+        Attributes[(int)MaterialAttributes.Material.Glass + (int)MaterialAttributes.Material.NumberOfTypes] =
+                    new MaterialAttributes("glassPhysical",dDensity, 0.2f, 0.7f);
+        Attributes[(int)MaterialAttributes.Material.Wood + (int)MaterialAttributes.Material.NumberOfTypes] =
+                    new MaterialAttributes("woodPhysical",dDensity, 0.6f, 0.5f);
+        Attributes[(int)MaterialAttributes.Material.Flesh + (int)MaterialAttributes.Material.NumberOfTypes] =
+                    new MaterialAttributes("fleshPhysical",dDensity, 0.9f, 0.3f);
+        Attributes[(int)MaterialAttributes.Material.Plastic + (int)MaterialAttributes.Material.NumberOfTypes] =
+                    new MaterialAttributes("plasticPhysical",dDensity, 0.4f, 0.7f);
+        Attributes[(int)MaterialAttributes.Material.Rubber + (int)MaterialAttributes.Material.NumberOfTypes] =
+                    new MaterialAttributes("rubberPhysical",dDensity, 0.9f, 0.9f);
+        Attributes[(int)MaterialAttributes.Material.Light + (int)MaterialAttributes.Material.NumberOfTypes] =
+                    new MaterialAttributes("lightPhysical",dDensity, dFriction, dRestitution);
+        Attributes[(int)MaterialAttributes.Material.Avatar + (int)MaterialAttributes.Material.NumberOfTypes] =
+                    new MaterialAttributes("avatarPhysical",3.5f, 0.2f, 0f);
+    }
+
+    // Under the [BulletSim] section, one can change the individual material
+    //    attribute values. The format of the configuration parameter is:
+    //        <materialName><Attribute>["Physical"] = floatValue
+    //    For instance:
+    //        [BulletSim]
+    //             StoneFriction = 0.2
+    //             FleshRestitutionPhysical = 0.8
+    // Materials can have different parameters for their static and
+    //    physical instantiations. When setting the non-physical value,
+    //    both values are changed. Setting the physical value only changes
+    //    the physical value.
+    public static void InitializefromParameters(IConfig pConfig)
+    {
+        foreach (KeyValuePair<string, MaterialAttributes.Material> kvp in MaterialMap)
+        {
+            string matName = kvp.Key;
+            foreach (string attribName in MaterialAttributes.MaterialAttribs)
+            {
+                string paramName = matName + attribName;
+                if (pConfig.Contains(paramName))
+                {
+                    float paramValue = pConfig.GetFloat(paramName);
+                    SetAttributeValue((int)kvp.Value, attribName, paramValue);
+                    // set the physical value also
+                    SetAttributeValue((int)kvp.Value + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue);
+                }
+                paramName += "Physical";
+                if (pConfig.Contains(paramName))
+                {
+                    float paramValue = pConfig.GetFloat(paramName);
+                    SetAttributeValue((int)kvp.Value + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue);
+                }
+            }
+        }
+    }
+
+    // Use reflection to set the value in the attribute structure.
+    private static void SetAttributeValue(int matType, string attribName, float val)
+    {
+        MaterialAttributes thisAttrib = Attributes[matType];
+        FieldInfo fieldInfo = thisAttrib.GetType().GetField(attribName.ToLower());
+        if (fieldInfo != null)
+        {
+            fieldInfo.SetValue(thisAttrib, val);
+            Attributes[matType] = thisAttrib;
+        }
+    }
+
+    // Given a material type, return a structure of attributes.
+    public static MaterialAttributes GetAttributes(MaterialAttributes.Material type, bool isPhysical)
+    {
+        int ind = (int)type;
+        if (isPhysical) ind += (int)MaterialAttributes.Material.NumberOfTypes;
+        return Attributes[ind];
+    }
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSMotors.cs
new file mode 100644
index 0000000..7abc9b2
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSMotors.cs
@@ -0,0 +1,347 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+using System;
+using System.Collections.Generic;
+using System.Text;
+using OpenMetaverse;
+using OpenSim.Framework;
+
+namespace OpenSim.Region.Physics.BulletSNPlugin
+{
+public abstract class BSMotor
+{
+    // Timescales and other things can be turned off by setting them to 'infinite'.
+    public const float Infinite = 12345.6f;
+    public readonly static Vector3 InfiniteVector = new Vector3(BSMotor.Infinite, BSMotor.Infinite, BSMotor.Infinite);
+
+    public BSMotor(string useName)
+    {
+        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) { }
+
+    // A name passed at motor creation for easily identifyable debugging messages.
+    public string UseName { get; private set; }
+
+    // Used only for outputting debug information. Might not be set so check for null.
+    public BSScene PhysicsScene { get; set; }
+    protected void MDetailLog(string msg, params Object[] parms)
+    {
+        if (PhysicsScene != null)
+        {
+            if (PhysicsScene.VehicleLoggingEnabled)
+            {
+                PhysicsScene.DetailLog(msg, parms);
+            }
+        }
+    }
+}
+
+// Motor which moves CurrentValue to TargetValue over TimeScale seconds.
+// The TargetValue decays in TargetValueDecayTimeScale and
+//     the CurrentValue will be held back by FrictionTimeScale.
+// This motor will "zero itself" over time in that the targetValue will
+//    decay to zero and the currentValue will follow it to that zero.
+//    The overall effect is for the returned correction value to go from large
+//    values (the total difference between current and target minus friction)
+//    to small and eventually zero values.
+// TimeScale and TargetDelayTimeScale may be 'infinite' which means no decay.
+
+// For instance, if something is moving at speed X and the desired speed is Y,
+//    CurrentValue is X and TargetValue is Y. As the motor is stepped, new
+//    values of CurrentValue are returned that approach the TargetValue.
+// The feature of decaying TargetValue is so vehicles will eventually
+//    come to a stop rather than run forever. This can be disabled by
+//    setting TargetValueDecayTimescale to 'infinite'.
+// The change from CurrentValue to TargetValue is linear over TimeScale seconds.
+public class BSVMotor : BSMotor
+{
+    // public Vector3 FrameOfReference { get; set; }
+    // public Vector3 Offset { get; set; }
+
+    public virtual float TimeScale { get; set; }
+    public virtual float TargetValueDecayTimeScale { get; set; }
+    public virtual Vector3 FrictionTimescale { get; set; }
+    public virtual float Efficiency { get; set; }
+
+    public virtual float ErrorZeroThreshold { get; set; }
+
+    public virtual Vector3 TargetValue { get; protected set; }
+    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)
+    {
+        TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite;
+        Efficiency = 1f;
+        FrictionTimescale = BSMotor.InfiniteVector;
+        CurrentValue = TargetValue = Vector3.Zero;
+        ErrorZeroThreshold = 0.001f;
+    }
+    public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) 
+        : this(useName)
+    {
+        TimeScale = timeScale;
+        TargetValueDecayTimeScale = decayTimeScale;
+        FrictionTimescale = frictionTimeScale;
+        Efficiency = efficiency;
+        CurrentValue = TargetValue = Vector3.Zero;
+    }
+    public void SetCurrent(Vector3 current)
+    {
+        CurrentValue = current;
+    }
+    public void SetTarget(Vector3 target)
+    {
+        TargetValue = target;
+    }
+    public override void Zero()
+    {
+        base.Zero();
+        CurrentValue = TargetValue = Vector3.Zero;
+    }
+
+    // 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
+
+        Vector3 correction = Vector3.Zero;
+        Vector3 error = TargetValue - CurrentValue;
+        if (!error.ApproxEquals(Vector3.Zero, ErrorZeroThreshold))
+        {
+            correction = Step(timeStep, error);
+
+            CurrentValue += correction;
+
+            // The desired value reduces to zero which also reduces the difference with current.
+            // If the decay time is infinite, don't decay at all.
+            float decayFactor = 0f;
+            if (TargetValueDecayTimeScale != BSMotor.Infinite)
+            {
+                decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
+                TargetValue *= (1f - decayFactor);
+            }
+
+            // The amount we can correct the error is reduced by the friction
+            Vector3 frictionFactor = Vector3.Zero;
+            if (FrictionTimescale != BSMotor.InfiniteVector)
+            {
+                // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep;
+                // Individual friction components can be 'infinite' so compute each separately.
+                frictionFactor.X = (FrictionTimescale.X == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.X);
+                frictionFactor.Y = (FrictionTimescale.Y == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.Y);
+                frictionFactor.Z = (FrictionTimescale.Z == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.Z);
+                frictionFactor *= timeStep;
+                CurrentValue *= (Vector3.One - frictionFactor);
+            }
+
+            MDetailLog("{0},  BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},err={5},corr={6}",
+                                BSScene.DetailLogZero, UseName, origCurrVal, origTarget,
+                                timeStep, error, correction);
+            MDetailLog("{0},  BSVMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},frictTS={4},frictFact={5},tgt={6},curr={7}",
+                                BSScene.DetailLogZero, UseName,
+                                TargetValueDecayTimeScale, decayFactor, FrictionTimescale, frictionFactor,
+                                TargetValue, CurrentValue);
+        }
+        else
+        {
+            // 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={4}",
+                        BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue);
+        }
+
+        return CurrentValue;
+    }
+    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))
+        {
+            // correction =  error / secondsItShouldTakeToCorrect
+            Vector3 correctionAmount;
+            if (TimeScale == 0f || TimeScale == BSMotor.Infinite)
+                correctionAmount = error * timeStep;
+            else
+                correctionAmount = error / TimeScale * timeStep;
+
+            returnCorrection = correctionAmount;
+            MDetailLog("{0},  BSVMotor.Step,nonZero,{1},timeStep={2},timeScale={3},err={4},corr={5}",
+                                    BSScene.DetailLogZero, UseName, timeStep, TimeScale, error, correctionAmount);
+        }
+        return returnCorrection;
+    }
+
+    // The user sets all the parameters and calls this which outputs values until error is zero.
+    public override void GenerateTestOutput(float timeStep)
+    {
+        // maximum number of outputs to generate.
+        int maxOutput = 50;
+        MDetailLog("{0},BSVMotor.Test,{1},===================================== BEGIN Test Output", BSScene.DetailLogZero, UseName);
+        MDetailLog("{0},BSVMotor.Test,{1},timeScale={2},targDlyTS={3},frictTS={4},eff={5},curr={6},tgt={7}",
+                                BSScene.DetailLogZero, UseName,
+                                TimeScale, TargetValueDecayTimeScale, FrictionTimescale, Efficiency, 
+                                CurrentValue, TargetValue);
+
+        LastError = BSMotor.InfiniteVector;
+        while (maxOutput-- > 0 && !LastError.ApproxEquals(Vector3.Zero, ErrorZeroThreshold))
+        {
+            Vector3 lastStep = Step(timeStep);
+            MDetailLog("{0},BSVMotor.Test,{1},cur={2},tgt={3},lastError={4},lastStep={5}",
+                            BSScene.DetailLogZero, UseName, CurrentValue, TargetValue, LastError, lastStep);
+        }
+        MDetailLog("{0},BSVMotor.Test,{1},===================================== END Test Output", BSScene.DetailLogZero, UseName);
+        
+
+    }
+
+    public override string ToString()
+    {
+        return String.Format("<{0},curr={1},targ={2},decayTS={3},frictTS={4}>",
+            UseName, CurrentValue, TargetValue, TargetValueDecayTimeScale, FrictionTimescale);
+    }
+}
+
+public class BSFMotor : BSMotor
+{
+    public float TimeScale { get; set; }
+    public float DecayTimeScale { get; set; }
+    public float Friction { get; set; }
+    public float Efficiency { get; set; }
+
+    public float Target { get; private set; }
+    public float CurrentValue { get; private set; }
+
+    public BSFMotor(string useName, float timeScale, float decayTimescale, float friction, float efficiency)
+        : base(useName)
+    {
+    }
+    public void SetCurrent(float target)
+    {
+    }
+    public void SetTarget(float target)
+    {
+    }
+    public virtual float Step(float timeStep)
+    {
+        return 0f;
+    }
+}
+
+// Proportional, Integral, Derivitive Motor
+// Good description at http://www.answers.com/topic/pid-controller . Includes processes for choosing p, i and d factors.
+public class BSPIDVMotor : BSVMotor
+{
+    // Larger makes more overshoot, smaller means converge quicker. Range of 0.1 to 10.
+    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;
+
+    // Running integration of the error
+    Vector3 RunningIntegration { get; set; }
+
+    public BSPIDVMotor(string useName)
+        : base(useName)
+    {
+        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);
+        RunningIntegration = Vector3.Zero;
+        LastError = Vector3.Zero;
+    }
+
+    public override void Zero()
+    {
+        base.Zero();
+    }
+
+    public override float Efficiency
+    {
+        get { return base.Efficiency; }
+        set
+        {
+            base.Efficiency = Util.Clamp(value, 0f, 1f);
+            // Compute factors based on efficiency.
+            // If efficiency is high (1f), use a factor value that moves the error value to zero with little overshoot.
+            // If efficiency is low (0f), use a factor value that overcorrects.
+            // TODO: might want to vary contribution of different factor depending on efficiency.
+            float factor = ((1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow) / 3f;
+            // float factor = (1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow;
+            proportionFactor = new Vector3(factor, factor, factor);
+            integralFactor = new Vector3(factor, factor, factor);
+            derivFactor = new Vector3(factor, factor, factor);
+        }
+    }
+
+    // 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
+        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
+                        + RunningIntegration * integralFactor 
+                        + derivFactor * derivFactor
+                        );
+
+        return ret;
+    }
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs
new file mode 100644
index 0000000..5e93a03
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSNPlugin/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.BulletSNPlugin
+{
+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.Heightmap,
+            (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.",
+            3.5f,
+            (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/BulletSNPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSPhysObject.cs
new file mode 100644
index 0000000..689da7f
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSPhysObject.cs
@@ -0,0 +1,346 @@
+/*
+ * 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 OMV = OpenMetaverse;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+
+namespace OpenSim.Region.Physics.BulletSNPlugin
+{
+/*
+ * Class to wrap all objects.
+ * The rest of BulletSim doesn't need to keep checking for avatars or prims
+ *        unless the difference is significant.
+ * 
+ *  Variables in the physicsl objects are in three forms:
+ *      VariableName: used by the simulator and performs taint operations, etc
+ *      RawVariableName: direct reference to the BulletSim storage for the variable value
+ *      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()
+    {
+    }
+    protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName)
+    {
+        PhysicsScene = parentScene;
+        LocalID = localID;
+        PhysObjectName = name;
+        TypeName = typeName;
+
+        Linkset = BSLinkset.Factory(PhysicsScene, this);
+        LastAssetBuildFailed = false;
+
+        // Default material type
+        Material = MaterialAttributes.Material.Wood;
+
+        CollisionCollection = new CollisionEventUpdate();
+        SubscribedEventsMs = 0;
+        CollidingStep = 0;
+        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; }
+    public string TypeName { get; protected set; }
+
+    public BSLinkset Linkset { get; set; }
+    public BSLinksetInfo LinksetInfo { get; set; }
+
+    // Return the object mass without calculating it or having side effects
+    public abstract float RawMass { get; }
+    // Set the raw mass but also update physical mass properties (inertia, ...)
+    // 'inWorld' true if the object has already been added to the dynamic world.
+    public abstract void UpdatePhysicalMassProperties(float mass, bool inWorld);
+
+    // The last value calculated for the prim's inertia
+    public OMV.Vector3 Inertia { get; set; }
+
+    // Reference to the physical body (btCollisionObject) of this object
+    public BulletBody PhysBody;
+    // Reference to the physical shape (btCollisionShape) of this object
+    public BulletShape PhysShape;
+
+    // 'true' if the mesh's underlying asset failed to build.
+    // This will keep us from looping after the first time the build failed.
+    public bool LastAssetBuildFailed { get; set; }
+
+    // The objects base shape information. Null if not a prim type shape.
+    public PrimitiveBaseShape BaseShape { get; protected set; }
+    // Some types of objects have preferred physical representations.
+    // Returns SHAPE_UNKNOWN if there is no preference.
+    public virtual BSPhysicsShapeType PreferredPhysicalShape
+    {
+        get { return BSPhysicsShapeType.SHAPE_UNKNOWN; }
+    }
+
+    // When the physical properties are updated, an EntityProperty holds the update values.
+    // Keep the current and last EntityProperties to enable computation of differences
+    //      between the current update and the previous values.
+    public EntityProperties CurrentEntityProperties { get; set; }
+    public EntityProperties LastEntityProperties { get; set; }
+
+    public virtual OMV.Vector3 Scale { get; set; }
+    public abstract bool IsSolid { get; }
+    public abstract bool IsStatic { get; }
+
+    // Materialness
+    public MaterialAttributes.Material Material { get; private set; }
+    public override void SetMaterial(int material)
+    {
+        Material = (MaterialAttributes.Material)material;
+    }
+
+    // Stop all physical motion.
+    public abstract void ZeroMotion(bool inTaintTime);
+    public abstract void ZeroAngularMotion(bool inTaintTime);
+
+    // Step the vehicle simulation for this object. A NOOP if the vehicle was not configured.
+    public virtual void StepVehicle(float timeStep) { }
+
+    // Update the physical location and motion of the object. Called with data from Bullet.
+    public abstract void UpdateProperties(EntityProperties entprop);
+
+    public abstract OMV.Vector3 RawPosition { get; set; }
+    public abstract OMV.Vector3 ForcePosition { get; set; }
+
+    public abstract OMV.Quaternion RawOrientation { get; set; }
+    public abstract OMV.Quaternion ForceOrientation { get; set; }
+
+    // The system is telling us the velocity it wants to move at.
+    // protected OMV.Vector3 m_targetVelocity;  // use the definition in PhysicsActor
+    public override OMV.Vector3 TargetVelocity
+    {
+        get { return m_targetVelocity; }
+        set
+        {
+            m_targetVelocity = value;
+            Velocity = value;
+        }
+    }
+    public abstract OMV.Vector3 ForceVelocity { get; set; }
+
+    public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }
+
+    public abstract float ForceBuoyancy { get; set; }
+
+    public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; }
+
+    #region Collisions
+
+    // Requested number of milliseconds between collision events. Zero means disabled.
+    protected int SubscribedEventsMs { get; set; }
+    // Given subscription, the time that a collision may be passed up
+    protected int NextCollisionOkTime { get; set; }
+    // The simulation step that last had a collision
+    protected long CollidingStep { get; set; }
+    // The simulation step that last had a collision with the ground
+    protected long CollidingGroundStep { get; set; }
+    // The collision flags we think are set in Bullet
+    protected CollisionFlags CurrentCollisionFlags { get; set; }
+
+    // The collisions that have been collected this tick
+    protected CollisionEventUpdate CollisionCollection;
+
+    // The simulation step is telling this object about a collision.
+    // Return 'true' if a collision was processed and should be sent up.
+    // Called at taint time from within the Step() function
+    public virtual bool Collide(uint collidingWith, BSPhysObject collidee,
+                    OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
+    {
+        bool ret = false;
+
+        // The following lines make IsColliding() and IsCollidingGround() work
+        CollidingStep = PhysicsScene.SimulationStep;
+        if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID)
+        {
+            CollidingGroundStep = PhysicsScene.SimulationStep;
+        }
+
+        // prims in the same linkset cannot collide with each other
+        if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID))
+        {
+            return ret;
+        }
+
+        // if someone has subscribed for collision events....
+        if (SubscribedEvents()) {
+            CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
+            DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
+                            LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);
+
+            ret = true;
+        }
+        return ret;
+    }
+
+    // Send the collected collisions into the simulator.
+    // Called at taint time from within the Step() function thus no locking problems
+    //      with CollisionCollection and ObjectsWithNoMoreCollisions.
+    // Return 'true' if there were some actual collisions passed up
+    public virtual bool SendCollisions()
+    {
+        bool ret = true;
+        // If the 'no collision' call, force it to happen right now so quick collision_end
+        bool force = (CollisionCollection.Count == 0);
+
+        // throttle the collisions to the number of milliseconds specified in the subscription
+        if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime))
+        {
+            NextCollisionOkTime = PhysicsScene.SimulationNowTime + SubscribedEventsMs;
+
+            // We are called if we previously had collisions. If there are no collisions
+            //   this time, send up one last empty event so OpenSim can sense collision end.
+            if (CollisionCollection.Count == 0)
+            {
+                // If I have no collisions this time, remove me from the list of objects with collisions.
+                ret = false;
+            }
+
+            // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
+            base.SendCollisionUpdate(CollisionCollection);
+
+            // The CollisionCollection instance is passed around in the simulator.
+            // Make sure we don't have a handle to that one and that a new one is used for next time.
+            //    This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here, 
+            //    a race condition is created for the other users of this instance.
+            CollisionCollection = new CollisionEventUpdate();
+        }
+        return ret;
+    }
+
+    // Subscribe for collision events.
+    // Parameter is the millisecond rate the caller wishes collision events to occur.
+    public override void SubscribeEvents(int ms) {
+        // DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms);
+        SubscribedEventsMs = ms;
+        if (ms > 0)
+        {
+            // make sure first collision happens
+            NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs);
+
+            PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate()
+            {
+                if (PhysBody.HasPhysicalBody)
+                    CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            });
+        }
+        else
+        {
+            // Subscribing for zero or less is the same as unsubscribing
+            UnSubscribeEvents();
+        }
+    }
+    public override void UnSubscribeEvents() {
+        // DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName);
+        SubscribedEventsMs = 0;
+        PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate()
+        {
+            // Make sure there is a body there because sometimes destruction happens in an un-ideal order.
+            if (PhysBody.HasPhysicalBody)
+                CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+        });
+    }
+    // Return 'true' if the simulator wants collision events
+    public override bool SubscribedEvents() {
+        return (SubscribedEventsMs > 0);
+    }
+
+    #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/BulletSNPlugin/BSPlugin.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSPlugin.cs
new file mode 100644
index 0000000..75963ee
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSPlugin.cs
@@ -0,0 +1,81 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+using OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSNPlugin
+{
+    /// <summary>
+    /// Entry for a port of Bullet (http://bulletphysics.org/) to OpenSim.
+    /// This module interfaces to an unmanaged C++ library which makes the
+    /// actual calls into the Bullet physics engine.
+    /// The unmanaged library is found in opensim-libs::trunk/unmanaged/BulletSim/.
+    /// The unmanaged library is compiled and linked statically with Bullet
+    /// to create BulletSim.dll and libBulletSim.so (for both 32 and 64 bit).
+    /// </summary>
+public class BSPlugin : IPhysicsPlugin
+{
+    //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
+
+    private BSScene _mScene;
+
+    public BSPlugin()
+    {
+    }
+
+    public bool Init()
+    {
+        return true;
+    }
+
+    public PhysicsScene GetScene(String sceneIdentifier)
+    {
+        if (_mScene == null)
+        {
+           
+            // If not Windows, loading is performed by the
+            // Mono loader as specified in
+            // "bin/Physics/OpenSim.Region.Physics.BulletSNPlugin.dll.config".
+
+            _mScene = new BSScene(sceneIdentifier);
+        }
+        return (_mScene);
+    }
+
+    public string GetName()
+    {
+        return ("BulletSimN");
+    }
+
+    public void Dispose()
+    {
+    }
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs
new file mode 100644
index 0000000..aadb5b2
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs
@@ -0,0 +1,1494 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Reflection;
+using System.Collections.Generic;
+using System.Xml;
+using log4net;
+using OMV = OpenMetaverse;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+using OpenSim.Region.Physics.ConvexDecompositionDotNet;
+
+namespace OpenSim.Region.Physics.BulletSNPlugin
+{
+
+    [Serializable]
+public sealed class BSPrim : BSPhysObject
+{
+    private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+    private static readonly string LogHeader = "[BULLETS PRIM]";
+
+    // _size is what the user passed. Scale is what we pass to the physics engine with the mesh.
+    private OMV.Vector3 _size;  // the multiplier for each mesh dimension as passed by the user
+
+    private bool _grabbed;
+    private bool _isSelected;
+    private bool _isVolumeDetect;
+    private OMV.Vector3 _position;
+    private float _mass;    // the mass of this object
+    private float _density;
+    private OMV.Vector3 _force;
+    private OMV.Vector3 _velocity;
+    private OMV.Vector3 _torque;
+    private float _collisionScore;
+    private OMV.Vector3 _acceleration;
+    private OMV.Quaternion _orientation;
+    private int _physicsActorType;
+    private bool _isPhysical;
+    private bool _flying;
+    private float _friction;
+    private float _restitution;
+    private bool _setAlwaysRun;
+    private bool _throttleUpdates;
+    private bool _isColliding;
+    private bool _collidingGround;
+    private bool _collidingObj;
+    private bool _floatOnWater;
+    private OMV.Vector3 _rotationalVelocity;
+    private bool _kinematic;
+    private float _buoyancy;
+
+    private BSDynamics _vehicle;
+
+    private OMV.Vector3 _PIDTarget;
+    private bool _usePID;
+    private float _PIDTau;
+    private bool _useHoverPID;
+    private float _PIDHoverHeight;
+    private PIDHoverType _PIDHoverType;
+    private float _PIDHoverTao;
+
+    public BSPrim(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
+                       OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
+            : base(parent_scene, localID, primName, "BSPrim")
+    {
+        // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID);
+        _physicsActorType = (int)ActorTypes.Prim;
+        _position = pos;
+        _size = size;
+        Scale = size;   // prims are the size the user wants them to be (different for BSCharactes).
+        _orientation = rotation;
+        _buoyancy = 1f;
+        _velocity = OMV.Vector3.Zero;
+        _rotationalVelocity = OMV.Vector3.Zero;
+        BaseShape = pbs;
+        _isPhysical = pisPhysical;
+        _isVolumeDetect = false;
+
+        // Someday set default attributes based on the material but, for now, we don't know the prim material yet.
+        // MaterialAttributes primMat = BSMaterials.GetAttributes(Material, pisPhysical);
+        _density = PhysicsScene.Params.defaultDensity;
+        _friction = PhysicsScene.Params.defaultFriction;
+        _restitution = PhysicsScene.Params.defaultRestitution;
+
+        _vehicle = new BSDynamics(PhysicsScene, this);            // add vehicleness
+
+        _mass = CalculateMass();
+
+        Linkset.Refresh(this);
+
+        DetailLog("{0},BSPrim.constructor,call", LocalID);
+        // do the actual object creation at taint time
+        PhysicsScene.TaintedObject("BSPrim.create", delegate()
+        {
+            CreateGeomAndObject(true);
+
+            CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(PhysBody.ptr);
+        });
+    }
+
+    // called when this prim is being destroyed and we should free all the resources
+    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;
+        int childrenBefore = Linkset.NumberOfChildren;
+
+        Linkset = Linkset.RemoveMeFromLinkset(this);
+
+        DetailLog("{0},BSPrim.Destroy,call,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}",
+            LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
+
+        // Undo any vehicle properties
+        this.VehicleType = (int)Vehicle.TYPE_NONE;
+
+        PhysicsScene.TaintedObject("BSPrim.destroy", delegate()
+        {
+            DetailLog("{0},BSPrim.Destroy,taint,", LocalID);
+            // If there are physical body and shape, release my use of same.
+            PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
+            PhysBody.Clear();
+            PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
+            PhysShape.Clear();
+        });
+    }
+
+    // No one uses this property.
+    public override bool Stopped {
+        get { return false; }
+    }
+    public override OMV.Vector3 Size {
+        get { return _size; }
+        set {
+            // We presume the scale and size are the same. If scale must be changed for
+            //     the physical shape, that is done when the geometry is built.
+            _size = value;
+            Scale = _size;
+            ForceBodyShapeRebuild(false);
+        }
+    }
+
+    public override PrimitiveBaseShape Shape {
+        set {
+            BaseShape = value;
+            ForceBodyShapeRebuild(false);
+        }
+    }
+    // Whatever the linkset wants is what I want.
+    public override BSPhysicsShapeType PreferredPhysicalShape
+        { get { return Linkset.PreferredPhysicalShape(this); } }
+
+    public override bool ForceBodyShapeRebuild(bool inTaintTime)
+    {
+        LastAssetBuildFailed = false;
+        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ForceBodyShapeRebuild", delegate()
+        {
+            _mass = CalculateMass();   // changing the shape changes the mass
+            CreateGeomAndObject(true);
+        });
+        return true;
+    }
+    public override bool Grabbed {
+        set { _grabbed = value;
+        }
+    }
+    public override bool Selected {
+        set
+        {
+            if (value != _isSelected)
+            {
+                _isSelected = value;
+                PhysicsScene.TaintedObject("BSPrim.setSelected", delegate()
+                {
+                    DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected);
+                    SetObjectDynamic(false);
+                });
+            }
+        }
+    }
+    public override void CrossingFailure() { return; }
+
+    // link me to the specified parent
+    public override void link(PhysicsActor obj) {
+        BSPrim parent = obj as BSPrim;
+        if (parent != null)
+        {
+            BSPhysObject parentBefore = Linkset.LinksetRoot;
+            int childrenBefore = Linkset.NumberOfChildren;
+
+            Linkset = parent.Linkset.AddMeToLinkset(this);
+
+            DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}",
+                LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
+        }
+        return;
+    }
+
+    // delink me from my linkset
+    public override void delink() {
+        // TODO: decide if this parent checking needs to happen at taint time
+        // Race condition here: if link() and delink() in same simulation tick, the delink will not happen
+
+        BSPhysObject parentBefore = Linkset.LinksetRoot;
+        int childrenBefore = Linkset.NumberOfChildren;
+
+        Linkset = Linkset.RemoveMeFromLinkset(this);
+
+        DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ",
+            LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
+        return;
+    }
+
+    // Set motion values to zero.
+    // Do it to the properties so the values get set in the physics engine.
+    // Push the setting of the values to the viewer.
+    // Called at taint time!
+    public override void ZeroMotion(bool inTaintTime)
+    {
+        _velocity = OMV.Vector3.Zero;
+        _acceleration = OMV.Vector3.Zero;
+        _rotationalVelocity = OMV.Vector3.Zero;
+
+        // Zero some other properties in the physics engine
+        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
+        {
+            if (PhysBody.HasPhysicalBody)
+                BulletSimAPI.ClearAllForces2(PhysBody.ptr);
+        });
+    }
+    public override void ZeroAngularMotion(bool inTaintTime)
+    {
+        _rotationalVelocity = OMV.Vector3.Zero;
+        // Zero some other properties in the physics engine
+        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
+        {
+            // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity);
+            if (PhysBody.HasPhysicalBody)
+            {
+                BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+                BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+            }
+        });
+    }
+
+    public override void LockAngularMotion(OMV.Vector3 axis)
+    {
+        DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis);
+        return;
+    }
+
+    public override OMV.Vector3 RawPosition
+    {
+        get { return _position; }
+        set { _position = value; }
+    }
+    public override OMV.Vector3 Position {
+        get {
+            /* NOTE: this refetch is not necessary. The simulator knows about linkset children
+             *    and does not fetch this position info for children. Thus this is commented out.
+            // child prims move around based on their parent. Need to get the latest location
+            if (!Linkset.IsRoot(this))
+                _position = Linkset.PositionGet(this);
+            */
+
+            // don't do the GetObjectPosition for root elements because this function is called a zillion times.
+            // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
+            return _position;
+        }
+        set {
+            // If the position must be forced into the physics engine, use ForcePosition.
+            // All positions are given in world positions.
+            if (_position == value)
+            {
+                DetailLog("{0},BSPrim.setPosition,taint,positionNotChanging,pos={1},orient={2}", LocalID, _position, _orientation);
+                return;
+            }
+            _position = value;
+            PositionSanityCheck(false);
+
+            // A linkset might need to know if a component information changed.
+            Linkset.UpdateProperties(this, false);
+
+            PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
+            {
+                DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
+                ForcePosition = _position;
+            });
+        }
+    }
+    public override OMV.Vector3 ForcePosition {
+        get {
+            _position = BulletSimAPI.GetPosition2(PhysBody.ptr);
+            return _position;
+        }
+        set {
+            _position = value;
+            if (PhysBody.HasPhysicalBody)
+            {
+                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+                ActivateIfPhysical(false);
+            }
+        }
+    }
+
+    // Check that the current position is sane and, if not, modify the position to make it so.
+    // Check for being below terrain and being out of bounds.
+    // Returns 'true' of the position was made sane by some action.
+    private bool PositionSanityCheck(bool inTaintTime)
+    {
+        bool ret = false;
+
+        if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(_position))
+        {
+            // The physical object is out of the known/simulated area.
+            // Upper levels of code will handle the transition to other areas so, for
+            //     the time, we just ignore the position.
+            return ret;
+        }
+
+        float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
+        OMV.Vector3 upForce = OMV.Vector3.Zero;
+        if (RawPosition.Z < terrainHeight)
+        {
+            DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
+            float targetHeight = terrainHeight + (Size.Z / 2f);
+            // Upforce proportional to the distance away from the terrain. Correct the error in 1 sec.
+            upForce.Z = (terrainHeight - RawPosition.Z) * 1f;
+            ret = true;
+        }
+
+        if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
+        {
+            float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position);
+            // TODO: a floating motor so object will bob in the water
+            if (Math.Abs(RawPosition.Z - waterHeight) > 0.1f)
+            {
+                // Upforce proportional to the distance away from the water. Correct the error in 1 sec.
+                upForce.Z = (waterHeight - RawPosition.Z) * 1f;
+                ret = true;
+            }
+        }
+
+        // The above code computes a force to apply to correct any out-of-bounds problems. Apply same.
+        // TODO: This should be intergrated with a geneal physics action mechanism.
+        // TODO: This should be moderated with PID'ness.
+        if (ret)
+        {
+            // Apply upforce and overcome gravity.
+            OMV.Vector3 correctionForce = upForce - PhysicsScene.DefaultGravity;
+            DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, _position, upForce, correctionForce);
+            AddForce(correctionForce, false, inTaintTime);
+        }
+        return ret;
+    }
+
+    // Return the effective mass of the object.
+        // The definition of this call is to return the mass of the prim.
+        // If the simulator cares about the mass of the linkset, it will sum it itself.
+    public override float Mass
+    {
+        get
+        {
+            return _mass;
+        }
+    }
+
+    // used when we only want this prim's mass and not the linkset thing
+    public override float RawMass { 
+        get { return _mass; }
+    }
+    // Set the physical mass to the passed mass.
+    // Note that this does not change _mass!
+    public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
+    {
+        if (PhysBody.HasPhysicalBody)
+        {
+            if (IsStatic)
+            {
+                Inertia = OMV.Vector3.Zero;
+                BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia);
+                BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
+            }
+            else
+            {
+                if (inWorld)
+                {
+                    // Changing interesting properties doesn't change proxy and collision cache
+                    //    information. The Bullet solution is to re-add the object to the world
+                    //    after parameters are changed.
+                    BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
+                }
+
+                Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
+                BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia);
+                BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
+
+                // center of mass is at the zero of the object
+                // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation);
+                DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},inWorld={3}", LocalID, physMass, Inertia, inWorld);
+
+                if (inWorld)
+                {
+                    BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr,_position,_orientation);
+                }
+
+                // Must set gravity after it has been added to the world because, for unknown reasons,
+                //     adding the object resets the object's gravity to world gravity
+                OMV.Vector3 grav = PhysicsScene.DefaultGravity * (1f - Buoyancy);
+                BulletSimAPI.SetGravity2(PhysBody.ptr, grav);
+
+            }
+        }
+    }
+
+    // Is this used?
+    public override OMV.Vector3 CenterOfMass
+    {
+        get { return Linkset.CenterOfMass; }
+    }
+
+    // Is this used?
+    public override OMV.Vector3 GeometricCenter
+    {
+        get { return Linkset.GeometricCenter; }
+    }
+
+    public override OMV.Vector3 Force {
+        get { return _force; }
+        set {
+            _force = value;
+            if (_force != OMV.Vector3.Zero)
+            {
+                // 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);
+            }
+        }
+    }
+
+    public override int VehicleType {
+        get {
+            return (int)_vehicle.Type;   // if we are a vehicle, return that type
+        }
+        set {
+            Vehicle type = (Vehicle)value;
+
+            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);
+            });
+        }
+    }
+    public override void VehicleFloatParam(int param, float value)
+    {
+        PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
+        {
+            _vehicle.ProcessFloatVehicleParam((Vehicle)param, value);
+            ActivateIfPhysical(false);
+        });
+    }
+    public override void VehicleVectorParam(int param, OMV.Vector3 value)
+    {
+        PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
+        {
+            _vehicle.ProcessVectorVehicleParam((Vehicle)param, value);
+            ActivateIfPhysical(false);
+        });
+    }
+    public override void VehicleRotationParam(int param, OMV.Quaternion rotation)
+    {
+        PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate()
+        {
+            _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation);
+            ActivateIfPhysical(false);
+        });
+    }
+    public override void VehicleFlags(int param, bool remove)
+    {
+        PhysicsScene.TaintedObject("BSPrim.VehicleFlags", delegate()
+        {
+            _vehicle.ProcessVehicleFlags(param, remove);
+        });
+    }
+
+    // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
+    public override void SetVolumeDetect(int param) {
+        bool newValue = (param != 0);
+        if (_isVolumeDetect != newValue)
+        {
+            _isVolumeDetect = newValue;
+            PhysicsScene.TaintedObject("BSPrim.SetVolumeDetect", delegate()
+            {
+                // DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect);
+                SetObjectDynamic(true);
+            });
+        }
+        return;
+    }
+    public override OMV.Vector3 Velocity {
+        get { return _velocity; }
+        set {
+            _velocity = value;
+            PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate()
+            {
+                // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
+                ForceVelocity = _velocity;
+            });
+        }
+    }
+    public override OMV.Vector3 ForceVelocity {
+        get { return _velocity; }
+        set {
+            PhysicsScene.AssertInTaintTime("BSPrim.ForceVelocity");
+
+            _velocity = value;
+            if (PhysBody.HasPhysicalBody)
+            {
+                BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
+                ActivateIfPhysical(false);
+            }
+        }
+    }
+    public override OMV.Vector3 Torque {
+        get { return _torque; }
+        set {
+            _torque = value;
+            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);
+        }
+    }
+    public override float CollisionScore {
+        get { return _collisionScore; }
+        set { _collisionScore = value;
+        }
+    }
+    public override OMV.Vector3 Acceleration {
+        get { return _acceleration; }
+        set { _acceleration = value; }
+    }
+    public override OMV.Quaternion RawOrientation
+    {
+        get { return _orientation; }
+        set { _orientation = value; }
+    }
+    public override OMV.Quaternion Orientation {
+        get {
+            /* NOTE: this refetch is not necessary. The simulator knows about linkset children
+             *    and does not fetch this position info for children. Thus this is commented out.
+            // Children move around because tied to parent. Get a fresh value.
+            if (!Linkset.IsRoot(this))
+            {
+                _orientation = Linkset.OrientationGet(this);
+            }
+             */
+            return _orientation;
+        }
+        set {
+            if (_orientation == value)
+                return;
+            _orientation = value;
+
+            // A linkset might need to know if a component information changed.
+            Linkset.UpdateProperties(this, false);
+
+            PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
+            {
+                if (PhysBody.HasPhysicalBody)
+                {
+                    // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
+                    // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
+                    BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+                }
+            });
+        }
+    }
+    // Go directly to Bullet to get/set the value.
+    public override OMV.Quaternion ForceOrientation
+    {
+        get
+        {
+            _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr);
+            return _orientation;
+        }
+        set
+        {
+            _orientation = value;
+            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+        }
+    }
+    public override int PhysicsActorType {
+        get { return _physicsActorType; }
+        set { _physicsActorType = value; }
+    }
+    public override bool IsPhysical {
+        get { return _isPhysical; }
+        set {
+            if (_isPhysical != value)
+            {
+                _isPhysical = value;
+                PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate()
+                {
+                    // DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
+                    SetObjectDynamic(true);
+                    // whether phys-to-static or static-to-phys, the object is not moving.
+                    ZeroMotion(true);
+                });
+            }
+        }
+    }
+
+    // An object is static (does not move) if selected or not physical
+    public override bool IsStatic
+    {
+        get { return _isSelected || !IsPhysical; }
+    }
+
+    // An object is solid if it's not phantom and if it's not doing VolumeDetect
+    public override bool IsSolid
+    {
+        get { return !IsPhantom && !_isVolumeDetect; }
+    }
+
+    // Make gravity work if the object is physical and not selected
+    // Called at taint-time!!
+    private void SetObjectDynamic(bool forceRebuild)
+    {
+        // Recreate the physical object if necessary
+        CreateGeomAndObject(forceRebuild);
+    }
+
+    // Convert the simulator's physical properties into settings on BulletSim objects.
+    // There are four flags we're interested in:
+    //     IsStatic: Object does not move, otherwise the object has mass and moves
+    //     isSolid: other objects bounce off of this object
+    //     isVolumeDetect: other objects pass through but can generate collisions
+    //     collisionEvents: whether this object returns collision events
+    private void UpdatePhysicalParameters()
+    {
+        // DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape);
+
+        // Mangling all the physical properties requires the object not be in the physical world.
+        // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
+        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
+
+        // Set up the object physicalness (does gravity and collisions move this object)
+        MakeDynamic(IsStatic);
+
+        // Update vehicle specific parameters (after MakeDynamic() so can change physical parameters)
+        _vehicle.Refresh();
+
+        // Arrange for collision events if the simulator wants them
+        EnableCollisions(SubscribedEvents());
+
+        // Make solid or not (do things bounce off or pass through this object).
+        MakeSolid(IsSolid);
+
+        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr, _position, _orientation);
+
+        // Rebuild its shape
+        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
+
+        // Collision filter can be set only when the object is in the world
+        PhysBody.ApplyCollisionMask();
+
+        // Recompute any linkset parameters.
+        // When going from non-physical to physical, this re-enables the constraints that
+        //     had been automatically disabled when the mass was set to zero.
+        // For compound based linksets, this enables and disables interactions of the children.
+        Linkset.Refresh(this);
+
+        DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
+                        LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody, PhysShape);
+    }
+
+    // "Making dynamic" means changing to and from static.
+    // When static, gravity does not effect the object and it is fixed in space.
+    // When dynamic, the object can fall and be pushed by others.
+    // This is independent of its 'solidness' which controls what passes through
+    //    this object and what interacts with it.
+    private void MakeDynamic(bool makeStatic)
+    {
+        if (makeStatic)
+        {
+            // Become a Bullet 'static' object type
+            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
+            // Stop all movement
+            ZeroMotion(true);
+
+            // Set various physical properties so other object interact properly
+            MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
+            BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction);
+            BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution);
+
+            // Mass is zero which disables a bunch of physics stuff in Bullet
+            UpdatePhysicalMassProperties(0f, false);
+            // Set collision detection parameters
+            if (BSParam.CcdMotionThreshold > 0f)
+            {
+                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.
+            // BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
+            // Start it out sleeping and physical actions could wake it up.
+            BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ISLAND_SLEEPING);
+
+            // This collides like a static object
+            PhysBody.collisionType = CollisionType.Static;
+
+            // There can be special things needed for implementing linksets
+            Linkset.MakeStatic(this);
+        }
+        else
+        {
+            // Not a Bullet static object
+            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
+
+            // Set various physical properties so other object interact properly
+            MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, true);
+            BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction);
+            BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution);
+
+            // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
+            // Since this can be called multiple times, only zero forces when becoming physical
+            // BulletSimAPI.ClearAllForces2(BSBody.ptr);
+
+            // For good measure, make sure the transform is set through to the motion state
+            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+
+            // Center of mass is at the center of the object
+            // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation);
+
+            // A dynamic object has mass
+            UpdatePhysicalMassProperties(RawMass, false);
+
+            // Set collision detection parameters
+            if (BSParam.CcdMotionThreshold > 0f)
+            {
+                BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold);
+                BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius);
+            }
+
+            // Various values for simulation limits
+            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;
+
+            // Force activation of the object so Bullet will act on it.
+            // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects.
+            BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG);
+
+            // There might be special things needed for implementing linksets.
+            Linkset.MakeDynamic(this);
+        }
+    }
+
+    // "Making solid" means that other object will not pass through this object.
+    // To make transparent, we create a Bullet ghost object.
+    // Note: This expects to be called from the UpdatePhysicalParameters() routine as
+    //     the functions after this one set up the state of a possibly newly created collision body.
+    private void MakeSolid(bool makeSolid)
+    {
+        CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(PhysBody.ptr);
+        if (makeSolid)
+        {
+            // Verify the previous code created the correct shape for this type of thing.
+            if ((bodyType & CollisionObjectTypes.CO_RIGID_BODY) == 0)
+            {
+                m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType);
+            }
+            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+        }
+        else
+        {
+            if ((bodyType & CollisionObjectTypes.CO_GHOST_OBJECT) == 0)
+            {
+                m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType);
+            }
+            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+
+            // Change collision info from a static object to a ghosty collision object
+            PhysBody.collisionType = CollisionType.VolumeDetect;
+        }
+    }
+
+    // Enable physical actions. Bullet will keep sleeping non-moving physical objects so
+    //     they need waking up when parameters are changed.
+    // Called in taint-time!!
+    private void ActivateIfPhysical(bool forceIt)
+    {
+        if (IsPhysical && PhysBody.HasPhysicalBody)
+            BulletSimAPI.Activate2(PhysBody.ptr, forceIt);
+    }
+
+    // Turn on or off the flag controlling whether collision events are returned to the simulator.
+    private void EnableCollisions(bool wantsCollisionEvents)
+    {
+        if (wantsCollisionEvents)
+        {
+            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+        }
+        else
+        {
+            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+        }
+    }
+
+    // prims don't fly
+    public override bool Flying {
+        get { return _flying; }
+        set {
+            _flying = value;
+        }
+    }
+    public override bool SetAlwaysRun {
+        get { return _setAlwaysRun; }
+        set { _setAlwaysRun = value; }
+    }
+    public override bool ThrottleUpdates {
+        get { return _throttleUpdates; }
+        set { _throttleUpdates = value; }
+    }
+    public override bool IsColliding {
+        get { return (CollidingStep == PhysicsScene.SimulationStep); }
+        set { _isColliding = value; }
+    }
+    public override bool CollidingGround {
+        get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
+        set { _collidingGround = value; }
+    }
+    public override bool CollidingObj {
+        get { return _collidingObj; }
+        set { _collidingObj = value; }
+    }
+    public bool IsPhantom {
+        get {
+            // SceneObjectPart removes phantom objects from the physics scene
+            // so, although we could implement touching and such, we never
+            // are invoked as a phantom object
+            return false;
+        }
+    }
+    public override bool FloatOnWater {
+        set {
+            _floatOnWater = value;
+            PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate()
+            {
+                if (_floatOnWater)
+                    CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+                else
+                    CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+            });
+        }
+    }
+    public override OMV.Vector3 RotationalVelocity {
+        get {
+            return _rotationalVelocity;
+        }
+        set {
+            _rotationalVelocity = value;
+            // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
+            PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
+            {
+                DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
+                ForceRotationalVelocity = _rotationalVelocity;
+            });
+        }
+    }
+    public override OMV.Vector3 ForceRotationalVelocity {
+        get {
+            return _rotationalVelocity;
+        }
+        set {
+            _rotationalVelocity = value;
+            if (PhysBody.HasPhysicalBody)
+            {
+                BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+                ActivateIfPhysical(false);
+            }
+        }
+    }
+    public override bool Kinematic {
+        get { return _kinematic; }
+        set { _kinematic = value;
+            // m_log.DebugFormat("{0}: Kinematic={1}", LogHeader, _kinematic);
+        }
+    }
+    public override float Buoyancy {
+        get { return _buoyancy; }
+        set {
+            _buoyancy = value;
+            PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate()
+            {
+                ForceBuoyancy = _buoyancy;
+            });
+        }
+    }
+    public override float ForceBuoyancy {
+        get { return _buoyancy; }
+        set {
+            _buoyancy = value;
+            // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
+            // Force the recalculation of the various inertia,etc variables in the object
+            UpdatePhysicalMassProperties(_mass, true);
+            ActivateIfPhysical(false);
+        }
+    }
+
+    // Used for MoveTo
+    public override OMV.Vector3 PIDTarget {
+        set { _PIDTarget = value; }
+    }
+    public override bool PIDActive {
+        set { _usePID = value; }
+    }
+    public override float PIDTau {
+        set { _PIDTau = value; }
+    }
+
+    // Used for llSetHoverHeight and maybe vehicle height
+    // Hover Height will override MoveTo target's Z
+    public override bool PIDHoverActive {
+        set { _useHoverPID = value; }
+    }
+    public override float PIDHoverHeight {
+        set { _PIDHoverHeight = value; }
+    }
+    public override PIDHoverType PIDHoverType {
+        set { _PIDHoverType = value; }
+    }
+    public override float PIDHoverTau {
+        set { _PIDHoverTao = value; }
+    }
+
+    // For RotLookAt
+    public override OMV.Quaternion APIDTarget { set { return; } }
+    public override bool APIDActive { set { return; } }
+    public override float APIDStrength { set { return; } }
+    public override float APIDDamping { set { return; } }
+
+    public override void AddForce(OMV.Vector3 force, bool pushforce) {
+        // Since this force is being applied in only one step, make this a force per second.
+        OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep;
+        AddForce(addForce, 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())
+        {
+            float magnitude = force.Length();
+            if (magnitude > 20000f)
+            {
+                // Force has a limit
+                force = force / magnitude * 20000f;
+            }
+
+            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;
+        }
+    }
+
+    public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
+        AddAngularForce(force, pushforce, false);
+    }
+    public void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime)
+    {
+        if (force.IsFinite())
+        {
+            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;
+        }
+    }
+
+    // A torque impulse.
+    // ApplyTorqueImpulse adds torque directly to the angularVelocity.
+    // AddAngularForce accumulates the force and applied it to the angular velocity all at once.
+    // Computed as: angularVelocity += impulse * inertia;
+    public void ApplyTorqueImpulse(OMV.Vector3 impulse, bool inTaintTime)
+    {
+        OMV.Vector3 applyImpulse = impulse;
+        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate()
+        {
+            if (PhysBody.HasPhysicalBody)
+            {
+                BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse);
+                ActivateIfPhysical(false);
+            }
+        });
+    }
+
+    public override void SetMomentum(OMV.Vector3 momentum) {
+        // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
+    }
+    #region Mass Calculation
+
+    private float CalculateMass()
+    {
+        float volume = _size.X * _size.Y * _size.Z; // default
+        float tmp;
+
+        float returnMass = 0;
+        float hollowAmount = (float)BaseShape.ProfileHollow * 2.0e-5f;
+        float hollowVolume = hollowAmount * hollowAmount;
+
+        switch (BaseShape.ProfileShape)
+        {
+            case ProfileShape.Square:
+                // default box
+
+                if (BaseShape.PathCurve == (byte)Extrusion.Straight)
+                    {
+                    if (hollowAmount > 0.0)
+                        {
+                        switch (BaseShape.HollowShape)
+                            {
+                            case HollowShape.Square:
+                            case HollowShape.Same:
+                                break;
+
+                            case HollowShape.Circle:
+
+                                hollowVolume *= 0.78539816339f;
+                                break;
+
+                            case HollowShape.Triangle:
+
+                                hollowVolume *= (0.5f * .5f);
+                                break;
+
+                            default:
+                                hollowVolume = 0;
+                                break;
+                            }
+                        volume *= (1.0f - hollowVolume);
+                        }
+                    }
+
+                else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
+                    {
+                    //a tube
+
+                    volume *= 0.78539816339e-2f * (float)(200 - BaseShape.PathScaleX);
+                    tmp= 1.0f -2.0e-2f * (float)(200 - BaseShape.PathScaleY);
+                    volume -= volume*tmp*tmp;
+
+                    if (hollowAmount > 0.0)
+                        {
+                        hollowVolume *= hollowAmount;
+
+                        switch (BaseShape.HollowShape)
+                            {
+                            case HollowShape.Square:
+                            case HollowShape.Same:
+                                break;
+
+                            case HollowShape.Circle:
+                                hollowVolume *= 0.78539816339f;;
+                                break;
+
+                            case HollowShape.Triangle:
+                                hollowVolume *= 0.5f * 0.5f;
+                                break;
+                            default:
+                                hollowVolume = 0;
+                                break;
+                            }
+                        volume *= (1.0f - hollowVolume);
+                        }
+                    }
+
+                break;
+
+            case ProfileShape.Circle:
+
+                if (BaseShape.PathCurve == (byte)Extrusion.Straight)
+                    {
+                    volume *= 0.78539816339f; // elipse base
+
+                    if (hollowAmount > 0.0)
+                        {
+                        switch (BaseShape.HollowShape)
+                            {
+                            case HollowShape.Same:
+                            case HollowShape.Circle:
+                                break;
+
+                            case HollowShape.Square:
+                                hollowVolume *= 0.5f * 2.5984480504799f;
+                                break;
+
+                            case HollowShape.Triangle:
+                                hollowVolume *= .5f * 1.27323954473516f;
+                                break;
+
+                            default:
+                                hollowVolume = 0;
+                                break;
+                            }
+                        volume *= (1.0f - hollowVolume);
+                        }
+                    }
+
+                else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
+                    {
+                    volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - BaseShape.PathScaleX);
+                    tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY);
+                    volume *= (1.0f - tmp * tmp);
+
+                    if (hollowAmount > 0.0)
+                        {
+
+                        // calculate the hollow volume by it's shape compared to the prim shape
+                        hollowVolume *= hollowAmount;
+
+                        switch (BaseShape.HollowShape)
+                            {
+                            case HollowShape.Same:
+                            case HollowShape.Circle:
+                                break;
+
+                            case HollowShape.Square:
+                                hollowVolume *= 0.5f * 2.5984480504799f;
+                                break;
+
+                            case HollowShape.Triangle:
+                                hollowVolume *= .5f * 1.27323954473516f;
+                                break;
+
+                            default:
+                                hollowVolume = 0;
+                                break;
+                            }
+                        volume *= (1.0f - hollowVolume);
+                        }
+                    }
+                break;
+
+            case ProfileShape.HalfCircle:
+                if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
+                {
+                volume *= 0.52359877559829887307710723054658f;
+                }
+                break;
+
+            case ProfileShape.EquilateralTriangle:
+
+                if (BaseShape.PathCurve == (byte)Extrusion.Straight)
+                    {
+                    volume *= 0.32475953f;
+
+                    if (hollowAmount > 0.0)
+                        {
+
+                        // calculate the hollow volume by it's shape compared to the prim shape
+                        switch (BaseShape.HollowShape)
+                            {
+                            case HollowShape.Same:
+                            case HollowShape.Triangle:
+                                hollowVolume *= .25f;
+                                break;
+
+                            case HollowShape.Square:
+                                hollowVolume *= 0.499849f * 3.07920140172638f;
+                                break;
+
+                            case HollowShape.Circle:
+                                // Hollow shape is a perfect cyllinder in respect to the cube's scale
+                                // Cyllinder hollow volume calculation
+
+                                hollowVolume *= 0.1963495f * 3.07920140172638f;
+                                break;
+
+                            default:
+                                hollowVolume = 0;
+                                break;
+                            }
+                        volume *= (1.0f - hollowVolume);
+                        }
+                    }
+                else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
+                    {
+                    volume *= 0.32475953f;
+                    volume *= 0.01f * (float)(200 - BaseShape.PathScaleX);
+                    tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY);
+                    volume *= (1.0f - tmp * tmp);
+
+                    if (hollowAmount > 0.0)
+                        {
+
+                        hollowVolume *= hollowAmount;
+
+                        switch (BaseShape.HollowShape)
+                            {
+                            case HollowShape.Same:
+                            case HollowShape.Triangle:
+                                hollowVolume *= .25f;
+                                break;
+
+                            case HollowShape.Square:
+                                hollowVolume *= 0.499849f * 3.07920140172638f;
+                                break;
+
+                            case HollowShape.Circle:
+
+                                hollowVolume *= 0.1963495f * 3.07920140172638f;
+                                break;
+
+                            default:
+                                hollowVolume = 0;
+                                break;
+                            }
+                        volume *= (1.0f - hollowVolume);
+                        }
+                    }
+                    break;
+
+            default:
+                break;
+            }
+
+
+
+        float taperX1;
+        float taperY1;
+        float taperX;
+        float taperY;
+        float pathBegin;
+        float pathEnd;
+        float profileBegin;
+        float profileEnd;
+
+        if (BaseShape.PathCurve == (byte)Extrusion.Straight || BaseShape.PathCurve == (byte)Extrusion.Flexible)
+            {
+            taperX1 = BaseShape.PathScaleX * 0.01f;
+            if (taperX1 > 1.0f)
+                taperX1 = 2.0f - taperX1;
+            taperX = 1.0f - taperX1;
+
+            taperY1 = BaseShape.PathScaleY * 0.01f;
+            if (taperY1 > 1.0f)
+                taperY1 = 2.0f - taperY1;
+            taperY = 1.0f - taperY1;
+            }
+        else
+            {
+            taperX = BaseShape.PathTaperX * 0.01f;
+            if (taperX < 0.0f)
+                taperX = -taperX;
+            taperX1 = 1.0f - taperX;
+
+            taperY = BaseShape.PathTaperY * 0.01f;
+            if (taperY < 0.0f)
+                taperY = -taperY;
+            taperY1 = 1.0f - taperY;
+
+            }
+
+
+        volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY);
+
+        pathBegin = (float)BaseShape.PathBegin * 2.0e-5f;
+        pathEnd = 1.0f - (float)BaseShape.PathEnd * 2.0e-5f;
+        volume *= (pathEnd - pathBegin);
+
+        // this is crude aproximation
+        profileBegin = (float)BaseShape.ProfileBegin * 2.0e-5f;
+        profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f;
+        volume *= (profileEnd - profileBegin);
+
+        returnMass = _density * volume;
+
+        /* Comment out code that computes the mass of the linkset. That is done in the Linkset class.
+        if (IsRootOfLinkset)
+        {
+            foreach (BSPrim prim in _childrenPrims)
+            {
+                returnMass += prim.CalculateMass();
+            }
+        }
+         */
+
+        returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass);
+
+        return returnMass;
+    }// end CalculateMass
+    #endregion Mass Calculation
+
+    // Rebuild the geometry and object.
+    // This is called when the shape changes so we need to recreate the mesh/hull.
+    // Called at taint-time!!!
+    public void CreateGeomAndObject(bool forceRebuild)
+    {
+        // If this prim is part of a linkset, we must remove and restore the physical
+        //    links if the body is rebuilt.
+        bool needToRestoreLinkset = false;
+        bool needToRestoreVehicle = false;
+
+        // Create the correct physical representation for this type of object.
+        // Updates PhysBody and PhysShape with the new information.
+        // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
+        PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, null, delegate(BulletBody dBody)
+        {
+            // Called if the current prim body is about to be destroyed.
+            // Remove all the physical dependencies on the old body.
+            // (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...)
+            needToRestoreLinkset = Linkset.RemoveBodyDependencies(this);
+            needToRestoreVehicle = _vehicle.RemoveBodyDependencies(this);
+        });
+
+        if (needToRestoreLinkset)
+        {
+            // If physical body dependencies were removed, restore them
+            Linkset.RestoreBodyDependencies(this);
+        }
+        if (needToRestoreVehicle)
+        {
+            // If physical body dependencies were removed, restore them
+            _vehicle.RestoreBodyDependencies(this);
+        }
+
+        // Make sure the properties are set on the new object
+        UpdatePhysicalParameters();
+        return;
+    }
+
+    // The physics engine says that properties have updated. Update same and inform
+    // the world that things have changed.
+    // TODO: do we really need to check for changed? Maybe just copy values and call RequestPhysicsterseUpdate()
+    enum UpdatedProperties {
+        Position      = 1 << 0,
+        Rotation      = 1 << 1,
+        Velocity      = 1 << 2,
+        Acceleration  = 1 << 3,
+        RotationalVel = 1 << 4
+    }
+
+    const float ROTATION_TOLERANCE = 0.01f;
+    const float VELOCITY_TOLERANCE = 0.001f;
+    const float POSITION_TOLERANCE = 0.05f;
+    const float ACCELERATION_TOLERANCE = 0.01f;
+    const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f;
+
+    public override void UpdateProperties(EntityProperties entprop)
+    {
+        // Updates only for individual prims and for the root object of a linkset.
+        if (Linkset.IsRoot(this))
+        {
+            // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
+            // TODO: handle physics introduced by Bullet with computed vehicle physics.
+            if (_vehicle.IsActive)
+            {
+                entprop.RotationalVelocity = OMV.Vector3.Zero;
+            }
+
+            // Assign directly to the local variables so the normal set action does not happen
+            _position = entprop.Position;
+            _orientation = entprop.Rotation;
+            _velocity = entprop.Velocity;
+            _acceleration = entprop.Acceleration;
+            _rotationalVelocity = entprop.RotationalVelocity;
+
+            // The sanity check can change the velocity and/or position.
+            if (IsPhysical && PositionSanityCheck(true))
+            {
+                entprop.Position = _position;
+                entprop.Velocity = _velocity;
+            }
+
+            OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation;   // DEBUG DEBUG DEBUG
+            DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}",
+                    LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity);
+
+            // remember the current and last set values
+            LastEntityProperties = CurrentEntityProperties;
+            CurrentEntityProperties = entprop;
+
+            base.RequestPhysicsterseUpdate();
+        }
+            /*
+        else
+        {
+            // For debugging, report the movement of children
+            DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
+                    LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
+                    entprop.Acceleration, entprop.RotationalVelocity);
+        }
+             */
+
+        // The linkset implimentation might want to know about this.
+        Linkset.UpdateProperties(this, true);
+    }
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs
new file mode 100644
index 0000000..1a7c34b
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs
@@ -0,0 +1,957 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Runtime.InteropServices;
+using System.Text;
+using System.Threading;
+using OpenSim.Framework;
+using OpenSim.Region.Framework;
+using OpenSim.Region.CoreModules;
+using Logging = OpenSim.Region.CoreModules.Framework.Statistics.Logging;
+using OpenSim.Region.Physics.Manager;
+using Nini.Config;
+using log4net;
+using OpenMetaverse;
+
+// TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim)
+// Based on material, set density and friction
+// More efficient memory usage when passing hull information from BSPrim to BulletSim
+// Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect
+// Implement LockAngularMotion
+// Add PID movement operations. What does ScenePresence.MoveToTarget do?
+// Check terrain size. 128 or 127?
+// Raycast
+//
+namespace OpenSim.Region.Physics.BulletSNPlugin
+{
+public sealed class BSScene : PhysicsScene, IPhysicsParameters
+{
+    private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
+    private static readonly string LogHeader = "[BULLETS SCENE]";
+
+    // The name of the region we're working for.
+    public string RegionName { get; private set; }
+
+    public string BulletSimVersion = "?";
+
+    public Dictionary<uint, BSPhysObject> PhysObjects;
+    public BSShapeCollection Shapes;
+
+    // Keeping track of the objects with collisions so we can report begin and end of a collision
+    public HashSet<BSPhysObject> ObjectsWithCollisions = new HashSet<BSPhysObject>();
+    public HashSet<BSPhysObject> ObjectsWithNoMoreCollisions = new HashSet<BSPhysObject>();
+    // Keep track of all the avatars so we can send them a collision event
+    //    every tick so OpenSim will update its animation.
+    private HashSet<BSPhysObject> m_avatars = new HashSet<BSPhysObject>();
+
+    // let my minuions use my logger
+    public ILog Logger { get { return m_log; } }
+
+    public IMesher mesher;
+    public uint WorldID { get; private set; }
+    public BulletWorld World { get; private set; }
+
+    // All the constraints that have been allocated in this instance.
+    public BSConstraintCollection Constraints { get; private set; }
+
+    // Simulation parameters
+    internal int m_maxSubSteps;
+    internal float m_fixedTimeStep;
+    internal long m_simulationStep = 0;
+    public long SimulationStep { get { return m_simulationStep; } }
+    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
+    public int SimulationNowTime { get; private set; }
+
+    // True if initialized and ready to do simulation steps
+    private bool m_initialized = false;
+
+    // Flag which is true when processing taints.
+    // Not guaranteed to be correct all the time (don't depend on this) but good for debugging.
+    public bool InTaintTime { get; private set; }
+
+    // Pinned memory used to pass step information between managed and unmanaged
+    internal int m_maxCollisionsPerFrame;
+    private List<BulletXNA.CollisionDesc> m_collisionArray;
+    //private GCHandle m_collisionArrayPinnedHandle;
+
+    internal int m_maxUpdatesPerFrame;
+    private List<BulletXNA.EntityProperties> m_updateArray;
+    //private GCHandle m_updateArrayPinnedHandle;
+
+
+    public const uint TERRAIN_ID = 0;       // OpenSim senses terrain with a localID of zero
+    public const uint GROUNDPLANE_ID = 1;
+    public const uint CHILDTERRAIN_ID = 2;  // Terrain allocated based on our mega-prim childre start here
+
+    public float SimpleWaterLevel { get; set; }
+    public BSTerrainManager TerrainManager { get; private set; }
+
+    public ConfigurationParameters Params
+    {
+        get { return UnmanagedParams[0]; }
+    }
+    public Vector3 DefaultGravity
+    {
+        get { return new Vector3(0f, 0f, Params.gravity); }
+    }
+    // Just the Z value of the gravity
+    public float DefaultGravityZ
+    {
+        get { return Params.gravity; }
+    }
+
+    // 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
+    //   order before the simulation.
+    public delegate void TaintCallback();
+    private struct TaintCallbackEntry
+    {
+        public String ident;
+        public TaintCallback callback;
+        public TaintCallbackEntry(string i, TaintCallback c)
+        {
+            ident = i;
+            callback = c;
+        }
+    }
+    private Object _taintLock = new Object();   // lock for using the next object
+    private List<TaintCallbackEntry> _taintOperations;
+    private Dictionary<string, TaintCallbackEntry> _postTaintOperations;
+    private List<TaintCallbackEntry> _postStepOperations;
+
+    // A pointer to an instance if this structure is passed to the C++ code
+    // Used to pass basic configuration values to the unmanaged code.
+    internal ConfigurationParameters[] UnmanagedParams;
+    //GCHandle m_paramsHandle;
+
+    // Handle to the callback used by the unmanaged code to call into the managed code.
+    // Used for debug logging.
+    // Need to store the handle in a persistant variable so it won't be freed.
+    private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle;
+
+    // Sometimes you just have to log everything.
+    public Logging.LogWriter PhysicsLogging;
+    private bool m_physicsLoggingEnabled;
+    private string m_physicsLoggingDir;
+    private string m_physicsLoggingPrefix;
+    private int m_physicsLoggingFileMinutes;
+    private bool m_physicsLoggingDoFlush;
+    // 'true' of the vehicle code is to log lots of details
+    public bool VehicleLoggingEnabled { get; private set; }
+    public bool VehiclePhysicalLoggingEnabled { get; private set; }
+
+    #region Construction and Initialization
+    public BSScene(string identifier)
+    {
+        m_initialized = false;
+        // we are passed the name of the region we're working for.
+        RegionName = identifier;
+    }
+
+    public override void Initialise(IMesher meshmerizer, IConfigSource config)
+    {
+        mesher = meshmerizer;
+        _taintOperations = new List<TaintCallbackEntry>();
+        _postTaintOperations = new Dictionary<string, TaintCallbackEntry>();
+        _postStepOperations = new List<TaintCallbackEntry>();
+        PhysObjects = new Dictionary<uint, BSPhysObject>();
+        Shapes = new BSShapeCollection(this);
+
+        // Allocate pinned memory to pass parameters.
+        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);
+
+        // allocate more pinned memory close to the above in an attempt to get the memory all together
+        m_collisionArray = new List<BulletXNA.CollisionDesc>();
+        //m_collisionArrayPinnedHandle = GCHandle.Alloc(m_collisionArray, GCHandleType.Pinned);
+        m_updateArray = new List<BulletXNA.EntityProperties>();
+        //m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned);
+
+        // Enable very detailed logging.
+        // By creating an empty logger when not logging, the log message invocation code
+        //     can be left in and every call doesn't have to check for null.
+        if (m_physicsLoggingEnabled)
+        {
+            PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes);
+            PhysicsLogging.ErrorLogger = m_log; // for DEBUG. Let's the logger output error messages.
+        }
+        else
+        {
+            PhysicsLogging = new Logging.LogWriter();
+        }
+
+        // If Debug logging level, enable logging from the unmanaged code
+        m_DebugLogCallbackHandle = null;
+        if (m_log.IsDebugEnabled || PhysicsLogging.Enabled)
+        {
+            m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader);
+            if (PhysicsLogging.Enabled)
+                // The handle is saved in a variable to make sure it doesn't get freed after this call
+                m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLoggerPhysLog);
+            else
+                m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger);
+        }
+
+        // Get the version of the DLL
+        // TODO: this doesn't work yet. Something wrong with marshaling the returned string.
+        // BulletSimVersion = BulletSimAPI.GetVersion();
+        // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion);
+
+        // The bounding box for the simulated world. The origin is 0,0,0 unless we're
+        //    a child in a mega-region.
+        // Bullet actually doesn't care about the extents of the simulated
+        //    area. It tracks active objects no matter where they are.
+        Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
+
+        // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader);
+
+        World = new BulletWorld(0, this, BulletSimAPI.Initialize2(worldExtent, UnmanagedParams,
+                                        m_maxCollisionsPerFrame, ref m_collisionArray,
+                                        m_maxUpdatesPerFrame,ref m_updateArray,
+                                        m_DebugLogCallbackHandle));
+
+        Constraints = new BSConstraintCollection(World);
+
+        TerrainManager = new BSTerrainManager(this);
+        TerrainManager.CreateInitialGroundPlaneAndTerrain();
+
+        m_log.WarnFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation);
+
+        InTaintTime = false;
+        m_initialized = true;
+    }
+
+    // All default parameter values are set here. There should be no values set in the
+    // variable definitions.
+    private void GetInitialParameterValues(IConfigSource config)
+    {
+        ConfigurationParameters parms = new ConfigurationParameters();
+        UnmanagedParams[0] = parms;
+
+        BSParam.SetParameterDefaultValues(this);
+
+        if (config != null)
+        {
+            // If there are specifications in the ini file, use those values
+            IConfig pConfig = config.Configs["BulletSim"];
+            if (pConfig != null)
+            {
+                BSParam.SetParameterConfigurationValues(this, pConfig);
+
+                // Very detailed logging for physics debugging
+                m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false);
+                m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", ".");
+                m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-");
+                m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5);
+                m_physicsLoggingDoFlush = pConfig.GetBoolean("PhysicsLoggingDoFlush", false);
+                // Very detailed logging for vehicle debugging
+                VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
+                VehiclePhysicalLoggingEnabled = pConfig.GetBoolean("VehiclePhysicalLoggingEnabled", false);
+
+                // Do any replacements in the parameters
+                m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName);
+            }
+
+            // The material characteristics.
+            BSMaterials.InitializeFromDefaults(Params);
+            if (pConfig != null)
+            {
+                // Let the user add new and interesting material property values.
+                BSMaterials.InitializefromParameters(pConfig);
+            }
+        }
+    }
+
+    // A helper function that handles a true/false parameter and returns the proper float number encoding
+    float ParamBoolean(IConfig config, string parmName, float deflt)
+    {
+        float ret = deflt;
+        if (config.Contains(parmName))
+        {
+            ret = ConfigurationParameters.numericFalse;
+            if (config.GetBoolean(parmName, false))
+            {
+                ret = ConfigurationParameters.numericTrue;
+            }
+        }
+        return ret;
+    }
+
+    // Called directly from unmanaged code so don't do much
+    private void BulletLogger(string msg)
+    {
+        m_log.Debug("[BULLETS UNMANAGED]:" + msg);
+    }
+
+    // Called directly from unmanaged code so don't do much
+    private void BulletLoggerPhysLog(string msg)
+    {
+        DetailLog("[BULLETS UNMANAGED]:" + msg);
+    }
+
+    public override void Dispose()
+    {
+        // m_log.DebugFormat("{0}: Dispose()", LogHeader);
+
+        // make sure no stepping happens while we're deleting stuff
+        m_initialized = false;
+
+        foreach (KeyValuePair<uint, BSPhysObject> kvp in PhysObjects)
+        {
+            kvp.Value.Destroy();
+        }
+        PhysObjects.Clear();
+
+        // Now that the prims are all cleaned up, there should be no constraints left
+        if (Constraints != null)
+        {
+            Constraints.Dispose();
+            Constraints = null;
+        }
+
+        if (Shapes != null)
+        {
+            Shapes.Dispose();
+            Shapes = null;
+        }
+
+        if (TerrainManager != null)
+        {
+            TerrainManager.ReleaseGroundPlaneAndTerrain();
+            TerrainManager.Dispose();
+            TerrainManager = null;
+        }
+
+        // Anything left in the unmanaged code should be cleaned out
+        BulletSimAPI.Shutdown2(World.ptr);
+
+        // Not logging any more
+        PhysicsLogging.Close();
+    }
+    #endregion // Construction and Initialization
+
+    #region Prim and Avatar addition and removal
+
+    public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
+    {
+        m_log.ErrorFormat("{0}: CALL TO AddAvatar in BSScene. NOT IMPLEMENTED", LogHeader);
+        return null;
+    }
+
+    public override PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 size, bool isFlying)
+    {
+        // m_log.DebugFormat("{0}: AddAvatar: {1}", LogHeader, avName);
+
+        if (!m_initialized) return null;
+
+        BSCharacter actor = new BSCharacter(localID, avName, this, position, size, isFlying);
+        lock (PhysObjects) PhysObjects.Add(localID, actor);
+
+        // TODO: Remove kludge someday.
+        // We must generate a collision for avatars whether they collide or not.
+        // This is required by OpenSim to update avatar animations, etc.
+        lock (m_avatars) m_avatars.Add(actor);
+
+        return actor;
+    }
+
+    public override void RemoveAvatar(PhysicsActor actor)
+    {
+        // m_log.DebugFormat("{0}: RemoveAvatar", LogHeader);
+
+        if (!m_initialized) return;
+
+        BSCharacter bsactor = actor as BSCharacter;
+        if (bsactor != null)
+        {
+            try
+            {
+                lock (PhysObjects) PhysObjects.Remove(actor.LocalID);
+                // Remove kludge someday
+                lock (m_avatars) m_avatars.Remove(bsactor);
+            }
+            catch (Exception e)
+            {
+                m_log.WarnFormat("{0}: Attempt to remove avatar that is not in physics scene: {1}", LogHeader, e);
+            }
+            bsactor.Destroy();
+            // bsactor.dispose();
+        }
+    }
+
+    public override void RemovePrim(PhysicsActor prim)
+    {
+        if (!m_initialized) return;
+
+        BSPrim bsprim = prim as BSPrim;
+        if (bsprim != null)
+        {
+            DetailLog("{0},RemovePrim,call", bsprim.LocalID);
+            // m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID);
+            try
+            {
+                lock (PhysObjects) PhysObjects.Remove(bsprim.LocalID);
+            }
+            catch (Exception e)
+            {
+                m_log.ErrorFormat("{0}: Attempt to remove prim that is not in physics scene: {1}", LogHeader, e);
+            }
+            bsprim.Destroy();
+            // bsprim.dispose();
+        }
+        else
+        {
+            m_log.ErrorFormat("{0}: Attempt to remove prim that is not a BSPrim type.", LogHeader);
+        }
+    }
+
+    public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                              Vector3 size, Quaternion rotation, bool isPhysical, uint localID)
+    {
+        // m_log.DebugFormat("{0}: AddPrimShape2: {1}", LogHeader, primName);
+
+        if (!m_initialized) return null;
+
+        DetailLog("{0},AddPrimShape,call", localID);
+
+        BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical);
+        lock (PhysObjects) PhysObjects.Add(localID, prim);
+        return prim;
+    }
+
+    // This is a call from the simulator saying that some physical property has been updated.
+    // The BulletSim driver senses the changing of relevant properties so this taint
+    // information call is not needed.
+    public override void AddPhysicsActorTaint(PhysicsActor prim) { }
+
+    #endregion // Prim and Avatar addition and removal
+
+    #region Simulation
+    // 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;
+        //Object updatedEntitiesPtr;
+        int collidersCount = 0;
+        //Object collidersPtr;
+
+        int beforeTime = 0;
+        int simTime = 0;
+
+        // 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 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.
+
+        // 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.
+        // BulletSimAPI.DumpAllInfo2(World.ptr);    // DEBUG DEBUG DEBUG
+
+        // step the physical world one interval
+        m_simulationStep++;
+        int numSubSteps = 0;
+
+        try
+        {
+            if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
+
+            numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
+                        out updatedEntityCount, out m_updateArray, out collidersCount, out m_collisionArray);
+
+            if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
+            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);
+        }
+        catch (Exception e)
+        {
+            m_log.WarnFormat("{0},PhysicsStep Exception: nTaints={1}, substeps={2}, updates={3}, colliders={4}, e={5}",
+                        LogHeader, numTaints, numSubSteps, updatedEntityCount, collidersCount, e);
+            DetailLog("{0},PhysicsStepException,call, nTaints={1}, substeps={2}, updates={3}, colliders={4}",
+                        DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount);
+            updatedEntityCount = 0;
+            collidersCount = 0;
+        }
+
+        // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in.
+
+        // Get a value for 'now' so all the collision and update routines don't have to get their own.
+        SimulationNowTime = Util.EnvironmentTickCount();
+
+        // If there were collisions, process them by sending the event to the prim.
+        // Collisions must be processed before updates.
+        if (collidersCount > 0)
+        {
+            for (int ii = 0; ii < collidersCount; ii++)
+            {
+                uint cA = m_collisionArray[ii].aID;
+                uint cB = m_collisionArray[ii].bID;
+                Vector3 point = new Vector3(m_collisionArray[ii].point.X, m_collisionArray[ii].point.Y,
+                                            m_collisionArray[ii].point.Z);
+                Vector3 normal = new Vector3(m_collisionArray[ii].normal.X, m_collisionArray[ii].normal.Y,
+                                            m_collisionArray[ii].normal.Z); 
+                SendCollision(cA, cB, point, normal, 0.01f);
+                SendCollision(cB, cA, point, -normal, 0.01f);
+            }
+        }
+
+        // The above SendCollision's batch up the collisions on the objects.
+        //      Now push the collisions into the simulator.
+        if (ObjectsWithCollisions.Count > 0)
+        {
+            foreach (BSPhysObject bsp in ObjectsWithCollisions)
+                if (!bsp.SendCollisions())
+                {
+                    // If the object is done colliding, see that it's removed from the colliding list
+                    ObjectsWithNoMoreCollisions.Add(bsp);
+                }
+        }
+
+        // This is a kludge to get avatar movement updates.
+        // The simulator expects collisions for avatars even if there are have been no collisions.
+        //    The event updates avatar animations and stuff.
+        // If you fix avatar animation updates, remove this overhead and let normal collision processing happen.
+        foreach (BSPhysObject bsp in m_avatars)
+            if (!ObjectsWithCollisions.Contains(bsp))   // don't call avatars twice
+                bsp.SendCollisions();
+
+        // Objects that are done colliding are removed from the ObjectsWithCollisions list.
+        // Not done above because it is inside an iteration of ObjectWithCollisions.
+        // This complex collision processing is required to create an empty collision
+        //     event call after all collisions have happened on an object. This enables
+        //     the simulator to generate the 'collision end' event.
+        if (ObjectsWithNoMoreCollisions.Count > 0)
+        {
+            foreach (BSPhysObject po in ObjectsWithNoMoreCollisions)
+                ObjectsWithCollisions.Remove(po);
+            ObjectsWithNoMoreCollisions.Clear();
+        }
+        // Done with collisions.
+
+        // If any of the objects had updated properties, tell the object it has been changed by the physics engine
+        if (updatedEntityCount > 0)
+        {
+            for (int ii = 0; ii < updatedEntityCount; ii++)
+            {
+
+                BulletXNA.EntityProperties entprop = m_updateArray[ii];
+                BSPhysObject pobj;
+                if (PhysObjects.TryGetValue(entprop.ID, out pobj))
+                {
+                    EntityProperties prop = new EntityProperties()
+                                                {
+                                                    Acceleration = new Vector3(entprop.Acceleration.X, entprop.Acceleration.Y, entprop.Acceleration.Z),
+                                                    ID = entprop.ID,
+                                                    Position = new Vector3(entprop.Position.X,entprop.Position.Y,entprop.Position.Z),
+                                                    Rotation = new Quaternion(entprop.Rotation.X,entprop.Rotation.Y,entprop.Rotation.Z,entprop.Rotation.W),
+                                                    RotationalVelocity = new Vector3(entprop.AngularVelocity.X,entprop.AngularVelocity.Y,entprop.AngularVelocity.Z),
+                                                    Velocity = new Vector3(entprop.Velocity.X,entprop.Velocity.Y,entprop.Velocity.Z)
+                                                };
+                    //m_log.Debug(pobj.Name + ":" + prop.ToString() + "\n");
+                    pobj.UpdateProperties(prop);
+                }
+            }
+        }
+
+        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.
+        // BulletSimAPI.DumpAllInfo2(World.ptr);    // DEBUG DEBUG DEBUG
+
+        // The physics engine returns the number of milliseconds it simulated this call.
+        // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
+        // Multiply by 55 to give a nominal frame rate of 55.
+        return (float)numSubSteps * m_fixedTimeStep * 1000f * 55f;
+    }
+
+    // Something has collided
+    private void SendCollision(uint localID, uint collidingWith, Vector3 collidePoint, Vector3 collideNormal, float penetration)
+    {
+        if (localID <= TerrainManager.HighestTerrainID)
+        {
+            return;         // don't send collisions to the terrain
+        }
+
+        BSPhysObject collider;
+        if (!PhysObjects.TryGetValue(localID, out collider))
+        {
+            // If the object that is colliding cannot be found, just ignore the collision.
+            DetailLog("{0},BSScene.SendCollision,colliderNotInObjectList,id={1},with={2}", DetailLogZero, localID, collidingWith);
+            return;
+        }
+
+        // The terrain is not in the physical object list so 'collidee' can be null when Collide() is called.
+        BSPhysObject collidee = null;
+        PhysObjects.TryGetValue(collidingWith, out collidee);
+
+        // DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith);
+
+        if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration))
+        {
+            // If a collision was posted, remember to send it to the simulator
+            ObjectsWithCollisions.Add(collider);
+        }
+
+        return;
+    }
+
+    #endregion // Simulation
+
+    public override void GetResults() { }
+
+    #region Terrain
+
+    public override void SetTerrain(float[] heightMap) {
+        TerrainManager.SetTerrain(heightMap);
+    }
+
+    public override void SetWaterLevel(float baseheight)
+    {
+        SimpleWaterLevel = baseheight;
+    }
+
+    public override void DeleteTerrain()
+    {
+        // m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader);
+    }
+
+    // Although no one seems to check this, I do support combining.
+    public override bool SupportsCombining()
+    {
+        return TerrainManager.SupportsCombining();
+    }
+    // This call says I am a child to region zero in a mega-region. 'pScene' is that
+    //    of region zero, 'offset' is my offset from regions zero's origin, and
+    //    'extents' is the largest XY that is handled in my region.
+    public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
+    {
+        TerrainManager.Combine(pScene, offset, extents);
+    }
+
+    // Unhook all the combining that I know about.
+    public override void UnCombine(PhysicsScene pScene)
+    {
+        TerrainManager.UnCombine(pScene);
+    }
+
+    #endregion // Terrain
+
+    public override Dictionary<uint, float> GetTopColliders()
+    {
+        return new Dictionary<uint, float>();
+    }
+
+    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.
+    // We rely on C#'s closure to save and restore the context for the delegate.
+    public void TaintedObject(String ident, TaintCallback callback)
+    {
+        if (!m_initialized) return;
+
+        lock (_taintLock)
+        {
+            _taintOperations.Add(new TaintCallbackEntry(ident, callback));
+        }
+
+        return;
+    }
+
+    // Sometimes a potentially tainted operation can be used in and out of taint time.
+    // This routine executes the command immediately if in taint-time otherwise it is queued.
+    public void TaintedObject(bool inTaintTime, string ident, TaintCallback callback)
+    {
+        if (inTaintTime)
+            callback();
+        else
+            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()
+    {
+        ProcessRegularTaints();
+        ProcessPostTaintTaints();
+    }
+
+    private void ProcessRegularTaints()
+    {
+        if (_taintOperations.Count > 0)  // save allocating new list if there is nothing to process
+        {
+            // swizzle a new list into the list location so we can process what's there
+            List<TaintCallbackEntry> oldList;
+            lock (_taintLock)
+            {
+                oldList = _taintOperations;
+                _taintOperations = new List<TaintCallbackEntry>();
+            }
+
+            foreach (TaintCallbackEntry tcbe in oldList)
+            {
+                try
+                {
+                    DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, tcbe.ident); // DEBUG DEBUG DEBUG
+                    tcbe.callback();
+                }
+                catch (Exception e)
+                {
+                    m_log.ErrorFormat("{0}: ProcessTaints: {1}: Exception: {2}", LogHeader, tcbe.ident, e);
+                }
+            }
+            oldList.Clear();
+        }
+    }
+
+    // Schedule an update to happen after all the regular taints are processed.
+    // Note that new requests for the same operation ("ident") for the same object ("ID")
+    //     will replace any previous operation by the same object.
+    public void PostTaintObject(String ident, uint ID, TaintCallback callback)
+    {
+        string uniqueIdent = ident + "-" + ID.ToString();
+        lock (_taintLock)
+        {
+            _postTaintOperations[uniqueIdent] = new TaintCallbackEntry(uniqueIdent, callback);
+        }
+
+        return;
+    }
+
+    // Taints that happen after the normal taint processing but before the simulation step.
+    private void ProcessPostTaintTaints()
+    {
+        if (_postTaintOperations.Count > 0)
+        {
+            Dictionary<string, TaintCallbackEntry> oldList;
+            lock (_taintLock)
+            {
+                oldList = _postTaintOperations;
+                _postTaintOperations = new Dictionary<string, TaintCallbackEntry>();
+            }
+
+            foreach (KeyValuePair<string,TaintCallbackEntry> kvp in oldList)
+            {
+                try
+                {
+                    DetailLog("{0},BSScene.ProcessPostTaintTaints,doTaint,id={1}", DetailLogZero, kvp.Key); // DEBUG DEBUG DEBUG
+                    kvp.Value.callback();
+                }
+                catch (Exception e)
+                {
+                    m_log.ErrorFormat("{0}: ProcessPostTaintTaints: {1}: Exception: {2}", LogHeader, kvp.Key, e);
+                }
+            }
+            oldList.Clear();
+        }
+    }
+
+    // Only used for debugging. Does not change state of anything so locking is not necessary.
+    public bool AssertInTaintTime(string whereFrom)
+    {
+        if (!InTaintTime)
+        {
+            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(DetailLog);
+        }
+        return InTaintTime;
+    }
+
+    #endregion // Taints
+
+    #region INI and command line parameter processing
+
+    #region IPhysicsParameters
+    // Get the list of parameters this physics engine supports
+    public PhysParameterEntry[] GetParameterList()
+    {
+        BSParam.BuildParameterTable();
+        return BSParam.SettableParameters;
+    }
+
+    // Set parameter on a specific or all instances.
+    // Return 'false' if not able to set the parameter.
+    // Setting the value in the m_params block will change the value the physics engine
+    //   will use the next time since it's pinned and shared memory.
+    // Some of the values require calling into the physics engine to get the new
+    //   value activated ('terrainFriction' for instance).
+    public bool SetPhysicsParameter(string parm, float val, uint localID)
+    {
+        bool ret = false;
+        BSParam.ParameterDefn theParam;
+        if (BSParam.TryGetParameter(parm, out theParam))
+        {
+            theParam.setter(this, parm, localID, val);
+            ret = true;
+        }
+        return ret;
+    }
+
+    // update all the localIDs specified
+    // If the local ID is APPLY_TO_NONE, just change the default value
+    // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs
+    // If the localID is a specific object, apply the parameter change to only that object
+    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:
+                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:
+                setDefault(val);  // setting ALL also sets the default value
+                lock (PhysObjects) objectIDs = new List<uint>(PhysObjects.Keys);
+                TaintedUpdateParameter(parm, objectIDs, val);
+                break;
+            default:
+                // setting only one localID
+                objectIDs.Add(localID);
+                TaintedUpdateParameter(parm, objectIDs, val);
+                break;
+        }
+    }
+
+    // schedule the actual updating of the paramter to when the phys engine is not busy
+    private void TaintedUpdateParameter(string parm, List<uint> lIDs, float val)
+    {
+        float xval = val;
+        List<uint> xlIDs = lIDs;
+        string xparm = parm;
+        TaintedObject("BSScene.UpdateParameterSet", delegate() {
+            BSParam.ParameterDefn thisParam;
+            if (BSParam.TryGetParameter(xparm, out thisParam))
+            {
+                if (thisParam.onObject != null)
+                {
+                    foreach (uint lID in xlIDs)
+                    {
+                        BSPhysObject theObject = null;
+                        PhysObjects.TryGetValue(lID, out theObject);
+                        thisParam.onObject(this, theObject, xval);
+                    }
+                }
+            }
+        });
+    }
+
+    // Get parameter.
+    // Return 'false' if not able to get the parameter.
+    public bool GetPhysicsParameter(string parm, out float value)
+    {
+        float val = 0f;
+        bool ret = false;
+        BSParam.ParameterDefn theParam;
+        if (BSParam.TryGetParameter(parm, out theParam))
+        {
+            val = theParam.getter(this);
+            ret = true;
+        }
+        value = val;
+        return ret;
+    }
+
+    #endregion IPhysicsParameters
+
+    #endregion Runtime settable parameters
+
+    // Invoke the detailed logger and output something if it's enabled.
+    public void DetailLog(string msg, params Object[] args)
+    {
+        PhysicsLogging.Write(msg, args);
+        // Add the Flush() if debugging crashes. Gets all the messages written out.
+        if (m_physicsLoggingDoFlush) PhysicsLogging.Flush();
+    }
+    // Used to fill in the LocalID when there isn't one. It's the correct number of characters.
+    public const string DetailLogZero = "0000000000";
+
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs
new file mode 100644
index 0000000..764aece
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs
@@ -0,0 +1,1015 @@
+/*
+ * 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 OMV = OpenMetaverse;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+using OpenSim.Region.Physics.ConvexDecompositionDotNet;
+
+namespace OpenSim.Region.Physics.BulletSNPlugin
+{
+public sealed class BSShapeCollection : IDisposable
+{
+    private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]";
+
+    private BSScene PhysicsScene { get; set; }
+
+    private Object m_collectionActivityLock = new Object();
+
+    // Description of a Mesh
+    private struct MeshDesc
+    {
+        public Object ptr;
+        public int referenceCount;
+        public DateTime lastReferenced;
+        public UInt64 shapeKey;
+    }
+
+    // Description of a hull.
+    // Meshes and hulls have the same shape hash key but we only need hulls for efficient collision calculations.
+    private struct HullDesc
+    {
+        public Object ptr;
+        public int referenceCount;
+        public DateTime lastReferenced;
+        public UInt64 shapeKey;
+    }
+
+    // The sharable set of meshes and hulls. Indexed by their shape hash.
+    private Dictionary<System.UInt64, MeshDesc> Meshes = new Dictionary<System.UInt64, MeshDesc>();
+    private Dictionary<System.UInt64, HullDesc> Hulls = new Dictionary<System.UInt64, HullDesc>();
+
+    private bool DDetail = false;
+
+    public BSShapeCollection(BSScene physScene)
+    {
+        PhysicsScene = physScene;
+        // Set the next to 'true' for very detailed shape update detailed logging (detailed details?)
+        // While detailed debugging is still active, this is better than commenting out all the
+        //     DetailLog statements. When debugging slows down, this and the protected logging
+        //     statements can be commented/removed.
+        DDetail = true;
+    }
+
+    public void Dispose()
+    {
+        // TODO!!!!!!!!!
+    }
+
+    // Callbacks called just before either the body or shape is destroyed.
+    // Mostly used for changing bodies out from under Linksets.
+    // Useful for other cases where parameters need saving.
+    // Passing 'null' says no callback.
+    public delegate void ShapeDestructionCallback(BulletShape shape);
+    public delegate void BodyDestructionCallback(BulletBody body);
+
+    // Called to update/change the body and shape for an object.
+    // First checks the shape and updates that if necessary then makes
+    //    sure the body is of the right type.
+    // Return 'true' if either the body or the shape changed.
+    // 'shapeCallback' and 'bodyCallback' are, if non-null, functions called just before
+    //    the current shape or body is destroyed. This allows the caller to remove any
+    //    higher level dependencies on the shape or body. Mostly used for LinkSets to
+    //    remove the physical constraints before the body is destroyed.
+    // Called at taint-time!!
+    public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim,
+                    ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback)
+    {
+        PhysicsScene.AssertInTaintTime("BSShapeCollection.GetBodyAndShape");
+
+        bool ret = false;
+
+        // This lock could probably be pushed down lower but building shouldn't take long
+        lock (m_collectionActivityLock)
+        {
+            // Do we have the correct geometry for this type of object?
+            // Updates prim.BSShape with information/pointers to shape.
+            // Returns 'true' of BSShape is changed to a new shape.
+            bool newGeom = CreateGeom(forceRebuild, prim, shapeCallback);
+            // If we had to select a new shape geometry for the object,
+            //    rebuild the body around it.
+            // Updates prim.BSBody with information/pointers to requested body
+            // Returns 'true' if BSBody was changed.
+            bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World,
+                                    prim.PhysShape, bodyCallback);
+            ret = newGeom || newBody;
+        }
+        DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}",
+                                prim.LocalID, forceRebuild, ret, prim.PhysBody, prim.PhysShape);
+
+        return ret;
+    }
+
+    public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim)
+    {
+        return GetBodyAndShape(forceRebuild, sim, prim, null, null);
+    }
+
+    // Track another user of a body.
+    // We presume the caller has allocated the body.
+    // Bodies only have one user so the body is just put into the world if not already there.
+    public void ReferenceBody(BulletBody body, bool inTaintTime)
+    {
+        lock (m_collectionActivityLock)
+        {
+            if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body);
+            PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.ReferenceBody", delegate()
+            {
+                if (!BulletSimAPI.IsInWorld2(PhysicsScene.World.ptr, body.ptr))
+                {
+                    BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr);
+                    if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body);
+                }
+            });
+        }
+    }
+
+    // Release the usage of a body.
+    // Called when releasing use of a BSBody. BSShape is handled separately.
+    public void DereferenceBody(BulletBody body, bool inTaintTime, BodyDestructionCallback bodyCallback )
+    {
+        if (!body.HasPhysicalBody)
+            return;
+
+        lock (m_collectionActivityLock)
+        {
+            PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceBody", delegate()
+            {
+                if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1},inTaintTime={2}",
+                                            body.ID, body, inTaintTime);
+                // If the caller needs to know the old body is going away, pass the event up.
+                if (bodyCallback != null) bodyCallback(body);
+
+                if (BulletSimAPI.IsInWorld2(PhysicsScene.World.ptr, body.ptr))
+                {
+                    BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr);
+                    if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body);
+                }
+
+                // Zero any reference to the shape so it is not freed when the body is deleted.
+                BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, null);
+                BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr);
+            });
+        }
+    }
+
+    // Track the datastructures and use count for a shape.
+    // When creating a hull, this is called first to reference the mesh
+    //     and then again to reference the hull.
+    // Meshes and hulls for the same shape have the same hash key.
+    // NOTE that native shapes are not added to the mesh list or removed.
+    // Returns 'true' if this is the initial reference to the shape. Otherwise reused.
+    public bool ReferenceShape(BulletShape shape)
+    {
+        bool ret = false;
+        switch (shape.type)
+        {
+            case BSPhysicsShapeType.SHAPE_MESH:
+                MeshDesc meshDesc;
+                if (Meshes.TryGetValue(shape.shapeKey, out meshDesc))
+                {
+                    // There is an existing instance of this mesh.
+                    meshDesc.referenceCount++;
+                    if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,existingMesh,key={1},cnt={2}",
+                                BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
+                }
+                else
+                {
+                    // This is a new reference to a mesh
+                    meshDesc.ptr = shape.ptr;
+                    meshDesc.shapeKey = shape.shapeKey;
+                    // We keep a reference to the underlying IMesh data so a hull can be built
+                    meshDesc.referenceCount = 1;
+                    if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newMesh,key={1},cnt={2}",
+                                BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
+                    ret = true;
+                }
+                meshDesc.lastReferenced = System.DateTime.Now;
+                Meshes[shape.shapeKey] = meshDesc;
+                break;
+            case BSPhysicsShapeType.SHAPE_HULL:
+                HullDesc hullDesc;
+                if (Hulls.TryGetValue(shape.shapeKey, out hullDesc))
+                {
+                    // There is an existing instance of this hull.
+                    hullDesc.referenceCount++;
+                    if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,existingHull,key={1},cnt={2}",
+                                BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
+                }
+                else
+                {
+                    // This is a new reference to a hull
+                    hullDesc.ptr = shape.ptr;
+                    hullDesc.shapeKey = shape.shapeKey;
+                    hullDesc.referenceCount = 1;
+                    if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}",
+                                BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
+                    ret = true;
+
+                }
+                hullDesc.lastReferenced = System.DateTime.Now;
+                Hulls[shape.shapeKey] = hullDesc;
+                break;
+            case BSPhysicsShapeType.SHAPE_UNKNOWN:
+                break;
+            default:
+                // Native shapes are not tracked and they don't go into any list
+                break;
+        }
+        return ret;
+    }
+
+    // Release the usage of a shape.
+    public void DereferenceShape(BulletShape shape, bool inTaintTime, ShapeDestructionCallback shapeCallback)
+    {
+        if (!shape.HasPhysicalShape)
+            return;
+
+        PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceShape", delegate()
+        {
+            if (shape.HasPhysicalShape)
+            {
+                if (shape.isNativeShape)
+                {
+                    // Native shapes are not tracked and are released immediately
+                    if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
+                                    BSScene.DetailLogZero, shape.ptr.ToString(), inTaintTime);
+                    if (shapeCallback != null) shapeCallback(shape);
+                    BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
+                }
+                else
+                {
+                    switch (shape.type)
+                    {
+                        case BSPhysicsShapeType.SHAPE_HULL:
+                            DereferenceHull(shape, shapeCallback);
+                            break;
+                        case BSPhysicsShapeType.SHAPE_MESH:
+                            DereferenceMesh(shape, shapeCallback);
+                            break;
+                        case BSPhysicsShapeType.SHAPE_COMPOUND:
+                            DereferenceCompound(shape, shapeCallback);
+                            break;
+                        case BSPhysicsShapeType.SHAPE_UNKNOWN:
+                            break;
+                        default:
+                            break;
+                    }
+                }
+            }
+        });
+    }
+
+    // Count down the reference count for a mesh shape
+    // Called at taint-time.
+    private void DereferenceMesh(BulletShape shape, ShapeDestructionCallback shapeCallback)
+    {
+        MeshDesc meshDesc;
+        if (Meshes.TryGetValue(shape.shapeKey, out meshDesc))
+        {
+            meshDesc.referenceCount--;
+            // TODO: release the Bullet storage
+            if (shapeCallback != null) shapeCallback(shape);
+            meshDesc.lastReferenced = System.DateTime.Now;
+            Meshes[shape.shapeKey] = meshDesc;
+            if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceMesh,shape={1},refCnt={2}",
+                                BSScene.DetailLogZero, shape, meshDesc.referenceCount);
+
+        }
+    }
+
+    // Count down the reference count for a hull shape
+    // Called at taint-time.
+    private void DereferenceHull(BulletShape shape, ShapeDestructionCallback shapeCallback)
+    {
+        HullDesc hullDesc;
+        if (Hulls.TryGetValue(shape.shapeKey, out hullDesc))
+        {
+            hullDesc.referenceCount--;
+            // TODO: release the Bullet storage (aging old entries?)
+
+            // Tell upper layers that, if they have dependencies on this shape, this link is going away
+            if (shapeCallback != null) shapeCallback(shape);
+
+            hullDesc.lastReferenced = System.DateTime.Now;
+            Hulls[shape.shapeKey] = hullDesc;
+            if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceHull,shape={1},refCnt={2}",
+                    BSScene.DetailLogZero, shape, hullDesc.referenceCount);
+        }
+    }
+
+    // Remove a reference to a compound shape.
+    // Taking a compound shape apart is a little tricky because if you just delete the
+    //      physical shape, it will free all the underlying children. We can't do that because
+    //      they could be shared. So, this removes each of the children from the compound and
+    //      dereferences them separately before destroying the compound collision object itself.
+    // Called at taint-time.
+    private void DereferenceCompound(BulletShape shape, ShapeDestructionCallback shapeCallback)
+    {
+        if (!BulletSimAPI.IsCompound2(shape.ptr))
+        {
+            // Failed the sanity check!!
+            PhysicsScene.Logger.ErrorFormat("{0} Attempt to free a compound shape that is not compound!! type={1}, ptr={2}",
+                                        LogHeader, shape.type, shape.ptr.ToString());
+            if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}",
+                                        BSScene.DetailLogZero, shape.type, shape.ptr.ToString());
+            return;
+        }
+
+        int numChildren = BulletSimAPI.GetNumberOfCompoundChildren2(shape.ptr);
+        if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}", BSScene.DetailLogZero, shape, numChildren);
+
+        for (int ii = numChildren - 1; ii >= 0; ii--)
+        {
+            Object childShape = BulletSimAPI.RemoveChildShapeFromCompoundShapeIndex2(shape.ptr, ii);
+            DereferenceAnonCollisionShape(childShape);
+        }
+        BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
+    }
+
+    // Sometimes we have a pointer to a collision shape but don't know what type it is.
+    // Figure out type and call the correct dereference routine.
+    // Called at taint-time.
+    private void DereferenceAnonCollisionShape(Object cShape)
+    {
+        MeshDesc meshDesc;
+        HullDesc hullDesc;
+
+        BulletShape shapeInfo = new BulletShape(cShape);
+        if (TryGetMeshByPtr(cShape, out meshDesc))
+        {
+            shapeInfo.type = BSPhysicsShapeType.SHAPE_MESH;
+            shapeInfo.shapeKey = meshDesc.shapeKey;
+        }
+        else
+        {
+            if (TryGetHullByPtr(cShape, out hullDesc))
+            {
+                shapeInfo.type = BSPhysicsShapeType.SHAPE_HULL;
+                shapeInfo.shapeKey = hullDesc.shapeKey;
+            }
+            else
+            {
+                if (BulletSimAPI.IsCompound2(cShape))
+                {
+                    shapeInfo.type = BSPhysicsShapeType.SHAPE_COMPOUND;
+                }
+                else
+                {
+                    if (BulletSimAPI.IsNativeShape2(cShape))
+                    {
+                        shapeInfo.isNativeShape = true;
+                        shapeInfo.type = BSPhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter)
+                    }
+                }
+            }
+        }
+
+        if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceAnonCollisionShape,shape={1}", BSScene.DetailLogZero, shapeInfo);
+
+        if (shapeInfo.type != BSPhysicsShapeType.SHAPE_UNKNOWN)
+        {
+            DereferenceShape(shapeInfo, true, null);
+        }
+        else
+        {
+            PhysicsScene.Logger.ErrorFormat("{0} Could not decypher shape type. Region={1}, addr={2}",
+                                    LogHeader, PhysicsScene.RegionName, cShape.ToString());
+        }
+    }
+
+    // Create the geometry information in Bullet for later use.
+    // The objects needs a hull if it's physical otherwise a mesh is enough.
+    // if 'forceRebuild' is true, the geometry is unconditionally rebuilt. For meshes and hulls,
+    //     shared geometries will be used. If the parameters of the existing shape are the same
+    //     as this request, the shape is not rebuilt.
+    // Info in prim.BSShape is updated to the new shape.
+    // Returns 'true' if the geometry was rebuilt.
+    // Called at taint-time!
+    private bool CreateGeom(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback)
+    {
+        bool ret = false;
+        bool haveShape = false;
+
+        if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE)
+        {
+            // an avatar capsule is close to a native shape (it is not shared)
+            GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_CAPSULE,
+                            FixedShapeKey.KEY_CAPSULE, shapeCallback);
+            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape);
+            ret = true;
+            haveShape = true;
+        }
+
+        // Compound shapes are handled special as they are rebuilt from scratch.
+        // This isn't too great a hardship since most of the child shapes will have already been created.
+        if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND)
+        {
+            ret = GetReferenceToCompoundShape(prim, shapeCallback);
+            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, prim.PhysShape);
+            haveShape = true;
+        }
+
+        if (!haveShape)
+        {
+            ret = CreateGeomNonSpecial(forceRebuild, prim, shapeCallback);
+        }
+
+        return ret;
+    }
+
+    // Create a mesh/hull shape or a native shape if 'nativeShapePossible' is 'true'.
+    public bool CreateGeomNonSpecial(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback)
+    {
+        bool ret = false;
+        bool haveShape = false;
+        bool nativeShapePossible = true;
+        PrimitiveBaseShape pbs = prim.BaseShape;
+
+        // If the prim attributes are simple, this could be a simple Bullet native shape
+        if (!haveShape
+                && pbs != null
+                && nativeShapePossible
+                && ((pbs.SculptEntry && !BSParam.ShouldMeshSculptedPrim)
+                    || (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
+                        && pbs.ProfileHollow == 0
+                        && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
+                        && pbs.PathBegin == 0 && pbs.PathEnd == 0
+                        && pbs.PathTaperX == 0 && pbs.PathTaperY == 0
+                        && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
+                        && pbs.PathShearX == 0 && pbs.PathShearY == 0) ) )
+        {
+            // Get the scale of any existing shape so we can see if the new shape is same native type and same size.
+            OMV.Vector3 scaleOfExistingShape = OMV.Vector3.Zero;
+            if (prim.PhysShape.HasPhysicalShape)
+                scaleOfExistingShape = BulletSimAPI.GetLocalScaling2(prim.PhysShape.ptr);
+
+            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,maybeNative,force={1},primScale={2},primSize={3},primShape={4}",
+                        prim.LocalID, forceRebuild, prim.Scale, prim.Size, prim.PhysShape.type);
+
+            // It doesn't look like Bullet scales spheres so make sure the scales are all equal
+            if ((pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1)
+                                && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z)
+            {
+                haveShape = true;
+                if (forceRebuild
+                        || prim.Scale != scaleOfExistingShape
+                        || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_SPHERE
+                        )
+                {
+                    ret = GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_SPHERE,
+                                            FixedShapeKey.KEY_SPHERE, shapeCallback);
+                    if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}",
+                                        prim.LocalID, forceRebuild, prim.PhysShape);
+                }
+            }
+            if (!haveShape && pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
+            {
+                haveShape = true;
+                if (forceRebuild
+                        || prim.Scale != scaleOfExistingShape
+                        || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_BOX
+                        )
+                {
+                    ret = GetReferenceToNativeShape( prim, BSPhysicsShapeType.SHAPE_BOX,
+                                            FixedShapeKey.KEY_BOX, shapeCallback);
+                    if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}",
+                                        prim.LocalID, forceRebuild, prim.PhysShape);
+                }
+            }
+        }
+
+        // If a simple shape is not happening, create a mesh and possibly a hull.
+        if (!haveShape && pbs != null)
+        {
+            ret = CreateGeomMeshOrHull(prim, shapeCallback);
+        }
+
+        return ret;
+    }
+
+    public bool CreateGeomMeshOrHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
+    {
+
+        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 && BSParam.ShouldUseHullsForPhysicalObjects)
+        {
+            // Update prim.BSShape to reference a hull of this shape.
+            ret = GetReferenceToHull(prim,shapeCallback);
+            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}",
+                                    prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X"));
+        }
+        else
+        {
+            ret = GetReferenceToMesh(prim, shapeCallback);
+            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}",
+                                    prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X"));
+        }
+        return ret;
+    }
+
+    // Creates a native shape and assignes it to prim.BSShape.
+    // "Native" shapes are never shared. they are created here and destroyed in DereferenceShape().
+    private bool GetReferenceToNativeShape(BSPhysObject prim,
+                            BSPhysicsShapeType shapeType, FixedShapeKey shapeKey,
+                            ShapeDestructionCallback shapeCallback)
+    {
+        // release any previous shape
+        DereferenceShape(prim.PhysShape, true, shapeCallback);
+
+        BulletShape newShape = BuildPhysicalNativeShape(prim, shapeType, shapeKey);
+
+        // Don't need to do a 'ReferenceShape()' here because native shapes are not shared.
+        if (DDetail) DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}",
+                                prim.LocalID, newShape, prim.Scale);
+
+        // native shapes are scaled by Bullet
+        prim.PhysShape = newShape;
+        return true;
+    }
+
+    private BulletShape BuildPhysicalNativeShape(BSPhysObject prim, BSPhysicsShapeType shapeType,
+                                    FixedShapeKey shapeKey)
+    {
+        BulletShape newShape;
+        // Need to make sure the passed shape information is for the native type.
+        ShapeData nativeShapeData = new ShapeData();
+        nativeShapeData.Type = shapeType;
+        nativeShapeData.ID = prim.LocalID;
+        nativeShapeData.Scale = prim.Scale;
+        nativeShapeData.Size = prim.Scale;  // unneeded, I think.
+        nativeShapeData.MeshKey = (ulong)shapeKey;
+        nativeShapeData.HullKey = (ulong)shapeKey;
+
+        if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE)
+        {
+            // The proper scale has been calculated in the prim.
+            newShape = new BulletShape(
+                        BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, prim.Scale)
+                        , shapeType);
+            if (DDetail) DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
+        }
+        else
+        {
+            // Native shapes are scaled in Bullet so set the scaling to the size
+            newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, nativeShapeData), shapeType);
+        }
+        if (!newShape.HasPhysicalShape)
+        {
+            PhysicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
+                                    LogHeader, prim.LocalID, shapeType);
+        }
+        newShape.shapeKey = (System.UInt64)shapeKey;
+        newShape.isNativeShape = true;
+
+        return newShape;
+    }
+
+    // Builds a mesh shape in the physical world and updates prim.BSShape.
+    // Dereferences previous shape in BSShape and adds a reference for this new shape.
+    // Returns 'true' of a mesh was actually built. Otherwise .
+    // Called at taint-time!
+    private bool GetReferenceToMesh(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
+    {
+        BulletShape newShape = new BulletShape();
+
+        float lod;
+        System.UInt64 newMeshKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
+
+        // if this new shape is the same as last time, don't recreate the mesh
+        if (newMeshKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_MESH)
+            return false;
+
+        if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToMesh,create,oldKey={1},newKey={2}",
+                                prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newMeshKey.ToString("X"));
+
+        // Since we're recreating new, get rid of the reference to the previous shape
+        DereferenceShape(prim.PhysShape, true, shapeCallback);
+
+        newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, prim.BaseShape, prim.Size, lod);
+        // Take evasive action if the mesh was not constructed.
+        newShape = VerifyMeshCreated(newShape, prim);
+
+        ReferenceShape(newShape);
+
+        prim.PhysShape = newShape;
+
+        return true;        // 'true' means a new shape has been added to this prim
+    }
+
+    private BulletShape CreatePhysicalMesh(string objName, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
+    {
+        IMesh meshData = null;
+        Object meshPtr = null;
+        MeshDesc meshDesc;
+        if (Meshes.TryGetValue(newMeshKey, out meshDesc))
+        {
+            // If the mesh has already been built just use it.
+            meshPtr = meshDesc.ptr;
+        }
+        else
+        {
+            meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false, false, false);
+
+            if (meshData != null)
+            {
+                int[] indices = meshData.getIndexListAsInt();
+                List<OMV.Vector3> vertices = meshData.getVertexList();
+
+                float[] verticesAsFloats = new float[vertices.Count * 3];
+                int vi = 0;
+                foreach (OMV.Vector3 vv in vertices)
+                {
+                    verticesAsFloats[vi++] = vv.X;
+                    verticesAsFloats[vi++] = vv.Y;
+                    verticesAsFloats[vi++] = vv.Z;
+                }
+
+                // m_log.DebugFormat("{0}: BSShapeCollection.CreatePhysicalMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}",
+                //                  LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count);
+
+                meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
+                                    indices.GetLength(0), indices, vertices.Count, verticesAsFloats);
+            }
+        }
+        BulletShape newShape = new BulletShape(meshPtr, BSPhysicsShapeType.SHAPE_MESH);
+        newShape.shapeKey = newMeshKey;
+
+        return newShape;
+    }
+
+    // See that hull shape exists in the physical world and update prim.BSShape.
+    // We could be creating the hull because scale changed or whatever.
+    private bool GetReferenceToHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
+    {
+        BulletShape newShape;
+
+        float lod;
+        System.UInt64 newHullKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
+
+        // if the hull hasn't changed, don't rebuild it
+        if (newHullKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_HULL)
+            return false;
+
+        if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToHull,create,oldKey={1},newKey={2}",
+                        prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newHullKey.ToString("X"));
+
+        // Remove usage of the previous shape.
+        DereferenceShape(prim.PhysShape, true, shapeCallback);
+
+        newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, prim.BaseShape, prim.Size, lod);
+        newShape = VerifyMeshCreated(newShape, prim);
+
+        ReferenceShape(newShape);
+
+        prim.PhysShape = newShape;
+        return true;        // 'true' means a new shape has been added to this prim
+    }
+
+    List<ConvexResult> m_hulls;
+    private BulletShape CreatePhysicalHull(string objName, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
+    {
+
+        Object hullPtr = null;
+        HullDesc hullDesc;
+        if (Hulls.TryGetValue(newHullKey, out hullDesc))
+        {
+            // If the hull shape already is created, just use it.
+            hullPtr = hullDesc.ptr;
+        }
+        else
+        {
+            // Build a new hull in the physical world
+            // Pass true for physicalness as this creates some sort of bounding box which we don't need
+            IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false, false, false);
+            if (meshData != null)
+            {
+
+                int[] indices = meshData.getIndexListAsInt();
+                List<OMV.Vector3> vertices = meshData.getVertexList();
+
+                //format conversion from IMesh format to DecompDesc format
+                List<int> convIndices = new List<int>();
+                List<float3> convVertices = new List<float3>();
+                for (int ii = 0; ii < indices.GetLength(0); ii++)
+                {
+                    convIndices.Add(indices[ii]);
+                }
+                foreach (OMV.Vector3 vv in vertices)
+                {
+                    convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
+                }
+
+                // setup and do convex hull conversion
+                m_hulls = new List<ConvexResult>();
+                DecompDesc dcomp = new DecompDesc();
+                dcomp.mIndices = convIndices;
+                dcomp.mVertices = convVertices;
+                ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
+                // create the hull into the _hulls variable
+                convexBuilder.process(dcomp);
+
+                // Convert the vertices and indices for passing to unmanaged.
+                // The hull information is passed as a large floating point array.
+                // The format is:
+                //  convHulls[0] = number of hulls
+                //  convHulls[1] = number of vertices in first hull
+                //  convHulls[2] = hull centroid X coordinate
+                //  convHulls[3] = hull centroid Y coordinate
+                //  convHulls[4] = hull centroid Z coordinate
+                //  convHulls[5] = first hull vertex X
+                //  convHulls[6] = first hull vertex Y
+                //  convHulls[7] = first hull vertex Z
+                //  convHulls[8] = second hull vertex X
+                //  ...
+                //  convHulls[n] = number of vertices in second hull
+                //  convHulls[n+1] = second hull centroid X coordinate
+                //  ...
+                //
+                // TODO: is is very inefficient. Someday change the convex hull generator to return
+                //   data structures that do not need to be converted in order to pass to Bullet.
+                //   And maybe put the values directly into pinned memory rather than marshaling.
+                int hullCount = m_hulls.Count;
+                int totalVertices = 1;          // include one for the count of the hulls
+                foreach (ConvexResult cr in m_hulls)
+                {
+                    totalVertices += 4;                         // add four for the vertex count and centroid
+                    totalVertices += cr.HullIndices.Count * 3;  // we pass just triangles
+                }
+                float[] convHulls = new float[totalVertices];
+
+                convHulls[0] = (float)hullCount;
+                int jj = 1;
+                foreach (ConvexResult cr in m_hulls)
+                {
+                    // copy vertices for index access
+                    float3[] verts = new float3[cr.HullVertices.Count];
+                    int kk = 0;
+                    foreach (float3 ff in cr.HullVertices)
+                    {
+                        verts[kk++] = ff;
+                    }
+
+                    // add to the array one hull's worth of data
+                    convHulls[jj++] = cr.HullIndices.Count;
+                    convHulls[jj++] = 0f;   // centroid x,y,z
+                    convHulls[jj++] = 0f;
+                    convHulls[jj++] = 0f;
+                    foreach (int ind in cr.HullIndices)
+                    {
+                        convHulls[jj++] = verts[ind].x;
+                        convHulls[jj++] = verts[ind].y;
+                        convHulls[jj++] = verts[ind].z;
+                    }
+                }
+                // create the hull data structure in Bullet
+                hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls);
+            }
+        }
+
+        BulletShape newShape = new BulletShape(hullPtr, BSPhysicsShapeType.SHAPE_HULL);
+        newShape.shapeKey = newHullKey;
+
+        return newShape;
+    }
+
+    // Callback from convex hull creater with a newly created hull.
+    // Just add it to our collection of hulls for this shape.
+    private void HullReturn(ConvexResult result)
+    {
+        m_hulls.Add(result);
+        return;
+    }
+
+    // Compound shapes are always built from scratch.
+    // This shouldn't be to bad since most of the parts will be meshes that had been built previously.
+    private bool GetReferenceToCompoundShape(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
+    {
+        // Remove reference to the old shape
+        // Don't need to do this as the shape is freed when the new root shape is created below.
+        // DereferenceShape(prim.PhysShape, true, shapeCallback);
+
+        BulletShape cShape = new BulletShape(
+            BulletSimAPI.CreateCompoundShape2(PhysicsScene.World.ptr, false), BSPhysicsShapeType.SHAPE_COMPOUND);
+
+        // Create the shape for the root prim and add it to the compound shape. Cannot be a native shape.
+        CreateGeomMeshOrHull(prim, shapeCallback);
+        BulletSimAPI.AddChildShapeToCompoundShape2(cShape.ptr, prim.PhysShape.ptr, OMV.Vector3.Zero, OMV.Quaternion.Identity);
+        if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToCompoundShape,addRootPrim,compShape={1},rootShape={2}",
+                                    prim.LocalID, cShape, prim.PhysShape);
+
+        prim.PhysShape = cShape;
+
+        return true;
+    }
+
+    // Create a hash of all the shape parameters to be used as a key
+    //    for this particular shape.
+    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 = BSParam.MeshLOD;
+        if (pbs.SculptEntry)
+            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 > BSParam.MeshMegaPrimThreshold)
+            lod = BSParam.MeshMegaPrimLOD;
+
+        retLod = lod;
+        return pbs.GetMeshKey(size, lod);
+    }
+    // For those who don't want the LOD
+    private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs)
+    {
+        float lod;
+        return ComputeShapeKey(size, pbs, out lod);
+    }
+
+    // The creation of a mesh or hull can fail if an underlying asset is not available.
+    // There are two cases: 1) the asset is not in the cache and it needs to be fetched;
+    //     and 2) the asset cannot be converted (like failed decompression of JPEG2000s).
+    //     The first case causes the asset to be fetched. The second case requires
+    //     us to not loop forever.
+    // Called after creating a physical mesh or hull. If the physical shape was created,
+    //     just return.
+    private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim)
+    {
+        // If the shape was successfully created, nothing more to do
+        if (newShape.HasPhysicalShape)
+            return newShape;
+
+        // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset
+        if (prim.BaseShape.SculptEntry && !prim.LastAssetBuildFailed && prim.BaseShape.SculptTexture != OMV.UUID.Zero)
+        {
+            prim.LastAssetBuildFailed = true;
+            BSPhysObject xprim = prim;
+            DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset,lID={1},lastFailed={2}",
+                            LogHeader, prim.LocalID, prim.LastAssetBuildFailed);
+            Util.FireAndForget(delegate
+                {
+                    RequestAssetDelegate assetProvider = PhysicsScene.RequestAssetMethod;
+                    if (assetProvider != null)
+                    {
+                        BSPhysObject yprim = xprim; // probably not necessary, but, just in case.
+                        assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset)
+                        {
+                            if (!yprim.BaseShape.SculptEntry)
+                                return;
+                            if (yprim.BaseShape.SculptTexture.ToString() != asset.ID)
+                                return;
+
+                            yprim.BaseShape.SculptData = asset.Data;
+                            // This will cause the prim to see that the filler shape is not the right
+                            //    one and try again to build the object.
+                            // No race condition with the normal shape setting since the rebuild is at taint time.
+                            yprim.ForceBodyShapeRebuild(false);
+
+                        });
+                    }
+                });
+        }
+        else
+        {
+            if (prim.LastAssetBuildFailed)
+            {
+                PhysicsScene.Logger.ErrorFormat("{0} Mesh failed to fetch asset. lID={1}, texture={2}",
+                                            LogHeader, prim.LocalID, prim.BaseShape.SculptTexture);
+            }
+        }
+
+        // While we figure out the real problem, stick a simple native shape on the object.
+        BulletShape fillinShape =
+            BuildPhysicalNativeShape(prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
+
+        return fillinShape;
+    }
+
+    // Create a body object in Bullet.
+    // Updates prim.BSBody with the information about the new body if one is created.
+    // Returns 'true' if an object was actually created.
+    // Called at taint-time.
+    private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletWorld sim, BulletShape shape,
+                            BodyDestructionCallback bodyCallback)
+    {
+        bool ret = false;
+
+        // the mesh, hull or native shape must have already been created in Bullet
+        bool mustRebuild = !prim.PhysBody.HasPhysicalBody;
+
+        // If there is an existing body, verify it's of an acceptable type.
+        // If not a solid object, body is a GhostObject. Otherwise a RigidBody.
+        if (!mustRebuild)
+        {
+            CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(prim.PhysBody.ptr);
+            if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY
+                || !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT)
+            {
+                // If the collisionObject is not the correct type for solidness, rebuild what's there
+                mustRebuild = true;
+            }
+        }
+
+        if (mustRebuild || forceRebuild)
+        {
+            // Free any old body
+            DereferenceBody(prim.PhysBody, true, bodyCallback);
+
+            BulletBody aBody;
+            Object bodyPtr = null;
+            if (prim.IsSolid)
+            {
+                bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr,
+                                        prim.LocalID, prim.RawPosition, prim.RawOrientation);
+                if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString());
+            }
+            else
+            {
+                bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr,
+                                        prim.LocalID, prim.RawPosition, prim.RawOrientation);
+                if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString());
+            }
+            aBody = new BulletBody(prim.LocalID, bodyPtr);
+
+            ReferenceBody(aBody, true);
+
+            prim.PhysBody = aBody;
+
+            ret = true;
+        }
+
+        return ret;
+    }
+
+    private bool TryGetMeshByPtr(Object addr, out MeshDesc outDesc)
+    {
+        bool ret = false;
+        MeshDesc foundDesc = new MeshDesc();
+        foreach (MeshDesc md in Meshes.Values)
+        {
+            if (md.ptr == addr)
+            {
+                foundDesc = md;
+                ret = true;
+                break;
+            }
+
+        }
+        outDesc = foundDesc;
+        return ret;
+    }
+
+    private bool TryGetHullByPtr(Object addr, out HullDesc outDesc)
+    {
+        bool ret = false;
+        HullDesc foundDesc = new HullDesc();
+        foreach (HullDesc hd in Hulls.Values)
+        {
+            if (hd.ptr == addr)
+            {
+                foundDesc = hd;
+                ret = true;
+                break;
+            }
+
+        }
+        outDesc = foundDesc;
+        return ret;
+    }
+
+    private void DetailLog(string msg, params Object[] args)
+    {
+        if (PhysicsScene.PhysicsLogging.Enabled)
+            PhysicsScene.DetailLog(msg, args);
+    }
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSShapes.cs
new file mode 100644
index 0000000..8ff0275
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSShapes.cs
@@ -0,0 +1,208 @@
+/*
+ * 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.Linq;
+using System.Text;
+
+namespace OpenSim.Region.Physics.BulletSNPlugin
+{
+public abstract class BSShape
+{
+    public Object ptr { get; set; }
+    public BSPhysicsShapeType type { get; set; }
+    public System.UInt64 key { get; set; }
+    public int referenceCount { get; set; }
+    public DateTime lastReferenced { get; set; }
+
+    public BSShape()
+    {
+        ptr = null;
+        type = BSPhysicsShapeType.SHAPE_UNKNOWN;
+        key = 0;
+        referenceCount = 0;
+        lastReferenced = DateTime.Now;
+    }
+
+    // Get a reference to a physical shape. Create if it doesn't exist
+    public static BSShape GetShapeReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
+    {
+        BSShape ret = null;
+
+        if (prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE)
+        {
+            // an avatar capsule is close to a native shape (it is not shared)
+            ret = BSShapeNative.GetReference(physicsScene, prim, BSPhysicsShapeType.SHAPE_CAPSULE,
+                                        FixedShapeKey.KEY_CAPSULE);
+            physicsScene.DetailLog("{0},BSShape.GetShapeReference,avatarCapsule,shape={1}", prim.LocalID, ret);
+        }
+
+        // Compound shapes are handled special as they are rebuilt from scratch.
+        // This isn't too great a hardship since most of the child shapes will already been created.
+        if (ret == null  && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND)
+        {
+            // Getting a reference to a compound shape gets you the compound shape with the root prim shape added
+            ret = BSShapeCompound.GetReference(prim);
+            physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, ret);
+        }
+
+        if (ret == null)
+            ret = GetShapeReferenceNonSpecial(physicsScene, forceRebuild, prim);
+
+        return ret;
+    }
+    public static BSShape GetShapeReferenceNonSpecial(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
+    {
+        return null;
+    }
+    public static BSShape GetShapeReferenceNonNative(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
+    {
+        return null;
+    }
+
+    // Release the use of a physical shape.
+    public abstract void Dereference(BSScene physicsScene);
+
+    // All shapes have a static call to get a reference to the physical shape
+    // protected abstract static BSShape GetReference();
+
+    public override string ToString()
+    {
+        StringBuilder buff = new StringBuilder();
+        buff.Append("<p=");
+        buff.Append(ptr.ToString());
+        buff.Append(",s=");
+        buff.Append(type.ToString());
+        buff.Append(",k=");
+        buff.Append(key.ToString("X"));
+        buff.Append(",c=");
+        buff.Append(referenceCount.ToString());
+        buff.Append(">");
+        return buff.ToString();
+    }
+}
+
+public class BSShapeNull : BSShape
+{
+    public BSShapeNull() : base()
+    {
+    }
+    public static BSShape GetReference() { return new BSShapeNull();  }
+    public override void Dereference(BSScene physicsScene) { /* The magic of garbage collection will make this go away */ }
+}
+
+public class BSShapeNative : BSShape
+{
+    private static string LogHeader = "[BULLETSIM SHAPE NATIVE]";
+    public BSShapeNative() : base()
+    {
+    }
+    public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim, 
+                    BSPhysicsShapeType shapeType, FixedShapeKey shapeKey) 
+    {
+        // Native shapes are not shared and are always built anew.
+        return new BSShapeNative(physicsScene, prim, shapeType, shapeKey);
+    }
+
+    private BSShapeNative(BSScene physicsScene, BSPhysObject prim,
+                    BSPhysicsShapeType shapeType, FixedShapeKey shapeKey)
+    {
+        ShapeData nativeShapeData = new ShapeData();
+        nativeShapeData.Type = shapeType;
+        nativeShapeData.ID = prim.LocalID;
+        nativeShapeData.Scale = prim.Scale;
+        nativeShapeData.Size = prim.Scale;
+        nativeShapeData.MeshKey = (ulong)shapeKey;
+        nativeShapeData.HullKey = (ulong)shapeKey;
+
+       
+        if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE)
+        {
+            ptr = BulletSimAPI.BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale);
+            physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
+        }
+        else
+        {
+            ptr = BulletSimAPI.BuildNativeShape2(physicsScene.World.ptr, nativeShapeData);
+        }
+        if (ptr == null)
+        {
+            physicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
+                                    LogHeader, prim.LocalID, shapeType);
+        }
+        type = shapeType;
+        key = (UInt64)shapeKey;
+    }
+    // Make this reference to the physical shape go away since native shapes are not shared.
+    public override void Dereference(BSScene physicsScene)
+    {
+        // Native shapes are not tracked and are released immediately
+        physicsScene.DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this);
+        BulletSimAPI.DeleteCollisionShape2(physicsScene.World.ptr, ptr);
+        ptr = null;
+        // Garbage collection will free up this instance.
+    }
+}
+
+public class BSShapeMesh : BSShape
+{
+    private static string LogHeader = "[BULLETSIM SHAPE MESH]";
+    private static Dictionary<System.UInt64, BSShapeMesh> Meshes = new Dictionary<System.UInt64, BSShapeMesh>();
+
+    public BSShapeMesh() : base()
+    {
+    }
+    public static BSShape GetReference() { return new BSShapeNull();  }
+    public override void Dereference(BSScene physicsScene) { }
+}
+
+public class BSShapeHull : BSShape
+{
+    private static string LogHeader = "[BULLETSIM SHAPE HULL]";
+    private static Dictionary<System.UInt64, BSShapeHull> Hulls = new Dictionary<System.UInt64, BSShapeHull>();
+
+    public BSShapeHull() : base()
+    {
+    }
+    public static BSShape GetReference() { return new BSShapeNull();  }
+    public override void Dereference(BSScene physicsScene) { }
+}
+
+public class BSShapeCompound : BSShape
+{
+    private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]";
+    public BSShapeCompound() : base()
+    {
+    }
+    public static BSShape GetReference(BSPhysObject prim) 
+    { 
+        return new BSShapeNull();
+    }
+    public override void Dereference(BSScene physicsScene) { }
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainHeightmap.cs
new file mode 100644
index 0000000..ba17059
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainHeightmap.cs
@@ -0,0 +1,175 @@
+/*
+ * 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.Framework;
+using OpenSim.Region.Framework;
+using OpenSim.Region.CoreModules;
+using OpenSim.Region.Physics.Manager;
+
+using Nini.Config;
+using log4net;
+
+using OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSNPlugin
+{
+public sealed class BSTerrainHeightmap : BSTerrainPhys
+{
+    static string LogHeader = "[BULLETSIM TERRAIN HEIGHTMAP]";
+
+    BulletHeightMapInfo m_mapInfo = null;
+
+    // Constructor to build a default, flat heightmap terrain.
+    public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize)
+        : base(physicsScene, regionBase, id)
+    {
+        Vector3 minTerrainCoords = new Vector3(0f, 0f, BSTerrainManager.HEIGHT_INITIALIZATION - BSTerrainManager.HEIGHT_EQUAL_FUDGE);
+        Vector3 maxTerrainCoords = new Vector3(regionSize.X, regionSize.Y, BSTerrainManager.HEIGHT_INITIALIZATION);
+        int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y;
+        float[] initialMap = new float[totalHeights];
+        for (int ii = 0; ii < totalHeights; ii++)
+        {
+            initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION;
+        }
+        m_mapInfo = new BulletHeightMapInfo(id, initialMap, null);
+        m_mapInfo.minCoords = minTerrainCoords;
+        m_mapInfo.maxCoords = maxTerrainCoords;
+        m_mapInfo.terrainRegionBase = TerrainBase;
+        // Don't have to free any previous since we just got here.
+        BuildHeightmapTerrain();
+    }
+
+    // This minCoords and maxCoords passed in give the size of the terrain (min and max Z
+    //         are the high and low points of the heightmap).
+    public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, 
+                                                    Vector3 minCoords, Vector3 maxCoords)
+        : base(physicsScene, regionBase, id)
+    {
+        m_mapInfo = new BulletHeightMapInfo(id, initialMap, null);
+        m_mapInfo.minCoords = minCoords;
+        m_mapInfo.maxCoords = maxCoords;
+        m_mapInfo.minZ = minCoords.Z;
+        m_mapInfo.maxZ = maxCoords.Z;
+        m_mapInfo.terrainRegionBase = TerrainBase;
+
+        // Don't have to free any previous since we just got here.
+        BuildHeightmapTerrain();
+    }
+
+    public override void Dispose()
+    {
+        ReleaseHeightMapTerrain();
+    }
+
+    // Using the information in m_mapInfo, create the physical representation of the heightmap.
+    private void BuildHeightmapTerrain()
+    {
+        m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID,
+                                m_mapInfo.minCoords, m_mapInfo.maxCoords, 
+                                m_mapInfo.heightMap, BSParam.TerrainCollisionMargin);
+
+        // Create the terrain shape from the mapInfo
+        m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr),
+                                                    BSPhysicsShapeType.SHAPE_TERRAIN);
+
+        // The terrain object initial position is at the center of the object
+        Vector3 centerPos;
+        centerPos.X = m_mapInfo.minCoords.X + (m_mapInfo.sizeX / 2f);
+        centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f);
+        centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f - 0.5f);
+
+        m_mapInfo.terrainBody = new BulletBody(m_mapInfo.ID,
+                BulletSimAPI.CreateBodyWithDefaultMotionState2(m_mapInfo.terrainShape.ptr,
+                                            m_mapInfo.ID, centerPos, Quaternion.Identity));
+
+        // Set current terrain attributes
+        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
+        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr, centerPos, Quaternion.Identity);
+
+        // redo its bounding box now that it is in the world
+        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
+
+        m_mapInfo.terrainBody.collisionType = CollisionType.Terrain;
+        m_mapInfo.terrainBody.ApplyCollisionMask();
+
+        // Make it so the terrain will not move or be considered for movement.
+        BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
+
+        return;
+    }
+
+    // If there is information in m_mapInfo pointing to physical structures, release same.
+    private void ReleaseHeightMapTerrain()
+    {
+        if (m_mapInfo != null)
+        {
+            if (m_mapInfo.terrainBody.HasPhysicalBody)
+            {
+                BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
+                // Frees both the body and the shape.
+                BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
+                BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr);
+            }
+        }
+        m_mapInfo = null;
+    }
+
+    // The passed position is relative to the base of the region.
+    public override float GetTerrainHeightAtXYZ(Vector3 pos)
+    {
+        float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
+
+        int mapIndex = (int)pos.Y * (int)m_mapInfo.sizeY + (int)pos.X;
+        try
+        {
+            ret = m_mapInfo.heightMap[mapIndex];
+        }
+        catch
+        {
+            // Sometimes they give us wonky values of X and Y. Give a warning and return something.
+            PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}",
+                                LogHeader, m_mapInfo.terrainRegionBase, pos);
+            ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
+        }
+        return ret;
+    }
+
+    // The passed position is relative to the base of the region.
+    public override float GetWaterLevelAtXYZ(Vector3 pos)
+    {
+        return PhysicsScene.SimpleWaterLevel;
+    }
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainManager.cs
new file mode 100644
index 0000000..66d62f0
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainManager.cs
@@ -0,0 +1,461 @@
+/*
+ * 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.Framework;
+using OpenSim.Region.Framework;
+using OpenSim.Region.CoreModules;
+using OpenSim.Region.Physics.Manager;
+
+using Nini.Config;
+using log4net;
+
+using OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSNPlugin
+{
+
+// The physical implementation of the terrain is wrapped in this class.
+public abstract class BSTerrainPhys : IDisposable
+{
+    public enum TerrainImplementation
+    {
+        Heightmap   = 0,
+        Mesh        = 1
+    }
+
+    public BSScene PhysicsScene { get; private set; }
+    // Base of the region in world coordinates. Coordinates inside the region are relative to this.
+    public Vector3 TerrainBase { get; private set; }
+    public uint ID { get; private set; }
+
+    public BSTerrainPhys(BSScene physicsScene, Vector3 regionBase, uint id)
+    {
+        PhysicsScene = physicsScene;
+        TerrainBase = regionBase;
+        ID = id;
+    }
+    public abstract void Dispose();
+    public abstract float GetTerrainHeightAtXYZ(Vector3 pos);
+    public abstract float GetWaterLevelAtXYZ(Vector3 pos);
+}
+
+// ==========================================================================================
+public sealed class BSTerrainManager : IDisposable
+{
+    static string LogHeader = "[BULLETSIM TERRAIN MANAGER]";
+
+    // These height values are fractional so the odd values will be
+    //     noticable when debugging.
+    public const float HEIGHT_INITIALIZATION = 24.987f;
+    public const float HEIGHT_INITIAL_LASTHEIGHT = 24.876f;
+    public const float HEIGHT_GETHEIGHT_RET = 24.765f;
+    public const float WATER_HEIGHT_GETHEIGHT_RET = 19.998f;
+
+    // If the min and max height are equal, we reduce the min by this
+    //    amount to make sure that a bounding box is built for the terrain.
+    public const float HEIGHT_EQUAL_FUDGE = 0.2f;
+
+    // Until the whole simulator is changed to pass us the region size, we rely on constants.
+    public Vector3 DefaultRegionSize = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
+
+    // The scene that I am part of
+    private BSScene PhysicsScene { get; set; }
+
+    // The ground plane created to keep thing from falling to infinity.
+    private BulletBody m_groundPlane;
+
+    // If doing mega-regions, if we're region zero we will be managing multiple
+    //    region terrains since region zero does the physics for the whole mega-region.
+    private Dictionary<Vector3, BSTerrainPhys> m_terrains;
+
+    // Flags used to know when to recalculate the height.
+    private bool m_terrainModified = false;
+
+    // If we are doing mega-regions, terrains are added from TERRAIN_ID to m_terrainCount.
+    // This is incremented before assigning to new region so it is the last ID allocated.
+    private uint m_terrainCount = BSScene.CHILDTERRAIN_ID - 1;
+    public uint HighestTerrainID { get {return m_terrainCount; } }
+
+    // If doing mega-regions, this holds our offset from region zero of
+    //     the mega-regions. "parentScene" points to the PhysicsScene of region zero.
+    private Vector3 m_worldOffset;
+    // If the parent region (region 0), this is the extent of the combined regions
+    //     relative to the origin of region zero
+    private Vector3 m_worldMax;
+    private PhysicsScene MegaRegionParentPhysicsScene { get; set; }
+
+    public BSTerrainManager(BSScene physicsScene)
+    {
+        PhysicsScene = physicsScene;
+        m_terrains = new Dictionary<Vector3,BSTerrainPhys>();
+
+        // Assume one region of default size
+        m_worldOffset = Vector3.Zero;
+        m_worldMax = new Vector3(DefaultRegionSize);
+        MegaRegionParentPhysicsScene = null;
+    }
+
+    public void Dispose()
+    {
+        ReleaseGroundPlaneAndTerrain();
+    }
+
+    // Create the initial instance of terrain and the underlying ground plane.
+    // This is called from the initialization routine so we presume it is
+    //    safe to call Bullet in real time. We hope no one is moving prims around yet.
+    public void CreateInitialGroundPlaneAndTerrain()
+    {
+        // 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, 
+                                    BSParam.TerrainCollisionMargin),
+                    BSPhysicsShapeType.SHAPE_GROUNDPLANE);
+        m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID,
+                        BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID,
+                                                            Vector3.Zero, Quaternion.Identity));
+        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr, Vector3.Zero, Quaternion.Identity);
+        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_groundPlane.ptr);
+        // Ground plane does not move
+        BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION);
+        // Everything collides with the ground plane.
+        m_groundPlane.collisionType = CollisionType.Groundplane;
+        m_groundPlane.ApplyCollisionMask();
+
+        // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain.
+        BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize);
+        m_terrains.Add(Vector3.Zero, initialTerrain);
+    }
+
+    // Release all the terrain structures we might have allocated
+    public void ReleaseGroundPlaneAndTerrain()
+    {
+        if (m_groundPlane.HasPhysicalBody)
+        {
+            if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr))
+            {
+                BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_groundPlane.ptr);
+            }
+            m_groundPlane.Clear();
+        }
+
+        ReleaseTerrain();
+    }
+
+    // Release all the terrain we have allocated
+    public void ReleaseTerrain()
+    {
+        lock (m_terrains)
+        {
+            foreach (KeyValuePair<Vector3, BSTerrainPhys> kvp in m_terrains)
+            {
+                kvp.Value.Dispose();
+            }
+            m_terrains.Clear();
+        }
+    }
+
+    // The simulator wants to set a new heightmap for the terrain.
+    public void SetTerrain(float[] heightMap) {
+        float[] localHeightMap = heightMap;
+        // If there are multiple requests for changes to the same terrain between ticks,
+        //      only do that last one.
+        PhysicsScene.PostTaintObject("TerrainManager.SetTerrain-"+ m_worldOffset.ToString(), 0, delegate()
+        {
+            if (m_worldOffset != Vector3.Zero && MegaRegionParentPhysicsScene != null)
+            {
+                // If a child of a mega-region, we shouldn't have any terrain allocated for us
+                ReleaseGroundPlaneAndTerrain();
+                // If doing the mega-prim stuff and we are the child of the zero region,
+                //    the terrain is added to our parent
+                if (MegaRegionParentPhysicsScene is BSScene)
+                {
+                    DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}",
+                                    BSScene.DetailLogZero, m_worldOffset, m_worldMax);
+                    ((BSScene)MegaRegionParentPhysicsScene).TerrainManager.UpdateTerrain(
+                                    BSScene.CHILDTERRAIN_ID, localHeightMap, 
+                                    m_worldOffset, m_worldOffset + DefaultRegionSize, true);
+                }
+            }
+            else
+            {
+                // If not doing the mega-prim thing, just change the terrain
+                DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero);
+
+                UpdateTerrain(BSScene.TERRAIN_ID, localHeightMap,
+                                    m_worldOffset, m_worldOffset + DefaultRegionSize, true);
+            }
+        });
+    }
+
+    // If called with no mapInfo for the terrain, this will create a new mapInfo and terrain
+    //     based on the passed information. The 'id' should be either the terrain id or
+    //     BSScene.CHILDTERRAIN_ID. If the latter, a new child terrain ID will be allocated and used.
+    //     The latter feature is for creating child terrains for mega-regions.
+    // If called with a mapInfo in m_heightMaps and there is an existing terrain body, a new
+    //     terrain shape is created and added to the body.
+    //     This call is most often used to update the heightMap and parameters of the terrain.
+    // (The above does suggest that some simplification/refactoring is in order.)
+    // Called during taint-time.
+    private void UpdateTerrain(uint id, float[] heightMap, 
+                            Vector3 minCoords, Vector3 maxCoords, bool inTaintTime)
+    {
+        DetailLog("{0},BSTerrainManager.UpdateTerrain,call,minC={1},maxC={2},inTaintTime={3}",
+                            BSScene.DetailLogZero, minCoords, maxCoords, inTaintTime);
+
+        // Find high and low points of passed heightmap.
+        // The min and max passed in is usually the area objects can be in (maximum
+        //     object height, for instance). The terrain wants the bounding box for the
+        //     terrain so replace passed min and max Z with the actual terrain min/max Z.
+        float minZ = float.MaxValue;
+        float maxZ = float.MinValue;
+        foreach (float height in heightMap)
+        {
+            if (height < minZ) minZ = height;
+            if (height > maxZ) maxZ = height;
+        }
+        if (minZ == maxZ)
+        {
+            // If min and max are the same, reduce min a little bit so a good bounding box is created.
+            minZ -= BSTerrainManager.HEIGHT_EQUAL_FUDGE;
+        }
+        minCoords.Z = minZ;
+        maxCoords.Z = maxZ;
+
+        Vector3 terrainRegionBase = new Vector3(minCoords.X, minCoords.Y, 0f);
+
+        lock (m_terrains)
+        {
+            BSTerrainPhys terrainPhys;
+            if (m_terrains.TryGetValue(terrainRegionBase, out terrainPhys))
+            {
+                // There is already a terrain in this spot. Free the old and build the new.
+                DetailLog("{0},UpdateTerrain:UpdateExisting,call,id={1},base={2},minC={3},maxC={4}",
+                                BSScene.DetailLogZero, id, terrainRegionBase, minCoords, minCoords);
+
+                // Remove old terrain from the collection
+                m_terrains.Remove(terrainRegionBase);
+                // Release any physical memory it may be using.
+                terrainPhys.Dispose();
+
+                if (MegaRegionParentPhysicsScene == null)
+                {
+                    BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords);
+                    m_terrains.Add(terrainRegionBase, newTerrainPhys);
+
+                    m_terrainModified = true;
+                }
+                else
+                {
+                    // It's possible that Combine() was called after this code was queued.
+                    // If we are a child of combined regions, we don't create any terrain for us.
+                    DetailLog("{0},BSTerrainManager.UpdateTerrain:AmACombineChild,taint", BSScene.DetailLogZero);
+
+                    // Get rid of any terrain that may have been allocated for us.
+                    ReleaseGroundPlaneAndTerrain();
+
+                    // I hate doing this, but just bail
+                    return;
+                }
+            }
+            else
+            {
+                // We don't know about this terrain so either we are creating a new terrain or
+                //    our mega-prim child is giving us a new terrain to add to the phys world
+
+                // if this is a child terrain, calculate a unique terrain id
+                uint newTerrainID = id;
+                if (newTerrainID >= BSScene.CHILDTERRAIN_ID)
+                    newTerrainID = ++m_terrainCount;
+
+                DetailLog("{0},UpdateTerrain:NewTerrain,taint,newID={1},minCoord={2},maxCoord={3}",
+                                            BSScene.DetailLogZero, newTerrainID, minCoords, minCoords);
+                BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords);
+                m_terrains.Add(terrainRegionBase, newTerrainPhys);
+
+                m_terrainModified = true;
+            }
+        }
+    }
+
+    // TODO: redo terrain implementation selection to allow other base types than heightMap.
+    private BSTerrainPhys BuildPhysicalTerrain(Vector3 terrainRegionBase, uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords)
+    {
+        PhysicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}", 
+                                            LogHeader, PhysicsScene.RegionName, terrainRegionBase, 
+                                            (BSTerrainPhys.TerrainImplementation)BSParam.TerrainImplementation);
+        BSTerrainPhys newTerrainPhys = null;
+        switch ((int)BSParam.TerrainImplementation)
+        {
+            case (int)BSTerrainPhys.TerrainImplementation.Heightmap:
+                newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, terrainRegionBase, id,
+                                            heightMap, minCoords, maxCoords);
+                break;
+            case (int)BSTerrainPhys.TerrainImplementation.Mesh:
+                newTerrainPhys = new BSTerrainMesh(PhysicsScene, terrainRegionBase, id,
+                                            heightMap, minCoords, maxCoords);
+                break;
+            default:
+                PhysicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. Type={1}/{2},Region={3}/{4}",
+                                            LogHeader, 
+                                            (int)BSParam.TerrainImplementation, 
+                                            BSParam.TerrainImplementation,
+                                            PhysicsScene.RegionName, terrainRegionBase);
+                break;
+        }
+        return newTerrainPhys;
+    }
+
+    // Return 'true' of this position is somewhere in known physical terrain space
+    public bool IsWithinKnownTerrain(Vector3 pos)
+    {
+        Vector3 terrainBaseXYZ;
+        BSTerrainPhys physTerrain;
+        return GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ);
+    }
+
+    // Given an X and Y, find the height of the terrain.
+    // Since we could be handling multiple terrains for a mega-region,
+    //    the base of the region is calcuated assuming all regions are
+    //    the same size and that is the default.
+    // Once the heightMapInfo is found, we have all the information to
+    //    compute the offset into the array.
+    private float lastHeightTX = 999999f;
+    private float lastHeightTY = 999999f;
+    private float lastHeight = HEIGHT_INITIAL_LASTHEIGHT;
+    public float GetTerrainHeightAtXYZ(Vector3 pos)
+    {
+        float tX = pos.X;
+        float tY = pos.Y;
+        // You'd be surprized at the number of times this routine is called
+        //    with the same parameters as last time.
+        if (!m_terrainModified && (lastHeightTX == tX) && (lastHeightTY == tY))
+            return lastHeight;
+        m_terrainModified = false;
+
+        lastHeightTX = tX;
+        lastHeightTY = tY;
+        float ret = HEIGHT_GETHEIGHT_RET;
+
+        Vector3 terrainBaseXYZ;
+        BSTerrainPhys physTerrain;
+        if (GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ))
+        {
+            ret = physTerrain.GetTerrainHeightAtXYZ(pos - terrainBaseXYZ);
+        }
+        else
+        {
+            PhysicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}",
+                    LogHeader, PhysicsScene.RegionName, tX, tY);
+            DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXYZ,terrainNotFound,pos={1},base={2}",
+                                BSScene.DetailLogZero, pos, terrainBaseXYZ);
+        }
+
+        lastHeight = ret;
+        return ret;
+    }
+
+    public float GetWaterLevelAtXYZ(Vector3 pos)
+    {
+        float ret = WATER_HEIGHT_GETHEIGHT_RET;
+
+        Vector3 terrainBaseXYZ;
+        BSTerrainPhys physTerrain;
+        if (GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ))
+        {
+            ret = physTerrain.GetWaterLevelAtXYZ(pos);
+        }
+        else
+        {
+            PhysicsScene.Logger.ErrorFormat("{0} GetWaterHeightAtXY: terrain not found: pos={1}, terrainBase={2}, height={3}",
+                    LogHeader, PhysicsScene.RegionName, pos, terrainBaseXYZ, ret);
+        }
+        return ret;
+    }
+
+    // Given an address, return 'true' of there is a description of that terrain and output
+    //    the descriptor class and the 'base' fo the addresses therein.
+    private bool GetTerrainPhysicalAtXYZ(Vector3 pos, out BSTerrainPhys outPhysTerrain, out Vector3 outTerrainBase)
+    {
+        int offsetX = ((int)(pos.X / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X;
+        int offsetY = ((int)(pos.Y / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y;
+        Vector3 terrainBaseXYZ = new Vector3(offsetX, offsetY, 0f);
+
+        BSTerrainPhys physTerrain = null;
+        lock (m_terrains)
+        {
+            m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain);
+        }
+        outTerrainBase = terrainBaseXYZ;
+        outPhysTerrain = physTerrain;
+        return (physTerrain != null);
+    }
+
+    // Although no one seems to check this, I do support combining.
+    public bool SupportsCombining()
+    {
+        return true;
+    }
+
+    // This routine is called two ways:
+    //    One with 'offset' and 'pScene' zero and null but 'extents' giving the maximum
+    //        extent of the combined regions. This is to inform the parent of the size
+    //        of the combined regions.
+    //    and one with 'offset' as the offset of the child region to the base region,
+    //        'pScene' pointing to the parent and 'extents' of zero. This informs the
+    //        child of its relative base and new parent.
+    public void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
+    {
+        m_worldOffset = offset;
+        m_worldMax = extents;
+        MegaRegionParentPhysicsScene = pScene;
+        if (pScene != null)
+        {
+            // We are a child.
+            // We want m_worldMax to be the highest coordinate of our piece of terrain.
+            m_worldMax = offset + DefaultRegionSize;
+        }
+        DetailLog("{0},BSTerrainManager.Combine,offset={1},extents={2},wOffset={3},wMax={4}",
+                        BSScene.DetailLogZero, offset, extents, m_worldOffset, m_worldMax);
+    }
+
+    // Unhook all the combining that I know about.
+    public void UnCombine(PhysicsScene pScene)
+    {
+        // Just like ODE, we don't do anything yet.
+        DetailLog("{0},BSTerrainManager.UnCombine", BSScene.DetailLogZero);
+    }
+
+
+    private void DetailLog(string msg, params Object[] args)
+    {
+        PhysicsScene.PhysicsLogging.Write(msg, args);
+    }
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainMesh.cs
new file mode 100644
index 0000000..6083dd4
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainMesh.cs
@@ -0,0 +1,267 @@
+/*
+ * 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.Framework;
+using OpenSim.Region.Framework;
+using OpenSim.Region.CoreModules;
+using OpenSim.Region.Physics.Manager;
+
+using Nini.Config;
+using log4net;
+
+using OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSNPlugin
+{
+public sealed class BSTerrainMesh : BSTerrainPhys
+{
+    static string LogHeader = "[BULLETSIM TERRAIN MESH]";
+
+    private float[] m_savedHeightMap;
+    int m_sizeX;
+    int m_sizeY;
+
+    BulletShape m_terrainShape;
+    BulletBody m_terrainBody;
+
+    public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize) 
+        : base(physicsScene, regionBase, id)
+    {
+    }
+
+    public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id /* parameters for making mesh */)
+        : base(physicsScene, regionBase, id)
+    {
+    }
+
+    // Create terrain mesh from a heightmap.
+    public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, 
+                                                    Vector3 minCoords, Vector3 maxCoords)
+        : base(physicsScene, regionBase, id)
+    {
+        int indicesCount;
+        int[] indices;
+        int verticesCount;
+        float[] vertices;
+
+        m_savedHeightMap = initialMap;
+
+        m_sizeX = (int)(maxCoords.X - minCoords.X);
+        m_sizeY = (int)(maxCoords.Y - minCoords.Y);
+
+        if (!BSTerrainMesh.ConvertHeightmapToMesh(PhysicsScene, initialMap,
+                            m_sizeX, m_sizeY,
+                            (float)m_sizeX, (float)m_sizeY,
+                            Vector3.Zero, 1.0f,
+                            out indicesCount, out indices, out verticesCount, out vertices))
+        {
+            // DISASTER!!
+            PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap", ID);
+            PhysicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh! base={1}", LogHeader, TerrainBase);
+            // Something is very messed up and a crash is in our future.
+            return;
+        }
+        PhysicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,indices={1},indSz={2},vertices={3},vertSz={4}", 
+                                ID, indicesCount, indices.Length, verticesCount, vertices.Length);
+
+        m_terrainShape = new BulletShape(BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
+                                                    indicesCount, indices, verticesCount, vertices),
+                                        BSPhysicsShapeType.SHAPE_MESH);
+        if (!m_terrainShape.HasPhysicalShape)
+        {
+            // DISASTER!!
+            PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape", ID);
+            physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain mesh! base={1}", LogHeader, TerrainBase);
+            // Something is very messed up and a crash is in our future.
+            return;
+        }
+
+        Vector3 pos = regionBase;
+        Quaternion rot = Quaternion.Identity;
+
+        m_terrainBody = new BulletBody(id, BulletSimAPI.CreateBodyWithDefaultMotionState2( m_terrainShape.ptr, ID, pos, rot));
+        if (!m_terrainBody.HasPhysicalBody)
+        {
+            // DISASTER!!
+            physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase);
+            // Something is very messed up and a crash is in our future.
+            return;
+        }
+
+        // Set current terrain attributes
+        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.
+        BulletSimAPI.SetMassProps2(m_terrainBody.ptr, 0f, Vector3.Zero);
+
+        // Put the new terrain to the world of physical objects
+        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr, pos, rot);
+
+        // Redo its bounding box now that it is in the world
+        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr);
+
+        m_terrainBody.collisionType = CollisionType.Terrain;
+        m_terrainBody.ApplyCollisionMask();
+
+        // Make it so the terrain will not move or be considered for movement.
+        BulletSimAPI.ForceActivationState2(m_terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
+    }
+
+    public override void Dispose()
+    {
+        if (m_terrainBody.HasPhysicalBody)
+        {
+            BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr);
+            // Frees both the body and the shape.
+            BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_terrainBody.ptr);
+        }
+    }
+
+    public override float GetTerrainHeightAtXYZ(Vector3 pos)
+    {
+        // For the moment use the saved heightmap to get the terrain height.
+        // TODO: raycast downward to find the true terrain below the position.
+        float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
+
+        int mapIndex = (int)pos.Y * m_sizeY + (int)pos.X;
+        try
+        {
+            ret = m_savedHeightMap[mapIndex];
+        }
+        catch
+        {
+            // Sometimes they give us wonky values of X and Y. Give a warning and return something.
+            PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}",
+                                                LogHeader, TerrainBase, pos);
+            ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
+        }
+        return ret;
+    }
+
+    // The passed position is relative to the base of the region.
+    public override float GetWaterLevelAtXYZ(Vector3 pos)
+    {
+        return PhysicsScene.SimpleWaterLevel;
+    }
+
+    // Convert the passed heightmap to mesh information suitable for CreateMeshShape2().
+    // Return 'true' if successfully created.
+    public static bool ConvertHeightmapToMesh(
+                                BSScene physicsScene,
+                                float[] heightMap, int sizeX, int sizeY,    // parameters of incoming heightmap
+                                float extentX, float extentY,               // zero based range for output vertices
+                                Vector3 extentBase,                         // base to be added to all vertices
+                                float magnification,                        // number of vertices to create between heightMap coords
+                                out int indicesCountO, out int[] indicesO,
+                                out int verticesCountO, out float[] verticesO)
+    {
+        bool ret = false;
+
+        int indicesCount = 0;
+        int verticesCount = 0;
+        int[] indices = new int[0];
+        float[] vertices = new float[0];
+
+        // Simple mesh creation which assumes magnification == 1.
+        // TODO: do a more general solution that scales, adds new vertices and smoothes the result.
+
+        // Create an array of vertices that is sizeX+1 by sizeY+1 (note the loop
+        //    from zero to <= sizeX). The triangle indices are then generated as two triangles
+        //    per heightmap point. There are sizeX by sizeY of these squares. The extra row and
+        //    column of vertices are used to complete the triangles of the last row and column
+        //    of the heightmap.
+        try
+        {
+            // One vertice per heightmap value plus the vertices off the top and bottom edge.
+            int totalVertices = (sizeX + 1) * (sizeY + 1);
+            vertices = new float[totalVertices * 3];
+            int totalIndices = sizeX * sizeY * 6;
+            indices = new int[totalIndices];
+
+            float magX = (float)sizeX / extentX;
+            float magY = (float)sizeY / extentY;
+            physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2},extentBase={3},magX={4},magY={5}",
+                                    BSScene.DetailLogZero, totalVertices, totalIndices, extentBase, magX, magY);
+            float minHeight = float.MaxValue;
+            // Note that sizeX+1 vertices are created since there is land between this and the next region.
+            for (int yy = 0; yy <= sizeY; yy++)
+            {
+                for (int xx = 0; xx <= sizeX; xx++)     // Hint: the "<=" means we go around sizeX + 1 times
+                {
+                    int offset = yy * sizeX + xx;
+                    // Extend the height with the height from the last row or column
+                    if (yy == sizeY) offset -= sizeX;
+                    if (xx == sizeX) offset -= 1;
+                    float height = heightMap[offset];
+                    minHeight = Math.Min(minHeight, height);
+                    vertices[verticesCount + 0] = (float)xx * magX + extentBase.X;
+                    vertices[verticesCount + 1] = (float)yy * magY + extentBase.Y;
+                    vertices[verticesCount + 2] = height + extentBase.Z;
+                    verticesCount += 3;
+                }
+            }
+            verticesCount = verticesCount / 3;
+
+            for (int yy = 0; yy < sizeY; yy++)
+            {
+                for (int xx = 0; xx < sizeX; xx++)
+                {
+                    int offset = yy * (sizeX + 1) + xx;
+                    // Each vertices is presumed to be the upper left corner of a box of two triangles
+                    indices[indicesCount + 0] = offset;
+                    indices[indicesCount + 1] = offset + 1;
+                    indices[indicesCount + 2] = offset + sizeX + 1; // accounting for the extra column
+                    indices[indicesCount + 3] = offset + 1;
+                    indices[indicesCount + 4] = offset + sizeX + 2;
+                    indices[indicesCount + 5] = offset + sizeX + 1;
+                    indicesCount += 6;
+                }
+            }
+
+            ret = true;
+        }
+        catch (Exception e)
+        {
+            physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh. For={1}/{2}, e={3}",
+                                                LogHeader, physicsScene.RegionName, extentBase, e);
+        }
+
+        indicesCountO = indicesCount;
+        indicesO = indices;
+        verticesCountO = verticesCount;
+        verticesO = vertices;
+
+        return ret;
+    }
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs
new file mode 100644
index 0000000..93643c9
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs
@@ -0,0 +1,1603 @@
+/*
+ * 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.IO;
+using System.Runtime.InteropServices;
+using System.Security;
+using System.Text;
+using BulletXNA;
+using OpenMetaverse;
+using BulletXNA.LinearMath;
+using BulletXNA.BulletCollision;
+using BulletXNA.BulletDynamics;
+using BulletXNA.BulletCollision.CollisionDispatch;
+using OpenSim.Framework;
+
+namespace OpenSim.Region.Physics.BulletSNPlugin {
+
+// Classes to allow some type checking for the API
+// These hold pointers to allocated objects in the unmanaged space.
+
+
+
+    // Constraint type values as defined by Bullet
+public enum ConstraintType : int
+{
+        POINT2POINT_CONSTRAINT_TYPE = 3,
+        HINGE_CONSTRAINT_TYPE,
+        CONETWIST_CONSTRAINT_TYPE,
+        D6_CONSTRAINT_TYPE,
+        SLIDER_CONSTRAINT_TYPE,
+        CONTACT_CONSTRAINT_TYPE,
+        D6_SPRING_CONSTRAINT_TYPE,
+        MAX_CONSTRAINT_TYPE
+}
+
+// ===============================================================================
+[StructLayout(LayoutKind.Sequential)]
+public struct ConvexHull
+{
+        Vector3 Offset;
+        int VertexCount;
+        Vector3[] Vertices;
+}
+public enum BSPhysicsShapeType
+{
+        SHAPE_UNKNOWN   = 0,
+        SHAPE_CAPSULE   = 1,
+        SHAPE_BOX       = 2,
+        SHAPE_CONE      = 3,
+        SHAPE_CYLINDER  = 4,
+        SHAPE_SPHERE    = 5,
+        SHAPE_MESH      = 6,
+        SHAPE_HULL      = 7,
+    // following defined by BulletSim
+        SHAPE_GROUNDPLANE  = 20,
+        SHAPE_TERRAIN   = 21,
+        SHAPE_COMPOUND  = 22,
+        SHAPE_HEIGHTMAP = 23,
+};
+
+// The native shapes have predefined shape hash keys
+public enum FixedShapeKey : ulong
+{
+    KEY_NONE        = 0,
+    KEY_BOX         = 1,
+    KEY_SPHERE      = 2,
+    KEY_CONE        = 3,
+    KEY_CYLINDER    = 4,
+    KEY_CAPSULE     = 5,
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct ShapeData
+{
+    public uint ID;
+    public BSPhysicsShapeType Type;
+    public Vector3 Position;
+    public Quaternion Rotation;
+    public Vector3 Velocity;
+    public Vector3 Scale;
+    public float Mass;
+    public float Buoyancy;
+    public System.UInt64 HullKey;
+    public System.UInt64 MeshKey;
+    public float Friction;
+    public float Restitution;
+    public float Collidable;    // true of things bump into this
+    public float Static;        // true if a static object. Otherwise gravity, etc.
+    public float Solid;         // true if object cannot be passed through
+    public Vector3 Size;
+
+    // note that bools are passed as floats since bool size changes by language and architecture
+    public const float numericTrue = 1f;
+    public const float numericFalse = 0f;
+}
+[StructLayout(LayoutKind.Sequential)]
+public struct SweepHit
+{
+    public uint ID;
+    public float Fraction;
+    public Vector3 Normal;
+    public Vector3 Point;
+}
+[StructLayout(LayoutKind.Sequential)]
+public struct RaycastHit
+{
+    public uint ID;
+    public float Fraction;
+    public Vector3 Normal;
+}
+[StructLayout(LayoutKind.Sequential)]
+public struct CollisionDesc
+{
+    public uint aID;
+    public uint bID;
+    public Vector3 point;
+    public Vector3 normal;
+}
+[StructLayout(LayoutKind.Sequential)]
+public struct EntityProperties
+{
+    public uint ID;
+    public Vector3 Position;
+    public Quaternion Rotation;
+    public Vector3 Velocity;
+    public Vector3 Acceleration;
+    public Vector3 RotationalVelocity;
+    public override string ToString()
+    {
+        return string.Format("ID:{0}, Pos:<{1:F},{2:F},{3:F}>, Rot:<{4:F},{5:F},{6:F},{7:F}>, LVel:<{8:F},{9:F},{10:F}>, AVel:<{11:F},{12:F},{13:F}>",
+            ID.ToString(),
+            Position.X,Position.Y,Position.Z,
+            Rotation.X,Rotation.Y,Rotation.Z,Rotation.W,
+            Velocity.X,Velocity.Y,Velocity.Z,
+            RotationalVelocity.X,RotationalVelocity.Y,RotationalVelocity.Z
+            );
+    }
+}
+
+// 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
+{
+    public float defaultFriction;
+    public float defaultDensity;
+    public float defaultRestitution;
+    public float collisionMargin;
+    public float gravity;
+
+    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;
+        public float shouldDisableContactPoolDynamicAllocation;
+        public float shouldForceUpdateAllAabbs;
+        public float shouldRandomizeSolverOrder;
+        public float shouldSplitSimulationIslands;
+        public float shouldEnableFrictionCaching;
+        public float numberOfSolverIterations;
+
+    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;
+
+    public const float numericTrue = 1f;
+    public const float numericFalse = 0f;
+}
+
+
+// The states a bullet collision object can have
+
+public enum ActivationState : uint
+{
+    UNDEFINED = 0,
+    ACTIVE_TAG = 1,
+    ISLAND_SLEEPING = 2,
+    WANTS_DEACTIVATION = 3,
+    DISABLE_DEACTIVATION = 4,
+    DISABLE_SIMULATION = 5,
+}
+
+public enum CollisionObjectTypes : int
+{
+    CO_COLLISION_OBJECT             = 1 << 0,
+    CO_RIGID_BODY                   = 1 << 1,
+    CO_GHOST_OBJECT                 = 1 << 2,
+    CO_SOFT_BODY                    = 1 << 3,
+    CO_HF_FLUID                     = 1 << 4,
+    CO_USER_TYPE                    = 1 << 5,
+}
+
+// Values used by Bullet and BulletSim to control object properties.
+// Bullet's "CollisionFlags" has more to do with operations on the
+//    object (if collisions happen, if gravity effects it, ...).
+    [Flags]
+public enum CollisionFlags : uint
+{
+    CF_STATIC_OBJECT                 = 1 << 0,
+    CF_KINEMATIC_OBJECT              = 1 << 1,
+    CF_NO_CONTACT_RESPONSE           = 1 << 2,
+    CF_CUSTOM_MATERIAL_CALLBACK      = 1 << 3,
+    CF_CHARACTER_OBJECT              = 1 << 4,
+    CF_DISABLE_VISUALIZE_OBJECT      = 1 << 5,
+    CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
+    // Following used by BulletSim to control collisions and updates
+    BS_SUBSCRIBE_COLLISION_EVENTS    = 1 << 10,
+    BS_FLOATS_ON_WATER               = 1 << 11,
+    BS_VEHICLE_COLLISIONS            = 1 << 12,
+    BS_NONE                          = 0,
+    BS_ALL                           = 0xFFFFFFFF,
+
+    // These are the collision flags switched depending on physical state.
+    // The other flags are used for other things and should not be fooled with.
+    BS_ACTIVE = CF_STATIC_OBJECT
+                | CF_KINEMATIC_OBJECT
+                | CF_NO_CONTACT_RESPONSE
+};
+
+// Values for collisions groups and masks
+public enum CollisionFilterGroups : uint
+{
+    // Don't use the bit definitions!!  Define the use in a
+    //   filter/mask definition below. This way collision interactions
+    //   are more easily debugged.
+    BNoneGroup              = 0,
+    BDefaultGroup           = 1 << 0,
+    BStaticGroup            = 1 << 1,
+    BKinematicGroup         = 1 << 2,
+    BDebrisGroup            = 1 << 3,
+    BSensorTrigger          = 1 << 4,
+    BCharacterGroup         = 1 << 5,
+    BAllGroup               = 0xFFFFFFFF,
+    // Filter groups defined by BulletSim
+    BGroundPlaneGroup       = 1 << 10,
+    BTerrainGroup           = 1 << 11,
+    BRaycastGroup           = 1 << 12,
+    BSolidGroup             = 1 << 13,
+    // BLinksetGroup        = xx  // a linkset proper is either static or dynamic
+    BLinksetChildGroup      = 1 << 14,
+    // The collsion filters and masked are defined in one place -- don't want them scattered
+    AvatarGroup             = BCharacterGroup,
+    AvatarMask              = BAllGroup,
+    ObjectGroup             = BSolidGroup,
+    ObjectMask              = BAllGroup,
+    StaticObjectGroup       = BStaticGroup,
+    StaticObjectMask        = AvatarGroup | ObjectGroup,    // static things don't interact with much
+    LinksetGroup            =  BLinksetChildGroup,
+    LinksetMask             = BAllGroup & ~BLinksetChildGroup, // linkset objects don't collide with each other
+    VolumeDetectGroup       = BSensorTrigger,
+    VolumeDetectMask        = ~BSensorTrigger,
+    TerrainGroup            = BTerrainGroup,
+    TerrainMask             = BAllGroup & ~BStaticGroup,  // static objects on the ground don't collide
+    GroundPlaneGroup        = BGroundPlaneGroup,
+    GroundPlaneMask         = BAllGroup
+
+};
+
+// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
+// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2.
+public enum ConstraintParams : int
+{
+    BT_CONSTRAINT_ERP = 1,  // this one is not used in Bullet as of 20120730
+    BT_CONSTRAINT_STOP_ERP,
+    BT_CONSTRAINT_CFM,
+    BT_CONSTRAINT_STOP_CFM,
+};
+public enum ConstraintParamAxis : int
+{
+    AXIS_LINEAR_X = 0,
+    AXIS_LINEAR_Y,
+    AXIS_LINEAR_Z,
+    AXIS_ANGULAR_X,
+    AXIS_ANGULAR_Y,
+    AXIS_ANGULAR_Z,
+    AXIS_LINEAR_ALL = 20,    // these last three added by BulletSim so we don't have to do zillions of calls
+    AXIS_ANGULAR_ALL,
+    AXIS_ALL
+};
+
+// ===============================================================================
+static class BulletSimAPI {
+    private static int m_collisionsThisFrame;
+    public delegate void DebugLogCallback(string msg);
+    /// <summary>
+    /// 
+    /// </summary>
+    /// <param name="p"></param>
+    /// <param name="p_2"></param>
+    internal static bool RemoveObjectFromWorld2(object pWorld, object pBody)
+    {
+        DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
+        RigidBody body = pBody as RigidBody;
+        world.RemoveRigidBody(body);
+        return true;
+    }
+
+    internal static void SetRestitution2(object pBody, float pRestitution)
+    {
+        RigidBody body = pBody as RigidBody;
+        body.SetRestitution(pRestitution);
+    }
+
+    internal static void SetMargin2(object pShape, float pMargin)
+    {
+        CollisionShape shape = pShape as CollisionShape;
+        shape.SetMargin(pMargin);
+    }
+
+    internal static void SetLocalScaling2(object pShape, Vector3 pScale)
+    {
+        CollisionShape shape = pShape as CollisionShape;
+        IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
+        shape.SetLocalScaling(ref vec);
+
+    }
+
+    internal static void SetContactProcessingThreshold2(object pBody, float contactprocessingthreshold)
+    {
+        RigidBody body = pBody as RigidBody;
+        body.SetContactProcessingThreshold(contactprocessingthreshold);
+    }
+
+    internal static void SetCcdMotionThreshold2(object pBody, float pccdMotionThreashold)
+    {
+        RigidBody body = pBody as RigidBody;
+        body.SetCcdMotionThreshold(pccdMotionThreashold);
+    }
+
+    internal static void SetCcdSweptSphereRadius2(object pBody, float pCcdSweptSphereRadius)
+    {
+        RigidBody body = pBody as RigidBody;
+        body.SetCcdSweptSphereRadius(pCcdSweptSphereRadius);
+    }
+
+    internal static void SetAngularFactorV2(object pBody, Vector3 pAngularFactor)
+    {
+        RigidBody body = pBody as RigidBody;
+        body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z));
+    }
+
+    internal static CollisionFlags AddToCollisionFlags2(object pBody, CollisionFlags pcollisionFlags)
+    {
+        CollisionObject body = pBody as CollisionObject;
+        CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags();
+        existingcollisionFlags |= pcollisionFlags;
+        body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
+        return (CollisionFlags) (uint) existingcollisionFlags;
+    }
+
+    internal static void AddObjectToWorld2(object pWorld, object pBody)
+    {
+        RigidBody body = pBody as RigidBody;
+        DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
+        //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE))
+
+        world.AddRigidBody(body);
+
+        //if (body.GetBroadphaseHandle() != null)
+        //    world.UpdateSingleAabb(body);
+    }
+
+    internal static void AddObjectToWorld2(object pWorld, object pBody, Vector3 _position, Quaternion _orientation)
+    {
+        RigidBody body = pBody as RigidBody;
+        DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
+        //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE))
+
+        world.AddRigidBody(body);
+        IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z);
+        IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z,
+                                                              _orientation.W);
+        IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion);
+        mat._origin = vposition;
+        body.SetWorldTransform(mat);
+        //if (body.GetBroadphaseHandle() != null)
+        //    world.UpdateSingleAabb(body);
+    }
+
+    internal static void ForceActivationState2(object pBody, ActivationState pActivationState)
+    {
+        CollisionObject body = pBody as CollisionObject;
+        body.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState);
+    }
+
+    internal static void UpdateSingleAabb2(object pWorld, object pBody)
+    {
+        CollisionObject body = pBody as CollisionObject;
+        DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
+        world.UpdateSingleAabb(body);
+    }
+
+    internal static bool SetCollisionGroupMask2(object pBody, uint pGroup, uint pMask)
+    {
+        RigidBody body = pBody as RigidBody;
+        body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
+        body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
+        if ((uint) body.GetBroadphaseHandle().m_collisionFilterGroup == 0)
+            return false;
+        return true;
+    }
+
+    internal static void ClearAllForces2(object pBody)
+    {
+        CollisionObject body = pBody as CollisionObject;
+        IndexedVector3 zeroVector = new IndexedVector3(0, 0, 0);
+        body.SetInterpolationLinearVelocity(ref zeroVector);
+        body.SetInterpolationAngularVelocity(ref zeroVector);
+        IndexedMatrix bodytransform = body.GetWorldTransform();
+
+        body.SetInterpolationWorldTransform(ref bodytransform);
+
+        if (body is RigidBody)
+        {
+            RigidBody rigidbody = body as RigidBody;
+            rigidbody.SetLinearVelocity(zeroVector);
+            rigidbody.SetAngularVelocity(zeroVector);
+            rigidbody.ClearForces();
+        }
+    }
+
+    internal static void SetInterpolationAngularVelocity2(object pBody, Vector3 pVector3)
+    {
+        RigidBody body = pBody as RigidBody;
+        IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
+        body.SetInterpolationAngularVelocity(ref vec);
+    }
+
+    internal static void SetAngularVelocity2(object pBody, Vector3 pVector3)
+    {
+        RigidBody body = pBody as RigidBody;
+        IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
+        body.SetAngularVelocity(ref vec);
+    }
+
+    internal static void ClearForces2(object pBody)
+    {
+        RigidBody body = pBody as RigidBody;
+        body.ClearForces();
+    }
+
+    internal static void SetTranslation2(object pBody, Vector3 _position, Quaternion _orientation)
+    {
+        RigidBody body = pBody as RigidBody;
+        IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z);
+        IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z,
+                                                              _orientation.W);
+        IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion);
+        mat._origin = vposition;
+        body.SetWorldTransform(mat);
+        
+    }
+
+    internal static Vector3 GetPosition2(object pBody)
+    {
+        RigidBody body = pBody as RigidBody;
+        IndexedVector3 pos = body.GetInterpolationWorldTransform()._origin;
+        return new Vector3(pos.X, pos.Y, pos.Z);
+    }
+
+    internal static Vector3 CalculateLocalInertia2(object pShape, float pphysMass)
+    {
+        CollisionShape shape = pShape as CollisionShape;
+        IndexedVector3 inertia = IndexedVector3.Zero;
+        shape.CalculateLocalInertia(pphysMass, out inertia);
+        return new Vector3(inertia.X, inertia.Y, inertia.Z);
+    }
+
+    internal static void SetMassProps2(object pBody, float pphysMass, Vector3 plocalInertia)
+    {
+        RigidBody body = pBody as RigidBody;
+        IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z);
+        body.SetMassProps(pphysMass, inertia);
+    }
+
+
+    internal static void SetObjectForce2(object pBody, Vector3 _force)
+    {
+        RigidBody body = pBody as RigidBody;
+        IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z);
+        body.SetTotalForce(ref force);
+    }
+
+    internal static void SetFriction2(object pBody, float _currentFriction)
+    {
+        RigidBody body = pBody as RigidBody;
+        body.SetFriction(_currentFriction);
+    }
+
+    internal static void SetLinearVelocity2(object pBody, Vector3 _velocity)
+    {
+        RigidBody body = pBody as RigidBody;
+        IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z);
+        body.SetLinearVelocity(velocity);
+    }
+
+    internal static void Activate2(object pBody, bool pforceactivation)
+    {
+        RigidBody body = pBody as RigidBody;
+        body.Activate(pforceactivation);
+        
+    }
+
+    internal static Quaternion GetOrientation2(object pBody)
+    {
+        RigidBody body = pBody as RigidBody;
+        IndexedQuaternion mat = body.GetInterpolationWorldTransform().GetRotation();
+        return new Quaternion(mat.X, mat.Y, mat.Z, mat.W);
+    }
+
+    internal static CollisionFlags RemoveFromCollisionFlags2(object pBody, CollisionFlags pcollisionFlags)
+    {
+        RigidBody body = pBody as RigidBody;
+        CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags();
+        existingcollisionFlags &= ~pcollisionFlags;
+        body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
+        return (CollisionFlags)(uint)existingcollisionFlags;
+    }
+
+    internal static void SetGravity2(object pBody, Vector3 pGravity)
+    {
+        RigidBody body = pBody as RigidBody;
+        IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z);
+        body.SetGravity(gravity);
+    }
+
+    internal static bool DestroyConstraint2(object pBody, object pConstraint)
+    {
+        RigidBody body = pBody as RigidBody;
+        TypedConstraint constraint = pConstraint as TypedConstraint;
+        body.RemoveConstraintRef(constraint);
+        return true;
+    }
+
+    internal static bool SetLinearLimits2(object pConstraint, Vector3 low, Vector3 high)
+    {
+        Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
+        IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
+        IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
+        constraint.SetLinearLowerLimit(lowlimit);
+        constraint.SetLinearUpperLimit(highlimit);
+        return true;
+    }
+
+    internal static bool SetAngularLimits2(object pConstraint, Vector3 low, Vector3 high)
+    {
+        Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
+        IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
+        IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
+        constraint.SetAngularLowerLimit(lowlimit);
+        constraint.SetAngularUpperLimit(highlimit);
+        return true;
+    }
+
+    internal static void SetConstraintNumSolverIterations2(object pConstraint, float cnt)
+    {
+        Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
+        constraint.SetOverrideNumSolverIterations((int)cnt);
+    }
+
+    internal static void CalculateTransforms2(object pConstraint)
+    {
+        Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
+        constraint.CalculateTransforms();
+    }
+
+    internal static void SetConstraintEnable2(object pConstraint, float p_2)
+    {
+        Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
+        constraint.SetEnabled((p_2 == 0) ? false : true);
+    }
+
+
+    //BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,frame1, frame1rot,frame2, frame2rot,useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+    internal static object Create6DofConstraint2(object pWorld, object pBody1, object pBody2, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
+
+    {
+         DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
+        RigidBody body1 = pBody1 as RigidBody;
+        RigidBody body2 = pBody2 as RigidBody;
+        IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
+        IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
+        IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
+        frame1._origin = frame1v;
+
+        IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
+        IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
+        IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
+        frame2._origin = frame1v;
+
+        Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2,
+                                                                  puseLinearReferenceFrameA);
+        consttr.CalculateTransforms();
+        world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies);
+
+        return consttr;
+    }
+
+    
+    /// <summary>
+    /// 
+    /// </summary>
+    /// <param name="pWorld"></param>
+    /// <param name="pBody1"></param>
+    /// <param name="pBody2"></param>
+    /// <param name="pjoinPoint"></param>
+    /// <param name="puseLinearReferenceFrameA"></param>
+    /// <param name="pdisableCollisionsBetweenLinkedBodies"></param>
+    /// <returns></returns>
+    internal static object Create6DofConstraintToPoint2(object pWorld, object pBody1, object pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
+    {
+        DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
+        RigidBody body1 = pBody1 as RigidBody;
+        RigidBody body2 = pBody2 as RigidBody;
+        IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
+        IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
+
+        IndexedVector3 joinPoint = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z);
+        IndexedMatrix mat = IndexedMatrix.Identity;
+        mat._origin = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z);
+        frame1._origin = body1.GetWorldTransform().Inverse()*joinPoint;
+        frame2._origin = body2.GetWorldTransform().Inverse()*joinPoint;
+
+        Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2, puseLinearReferenceFrameA);
+        consttr.CalculateTransforms();
+        world.AddConstraint(consttr, pdisableCollisionsBetweenLinkedBodies);
+
+        return consttr;
+    }
+    //SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
+    internal static void SetFrames2(object pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot)
+    {
+        Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
+        IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
+        IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
+        IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
+        frame1._origin = frame1v;
+
+        IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
+        IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
+        IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
+        frame2._origin = frame1v;
+        constraint.SetFrames(ref frame1, ref frame2);
+    }
+
+
+    
+
+    internal static bool IsInWorld2(object pWorld, object pShapeObj)
+    {
+        DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
+        CollisionObject shape = pShapeObj as CollisionObject;
+        return world.IsInWorld(shape);
+    }
+
+    internal static void SetInterpolationLinearVelocity2(object pBody, Vector3 VehicleVelocity)
+    {
+        RigidBody body = pBody as RigidBody;
+        IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z);
+        body.SetInterpolationLinearVelocity(ref velocity);
+    }
+
+    internal static bool UseFrameOffset2(object pConstraint, float onOff)
+    {
+        Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
+        constraint.SetUseFrameOffset((onOff == 0) ? false : true);
+        return true;
+    }
+    //SetBreakingImpulseThreshold2(m_constraint.ptr, threshold);
+    internal static bool SetBreakingImpulseThreshold2(object pConstraint, float threshold)
+    {
+        Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
+        constraint.SetBreakingImpulseThreshold(threshold);
+        return true;
+    }
+    //BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping);
+    internal static void SetAngularDamping2(object pBody, float angularDamping)
+    {
+        RigidBody body = pBody as RigidBody;
+        float lineardamping = body.GetLinearDamping();
+        body.SetDamping(lineardamping, angularDamping);
+
+    }
+
+    internal static void UpdateInertiaTensor2(object pBody)
+    {
+        RigidBody body = pBody as RigidBody;
+        body.UpdateInertiaTensor();
+    }
+
+    internal static void RecalculateCompoundShapeLocalAabb2( object pCompoundShape)
+    {
+
+        CompoundShape shape = pCompoundShape as CompoundShape;
+        shape.RecalculateLocalAabb();
+    }
+
+    //BulletSimAPI.GetCollisionFlags2(PhysBody.ptr)
+    internal static CollisionFlags GetCollisionFlags2(object pBody)
+    {
+        RigidBody body = pBody as RigidBody;
+        uint flags = (uint)body.GetCollisionFlags();
+        return (CollisionFlags) flags;
+    }
+
+    internal static void SetDamping2(object pBody, float pLinear, float pAngular)
+    {
+        RigidBody body = pBody as RigidBody;
+        body.SetDamping(pLinear, pAngular);
+    }
+    //PhysBody.ptr, PhysicsScene.Params.deactivationTime);
+    internal static void SetDeactivationTime2(object pBody, float pDeactivationTime)
+    {
+        RigidBody body = pBody as RigidBody;
+        body.SetDeactivationTime(pDeactivationTime);
+    }
+    //SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
+    internal static void SetSleepingThresholds2(object pBody, float plinearSleepingThreshold, float pangularSleepingThreshold)
+    {
+        RigidBody body = pBody as RigidBody;
+        body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold);
+    }
+
+    internal static CollisionObjectTypes GetBodyType2(object pBody)
+    {
+        RigidBody body = pBody as RigidBody;
+        return (CollisionObjectTypes)(int) body.GetInternalType();
+    }
+
+    //BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum);
+    internal static void ApplyCentralForce2(object pBody, Vector3 pfSum)
+    {
+        RigidBody body = pBody as RigidBody;
+        IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
+        body.ApplyCentralForce(ref fSum);
+    }
+    internal static void ApplyCentralImpulse2(object pBody, Vector3 pfSum)
+    {
+        RigidBody body = pBody as RigidBody;
+        IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
+        body.ApplyCentralImpulse(ref fSum);
+    }
+    internal static void ApplyTorque2(object pBody, Vector3 pfSum)
+    {
+        RigidBody body = pBody as RigidBody;
+        IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
+        body.ApplyTorque(ref fSum);
+    }
+    internal static void ApplyTorqueImpulse2(object pBody, Vector3 pfSum)
+    {
+        RigidBody body = pBody as RigidBody;
+        IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
+        body.ApplyTorqueImpulse(ref fSum);
+    }
+
+    internal static void DumpRigidBody2(object p, object p_2)
+    {
+        //TODO:
+    }
+
+    internal static void DumpCollisionShape2(object p, object p_2)
+    {
+        //TODO:
+    }
+
+    internal static void DestroyObject2(object p, object p_2)
+    {
+        //TODO:
+    }
+
+    internal static void Shutdown2(object pWorld)
+    {
+        DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
+        world.Cleanup();
+    }
+
+    internal static void DeleteCollisionShape2(object p, object p_2)
+    {
+        //TODO:
+    }
+    //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation);
+               
+    internal static object CreateBodyFromShape2(object pWorld, object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
+    {
+        CollisionWorld world = pWorld as CollisionWorld;
+        IndexedMatrix mat =
+            IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y,
+                                                                     pRawOrientation.Z, pRawOrientation.W));
+        mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
+        CollisionShape shape = pShape as CollisionShape;
+        //UpdateSingleAabb2(world, shape);
+        // TODO: Feed Update array into null
+        RigidBody body = new RigidBody(0,new SimMotionState(world,pLocalID,mat,null),shape,IndexedVector3.Zero);
+        
+        body.SetUserPointer(pLocalID);
+        return body;
+    }
+
+    
+    internal static object CreateBodyWithDefaultMotionState2( object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
+    {
+
+        IndexedMatrix mat =
+            IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y,
+                                                                     pRawOrientation.Z, pRawOrientation.W));
+        mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
+
+        CollisionShape shape = pShape as CollisionShape;
+
+        // TODO: Feed Update array into null
+        RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero);
+        body.SetWorldTransform(mat);
+        body.SetUserPointer(pLocalID);
+        return body;
+    }
+    //(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
+    internal static void SetCollisionFlags2(object pBody, CollisionFlags collisionFlags)
+    {
+        RigidBody body = pBody as RigidBody;
+        body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags);
+    }
+    //(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
+    internal static void SetHitFraction2(object pBody, float pHitFraction)
+    {
+        RigidBody body = pBody as RigidBody;
+        body.SetHitFraction(pHitFraction);
+    }
+    //BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale);
+    internal static object BuildCapsuleShape2(object pWorld, float pRadius, float pHeight, Vector3 pScale)
+    {
+        DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
+        IndexedVector3 scale = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
+        CapsuleShapeZ capsuleShapeZ = new CapsuleShapeZ(pRadius, pHeight);
+        capsuleShapeZ.SetMargin(world.WorldSettings.Params.collisionMargin);
+        capsuleShapeZ.SetLocalScaling(ref scale);
+        
+        return capsuleShapeZ;
+    }
+
+    public static object Initialize2(Vector3 worldExtent, ConfigurationParameters[] o, int mMaxCollisionsPerFrame, ref List<BulletXNA.CollisionDesc> collisionArray, int mMaxUpdatesPerFrame, ref List<BulletXNA.EntityProperties> updateArray, object mDebugLogCallbackHandle)
+    {
+        CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData();
+
+        p.angularDamping = o[0].XangularDamping;
+        p.defaultFriction = o[0].defaultFriction;
+        p.defaultFriction = o[0].defaultFriction;
+        p.defaultDensity = o[0].defaultDensity;
+        p.defaultRestitution = o[0].defaultRestitution;
+        p.collisionMargin = o[0].collisionMargin;
+        p.gravity = o[0].gravity;
+
+        p.linearDamping = o[0].XlinearDamping;
+        p.angularDamping = o[0].XangularDamping;
+        p.deactivationTime = o[0].XdeactivationTime;
+        p.linearSleepingThreshold = o[0].XlinearSleepingThreshold;
+        p.angularSleepingThreshold = o[0].XangularSleepingThreshold;
+        p.ccdMotionThreshold = o[0].XccdMotionThreshold;
+        p.ccdSweptSphereRadius = o[0].XccdSweptSphereRadius;
+        p.contactProcessingThreshold = o[0].XcontactProcessingThreshold;
+
+        p.terrainImplementation = o[0].XterrainImplementation;
+        p.terrainFriction = o[0].XterrainFriction;
+
+        p.terrainHitFraction = o[0].XterrainHitFraction;
+        p.terrainRestitution = o[0].XterrainRestitution;
+        p.terrainCollisionMargin = o[0].XterrainCollisionMargin;
+
+        p.avatarFriction = o[0].XavatarFriction;
+        p.avatarStandingFriction = o[0].XavatarStandingFriction;
+        p.avatarDensity = o[0].XavatarDensity;
+        p.avatarRestitution = o[0].XavatarRestitution;
+        p.avatarCapsuleWidth = o[0].XavatarCapsuleWidth;
+        p.avatarCapsuleDepth = o[0].XavatarCapsuleDepth;
+        p.avatarCapsuleHeight = o[0].XavatarCapsuleHeight;
+        p.avatarContactProcessingThreshold = o[0].XavatarContactProcessingThreshold;
+       
+        p.vehicleAngularDamping = o[0].XvehicleAngularDamping;
+        
+        p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize;
+        p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize;
+        p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation;
+        p.shouldForceUpdateAllAabbs = o[0].shouldForceUpdateAllAabbs;
+        p.shouldRandomizeSolverOrder = o[0].shouldRandomizeSolverOrder;
+        p.shouldSplitSimulationIslands = o[0].shouldSplitSimulationIslands;
+        p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching;
+        p.numberOfSolverIterations = o[0].numberOfSolverIterations;
+
+        p.linksetImplementation = o[0].XlinksetImplementation;
+        p.linkConstraintUseFrameOffset = o[0].XlinkConstraintUseFrameOffset;
+        p.linkConstraintEnableTransMotor = o[0].XlinkConstraintEnableTransMotor;
+        p.linkConstraintTransMotorMaxVel = o[0].XlinkConstraintTransMotorMaxVel;
+        p.linkConstraintTransMotorMaxForce = o[0].XlinkConstraintTransMotorMaxForce;
+        p.linkConstraintERP = o[0].XlinkConstraintERP;
+        p.linkConstraintCFM = o[0].XlinkConstraintCFM;
+        p.linkConstraintSolverIterations = o[0].XlinkConstraintSolverIterations;
+        p.physicsLoggingFrames = o[0].physicsLoggingFrames;
+        DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo();
+        
+        DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration();
+        CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci);
+
+
+        if (p.maxPersistantManifoldPoolSize > 0)
+            cci.m_persistentManifoldPoolSize = (int)p.maxPersistantManifoldPoolSize;
+        if (p.shouldDisableContactPoolDynamicAllocation !=0)
+            m_dispatcher.SetDispatcherFlags(DispatcherFlags.CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION);
+        //if (p.maxCollisionAlgorithmPoolSize >0 )
+
+        DbvtBroadphase m_broadphase = new DbvtBroadphase();
+        //IndexedVector3 aabbMin = new IndexedVector3(0, 0, 0);
+        //IndexedVector3 aabbMax = new IndexedVector3(256, 256, 256);
+
+        //AxisSweep3Internal m_broadphase2 = new AxisSweep3Internal(ref aabbMin, ref aabbMax, Convert.ToInt32(0xfffe), 0xffff, ushort.MaxValue/2, null, true);
+        m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback());
+
+        SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver();
+
+        DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci);
+        world.UpdatedObjects = updateArray;
+        world.UpdatedCollisions = collisionArray;
+        world.WorldSettings.Params = p;
+        world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0);
+        world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD;
+        if (p.shouldRandomizeSolverOrder != 0)
+            world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_RANDMIZE_ORDER;
+
+        world.GetSimulationIslandManager().SetSplitIslands(p.shouldSplitSimulationIslands != 0);
+        //world.GetDispatchInfo().m_enableSatConvex Not implemented in C# port
+
+        if (p.shouldEnableFrictionCaching != 0)
+            world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;
+
+        if (p.numberOfSolverIterations > 0)
+            world.GetSolverInfo().m_numIterations = (int) p.numberOfSolverIterations;
+
+
+        world.GetSolverInfo().m_damping = world.WorldSettings.Params.linearDamping;
+        world.GetSolverInfo().m_restitution = world.WorldSettings.Params.defaultRestitution;
+        world.GetSolverInfo().m_globalCfm = 0.0f;
+        world.GetSolverInfo().m_tau = 0.6f;
+        world.GetSolverInfo().m_friction = 0.3f;
+        world.GetSolverInfo().m_maxErrorReduction = 20f;
+        world.GetSolverInfo().m_numIterations = 10;
+        world.GetSolverInfo().m_erp = 0.2f;
+        world.GetSolverInfo().m_erp2 = 0.1f;
+        world.GetSolverInfo().m_sor = 1.0f;
+        world.GetSolverInfo().m_splitImpulse = false;
+        world.GetSolverInfo().m_splitImpulsePenetrationThreshold = -0.02f;
+        world.GetSolverInfo().m_linearSlop = 0.0f;
+        world.GetSolverInfo().m_warmstartingFactor = 0.85f;
+        world.GetSolverInfo().m_restingContactRestitutionThreshold = 2;
+        world.SetForceUpdateAllAabbs(true);
+
+
+        world.SetGravity(new IndexedVector3(0,0,p.gravity));
+
+        return world;
+    }
+    //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL
+    internal static bool SetConstraintParam2(object pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis)
+    {
+        Generic6DofConstraint constrain = pConstraint as Generic6DofConstraint;
+        if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
+        {
+            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0);
+            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 1);
+            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 2);
+        }
+        if (axis == ConstraintParamAxis.AXIS_ANGULAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
+        {
+            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 3);
+            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 4);
+            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 5);
+        }
+        if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL)
+        {
+            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, (int)axis);
+        }
+        return true;
+    }
+
+    internal static bool PushUpdate2(object pCollisionObject)
+    {
+        bool ret = false;
+        RigidBody rb = pCollisionObject as RigidBody;
+        if (rb != null)
+        {
+            SimMotionState sms = rb.GetMotionState() as SimMotionState;
+            if (sms != null)
+            {
+                IndexedMatrix wt = IndexedMatrix.Identity;
+                sms.GetWorldTransform(out wt);
+                sms.SetWorldTransform(ref wt, true);
+                ret = true;
+            }
+        }
+        return ret;
+        
+    }
+
+    internal static bool IsCompound2(object pShape)
+    {
+        CollisionShape shape = pShape as CollisionShape;
+        return shape.IsCompound();
+    }
+    internal static bool IsPloyhedral2(object pShape)
+    {
+        CollisionShape shape = pShape as CollisionShape;
+        return shape.IsPolyhedral();
+    }
+    internal static bool IsConvex2d2(object pShape)
+    {
+        CollisionShape shape = pShape as CollisionShape;
+        return shape.IsConvex2d();
+    }
+    internal static bool IsConvex2(object pShape)
+    {
+        CollisionShape shape = pShape as CollisionShape;
+        return shape.IsConvex();
+    }
+    internal static bool IsNonMoving2(object pShape)
+    {
+        CollisionShape shape = pShape as CollisionShape;
+        return shape.IsNonMoving();
+    }
+    internal static bool IsConcave2(object pShape)
+    {
+        CollisionShape shape = pShape as CollisionShape;
+        return shape.IsConcave();
+    }
+    internal static bool IsInfinite2(object pShape)
+    {
+        CollisionShape shape = pShape as CollisionShape;
+        return shape.IsInfinite();
+    }
+    internal static bool IsNativeShape2(object pShape)
+    {
+        CollisionShape shape = pShape as CollisionShape;
+        bool ret;
+        switch (shape.GetShapeType())
+        {
+            case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE:
+                case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE:
+                case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE:
+                case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE:
+                ret = true;
+                break;
+            default:
+                ret = false;
+                break;
+        }
+        return ret;
+    }
+    //sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation
+    internal static object CreateGhostFromShape2(object pWorld, object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
+    {
+        IndexedMatrix bodyTransform = new IndexedMatrix();
+        bodyTransform._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
+        bodyTransform.SetRotation(new IndexedQuaternion(pRawOrientation.X,pRawOrientation.Y,pRawOrientation.Z,pRawOrientation.W));
+        GhostObject gObj = new PairCachingGhostObject();
+        gObj.SetWorldTransform(bodyTransform);
+        CollisionShape shape = pShape as CollisionShape;
+        gObj.SetCollisionShape(shape);
+        gObj.SetUserPointer(pLocalID);
+        // TODO: Add to Special CollisionObjects!
+        return gObj;
+    }
+
+    public static void SetCollisionShape2(object pWorld, object pObj, object pShape)
+    {
+        var world = pWorld as DiscreteDynamicsWorld;
+        var obj = pObj as CollisionObject;
+        var shape = pShape as CollisionShape;
+        obj.SetCollisionShape(shape);
+
+    }
+    //(PhysicsScene.World.ptr, nativeShapeData)
+    internal static object BuildNativeShape2(object pWorld, ShapeData pShapeData)
+    {
+        var world = pWorld as DiscreteDynamicsWorld;
+        CollisionShape shape = null;
+        switch (pShapeData.Type)
+        {
+            case BSPhysicsShapeType.SHAPE_BOX:
+                shape = new BoxShape(new IndexedVector3(0.5f,0.5f,0.5f));
+                break;
+            case BSPhysicsShapeType.SHAPE_CONE:
+                shape = new ConeShapeZ(0.5f, 1.0f);
+                break;
+            case BSPhysicsShapeType.SHAPE_CYLINDER:
+                shape = new CylinderShapeZ(new IndexedVector3(0.5f, 0.5f, 0.5f));
+                break;
+            case BSPhysicsShapeType.SHAPE_SPHERE:
+                shape = new SphereShape(0.5f);
+                break;
+
+        }
+        if (shape != null)
+        {
+            IndexedVector3 scaling = new IndexedVector3(pShapeData.Scale.X, pShapeData.Scale.Y, pShapeData.Scale.Z);
+            shape.SetMargin(world.WorldSettings.Params.collisionMargin);
+            shape.SetLocalScaling(ref scaling);
+
+        }
+        return shape;
+    }
+    //PhysicsScene.World.ptr, false
+    internal static object CreateCompoundShape2(object pWorld, bool enableDynamicAabbTree)
+    {
+        return new CompoundShape(enableDynamicAabbTree);
+    }
+
+    internal static int GetNumberOfCompoundChildren2(object pCompoundShape)
+    {
+        var compoundshape = pCompoundShape as CompoundShape;
+        return compoundshape.GetNumChildShapes();
+    }
+    //LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot
+    internal static void AddChildShapeToCompoundShape2(object pCShape, object paddShape, Vector3 displacementPos, Quaternion displacementRot)
+    {
+        IndexedMatrix relativeTransform = new IndexedMatrix();
+        var compoundshape = pCShape as CompoundShape;
+        var addshape = paddShape as CollisionShape;
+
+        relativeTransform._origin = new IndexedVector3(displacementPos.X, displacementPos.Y, displacementPos.Z);
+        relativeTransform.SetRotation(new IndexedQuaternion(displacementRot.X,displacementRot.Y,displacementRot.Z,displacementRot.W));
+        compoundshape.AddChildShape(ref relativeTransform, addshape);
+
+    }
+
+    internal static object RemoveChildShapeFromCompoundShapeIndex2(object pCShape, int pii)
+    {
+        var compoundshape = pCShape as CompoundShape;
+        CollisionShape ret = null;
+        ret = compoundshape.GetChildShape(pii);
+        compoundshape.RemoveChildShapeByIndex(pii);
+        return ret;
+    }
+
+    internal static object CreateGroundPlaneShape2(uint pLocalId, float pheight, float pcollisionMargin)
+    {
+        StaticPlaneShape m_planeshape = new StaticPlaneShape(new IndexedVector3(0,0,1),(int)pheight );
+        m_planeshape.SetMargin(pcollisionMargin);
+        m_planeshape.SetUserPointer(pLocalId);
+        return m_planeshape;
+    }
+
+    internal static object CreateHingeConstraint2(object pWorld, object pBody1, object ppBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
+    {
+        HingeConstraint constrain = null;
+        var rb1 = pBody1 as RigidBody;
+        var rb2 = ppBody2 as RigidBody;
+        if (rb1 != null && rb2 != null)
+        {
+            IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z);
+            IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z);
+            IndexedVector3 axisInA = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z);
+            IndexedVector3 axisInB = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z);
+            var world = pWorld as DiscreteDynamicsWorld;
+            world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
+        }
+        return constrain;
+    }
+
+    internal static bool ReleaseHeightMapInfo2(object pMapInfo)
+    {
+        if (pMapInfo != null)
+        {
+            BulletHeightMapInfo mapinfo = pMapInfo as BulletHeightMapInfo;
+            if (mapinfo.heightMap != null)
+                mapinfo.heightMap = null;
+
+
+        }
+        return true;
+    }
+
+    internal static object CreateHullShape2(object pWorld, int pHullCount, float[] pConvHulls)
+    {
+        CompoundShape compoundshape = new CompoundShape(false);
+        var world = pWorld as DiscreteDynamicsWorld;
+        
+        
+        compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin);
+        int ii = 1;
+
+        for (int i = 0; i < pHullCount; i++)
+        {
+            int vertexCount = (int) pConvHulls[ii];
+
+            IndexedVector3 centroid = new IndexedVector3(pConvHulls[ii + 1], pConvHulls[ii + 2], pConvHulls[ii + 3]);
+            IndexedMatrix childTrans = IndexedMatrix.Identity;
+            childTrans._origin = centroid;
+
+            List<IndexedVector3> virts = new List<IndexedVector3>();
+            int ender = ((ii + 4) + (vertexCount*3));
+            for (int iii = ii + 4; iii < ender; iii+=3)
+            {
+               
+                virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2]));
+            }
+            ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount);
+            convexShape.SetMargin(world.WorldSettings.Params.collisionMargin);
+            compoundshape.AddChildShape(ref childTrans, convexShape);
+            ii += (vertexCount*3 + 4);
+        }
+
+        
+        return compoundshape;
+    }
+
+    internal static object CreateMeshShape2(object pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
+    {
+        //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount);
+        
+        for (int iter = 0; iter < pVerticesCount; iter++)
+        {
+            if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0;
+            if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0;
+        }
+        
+        ObjectArray<int> indicesarr = new ObjectArray<int>(indices);
+        ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats);
+        DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount);
+        var world = pWorld as DiscreteDynamicsWorld;
+        IndexedMesh mesh = new IndexedMesh();
+        mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
+        mesh.m_numTriangles = pIndicesCount/3;
+        mesh.m_numVertices = pVerticesCount;
+        mesh.m_triangleIndexBase = indicesarr;
+        mesh.m_vertexBase = vertices;
+        mesh.m_vertexStride = 3;
+        mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
+        mesh.m_triangleIndexStride = 3;
+        
+        TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
+        tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
+        BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true);
+        meshShape.SetMargin(world.WorldSettings.Params.collisionMargin);
+       // world.UpdateSingleAabb(meshShape);
+        return meshShape;
+
+    }
+    public static void DumpRaw(ObjectArray<int>indices, ObjectArray<float> vertices, int pIndicesCount,int pVerticesCount )
+    {
+        
+        String fileName = "objTest3.raw";
+        String completePath = System.IO.Path.Combine(Util.configDir(), fileName);
+        StreamWriter sw = new StreamWriter(completePath);
+        IndexedMesh mesh = new IndexedMesh();
+
+        mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
+        mesh.m_numTriangles = pIndicesCount / 3;
+        mesh.m_numVertices = pVerticesCount;
+        mesh.m_triangleIndexBase = indices;
+        mesh.m_vertexBase = vertices;
+        mesh.m_vertexStride = 3;
+        mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
+        mesh.m_triangleIndexStride = 3;
+
+        TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
+        tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
+
+
+
+        for (int i = 0; i < pVerticesCount; i++)
+        {
+
+            string s = vertices[indices[i * 3]].ToString("0.0000");
+            s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000");
+            s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000");
+        
+            sw.Write(s + "\n");
+        }
+
+        sw.Close();
+    }
+    public static void DumpRaw(int[] indices, float[] vertices, int pIndicesCount, int pVerticesCount)
+    {
+
+        String fileName = "objTest6.raw";
+        String completePath = System.IO.Path.Combine(Util.configDir(), fileName);
+        StreamWriter sw = new StreamWriter(completePath);
+        IndexedMesh mesh = new IndexedMesh();
+
+        mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
+        mesh.m_numTriangles = pIndicesCount / 3;
+        mesh.m_numVertices = pVerticesCount;
+        mesh.m_triangleIndexBase = indices;
+        mesh.m_vertexBase = vertices;
+        mesh.m_vertexStride = 3;
+        mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
+        mesh.m_triangleIndexStride = 3;
+        
+        TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
+        tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
+
+
+        sw.WriteLine("Indices");
+        sw.WriteLine(string.Format("int[] indices = new int[{0}];",pIndicesCount));
+        for (int iter = 0; iter < indices.Length; iter++)
+        {
+            sw.WriteLine(string.Format("indices[{0}]={1};",iter,indices[iter]));
+        }
+        sw.WriteLine("VerticesFloats");
+        sw.WriteLine(string.Format("float[] vertices = new float[{0}];", pVerticesCount));
+        for (int iter = 0; iter < vertices.Length; iter++)
+        {
+            sw.WriteLine(string.Format("Vertices[{0}]={1};", iter, vertices[iter].ToString("0.0000")));
+        }
+
+            // for (int i = 0; i < pVerticesCount; i++)
+            // {
+            //
+            //     string s = vertices[indices[i * 3]].ToString("0.0000");
+            //     s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000");
+            //    s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000");
+            //
+            //     sw.Write(s + "\n");
+            //}
+
+            sw.Close();
+    }
+    //PhysicsScene.World.ptr, m_mapInfo.ID, m_mapInfo.minCoords, m_mapInfo.maxCoords,  m_mapInfo.heightMap, PhysicsScene.Params.terrainCollisionMargin
+    internal static object CreateHeightMapInfo2(object pWorld, uint pId, Vector3 pminCoords, Vector3 pmaxCoords, float[] pheightMap, float pCollisionMargin)
+    {
+        BulletHeightMapInfo mapInfo = new BulletHeightMapInfo(pId, pheightMap, null);
+        mapInfo.heightMap = null;
+        mapInfo.minCoords = pminCoords;
+        mapInfo.maxCoords = pmaxCoords;
+        mapInfo.sizeX = (int) (pmaxCoords.X - pminCoords.X);
+        mapInfo.sizeY = (int) (pmaxCoords.Y - pminCoords.Y);
+        mapInfo.ID = pId;
+        mapInfo.minZ = pminCoords.Z;
+        mapInfo.maxZ = pmaxCoords.Z;
+        mapInfo.collisionMargin = pCollisionMargin;
+        if (mapInfo.minZ == mapInfo.maxZ)
+            mapInfo.minZ -= 0.2f;
+        mapInfo.heightMap = pheightMap;
+
+        return mapInfo;
+
+    }
+
+    internal static object CreateTerrainShape2(object pMapInfo)
+    {
+        BulletHeightMapInfo mapinfo = pMapInfo as BulletHeightMapInfo;
+        const int upAxis = 2;
+        const float scaleFactor = 1.0f;
+        HeightfieldTerrainShape terrainShape = new HeightfieldTerrainShape((int)mapinfo.sizeX, (int)mapinfo.sizeY,
+                                                                           mapinfo.heightMap,  scaleFactor,
+                                                                           mapinfo.minZ, mapinfo.maxZ, upAxis,
+                                                                            false);
+        terrainShape.SetMargin(mapinfo.collisionMargin + 0.5f);
+        terrainShape.SetUseDiamondSubdivision(true);
+        terrainShape.SetUserPointer(mapinfo.ID);
+        return terrainShape;
+    }
+
+    internal static bool TranslationalLimitMotor2(object pConstraint, float ponOff, float targetVelocity, float maxMotorForce)
+    {
+        TypedConstraint tconstrain = pConstraint as TypedConstraint;
+        bool onOff = ponOff != 0;
+        bool ret = false;
+
+        switch (tconstrain.GetConstraintType())
+        {
+            case TypedConstraintType.D6_CONSTRAINT_TYPE:
+                Generic6DofConstraint constrain = pConstraint as Generic6DofConstraint;
+                constrain.GetTranslationalLimitMotor().m_enableMotor[0] = onOff;
+                constrain.GetTranslationalLimitMotor().m_targetVelocity[0] = targetVelocity;
+                constrain.GetTranslationalLimitMotor().m_maxMotorForce[0] = maxMotorForce;
+                ret = true;
+                break;
+        }
+
+
+        return ret;
+
+    }
+
+    internal static int PhysicsStep2(object pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List<BulletXNA.EntityProperties> updatedEntities, out int collidersCount, out List<BulletXNA.CollisionDesc>colliders)
+    {
+        int epic = PhysicsStepint2(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities,
+                                out collidersCount, out colliders);
+        return epic;
+    }
+
+    private static int PhysicsStepint2(object pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List<BulletXNA.EntityProperties> updatedEntities, out int collidersCount, out List<BulletXNA.CollisionDesc> colliders)
+    {
+        int numSimSteps = 0;
+      
+
+        //if (updatedEntities is null)
+        //    updatedEntities = new List<BulletXNA.EntityProperties>();
+
+        //if (colliders is null)
+        //    colliders = new List<BulletXNA.CollisionDesc>();
+        
+
+        if (pWorld is DiscreteDynamicsWorld)
+        {
+            DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
+
+            numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep);
+            int updates = 0;
+
+            updatedEntityCount = world.UpdatedObjects.Count;
+            updatedEntities = new List<BulletXNA.EntityProperties>(world.UpdatedObjects);
+            updatedEntityCount = updatedEntities.Count;
+            world.UpdatedObjects.Clear();
+            
+
+            collidersCount = world.UpdatedCollisions.Count;
+            colliders = new List<BulletXNA.CollisionDesc>(world.UpdatedCollisions);
+
+            world.UpdatedCollisions.Clear();
+            m_collisionsThisFrame = 0;
+            int numManifolds = world.GetDispatcher().GetNumManifolds();
+            for (int j = 0; j < numManifolds; j++)
+            {
+                PersistentManifold contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j);
+                int numContacts = contactManifold.GetNumContacts();
+                if (numContacts == 0)
+                    continue;
+
+                CollisionObject objA = contactManifold.GetBody0() as CollisionObject;
+                CollisionObject objB = contactManifold.GetBody1() as CollisionObject;
+
+                ManifoldPoint manifoldPoint = contactManifold.GetContactPoint(0);
+                IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB();
+                IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A
+
+                RecordCollision(world, objA, objB, contactPoint, contactNormal);
+                m_collisionsThisFrame ++;
+                if (m_collisionsThisFrame >= 9999999)
+                    break;
+
+
+            }
+
+
+        }
+        else
+        {
+            //if (updatedEntities is null)
+            updatedEntities = new List<BulletXNA.EntityProperties>();
+            updatedEntityCount = 0;
+            //if (colliders is null)
+            colliders = new List<BulletXNA.CollisionDesc>();
+            collidersCount = 0;
+        }
+        return numSimSteps;
+    }
+
+    private static void RecordCollision(CollisionWorld world,CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm)
+    {
+       
+        IndexedVector3 contactNormal = norm;
+        if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 &&
+            (objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0)
+        {
+            return;
+        }
+        uint idA = (uint)objA.GetUserPointer();
+        uint idB = (uint)objB.GetUserPointer();
+        if (idA > idB)
+        {
+            uint temp = idA;
+            idA = idB;
+            idB = temp;
+            contactNormal = -contactNormal;
+        }
+
+        ulong collisionID = ((ulong) idA << 32) | idB;
+
+        BulletXNA.CollisionDesc cDesc = new BulletXNA.CollisionDesc()
+                                            {
+                                                aID = idA,
+                                                bID = idB,
+                                                point = contact,
+                                                normal = contactNormal
+                                            };
+        world.UpdatedCollisions.Add(cDesc);
+        m_collisionsThisFrame++;
+
+
+    }
+    private static EntityProperties GetDebugProperties(object pWorld, object pBody)
+    {
+        EntityProperties ent = new EntityProperties();
+        DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
+        RigidBody body = pBody as RigidBody;
+        IndexedMatrix transform = body.GetWorldTransform();
+        IndexedVector3 LinearVelocity = body.GetInterpolationLinearVelocity();
+        IndexedVector3 AngularVelocity = body.GetInterpolationAngularVelocity();
+        IndexedQuaternion rotation = transform.GetRotation();
+        ent.Acceleration = Vector3.Zero;
+        ent.ID = (uint)body.GetUserPointer();
+        ent.Position = new Vector3(transform._origin.X,transform._origin.Y,transform._origin.Z);
+        ent.Rotation = new Quaternion(rotation.X,rotation.Y,rotation.Z,rotation.W);
+        ent.Velocity = new Vector3(LinearVelocity.X, LinearVelocity.Y, LinearVelocity.Z);
+        ent.RotationalVelocity = new Vector3(AngularVelocity.X, AngularVelocity.Y, AngularVelocity.Z);
+        return ent;
+
+
+    }
+
+
+    internal static Vector3 GetLocalScaling2(object pBody)
+    {
+        CollisionShape shape = pBody as CollisionShape;
+        IndexedVector3 scale = shape.GetLocalScaling();
+        return new Vector3(scale.X,scale.Y,scale.Z);
+    }
+
+    internal static bool RayCastGround(object pWorld, Vector3 _RayOrigin, float pRayHeight, object NotMe)
+    {
+        DynamicsWorld world = pWorld as DynamicsWorld;
+        if (world != null)
+        {
+            if (NotMe is CollisionObject || NotMe is RigidBody)
+            {
+                CollisionObject AvoidBody = NotMe as CollisionObject;
+                
+                IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z);
+                IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight);
+                using (
+                    ClosestNotMeRayResultCallback rayCallback = new ClosestNotMeRayResultCallback(rOrigin,
+                                                                                                  rEnd, AvoidBody)
+                    )
+                {
+                    world.RayTest(ref rOrigin, ref rEnd, rayCallback);
+                    if (rayCallback.HasHit())
+                    {
+                        IndexedVector3 hitLocation = rayCallback.m_hitPointWorld;
+                        
+                    }
+                    return rayCallback.HasHit();
+                }
+           }
+        }
+        return false;
+    }
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSNPlugin/BulletSimData.cs
new file mode 100644
index 0000000..f509dc4
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BulletSimData.cs
@@ -0,0 +1,280 @@
+/*
+ * 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 OMV = OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSNPlugin
+{
+// Classes to allow some type checking for the API
+// These hold pointers to allocated objects in the unmanaged space.
+
+// The physics engine controller class created at initialization
+public struct BulletWorld
+{
+    public BulletWorld(uint worldId, BSScene bss, object xx)
+    {
+        ptr = xx;
+        worldID = worldId;
+        physicsScene = bss;
+    }
+    public object ptr;
+    public uint worldID;
+    // The scene is only in here so very low level routines have a handle to print debug/error messages
+    public BSScene physicsScene;
+}
+
+// An allocated Bullet btRigidBody
+public struct BulletBody
+{
+    public BulletBody(uint id) : this(id, null)
+    {
+    }
+    public BulletBody(uint id, object xx)
+    {
+        ID = id;
+        ptr = xx;
+        collisionType = CollisionType.Static;
+    }
+    public object ptr;
+    public uint ID;
+    public CollisionType collisionType;
+
+    public void Clear()
+    {
+        ptr = null;
+    }
+    public bool HasPhysicalBody { get { return ptr != null; } }
+
+    // Apply the specificed collision mask into the physical world
+    public void ApplyCollisionMask()
+    {
+        // Should assert the body has been added to the physical world.
+        // (The collision masks are stored in the collision proxy cache which only exists for
+        //    a collision body that is in the world.)
+        BulletSimAPI.SetCollisionGroupMask2(ptr,
+                                BulletSimData.CollisionTypeMasks[collisionType].group,
+                                BulletSimData.CollisionTypeMasks[collisionType].mask);
+    }
+
+    public override string ToString()
+    {
+        StringBuilder buff = new StringBuilder();
+        buff.Append("<id=");
+        buff.Append(ID.ToString());
+        buff.Append(",p=");
+        buff.Append(ptr.ToString());
+        buff.Append(",c=");
+        buff.Append(collisionType);
+        buff.Append(">");
+        return buff.ToString();
+    }
+}
+
+public struct BulletShape
+{
+    public BulletShape(object xx) : this(xx, BSPhysicsShapeType.SHAPE_UNKNOWN)
+    {
+    }
+    public BulletShape(object xx, BSPhysicsShapeType typ)
+    {
+        ptr = xx;
+        type = typ;
+        shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE;
+        isNativeShape = false;
+    }
+    public object ptr;
+    public BSPhysicsShapeType type;
+    public System.UInt64 shapeKey;
+    public bool isNativeShape;
+
+    public void Clear()
+    {
+        ptr = null;
+    }
+    public bool HasPhysicalShape { get { return ptr != null; } }
+
+    public override string ToString()
+    {
+        StringBuilder buff = new StringBuilder();
+        buff.Append("<p=");
+        buff.Append(ptr.ToString());
+        buff.Append(",s=");
+        buff.Append(type.ToString());
+        buff.Append(",k=");
+        buff.Append(shapeKey.ToString("X"));
+        buff.Append(",n=");
+        buff.Append(isNativeShape.ToString());
+        buff.Append(">");
+        return buff.ToString();
+    }
+}
+
+// An allocated Bullet btConstraint
+public struct BulletConstraint
+{
+    public BulletConstraint(object xx)
+    {
+        ptr = xx;
+    }
+    public object ptr;
+
+    public void Clear()
+    {
+        ptr = null;
+    }
+    public bool HasPhysicalConstraint { get { return ptr != null; } }
+}
+
+// An allocated HeightMapThing which holds various heightmap info.
+// Made a class rather than a struct so there would be only one
+//      instance of this and C# will pass around pointers rather
+//      than making copies.
+public class BulletHeightMapInfo
+{
+    public BulletHeightMapInfo(uint id, float[] hm, object xx) {
+        ID = id;
+        Ptr = xx;
+        heightMap = hm;
+        terrainRegionBase = OMV.Vector3.Zero;
+        minCoords = new OMV.Vector3(100f, 100f, 25f);
+        maxCoords = new OMV.Vector3(101f, 101f, 26f);
+        minZ = maxZ = 0f;
+        sizeX = sizeY = 256f;
+    }
+    public uint ID;
+    public object Ptr;
+    public float[] heightMap;
+    public OMV.Vector3 terrainRegionBase;
+    public OMV.Vector3 minCoords;
+    public OMV.Vector3 maxCoords;
+    public float sizeX, sizeY;
+    public float minZ, maxZ;
+    public BulletShape terrainShape;
+    public BulletBody terrainBody;
+
+    public float collisionMargin { get; set; }
+}
+
+// The general class of collsion object.
+public enum CollisionType
+{
+    Avatar,
+    Groundplane,
+    Terrain,
+    Static,
+    Dynamic,
+    VolumeDetect,
+    // Linkset, // A linkset should be either Static or Dynamic
+    LinksetChild,
+    Unknown
+};
+
+// Hold specification of group and mask collision flags for a CollisionType
+public struct CollisionTypeFilterGroup
+{
+    public CollisionTypeFilterGroup(CollisionType t, uint g, uint m)
+    {
+        type = t;
+        group = g;
+        mask = m;
+    }
+    public CollisionType type;
+    public uint group;
+    public uint mask;
+};
+
+    /* NOTE: old definitions kept for reference. Delete when things are working.
+    // The collsion filters and masked are defined in one place -- don't want them scattered
+    AvatarGroup             = BCharacterGroup,
+    AvatarMask              = BAllGroup,
+    ObjectGroup             = BSolidGroup,
+    ObjectMask              = BAllGroup,
+    StaticObjectGroup       = BStaticGroup,
+    StaticObjectMask        = AvatarGroup | ObjectGroup,    // static things don't interact with much
+    LinksetGroup            = BLinksetGroup,
+    LinksetMask             = BAllGroup,
+    LinksetChildGroup       = BLinksetChildGroup,
+    LinksetChildMask        = BNoneGroup,   // Linkset children disappear from the world
+    VolumeDetectGroup       = BSensorTrigger,
+    VolumeDetectMask        = ~BSensorTrigger,
+    TerrainGroup            = BTerrainGroup,
+    TerrainMask             = BAllGroup & ~BStaticGroup,  // static objects on the ground don't collide
+    GroundPlaneGroup        = BGroundPlaneGroup,
+    GroundPlaneMask         = BAllGroup
+    */
+
+public static class BulletSimData
+{
+
+// Map of collisionTypes to flags for collision groups and masks.
+// As mentioned above, don't use the CollisionFilterGroups definitions directly in the code
+//     but, instead, use references to this dictionary. Finding and debugging
+//     collision flag problems will be made easier.
+public static Dictionary<CollisionType, CollisionTypeFilterGroup> CollisionTypeMasks 
+            = new Dictionary<CollisionType, CollisionTypeFilterGroup>()
+{
+    { CollisionType.Avatar, 
+                new CollisionTypeFilterGroup(CollisionType.Avatar, 
+                                (uint)CollisionFilterGroups.BCharacterGroup, 
+                                (uint)CollisionFilterGroups.BAllGroup)
+    },
+    { CollisionType.Groundplane, 
+                new CollisionTypeFilterGroup(CollisionType.Groundplane, 
+                                (uint)CollisionFilterGroups.BGroundPlaneGroup, 
+                                (uint)CollisionFilterGroups.BAllGroup)
+    },
+    { CollisionType.Terrain, 
+                new CollisionTypeFilterGroup(CollisionType.Terrain, 
+                                (uint)CollisionFilterGroups.BTerrainGroup, 
+                                (uint)(CollisionFilterGroups.BAllGroup & ~CollisionFilterGroups.BStaticGroup))
+    },
+    { CollisionType.Static, 
+                new CollisionTypeFilterGroup(CollisionType.Static, 
+                                (uint)CollisionFilterGroups.BStaticGroup, 
+                                (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup))
+    },
+    { CollisionType.Dynamic, 
+                new CollisionTypeFilterGroup(CollisionType.Dynamic, 
+                                (uint)CollisionFilterGroups.BSolidGroup, 
+                                (uint)(CollisionFilterGroups.BAllGroup))
+    },
+    { CollisionType.VolumeDetect, 
+                new CollisionTypeFilterGroup(CollisionType.VolumeDetect, 
+                                (uint)CollisionFilterGroups.BSensorTrigger, 
+                                (uint)(~CollisionFilterGroups.BSensorTrigger))
+    },
+    { CollisionType.LinksetChild,
+                new CollisionTypeFilterGroup(CollisionType.LinksetChild, 
+                                (uint)CollisionFilterGroups.BTerrainGroup, 
+                                (uint)(CollisionFilterGroups.BNoneGroup))
+    },
+};
+
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
new file mode 100755
index 0000000..ae54499
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -0,0 +1,1885 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using System.Runtime.InteropServices;
+using System.Security;
+using System.Text;
+
+using OpenSim.Framework;
+
+using OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public sealed class BSAPIUnman : BSAPITemplate
+{
+
+private sealed class BulletWorldUnman : BulletWorld
+{
+    public IntPtr ptr;
+    public BulletWorldUnman(uint id, BSScene physScene, IntPtr xx)
+        : base(id, physScene)
+    {
+        ptr = xx;
+    }
+}
+
+private sealed class BulletBodyUnman : BulletBody
+{
+    public IntPtr ptr;
+    public BulletBodyUnman(uint id, IntPtr xx)
+        : base(id)
+    {
+        ptr = xx;
+    }
+    public override bool HasPhysicalBody
+    {
+        get { return ptr != IntPtr.Zero; }
+    }
+    public override void Clear()
+    {
+        ptr = IntPtr.Zero;
+    }
+    public override string AddrString
+    {
+        get { return ptr.ToString("X"); }
+    }
+}
+
+private sealed class BulletShapeUnman : BulletShape
+{
+    public IntPtr ptr;
+    public BulletShapeUnman(IntPtr xx, BSPhysicsShapeType typ) 
+        : base()
+    {
+        ptr = xx;
+        type = typ;
+    }
+    public override bool HasPhysicalShape
+    {
+        get { return ptr != IntPtr.Zero; }
+    }
+    public override void Clear()
+    {
+        ptr = IntPtr.Zero;
+    }
+    public override BulletShape Clone()
+    {
+        return new BulletShapeUnman(ptr, type);
+    }
+    public override bool ReferenceSame(BulletShape other)
+    {
+        BulletShapeUnman otheru = other as BulletShapeUnman;
+        return (otheru != null) && (this.ptr == otheru.ptr);
+
+    }
+    public override string AddrString
+    {
+        get { return ptr.ToString("X"); }
+    }
+}
+private sealed class BulletConstraintUnman : BulletConstraint
+{
+    public BulletConstraintUnman(IntPtr xx) : base()
+    {
+        ptr = xx;
+    }
+    public IntPtr ptr;
+
+    public override void Clear()
+    {
+        ptr = IntPtr.Zero;
+    }
+    public override bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } }
+
+    // Used for log messages for a unique display of the memory/object allocated to this instance
+    public override string AddrString
+    {
+        get { return ptr.ToString("X"); }
+    }
+}
+
+// We pin the memory passed between the managed and unmanaged code.
+GCHandle m_paramsHandle;
+private GCHandle m_collisionArrayPinnedHandle;
+private GCHandle m_updateArrayPinnedHandle;
+
+// Handle to the callback used by the unmanaged code to call into the managed code.
+// Used for debug logging.
+// Need to store the handle in a persistant variable so it won't be freed.
+private BSAPICPP.DebugLogCallback m_DebugLogCallbackHandle;
+
+private BSScene PhysicsScene { get; set; }
+
+public override string BulletEngineName { get { return "BulletUnmanaged"; } }
+public override string BulletEngineVersion { get; protected set; }
+
+public BSAPIUnman(string paramName, BSScene physScene)
+{
+    PhysicsScene = physScene;
+
+    // Do something fancy with the paramName to get the right DLL implementation
+    //     like "Bullet-2.80-OpenCL-Intel" loading the version for Intel based OpenCL implementation, etc.
+    if (Util.IsWindows())
+        Util.LoadArchSpecificWindowsDll("BulletSim.dll");
+    // If not Windows, loading is performed by the
+    // Mono loader as specified in
+    // "bin/Physics/OpenSim.Region.Physics.BulletSPlugin.dll.config".
+}
+
+// Initialization and simulation
+public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
+                                                                                        int maxCollisions,  ref CollisionDesc[] collisionArray,
+                                                                                        int maxUpdates, ref EntityProperties[] updateArray
+                                            )
+{
+    // Pin down the memory that will be used to pass object collisions and updates back from unmanaged code
+    m_paramsHandle = GCHandle.Alloc(parms, GCHandleType.Pinned);
+    m_collisionArrayPinnedHandle = GCHandle.Alloc(collisionArray, GCHandleType.Pinned);
+    m_updateArrayPinnedHandle = GCHandle.Alloc(updateArray, GCHandleType.Pinned);
+
+    // If Debug logging level, enable logging from the unmanaged code
+    m_DebugLogCallbackHandle = null;
+    if (BSScene.m_log.IsDebugEnabled && PhysicsScene.PhysicsLogging.Enabled)
+    {
+        BSScene.m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", BSScene.LogHeader);
+        if (PhysicsScene.PhysicsLogging.Enabled)
+            // The handle is saved in a variable to make sure it doesn't get freed after this call
+            m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLoggerPhysLog);
+        else
+            m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLogger);
+    }
+
+    // Get the version of the DLL
+    // TODO: this doesn't work yet. Something wrong with marshaling the returned string.
+    // BulletEngineVersion = BulletSimAPI.GetVersion2();
+    BulletEngineVersion = "";
+
+    // Call the unmanaged code with the buffers and other information
+    return new BulletWorldUnman(0, PhysicsScene, BSAPICPP.Initialize2(maxPosition, m_paramsHandle.AddrOfPinnedObject(),
+                                    maxCollisions, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
+                                    maxUpdates, m_updateArrayPinnedHandle.AddrOfPinnedObject(),
+                                    m_DebugLogCallbackHandle));
+
+}
+
+// Called directly from unmanaged code so don't do much
+private void BulletLogger(string msg)
+{
+    BSScene.m_log.Debug("[BULLETS UNMANAGED]:" + msg);
+}
+
+// Called directly from unmanaged code so don't do much
+private void BulletLoggerPhysLog(string msg)
+{
+    PhysicsScene.DetailLog("[BULLETS UNMANAGED]:" + msg);
+}
+
+public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
+                                        out int updatedEntityCount, out int collidersCount)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return BSAPICPP.PhysicsStep2(worldu.ptr, timeStep, maxSubSteps, fixedTimeStep, out updatedEntityCount, out collidersCount);
+}
+
+public override void Shutdown(BulletWorld world)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BSAPICPP.Shutdown2(worldu.ptr);
+
+    if (m_paramsHandle.IsAllocated)
+    {
+        m_paramsHandle.Free();
+    }
+    if (m_collisionArrayPinnedHandle.IsAllocated)
+    {
+        m_collisionArrayPinnedHandle.Free();
+    }
+    if (m_updateArrayPinnedHandle.IsAllocated)
+    {
+        m_updateArrayPinnedHandle.Free();
+    }
+}
+
+public override bool PushUpdate(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.PushUpdate2(bodyu.ptr);
+}
+
+public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return BSAPICPP.UpdateParameter2(worldu.ptr, localID, parm, value);
+}
+
+// =====================================================================================
+// Mesh, hull, shape and body creation helper routines
+public override BulletShape CreateMeshShape(BulletWorld world,
+                int indicesCount, int[] indices,
+                int verticesCount, float[] vertices)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return new BulletShapeUnman(
+                    BSAPICPP.CreateMeshShape2(worldu.ptr, indicesCount, indices, verticesCount, vertices),
+                    BSPhysicsShapeType.SHAPE_MESH);
+}
+
+public override BulletShape CreateHullShape(BulletWorld world, int hullCount, float[] hulls)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return new BulletShapeUnman(
+                    BSAPICPP.CreateHullShape2(worldu.ptr, hullCount, hulls), 
+                    BSPhysicsShapeType.SHAPE_HULL);
+}
+
+public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletShapeUnman shapeu = meshShape as BulletShapeUnman;
+    return new BulletShapeUnman(
+                    BSAPICPP.BuildHullShapeFromMesh2(worldu.ptr, shapeu.ptr),
+                    BSPhysicsShapeType.SHAPE_HULL);
+}
+
+public override BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return new BulletShapeUnman(BSAPICPP.BuildNativeShape2(worldu.ptr, shapeData), shapeData.Type);
+}
+
+public override bool IsNativeShape(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    if (shapeu != null && shapeu.HasPhysicalShape)
+        return BSAPICPP.IsNativeShape2(shapeu.ptr);
+    return false;
+}
+
+public override void SetShapeCollisionMargin(BulletShape shape, float margin)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    if (shapeu != null && shapeu.HasPhysicalShape)
+        BSAPICPP.SetShapeCollisionMargin2(shapeu.ptr, margin);
+}
+
+public override BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return new BulletShapeUnman(
+                   BSAPICPP.BuildCapsuleShape2(worldu.ptr, radius, height, scale),
+                   BSPhysicsShapeType.SHAPE_CAPSULE);
+}
+
+public override BulletShape CreateCompoundShape(BulletWorld world, bool enableDynamicAabbTree)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return new BulletShapeUnman(
+                    BSAPICPP.CreateCompoundShape2(worldu.ptr, enableDynamicAabbTree),
+                    BSPhysicsShapeType.SHAPE_COMPOUND);
+
+}
+
+public override int GetNumberOfCompoundChildren(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    if (shapeu != null && shapeu.HasPhysicalShape)
+        return BSAPICPP.GetNumberOfCompoundChildren2(shapeu.ptr);
+    return 0;
+}
+
+public override void AddChildShapeToCompoundShape(BulletShape shape, BulletShape addShape, Vector3 pos, Quaternion rot)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    BulletShapeUnman addShapeu = addShape as BulletShapeUnman;
+    BSAPICPP.AddChildShapeToCompoundShape2(shapeu.ptr, addShapeu.ptr, pos, rot);
+}
+
+public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape shape, int indx)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return new BulletShapeUnman(BSAPICPP.GetChildShapeFromCompoundShapeIndex2(shapeu.ptr, indx), BSPhysicsShapeType.SHAPE_UNKNOWN);
+}
+
+public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape shape, int indx)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return new BulletShapeUnman(BSAPICPP.RemoveChildShapeFromCompoundShapeIndex2(shapeu.ptr, indx), BSPhysicsShapeType.SHAPE_UNKNOWN);
+}
+
+public override void RemoveChildShapeFromCompoundShape(BulletShape shape, BulletShape removeShape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    BulletShapeUnman removeShapeu = removeShape as BulletShapeUnman;
+    BSAPICPP.RemoveChildShapeFromCompoundShape2(shapeu.ptr, removeShapeu.ptr);
+}
+
+public override void UpdateChildTransform(BulletShape pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb)
+{
+    BulletShapeUnman shapeu = pShape as BulletShapeUnman;
+    BSAPICPP.UpdateChildTransform2(shapeu.ptr, childIndex, pos, rot, shouldRecalculateLocalAabb);
+}
+
+public override void RecalculateCompoundShapeLocalAabb(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    BSAPICPP.RecalculateCompoundShapeLocalAabb2(shapeu.ptr);
+}
+
+public override BulletShape DuplicateCollisionShape(BulletWorld world, BulletShape srcShape, uint id)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletShapeUnman srcShapeu = srcShape as BulletShapeUnman;
+    return new BulletShapeUnman(BSAPICPP.DuplicateCollisionShape2(worldu.ptr, srcShapeu.ptr, id), srcShape.type);
+}
+
+public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.DeleteCollisionShape2(worldu.ptr, shapeu.ptr);
+}
+
+public override CollisionObjectTypes GetBodyType(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return (CollisionObjectTypes)BSAPICPP.GetBodyType2(bodyu.ptr);
+}
+
+public override BulletBody CreateBodyFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return new BulletBodyUnman(id, BSAPICPP.CreateBodyFromShape2(worldu.ptr, shapeu.ptr, id, pos, rot));
+}
+
+public override BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, uint id, Vector3 pos, Quaternion rot)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return new BulletBodyUnman(id, BSAPICPP.CreateBodyWithDefaultMotionState2(shapeu.ptr, id, pos, rot));
+}
+
+public override BulletBody CreateGhostFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return new BulletBodyUnman(id, BSAPICPP.CreateGhostFromShape2(worldu.ptr, shapeu.ptr, id, pos, rot));
+}
+
+public override void DestroyObject(BulletWorld world, BulletBody obj)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.DestroyObject2(worldu.ptr, bodyu.ptr);
+}
+
+// =====================================================================================
+// Terrain creation and helper routines
+public override BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin)
+{
+    return new BulletShapeUnman(BSAPICPP.CreateGroundPlaneShape2(id, height, collisionMargin), BSPhysicsShapeType.SHAPE_GROUNDPLANE);
+}
+
+public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap,
+                                float scaleFactor, float collisionMargin)
+{
+    return new BulletShapeUnman(BSAPICPP.CreateTerrainShape2(id, size, minHeight, maxHeight, heightMap, scaleFactor, collisionMargin),
+                                                BSPhysicsShapeType.SHAPE_TERRAIN);
+}
+
+// =====================================================================================
+// Constraint creation and helper routines
+public override BulletConstraint Create6DofConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 frame1loc, Quaternion frame1rot,
+                    Vector3 frame2loc, Quaternion frame2rot,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
+    BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
+    return new BulletConstraintUnman(BSAPICPP.Create6DofConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot,
+                    frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+}
+
+public override BulletConstraint Create6DofConstraintToPoint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 joinPoint,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
+    BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
+    return new BulletConstraintUnman(BSAPICPP.Create6DofConstraintToPoint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr,
+                    joinPoint, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+}
+
+public override BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 pivotinA, Vector3 pivotinB,
+                    Vector3 axisInA, Vector3 axisInB,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
+    BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
+    return new BulletConstraintUnman(BSAPICPP.CreateHingeConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr,
+                    pivotinA, pivotinB, axisInA, axisInB, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+}
+
+public override void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    BSAPICPP.SetConstraintEnable2(constrainu.ptr, numericTrueFalse);
+}
+
+public override void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    BSAPICPP.SetConstraintNumSolverIterations2(constrainu.ptr, iterations);
+}
+
+public override bool SetFrames(BulletConstraint constrain,
+                Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.SetFrames2(constrainu.ptr, frameA, frameArot, frameB, frameBrot);
+}
+
+public override bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.SetLinearLimits2(constrainu.ptr, low, hi);
+}
+
+public override bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.SetAngularLimits2(constrainu.ptr, low, hi);
+}
+
+public override bool UseFrameOffset(BulletConstraint constrain, float enable)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.UseFrameOffset2(constrainu.ptr, enable);
+}
+
+public override bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.TranslationalLimitMotor2(constrainu.ptr, enable, targetVel, maxMotorForce);
+}
+
+public override bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.SetBreakingImpulseThreshold2(constrainu.ptr, threshold);
+}
+
+public override bool CalculateTransforms(BulletConstraint constrain)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.CalculateTransforms2(constrainu.ptr);
+}
+
+public override bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.SetConstraintParam2(constrainu.ptr, paramIndex, value, axis);
+}
+
+public override bool DestroyConstraint(BulletWorld world, BulletConstraint constrain)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.DestroyConstraint2(worldu.ptr, constrainu.ptr);
+}
+
+// =====================================================================================
+// btCollisionWorld entries
+public override void UpdateSingleAabb(BulletWorld world, BulletBody obj)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.UpdateSingleAabb2(worldu.ptr, bodyu.ptr);
+}
+
+public override void UpdateAabbs(BulletWorld world)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BSAPICPP.UpdateAabbs2(worldu.ptr);
+}
+
+public override bool GetForceUpdateAllAabbs(BulletWorld world)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return BSAPICPP.GetForceUpdateAllAabbs2(worldu.ptr);
+}
+
+public override void SetForceUpdateAllAabbs(BulletWorld world, bool force)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BSAPICPP.SetForceUpdateAllAabbs2(worldu.ptr, force);
+}
+
+// =====================================================================================
+// btDynamicsWorld entries
+public override bool AddObjectToWorld(BulletWorld world, BulletBody obj)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+
+    // Bullet resets several variables when an object is added to the world.
+    //   Gravity is reset to world default depending on the static/dynamic
+    //   type. Of course, the collision flags in the broadphase proxy are initialized to default.
+    Vector3 origGrav = BSAPICPP.GetGravity2(bodyu.ptr);
+
+    bool ret = BSAPICPP.AddObjectToWorld2(worldu.ptr, bodyu.ptr);
+
+    if (ret)
+    {
+        BSAPICPP.SetGravity2(bodyu.ptr, origGrav);
+        obj.ApplyCollisionMask(world.physicsScene);
+    }
+    return ret;
+}
+
+public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.RemoveObjectFromWorld2(worldu.ptr, bodyu.ptr);
+}
+
+public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.AddConstraintToWorld2(worldu.ptr, constrainu.ptr, disableCollisionsBetweenLinkedObjects);
+}
+
+public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.RemoveConstraintFromWorld2(worldu.ptr, constrainu.ptr);
+}
+// =====================================================================================
+// btCollisionObject entries
+public override Vector3 GetAnisotripicFriction(BulletConstraint constrain)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.GetAnisotripicFriction2(constrainu.ptr);
+}
+
+public override Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.SetAnisotripicFriction2(constrainu.ptr, frict);
+}
+
+public override bool HasAnisotripicFriction(BulletConstraint constrain)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.HasAnisotripicFriction2(constrainu.ptr);
+}
+
+public override void SetContactProcessingThreshold(BulletBody obj, float val)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetContactProcessingThreshold2(bodyu.ptr, val);
+}
+
+public override float GetContactProcessingThreshold(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetContactProcessingThreshold2(bodyu.ptr);
+}
+
+public override bool IsStaticObject(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.IsStaticObject2(bodyu.ptr);
+}
+
+public override bool IsKinematicObject(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.IsKinematicObject2(bodyu.ptr);
+}
+
+public override bool IsStaticOrKinematicObject(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.IsStaticOrKinematicObject2(bodyu.ptr);
+}
+
+public override bool HasContactResponse(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.HasContactResponse2(bodyu.ptr);
+}
+
+public override void SetCollisionShape(BulletWorld world, BulletBody obj, BulletShape shape)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    if (worldu != null && bodyu != null)
+    {
+        // Special case to allow the caller to zero out the reference to any physical shape
+        if (shapeu != null)
+            BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, shapeu.ptr);
+        else
+            BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, IntPtr.Zero);
+    }
+}
+
+public override BulletShape GetCollisionShape(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return new BulletShapeUnman(BSAPICPP.GetCollisionShape2(bodyu.ptr), BSPhysicsShapeType.SHAPE_UNKNOWN);
+}
+
+public override int GetActivationState(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetActivationState2(bodyu.ptr);
+}
+
+public override void SetActivationState(BulletBody obj, int state)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetActivationState2(bodyu.ptr, state);
+}
+
+public override void SetDeactivationTime(BulletBody obj, float dtime)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetDeactivationTime2(bodyu.ptr, dtime);
+}
+
+public override float GetDeactivationTime(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetDeactivationTime2(bodyu.ptr);
+}
+
+public override void ForceActivationState(BulletBody obj, ActivationState state)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ForceActivationState2(bodyu.ptr, state);
+}
+
+public override void Activate(BulletBody obj, bool forceActivation)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.Activate2(bodyu.ptr, forceActivation);
+}
+
+public override bool IsActive(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.IsActive2(bodyu.ptr);
+}
+
+public override void SetRestitution(BulletBody obj, float val)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetRestitution2(bodyu.ptr, val);
+}
+
+public override float GetRestitution(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetRestitution2(bodyu.ptr);
+}
+
+public override void SetFriction(BulletBody obj, float val)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetFriction2(bodyu.ptr, val);
+}
+
+public override float GetFriction(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetFriction2(bodyu.ptr);
+}
+
+public override Vector3 GetPosition(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetPosition2(bodyu.ptr);
+}
+
+public override Quaternion GetOrientation(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetOrientation2(bodyu.ptr);
+}
+
+public override void SetTranslation(BulletBody obj, Vector3 position, Quaternion rotation)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetTranslation2(bodyu.ptr, position, rotation);
+}
+
+    /*
+public override IntPtr GetBroadphaseHandle(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetBroadphaseHandle2(bodyu.ptr);
+}
+
+public override void SetBroadphaseHandle(BulletBody obj, IntPtr handle)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetUserPointer2(bodyu.ptr, handle);
+}
+     */
+
+public override void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetInterpolationLinearVelocity2(bodyu.ptr, vel);
+}
+
+public override void SetInterpolationAngularVelocity(BulletBody obj, Vector3 vel)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetInterpolationAngularVelocity2(bodyu.ptr, vel);
+}
+
+public override void SetInterpolationVelocity(BulletBody obj, Vector3 linearVel, Vector3 angularVel)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetInterpolationVelocity2(bodyu.ptr, linearVel, angularVel);
+}
+
+public override float GetHitFraction(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetHitFraction2(bodyu.ptr);
+}
+
+public override void SetHitFraction(BulletBody obj, float val)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetHitFraction2(bodyu.ptr, val);
+}
+
+public override CollisionFlags GetCollisionFlags(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetCollisionFlags2(bodyu.ptr);
+}
+
+public override CollisionFlags SetCollisionFlags(BulletBody obj, CollisionFlags flags)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.SetCollisionFlags2(bodyu.ptr, flags);
+}
+
+public override CollisionFlags AddToCollisionFlags(BulletBody obj, CollisionFlags flags)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.AddToCollisionFlags2(bodyu.ptr, flags);
+}
+
+public override CollisionFlags RemoveFromCollisionFlags(BulletBody obj, CollisionFlags flags)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.RemoveFromCollisionFlags2(bodyu.ptr, flags);
+}
+
+public override float GetCcdMotionThreshold(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetCcdMotionThreshold2(bodyu.ptr);
+}
+
+
+public override void SetCcdMotionThreshold(BulletBody obj, float val)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetCcdMotionThreshold2(bodyu.ptr, val);
+}
+
+public override float GetCcdSweptSphereRadius(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetCcdSweptSphereRadius2(bodyu.ptr);
+}
+
+public override void SetCcdSweptSphereRadius(BulletBody obj, float val)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetCcdSweptSphereRadius2(bodyu.ptr, val);
+}
+
+public override IntPtr GetUserPointer(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetUserPointer2(bodyu.ptr);
+}
+
+public override void SetUserPointer(BulletBody obj, IntPtr val)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetUserPointer2(bodyu.ptr, val);
+}
+
+// =====================================================================================
+// btRigidBody entries
+public override void ApplyGravity(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ApplyGravity2(bodyu.ptr);
+}
+
+public override void SetGravity(BulletBody obj, Vector3 val)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetGravity2(bodyu.ptr, val);
+}
+
+public override Vector3 GetGravity(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetGravity2(bodyu.ptr);
+}
+
+public override void SetDamping(BulletBody obj, float lin_damping, float ang_damping)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetDamping2(bodyu.ptr, lin_damping, ang_damping);
+}
+
+public override void SetLinearDamping(BulletBody obj, float lin_damping)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetLinearDamping2(bodyu.ptr, lin_damping);
+}
+
+public override void SetAngularDamping(BulletBody obj, float ang_damping)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetAngularDamping2(bodyu.ptr, ang_damping);
+}
+
+public override float GetLinearDamping(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetLinearDamping2(bodyu.ptr);
+}
+
+public override float GetAngularDamping(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetAngularDamping2(bodyu.ptr);
+}
+
+public override float GetLinearSleepingThreshold(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetLinearSleepingThreshold2(bodyu.ptr);
+}
+
+public override void ApplyDamping(BulletBody obj, float timeStep)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ApplyDamping2(bodyu.ptr, timeStep);
+}
+
+public override void SetMassProps(BulletBody obj, float mass, Vector3 inertia)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetMassProps2(bodyu.ptr, mass, inertia);
+}
+
+public override Vector3 GetLinearFactor(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetLinearFactor2(bodyu.ptr);
+}
+
+public override void SetLinearFactor(BulletBody obj, Vector3 factor)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetLinearFactor2(bodyu.ptr, factor);
+}
+
+public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetCenterOfMassByPosRot2(bodyu.ptr, pos, rot);
+}
+
+// Add a force to the object as if its mass is one.
+// Deep down in Bullet: m_totalForce += force*m_linearFactor;
+public override void ApplyCentralForce(BulletBody obj, Vector3 force)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ApplyCentralForce2(bodyu.ptr, force);
+}
+
+// Set the force being applied to the object as if its mass is one.
+public override void SetObjectForce(BulletBody obj, Vector3 force)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetObjectForce2(bodyu.ptr, force);
+}
+
+public override Vector3 GetTotalForce(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetTotalForce2(bodyu.ptr);
+}
+
+public override Vector3 GetTotalTorque(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetTotalTorque2(bodyu.ptr);
+}
+
+public override Vector3 GetInvInertiaDiagLocal(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetInvInertiaDiagLocal2(bodyu.ptr);
+}
+
+public override void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetInvInertiaDiagLocal2(bodyu.ptr, inert);
+}
+
+public override void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetSleepingThresholds2(bodyu.ptr, lin_threshold, ang_threshold);
+}
+
+// Deep down in Bullet: m_totalTorque += torque*m_angularFactor;
+public override void ApplyTorque(BulletBody obj, Vector3 torque)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ApplyTorque2(bodyu.ptr, torque);
+}
+
+// Apply force at the given point. Will add torque to the object.
+// Deep down in Bullet: applyCentralForce(force);
+//                              applyTorque(rel_pos.cross(force*m_linearFactor));
+public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ApplyForce2(bodyu.ptr, force, pos);
+}
+
+// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
+// Deep down in Bullet: m_linearVelocity += impulse *m_linearFactor * m_inverseMass;
+public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ApplyCentralImpulse2(bodyu.ptr, imp);
+}
+
+// Apply impulse to the object's torque. Force is scaled by object's mass.
+// Deep down in Bullet: m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor;
+public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ApplyTorqueImpulse2(bodyu.ptr, imp);
+}
+
+// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
+// Deep down in Bullet: applyCentralImpulse(impulse);
+//                              applyTorqueImpulse(rel_pos.cross(impulse*m_linearFactor));
+public override void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ApplyImpulse2(bodyu.ptr, imp, pos);
+}
+
+public override void ClearForces(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ClearForces2(bodyu.ptr);
+}
+
+public override void ClearAllForces(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ClearAllForces2(bodyu.ptr);
+}
+
+public override void UpdateInertiaTensor(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.UpdateInertiaTensor2(bodyu.ptr);
+}
+
+public override Vector3 GetLinearVelocity(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetLinearVelocity2(bodyu.ptr);
+}
+
+public override Vector3 GetAngularVelocity(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetAngularVelocity2(bodyu.ptr);
+}
+
+public override void SetLinearVelocity(BulletBody obj, Vector3 vel)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetLinearVelocity2(bodyu.ptr, vel);
+}
+
+public override void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetAngularVelocity2(bodyu.ptr, angularVelocity);
+}
+
+public override Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetVelocityInLocalPoint2(bodyu.ptr, pos);
+}
+
+public override void Translate(BulletBody obj, Vector3 trans)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.Translate2(bodyu.ptr, trans);
+}
+
+public override void UpdateDeactivation(BulletBody obj, float timeStep)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.UpdateDeactivation2(bodyu.ptr, timeStep);
+}
+
+public override bool WantsSleeping(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.WantsSleeping2(bodyu.ptr);
+}
+
+public override void SetAngularFactor(BulletBody obj, float factor)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetAngularFactor2(bodyu.ptr, factor);
+}
+
+public override void SetAngularFactorV(BulletBody obj, Vector3 factor)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetAngularFactorV2(bodyu.ptr, factor);
+}
+
+public override Vector3 GetAngularFactor(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetAngularFactor2(bodyu.ptr);
+}
+
+public override bool IsInWorld(BulletWorld world, BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.IsInWorld2(bodyu.ptr);
+}
+
+public override void AddConstraintRef(BulletBody obj, BulletConstraint constrain)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    BSAPICPP.AddConstraintRef2(bodyu.ptr, constrainu.ptr);
+}
+
+public override void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    BSAPICPP.RemoveConstraintRef2(bodyu.ptr, constrainu.ptr);
+}
+
+public override BulletConstraint GetConstraintRef(BulletBody obj, int index)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return new BulletConstraintUnman(BSAPICPP.GetConstraintRef2(bodyu.ptr, index));
+}
+
+public override int GetNumConstraintRefs(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetNumConstraintRefs2(bodyu.ptr);
+}
+
+public override bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask)
+{
+    BulletBodyUnman bodyu = body as BulletBodyUnman;
+    return BSAPICPP.SetCollisionGroupMask2(bodyu.ptr, filter, mask);
+}
+
+// =====================================================================================
+// btCollisionShape entries
+
+public override float GetAngularMotionDisc(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.GetAngularMotionDisc2(shapeu.ptr);
+}
+
+public override float GetContactBreakingThreshold(BulletShape shape, float defaultFactor)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.GetContactBreakingThreshold2(shapeu.ptr, defaultFactor);
+}
+
+public override bool IsPolyhedral(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.IsPolyhedral2(shapeu.ptr);
+}
+
+public override bool IsConvex2d(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.IsConvex2d2(shapeu.ptr);
+}
+
+public override bool IsConvex(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.IsConvex2(shapeu.ptr);
+}
+
+public override bool IsNonMoving(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.IsNonMoving2(shapeu.ptr);
+}
+
+public override bool IsConcave(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.IsConcave2(shapeu.ptr);
+}
+
+public override bool IsCompound(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.IsCompound2(shapeu.ptr);
+}
+
+public override bool IsSoftBody(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.IsSoftBody2(shapeu.ptr);
+}
+
+public override bool IsInfinite(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.IsInfinite2(shapeu.ptr);
+}
+
+public override void SetLocalScaling(BulletShape shape, Vector3 scale)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    BSAPICPP.SetLocalScaling2(shapeu.ptr, scale);
+}
+
+public override Vector3 GetLocalScaling(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.GetLocalScaling2(shapeu.ptr);
+}
+
+public override Vector3 CalculateLocalInertia(BulletShape shape, float mass)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.CalculateLocalInertia2(shapeu.ptr, mass);
+}
+
+public override int GetShapeType(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.GetShapeType2(shapeu.ptr);
+}
+
+public override void SetMargin(BulletShape shape, float val)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    BSAPICPP.SetMargin2(shapeu.ptr, val);
+}
+
+public override float GetMargin(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.GetMargin2(shapeu.ptr);
+}
+
+// =====================================================================================
+// Debugging
+public override void DumpRigidBody(BulletWorld world, BulletBody collisionObject)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu = collisionObject as BulletBodyUnman;
+    BSAPICPP.DumpRigidBody2(worldu.ptr, bodyu.ptr);
+}
+
+public override void DumpCollisionShape(BulletWorld world, BulletShape collisionShape)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletShapeUnman shapeu = collisionShape as BulletShapeUnman;
+    BSAPICPP.DumpCollisionShape2(worldu.ptr, shapeu.ptr);
+}
+
+public override void DumpConstraint(BulletWorld world, BulletConstraint constrain)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    BSAPICPP.DumpConstraint2(worldu.ptr, constrainu.ptr);
+}
+
+public override void DumpActivationInfo(BulletWorld world)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BSAPICPP.DumpActivationInfo2(worldu.ptr);
+}
+
+public override void DumpAllInfo(BulletWorld world)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BSAPICPP.DumpAllInfo2(worldu.ptr);
+}
+
+public override void DumpPhysicsStatistics(BulletWorld world)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BSAPICPP.DumpPhysicsStatistics2(worldu.ptr);
+}
+public override void ResetBroadphasePool(BulletWorld world)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BSAPICPP.ResetBroadphasePool(worldu.ptr);
+}
+public override void ResetConstraintSolver(BulletWorld world)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BSAPICPP.ResetConstraintSolver(worldu.ptr);
+}
+
+// =====================================================================================
+// =====================================================================================
+// =====================================================================================
+// =====================================================================================
+// =====================================================================================
+// The actual interface to the unmanaged code
+static class BSAPICPP
+{
+// ===============================================================================
+// Link back to the managed code for outputting log messages
+[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
+public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
+
+// ===============================================================================
+// Initialization and simulation
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
+                                                                                        int maxCollisions,  IntPtr collisionArray,
+                                                                                        int maxUpdates, IntPtr updateArray,
+                                            DebugLogCallback logRoutine);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
+                        out int updatedEntityCount, out int collidersCount);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void Shutdown2(IntPtr sim);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool PushUpdate2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
+
+// =====================================================================================
+// Mesh, hull, shape and body creation helper routines
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateMeshShape2(IntPtr world,
+                int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
+                int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices );
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateHullShape2(IntPtr world,
+                int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsNativeShape2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetShapeCollisionMargin2(IntPtr shape, float margin);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateCompoundShape2(IntPtr sim, bool enableDynamicAabbTree);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int GetNumberOfCompoundChildren2(IntPtr cShape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void AddChildShapeToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr GetChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr RemoveChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void RemoveChildShapeFromCompoundShape2(IntPtr cShape, IntPtr removeShape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void UpdateChildTransform2(IntPtr pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void RecalculateCompoundShapeLocalAabb2(IntPtr cShape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int GetBodyType2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DestroyObject2(IntPtr sim, IntPtr obj);
+
+// =====================================================================================
+// Terrain creation and helper routines
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateTerrainShape2(uint id, Vector3 size, float minHeight, float maxHeight, 
+                                            [MarshalAs(UnmanagedType.LPArray)] float[] heightMap,
+                                            float scaleFactor, float collisionMargin);
+
+// =====================================================================================
+// Constraint creation and helper routines
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
+                    Vector3 frame1loc, Quaternion frame1rot,
+                    Vector3 frame2loc, Quaternion frame2rot,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr Create6DofConstraintToPoint2(IntPtr world, IntPtr obj1, IntPtr obj2,
+                    Vector3 joinPoint,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
+                    Vector3 pivotinA, Vector3 pivotinB,
+                    Vector3 axisInA, Vector3 axisInB,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetFrames2(IntPtr constrain,
+                Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetAngularLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool UseFrameOffset2(IntPtr constrain, float enable);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool CalculateTransforms2(IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain);
+
+// =====================================================================================
+// btCollisionWorld entries
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void UpdateSingleAabb2(IntPtr world, IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void UpdateAabbs2(IntPtr world);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool GetForceUpdateAllAabbs2(IntPtr world);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetForceUpdateAllAabbs2(IntPtr world, bool force);
+
+// =====================================================================================
+// btDynamicsWorld entries
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool RemoveConstraintFromWorld2(IntPtr world, IntPtr constrain);
+// =====================================================================================
+// btCollisionObject entries
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetAnisotripicFriction2(IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 SetAnisotripicFriction2(IntPtr constrain, Vector3 frict);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool HasAnisotripicFriction2(IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetContactProcessingThreshold2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetContactProcessingThreshold2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsStaticObject2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsKinematicObject2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsStaticOrKinematicObject2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool HasContactResponse2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr GetCollisionShape2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int GetActivationState2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetActivationState2(IntPtr obj, int state);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetDeactivationTime2(IntPtr obj, float dtime);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetDeactivationTime2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ForceActivationState2(IntPtr obj, ActivationState state);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void Activate2(IntPtr obj, bool forceActivation);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsActive2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetRestitution2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetRestitution2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetFriction2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetFriction2(IntPtr obj);
+
+    /* Haven't defined the type 'Transform'
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Transform GetWorldTransform2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void setWorldTransform2(IntPtr obj, Transform trans);
+     */
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetPosition2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Quaternion GetOrientation2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr GetBroadphaseHandle2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle);
+
+    /*
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Transform GetInterpolationWorldTransform2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetInterpolationWorldTransform2(IntPtr obj, Transform trans);
+     */
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetHitFraction2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetHitFraction2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern CollisionFlags GetCollisionFlags2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetCcdMotionThreshold2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetCcdMotionThreshold2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetCcdSweptSphereRadius2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetCcdSweptSphereRadius2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr GetUserPointer2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetUserPointer2(IntPtr obj, IntPtr val);
+
+// =====================================================================================
+// btRigidBody entries
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyGravity2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetGravity2(IntPtr obj, Vector3 val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetGravity2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetLinearDamping2(IntPtr obj, float lin_damping);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetAngularDamping2(IntPtr obj, float ang_damping);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetLinearDamping2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetAngularDamping2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetLinearSleepingThreshold2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetAngularSleepingThreshold2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyDamping2(IntPtr obj, float timeStep);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetMassProps2(IntPtr obj, float mass, Vector3 inertia);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetLinearFactor2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor);
+
+    /*
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans);
+     */
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetCenterOfMassByPosRot2(IntPtr obj, Vector3 pos, Quaternion rot);
+
+// Add a force to the object as if its mass is one.
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyCentralForce2(IntPtr obj, Vector3 force);
+
+// Set the force being applied to the object as if its mass is one.
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetObjectForce2(IntPtr obj, Vector3 force);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetTotalForce2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetTotalTorque2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyTorque2(IntPtr obj, Vector3 torque);
+
+// Apply force at the given point. Will add torque to the object.
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyForce2(IntPtr obj, Vector3 force, Vector3 pos);
+
+// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyCentralImpulse2(IntPtr obj, Vector3 imp);
+
+// Apply impulse to the object's torque. Force is scaled by object's mass.
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyTorqueImpulse2(IntPtr obj, Vector3 imp);
+
+// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyImpulse2(IntPtr obj, Vector3 imp, Vector3 pos);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ClearForces2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ClearAllForces2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void UpdateInertiaTensor2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetCenterOfMassPosition2(IntPtr obj);
+
+    /*
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Transform GetCenterOfMassTransform2(IntPtr obj);
+     */
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetLinearVelocity2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetAngularVelocity2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void Translate2(IntPtr obj, Vector3 trans);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void UpdateDeactivation2(IntPtr obj, float timeStep);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool WantsSleeping2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetAngularFactor2(IntPtr obj, float factor);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetAngularFactor2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsInWorld2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr GetConstraintRef2(IntPtr obj, int index);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int GetNumConstraintRefs2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetCollisionGroupMask2(IntPtr body, uint filter, uint mask);
+
+// =====================================================================================
+// btCollisionShape entries
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetAngularMotionDisc2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetContactBreakingThreshold2(IntPtr shape, float defaultFactor);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsPolyhedral2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsConvex2d2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsConvex2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsNonMoving2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsConcave2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsCompound2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsSoftBody2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsInfinite2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetLocalScaling2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 CalculateLocalInertia2(IntPtr shape, float mass);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int GetShapeType2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetMargin2(IntPtr shape, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetMargin2(IntPtr shape);
+
+// =====================================================================================
+// Debugging
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpActivationInfo2(IntPtr sim);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpAllInfo2(IntPtr sim);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpPhysicsStatistics2(IntPtr sim);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ResetBroadphasePool(IntPtr sim);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ResetConstraintSolver(IntPtr sim);
+
+}
+
+}
+
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
new file mode 100755
index 0000000..b6ff52b
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
@@ -0,0 +1,1598 @@
+/*
+ * 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.IO;
+using System.Text;
+
+using OpenSim.Framework;
+
+using OpenMetaverse;
+
+using BulletXNA;
+using BulletXNA.LinearMath;
+using BulletXNA.BulletCollision;
+using BulletXNA.BulletDynamics;
+using BulletXNA.BulletCollision.CollisionDispatch;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public sealed class BSAPIXNA : BSAPITemplate
+{
+private sealed class BulletWorldXNA : BulletWorld
+{
+    public DiscreteDynamicsWorld world;
+    public BulletWorldXNA(uint id, BSScene physScene, DiscreteDynamicsWorld xx)
+        : base(id, physScene)
+    {
+        world = xx;
+    }
+}
+
+private sealed class BulletBodyXNA : BulletBody
+{
+    public CollisionObject body;
+    public RigidBody rigidBody { get { return RigidBody.Upcast(body); } }
+
+    public BulletBodyXNA(uint id, CollisionObject xx)
+        : base(id)
+    {
+        body = xx;
+    }
+    public override bool HasPhysicalBody
+    {
+        get { return body != null; }
+    }
+    public override void Clear()
+    {
+        body = null;
+    }
+    public override string AddrString
+    {
+        get { return "XNARigidBody"; }
+    }
+}
+
+private sealed class BulletShapeXNA : BulletShape
+{
+    public CollisionShape shape;
+    public BulletShapeXNA(CollisionShape xx, BSPhysicsShapeType typ) 
+        : base()
+    {
+        shape = xx;
+        type = typ;
+    }
+    public override bool HasPhysicalShape
+    {
+        get { return shape != null; }
+    }
+    public override void Clear()
+    {
+        shape = null;
+    }
+    public override BulletShape Clone()
+    {
+        return new BulletShapeXNA(shape, type);
+    }
+    public override bool ReferenceSame(BulletShape other)
+    {
+        BulletShapeXNA otheru = other as BulletShapeXNA;
+        return (otheru != null) && (this.shape == otheru.shape);
+
+    }
+    public override string AddrString
+    {
+        get { return "XNACollisionShape"; }
+    }
+}
+private sealed class BulletConstraintXNA : BulletConstraint
+{
+    public TypedConstraint constrain;
+    public BulletConstraintXNA(TypedConstraint xx) : base()
+    {
+        constrain = xx;
+    }
+
+    public override void Clear()
+    {
+        constrain = null;
+    }
+    public override bool HasPhysicalConstraint { get { return constrain != null; } }
+
+    // Used for log messages for a unique display of the memory/object allocated to this instance
+    public override string AddrString
+    {
+        get { return "XNAConstraint"; }
+    }
+}
+
+    private static int m_collisionsThisFrame;
+    private BSScene PhysicsScene { get; set; }
+
+    public override string BulletEngineName { get { return "BulletXNA"; } }
+    public override string BulletEngineVersion { get; protected set; }
+
+    public BSAPIXNA(string paramName, BSScene physScene)
+    {
+        PhysicsScene = physScene;
+    }
+
+    /// <summary>
+    /// 
+    /// </summary>
+    /// <param name="p"></param>
+    /// <param name="p_2"></param>
+    public override bool RemoveObjectFromWorld(BulletWorld pWorld, BulletBody pBody)
+    {
+        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        world.RemoveRigidBody(body);
+        return true;
+    }
+
+    public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects)
+    {
+        /* TODO */
+        return false;
+    }
+
+    public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain)
+    {
+        /* TODO */
+        return false;
+    }
+
+    public override void SetRestitution(BulletBody pBody, float pRestitution)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        body.SetRestitution(pRestitution);
+    }
+
+    public override int GetShapeType(BulletShape pShape)
+    {
+        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        return (int)shape.GetShapeType();
+    }
+    public override void SetMargin(BulletShape pShape, float pMargin)
+    {
+        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        shape.SetMargin(pMargin);
+    }
+
+    public override float GetMargin(BulletShape pShape)
+    {
+        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        return shape.GetMargin();
+    }
+
+    public override void SetLocalScaling(BulletShape pShape, Vector3 pScale)
+    {
+        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
+        shape.SetLocalScaling(ref vec);
+
+    }
+
+    public override void SetContactProcessingThreshold(BulletBody pBody, float contactprocessingthreshold)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        body.SetContactProcessingThreshold(contactprocessingthreshold);
+    }
+
+    public override void SetCcdMotionThreshold(BulletBody pBody, float pccdMotionThreashold)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        body.SetCcdMotionThreshold(pccdMotionThreashold);
+    }
+
+    public override void SetCcdSweptSphereRadius(BulletBody pBody, float pCcdSweptSphereRadius)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        body.SetCcdSweptSphereRadius(pCcdSweptSphereRadius);
+    }
+
+    public override void SetAngularFactorV(BulletBody pBody, Vector3 pAngularFactor)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z));
+    }
+
+    public override CollisionFlags AddToCollisionFlags(BulletBody pBody, CollisionFlags pcollisionFlags)
+    {
+        CollisionObject body = ((BulletBodyXNA)pBody).body;
+        CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags();
+        existingcollisionFlags |= pcollisionFlags;
+        body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
+        return (CollisionFlags) (uint) existingcollisionFlags;
+    }
+
+    public override bool AddObjectToWorld(BulletWorld pWorld, BulletBody pBody)
+    {
+        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+        CollisionObject cbody = ((BulletBodyXNA)pBody).body;
+        RigidBody rbody = cbody as RigidBody;
+
+        // Bullet resets several variables when an object is added to the world. In particular,
+        //   BulletXNA resets position and rotation. Gravity is also reset depending on the static/dynamic
+        //   type. Of course, the collision flags in the broadphase proxy are initialized to default.
+        IndexedMatrix origPos = cbody.GetWorldTransform();
+        if (rbody != null)
+        {
+            IndexedVector3 origGrav = rbody.GetGravity();
+            world.AddRigidBody(rbody);
+            rbody.SetGravity(origGrav);
+        }
+        else
+        {
+            world.AddCollisionObject(rbody);
+        }
+        cbody.SetWorldTransform(origPos);
+
+        pBody.ApplyCollisionMask(pWorld.physicsScene);
+
+        //if (body.GetBroadphaseHandle() != null)
+        //    world.UpdateSingleAabb(body);
+        return true;
+    }
+
+    public override void ForceActivationState(BulletBody pBody, ActivationState pActivationState)
+    {
+        CollisionObject body = ((BulletBodyXNA)pBody).body;
+        body.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState);
+    }
+
+    public override void UpdateSingleAabb(BulletWorld pWorld, BulletBody pBody)
+    {
+        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+        CollisionObject body = ((BulletBodyXNA)pBody).body;
+        world.UpdateSingleAabb(body);
+    }
+
+    public override void UpdateAabbs(BulletWorld world) { /* TODO */ }
+    public override bool GetForceUpdateAllAabbs(BulletWorld world) { /* TODO */ return false;  }
+    public override void SetForceUpdateAllAabbs(BulletWorld world, bool force) { /* TODO */ }
+
+    public override bool SetCollisionGroupMask(BulletBody pBody, uint pGroup, uint pMask)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
+        body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
+        if ((uint) body.GetBroadphaseHandle().m_collisionFilterGroup == 0)
+            return false;
+        return true;
+    }
+
+    public override void ClearAllForces(BulletBody pBody)
+    {
+        CollisionObject body = ((BulletBodyXNA)pBody).body;
+        IndexedVector3 zeroVector = new IndexedVector3(0, 0, 0);
+        body.SetInterpolationLinearVelocity(ref zeroVector);
+        body.SetInterpolationAngularVelocity(ref zeroVector);
+        IndexedMatrix bodytransform = body.GetWorldTransform();
+
+        body.SetInterpolationWorldTransform(ref bodytransform);
+
+        if (body is RigidBody)
+        {
+            RigidBody rigidbody = body as RigidBody;
+            rigidbody.SetLinearVelocity(zeroVector);
+            rigidbody.SetAngularVelocity(zeroVector);
+            rigidbody.ClearForces();
+        }
+    }
+
+    public override void SetInterpolationAngularVelocity(BulletBody pBody, Vector3 pVector3)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
+        body.SetInterpolationAngularVelocity(ref vec);
+    }
+
+    public override void SetAngularVelocity(BulletBody pBody, Vector3 pVector3)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
+        body.SetAngularVelocity(ref vec);
+    }
+    public override Vector3 GetTotalForce(BulletBody pBody)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        IndexedVector3 iv3 = body.GetTotalForce();
+        return new Vector3(iv3.X, iv3.Y, iv3.Z);
+    }
+    public override Vector3 GetTotalTorque(BulletBody pBody)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        IndexedVector3 iv3 = body.GetTotalTorque();
+        return new Vector3(iv3.X, iv3.Y, iv3.Z);
+    }
+    public override Vector3 GetInvInertiaDiagLocal(BulletBody pBody)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        IndexedVector3 iv3 = body.GetInvInertiaDiagLocal();
+        return new Vector3(iv3.X, iv3.Y, iv3.Z);
+    }
+    public override void SetInvInertiaDiagLocal(BulletBody pBody, Vector3 inert)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        IndexedVector3 iv3 = new IndexedVector3(inert.X, inert.Y, inert.Z);
+        body.SetInvInertiaDiagLocal(ref iv3);
+    }
+    public override void ApplyForce(BulletBody pBody, Vector3 force, Vector3 pos)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        IndexedVector3 forceiv3 = new IndexedVector3(force.X, force.Y, force.Z);
+        IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z);
+        body.ApplyForce(ref forceiv3, ref posiv3);
+    }
+    public override void ApplyImpulse(BulletBody pBody, Vector3 imp, Vector3 pos)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        IndexedVector3 impiv3 = new IndexedVector3(imp.X, imp.Y, imp.Z);
+        IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z);
+        body.ApplyImpulse(ref impiv3, ref posiv3);
+    }
+
+    public override void ClearForces(BulletBody pBody)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        body.ClearForces();
+    }
+
+    public override void SetTranslation(BulletBody pBody, Vector3 _position, Quaternion _orientation)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z);
+        IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z,
+                                                              _orientation.W);
+        IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion);
+        mat._origin = vposition;
+        body.SetWorldTransform(mat);
+        
+    }
+
+    public override Vector3 GetPosition(BulletBody pBody)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        IndexedVector3 pos = body.GetInterpolationWorldTransform()._origin;
+        return new Vector3(pos.X, pos.Y, pos.Z);
+    }
+
+    public override Vector3 CalculateLocalInertia(BulletShape pShape, float pphysMass)
+    {
+        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        IndexedVector3 inertia = IndexedVector3.Zero;
+        shape.CalculateLocalInertia(pphysMass, out inertia);
+        return new Vector3(inertia.X, inertia.Y, inertia.Z);
+    }
+
+    public override void SetMassProps(BulletBody pBody, float pphysMass, Vector3 plocalInertia)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z);
+        body.SetMassProps(pphysMass, inertia);
+    }
+
+
+    public override void SetObjectForce(BulletBody pBody, Vector3 _force)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z);
+        body.SetTotalForce(ref force);
+    }
+
+    public override void SetFriction(BulletBody pBody, float _currentFriction)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        body.SetFriction(_currentFriction);
+    }
+
+    public override void SetLinearVelocity(BulletBody pBody, Vector3 _velocity)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z);
+        body.SetLinearVelocity(velocity);
+    }
+
+    public override void Activate(BulletBody pBody, bool pforceactivation)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        body.Activate(pforceactivation);
+        
+    }
+
+    public override Quaternion GetOrientation(BulletBody pBody)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        IndexedQuaternion mat = body.GetInterpolationWorldTransform().GetRotation();
+        return new Quaternion(mat.X, mat.Y, mat.Z, mat.W);
+    }
+
+    public override CollisionFlags RemoveFromCollisionFlags(BulletBody pBody, CollisionFlags pcollisionFlags)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags();
+        existingcollisionFlags &= ~pcollisionFlags;
+        body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
+        return (CollisionFlags)(uint)existingcollisionFlags;
+    }
+
+    public override float GetCcdMotionThreshold(BulletBody obj) { /* TODO */ return 0f;  }
+
+    public override float GetCcdSweptSphereRadius(BulletBody obj) { /* TODO */ return 0f;  }
+
+    public override IntPtr GetUserPointer(BulletBody obj) { /* TODO */ return IntPtr.Zero;  }
+
+    public override void SetUserPointer(BulletBody obj, IntPtr val) { /* TODO */ }
+
+    public override void SetGravity(BulletBody pBody, Vector3 pGravity)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z);
+        body.SetGravity(gravity);
+    }
+
+    public override bool DestroyConstraint(BulletWorld pWorld, BulletConstraint pConstraint)
+    {
+        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+        TypedConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain;
+        world.RemoveConstraint(constraint);
+        return true;
+    }
+
+    public override bool SetLinearLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high)
+    {
+        Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
+        IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
+        IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
+        constraint.SetLinearLowerLimit(lowlimit);
+        constraint.SetLinearUpperLimit(highlimit);
+        return true;
+    }
+
+    public override bool SetAngularLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high)
+    {
+        Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
+        IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
+        IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
+        constraint.SetAngularLowerLimit(lowlimit);
+        constraint.SetAngularUpperLimit(highlimit);
+        return true;
+    }
+
+    public override void SetConstraintNumSolverIterations(BulletConstraint pConstraint, float cnt)
+    {
+        Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
+        constraint.SetOverrideNumSolverIterations((int)cnt);
+    }
+
+    public override bool CalculateTransforms(BulletConstraint pConstraint)
+    {
+        Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
+        constraint.CalculateTransforms();
+        return true;
+    }
+
+    public override void SetConstraintEnable(BulletConstraint pConstraint, float p_2)
+    {
+        Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
+        constraint.SetEnabled((p_2 == 0) ? false : true);
+    }
+
+
+    //BulletSimAPI.Create6DofConstraint(m_world.ptr, m_body1.ptr, m_body2.ptr,frame1, frame1rot,frame2, frame2rot,useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+    public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
+
+    {
+        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+        RigidBody body1 = ((BulletBodyXNA)pBody1).rigidBody;
+        RigidBody body2 = ((BulletBodyXNA)pBody2).rigidBody;
+        IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
+        IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
+        IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
+        frame1._origin = frame1v;
+
+        IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
+        IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
+        IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
+        frame2._origin = frame1v;
+
+        Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2,
+                                                                  puseLinearReferenceFrameA);
+        consttr.CalculateTransforms();
+        world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies);
+
+        return new BulletConstraintXNA(consttr);
+    }
+
+    
+    /// <summary>
+    /// 
+    /// </summary>
+    /// <param name="pWorld"></param>
+    /// <param name="pBody1"></param>
+    /// <param name="pBody2"></param>
+    /// <param name="pjoinPoint"></param>
+    /// <param name="puseLinearReferenceFrameA"></param>
+    /// <param name="pdisableCollisionsBetweenLinkedBodies"></param>
+    /// <returns></returns>
+    public override BulletConstraint Create6DofConstraintToPoint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
+    {
+        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+        RigidBody body1 = ((BulletBodyXNA)pBody1).rigidBody;
+        RigidBody body2 = ((BulletBodyXNA)pBody2).rigidBody;
+        IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
+        IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
+
+        IndexedVector3 joinPoint = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z);
+        IndexedMatrix mat = IndexedMatrix.Identity;
+        mat._origin = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z);
+        frame1._origin = body1.GetWorldTransform().Inverse()*joinPoint;
+        frame2._origin = body2.GetWorldTransform().Inverse()*joinPoint;
+
+        Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2, puseLinearReferenceFrameA);
+        consttr.CalculateTransforms();
+        world.AddConstraint(consttr, pdisableCollisionsBetweenLinkedBodies);
+
+        return new BulletConstraintXNA(consttr);
+    }
+    //SetFrames(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
+    public override bool SetFrames(BulletConstraint pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot)
+    {
+        Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
+        IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
+        IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
+        IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
+        frame1._origin = frame1v;
+
+        IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
+        IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
+        IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
+        frame2._origin = frame1v;
+        constraint.SetFrames(ref frame1, ref frame2);
+        return true;
+    }
+
+    public override Vector3 GetLinearVelocity(BulletBody pBody)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        IndexedVector3 iv3 = body.GetLinearVelocity();
+        return new Vector3(iv3.X, iv3.Y, iv3.Z);
+    }
+    public override Vector3 GetAngularVelocity(BulletBody pBody)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        IndexedVector3 iv3 = body.GetAngularVelocity();
+        return new Vector3(iv3.X, iv3.Y, iv3.Z);
+    }
+    public override Vector3 GetVelocityInLocalPoint(BulletBody pBody, Vector3 pos)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z);
+        IndexedVector3 iv3 = body.GetVelocityInLocalPoint(ref posiv3);
+        return new Vector3(iv3.X, iv3.Y, iv3.Z);
+    }
+    public override void Translate(BulletBody pBody, Vector3 trans)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+    }
+    public override void UpdateDeactivation(BulletBody pBody, float timeStep)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        body.UpdateDeactivation(timeStep);
+    }
+
+    public override bool WantsSleeping(BulletBody pBody)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        return body.WantsSleeping();
+    }
+
+    public override void SetAngularFactor(BulletBody pBody, float factor)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        body.SetAngularFactor(factor);
+    }
+
+    public override Vector3 GetAngularFactor(BulletBody pBody)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        IndexedVector3 iv3 =  body.GetAngularFactor();
+        return new Vector3(iv3.X, iv3.Y, iv3.Z);
+    }
+
+    public override bool IsInWorld(BulletWorld pWorld, BulletBody pBody)
+    {
+        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+        CollisionObject body = ((BulletBodyXNA)pBody).body;
+        return world.IsInWorld(body);
+    }
+
+    public override void AddConstraintRef(BulletBody pBody, BulletConstraint pConstrain)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        TypedConstraint constrain = ((BulletConstraintXNA)pConstrain).constrain;
+        body.AddConstraintRef(constrain);
+    }
+
+    public override void RemoveConstraintRef(BulletBody pBody, BulletConstraint pConstrain)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        TypedConstraint constrain = ((BulletConstraintXNA)pConstrain).constrain;
+        body.RemoveConstraintRef(constrain);
+    }
+
+    public override BulletConstraint GetConstraintRef(BulletBody pBody, int index)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        return new BulletConstraintXNA(body.GetConstraintRef(index));
+    }
+
+    public override int GetNumConstraintRefs(BulletBody pBody)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        return body.GetNumConstraintRefs();
+    }
+
+    public override void SetInterpolationLinearVelocity(BulletBody pBody, Vector3 VehicleVelocity)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z);
+        body.SetInterpolationLinearVelocity(ref velocity);
+    }
+
+    public override bool UseFrameOffset(BulletConstraint pConstraint, float onOff)
+    {
+        Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
+        constraint.SetUseFrameOffset((onOff == 0) ? false : true);
+        return true;
+    }
+    //SetBreakingImpulseThreshold(m_constraint.ptr, threshold);
+    public override bool SetBreakingImpulseThreshold(BulletConstraint pConstraint, float threshold)
+    {
+        Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
+        constraint.SetBreakingImpulseThreshold(threshold);
+        return true;
+    }
+    //BulletSimAPI.SetAngularDamping(Prim.PhysBody.ptr, angularDamping);
+    public override void SetAngularDamping(BulletBody pBody, float angularDamping)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        float lineardamping = body.GetLinearDamping();
+        body.SetDamping(lineardamping, angularDamping);
+
+    }
+
+    public override void UpdateInertiaTensor(BulletBody pBody)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        body.UpdateInertiaTensor();
+    }
+
+    public override void RecalculateCompoundShapeLocalAabb(BulletShape pCompoundShape)
+    {
+        CompoundShape shape = ((BulletShapeXNA)pCompoundShape).shape as CompoundShape;
+        shape.RecalculateLocalAabb();
+    }
+
+    //BulletSimAPI.GetCollisionFlags(PhysBody.ptr)
+    public override CollisionFlags GetCollisionFlags(BulletBody pBody)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        uint flags = (uint)body.GetCollisionFlags();
+        return (CollisionFlags) flags;
+    }
+
+    public override void SetDamping(BulletBody pBody, float pLinear, float pAngular)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        body.SetDamping(pLinear, pAngular);
+    }
+    //PhysBody.ptr, PhysicsScene.Params.deactivationTime);
+    public override void SetDeactivationTime(BulletBody pBody, float pDeactivationTime)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        body.SetDeactivationTime(pDeactivationTime);
+    }
+    //SetSleepingThresholds(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
+    public override void SetSleepingThresholds(BulletBody pBody, float plinearSleepingThreshold, float pangularSleepingThreshold)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold);
+    }
+
+    public override CollisionObjectTypes GetBodyType(BulletBody pBody)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        return (CollisionObjectTypes)(int) body.GetInternalType();
+    }
+
+    public override void ApplyGravity(BulletBody obj) { /* TODO */ }
+
+    public override Vector3 GetGravity(BulletBody obj) { /* TODO */ return Vector3.Zero;  }
+
+    public override void SetLinearDamping(BulletBody obj, float lin_damping) { /* TODO */ }
+
+    public override float GetLinearDamping(BulletBody obj) { /* TODO */ return 0f;  }
+
+    public override float GetAngularDamping(BulletBody obj) { /* TODO */ return 0f;  }
+
+    public override float GetLinearSleepingThreshold(BulletBody obj) { /* TODO */ return 0f;  }
+
+    public override void ApplyDamping(BulletBody obj, float timeStep) { /* TODO */ }
+
+    public override Vector3 GetLinearFactor(BulletBody obj) { /* TODO */ return Vector3.Zero; }
+
+    public override void SetLinearFactor(BulletBody obj, Vector3 factor) { /* TODO */ }
+
+    public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot) { /* TODO */ }
+
+    //BulletSimAPI.ApplyCentralForce(PhysBody.ptr, fSum);
+    public override void ApplyCentralForce(BulletBody pBody, Vector3 pfSum)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
+        body.ApplyCentralForce(ref fSum);
+    }
+    public override void ApplyCentralImpulse(BulletBody pBody, Vector3 pfSum)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
+        body.ApplyCentralImpulse(ref fSum);
+    }
+    public override void ApplyTorque(BulletBody pBody, Vector3 pfSum)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
+        body.ApplyTorque(ref fSum);
+    }
+    public override void ApplyTorqueImpulse(BulletBody pBody, Vector3 pfSum)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
+        body.ApplyTorqueImpulse(ref fSum);
+    }
+
+    public override void DestroyObject(BulletWorld p, BulletBody p_2)
+    {
+        //TODO:
+    }
+
+    public override void Shutdown(BulletWorld pWorld)
+    {
+        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+        world.Cleanup();
+    }
+
+    public override BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id)
+    {
+        return null;
+    }
+
+    public override bool DeleteCollisionShape(BulletWorld p, BulletShape p_2)
+    {
+        //TODO:
+        return false;
+    }
+    //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation);
+               
+    public override BulletBody CreateBodyFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
+    {
+        CollisionWorld world = ((BulletWorldXNA)pWorld).world;
+        IndexedMatrix mat =
+            IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y,
+                                                                     pRawOrientation.Z, pRawOrientation.W));
+        mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
+        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        //UpdateSingleAabb(world, shape);
+        // TODO: Feed Update array into null
+        RigidBody body = new RigidBody(0,new SimMotionState(world,pLocalID,mat,null),shape,IndexedVector3.Zero);
+        
+        body.SetUserPointer(pLocalID);
+        return new BulletBodyXNA(pLocalID, body);
+    }
+
+    
+    public override BulletBody CreateBodyWithDefaultMotionState( BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
+    {
+
+        IndexedMatrix mat =
+            IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y,
+                                                                     pRawOrientation.Z, pRawOrientation.W));
+        mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
+
+        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+
+        // TODO: Feed Update array into null
+        RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero);
+        body.SetWorldTransform(mat);
+        body.SetUserPointer(pLocalID);
+        return new BulletBodyXNA(pLocalID, body);
+    }
+    //(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
+    public override CollisionFlags SetCollisionFlags(BulletBody pBody, CollisionFlags collisionFlags)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags);
+        return (CollisionFlags)body.GetCollisionFlags();
+    }
+
+    public override Vector3 GetAnisotripicFriction(BulletConstraint pconstrain) { /* TODO */ return Vector3.Zero; }
+    public override Vector3 SetAnisotripicFriction(BulletConstraint pconstrain, Vector3 frict) { /* TODO */ return Vector3.Zero; }
+    public override bool HasAnisotripicFriction(BulletConstraint pconstrain) { /* TODO */ return false; }
+    public override float GetContactProcessingThreshold(BulletBody pBody) { /* TODO */ return 0f; }
+    public override bool IsStaticObject(BulletBody pBody) { /* TODO */ return false; }
+    public override bool IsKinematicObject(BulletBody pBody) { /* TODO */ return false; }
+    public override bool IsStaticOrKinematicObject(BulletBody pBody) { /* TODO */ return false; }
+    public override bool HasContactResponse(BulletBody pBody) { /* TODO */ return false; }
+    public override int GetActivationState(BulletBody pBody) { /* TODO */ return 0; }
+    public override void SetActivationState(BulletBody pBody, int state) { /* TODO */ }
+    public override float GetDeactivationTime(BulletBody pBody) { /* TODO */ return 0f; }
+    public override bool IsActive(BulletBody pBody) { /* TODO */ return false; }
+    public override float GetRestitution(BulletBody pBody) { /* TODO */ return 0f; }
+    public override float GetFriction(BulletBody pBody) { /* TODO */ return 0f; }
+    public override void SetInterpolationVelocity(BulletBody pBody, Vector3 linearVel, Vector3 angularVel) { /* TODO */ }
+    public override float GetHitFraction(BulletBody pBody) { /* TODO */ return 0f; }
+
+    //(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
+    public override void SetHitFraction(BulletBody pBody, float pHitFraction)
+    {
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        body.SetHitFraction(pHitFraction);
+    }
+    //BuildCapsuleShape(physicsScene.World.ptr, 1f, 1f, prim.Scale);
+    public override BulletShape BuildCapsuleShape(BulletWorld pWorld, float pRadius, float pHeight, Vector3 pScale)
+    {
+        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+        IndexedVector3 scale = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
+        CapsuleShapeZ capsuleShapeZ = new CapsuleShapeZ(pRadius, pHeight);
+        capsuleShapeZ.SetMargin(world.WorldSettings.Params.collisionMargin);
+        capsuleShapeZ.SetLocalScaling(ref scale);
+
+        return new BulletShapeXNA(capsuleShapeZ, BSPhysicsShapeType.SHAPE_CAPSULE); ;
+    }
+
+    public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
+                                            int maxCollisions, ref CollisionDesc[] collisionArray,
+                                            int maxUpdates, ref EntityProperties[] updateArray
+                                            )
+    {
+        /* TODO */
+        return new BulletWorldXNA(1, null, null);
+    }
+
+    private static object Initialize2(Vector3 worldExtent, 
+                        ConfigurationParameters[] o,
+                        int mMaxCollisionsPerFrame, ref List<BulletXNA.CollisionDesc> collisionArray,
+                        int mMaxUpdatesPerFrame, ref List<BulletXNA.EntityProperties> updateArray, 
+                        object mDebugLogCallbackHandle)
+    {
+        CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData();
+
+        p.angularDamping = o[0].XangularDamping;
+        p.defaultFriction = o[0].defaultFriction;
+        p.defaultFriction = o[0].defaultFriction;
+        p.defaultDensity = o[0].defaultDensity;
+        p.defaultRestitution = o[0].defaultRestitution;
+        p.collisionMargin = o[0].collisionMargin;
+        p.gravity = o[0].gravity;
+
+        p.linearDamping = o[0].XlinearDamping;
+        p.angularDamping = o[0].XangularDamping;
+        p.deactivationTime = o[0].XdeactivationTime;
+        p.linearSleepingThreshold = o[0].XlinearSleepingThreshold;
+        p.angularSleepingThreshold = o[0].XangularSleepingThreshold;
+        p.ccdMotionThreshold = o[0].XccdMotionThreshold;
+        p.ccdSweptSphereRadius = o[0].XccdSweptSphereRadius;
+        p.contactProcessingThreshold = o[0].XcontactProcessingThreshold;
+
+        p.terrainImplementation = o[0].XterrainImplementation;
+        p.terrainFriction = o[0].XterrainFriction;
+
+        p.terrainHitFraction = o[0].XterrainHitFraction;
+        p.terrainRestitution = o[0].XterrainRestitution;
+        p.terrainCollisionMargin = o[0].XterrainCollisionMargin;
+
+        p.avatarFriction = o[0].XavatarFriction;
+        p.avatarStandingFriction = o[0].XavatarStandingFriction;
+        p.avatarDensity = o[0].XavatarDensity;
+        p.avatarRestitution = o[0].XavatarRestitution;
+        p.avatarCapsuleWidth = o[0].XavatarCapsuleWidth;
+        p.avatarCapsuleDepth = o[0].XavatarCapsuleDepth;
+        p.avatarCapsuleHeight = o[0].XavatarCapsuleHeight;
+        p.avatarContactProcessingThreshold = o[0].XavatarContactProcessingThreshold;
+       
+        p.vehicleAngularDamping = o[0].XvehicleAngularDamping;
+        
+        p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize;
+        p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize;
+        p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation;
+        p.shouldForceUpdateAllAabbs = o[0].shouldForceUpdateAllAabbs;
+        p.shouldRandomizeSolverOrder = o[0].shouldRandomizeSolverOrder;
+        p.shouldSplitSimulationIslands = o[0].shouldSplitSimulationIslands;
+        p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching;
+        p.numberOfSolverIterations = o[0].numberOfSolverIterations;
+
+        p.linksetImplementation = o[0].XlinksetImplementation;
+        p.linkConstraintUseFrameOffset = o[0].XlinkConstraintUseFrameOffset;
+        p.linkConstraintEnableTransMotor = o[0].XlinkConstraintEnableTransMotor;
+        p.linkConstraintTransMotorMaxVel = o[0].XlinkConstraintTransMotorMaxVel;
+        p.linkConstraintTransMotorMaxForce = o[0].XlinkConstraintTransMotorMaxForce;
+        p.linkConstraintERP = o[0].XlinkConstraintERP;
+        p.linkConstraintCFM = o[0].XlinkConstraintCFM;
+        p.linkConstraintSolverIterations = o[0].XlinkConstraintSolverIterations;
+        p.physicsLoggingFrames = o[0].XphysicsLoggingFrames;
+        DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo();
+        
+        DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration();
+        CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci);
+
+
+        if (p.maxPersistantManifoldPoolSize > 0)
+            cci.m_persistentManifoldPoolSize = (int)p.maxPersistantManifoldPoolSize;
+        if (p.shouldDisableContactPoolDynamicAllocation !=0)
+            m_dispatcher.SetDispatcherFlags(DispatcherFlags.CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION);
+        //if (p.maxCollisionAlgorithmPoolSize >0 )
+
+        DbvtBroadphase m_broadphase = new DbvtBroadphase();
+        //IndexedVector3 aabbMin = new IndexedVector3(0, 0, 0);
+        //IndexedVector3 aabbMax = new IndexedVector3(256, 256, 256);
+
+        //AxisSweep3Internal m_broadphase2 = new AxisSweep3Internal(ref aabbMin, ref aabbMax, Convert.ToInt32(0xfffe), 0xffff, ushort.MaxValue/2, null, true);
+        m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback());
+
+        SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver();
+
+        DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci);
+        world.UpdatedObjects = updateArray;
+        world.UpdatedCollisions = collisionArray;
+        world.WorldSettings.Params = p;
+        world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0);
+        world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD;
+        if (p.shouldRandomizeSolverOrder != 0)
+            world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_RANDMIZE_ORDER;
+
+        world.GetSimulationIslandManager().SetSplitIslands(p.shouldSplitSimulationIslands != 0);
+        //world.GetDispatchInfo().m_enableSatConvex Not implemented in C# port
+
+        if (p.shouldEnableFrictionCaching != 0)
+            world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;
+
+        if (p.numberOfSolverIterations > 0)
+            world.GetSolverInfo().m_numIterations = (int) p.numberOfSolverIterations;
+
+
+        world.GetSolverInfo().m_damping = world.WorldSettings.Params.linearDamping;
+        world.GetSolverInfo().m_restitution = world.WorldSettings.Params.defaultRestitution;
+        world.GetSolverInfo().m_globalCfm = 0.0f;
+        world.GetSolverInfo().m_tau = 0.6f;
+        world.GetSolverInfo().m_friction = 0.3f;
+        world.GetSolverInfo().m_maxErrorReduction = 20f;
+        world.GetSolverInfo().m_numIterations = 10;
+        world.GetSolverInfo().m_erp = 0.2f;
+        world.GetSolverInfo().m_erp2 = 0.1f;
+        world.GetSolverInfo().m_sor = 1.0f;
+        world.GetSolverInfo().m_splitImpulse = false;
+        world.GetSolverInfo().m_splitImpulsePenetrationThreshold = -0.02f;
+        world.GetSolverInfo().m_linearSlop = 0.0f;
+        world.GetSolverInfo().m_warmstartingFactor = 0.85f;
+        world.GetSolverInfo().m_restingContactRestitutionThreshold = 2;
+        world.SetForceUpdateAllAabbs(true);
+
+
+        world.SetGravity(new IndexedVector3(0,0,p.gravity));
+
+        return world;
+    }
+    //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL
+    public override bool SetConstraintParam(BulletConstraint pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis)
+    {
+        Generic6DofConstraint constrain = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
+        if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
+        {
+            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0);
+            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 1);
+            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 2);
+        }
+        if (axis == ConstraintParamAxis.AXIS_ANGULAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
+        {
+            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 3);
+            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 4);
+            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 5);
+        }
+        if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL)
+        {
+            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, (int)axis);
+        }
+        return true;
+    }
+
+    public override bool PushUpdate(BulletBody pCollisionObject)
+    {
+        bool ret = false;
+        RigidBody rb = ((BulletBodyXNA)pCollisionObject).rigidBody;
+        if (rb != null)
+        {
+            SimMotionState sms = rb.GetMotionState() as SimMotionState;
+            if (sms != null)
+            {
+                IndexedMatrix wt = IndexedMatrix.Identity;
+                sms.GetWorldTransform(out wt);
+                sms.SetWorldTransform(ref wt, true);
+                ret = true;
+            }
+        }
+        return ret;
+        
+    }
+
+    public override float GetAngularMotionDisc(BulletShape pShape)
+    {
+        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        return shape.GetAngularMotionDisc();
+    }
+    public override float GetContactBreakingThreshold(BulletShape pShape, float defaultFactor)
+    {
+        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        return shape.GetContactBreakingThreshold(defaultFactor);
+    }
+    public override bool IsCompound(BulletShape pShape)
+    {
+        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        return shape.IsCompound();
+    }
+    public override bool IsSoftBody(BulletShape pShape)
+    {
+        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        return shape.IsSoftBody();
+    }
+    public override bool IsPolyhedral(BulletShape pShape)
+    {
+        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        return shape.IsPolyhedral();
+    }
+    public override bool IsConvex2d(BulletShape pShape)
+    {
+        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        return shape.IsConvex2d();
+    }
+    public override bool IsConvex(BulletShape pShape)
+    {
+        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        return shape.IsConvex();
+    }
+    public override bool IsNonMoving(BulletShape pShape)
+    {
+        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        return shape.IsNonMoving();
+    }
+    public override bool IsConcave(BulletShape pShape)
+    {
+        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        return shape.IsConcave();
+    }
+    public override bool IsInfinite(BulletShape pShape)
+    {
+        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        return shape.IsInfinite();
+    }
+    public override bool IsNativeShape(BulletShape pShape)
+    {
+        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        bool ret;
+        switch (shape.GetShapeType())
+        {
+            case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE:
+                case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE:
+                case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE:
+                case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE:
+                ret = true;
+                break;
+            default:
+                ret = false;
+                break;
+        }
+        return ret;
+    }
+
+    public override void SetShapeCollisionMargin(BulletShape shape, float margin) { /* TODO */ }
+
+    //sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation
+    public override BulletBody CreateGhostFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
+    {
+        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+        IndexedMatrix bodyTransform = new IndexedMatrix();
+        bodyTransform._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
+        bodyTransform.SetRotation(new IndexedQuaternion(pRawOrientation.X,pRawOrientation.Y,pRawOrientation.Z,pRawOrientation.W));
+        GhostObject gObj = new PairCachingGhostObject();
+        gObj.SetWorldTransform(bodyTransform);
+        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        gObj.SetCollisionShape(shape);
+        gObj.SetUserPointer(pLocalID);
+        // TODO: Add to Special CollisionObjects!
+        return new BulletBodyXNA(pLocalID, gObj);
+    }
+
+    public override void SetCollisionShape(BulletWorld pWorld, BulletBody pObj, BulletShape pShape)
+    {
+        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+        CollisionObject obj = ((BulletBodyXNA)pObj).body;
+        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        obj.SetCollisionShape(shape);
+
+    }
+    public override BulletShape GetCollisionShape(BulletBody obj) { /* TODO */ return null; }
+
+    //(PhysicsScene.World.ptr, nativeShapeData)
+    public override BulletShape BuildNativeShape(BulletWorld pWorld, ShapeData pShapeData)
+    {
+        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+        CollisionShape shape = null;
+        switch (pShapeData.Type)
+        {
+            case BSPhysicsShapeType.SHAPE_BOX:
+                shape = new BoxShape(new IndexedVector3(0.5f,0.5f,0.5f));
+                break;
+            case BSPhysicsShapeType.SHAPE_CONE:
+                shape = new ConeShapeZ(0.5f, 1.0f);
+                break;
+            case BSPhysicsShapeType.SHAPE_CYLINDER:
+                shape = new CylinderShapeZ(new IndexedVector3(0.5f, 0.5f, 0.5f));
+                break;
+            case BSPhysicsShapeType.SHAPE_SPHERE:
+                shape = new SphereShape(0.5f);
+                break;
+
+        }
+        if (shape != null)
+        {
+            IndexedVector3 scaling = new IndexedVector3(pShapeData.Scale.X, pShapeData.Scale.Y, pShapeData.Scale.Z);
+            shape.SetMargin(world.WorldSettings.Params.collisionMargin);
+            shape.SetLocalScaling(ref scaling);
+
+        }
+        return new BulletShapeXNA(shape, pShapeData.Type);
+    }
+    //PhysicsScene.World.ptr, false
+    public override BulletShape CreateCompoundShape(BulletWorld pWorld, bool enableDynamicAabbTree)
+    {
+        return new BulletShapeXNA(new CompoundShape(enableDynamicAabbTree), BSPhysicsShapeType.SHAPE_COMPOUND);
+    }
+
+    public override int GetNumberOfCompoundChildren(BulletShape pCompoundShape)
+    {
+        CompoundShape compoundshape = ((BulletShapeXNA)pCompoundShape).shape as CompoundShape;
+        return compoundshape.GetNumChildShapes();
+    }
+    //LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot
+    public override void AddChildShapeToCompoundShape(BulletShape pCShape, BulletShape paddShape, Vector3 displacementPos, Quaternion displacementRot)
+    {
+        IndexedMatrix relativeTransform = new IndexedMatrix();
+        CompoundShape compoundshape = ((BulletShapeXNA)pCShape).shape as CompoundShape;
+        CollisionShape addshape = ((BulletShapeXNA)paddShape).shape;
+
+        relativeTransform._origin = new IndexedVector3(displacementPos.X, displacementPos.Y, displacementPos.Z);
+        relativeTransform.SetRotation(new IndexedQuaternion(displacementRot.X,displacementRot.Y,displacementRot.Z,displacementRot.W));
+        compoundshape.AddChildShape(ref relativeTransform, addshape);
+
+    }
+
+    public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape pCShape, int pii)
+    {
+        CompoundShape compoundshape = ((BulletShapeXNA)pCShape).shape as CompoundShape;
+        CollisionShape ret = null;
+        ret = compoundshape.GetChildShape(pii);
+        compoundshape.RemoveChildShapeByIndex(pii);
+        return new BulletShapeXNA(ret, BSPhysicsShapeType.SHAPE_UNKNOWN);
+    }
+
+    public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) { /* TODO */ return null; }
+    public override void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape) { /* TODO */ }
+    public override void UpdateChildTransform(BulletShape pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb) { /* TODO */ }
+
+    public override BulletShape CreateGroundPlaneShape(uint pLocalId, float pheight, float pcollisionMargin)
+    {
+        StaticPlaneShape m_planeshape = new StaticPlaneShape(new IndexedVector3(0,0,1),(int)pheight );
+        m_planeshape.SetMargin(pcollisionMargin);
+        m_planeshape.SetUserPointer(pLocalId);
+        return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE);
+    }
+
+    public override BulletConstraint CreateHingeConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody ppBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
+    {
+        HingeConstraint constrain = null;
+        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+        RigidBody rb1 = ((BulletBodyXNA)pBody1).rigidBody;
+        RigidBody rb2 = ((BulletBodyXNA)ppBody2).rigidBody;
+        if (rb1 != null && rb2 != null)
+        {
+            IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z);
+            IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z);
+            IndexedVector3 axisInA = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z);
+            IndexedVector3 axisInB = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z);
+            world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
+        }
+        return new BulletConstraintXNA(constrain);
+    }
+
+    public override BulletShape CreateHullShape(BulletWorld pWorld, int pHullCount, float[] pConvHulls)
+    {
+        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+        CompoundShape compoundshape = new CompoundShape(false);
+        
+        compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin);
+        int ii = 1;
+
+        for (int i = 0; i < pHullCount; i++)
+        {
+            int vertexCount = (int) pConvHulls[ii];
+
+            IndexedVector3 centroid = new IndexedVector3(pConvHulls[ii + 1], pConvHulls[ii + 2], pConvHulls[ii + 3]);
+            IndexedMatrix childTrans = IndexedMatrix.Identity;
+            childTrans._origin = centroid;
+
+            List<IndexedVector3> virts = new List<IndexedVector3>();
+            int ender = ((ii + 4) + (vertexCount*3));
+            for (int iii = ii + 4; iii < ender; iii+=3)
+            {
+               
+                virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2]));
+            }
+            ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount);
+            convexShape.SetMargin(world.WorldSettings.Params.collisionMargin);
+            compoundshape.AddChildShape(ref childTrans, convexShape);
+            ii += (vertexCount*3 + 4);
+        }
+        
+        return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL);
+    }
+
+    public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape) { /* TODO */ return null; }
+
+    public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
+    {
+        //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount);
+        
+        for (int iter = 0; iter < pVerticesCount; iter++)
+        {
+            if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0;
+            if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0;
+        }
+        
+        ObjectArray<int> indicesarr = new ObjectArray<int>(indices);
+        ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats);
+        DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount);
+        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+        IndexedMesh mesh = new IndexedMesh();
+        mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
+        mesh.m_numTriangles = pIndicesCount/3;
+        mesh.m_numVertices = pVerticesCount;
+        mesh.m_triangleIndexBase = indicesarr;
+        mesh.m_vertexBase = vertices;
+        mesh.m_vertexStride = 3;
+        mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
+        mesh.m_triangleIndexStride = 3;
+        
+        TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
+        tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
+        BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true);
+        meshShape.SetMargin(world.WorldSettings.Params.collisionMargin);
+       // world.UpdateSingleAabb(meshShape);
+        return new BulletShapeXNA(meshShape, BSPhysicsShapeType.SHAPE_MESH);
+
+    }
+    public static void DumpRaw(ObjectArray<int>indices, ObjectArray<float> vertices, int pIndicesCount,int pVerticesCount )
+    {
+        
+        String fileName = "objTest3.raw";
+        String completePath = System.IO.Path.Combine(Util.configDir(), fileName);
+        StreamWriter sw = new StreamWriter(completePath);
+        IndexedMesh mesh = new IndexedMesh();
+
+        mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
+        mesh.m_numTriangles = pIndicesCount / 3;
+        mesh.m_numVertices = pVerticesCount;
+        mesh.m_triangleIndexBase = indices;
+        mesh.m_vertexBase = vertices;
+        mesh.m_vertexStride = 3;
+        mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
+        mesh.m_triangleIndexStride = 3;
+
+        TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
+        tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
+
+
+
+        for (int i = 0; i < pVerticesCount; i++)
+        {
+
+            string s = vertices[indices[i * 3]].ToString("0.0000");
+            s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000");
+            s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000");
+        
+            sw.Write(s + "\n");
+        }
+
+        sw.Close();
+    }
+    public static void DumpRaw(int[] indices, float[] vertices, int pIndicesCount, int pVerticesCount)
+    {
+
+        String fileName = "objTest6.raw";
+        String completePath = System.IO.Path.Combine(Util.configDir(), fileName);
+        StreamWriter sw = new StreamWriter(completePath);
+        IndexedMesh mesh = new IndexedMesh();
+
+        mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
+        mesh.m_numTriangles = pIndicesCount / 3;
+        mesh.m_numVertices = pVerticesCount;
+        mesh.m_triangleIndexBase = indices;
+        mesh.m_vertexBase = vertices;
+        mesh.m_vertexStride = 3;
+        mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
+        mesh.m_triangleIndexStride = 3;
+        
+        TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
+        tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
+
+
+        sw.WriteLine("Indices");
+        sw.WriteLine(string.Format("int[] indices = new int[{0}];",pIndicesCount));
+        for (int iter = 0; iter < indices.Length; iter++)
+        {
+            sw.WriteLine(string.Format("indices[{0}]={1};",iter,indices[iter]));
+        }
+        sw.WriteLine("VerticesFloats");
+        sw.WriteLine(string.Format("float[] vertices = new float[{0}];", pVerticesCount));
+        for (int iter = 0; iter < vertices.Length; iter++)
+        {
+            sw.WriteLine(string.Format("Vertices[{0}]={1};", iter, vertices[iter].ToString("0.0000")));
+        }
+
+            // for (int i = 0; i < pVerticesCount; i++)
+            // {
+            //
+            //     string s = vertices[indices[i * 3]].ToString("0.0000");
+            //     s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000");
+            //    s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000");
+            //
+            //     sw.Write(s + "\n");
+            //}
+
+            sw.Close();
+    }
+
+    public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, 
+                                                                float scaleFactor, float collisionMargin)
+    {
+        const int upAxis = 2;
+        HeightfieldTerrainShape terrainShape = new HeightfieldTerrainShape((int)size.X, (int)size.Y,
+                                                                           heightMap,  scaleFactor,
+                                                                           minHeight, maxHeight, upAxis,
+                                                                            false);
+        terrainShape.SetMargin(collisionMargin + 0.5f);
+        terrainShape.SetUseDiamondSubdivision(true);
+        terrainShape.SetUserPointer(id);
+        return new BulletShapeXNA(terrainShape, BSPhysicsShapeType.SHAPE_TERRAIN);
+    }
+
+    public override bool TranslationalLimitMotor(BulletConstraint pConstraint, float ponOff, float targetVelocity, float maxMotorForce)
+    {
+        TypedConstraint tconstrain = ((BulletConstraintXNA)pConstraint).constrain;
+        bool onOff = ponOff != 0;
+        bool ret = false;
+
+        switch (tconstrain.GetConstraintType())
+        {
+            case TypedConstraintType.D6_CONSTRAINT_TYPE:
+                Generic6DofConstraint constrain = tconstrain as Generic6DofConstraint;
+                constrain.GetTranslationalLimitMotor().m_enableMotor[0] = onOff;
+                constrain.GetTranslationalLimitMotor().m_targetVelocity[0] = targetVelocity;
+                constrain.GetTranslationalLimitMotor().m_maxMotorForce[0] = maxMotorForce;
+                ret = true;
+                break;
+        }
+
+
+        return ret;
+
+    }
+
+    public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
+                        out int updatedEntityCount, out int collidersCount)
+    {
+        /* TODO */
+        updatedEntityCount = 0;
+        collidersCount = 0;
+        return 1;
+    }
+
+    private int PhysicsStep2(BulletWorld pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, 
+                    out int updatedEntityCount, out List<BulletXNA.EntityProperties> updatedEntities, 
+                    out int collidersCount, out List<BulletXNA.CollisionDesc>colliders)
+    {
+        int epic = PhysicsStepint(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities,
+                                out collidersCount, out colliders);
+        return epic;
+    }
+
+    private static int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List<BulletXNA.EntityProperties> updatedEntities, out int collidersCount, out List<BulletXNA.CollisionDesc> colliders)
+    {
+        int numSimSteps = 0;
+      
+
+        //if (updatedEntities is null)
+        //    updatedEntities = new List<BulletXNA.EntityProperties>();
+
+        //if (colliders is null)
+        //    colliders = new List<BulletXNA.CollisionDesc>();
+        
+
+        if (pWorld is BulletWorldXNA)
+        {
+            DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+
+            numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep);
+            int updates = 0;
+
+            updatedEntityCount = world.UpdatedObjects.Count;
+            updatedEntities = new List<BulletXNA.EntityProperties>(world.UpdatedObjects);
+            updatedEntityCount = updatedEntities.Count;
+            world.UpdatedObjects.Clear();
+            
+
+            collidersCount = world.UpdatedCollisions.Count;
+            colliders = new List<BulletXNA.CollisionDesc>(world.UpdatedCollisions);
+
+            world.UpdatedCollisions.Clear();
+            m_collisionsThisFrame = 0;
+            int numManifolds = world.GetDispatcher().GetNumManifolds();
+            for (int j = 0; j < numManifolds; j++)
+            {
+                PersistentManifold contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j);
+                int numContacts = contactManifold.GetNumContacts();
+                if (numContacts == 0)
+                    continue;
+
+                CollisionObject objA = contactManifold.GetBody0() as CollisionObject;
+                CollisionObject objB = contactManifold.GetBody1() as CollisionObject;
+
+                ManifoldPoint manifoldPoint = contactManifold.GetContactPoint(0);
+                IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB();
+                IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A
+
+                RecordCollision(world, objA, objB, contactPoint, contactNormal);
+                m_collisionsThisFrame ++;
+                if (m_collisionsThisFrame >= 9999999)
+                    break;
+
+
+            }
+
+
+        }
+        else
+        {
+            //if (updatedEntities is null)
+            updatedEntities = new List<BulletXNA.EntityProperties>();
+            updatedEntityCount = 0;
+            //if (colliders is null)
+            colliders = new List<BulletXNA.CollisionDesc>();
+            collidersCount = 0;
+        }
+        return numSimSteps;
+    }
+
+    private static void RecordCollision(CollisionWorld world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm)
+    {
+       
+        IndexedVector3 contactNormal = norm;
+        if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 &&
+            (objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0)
+        {
+            return;
+        }
+        uint idA = (uint)objA.GetUserPointer();
+        uint idB = (uint)objB.GetUserPointer();
+        if (idA > idB)
+        {
+            uint temp = idA;
+            idA = idB;
+            idB = temp;
+            contactNormal = -contactNormal;
+        }
+
+        ulong collisionID = ((ulong) idA << 32) | idB;
+
+        BulletXNA.CollisionDesc cDesc = new BulletXNA.CollisionDesc()
+                                            {
+                                                aID = idA,
+                                                bID = idB,
+                                                point = contact,
+                                                normal = contactNormal
+                                            };
+        world.UpdatedCollisions.Add(cDesc);
+        m_collisionsThisFrame++;
+
+
+    }
+    private static EntityProperties GetDebugProperties(BulletWorld pWorld, BulletBody pBody)
+    {
+        EntityProperties ent = new EntityProperties();
+        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        IndexedMatrix transform = body.GetWorldTransform();
+        IndexedVector3 LinearVelocity = body.GetInterpolationLinearVelocity();
+        IndexedVector3 AngularVelocity = body.GetInterpolationAngularVelocity();
+        IndexedQuaternion rotation = transform.GetRotation();
+        ent.Acceleration = Vector3.Zero;
+        ent.ID = (uint)body.GetUserPointer();
+        ent.Position = new Vector3(transform._origin.X,transform._origin.Y,transform._origin.Z);
+        ent.Rotation = new Quaternion(rotation.X,rotation.Y,rotation.Z,rotation.W);
+        ent.Velocity = new Vector3(LinearVelocity.X, LinearVelocity.Y, LinearVelocity.Z);
+        ent.RotationalVelocity = new Vector3(AngularVelocity.X, AngularVelocity.Y, AngularVelocity.Z);
+        return ent;
+    }
+
+    public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value) { /* TODO */ return false; }
+
+    public override Vector3 GetLocalScaling(BulletShape pShape)
+    {
+        CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+        IndexedVector3 scale = shape.GetLocalScaling();
+        return new Vector3(scale.X,scale.Y,scale.Z);
+    }
+
+    public bool RayCastGround(BulletWorld pWorld, Vector3 _RayOrigin, float pRayHeight, BulletBody NotMe)
+    {
+        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+        if (world != null)
+        {
+            if (NotMe is BulletBodyXNA && NotMe.HasPhysicalBody)
+            {
+                CollisionObject AvoidBody = ((BulletBodyXNA)NotMe).body;
+                
+                IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z);
+                IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight);
+                using (
+                    ClosestNotMeRayResultCallback rayCallback = 
+                                            new ClosestNotMeRayResultCallback(rOrigin, rEnd, AvoidBody)
+                    )
+                {
+                    world.RayTest(ref rOrigin, ref rEnd, rayCallback);
+                    if (rayCallback.HasHit())
+                    {
+                        IndexedVector3 hitLocation = rayCallback.m_hitPointWorld;
+                    }
+                    return rayCallback.HasHit();
+                }
+           }
+        }
+        return false;
+    }
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
new file mode 100644
index 0000000..bc163eb
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
@@ -0,0 +1,668 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Runtime.InteropServices;
+using System.Security;
+using System.Text;
+using OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin {
+
+    // Constraint type values as defined by Bullet
+public enum ConstraintType : int
+{
+        POINT2POINT_CONSTRAINT_TYPE = 3,
+        HINGE_CONSTRAINT_TYPE,
+        CONETWIST_CONSTRAINT_TYPE,
+        D6_CONSTRAINT_TYPE,
+        SLIDER_CONSTRAINT_TYPE,
+        CONTACT_CONSTRAINT_TYPE,
+        D6_SPRING_CONSTRAINT_TYPE,
+        MAX_CONSTRAINT_TYPE
+}
+
+// ===============================================================================
+[StructLayout(LayoutKind.Sequential)]
+public struct ConvexHull
+{
+        Vector3 Offset;
+        int VertexCount;
+        Vector3[] Vertices;
+}
+public enum BSPhysicsShapeType
+{
+        SHAPE_UNKNOWN   = 0,
+        SHAPE_CAPSULE   = 1,
+        SHAPE_BOX       = 2,
+        SHAPE_CONE      = 3,
+        SHAPE_CYLINDER  = 4,
+        SHAPE_SPHERE    = 5,
+        SHAPE_MESH      = 6,
+        SHAPE_HULL      = 7,
+    // following defined by BulletSim
+        SHAPE_GROUNDPLANE  = 20,
+        SHAPE_TERRAIN   = 21,
+        SHAPE_COMPOUND  = 22,
+        SHAPE_HEIGHTMAP = 23,
+    SHAPE_AVATAR    = 24,
+};
+
+// The native shapes have predefined shape hash keys
+public enum FixedShapeKey : ulong
+{
+    KEY_NONE        = 0,
+    KEY_BOX         = 1,
+    KEY_SPHERE      = 2,
+    KEY_CONE        = 3,
+    KEY_CYLINDER    = 4,
+    KEY_CAPSULE     = 5,
+    KEY_AVATAR      = 6,
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct ShapeData
+{
+    public uint ID;
+    public BSPhysicsShapeType Type;
+    public Vector3 Position;
+    public Quaternion Rotation;
+    public Vector3 Velocity;
+    public Vector3 Scale;
+    public float Mass;
+    public float Buoyancy;
+    public System.UInt64 HullKey;
+    public System.UInt64 MeshKey;
+    public float Friction;
+    public float Restitution;
+    public float Collidable;    // true of things bump into this
+    public float Static;        // true if a static object. Otherwise gravity, etc.
+    public float Solid;         // true if object cannot be passed through
+    public Vector3 Size;
+
+    // note that bools are passed as floats since bool size changes by language and architecture
+    public const float numericTrue = 1f;
+    public const float numericFalse = 0f;
+}
+[StructLayout(LayoutKind.Sequential)]
+public struct SweepHit
+{
+    public uint ID;
+    public float Fraction;
+    public Vector3 Normal;
+    public Vector3 Point;
+}
+[StructLayout(LayoutKind.Sequential)]
+public struct RaycastHit
+{
+    public uint ID;
+    public float Fraction;
+    public Vector3 Normal;
+}
+[StructLayout(LayoutKind.Sequential)]
+public struct CollisionDesc
+{
+    public uint aID;
+    public uint bID;
+    public Vector3 point;
+    public Vector3 normal;
+}
+[StructLayout(LayoutKind.Sequential)]
+public struct EntityProperties
+{
+    public uint ID;
+    public Vector3 Position;
+    public Quaternion Rotation;
+    public Vector3 Velocity;
+    public Vector3 Acceleration;
+    public Vector3 RotationalVelocity;
+}
+
+// Format of this structure must match the definition in the C++ code
+// 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
+{
+    public float defaultFriction;
+    public float defaultDensity;
+    public float defaultRestitution;
+    public float collisionMargin;
+    public float gravity;
+
+    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;
+        public float shouldDisableContactPoolDynamicAllocation;
+        public float shouldForceUpdateAllAabbs;
+        public float shouldRandomizeSolverOrder;
+        public float shouldSplitSimulationIslands;
+        public float shouldEnableFrictionCaching;
+        public float numberOfSolverIterations;
+
+    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 XphysicsLoggingFrames;
+
+    public const float numericTrue = 1f;
+    public const float numericFalse = 0f;
+}
+
+
+// The states a bullet collision object can have
+public enum ActivationState : uint
+{
+    ACTIVE_TAG = 1,
+    ISLAND_SLEEPING,
+    WANTS_DEACTIVATION,
+    DISABLE_DEACTIVATION,
+    DISABLE_SIMULATION,
+}
+
+public enum CollisionObjectTypes : int
+{
+    CO_COLLISION_OBJECT             = 1 << 0,
+    CO_RIGID_BODY                   = 1 << 1,
+    CO_GHOST_OBJECT                 = 1 << 2,
+    CO_SOFT_BODY                    = 1 << 3,
+    CO_HF_FLUID                     = 1 << 4,
+    CO_USER_TYPE                    = 1 << 5,
+}
+
+// Values used by Bullet and BulletSim to control object properties.
+// Bullet's "CollisionFlags" has more to do with operations on the
+//    object (if collisions happen, if gravity effects it, ...).
+public enum CollisionFlags : uint
+{
+    CF_STATIC_OBJECT                 = 1 << 0,
+    CF_KINEMATIC_OBJECT              = 1 << 1,
+    CF_NO_CONTACT_RESPONSE           = 1 << 2,
+    CF_CUSTOM_MATERIAL_CALLBACK      = 1 << 3,
+    CF_CHARACTER_OBJECT              = 1 << 4,
+    CF_DISABLE_VISUALIZE_OBJECT      = 1 << 5,
+    CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
+    // Following used by BulletSim to control collisions and updates
+    BS_SUBSCRIBE_COLLISION_EVENTS    = 1 << 10,
+    BS_FLOATS_ON_WATER               = 1 << 11,
+    BS_VEHICLE_COLLISIONS            = 1 << 12,
+    BS_NONE                          = 0,
+    BS_ALL                           = 0xFFFFFFFF
+};
+
+// Values f collisions groups and masks
+public enum CollisionFilterGroups : uint
+{
+    // Don't use the bit definitions!!  Define the use in a
+    //   filter/mask definition below. This way collision interactions
+    //   are more easily found and debugged.
+    BNoneGroup              = 0,
+    BDefaultGroup           = 1 << 0,   // 0001
+    BStaticGroup            = 1 << 1,   // 0002
+    BKinematicGroup         = 1 << 2,   // 0004
+    BDebrisGroup            = 1 << 3,   // 0008
+    BSensorTrigger          = 1 << 4,   // 0010
+    BCharacterGroup         = 1 << 5,   // 0020
+    BAllGroup               = 0x000FFFFF,
+    // Filter groups defined by BulletSim
+    BGroundPlaneGroup       = 1 << 10,  // 0400
+    BTerrainGroup           = 1 << 11,  // 0800
+    BRaycastGroup           = 1 << 12,  // 1000
+    BSolidGroup             = 1 << 13,  // 2000
+    // BLinksetGroup        = xx  // a linkset proper is either static or dynamic
+    BLinksetChildGroup      = 1 << 14,  // 4000
+};
+
+// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
+// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2.
+public enum ConstraintParams : int
+{
+    BT_CONSTRAINT_ERP = 1,  // this one is not used in Bullet as of 20120730
+    BT_CONSTRAINT_STOP_ERP,
+    BT_CONSTRAINT_CFM,
+    BT_CONSTRAINT_STOP_CFM,
+};
+public enum ConstraintParamAxis : int
+{
+    AXIS_LINEAR_X = 0,
+    AXIS_LINEAR_Y,
+    AXIS_LINEAR_Z,
+    AXIS_ANGULAR_X,
+    AXIS_ANGULAR_Y,
+    AXIS_ANGULAR_Z,
+    AXIS_LINEAR_ALL = 20,    // these last three added by BulletSim so we don't have to do zillions of calls
+    AXIS_ANGULAR_ALL,
+    AXIS_ALL
+};
+
+public abstract class BSAPITemplate
+{
+// Returns the name of the underlying Bullet engine
+public abstract string BulletEngineName { get; }
+public abstract string BulletEngineVersion { get; protected set;} 
+
+// Initialization and simulation
+public abstract BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
+                                                                                        int maxCollisions,  ref CollisionDesc[] collisionArray,
+                                                                                        int maxUpdates, ref EntityProperties[] updateArray
+                                            );
+
+public abstract int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
+                        out int updatedEntityCount, out int collidersCount);
+
+public abstract bool UpdateParameter(BulletWorld world, uint localID, String parm, float value);
+
+public abstract void Shutdown(BulletWorld sim);
+
+public abstract bool PushUpdate(BulletBody obj);
+
+// =====================================================================================
+// Mesh, hull, shape and body creation helper routines
+public abstract BulletShape CreateMeshShape(BulletWorld world,
+                int indicesCount, int[] indices,
+                int verticesCount, float[] vertices );
+
+public abstract BulletShape CreateHullShape(BulletWorld world,
+                int hullCount, float[] hulls);
+
+public abstract BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape);
+
+public abstract BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData);
+
+public abstract bool IsNativeShape(BulletShape shape);
+
+public abstract void SetShapeCollisionMargin(BulletShape shape, float margin);
+
+public abstract BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale);
+
+public abstract BulletShape CreateCompoundShape(BulletWorld sim, bool enableDynamicAabbTree);
+
+public abstract int GetNumberOfCompoundChildren(BulletShape cShape);
+
+public abstract void AddChildShapeToCompoundShape(BulletShape cShape, BulletShape addShape, Vector3 pos, Quaternion rot);
+
+public abstract BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx);
+
+public abstract BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx);
+
+public abstract void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape);
+
+public abstract void UpdateChildTransform(BulletShape pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb);
+
+public abstract void RecalculateCompoundShapeLocalAabb(BulletShape cShape);
+
+public abstract BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id);
+
+public abstract bool DeleteCollisionShape(BulletWorld world, BulletShape shape);
+
+public abstract CollisionObjectTypes GetBodyType(BulletBody obj);
+
+public abstract BulletBody CreateBodyFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot);
+
+public abstract BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, uint id, Vector3 pos, Quaternion rot);
+
+public abstract BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot);
+
+public abstract void DestroyObject(BulletWorld sim, BulletBody obj);
+
+// =====================================================================================
+public abstract BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin);
+
+public abstract BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, 
+                                                                float scaleFactor, float collisionMargin);
+
+// =====================================================================================
+// Constraint creation and helper routines
+public abstract BulletConstraint Create6DofConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 frame1loc, Quaternion frame1rot,
+                    Vector3 frame2loc, Quaternion frame2rot,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
+
+public abstract BulletConstraint Create6DofConstraintToPoint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 joinPoint,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
+
+public abstract BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 pivotinA, Vector3 pivotinB,
+                    Vector3 axisInA, Vector3 axisInB,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
+
+public abstract void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse);
+
+public abstract void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations);
+
+public abstract bool SetFrames(BulletConstraint constrain,
+                Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
+
+public abstract bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi);
+
+public abstract bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi);
+
+public abstract bool UseFrameOffset(BulletConstraint constrain, float enable);
+
+public abstract bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce);
+
+public abstract bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold);
+
+public abstract bool CalculateTransforms(BulletConstraint constrain);
+
+public abstract bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
+
+public abstract bool DestroyConstraint(BulletWorld world, BulletConstraint constrain);
+
+// =====================================================================================
+// btCollisionWorld entries
+public abstract void UpdateSingleAabb(BulletWorld world, BulletBody obj);
+
+public abstract void UpdateAabbs(BulletWorld world);
+
+public abstract bool GetForceUpdateAllAabbs(BulletWorld world);
+
+public abstract void SetForceUpdateAllAabbs(BulletWorld world, bool force);
+
+// =====================================================================================
+// btDynamicsWorld entries
+// public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj, Vector3 pos, Quaternion rot);
+public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj);
+
+public abstract bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj);
+
+public abstract bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects);
+
+public abstract bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain);
+// =====================================================================================
+// btCollisionObject entries
+public abstract Vector3 GetAnisotripicFriction(BulletConstraint constrain);
+
+public abstract Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict);
+
+public abstract bool HasAnisotripicFriction(BulletConstraint constrain);
+
+public abstract void SetContactProcessingThreshold(BulletBody obj, float val);
+
+public abstract float GetContactProcessingThreshold(BulletBody obj);
+
+public abstract bool IsStaticObject(BulletBody obj);
+
+public abstract bool IsKinematicObject(BulletBody obj);
+
+public abstract bool IsStaticOrKinematicObject(BulletBody obj);
+
+public abstract bool HasContactResponse(BulletBody obj);
+
+public abstract void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletShape shape);
+
+public abstract BulletShape GetCollisionShape(BulletBody obj);
+
+public abstract int GetActivationState(BulletBody obj);
+
+public abstract void SetActivationState(BulletBody obj, int state);
+
+public abstract void SetDeactivationTime(BulletBody obj, float dtime);
+
+public abstract float GetDeactivationTime(BulletBody obj);
+
+public abstract void ForceActivationState(BulletBody obj, ActivationState state);
+
+public abstract void Activate(BulletBody obj, bool forceActivation);
+
+public abstract bool IsActive(BulletBody obj);
+
+public abstract void SetRestitution(BulletBody obj, float val);
+
+public abstract float GetRestitution(BulletBody obj);
+
+public abstract void SetFriction(BulletBody obj, float val);
+
+public abstract float GetFriction(BulletBody obj);
+
+public abstract Vector3 GetPosition(BulletBody obj);
+
+public abstract Quaternion GetOrientation(BulletBody obj);
+
+public abstract void SetTranslation(BulletBody obj, Vector3 position, Quaternion rotation);
+
+// public abstract IntPtr GetBroadphaseHandle(BulletBody obj);
+
+// public abstract void SetBroadphaseHandle(BulletBody obj, IntPtr handle);
+
+public abstract void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel);
+
+public abstract void SetInterpolationAngularVelocity(BulletBody obj, Vector3 vel);
+
+public abstract void SetInterpolationVelocity(BulletBody obj, Vector3 linearVel, Vector3 angularVel);
+
+public abstract float GetHitFraction(BulletBody obj);
+
+public abstract void SetHitFraction(BulletBody obj, float val);
+
+public abstract CollisionFlags GetCollisionFlags(BulletBody obj);
+
+public abstract CollisionFlags SetCollisionFlags(BulletBody obj, CollisionFlags flags);
+
+public abstract CollisionFlags AddToCollisionFlags(BulletBody obj, CollisionFlags flags);
+
+public abstract CollisionFlags RemoveFromCollisionFlags(BulletBody obj, CollisionFlags flags);
+
+public abstract float GetCcdMotionThreshold(BulletBody obj);
+
+public abstract void SetCcdMotionThreshold(BulletBody obj, float val);
+
+public abstract float GetCcdSweptSphereRadius(BulletBody obj);
+
+public abstract void SetCcdSweptSphereRadius(BulletBody obj, float val);
+
+public abstract IntPtr GetUserPointer(BulletBody obj);
+
+public abstract void SetUserPointer(BulletBody obj, IntPtr val);
+
+// =====================================================================================
+// btRigidBody entries
+public abstract void ApplyGravity(BulletBody obj);
+
+public abstract void SetGravity(BulletBody obj, Vector3 val);
+
+public abstract Vector3 GetGravity(BulletBody obj);
+
+public abstract void SetDamping(BulletBody obj, float lin_damping, float ang_damping);
+
+public abstract void SetLinearDamping(BulletBody obj, float lin_damping);
+
+public abstract void SetAngularDamping(BulletBody obj, float ang_damping);
+
+public abstract float GetLinearDamping(BulletBody obj);
+
+public abstract float GetAngularDamping(BulletBody obj);
+
+public abstract float GetLinearSleepingThreshold(BulletBody obj);
+
+public abstract void ApplyDamping(BulletBody obj, float timeStep);
+
+public abstract void SetMassProps(BulletBody obj, float mass, Vector3 inertia);
+
+public abstract Vector3 GetLinearFactor(BulletBody obj);
+
+public abstract void SetLinearFactor(BulletBody obj, Vector3 factor);
+
+public abstract void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot);
+
+// Add a force to the object as if its mass is one.
+public abstract void ApplyCentralForce(BulletBody obj, Vector3 force);
+
+// Set the force being applied to the object as if its mass is one.
+public abstract void SetObjectForce(BulletBody obj, Vector3 force);
+
+public abstract Vector3 GetTotalForce(BulletBody obj);
+
+public abstract Vector3 GetTotalTorque(BulletBody obj);
+
+public abstract Vector3 GetInvInertiaDiagLocal(BulletBody obj);
+
+public abstract void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert);
+
+public abstract void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold);
+
+public abstract void ApplyTorque(BulletBody obj, Vector3 torque);
+
+// Apply force at the given point. Will add torque to the object.
+public abstract void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos);
+
+// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
+public abstract void ApplyCentralImpulse(BulletBody obj, Vector3 imp);
+
+// Apply impulse to the object's torque. Force is scaled by object's mass.
+public abstract void ApplyTorqueImpulse(BulletBody obj, Vector3 imp);
+
+// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
+public abstract void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos);
+
+public abstract void ClearForces(BulletBody obj);
+
+public abstract void ClearAllForces(BulletBody obj);
+
+public abstract void UpdateInertiaTensor(BulletBody obj);
+
+public abstract Vector3 GetLinearVelocity(BulletBody obj);
+
+public abstract Vector3 GetAngularVelocity(BulletBody obj);
+
+public abstract void SetLinearVelocity(BulletBody obj, Vector3 val);
+
+public abstract void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity);
+
+public abstract Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos);
+
+public abstract void Translate(BulletBody obj, Vector3 trans);
+
+public abstract void UpdateDeactivation(BulletBody obj, float timeStep);
+
+public abstract bool WantsSleeping(BulletBody obj);
+
+public abstract void SetAngularFactor(BulletBody obj, float factor);
+
+public abstract void SetAngularFactorV(BulletBody obj, Vector3 factor);
+
+public abstract Vector3 GetAngularFactor(BulletBody obj);
+
+public abstract bool IsInWorld(BulletWorld world, BulletBody obj);
+
+public abstract void AddConstraintRef(BulletBody obj, BulletConstraint constrain);
+
+public abstract void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain);
+
+public abstract BulletConstraint GetConstraintRef(BulletBody obj, int index);
+
+public abstract int GetNumConstraintRefs(BulletBody obj);
+
+public abstract bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask);
+
+// =====================================================================================
+// btCollisionShape entries
+
+public abstract float GetAngularMotionDisc(BulletShape shape);
+
+public abstract float GetContactBreakingThreshold(BulletShape shape, float defaultFactor);
+
+public abstract bool IsPolyhedral(BulletShape shape);
+
+public abstract bool IsConvex2d(BulletShape shape);
+
+public abstract bool IsConvex(BulletShape shape);
+
+public abstract bool IsNonMoving(BulletShape shape);
+
+public abstract bool IsConcave(BulletShape shape);
+
+public abstract bool IsCompound(BulletShape shape);
+
+public abstract bool IsSoftBody(BulletShape shape);
+
+public abstract bool IsInfinite(BulletShape shape);
+
+public abstract void SetLocalScaling(BulletShape shape, Vector3 scale);
+
+public abstract Vector3 GetLocalScaling(BulletShape shape);
+
+public abstract Vector3 CalculateLocalInertia(BulletShape shape, float mass);
+
+public abstract int GetShapeType(BulletShape shape);
+
+public abstract void SetMargin(BulletShape shape, float val);
+
+public abstract float GetMargin(BulletShape shape);
+
+// =====================================================================================
+// Debugging
+public virtual void DumpRigidBody(BulletWorld sim, BulletBody collisionObject) { }
+
+public virtual void DumpCollisionShape(BulletWorld sim, BulletShape collisionShape) { }
+
+public virtual void DumpConstraint(BulletWorld sim, BulletConstraint constrain) { }
+
+public virtual void DumpActivationInfo(BulletWorld sim) { }
+
+public virtual void DumpAllInfo(BulletWorld sim) { }
+
+public virtual void DumpPhysicsStatistics(BulletWorld sim) { }
+
+public virtual void ResetBroadphasePool(BulletWorld sim) { }
+
+public virtual void ResetConstraintSolver(BulletWorld sim) { }
+
+};
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 4c195e1..a5fec87 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -58,17 +58,16 @@ public sealed class BSCharacter : BSPhysObject
     private bool _flying;
     private bool _setAlwaysRun;
     private bool _throttleUpdates;
-    private bool _isColliding;
-    private bool _collidingObj;
     private bool _floatOnWater;
     private OMV.Vector3 _rotationalVelocity;
     private bool _kinematic;
     private float _buoyancy;
 
     // The friction and velocity of the avatar is modified depending on whether walking or not.
-    private OMV.Vector3 _appliedVelocity;   // the last velocity applied to the avatar
     private float _currentFriction;         // the friction currently being used (changed by setVelocity).
 
+    private BSVMotor _velocityMotor;
+
     private OMV.Vector3 _PIDTarget;
     private bool _usePID;
     private float _PIDTau;
@@ -83,34 +82,36 @@ public sealed class BSCharacter : BSPhysObject
         _physicsActorType = (int)ActorTypes.Agent;
         _position = pos;
 
-        // 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;
-
         _flying = isFlying;
         _orientation = OMV.Quaternion.Identity;
         _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.
+        // 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 = BSParam.AvatarCapsuleDepth;
+        if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
+
+        // The dimensions of the physical capsule are kept in the scale.
         // Physics creates a unit capsule which is scaled by the physics engine.
-        ComputeAvatarScale(_size);
+        Scale = ComputeAvatarScale(_size);
         // set _avatarVolume and _mass based on capsule size, _density and Scale
         ComputeAvatarVolumeAndMass();
+
+        SetupMovementMotor();
+
         DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}",
                             LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass);
 
-        // do actual create at taint time
+        // do actual creation in taint time
         PhysicsScene.TaintedObject("BSCharacter.create", delegate()
         {
             DetailLog("{0},BSCharacter.create,taint", LocalID);
             // New body and shape into PhysBody and PhysShape
-            PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, null, null);
+            PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this);
 
             SetPhysicalProperties();
         });
@@ -120,54 +121,155 @@ 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()
         {
-            PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
-            PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
+            PhysicsScene.Shapes.DereferenceBody(PhysBody, true /* inTaintTime */, null /* bodyCallback */);
+            PhysBody.Clear();
+            PhysicsScene.Shapes.DereferenceShape(PhysShape, true /* inTaintTime */, null /* bodyCallback */);
+            PhysShape.Clear();
         });
     }
 
     private void SetPhysicalProperties()
     {
-        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
+        PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody);
 
         ZeroMotion(true);
         ForcePosition = _position;
+
         // Set the velocity and compute the proper friction
+        _velocityMotor.Reset();
+        _velocityMotor.SetTarget(_velocity);
+        _velocityMotor.SetCurrent(_velocity);
         ForceVelocity = _velocity;
 
         // 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.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin);
-        BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
-        BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
-        if (PhysicsScene.Params.ccdMotionThreshold > 0f)
+        PhysicsScene.PE.SetRestitution(PhysBody, BSParam.AvatarRestitution);
+        PhysicsScene.PE.SetMargin(PhysShape, PhysicsScene.Params.collisionMargin);
+        PhysicsScene.PE.SetLocalScaling(PhysShape, Scale);
+        PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold);
+        if (BSParam.CcdMotionThreshold > 0f)
         {
-            BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
-            BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+            PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
+            PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
         }
 
-        UpdatePhysicalMassProperties(RawMass);
+        UpdatePhysicalMassProperties(RawMass, false);
 
         // Make so capsule does not fall over
-        BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero);
+        PhysicsScene.PE.SetAngularFactorV(PhysBody, OMV.Vector3.Zero);
 
-        BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT);
+        PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_CHARACTER_OBJECT);
 
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
+        PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody);
 
-        // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG);
-        BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_DEACTIVATION);
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
+        // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG);
+        PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_DEACTIVATION);
+        PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody);
 
         // Do this after the object has been added to the world
-        BulletSimAPI.SetCollisionFilterMask2(PhysBody.ptr,
-                        (uint)CollisionFilterGroups.AvatarFilter,
-                        (uint)CollisionFilterGroups.AvatarMask);
+        PhysBody.collisionType = CollisionType.Avatar;
+        PhysBody.ApplyCollisionMask(PhysicsScene);
+    }
+
+    // The avatar's movement is controlled by this motor that speeds up and slows down
+    //    the avatar seeking to reach the motor's target speed.
+    // This motor runs as a prestep action for the avatar so it will keep the avatar
+    //    standing as well as moving. Destruction of the avatar will destroy the pre-step action.
+    private void SetupMovementMotor()
+    {
+        // Infinite decay and timescale values so motor only changes current to target values.
+        _velocityMotor = new BSVMotor("BSCharacter.Velocity", 
+                                            0.2f,                       // time scale
+                                            BSMotor.Infinite,           // decay time scale
+                                            BSMotor.InfiniteVector,     // friction timescale
+                                            1f                          // efficiency
+        );
+        // _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
+
+        RegisterPreStepAction("BSCharactor.Movement", LocalID, delegate(float timeStep)
+        {
+            // TODO: Decide if the step parameters should be changed depending on the avatar's
+            //     state (flying, colliding, ...). There is code in ODE to do this.
+
+            OMV.Vector3 stepVelocity = _velocityMotor.Step(timeStep);
+
+            // If falling, we keep the world's downward vector no matter what the other axis specify.
+            if (!Flying && !IsColliding)
+            {
+                stepVelocity.Z = _velocity.Z;
+                // DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity);
+            }
+
+            // 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force.
+            OMV.Vector3 moveForce = (stepVelocity - _velocity) * Mass;
+
+            // Should we check for move force being small and forcing velocity to zero?
+
+            // Add special movement force to allow avatars to walk up stepped surfaces.
+            moveForce += WalkUpStairs();
+
+            DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce);
+            PhysicsScene.PE.ApplyCentralImpulse(PhysBody, moveForce);
+        });
+    }
+
+    // Decide of the character is colliding with a low object and compute a force to pop the
+    //    avatar up so it has a chance of walking up and over the low object.
+    private OMV.Vector3 WalkUpStairs()
+    {
+        OMV.Vector3 ret = OMV.Vector3.Zero;
+
+        // This test is done if moving forward, not flying and is colliding with something.
+        // DetailLog("{0},BSCharacter.WalkUpStairs,IsColliding={1},flying={2},targSpeed={3},collisions={4}",
+        //                 LocalID, IsColliding, Flying, TargetSpeed, CollisionsLastTick.Count);
+        if (IsColliding && !Flying && TargetSpeed > 0.1f /* && ForwardSpeed < 0.1f */)
+        {
+            // The range near the character's feet where we will consider stairs
+            float nearFeetHeightMin = RawPosition.Z - (Size.Z / 2f) + 0.05f;
+            float nearFeetHeightMax = nearFeetHeightMin + BSParam.AvatarStepHeight;
+
+            // Look for a collision point that is near the character's feet and is oriented the same as the charactor is
+            foreach (KeyValuePair<uint, ContactPoint> kvp in CollisionsLastTick.m_objCollisionList)
+            {
+                // Don't care about collisions with the terrain
+                if (kvp.Key > PhysicsScene.TerrainManager.HighestTerrainID)
+                {
+                    OMV.Vector3 touchPosition = kvp.Value.Position;
+                    // DetailLog("{0},BSCharacter.WalkUpStairs,min={1},max={2},touch={3}",
+                    //                 LocalID, nearFeetHeightMin, nearFeetHeightMax, touchPosition);
+                    if (touchPosition.Z >= nearFeetHeightMin && touchPosition.Z <= nearFeetHeightMax)
+                    {
+                        // This contact is within the 'near the feet' range.
+                        // The normal should be our contact point to the object so it is pointing away
+                        //    thus the difference between our facing orientation and the normal should be small.
+                        OMV.Vector3 directionFacing = OMV.Vector3.UnitX * RawOrientation;
+                        OMV.Vector3 touchNormal = OMV.Vector3.Normalize(kvp.Value.SurfaceNormal);
+                        float diff = Math.Abs(OMV.Vector3.Distance(directionFacing, touchNormal));
+                        if (diff < BSParam.AvatarStepApproachFactor)
+                        {
+                            // Found the stairs contact point. Push up a little to raise the character.
+                            float upForce = (touchPosition.Z - nearFeetHeightMin) * Mass * BSParam.AvatarStepForceFactor;
+                            ret = new OMV.Vector3(0f, 0f, upForce);
+
+                            // Also move the avatar up for the new height
+                            OMV.Vector3 displacement = new OMV.Vector3(0f, 0f, BSParam.AvatarStepHeight / 2f);
+                            ForcePosition = RawPosition + displacement;
+                        }
+                        DetailLog("{0},BSCharacter.WalkUpStairs,touchPos={1},nearFeetMin={2},faceDir={3},norm={4},diff={5},ret={6}",
+                                LocalID, touchPosition, nearFeetHeightMin, directionFacing, touchNormal, diff, ret);
+                    }
+                }
+            }
+        }
+
+        return ret;
     }
 
     public override void RequestPhysicsterseUpdate()
@@ -185,24 +287,31 @@ public sealed class BSCharacter : BSPhysObject
         }
 
         set {
-            // When an avatar's size is set, only the height is changed.
             _size = value;
-            ComputeAvatarScale(_size);
+            // 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 = BSParam.AvatarCapsuleDepth;
+            if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
+
+            Scale = ComputeAvatarScale(_size);
             ComputeAvatarVolumeAndMass();
             DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}",
                             LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass);
 
             PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
             {
-                BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
-                UpdatePhysicalMassProperties(RawMass);
+                if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape)
+                {
+                    PhysicsScene.PE.SetLocalScaling(PhysShape, Scale);
+                    UpdatePhysicalMassProperties(RawMass, true);
+                    // Make sure this change appears as a property update event
+                    PhysicsScene.PE.PushUpdate(PhysBody);
+                }
             });
 
         }
     }
 
-    public override OMV.Vector3 Scale { get; set; }
-
     public override PrimitiveBaseShape Shape
     {
         set { BaseShape = value; }
@@ -219,6 +328,10 @@ public sealed class BSCharacter : BSPhysObject
     public override bool Selected {
         set { _selected = value; }
     }
+    public override bool IsSelected
+    {
+        get { return _selected; }
+    }
     public override void CrossingFailure() { return; }
     public override void link(PhysicsActor obj) { return; }
     public override void delink() { return; }
@@ -236,7 +349,8 @@ public sealed class BSCharacter : BSPhysObject
         // Zero some other properties directly into the physics engine
         PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
         {
-            BulletSimAPI.ClearAllForces2(PhysBody.ptr);
+            if (PhysBody.HasPhysicalBody)
+                PhysicsScene.PE.ClearAllForces(PhysBody);
         });
     }
     public override void ZeroAngularMotion(bool inTaintTime)
@@ -245,10 +359,13 @@ public sealed class BSCharacter : BSPhysObject
 
         PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
         {
-            BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
-            BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
-            // The next also get rid of applied linear force but the linear velocity is untouched.
-            BulletSimAPI.ClearForces2(PhysBody.ptr);
+            if (PhysBody.HasPhysicalBody)
+            {
+                PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, OMV.Vector3.Zero);
+                PhysicsScene.PE.SetAngularVelocity(PhysBody, OMV.Vector3.Zero);
+                // The next also get rid of applied linear force but the linear velocity is untouched.
+                PhysicsScene.PE.ClearForces(PhysBody);
+            }
         });
     }
 
@@ -263,29 +380,31 @@ public sealed class BSCharacter : BSPhysObject
     public override OMV.Vector3 Position {
         get {
             // Don't refetch the position because this function is called a zillion times
-            // _position = BulletSimAPI.GetObjectPosition2(Scene.World.ptr, LocalID);
+            // _position = PhysicsScene.PE.GetObjectPosition(Scene.World, LocalID);
             return _position;
         }
         set {
             _position = value;
-            PositionSanityCheck();
 
             PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate()
             {
                 DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+                ForcePosition = _position;
             });
         }
     }
     public override OMV.Vector3 ForcePosition {
         get {
-            _position = BulletSimAPI.GetPosition2(PhysBody.ptr);
+            _position = PhysicsScene.PE.GetPosition(PhysBody);
             return _position;
         }
         set {
             _position = value;
-            PositionSanityCheck();
-            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+            if (PhysBody.HasPhysicalBody)
+            {
+                PositionSanityCheck();
+                PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
+            }
         }
     }
 
@@ -297,8 +416,17 @@ public sealed class BSCharacter : BSPhysObject
     {
         bool ret = false;
 
+        // TODO: check for out of bounds
+        if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(RawPosition))
+        {
+            // The character is out of the known/simulated area.
+            // Upper levels of code will handle the transition to other areas so, for
+            //     the time, we just ignore the position.
+            return ret;
+        }
+
         // If below the ground, move the avatar up
-        float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
+        float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition);
         if (Position.Z < terrainHeight)
         {
             DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
@@ -307,7 +435,7 @@ public sealed class BSCharacter : BSPhysObject
         }
         if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
         {
-            float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position);
+            float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position);
             if (Position.Z < waterHeight)
             {
                 _position.Z = waterHeight;
@@ -315,7 +443,6 @@ public sealed class BSCharacter : BSPhysObject
             }
         }
 
-        // TODO: check for out of bounds
         return ret;
     }
 
@@ -332,7 +459,8 @@ public sealed class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate()
             {
                 DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+                if (PhysBody.HasPhysicalBody)
+                    PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
             });
             ret = true;
         }
@@ -345,10 +473,10 @@ public sealed class BSCharacter : BSPhysObject
     public override float RawMass { 
         get {return _mass; }
     }
-    public override void UpdatePhysicalMassProperties(float physMass)
+    public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
     {
-        OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
-        BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia);
+        OMV.Vector3 localInertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape, physMass);
+        PhysicsScene.PE.SetMassProps(PhysBody, physMass, localInertia);
     }
 
     public override OMV.Vector3 Force {
@@ -359,7 +487,8 @@ public sealed class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate()
             {
                 DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force);
-                BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
+                if (PhysBody.HasPhysicalBody)
+                    PhysicsScene.PE.SetObjectForce(PhysBody, _force);
             });
         }
     }
@@ -376,6 +505,36 @@ public sealed class BSCharacter : BSPhysObject
 
     public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } }
     public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } }
+
+    // Sets the target in the motor. This starts the changing of the avatar's velocity.
+    public override OMV.Vector3 TargetVelocity
+    {
+        get
+        {
+            return _velocityMotor.TargetValue;
+        }
+        set
+        {
+            DetailLog("{0},BSCharacter.setTargetVelocity,call,vel={1}", LocalID, value);
+            OMV.Vector3 targetVel = value;
+            if (_setAlwaysRun)
+                targetVel *= BSParam.AvatarAlwaysRunFactor;
+
+            PhysicsScene.TaintedObject("BSCharacter.setTargetVelocity", delegate()
+            {
+                _velocityMotor.Reset();
+                _velocityMotor.SetTarget(targetVel);
+                _velocityMotor.SetCurrent(_velocity);
+                _velocityMotor.Enabled = true;
+            });
+        }
+    }
+    public override OMV.Vector3 RawVelocity
+    {
+        get { return _velocity; }
+        set { _velocity = value; }
+    }
+    // Directly setting velocity means this is what the user really wants now.
     public override OMV.Vector3 Velocity {
         get { return _velocity; }
         set {
@@ -383,6 +542,12 @@ public sealed class BSCharacter : BSPhysObject
             // 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;
             });
@@ -391,30 +556,32 @@ public sealed class BSCharacter : BSPhysObject
     public override OMV.Vector3 ForceVelocity {
         get { return _velocity; }
         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;
-                    BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
+                    _currentFriction = BSParam.AvatarStandingFriction;
+                    if (PhysBody.HasPhysicalBody)
+                        PhysicsScene.PE.SetFriction(PhysBody, _currentFriction);
                 }
             }
             else
             {
-                if (_currentFriction != PhysicsScene.Params.avatarFriction)
+                if (_currentFriction != BSParam.AvatarFriction)
                 {
-                    _currentFriction = PhysicsScene.Params.avatarFriction;
-                    BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
+                    _currentFriction = BSParam.AvatarFriction;
+                    if (PhysBody.HasPhysicalBody)
+                        PhysicsScene.PE.SetFriction(PhysBody, _currentFriction);
                 }
             }
-            _velocity = value;
-            // Remember the set velocity so we can suppress the reduction by friction, ...
-            _appliedVelocity = value;
 
-            BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
-            BulletSimAPI.Activate2(PhysBody.ptr, true);
+            PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity);
+            PhysicsScene.PE.Activate(PhysBody, true);
         }
     }
     public override OMV.Vector3 Torque {
@@ -439,13 +606,16 @@ public sealed class BSCharacter : BSPhysObject
     public override OMV.Quaternion Orientation {
         get { return _orientation; }
         set {
-            _orientation = value;
-            // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation);
-            PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate()
+            // Orientation is set zillions of times when an avatar is walking. It's like
+            //      the viewer doesn't trust us.
+            if (_orientation != value)
             {
-                // _position = BulletSimAPI.GetPosition2(BSBody.ptr);
-                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
-            });
+                _orientation = value;
+                PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate()
+                {
+                    ForceOrientation = _orientation;
+                });
+            }
         }
     }
     // Go directly to Bullet to get/set the value.
@@ -453,13 +623,17 @@ public sealed class BSCharacter : BSPhysObject
     {
         get
         {
-            _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr);
+            _orientation = PhysicsScene.PE.GetOrientation(PhysBody);
             return _orientation;
         }
         set
         {
             _orientation = value;
-            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+            if (PhysBody.HasPhysicalBody)
+            {
+                // _position = PhysicsScene.PE.GetPosition(BSBody);
+                PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
+            }
         }
     }
     public override int PhysicsActorType {
@@ -482,6 +656,7 @@ public sealed class BSCharacter : BSPhysObject
         get { return _flying; }
         set {
             _flying = value;
+
             // simulate flying by changing the effect of gravity
             Buoyancy = ComputeBuoyancyFromFlying(_flying);
         }
@@ -500,27 +675,18 @@ public sealed class BSCharacter : BSPhysObject
         get { return _throttleUpdates; }
         set { _throttleUpdates = value; }
     }
-    public override bool IsColliding {
-        get { return (CollidingStep == PhysicsScene.SimulationStep); }
-        set { _isColliding = value; }
-    }
-    public override bool CollidingGround {
-        get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
-        set { CollidingGround = value; }
-    }
-    public override bool CollidingObj {
-        get { return _collidingObj; }
-        set { _collidingObj = value; }
-    }
     public override bool FloatOnWater {
         set {
             _floatOnWater = value;
             PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate()
             {
-                if (_floatOnWater)
-                    CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
-                else
-                    CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+                if (PhysBody.HasPhysicalBody)
+                {
+                    if (_floatOnWater)
+                        CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
+                    else
+                        CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
+                }
             });
         }
     }
@@ -549,11 +715,15 @@ public sealed class BSCharacter : BSPhysObject
     }
     public override float ForceBuoyancy {
         get { return _buoyancy; }
-        set { _buoyancy = value;
+        set { 
+            PhysicsScene.AssertInTaintTime("BSCharacter.ForceBuoyancy");
+
+            _buoyancy = value;
             DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
             // Buoyancy is faked by changing the gravity applied to the object
             float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
-            BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
+            if (PhysBody.HasPhysicalBody)
+                PhysicsScene.PE.SetGravity(PhysBody, new OMV.Vector3(0f, 0f, grav));
         }
     }
 
@@ -589,24 +759,40 @@ public sealed class BSCharacter : BSPhysObject
     public override float APIDStrength { set { return; } }
     public override float APIDDamping { set { return; } }
 
-    public override void AddForce(OMV.Vector3 force, bool pushforce) {
+    public override void AddForce(OMV.Vector3 force, bool pushforce)
+    {
+        // Since this force is being applied in only one step, make this a force per second.
+        OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep;
+        AddForce(addForce, pushforce, false);
+    }
+    private void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
         if (force.IsFinite())
         {
-            _force.X += force.X;
-            _force.Y += force.Y;
-            _force.Z += force.Z;
-            // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force);
-            PhysicsScene.TaintedObject("BSCharacter.AddForce", delegate()
+            float magnitude = force.Length();
+            if (magnitude > BSParam.MaxAddForceMagnitude)
             {
-                DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force);
-                BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
+                // Force has a limit
+                force = force / magnitude * BSParam.MaxAddForceMagnitude;
+            }
+
+            OMV.Vector3 addForce = force;
+            // DetailLog("{0},BSCharacter.addForce,call,force={1}", LocalID, addForce);
+
+            PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.AddForce", delegate()
+            {
+                // Bullet adds this central force to the total force for this tick
+                // DetailLog("{0},BSCharacter.addForce,taint,force={1}", LocalID, addForce);
+                if (PhysBody.HasPhysicalBody)
+                {
+                    PhysicsScene.PE.ApplyCentralForce(PhysBody, addForce);
+                }
             });
         }
         else
         {
-            m_log.ErrorFormat("{0}: Got a NaN force applied to a Character", LogHeader);
+            m_log.WarnFormat("{0}: Got a NaN force applied to a character. LocalID={1}", LogHeader, LocalID);
+            return;
         }
-        //m_lastUpdateSent = false;
     }
 
     public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
@@ -614,24 +800,31 @@ public sealed class BSCharacter : BSPhysObject
     public override void SetMomentum(OMV.Vector3 momentum) {
     }
 
-    private void ComputeAvatarScale(OMV.Vector3 size)
+    private OMV.Vector3 ComputeAvatarScale(OMV.Vector3 size)
     {
-        // The 'size' given by the simulator is the mid-point of the avatar
-        //    and X and Y are unspecified.
-
-        OMV.Vector3 newScale = size;
-        // newScale.X = PhysicsScene.Params.avatarCapsuleWidth;
-        // newScale.Y = PhysicsScene.Params.avatarCapsuleDepth;
-
-        // From the total height, remove the capsule half spheres that are at each end
-        // The 1.15f came from ODE. Not sure what this factors in.
-        // newScale.Z = (size.Z * 1.15f) - (newScale.X + newScale.Y);
+        OMV.Vector3 newScale;
+        
+        // Bullet's capsule total height is the "passed height + radius * 2";
+        // The base capsule is 1 diameter and 2 height (passed radius=0.5, passed height = 1)
+        // The number we pass in for 'scaling' is the multiplier to get that base
+        //     shape to be the size desired.
+        // So, when creating the scale for the avatar height, we take the passed height
+        //     (size.Z) and remove the caps.
+        // Another oddity of the Bullet capsule implementation is that it presumes the Y
+        //     dimension is the radius of the capsule. Even though some of the code allows
+        //     for a asymmetrical capsule, other parts of the code presume it is cylindrical.
+
+        // Scale is multiplier of radius with one of "0.5"
+        newScale.X = size.X / 2f;
+        newScale.Y = size.Y / 2f;
 
         // The total scale height is the central cylindar plus the caps on the two ends.
-        newScale.Z = size.Z + (Math.Min(size.X, size.Y) * 2f);
+        newScale.Z = (size.Z + (Math.Min(size.X, size.Y) * 2)) / 2f;
+        // If smaller than the endcaps, just fake like we're almost that small
+        if (newScale.Z < 0)
+            newScale.Z = 0.1f;
 
-        // Convert diameters to radii and height to half height -- the way Bullet expects it.
-        Scale = newScale / 2f;
+        return newScale;
     }
 
     // set _avatarVolume and _mass based on capsule size, _density and Scale
@@ -639,14 +832,14 @@ public sealed class BSCharacter : BSPhysObject
     {
         _avatarVolume = (float)(
                         Math.PI
-                        * Scale.X
-                        * Scale.Y    // the area of capsule cylinder
-                        * Scale.Z    // times height of capsule cylinder
+                        * Size.X / 2f
+                        * Size.Y / 2f    // the area of capsule cylinder
+                        * Size.Z         // times height of capsule cylinder
                       + 1.33333333f
                         * Math.PI
-                        * Scale.X
-                        * Math.Min(Scale.X, Scale.Y)
-                        * Scale.Y    // plus the volume of the capsule end caps
+                        * Size.X / 2f
+                        * Math.Min(Size.X, Size.Y) / 2
+                        * Size.Y / 2f    // plus the volume of the capsule end caps
                         );
         _mass = _avatarDensity * _avatarVolume;
     }
@@ -660,6 +853,7 @@ 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);
 
@@ -667,17 +861,8 @@ public sealed class BSCharacter : BSPhysObject
         LastEntityProperties = CurrentEntityProperties;
         CurrentEntityProperties = entprop;
 
-        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);
+        Linkset.UpdateProperties(this, true);
 
         // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
         // base.RequestPhysicsterseUpdate();
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
index 65fac00..b813974 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
@@ -36,7 +36,8 @@ public abstract class BSConstraint : IDisposable
 {
     private static string LogHeader = "[BULLETSIM CONSTRAINT]";
 
-    protected BulletSim m_world;
+    protected BulletWorld m_world;
+    protected BSScene PhysicsScene;
     protected BulletBody m_body1;
     protected BulletBody m_body2;
     protected BulletConstraint m_constraint;
@@ -48,8 +49,10 @@ public abstract class BSConstraint : IDisposable
     public abstract ConstraintType Type { get; }
     public bool IsEnabled { get { return m_enabled; } }
 
-    public BSConstraint()
+    public BSConstraint(BulletWorld world)
     {
+        m_world = world;
+        PhysicsScene = m_world.physicsScene;
     }
 
     public virtual void Dispose()
@@ -57,15 +60,15 @@ public abstract class BSConstraint : IDisposable
         if (m_enabled)
         {
             m_enabled = false;
-            if (m_constraint.ptr != IntPtr.Zero)
+            if (m_constraint.HasPhysicalConstraint)
             {
-                bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr);
+                bool success = PhysicsScene.PE.DestroyConstraint(m_world, m_constraint);
                 m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}",
                                     BSScene.DetailLogZero,
-                                    m_body1.ID, m_body1.ptr.ToString("X"),
-                                    m_body2.ID, m_body2.ptr.ToString("X"),
+                                    m_body1.ID, m_body1.AddrString,
+                                    m_body2.ID, m_body2.AddrString,
                                     success);
-                m_constraint.ptr = System.IntPtr.Zero;
+                m_constraint.Clear();
             }
         }
     }
@@ -74,7 +77,7 @@ public abstract class BSConstraint : IDisposable
     {
         bool ret = false;
         if (m_enabled)
-            ret = BulletSimAPI.SetLinearLimits2(m_constraint.ptr, low, high);
+            ret = PhysicsScene.PE.SetLinearLimits(m_constraint, low, high);
         return ret;
     }
 
@@ -82,7 +85,7 @@ public abstract class BSConstraint : IDisposable
     {
         bool ret = false;
         if (m_enabled)
-            ret = BulletSimAPI.SetAngularLimits2(m_constraint.ptr, low, high);
+            ret = PhysicsScene.PE.SetAngularLimits(m_constraint, low, high);
         return ret;
     }
 
@@ -91,7 +94,7 @@ public abstract class BSConstraint : IDisposable
         bool ret = false;
         if (m_enabled)
         {
-            BulletSimAPI.SetConstraintNumSolverIterations2(m_constraint.ptr, cnt);
+            PhysicsScene.PE.SetConstraintNumSolverIterations(m_constraint, cnt);
             ret = true;
         }
         return ret;
@@ -103,7 +106,7 @@ public abstract class BSConstraint : IDisposable
         if (m_enabled)
         {
             // Recompute the internal transforms
-            BulletSimAPI.CalculateTransforms2(m_constraint.ptr);
+            PhysicsScene.PE.CalculateTransforms(m_constraint);
             ret = true;
         }
         return ret;
@@ -122,7 +125,7 @@ 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));
+                PhysicsScene.PE.SetConstraintEnable(m_constraint, BSParam.NumericBool(true));
             }
             else
             {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
index 23ef052..ecb1b32 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
@@ -39,51 +39,49 @@ public sealed class BSConstraint6Dof : BSConstraint
     public override ConstraintType Type { get { return ConstraintType.D6_CONSTRAINT_TYPE; } }
 
     // Create a btGeneric6DofConstraint
-    public BSConstraint6Dof(BulletSim world, BulletBody obj1, BulletBody obj2,
+    public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
                     Vector3 frame1, Quaternion frame1rot,
                     Vector3 frame2, Quaternion frame2rot,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+        : base(world)
     {
-        m_world = world;
         m_body1 = obj1;
         m_body2 = obj2;
-        m_constraint = new BulletConstraint(
-                            BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
+        m_constraint = PhysicsScene.PE.Create6DofConstraint(m_world, m_body1, m_body2,
                                 frame1, frame1rot,
                                 frame2, frame2rot,
-                                useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+                                useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
         m_enabled = true;
         world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
                             BSScene.DetailLogZero, world.worldID,
-                            obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
+                            obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
     }
 
-    public BSConstraint6Dof(BulletSim world, BulletBody obj1, BulletBody obj2,
+    public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
                     Vector3 joinPoint,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+        : base(world)
     {
-        m_world = world;
         m_body1 = obj1;
         m_body2 = obj2;
-        if (obj1.ptr == IntPtr.Zero || obj2.ptr == IntPtr.Zero)
+        if (!obj1.HasPhysicalBody || !obj2.HasPhysicalBody)
         {
             world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
                             BSScene.DetailLogZero, world.worldID,
-                            obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
+                            obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
             world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
-                            LogHeader, world.worldID, obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
+                            LogHeader, world.worldID, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
             m_enabled = false;
         }
         else
         {
-            m_constraint = new BulletConstraint(
-                                BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
+            m_constraint = PhysicsScene.PE.Create6DofConstraintToPoint(m_world, m_body1, m_body2,
                                     joinPoint,
-                                    useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
-            world.physicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}",
-                                BSScene.DetailLogZero, world.worldID, m_constraint.ptr.ToString("X"),
-                                obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
-            if (m_constraint.ptr == IntPtr.Zero)
+                                    useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
+            PhysicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}",
+                                BSScene.DetailLogZero, world.worldID, m_constraint.AddrString,
+                                obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
+            if (!m_constraint.HasPhysicalConstraint)
             {
                 world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}",
                                 LogHeader, obj1.ID, obj2.ID);
@@ -101,7 +99,7 @@ public sealed class BSConstraint6Dof : BSConstraint
         bool ret = false;
         if (m_enabled)
         {
-            BulletSimAPI.SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
+            PhysicsScene.PE.SetFrames(m_constraint, frameA, frameArot, frameB, frameBrot);
             ret = true;
         }
         return ret;
@@ -112,9 +110,9 @@ public sealed class BSConstraint6Dof : BSConstraint
         bool ret = false;
         if (m_enabled)
         {
-            BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
-            BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
-            BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
+            PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
+            PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
+            PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
             ret = true;
         }
         return ret;
@@ -125,7 +123,7 @@ public sealed class BSConstraint6Dof : BSConstraint
         bool ret = false;
         float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
         if (m_enabled)
-            ret = BulletSimAPI.UseFrameOffset2(m_constraint.ptr, onOff);
+            ret = PhysicsScene.PE.UseFrameOffset(m_constraint, onOff);
         return ret;
     }
 
@@ -135,7 +133,7 @@ public sealed class BSConstraint6Dof : BSConstraint
         float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
         if (m_enabled)
         {
-            ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.ptr, onOff, targetVelocity, maxMotorForce);
+            ret = PhysicsScene.PE.TranslationalLimitMotor(m_constraint, onOff, targetVelocity, maxMotorForce);
             m_world.physicsScene.DetailLog("{0},BS6DOFConstraint,TransLimitMotor,enable={1},vel={2},maxForce={3}",
                             BSScene.DetailLogZero, enable, targetVelocity, maxMotorForce);
         }
@@ -146,7 +144,7 @@ public sealed class BSConstraint6Dof : BSConstraint
     {
         bool ret = false;
         if (m_enabled)
-            ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.ptr, threshold);
+            ret = PhysicsScene.PE.SetBreakingImpulseThreshold(m_constraint, threshold);
         return ret;
     }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs
index a9fd826..2aeff25 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs
@@ -41,9 +41,9 @@ public sealed class BSConstraintCollection : IDisposable
     delegate bool ConstraintAction(BSConstraint constrain);
 
     private List<BSConstraint> m_constraints;
-    private BulletSim m_world;
+    private BulletWorld m_world;
 
-    public BSConstraintCollection(BulletSim world)
+    public BSConstraintCollection(BulletWorld world)
     {
         m_world = world;
         m_constraints = new List<BSConstraint>();
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs
index ed3ffa7..7714a03 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs
@@ -36,19 +36,17 @@ public sealed class BSConstraintHinge : BSConstraint
 {
     public override ConstraintType Type { get { return ConstraintType.HINGE_CONSTRAINT_TYPE; } }
 
-    public BSConstraintHinge(BulletSim world, BulletBody obj1, BulletBody obj2,
+    public BSConstraintHinge(BulletWorld world, BulletBody obj1, BulletBody obj2,
                     Vector3 pivotInA, Vector3 pivotInB,
                     Vector3 axisInA, Vector3 axisInB,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+        : base(world)
     {
-        m_world = world;
         m_body1 = obj1;
         m_body2 = obj2;
-        m_constraint = new BulletConstraint(
-                            BulletSimAPI.CreateHingeConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
-                                pivotInA, pivotInB,
-                                axisInA, axisInB,
-                                useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+        m_constraint = PhysicsScene.PE.CreateHingeConstraint(world, obj1, obj2,
+                                pivotInA, pivotInB, axisInA, axisInB, 
+                                useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
         m_enabled = true;
     }
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index dbc9039..e434412 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -24,30 +24,17 @@
  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
-
-/* RA: June 14, 2011. Copied from ODEDynamics.cs and converted to
- * call the BulletSim system.
- */
-/* Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces
- * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
- * ODEPrim.cs contains methods dealing with Prim editing, Prim
- * characteristics and Kinetic motion.
- * ODEDynamics.cs contains methods dealing with Prim Physical motion
- * (dynamics) and the associated settings. Old Linear and angular
- * motors for dynamic motion have been replace with  MoveLinear()
- * and MoveAngular(); 'Physical' is used only to switch ODE dynamic
- * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
- * switch between 'VEHICLE' parameter use and general dynamics
- * settings use.
+ * The quotations from http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial
+ * are Copyright (c) 2009 Linden Research, Inc and are used under their license
+ * of Creative Commons Attribution-Share Alike 3.0
+ * (http://creativecommons.org/licenses/by-sa/3.0/).
  */
 
 using System;
 using System.Collections.Generic;
 using System.Reflection;
 using System.Runtime.InteropServices;
-using log4net;
 using OpenMetaverse;
-using OpenSim.Framework;
 using OpenSim.Region.Physics.Manager;
 
 namespace OpenSim.Region.Physics.BulletSPlugin
@@ -80,10 +67,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         private Quaternion m_referenceFrame = Quaternion.Identity;
 
         // Linear properties
+        private BSVMotor m_linearMotor = new BSVMotor("LinearMotor");
         private Vector3 m_linearMotorDirection = Vector3.Zero;          // velocity requested by LSL, decayed by time
         private Vector3 m_linearMotorOffset = Vector3.Zero;             // the point of force can be offset from the center
         private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero;   // velocity requested by LSL
-        private Vector3 m_newVelocity = Vector3.Zero;                   // velocity computed to be applied to body
         private Vector3 m_linearFrictionTimescale = Vector3.Zero;
         private float m_linearMotorDecayTimescale = 0;
         private float m_linearMotorTimescale = 0;
@@ -93,16 +80,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         // private Vector3 m_linearMotorOffset = Vector3.Zero;
 
         //Angular properties
+        private BSVMotor m_angularMotor = new BSVMotor("AngularMotor");
         private Vector3 m_angularMotorDirection = Vector3.Zero;         // angular velocity requested by LSL motor
         // private int m_angularMotorApply = 0;                            // application frame counter
         private Vector3 m_angularMotorVelocity = Vector3.Zero;          // current angular motor velocity
         private float m_angularMotorTimescale = 0;                      // motor angular velocity ramp up rate
         private float m_angularMotorDecayTimescale = 0;                 // motor angular velocity decay rate
         private Vector3 m_angularFrictionTimescale = Vector3.Zero;      // body angular velocity  decay rate
-        private Vector3 m_lastAngularVelocity = Vector3.Zero;           // what was last applied to body
+        private Vector3 m_lastAngularVelocity = Vector3.Zero;
         private Vector3 m_lastVertAttractor = Vector3.Zero;             // what VA was last applied to body
 
         //Deflection properties
+        private BSVMotor m_angularDeflectionMotor = new BSVMotor("AngularDeflection");
         private float m_angularDeflectionEfficiency = 0;
         private float m_angularDeflectionTimescale = 0;
         private float m_linearDeflectionEfficiency = 0;
@@ -114,32 +103,61 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         private float m_bankingTimescale = 0;
 
         //Hover and Buoyancy properties
+        private BSVMotor m_hoverMotor = new BSVMotor("Hover");
         private float m_VhoverHeight = 0f;
         private float m_VhoverEfficiency = 0f;
         private float m_VhoverTimescale = 0f;
         private float m_VhoverTargetHeight = -1.0f;     // if <0 then no hover, else its the current target height
-        private float m_VehicleBuoyancy = 0f;           //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle.
-                    // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
-                    // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
-                    // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
+        // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
+        private float m_VehicleBuoyancy = 0f;
+        private Vector3 m_VehicleGravity = Vector3.Zero;    // Gravity computed when buoyancy set
 
         //Attractor properties
-        private float m_verticalAttractionEfficiency = 1.0f;        // damped
-        private float m_verticalAttractionTimescale = 500f;         // Timescale > 300  means no vert attractor.
+        private BSVMotor m_verticalAttractionMotor = new BSVMotor("VerticalAttraction");
+        private float m_verticalAttractionEfficiency = 1.0f; // damped
+        private float m_verticalAttractionCutoff = 500f;     // per the documentation
+        // Timescale > cutoff  means no vert attractor.
+        private float m_verticalAttractionTimescale = 510f;
+
+        // Just some recomputed constants:
+        static readonly float PIOverFour = ((float)Math.PI) / 4f;
+        static readonly float PIOverTwo = ((float)Math.PI) / 2f;
+
+        // For debugging, flags to turn on and off individual corrections.
+        private bool enableAngularVerticalAttraction;
+        private bool enableAngularDeflection;
+        private bool enableAngularBanking;
 
         public BSDynamics(BSScene myScene, BSPrim myPrim)
         {
             PhysicsScene = myScene;
             Prim = myPrim;
             Type = Vehicle.TYPE_NONE;
+            SetupVehicleDebugging();
+        }
+
+        // Stopgap debugging enablement. Allows source level debugging but still checking
+        //    in changes by making enablement of debugging flags from INI file.
+        public void SetupVehicleDebugging()
+        {
+            enableAngularVerticalAttraction = true;
+            enableAngularDeflection = false;
+            enableAngularBanking = false;
+            if (BSParam.VehicleDebuggingEnabled != ConfigurationParameters.numericFalse)
+            {
+                enableAngularVerticalAttraction = false;
+                enableAngularDeflection = false;
+                enableAngularBanking = false;
+            }
         }
 
         // Return 'true' if this vehicle is doing vehicle things
         public bool IsActive
         {
-            get { return Type != Vehicle.TYPE_NONE; }
+            get { return (Type != Vehicle.TYPE_NONE && !Prim.IsStatic); }
         }
 
+        #region Vehicle parameter setting
         internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
         {
             VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
@@ -152,13 +170,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     m_angularDeflectionTimescale = Math.Max(pValue, 0.01f);
                     break;
                 case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
-                    m_angularMotorDecayTimescale = Math.Max(pValue, 0.01f);
+                    m_angularMotorDecayTimescale = ClampInRange(0.01f, pValue, 120);
+                    m_angularMotor.TargetValueDecayTimeScale = m_angularMotorDecayTimescale;
                     break;
                 case Vehicle.ANGULAR_MOTOR_TIMESCALE:
                     m_angularMotorTimescale = Math.Max(pValue, 0.01f);
+                    m_angularMotor.TimeScale = m_angularMotorTimescale;
                     break;
                 case Vehicle.BANKING_EFFICIENCY:
-                    m_bankingEfficiency = Math.Max(-1f, Math.Min(pValue, 1f));
+                    m_bankingEfficiency = ClampInRange(-1f, pValue, 1f);
                     break;
                 case Vehicle.BANKING_MIX:
                     m_bankingMix = Math.Max(pValue, 0.01f);
@@ -167,10 +187,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     m_bankingTimescale = Math.Max(pValue, 0.01f);
                     break;
                 case Vehicle.BUOYANCY:
-                    m_VehicleBuoyancy = Math.Max(-1f, Math.Min(pValue, 1f));
+                    m_VehicleBuoyancy = ClampInRange(-1f, pValue, 1f);
+                    m_VehicleGravity = Prim.ComputeGravity(m_VehicleBuoyancy);
                     break;
                 case Vehicle.HOVER_EFFICIENCY:
-                    m_VhoverEfficiency = Math.Max(0f, Math.Min(pValue, 1f));
+                    m_VhoverEfficiency = ClampInRange(0f, pValue, 1f);
                     break;
                 case Vehicle.HOVER_HEIGHT:
                     m_VhoverHeight = pValue;
@@ -185,33 +206,40 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     m_linearDeflectionTimescale = Math.Max(pValue, 0.01f);
                     break;
                 case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
-                    m_linearMotorDecayTimescale = Math.Max(pValue, 0.01f);
+                    m_linearMotorDecayTimescale = ClampInRange(0.01f, pValue, 120);
+                    m_linearMotor.TargetValueDecayTimeScale = m_linearMotorDecayTimescale;
                     break;
                 case Vehicle.LINEAR_MOTOR_TIMESCALE:
                     m_linearMotorTimescale = Math.Max(pValue, 0.01f);
+                    m_linearMotor.TimeScale = m_linearMotorTimescale;
                     break;
                 case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
-                    m_verticalAttractionEfficiency = Math.Max(0.1f, Math.Min(pValue, 1f));
+                    m_verticalAttractionEfficiency = ClampInRange(0.1f, pValue, 1f);
+                    m_verticalAttractionMotor.Efficiency = m_verticalAttractionEfficiency;
                     break;
                 case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
                     m_verticalAttractionTimescale = Math.Max(pValue, 0.01f);
+                    m_verticalAttractionMotor.TimeScale = m_verticalAttractionTimescale;
                     break;
 
                 // These are vector properties but the engine lets you use a single float value to
                 // set all of the components to the same value
                 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
                     m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
+                    m_angularMotor.FrictionTimescale = m_angularFrictionTimescale;
                     break;
                 case Vehicle.ANGULAR_MOTOR_DIRECTION:
                     m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
-                    // m_angularMotorApply = 100;
+                    m_angularMotor.SetTarget(m_angularMotorDirection);
                     break;
                 case Vehicle.LINEAR_FRICTION_TIMESCALE:
                     m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
+                    m_linearMotor.FrictionTimescale = m_linearFrictionTimescale;
                     break;
                 case Vehicle.LINEAR_MOTOR_DIRECTION:
                     m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
                     m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue);
+                    m_linearMotor.SetTarget(m_linearMotorDirection);
                     break;
                 case Vehicle.LINEAR_MOTOR_OFFSET:
                     m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
@@ -227,21 +255,24 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             {
                 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
                     m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    m_angularMotor.FrictionTimescale = m_angularFrictionTimescale;
                     break;
                 case Vehicle.ANGULAR_MOTOR_DIRECTION:
                     // Limit requested angular speed to 2 rps= 4 pi rads/sec
-                    pValue.X = Math.Max(-12.56f, Math.Min(pValue.X, 12.56f));
-                    pValue.Y = Math.Max(-12.56f, Math.Min(pValue.Y, 12.56f));
-                    pValue.Z = Math.Max(-12.56f, Math.Min(pValue.Z, 12.56f));
+                    pValue.X = ClampInRange(-12.56f, pValue.X, 12.56f);
+                    pValue.Y = ClampInRange(-12.56f, pValue.Y, 12.56f);
+                    pValue.Z = ClampInRange(-12.56f, pValue.Z, 12.56f);
                     m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
-                    // m_angularMotorApply = 100;
+                    m_angularMotor.SetTarget(m_angularMotorDirection);
                     break;
                 case Vehicle.LINEAR_FRICTION_TIMESCALE:
                     m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    m_linearMotor.FrictionTimescale = m_linearFrictionTimescale;
                     break;
                 case Vehicle.LINEAR_MOTOR_DIRECTION:
                     m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
                     m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    m_linearMotor.SetTarget(m_linearMotorDirection);
                     break;
                 case Vehicle.LINEAR_MOTOR_OFFSET:
                     m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
@@ -303,7 +334,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     m_VhoverEfficiency = 0;
                     m_VhoverTimescale = 0;
                     m_VehicleBuoyancy = 0;
-                    
+
                     m_linearDeflectionEfficiency = 1;
                     m_linearDeflectionTimescale = 1;
 
@@ -319,6 +350,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
                     m_referenceFrame = Quaternion.Identity;
                     m_flags = (VehicleFlag)0;
+
                     break;
 
                 case Vehicle.TYPE_SLED:
@@ -351,10 +383,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     m_bankingMix = 1;
 
                     m_referenceFrame = Quaternion.Identity;
-                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
-                    m_flags &=
-                         ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
-                           VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
+                    m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
+                                | VehicleFlag.HOVER_TERRAIN_ONLY
+                                | VehicleFlag.HOVER_GLOBAL_HEIGHT
+                                | VehicleFlag.HOVER_UP_ONLY);
+                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP
+                            | VehicleFlag.LIMIT_ROLL_ONLY
+                            | VehicleFlag.LIMIT_MOTOR_UP);
+
                     break;
                 case Vehicle.TYPE_CAR:
                     m_linearMotorDirection = Vector3.Zero;
@@ -498,6 +534,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     m_bankingEfficiency = 0;
                     m_bankingMix = 0.7f;
                     m_bankingTimescale = 5;
+
                     m_referenceFrame = Quaternion.Identity;
 
                     m_referenceFrame = Quaternion.Identity;
@@ -510,7 +547,30 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                                     | VehicleFlag.HOVER_GLOBAL_HEIGHT);
                     break;
             }
+
+            // Update any physical parameters based on this type.
+            Refresh();
+
+            m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale,
+                                m_linearMotorDecayTimescale, m_linearFrictionTimescale,
+                                1f);
+            m_linearMotor.PhysicsScene = PhysicsScene;  // DEBUG DEBUG DEBUG (enables detail logging)
+
+            m_angularMotor = new BSVMotor("AngularMotor", m_angularMotorTimescale,
+                                m_angularMotorDecayTimescale, m_angularFrictionTimescale,
+                                1f);
+            m_angularMotor.PhysicsScene = PhysicsScene;  // DEBUG DEBUG DEBUG (enables detail logging)
+
+            /*  Not implemented
+            m_verticalAttractionMotor = new BSVMotor("VerticalAttraction", m_verticalAttractionTimescale,
+                                BSMotor.Infinite, BSMotor.InfiniteVector,
+                                m_verticalAttractionEfficiency);
+            // Z goes away and we keep X and Y
+            m_verticalAttractionMotor.FrictionTimescale = new Vector3(BSMotor.Infinite, BSMotor.Infinite, 0.1f);
+            m_verticalAttractionMotor.PhysicsScene = PhysicsScene;  // DEBUG DEBUG DEBUG (enables detail logging)
+             */
         }
+        #endregion // Vehicle parameter setting
 
         // Some of the properties of this prim may have changed.
         // Do any updating needed for a vehicle
@@ -518,13 +578,38 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         {
             if (IsActive)
             {
-                // Friction effects are handled by this vehicle code
-                BulletSimAPI.SetFriction2(Prim.PhysBody.ptr, 0f);
-                BulletSimAPI.SetHitFraction2(Prim.PhysBody.ptr, 0f);
-
-                // BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, 0.8f);
-
-                VDetailLog("{0},BSDynamics.Refresh,zeroingFriction and adding damping", Prim.LocalID);
+                // Remember the mass so we don't have to fetch it every step
+                m_vehicleMass = Prim.Linkset.LinksetMass;
+
+                // Friction affects are handled by this vehicle code
+                float friction = 0f;
+                PhysicsScene.PE.SetFriction(Prim.PhysBody, friction);
+
+                // 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 = BSParam.VehicleAngularDamping;
+                PhysicsScene.PE.SetAngularDamping(Prim.PhysBody, angularDamping);
+
+                // Vehicles report collision events so we know when it's on the ground
+                PhysicsScene.PE.AddToCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
+
+                Prim.Inertia = PhysicsScene.PE.CalculateLocalInertia(Prim.PhysShape, m_vehicleMass);
+                PhysicsScene.PE.SetMassProps(Prim.PhysBody, m_vehicleMass, Prim.Inertia);
+                PhysicsScene.PE.UpdateInertiaTensor(Prim.PhysBody);
+
+                // Set the gravity for the vehicle depending on the buoyancy
+                // TODO: what should be done if prim and vehicle buoyancy differ?
+                m_VehicleGravity = Prim.ComputeGravity(m_VehicleBuoyancy);
+                // The actual vehicle gravity is set to zero in Bullet so we can do all the application of same.
+                PhysicsScene.PE.SetGravity(Prim.PhysBody, Vector3.Zero);
+
+                VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4},grav={5}",
+                        Prim.LocalID, m_vehicleMass, friction, Prim.Inertia, angularDamping, m_VehicleGravity);
+            }
+            else
+            {
+                PhysicsScene.PE.RemoveFromCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
             }
         }
 
@@ -546,116 +631,383 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             Refresh();
         }
 
+        #region Known vehicle value functions
+        // Vehicle physical parameters that we buffer from constant getting and setting.
+        // The "m_known*" values are unknown until they are fetched and the m_knownHas flag is set.
+        //      Changing is remembered and the parameter is stored back into the physics engine only if updated.
+        //      This does two things: 1) saves continuious calls into unmanaged code, and
+        //      2) signals when a physics property update must happen back to the simulator
+        //      to update values modified for the vehicle.
+        private int m_knownChanged;
+        private int m_knownHas;
+        private float m_knownTerrainHeight;
+        private float m_knownWaterLevel;
+        private Vector3 m_knownPosition;
+        private Vector3 m_knownVelocity;
+        private Vector3 m_knownForce;
+        private Vector3 m_knownForceImpulse;
+        private Quaternion m_knownOrientation;
+        private Vector3 m_knownRotationalVelocity;
+        private Vector3 m_knownRotationalForce;
+        private Vector3 m_knownRotationalImpulse;
+        private Vector3 m_knownForwardVelocity;    // vehicle relative forward speed
+
+        private const int m_knownChangedPosition           = 1 << 0;
+        private const int m_knownChangedVelocity           = 1 << 1;
+        private const int m_knownChangedForce              = 1 << 2;
+        private const int m_knownChangedForceImpulse       = 1 << 3;
+        private const int m_knownChangedOrientation        = 1 << 4;
+        private const int m_knownChangedRotationalVelocity = 1 << 5;
+        private const int m_knownChangedRotationalForce    = 1 << 6;
+        private const int m_knownChangedRotationalImpulse  = 1 << 7;
+        private const int m_knownChangedTerrainHeight      = 1 << 8;
+        private const int m_knownChangedWaterLevel         = 1 << 9;
+        private const int m_knownChangedForwardVelocity    = 1 <<10;
+
+        private void ForgetKnownVehicleProperties()
+        {
+            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 = m_knownPosition;
+
+                if ((m_knownChanged & m_knownChangedOrientation) != 0)
+                    Prim.ForceOrientation = m_knownOrientation;
+
+                if ((m_knownChanged & m_knownChangedVelocity) != 0)
+                {
+                    Prim.ForceVelocity = m_knownVelocity;
+                    // Fake out Bullet by making it think the velocity is the same as last time.
+                    // Bullet does a bunch of smoothing for changing parameters.
+                    //    Since the vehicle is demanding this setting, we override Bullet's smoothing
+                    //    by telling Bullet the value was the same last time.
+                    PhysicsScene.PE.SetInterpolationLinearVelocity(Prim.PhysBody, m_knownVelocity);
+                }
+
+                if ((m_knownChanged & m_knownChangedForce) != 0)
+                    Prim.AddForce((Vector3)m_knownForce, false /*pushForce*/, true /*inTaintTime*/);
+
+                if ((m_knownChanged & m_knownChangedForceImpulse) != 0)
+                    Prim.AddForceImpulse((Vector3)m_knownForceImpulse, false /*pushforce*/, true /*inTaintTime*/);
+
+                if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0)
+                {
+                    Prim.ForceRotationalVelocity = m_knownRotationalVelocity;
+                    PhysicsScene.PE.SetInterpolationAngularVelocity(Prim.PhysBody, m_knownRotationalVelocity);
+                }
+
+                if ((m_knownChanged & m_knownChangedRotationalImpulse) != 0)
+                    Prim.ApplyTorqueImpulse((Vector3)m_knownRotationalImpulse, true /*inTaintTime*/);
+
+                if ((m_knownChanged & m_knownChangedRotationalForce) != 0)
+                {
+                    Prim.AddAngularForce((Vector3)m_knownRotationalForce, false /*pushForce*/, true /*inTaintTime*/);
+                }
+
+                // If we set one of the values (ie, the physics engine didn't do it) we must force
+                //      an UpdateProperties event to send the changes up to the simulator.
+                PhysicsScene.PE.PushUpdate(Prim.PhysBody);
+            }
+            m_knownChanged = 0;
+        }
+
+        // Since the computation of terrain height can be a little involved, this routine
+        //    is used to fetch the height only once for each vehicle simulation step.
+        private float GetTerrainHeight(Vector3 pos)
+        {
+            if ((m_knownHas & m_knownChangedTerrainHeight) == 0)
+            {
+                m_knownTerrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos);
+                m_knownHas |= m_knownChangedTerrainHeight;
+            }
+            return m_knownTerrainHeight;
+        }
+
+        // Since the computation of water level can be a little involved, this routine
+        //    is used ot fetch the level only once for each vehicle simulation step.
+        private float GetWaterLevel(Vector3 pos)
+        {
+            if ((m_knownHas & m_knownChangedWaterLevel) == 0)
+            {
+                m_knownWaterLevel = Prim.PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(pos);
+                m_knownHas |= m_knownChangedWaterLevel;
+            }
+            return (float)m_knownWaterLevel;
+        }
+
+        private Vector3 VehiclePosition
+        {
+            get
+            {
+                if ((m_knownHas & m_knownChangedPosition) == 0)
+                {
+                    m_knownPosition = Prim.ForcePosition;
+                    m_knownHas |= m_knownChangedPosition;
+                }
+                return m_knownPosition;
+            }
+            set
+            {
+                m_knownPosition = value;
+                m_knownChanged |= m_knownChangedPosition;
+                m_knownHas |= m_knownChangedPosition;
+            }
+        }
+
+        private Quaternion VehicleOrientation
+        {
+            get
+            {
+                if ((m_knownHas & m_knownChangedOrientation) == 0)
+                {
+                    m_knownOrientation = Prim.ForceOrientation;
+                    m_knownHas |= m_knownChangedOrientation;
+                }
+                return m_knownOrientation;
+            }
+            set
+            {
+                m_knownOrientation = value;
+                m_knownChanged |= m_knownChangedOrientation;
+                m_knownHas |= m_knownChangedOrientation;
+            }
+        }
+
+        private Vector3 VehicleVelocity
+        {
+            get
+            {
+                if ((m_knownHas & m_knownChangedVelocity) == 0)
+                {
+                    m_knownVelocity = Prim.ForceVelocity;
+                    m_knownHas |= m_knownChangedVelocity;
+                }
+                return (Vector3)m_knownVelocity;
+            }
+            set
+            {
+                m_knownVelocity = value;
+                m_knownChanged |= m_knownChangedVelocity;
+                m_knownHas |= m_knownChangedVelocity;
+            }
+        }
+
+        private void VehicleAddForce(Vector3 pForce)
+        {
+            if ((m_knownHas & m_knownChangedForce) == 0)
+            {
+                m_knownForce = Vector3.Zero;
+                m_knownHas |= m_knownChangedForce;
+            }
+            m_knownForce += pForce;
+            m_knownChanged |= m_knownChangedForce;
+        }
+
+        private void VehicleAddForceImpulse(Vector3 pImpulse)
+        {
+            if ((m_knownHas & m_knownChangedForceImpulse) == 0)
+            {
+                m_knownForceImpulse = Vector3.Zero;
+                m_knownHas |= m_knownChangedForceImpulse;
+            }
+            m_knownForceImpulse += pImpulse;
+            m_knownChanged |= m_knownChangedForceImpulse;
+        }
+
+        private Vector3 VehicleRotationalVelocity
+        {
+            get
+            {
+                if ((m_knownHas & m_knownChangedRotationalVelocity) == 0)
+                {
+                    m_knownRotationalVelocity = Prim.ForceRotationalVelocity;
+                    m_knownHas |= m_knownChangedRotationalVelocity;
+                }
+                return (Vector3)m_knownRotationalVelocity;
+            }
+            set
+            {
+                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;
+        }
+        private void VehicleAddRotationalImpulse(Vector3 pImpulse)
+        {
+            if ((m_knownHas & m_knownChangedRotationalImpulse) == 0)
+            {
+                m_knownRotationalImpulse = Vector3.Zero;
+                m_knownHas |= m_knownChangedRotationalImpulse;
+            }
+            m_knownRotationalImpulse += pImpulse;
+            m_knownChanged |= m_knownChangedRotationalImpulse;
+        }
+
+        // Vehicle relative forward velocity
+        private Vector3 VehicleForwardVelocity
+        {
+            get
+            {
+                if ((m_knownHas & m_knownChangedForwardVelocity) == 0)
+                {
+                    m_knownForwardVelocity = VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleOrientation));
+                    m_knownHas |= m_knownChangedForwardVelocity;
+                }
+                return m_knownForwardVelocity;
+            }
+        }
+        private float VehicleForwardSpeed
+        {
+            get
+            {
+                return VehicleForwardVelocity.X;
+            }
+        }
+
+        #endregion // Known vehicle value functions
+
         // One step of the vehicle properties for the next 'pTimestep' seconds.
         internal void Step(float pTimestep)
         {
             if (!IsActive) return;
 
-            // DEBUG
-            // Because Bullet does apply forces to the vehicle, our last computed
-            //     linear and angular velocities are not what is happening now.
-            // Vector3 externalAngularVelocity = Prim.ForceRotationalVelocity - m_lastAngularVelocity;
-            // m_lastAngularVelocity += (externalAngularVelocity * 0.5f) * pTimestep;
-            // m_lastAngularVelocity = Prim.ForceRotationalVelocity;   // DEBUG: account for what Bullet did last time
-            // m_lastLinearVelocityVector = Prim.ForceVelocity * Quaternion.Inverse(Prim.ForceOrientation);        // DEBUG:
-            // END DEBUG
+            if (PhysicsScene.VehiclePhysicalLoggingEnabled)
+                PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody);
 
-            m_vehicleMass = Prim.Linkset.LinksetMass;
+            ForgetKnownVehicleProperties();
 
             MoveLinear(pTimestep);
-            // Commented out for debug
             MoveAngular(pTimestep);
-            // Prim.ApplyTorqueImpulse(-Prim.RotationalVelocity * m_vehicleMass, false);    // DEBUG DEBUG
-            // Prim.ForceRotationalVelocity = -Prim.RotationalVelocity;    // DEBUG DEBUG
 
             LimitRotation(pTimestep);
 
             // remember the position so next step we can limit absolute movement effects
-            m_lastPositionVector = Prim.ForcePosition;
-
-            VDetailLog("{0},BSDynamics.Step,frict={1},grav={2},inertia={3},mass={4}",        // DEBUG DEBUG
-                                    Prim.LocalID, 
-                                    BulletSimAPI.GetFriction2(Prim.PhysBody.ptr),
-                                    BulletSimAPI.GetGravity2(Prim.PhysBody.ptr),
-                                    Prim.Inertia,
-                                    m_vehicleMass
-                                    );
-            VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}",
-                    Prim.LocalID, Prim.ForcePosition, Prim.Force, Prim.ForceVelocity, Prim.RotationalVelocity);
-        }// end Step
+            m_lastPositionVector = VehiclePosition;
+
+            // If we forced the changing of some vehicle parameters, update the values and
+            //      for the physics engine to note the changes so an UpdateProperties event will happen.
+            PushKnownChanged();
 
-        // Apply the effect of the linear motor.
-        // Also does hover and float.
+            if (PhysicsScene.VehiclePhysicalLoggingEnabled)
+                PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody);
+
+            VDetailLog("{0},BSDynamics.Step,done,pos={1}, force={2},velocity={3},angvel={4}",
+                    Prim.LocalID, VehiclePosition, m_knownForce, VehicleVelocity, VehicleRotationalVelocity);
+        }
+
+        // Apply the effect of the linear motor and other linear motions (like hover and float).
         private void MoveLinear(float pTimestep)
         {
-            // m_linearMotorDirection is the target direction we are moving relative to the vehicle coordinates
-            // m_lastLinearVelocityVector is the current speed we are moving in that direction
-            if (m_linearMotorDirection.LengthSquared() > 0.001f)
+            ComputeLinearVelocity(pTimestep);
+
+            ComputeLinearTerrainHeightCorrection(pTimestep);
+
+            ComputeLinearHover(pTimestep);
+
+            ComputeLinearBlockingEndPoint(pTimestep);
+
+            ComputeLinearMotorUp(pTimestep);
+
+            ApplyGravity(pTimestep);
+
+            // If not changing some axis, reduce out velocity
+            if ((m_flags & (VehicleFlag.NO_X | VehicleFlag.NO_Y | VehicleFlag.NO_Z)) != 0)
+            {
+                Vector3 vel = VehicleVelocity;
+                if ((m_flags & (VehicleFlag.NO_X)) != 0)
+                    vel.X = 0;
+                if ((m_flags & (VehicleFlag.NO_Y)) != 0)
+                    vel.Y = 0;
+                if ((m_flags & (VehicleFlag.NO_Z)) != 0)
+                    vel.Z = 0;
+                VehicleVelocity = vel;
+            }
+
+            // ==================================================================
+            // Clamp high or low velocities
+            float newVelocityLengthSq = VehicleVelocity.LengthSquared();
+            if (newVelocityLengthSq > 1000f)
             {
-                Vector3 origDir = m_linearMotorDirection;       // DEBUG
-                Vector3 origVel = m_lastLinearVelocityVector;   // DEBUG
-                // DEBUG: the vehicle velocity rotated to be relative to vehicle coordinates for comparison
-                Vector3 vehicleVelocity = Prim.ForceVelocity * Quaternion.Inverse(Prim.ForceOrientation);   // DEBUG
+                VehicleVelocity /= VehicleVelocity.Length();
+                VehicleVelocity *= 1000f;
+            }
+            else if (newVelocityLengthSq < 0.001f)
+                VehicleVelocity = Vector3.Zero;
 
-                // Add (desiredVelocity - lastAppliedVelocity) / howLongItShouldTakeToComplete
-                Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/(m_linearMotorTimescale) * pTimestep;
-                m_lastLinearVelocityVector += addAmount;
+            VDetailLog("{0},  MoveLinear,done,isColl={1},newVel={2}", Prim.LocalID, Prim.IsColliding, VehicleVelocity );
 
-                float decayFactor = (1.0f / m_linearMotorDecayTimescale) * pTimestep;
-                m_linearMotorDirection *= (1f - decayFactor);
+        } // end MoveLinear()
 
-                // Rotate new object velocity from vehicle relative to world coordinates
-                m_newVelocity = m_lastLinearVelocityVector * Prim.ForceOrientation;
+        public void ComputeLinearVelocity(float pTimestep)
+        {
+            Vector3 linearMotorStep = m_linearMotor.Step(pTimestep);
 
-                // Apply friction for next time
-                Vector3 frictionFactor = (Vector3.One / m_linearFrictionTimescale) * pTimestep;
-                m_lastLinearVelocityVector *= (Vector3.One - frictionFactor);
+            // The movement computed in the linear motor is relative to the vehicle
+            //     coordinates. Rotate the movement to world coordinates.
+            Vector3 linearMotorVelocity = linearMotorStep * VehicleOrientation;
 
-                VDetailLog("{0},MoveLinear,nonZero,origlmDir={1},origlvVel={2},vehVel={3},add={4},decay={5},frict={6},lmDir={7},lvVec={8},newVel={9}",
-                                Prim.LocalID, origDir, origVel, vehicleVelocity, addAmount, decayFactor, frictionFactor, 
-                                m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity);
+            // If we're a ground vehicle, don't loose any Z action (like gravity acceleration).
+            float mixFactor = 1f;   // 1 means use all linear motor Z value, 0 means use all existing Z
+            if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0)
+            {
+                if (!Prim.IsColliding)
+                {
+                    // If a ground vehicle and not on the ground, I want gravity effect
+                    mixFactor = 0.2f;
+                }
             }
             else
             {
-                // if what remains of direction is very small, zero it.
-                m_linearMotorDirection = Vector3.Zero;
-                m_lastLinearVelocityVector = Vector3.Zero;
-                m_newVelocity = Vector3.Zero;
-
-                VDetailLog("{0},MoveLinear,zeroed", Prim.LocalID);
+                // I'm not a ground vehicle but don't totally loose the effect of the environment
+                mixFactor = 0.8f;
             }
+            linearMotorVelocity.Z = mixFactor * linearMotorVelocity.Z + (1f - mixFactor) * VehicleVelocity.Z;
 
-            // m_newVelocity is velocity computed from linear motor in world coordinates
+            // What we want to contribute to the vehicle's existing velocity
+            Vector3 linearMotorForce = linearMotorVelocity - VehicleVelocity;
 
-            // Gravity and Buoyancy
-            // There is some gravity, make a gravity force vector that is applied after object velocity.
-            // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
-            Vector3 grav = Prim.PhysicsScene.DefaultGravity * (1f - m_VehicleBuoyancy);
+            // Act against the inertia of the vehicle
+            linearMotorForce *= m_vehicleMass;
 
-            /*
-             * RA: Not sure why one would do this unless we are hoping external forces are doing gravity, ...
-            // Preserve the current Z velocity
-            Vector3 vel_now = m_prim.Velocity;
-            m_dir.Z = vel_now.Z;        // Preserve the accumulated falling velocity
-             */
+            VehicleAddForceImpulse(linearMotorForce * pTimestep);
 
-            Vector3 pos = Prim.ForcePosition;
-//            Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f);
+            VDetailLog("{0},  MoveLinear,velocity,vehVel={1},step={2},stepVel={3},mix={4},force={5}",
+                        Prim.LocalID, VehicleVelocity, linearMotorStep, linearMotorVelocity, mixFactor, linearMotorForce);
+        }
 
+        public void ComputeLinearTerrainHeightCorrection(float pTimestep)
+        {
             // If below the terrain, move us above the ground a little.
-            float terrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos);
-            // Taking the rotated size doesn't work here because m_prim.Size is the size of the root prim and not the linkset.
-            //     TODO: Add a m_prim.LinkSet.Size similar to m_prim.LinkSet.Mass.
-            // Vector3 rotatedSize = m_prim.Size * m_prim.ForceOrientation;
-            // if (rotatedSize.Z < terrainHeight)
-            if (pos.Z < terrainHeight)
+            // TODO: Consider taking the rotated size of the object or possibly casting a ray.
+            if (VehiclePosition.Z < GetTerrainHeight(VehiclePosition))
             {
-                pos.Z = terrainHeight + 2;
-                Prim.ForcePosition = pos;
-                VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, terrainHeight, pos);
+                // Force position because applying force won't get the vehicle through the terrain
+                Vector3 newPosition = VehiclePosition;
+                newPosition.Z = GetTerrainHeight(VehiclePosition) + 1f;
+                VehiclePosition = newPosition;
+                VDetailLog("{0},  MoveLinear,terrainHeight,terrainHeight={1},pos={2}",
+                        Prim.LocalID, GetTerrainHeight(VehiclePosition), VehiclePosition);
             }
+        }
 
-            // Check if hovering
+        public void ComputeLinearHover(float pTimestep)
+        {
             // m_VhoverEfficiency: 0=bouncy, 1=totally damped
             // m_VhoverTimescale: time to achieve height
             if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
@@ -663,11 +1015,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 // We should hover, get the target height
                 if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
                 {
-                    m_VhoverTargetHeight = Prim.PhysicsScene.GetWaterLevelAtXYZ(pos) + m_VhoverHeight;
+                    m_VhoverTargetHeight = GetWaterLevel(VehiclePosition) + m_VhoverHeight;
                 }
                 if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
                 {
-                    m_VhoverTargetHeight = terrainHeight + m_VhoverHeight;
+                    m_VhoverTargetHeight = GetTerrainHeight(VehiclePosition) + m_VhoverHeight;
                 }
                 if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
                 {
@@ -677,45 +1029,63 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0)
                 {
                     // If body is already heigher, use its height as target height
-                    if (pos.Z > m_VhoverTargetHeight)
-                        m_VhoverTargetHeight = pos.Z;
+                    if (VehiclePosition.Z > m_VhoverTargetHeight)
+                        m_VhoverTargetHeight = VehiclePosition.Z;
                 }
+                
                 if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
                 {
-                    if (Math.Abs(pos.Z - m_VhoverTargetHeight) > 0.2f)
+                    if (Math.Abs(VehiclePosition.Z - m_VhoverTargetHeight) > 0.2f)
                     {
+                        Vector3 pos = VehiclePosition;
                         pos.Z = m_VhoverTargetHeight;
-                        Prim.ForcePosition = pos;
+                        VehiclePosition = pos;
+
+                        VDetailLog("{0},  MoveLinear,hover,pos={1},lockHoverHeight", Prim.LocalID, pos);
                     }
                 }
                 else
                 {
-                    float verticalError = pos.Z - m_VhoverTargetHeight;
-                    // RA: where does the 50 come from?
-                    float verticalCorrectionVelocity = pTimestep * ((verticalError * 50.0f) / m_VhoverTimescale);
-                    // Replace Vertical speed with correction figure if significant
-                    if (Math.Abs(verticalError) > 0.01f)
-                    {
-                        m_newVelocity.Z += verticalCorrectionVelocity;
-                        //KF: m_VhoverEfficiency is not yet implemented
-                    }
-                    else if (verticalError < -0.01)
-                    {
-                        m_newVelocity.Z -= verticalCorrectionVelocity;
-                    }
-                    else
-                    {
-                        m_newVelocity.Z = 0f;
-                    }
+                    // Error is positive if below the target and negative if above.
+                    Vector3 hpos = VehiclePosition;
+                    float verticalError = m_VhoverTargetHeight - hpos.Z;
+                    float verticalCorrection = verticalError / m_VhoverTimescale;
+                    verticalCorrection *= m_VhoverEfficiency;
+
+                    hpos.Z += verticalCorrection;
+                    VehiclePosition = hpos;
+
+                    // Since we are hovering, we need to do the opposite of falling -- get rid of world Z
+                    Vector3 vel = VehicleVelocity;
+                    vel.Z = 0f;
+                    VehicleVelocity = vel;
+
+                    /*
+                    float verticalCorrectionVelocity = verticalError / m_VhoverTimescale;
+                    Vector3 verticalCorrection = new Vector3(0f, 0f, verticalCorrectionVelocity);
+                    verticalCorrection *= m_vehicleMass;
+
+                    // TODO: implement m_VhoverEfficiency correctly
+                    VehicleAddForceImpulse(verticalCorrection);
+                     */
+
+                    VDetailLog("{0},  MoveLinear,hover,pos={1},eff={2},hoverTS={3},height={4},target={5},err={6},corr={7}",
+                                    Prim.LocalID, VehiclePosition, m_VhoverEfficiency,
+                                    m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight,
+                                    verticalError, verticalCorrection);
                 }
 
-                VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", Prim.LocalID, pos, m_newVelocity, m_VhoverHeight, m_VhoverTargetHeight);
             }
+        }
+
+        public bool ComputeLinearBlockingEndPoint(float pTimestep)
+        {
+            bool changed = false;
 
+            Vector3 pos = VehiclePosition;
             Vector3 posChange = pos - m_lastPositionVector;
             if (m_BlockingEndPoint != Vector3.Zero)
             {
-                bool changed = false;
                 if (pos.X >= (m_BlockingEndPoint.X - (float)1))
                 {
                     pos.X -= posChange.X + 1;
@@ -743,233 +1113,152 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 }
                 if (changed)
                 {
-                    Prim.ForcePosition = pos;
-                    VDetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}",
+                    VehiclePosition = pos;
+                    VDetailLog("{0},  MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}",
                                 Prim.LocalID, m_BlockingEndPoint, posChange, pos);
                 }
             }
+            return changed;
+        }
 
-            #region downForce
-            Vector3 downForce = Vector3.Zero;
+        // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
+        //    Prevent ground vehicles from motoring into the sky. This flag has a subtle effect when
+        //    used with conjunction with banking: the strength of the banking will decay when the
+        //    vehicle no longer experiences collisions. The decay timescale is the same as
+        //    VEHICLE_BANKING_TIMESCALE. This is to help prevent ground vehicles from steering
+        //    when they are in mid jump. 
+        // TODO: this code is wrong. Also, what should it do for boats (height from water)?
+        //    This is just using the ground and a general collision check. Should really be using
+        //    a downward raycast to find what is below.
+        public void ComputeLinearMotorUp(float pTimestep)
+        {
+            Vector3 ret = Vector3.Zero;
 
             if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
             {
-                // If the vehicle is motoring into the sky, get it going back down.
-                // Is this an angular force or both linear and angular??
-                float distanceAboveGround = pos.Z - terrainHeight;
-                if (distanceAboveGround > 2f)
+                // This code tries to decide if the object is not on the ground and then pushing down
+                /*
+                float targetHeight = Type == Vehicle.TYPE_BOAT ? GetWaterLevel(VehiclePosition) : GetTerrainHeight(VehiclePosition);
+                distanceAboveGround = VehiclePosition.Z - targetHeight;
+                // Not colliding if the vehicle is off the ground
+                if (!Prim.IsColliding)
                 {
-                    // downForce = new Vector3(0, 0, (-distanceAboveGround / m_bankingTimescale) * pTimestep);
                     // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale);
-                    downForce = new Vector3(0, 0, -distanceAboveGround);
+                    VehicleVelocity += new Vector3(0, 0, -distanceAboveGround);
                 }
-                // TODO: this calculation is all wrong. From the description at
+                // TODO: this calculation is wrong. From the description at
                 //     (http://wiki.secondlife.com/wiki/Category:LSL_Vehicle), the downForce
                 //     has a decay factor. This says this force should
                 //     be computed with a motor.
-                VDetailLog("{0},MoveLinear,limitMotorUp,distAbove={1},downForce={2}", 
-                                    Prim.LocalID, distanceAboveGround, downForce);
-            }
-            #endregion // downForce
-
-            // If not changing some axis, reduce out velocity
-            if ((m_flags & (VehicleFlag.NO_X)) != 0)
-                m_newVelocity.X = 0;
-            if ((m_flags & (VehicleFlag.NO_Y)) != 0)
-                m_newVelocity.Y = 0;
-            if ((m_flags & (VehicleFlag.NO_Z)) != 0)
-                m_newVelocity.Z = 0;
-
-            // Clamp REALLY high or low velocities
-            if (m_newVelocity.LengthSquared() > 1e6f)
-            {
-                m_newVelocity /= m_newVelocity.Length();
-                m_newVelocity *= 1000f;
-            }
-            else if (m_newVelocity.LengthSquared() < 1e-6f)
-                m_newVelocity = Vector3.Zero;
-
-            // Stuff new linear velocity into the vehicle
-            Prim.ForceVelocity = m_newVelocity;
-            // Prim.ApplyForceImpulse((m_newVelocity - Prim.Velocity) * m_vehicleMass, false);    // DEBUG DEBUG
+                // TODO: add interaction with banking.
+                VDetailLog("{0},  MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}",
+                                Prim.LocalID, distanceAboveGround, Prim.IsColliding, ret);
+                 */
+
+                // Another approach is to measure if we're going up. If going up and not colliding,
+                //     the vehicle is in the air.  Fix that by pushing down.
+                if (!Prim.IsColliding && VehicleVelocity.Z > 0.1)
+                {
+                    // Get rid of any of the velocity vector that is pushing us up.
+                    VehicleVelocity += new Vector3(0, 0, -VehicleVelocity.Z);
 
-            Vector3 totalDownForce = downForce + grav;
-            if (totalDownForce != Vector3.Zero)
-            {
-                Prim.AddForce(totalDownForce * m_vehicleMass, false);
-                // Prim.ApplyForceImpulse(totalDownForce * m_vehicleMass, false);
+                    // If we're pointed up into the air, we should nose down
+                    Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation;
+                    // The rotation around the Y axis is pitch up or down
+                    if (pointingDirection.Y > 0.01f)
+                    {
+                        float angularCorrectionForce = -(float)Math.Asin(pointingDirection.Y);
+                        Vector3 angularCorrectionVector = new Vector3(0f, angularCorrectionForce, 0f);
+                        // Rotate into world coordinates and apply to vehicle
+                        angularCorrectionVector *= VehicleOrientation;
+                        VehicleAddAngularForce(angularCorrectionVector);
+                        VDetailLog("{0},  MoveLinear,limitMotorUp,newVel={1},pntDir={2},corrFrc={3},aCorr={4}",
+                                    Prim.LocalID, VehicleVelocity, pointingDirection, angularCorrectionForce, angularCorrectionVector);
+                    }
+                    else
+                    {
+                        VDetailLog("{0},  MoveLinear,limitMotorUp,newVel={1},pntDir={2}",
+                                    Prim.LocalID, VehicleVelocity, pointingDirection);
+                    }
+                }
             }
+        }
 
-            VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},primVel={4},totalDown={5}",
-                    Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity, Prim.Velocity, totalDownForce);
+        private void ApplyGravity(float pTimeStep)
+        {
+            Vector3 appliedGravity = m_VehicleGravity * m_vehicleMass;
+            VehicleAddForce(appliedGravity);
 
-        } // end MoveLinear()
+            VDetailLog("{0},  MoveLinear,applyGravity,vehGrav={1},appliedForce-{2}", 
+                            Prim.LocalID, m_VehicleGravity, appliedGravity);
+        }
 
         // =======================================================================
+        // =======================================================================
         // Apply the effect of the angular motor.
+        // The 'contribution' is how much angular correction velocity each function wants.
+        //     All the contributions are added together and the resulting velocity is
+        //     set directly on the vehicle.
         private void MoveAngular(float pTimestep)
         {
-            // m_angularMotorDirection         // angular velocity requested by LSL motor
-            // m_angularMotorApply             // application frame counter
-            // m_angularMotorVelocity          // current angular motor velocity (ramps up and down)
-            // m_angularMotorTimescale         // motor angular velocity ramp up rate
-            // m_angularMotorDecayTimescale    // motor angular velocity decay rate
-            // m_angularFrictionTimescale      // body angular velocity  decay rate
-            // m_lastAngularVelocity           // what was last applied to body
-
-            if (m_angularMotorDirection.LengthSquared() > 0.0001)
-            {
-                Vector3 origVel = m_angularMotorVelocity;
-                Vector3 origDir = m_angularMotorDirection;
-
-                //       new velocity    +=                      error                       /  (  time to get there   / step interval)
-                //                           requested direction   - current vehicle direction
-                m_angularMotorVelocity += (m_angularMotorDirection - m_angularMotorVelocity) /  (m_angularMotorTimescale / pTimestep);
-                // decay requested direction
-                m_angularMotorDirection *= (1.0f - (pTimestep * 1.0f/m_angularMotorDecayTimescale));
-
-                VDetailLog("{0},MoveAngular,angularMotorApply,angTScale={1},timeStep={2},origvel={3},origDir={4},vel={5}",
-                        Prim.LocalID, m_angularMotorTimescale, pTimestep, origVel, origDir, m_angularMotorVelocity);
-            }
-            else
+            // The user wants this many radians per second angular change?
+            Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep);
+
+            // ==================================================================
+            // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
+            //    This flag prevents linear deflection parallel to world z-axis. This is useful
+            //    for preventing ground vehicles with large linear deflection, like bumper cars,
+            //    from climbing their linear deflection into the sky. 
+            // That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement
+            // TODO: This is here because this is where ODE put it but documentation says it
+            //    is a linear effect. Where should this check go?
+            if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
             {
-                m_angularMotorVelocity = Vector3.Zero;
+                angularMotorContribution.X = 0f;
+                angularMotorContribution.Y = 0f;
+                VDetailLog("{0},  MoveAngular,noDeflectionUp,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution);
             }
 
-            #region Vertical attactor
+            Vector3 verticalAttractionContribution = ComputeAngularVerticalAttraction();
 
-            Vector3 vertattr = Vector3.Zero;
-            Vector3 deflection = Vector3.Zero;
-            Vector3 banking = Vector3.Zero;
+            Vector3 deflectionContribution = ComputeAngularDeflection();
 
-            // If vertical attaction timescale is reasonable and we applied an angular force last time...
-            if (m_verticalAttractionTimescale < 300 && m_lastAngularVelocity != Vector3.Zero)
-            {
-                float VAservo = pTimestep * 0.2f / m_verticalAttractionTimescale;
-                if (Prim.IsColliding)
-                    VAservo = pTimestep * 0.05f / (m_verticalAttractionTimescale);
-
-                VAservo *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
-
-                // Create a vector of the vehicle "up" in world coordinates
-                Vector3 verticalError = Vector3.UnitZ * Prim.ForceOrientation;
-                // verticalError.X and .Y are the World error amounts. They are 0 when there is no
-                //      error (Vehicle Body is 'vertical'), and .Z will be 1. As the body leans to its
-                //      side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall
-                //      and .Z will go // negative. Similar for tilt and |.Y|. .X and .Y must be
-                //      modulated to prevent a stable inverted body.
-
-                // Error is 0 (no error) to +/- 2 (max error)
-                if (verticalError.Z < 0.0f)
-                {
-                    verticalError.X = 2.0f - verticalError.X;
-                    verticalError.Y = 2.0f - verticalError.Y;
-                }
-                // scale it by VAservo (timestep and timescale)
-                verticalError = verticalError * VAservo;
+            Vector3 bankingContribution = ComputeAngularBanking();
 
-                // As the body rotates around the X axis, then verticalError.Y increases; Rotated around Y
-                //     then .X increases, so change  Body angular velocity  X based on Y, and Y based on X.
-                //     Z is not changed.
-                vertattr.X =    verticalError.Y;
-                vertattr.Y =  - verticalError.X;
-                vertattr.Z = 0f;
+            // ==================================================================
+            m_lastVertAttractor = verticalAttractionContribution;
 
-                // scaling appears better usingsquare-law
-                Vector3 angularVelocity = Prim.ForceRotationalVelocity;
-                float bounce = 1.0f - (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
-                vertattr.X += bounce * angularVelocity.X;
-                vertattr.Y += bounce * angularVelocity.Y;
-
-                VDetailLog("{0},MoveAngular,verticalAttraction,VAservo={1},effic={2},verticalError={3},bounce={4},vertattr={5}",
-                            Prim.LocalID, VAservo, m_verticalAttractionEfficiency, verticalError, bounce, vertattr);
-
-            }
-            #endregion // Vertical attactor
+            m_lastAngularVelocity = angularMotorContribution
+                                    + verticalAttractionContribution
+                                    + deflectionContribution
+                                    + bankingContribution;
 
-            #region Deflection
+            // Add of the above computation are made relative to vehicle coordinates.
+            // Convert to world coordinates.
+            m_lastAngularVelocity *= VehicleOrientation;
 
-            if (m_angularDeflectionEfficiency != 0)
+            // ==================================================================
+            // Apply the correction velocity.
+            // TODO: Should this be applied as an angular force (torque)?
+            if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
             {
-                // Compute a scaled vector that points in the preferred axis (X direction)
-                Vector3 scaledDefaultDirection =
-                    new Vector3((pTimestep * 10 * (m_angularDeflectionEfficiency / m_angularDeflectionTimescale)), 0, 0);
-                // Adding the current vehicle orientation and reference frame displaces the orientation to the frame.
-                // Rotate the scaled default axix relative to the actual vehicle direction giving where it should point.
-                Vector3 preferredAxisOfMotion = scaledDefaultDirection * Quaternion.Add(Prim.ForceOrientation, m_referenceFrame);
-
-                // Scale by efficiency and timescale
-                deflection = (preferredAxisOfMotion * (m_angularDeflectionEfficiency) / m_angularDeflectionTimescale) * pTimestep;
-
-                VDetailLog("{0},MoveAngular,Deflection,perfAxis={1},deflection={2}", 
-                                        Prim.LocalID, preferredAxisOfMotion, deflection);
-                // This deflection computation is not correct.
-                deflection = Vector3.Zero;
-            }
-
-            #endregion
+                VehicleRotationalVelocity = m_lastAngularVelocity;
 
-            #region Banking
-
-            if (m_bankingEfficiency != 0)
+                VDetailLog("{0},  MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5}",
+                                    Prim.LocalID,
+                                    angularMotorContribution, verticalAttractionContribution,
+                                    bankingContribution, deflectionContribution,
+                                    m_lastAngularVelocity
+                                    );
+            }
+            else
             {
-                Vector3 dir = Vector3.One * Prim.ForceOrientation;
-                float mult = (m_bankingMix*m_bankingMix)*-1*(m_bankingMix < 0 ? -1 : 1);
-                    //Changes which way it banks in and out of turns
-
-                //Use the square of the efficiency, as it looks much more how SL banking works
-                float effSquared = (m_bankingEfficiency*m_bankingEfficiency);
-                if (m_bankingEfficiency < 0)
-                    effSquared *= -1; //Keep the negative!
-
-                float mix = Math.Abs(m_bankingMix);
-                if (m_angularMotorVelocity.X == 0)
-                {
-                    /*if (!parent.Orientation.ApproxEquals(this.m_referenceFrame, 0.25f))
-                    {
-                        Vector3 axisAngle;
-                        float angle;
-                        parent.Orientation.GetAxisAngle(out axisAngle, out angle);
-                        Vector3 rotatedVel = parent.Velocity * parent.Orientation;
-                        if ((rotatedVel.X < 0 && axisAngle.Y > 0) || (rotatedVel.X > 0 && axisAngle.Y < 0))
-                            m_angularMotorVelocity.X += (effSquared * (mult * mix)) * (1f) * 10;
-                        else
-                            m_angularMotorVelocity.X += (effSquared * (mult * mix)) * (-1f) * 10;
-                    }*/
-                }
-                else
-                    banking.Z += (effSquared*(mult*mix))*(m_angularMotorVelocity.X) * 4;
-                if (!Prim.IsColliding && Math.Abs(m_angularMotorVelocity.X) > mix)
-                    //If they are colliding, we probably shouldn't shove the prim around... probably
-                {
-                    float angVelZ = m_angularMotorVelocity.X*-1;
-                    /*if(angVelZ > mix)
-                        angVelZ = mix;
-                    else if(angVelZ < -mix)
-                        angVelZ = -mix;*/
-                    //This controls how fast and how far the banking occurs
-                    Vector3 bankingRot = new Vector3(angVelZ*(effSquared*mult), 0, 0);
-                    if (bankingRot.X > 3)
-                        bankingRot.X = 3;
-                    else if (bankingRot.X < -3)
-                        bankingRot.X = -3;
-                    bankingRot *= Prim.ForceOrientation;
-                    banking += bankingRot;
-                }
-                m_angularMotorVelocity.X *= m_bankingEfficiency == 1 ? 0.0f : 1 - m_bankingEfficiency;
-                VDetailLog("{0},MoveAngular,Banking,bEff={1},angMotVel={2},banking={3}", 
-                                Prim.LocalID, m_bankingEfficiency, m_angularMotorVelocity, banking);
+                // The vehicle is not adding anything angular wise.
+                VehicleRotationalVelocity = Vector3.Zero;
+                VDetailLog("{0},  MoveAngular,done,zero", Prim.LocalID);
             }
 
-            #endregion
-
-            m_lastVertAttractor = vertattr;
-
-            // Sum velocities
-            m_lastAngularVelocity = m_angularMotorVelocity + vertattr + banking + deflection;
-
-            #region Linear Motor Offset
-
+            // ==================================================================
             //Offset section
             if (m_linearMotorOffset != Vector3.Zero)
             {
@@ -985,8 +1274,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 //
                 // The torque created is the linear velocity crossed with the offset
 
-                // NOTE: this computation does should be in the linear section
-                //    because there we know the impulse being applied.
+                // TODO: this computation should be in the linear section
+                //    because that is where we know the impulse being applied.
                 Vector3 torqueFromOffset = Vector3.Zero;
                 // torqueFromOffset = Vector3.Cross(m_linearMotorOffset, appliedImpulse);
                 if (float.IsNaN(torqueFromOffset.X))
@@ -995,47 +1284,185 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     torqueFromOffset.Y = 0;
                 if (float.IsNaN(torqueFromOffset.Z))
                     torqueFromOffset.Z = 0;
-                torqueFromOffset *= m_vehicleMass;
-                Prim.ApplyTorqueImpulse(torqueFromOffset, true);
-                VDetailLog("{0},BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset);
+
+                VehicleAddAngularForce(torqueFromOffset * m_vehicleMass);
+                VDetailLog("{0},  BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset);
             }
 
-            #endregion
+        }
+        // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
+        //      Some vehicles, like boats, should always keep their up-side up. This can be done by
+        //      enabling the "vertical attractor" behavior that springs the vehicle's local z-axis to
+        //      the world z-axis (a.k.a. "up"). To take advantage of this feature you would set the
+        //      VEHICLE_VERTICAL_ATTRACTION_TIMESCALE to control the period of the spring frequency,
+        //      and then set the VEHICLE_VERTICAL_ATTRACTION_EFFICIENCY to control the damping. An
+        //      efficiency of 0.0 will cause the spring to wobble around its equilibrium, while an
+        //      efficiency of 1.0 will cause the spring to reach its equilibrium with exponential decay.
+        public Vector3 ComputeAngularVerticalAttraction()
+        {
+            Vector3 ret = Vector3.Zero;
 
-            if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
+            // If vertical attaction timescale is reasonable
+            if (enableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
             {
-                m_lastAngularVelocity.X = 0;
-                m_lastAngularVelocity.Y = 0;
-                VDetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity);
+                // Take a vector pointing up and convert it from world to vehicle relative coords.
+                Vector3 verticalError = Vector3.UnitZ * VehicleOrientation;
+
+                // If vertical attraction correction is needed, the vector that was pointing up (UnitZ)
+                //    is now:
+                //    leaning to one side: rotated around the X axis with the Y value going
+                //        from zero (nearly straight up) to one (completely to the side)) or
+                //    leaning front-to-back: rotated around the Y axis with the value of X being between
+                //         zero and one.
+                // The value of Z is how far the rotation is off with 1 meaning none and 0 being 90 degrees.
+
+                // Y error means needed rotation around X axis and visa versa.
+                // Since the error goes from zero to one, the asin is the corresponding angle.
+                ret.X = (float)Math.Asin(verticalError.Y);
+                // (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.)
+                ret.Y = -(float)Math.Asin(verticalError.X);
+
+                // If verticalError.Z is negative, the vehicle is upside down. Add additional push.
+                if (verticalError.Z < 0f)
+                {
+                    ret.X += PIOverFour;
+                    ret.Y += PIOverFour;
+                }
+
+                // 'ret' is now the necessary velocity to correct tilt in one second.
+                //     Correction happens over a number of seconds.
+                Vector3 unscaledContrib = ret;
+                ret /= m_verticalAttractionTimescale;
+
+                VDetailLog("{0},  MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},ts={4},vertAttr={5}",
+                                Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, ret);
             }
+            return ret;
+        }
+
+        // Return the angular correction to correct the direction the vehicle is pointing to be
+        //      the direction is should want to be pointing.
+        // The vehicle is moving in some direction and correct its orientation to it is pointing
+        //     in that direction.
+        // TODO: implement reference frame.
+        public Vector3 ComputeAngularDeflection()
+        {
+            Vector3 ret = Vector3.Zero;
+
+            // Since angularMotorUp and angularDeflection are computed independently, they will calculate
+            //     approximately the same X or Y correction. When added together (when contributions are combined)
+            //     this creates an over-correction and then wabbling as the target is overshot.
+            // TODO: rethink how the different correction computations inter-relate.
 
-            if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
+            if (enableAngularDeflection && m_angularDeflectionEfficiency != 0 && VehicleForwardSpeed > 0.2)
             {
-                m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero.
-                Prim.ZeroAngularMotion(true);
-                VDetailLog("{0},MoveAngular,zeroAngularMotion,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity);
+                // The direction the vehicle is moving
+                Vector3 movingDirection = VehicleVelocity;
+                movingDirection.Normalize();
+
+                // If the vehicle is going backward, it is still pointing forward
+                movingDirection *= Math.Sign(VehicleForwardSpeed);
+
+                // The direction the vehicle is pointing
+                Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation;
+                pointingDirection.Normalize();
+
+                // The difference between what is and what should be.
+                Vector3 deflectionError = movingDirection - pointingDirection;
+
+                // Don't try to correct very large errors (not our job)
+                // if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = PIOverTwo * Math.Sign(deflectionError.X);
+                // if (Math.Abs(deflectionError.Y) > PIOverFour) deflectionError.Y = PIOverTwo * Math.Sign(deflectionError.Y);
+                // if (Math.Abs(deflectionError.Z) > PIOverFour) deflectionError.Z = PIOverTwo * Math.Sign(deflectionError.Z);
+                if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = 0f;
+                if (Math.Abs(deflectionError.Y) > PIOverFour) deflectionError.Y = 0f;
+                if (Math.Abs(deflectionError.Z) > PIOverFour) deflectionError.Z = 0f;
+
+                // ret = m_angularDeflectionCorrectionMotor(1f, deflectionError);
+
+                // Scale the correction by recovery timescale and efficiency
+                ret = (-deflectionError) * m_angularDeflectionEfficiency;
+                ret /= m_angularDeflectionTimescale;
+
+                VDetailLog("{0},  MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}",
+                    Prim.LocalID, movingDirection, pointingDirection, deflectionError, ret);
+                VDetailLog("{0},  MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3}",
+                    Prim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale);
             }
-            else
+            return ret;
+        }
+
+        // Return an angular change to rotate the vehicle around the Z axis when the vehicle
+        //     is tipped around the X axis.
+        // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
+        //      The vertical attractor feature must be enabled in order for the banking behavior to
+        //      function. The way banking works is this: a rotation around the vehicle's roll-axis will
+        //      produce a angular velocity around the yaw-axis, causing the vehicle to turn. The magnitude
+        //      of the yaw effect will be proportional to the
+        //          VEHICLE_BANKING_EFFICIENCY, the angle of the roll rotation, and sometimes the vehicle's
+        //                 velocity along its preferred axis of motion. 
+        //          The VEHICLE_BANKING_EFFICIENCY can vary between -1 and +1. When it is positive then any
+        //                  positive rotation (by the right-hand rule) about the roll-axis will effect a
+        //                  (negative) torque around the yaw-axis, making it turn to the right--that is the
+        //                  vehicle will lean into the turn, which is how real airplanes and motorcycle's work.
+        //                  Negating the banking coefficient will make it so that the vehicle leans to the
+        //                  outside of the turn (not very "physical" but might allow interesting vehicles so why not?). 
+        //           The VEHICLE_BANKING_MIX is a fake (i.e. non-physical) parameter that is useful for making
+        //                  banking vehicles do what you want rather than what the laws of physics allow.
+        //                  For example, consider a real motorcycle...it must be moving forward in order for
+        //                  it to turn while banking, however video-game motorcycles are often configured
+        //                  to turn in place when at a dead stop--because they are often easier to control
+        //                  that way using the limited interface of the keyboard or game controller. The
+        //                  VEHICLE_BANKING_MIX enables combinations of both realistic and non-realistic
+        //                  banking by functioning as a slider between a banking that is correspondingly
+        //                  totally static (0.0) and totally dynamic (1.0). By "static" we mean that the
+        //                  banking effect depends only on the vehicle's rotation about its roll-axis compared
+        //                  to "dynamic" where the banking is also proportional to its velocity along its
+        //                  roll-axis. Finding the best value of the "mixture" will probably require trial and error. 
+        //      The time it takes for the banking behavior to defeat a preexisting angular velocity about the
+        //      world z-axis is determined by the VEHICLE_BANKING_TIMESCALE. So if you want the vehicle to
+        //      bank quickly then give it a banking timescale of about a second or less, otherwise you can
+        //      make a sluggish vehicle by giving it a timescale of several seconds. 
+        public Vector3 ComputeAngularBanking()
+        {
+            Vector3 ret = Vector3.Zero;
+
+            if (enableAngularBanking && m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
             {
-                // Apply to the body.
-                // The above calculates the absolute angular velocity needed. Angular velocity is massless.
-                // Since we are stuffing the angular velocity directly into the object, the computed
-                //     velocity needs to be scaled by the timestep.
-                Vector3 applyAngularForce = ((m_lastAngularVelocity * pTimestep) - Prim.ForceRotationalVelocity);
-                Prim.ForceRotationalVelocity = applyAngularForce;
-
-                // Decay the angular movement for next time
-                Vector3 decayamount = (Vector3.One / m_angularFrictionTimescale) * pTimestep;
-                m_lastAngularVelocity *= Vector3.One - decayamount;
-
-                VDetailLog("{0},MoveAngular,done,newRotVel={1},decay={2},lastAngular={3}", 
-                                    Prim.LocalID, applyAngularForce, decayamount, m_lastAngularVelocity);
+                // Rotate a UnitZ vector (pointing up) to how the vehicle is oriented.
+                // As the vehicle rolls to the right or left, the Y value will increase from
+                //     zero (straight up) to 1 or -1 (full tilt right  or left)
+                Vector3 rollComponents = Vector3.UnitZ * VehicleOrientation;
+                
+                // Figure out the yaw value for this much roll.
+                // Squared because that seems to give a good value
+                float yawAngle = (float)Math.Asin(rollComponents.Y * rollComponents.Y) * m_bankingEfficiency;
+
+                //        actual error  =       static turn error            +           dynamic turn error
+                float mixedYawAngle = yawAngle * (1f - m_bankingMix) + yawAngle * m_bankingMix * VehicleForwardSpeed;
+
+                // TODO: the banking effect should not go to infinity but what to limit it to?
+                mixedYawAngle = ClampInRange(-20f, mixedYawAngle, 20f);
+
+                // Build the force vector to change rotation from what it is to what it should be
+                ret.Z = -mixedYawAngle;
+
+                // Don't do it all at once.
+                ret /= m_bankingTimescale;
+
+                VDetailLog("{0},  MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}",
+                            Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, ret);
             }
-        } //end MoveAngular
+            return ret;
+        }
 
+        // This is from previous instantiations of XXXDynamics.cs.
+        // Applies roll reference frame.
+        // TODO: is this the right way to separate the code to do this operation?
+        //    Should this be in MoveAngular()?
         internal void LimitRotation(float timestep)
         {
-            Quaternion rotq = Prim.ForceOrientation;
+            Quaternion rotq = VehicleOrientation;
             Quaternion m_rot = rotq;
             if (m_RollreferenceFrame != Quaternion.Identity)
             {
@@ -1063,12 +1490,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             }
             if (rotq != m_rot)
             {
-                Prim.ForceOrientation = m_rot;
-                VDetailLog("{0},LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot);
+                VehicleOrientation = m_rot;
+                VDetailLog("{0},  LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot);
             }
 
         }
 
+        private float ClampInRange(float low, float val, float high)
+        {
+            return Math.Max(low, Math.Min(val, high));
+            // return Utils.Clamp(val, low, high);
+        }
+
         // Invoke the detailed logger and output something if it's enabled.
         private void VDetailLog(string msg, params Object[] args)
         {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 0df4310..cbd160f 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -32,6 +32,15 @@ using OMV = OpenMetaverse;
 
 namespace OpenSim.Region.Physics.BulletSPlugin
 {
+
+// A BSPrim can get individual information about its linkedness attached
+//    to it through an instance of a subclass of LinksetInfo.
+// Each type of linkset will define the information needed for its type.
+public abstract class BSLinksetInfo
+{
+    public virtual void Clear() { }
+}
+
 public abstract class BSLinkset
 {
     // private static string LogHeader = "[BULLETSIM LINKSET]";
@@ -47,7 +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);
@@ -87,22 +96,8 @@ public abstract class BSLinkset
         return BSPhysicsShapeType.SHAPE_UNKNOWN;
     }
 
-    // Linksets move around the children so the linkset might need to compute the child position
-    public virtual OMV.Vector3 Position(BSPhysObject member)
-        { return member.RawPosition; }
-    public virtual OMV.Quaternion Orientation(BSPhysObject member)
-        { return member.RawOrientation; }
-    // TODO: does this need to be done for Velocity and RotationalVelocityy?
-    
     // We keep the prim's mass in the linkset structure since it could be dependent on other prims
-    protected float m_mass;
-    public float LinksetMass
-    {
-        get
-        {
-            return m_mass;
-        }
-    }
+    public float LinksetMass { get; protected set; }
 
     public virtual bool LinksetIsColliding { get { return false; } }
 
@@ -116,7 +111,7 @@ public abstract class BSLinkset
         get { return ComputeLinksetGeometricCenter(); }
     }
 
-    protected void Initialize(BSScene scene, BSPhysObject parent)
+    protected BSLinkset(BSScene scene, BSPhysObject parent)
     {
         // A simple linkset of one (no children)
         LinksetID = m_nextLinksetID++;
@@ -126,7 +121,8 @@ public abstract class BSLinkset
         PhysicsScene = scene;
         LinksetRoot = parent;
         m_children = new HashSet<BSPhysObject>();
-        m_mass = parent.RawMass;
+        LinksetMass = parent.RawMass;
+        Rebuilding = false;
     }
 
     // Link to a linkset where the child knows the parent.
@@ -140,7 +136,7 @@ public abstract class BSLinkset
             // Don't add the root to its own linkset
             if (!IsRoot(child))
                 AddChildToLinkset(child);
-            m_mass = ComputeLinksetMass();
+            LinksetMass = ComputeLinksetMass();
         }
         return this;
     }
@@ -156,13 +152,15 @@ public abstract class BSLinkset
             if (IsRoot(child))
             {
                 // Cannot remove the root from a linkset.
+                child.PositionDisplacement = OMV.Vector3.Zero;
                 return this;
             }
             RemoveChildFromLinkset(child);
-            m_mass = ComputeLinksetMass();
+            LinksetMass = ComputeLinksetMass();
         }
 
         // The child is down to a linkset of just itself
+        child.PositionDisplacement = OMV.Vector3.Zero;
         return BSLinkset.Factory(PhysicsScene, child);
     }
 
@@ -219,7 +217,7 @@ public abstract class BSLinkset
     // I am the root of a linkset and a new child is being added
     // Called while LinkActivity is locked.
     protected abstract void AddChildToLinkset(BSPhysObject child);
-
+    
     // I am the root of a linkset and one of my children is being removed.
     // Safe to call even if the child is not really in my linkset.
     protected abstract void RemoveChildFromLinkset(BSPhysObject child);
@@ -227,7 +225,14 @@ public abstract class BSLinkset
     // When physical properties are changed the linkset needs to recalculate
     //   its internal properties.
     // May be called at runtime or taint-time.
-    public abstract void Refresh(BSPhysObject requestor);
+    public virtual void Refresh(BSPhysObject requestor)
+    {
+        LinksetMass = ComputeLinksetMass();
+    }
+
+    // Flag denoting the linkset is in the process of being rebuilt.
+    // Used to know not the schedule a rebuild in the middle of a rebuild.
+    protected bool Rebuilding { get; set; }
 
     // The object is going dynamic (physical). Do any setup necessary
     //     for a dynamic linkset.
@@ -245,8 +250,9 @@ public abstract class BSLinkset
 
     // Called when a parameter update comes from the physics engine for any object
     //      of the linkset is received.
+    // Passed flag is update came from physics engine (true) or the user (false).
     // Called at taint-time!!
-    public abstract void UpdateProperties(BSPhysObject physObject);
+    public abstract void UpdateProperties(BSPhysObject physObject, bool physicalUpdate);
 
     // Routine used when rebuilding the body of the root of the linkset
     // Destroy all the constraints have have been made to root.
@@ -306,7 +312,7 @@ public abstract class BSLinkset
 
             foreach (BSPhysObject bp in m_children)
             {
-                com += bp.Position * bp.RawMass;
+                com += bp.Position;
             }
             com /= (m_children.Count + 1);
         }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index b9c2cf9..2dc89b5 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -28,22 +28,64 @@ using System;
 using System.Collections.Generic;
 using System.Text;
 
+using OpenSim.Framework;
+
 using OMV = OpenMetaverse;
 
 namespace OpenSim.Region.Physics.BulletSPlugin
 {
+
+// When a child is linked, the relationship position of the child to the parent
+//    is remembered so the child's world position can be recomputed when it is
+//    removed from the linkset.
+sealed class BSLinksetCompoundInfo : BSLinksetInfo
+{
+    public int Index;
+    public OMV.Vector3 OffsetFromRoot;
+    public OMV.Vector3 OffsetFromCenterOfMass;
+    public OMV.Quaternion OffsetRot;
+    public BSLinksetCompoundInfo(int indx, OMV.Vector3 p, OMV.Quaternion r)
+    {
+        Index = indx;
+        OffsetFromRoot = p;
+        OffsetFromCenterOfMass = p;
+        OffsetRot = r;
+    }
+    public override void Clear()
+    {
+        Index = 0;
+        OffsetFromRoot = OMV.Vector3.Zero;
+        OffsetFromCenterOfMass = OMV.Vector3.Zero;
+        OffsetRot = OMV.Quaternion.Identity;
+    }
+    public override string ToString()
+    {
+        StringBuilder buff = new StringBuilder();
+        buff.Append("<i=");
+        buff.Append(Index.ToString());
+        buff.Append(",p=");
+        buff.Append(OffsetFromRoot.ToString());
+        buff.Append(",m=");
+        buff.Append(OffsetFromCenterOfMass.ToString());
+        buff.Append(",r=");
+        buff.Append(OffsetRot.ToString());
+        buff.Append(">");
+        return buff.ToString();
+    }
+};
+
 public sealed class BSLinksetCompound : BSLinkset
 {
     private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]";
 
-    public BSLinksetCompound(BSScene scene, BSPhysObject parent)
+    public BSLinksetCompound(BSScene scene, BSPhysObject parent) : base(scene, parent)
     {
-        base.Initialize(scene, parent);
     }
 
     // For compound implimented linksets, if there are children, use compound shape for the root.
     public override BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor)
     { 
+        // Returning 'unknown' means we don't have a preference.
         BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
         if (IsRoot(requestor) && HasAnyChildren)
         {
@@ -55,27 +97,33 @@ public sealed class BSLinksetCompound : BSLinkset
 
     // When physical properties are changed the linkset needs to recalculate
     //   its internal properties.
-    // This is queued in the 'post taint' queue so the
-    //   refresh will happen once after all the other taints are applied.
     public override void Refresh(BSPhysObject requestor)
     {
-        // External request for Refresh (from BSPrim) is not necessary
-        // InternalRefresh(requestor);
+        base.Refresh(requestor);
+
+        // Something changed so do the rebuilding thing
+        // ScheduleRebuild();
     }
 
-    private void InternalRefresh(BSPhysObject requestor)
+    // Schedule a refresh to happen after all the other taint processing.
+    private void ScheduleRebuild(BSPhysObject requestor)
     {
-        DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,requestor={1}", LinksetRoot.LocalID, requestor.LocalID);
-        // Queue to happen after all the other taint processing
-        PhysicsScene.PostTaintObject("BSLinksetCompound.Refresh", requestor.LocalID, delegate()
+        DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2}", 
+                            requestor.LocalID, Rebuilding, HasAnyChildren);
+        // When rebuilding, it is possible to set properties that would normally require a rebuild.
+        //    If already rebuilding, don't request another rebuild.
+        //    If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding.
+        if (!Rebuilding && HasAnyChildren)
         {
-            if (IsRoot(requestor) && HasAnyChildren)
-                RecomputeLinksetCompound();
-        });
+            PhysicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate()
+            {
+                if (HasAnyChildren)
+                    RecomputeLinksetCompound();
+            });
+        }
     }
 
-    // The object is going dynamic (physical). Do any setup necessary
-    //     for a dynamic linkset.
+    // The object is going dynamic (physical). Do any setup necessary for a dynamic linkset.
     // Only the state of the passed object can be modified. The rest of the linkset
     //     has not yet been fully constructed.
     // Return 'true' if any properties updated on the passed object.
@@ -84,12 +132,22 @@ public sealed class BSLinksetCompound : BSLinkset
     {
         bool ret = false;
         DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child));
-        if (!IsRoot(child))
+        if (IsRoot(child))
+        {
+            // The root is going dynamic. Rebuild the linkset so parts and mass get computed properly.
+            ScheduleRebuild(LinksetRoot);
+        }
+        else
         {
-            // Physical children are removed from the world as the shape ofthe root compound
+            // The origional prims are removed from the world as the shape of the root compound
             //     shape takes over.
-            BulletSimAPI.AddToCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
-            BulletSimAPI.ForceActivationState2(child.PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
+            PhysicsScene.PE.AddToCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            PhysicsScene.PE.ForceActivationState(child.PhysBody, ActivationState.DISABLE_SIMULATION);
+            // We don't want collisions from the old linkset children.
+            PhysicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+
+            child.PhysBody.collisionType = CollisionType.LinksetChild;
+
             ret = true;
         }
         return ret;
@@ -104,33 +162,45 @@ public sealed class BSLinksetCompound : BSLinkset
     {
         bool ret = false;
         DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
-        if (!IsRoot(child))
+        if (IsRoot(child))
+        {
+            ScheduleRebuild(LinksetRoot);
+        }
+        else
         {
             // The non-physical children can come back to life.
-            BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
-            // Don't force activation so setting of DISABLE_SIMULATION can stay.
-            BulletSimAPI.Activate2(child.PhysBody.ptr, false);
+            PhysicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+
+            child.PhysBody.collisionType = CollisionType.LinksetChild;
+
+            // Don't force activation so setting of DISABLE_SIMULATION can stay if used.
+            PhysicsScene.PE.Activate(child.PhysBody, false);
             ret = true;
         }
         return ret;
     }
 
-    // Called at taint-time!!
-    public override void UpdateProperties(BSPhysObject updated)
-    {
-        // Nothing to do for constraints on property updates
-    }
-
-    // The children move around in relationship to the root.
-    // Just grab the current values of wherever it is right now.
-    public override OMV.Vector3 Position(BSPhysObject member)
-    {
-        return BulletSimAPI.GetPosition2(member.PhysBody.ptr);
-    }
-
-    public override OMV.Quaternion Orientation(BSPhysObject member)
+    // 'physicalUpdate' is true if these changes came directly from the physics engine. Don't need to rebuild then.
+    // Called at taint-time.
+    public override void UpdateProperties(BSPhysObject updated, bool physicalUpdate)
     {
-        return BulletSimAPI.GetOrientation2(member.PhysBody.ptr);
+        // The user moving a child around requires the rebuilding of the linkset compound shape
+        // One problem is this happens when a border is crossed -- the simulator implementation
+        //    is to store the position into the group which causes the move of the object
+        //    but it also means all the child positions get updated.
+        //    What would cause an unnecessary rebuild so we make sure the linkset is in a
+        //    region before bothering to do a rebuild.
+        if (!IsRoot(updated) 
+                && !physicalUpdate 
+                && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))
+        {
+            // TODO: replace this with are calculation of the child prim's orientation and pos.
+            // TODO: for the moment, don't rebuild the compound shape.
+            //    This is often just the car turning its wheels. When we can just reorient the one
+            //    member shape of the compound shape, the overhead of rebuilding won't be a problem.
+            // updated.LinksetInfo = null;
+            // ScheduleRebuild(updated);
+        }
     }
 
     // Routine called when rebuilding the body of some member of the linkset.
@@ -142,24 +212,62 @@ public sealed class BSLinksetCompound : BSLinkset
         bool ret = false;
 
         DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}",
-                        child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), IsRoot(child));
+                        child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, IsRoot(child));
 
         if (!IsRoot(child))
         {
-            // Cause the current shape to be freed and the new one to be built.
-            InternalRefresh(LinksetRoot);
-            ret = true;
+            // Because it is a convenient time, recompute child world position and rotation based on
+            //    its position in the linkset.
+            RecomputeChildWorldPosition(child, true);
         }
 
+        // Cannot schedule a refresh/rebuild here because this routine is called when
+        //     the linkset is being rebuilt.
+        // InternalRefresh(LinksetRoot);
+
         return ret;
     }
 
     // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
-    // this routine will restore the removed constraints.
+    //     this routine will restore the removed constraints.
     // Called at taint-time!!
     public override void RestoreBodyDependencies(BSPrim child)
     {
-        // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints.
+    }
+
+    // When the linkset is built, the child shape is added to the compound shape relative to the
+    //    root shape. The linkset then moves around but this does not move the actual child
+    //    prim. The child prim's location must be recomputed based on the location of the root shape.
+    private void RecomputeChildWorldPosition(BSPhysObject child, bool inTaintTime)
+    {
+        BSLinksetCompoundInfo lci = child.LinksetInfo as BSLinksetCompoundInfo;
+        if (lci != null)
+        {
+            if (inTaintTime)
+            {
+                OMV.Vector3 oldPos = child.RawPosition;
+                child.ForcePosition = LinksetRoot.RawPosition + lci.OffsetFromRoot;
+                child.ForceOrientation = LinksetRoot.RawOrientation * lci.OffsetRot;
+                DetailLog("{0},BSLinksetCompound.RecomputeChildWorldPosition,oldPos={1},lci={2},newPos={3}",
+                                            child.LocalID, oldPos, lci, child.RawPosition);
+            }
+            else
+            {
+                // TaintedObject is not used here so the raw position is set now and not at taint-time.
+                child.Position = LinksetRoot.RawPosition + lci.OffsetFromRoot;
+                child.Orientation = LinksetRoot.RawOrientation * lci.OffsetRot;
+            }
+        }
+        else
+        {
+            // This happens when children have been added to the linkset but the linkset
+            //     has not been constructed yet. So like, at taint time, adding children to a linkset
+            //     and then changing properties of the children (makePhysical, for instance)
+            //     but the post-print action of actually rebuilding the linkset has not yet happened.
+            // PhysicsScene.Logger.WarnFormat("{0} Restoring linkset child position failed because of no relative position computed. ID={1}",
+            //                                 LogHeader, child.LocalID);
+            DetailLog("{0},BSLinksetCompound.recomputeChildWorldPosition,noRelativePositonInfo", child.LocalID);
+        }
     }
 
     // ================================================================
@@ -174,24 +282,25 @@ public sealed class BSLinksetCompound : BSLinkset
 
             DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
 
-            // Cause constraints and assorted properties to be recomputed before the next simulation step.
-            InternalRefresh(LinksetRoot);
+            // Rebuild the compound shape with the new child shape included
+            ScheduleRebuild(child);
         }
         return;
     }
 
     // Remove the specified child from the linkset.
-    // Safe to call even if the child is not really in my linkset.
+    // Safe to call even if the child is not really in the linkset.
     protected override void RemoveChildFromLinkset(BSPhysObject child)
     {
         if (m_children.Remove(child))
         {
             DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
                             child.LocalID,
-                            LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"),
-                            child.LocalID, child.PhysBody.ptr.ToString("X"));
+                            LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString,
+                            child.LocalID, child.PhysBody.AddrString);
 
             // Cause the child's body to be rebuilt and thus restored to normal operation
+            RecomputeChildWorldPosition(child, false);
             child.ForceBodyShapeRebuild(false);
 
             if (!HasAnyChildren)
@@ -201,8 +310,8 @@ public sealed class BSLinksetCompound : BSLinkset
             }
             else
             {
-                // Schedule a rebuild of the linkset  before the next simulation tick.
-                InternalRefresh(LinksetRoot);
+                // Rebuild the compound shape with the child removed
+                ScheduleRebuild(child);
             }
         }
         return;
@@ -213,63 +322,116 @@ public sealed class BSLinksetCompound : BSLinkset
     // Constraint linksets are rebuilt every time.
     // Note that this works for rebuilding just the root after a linkset is taken apart.
     // Called at taint time!!
+    private bool disableCOM = true;     // disable until we get this debugged
     private void RecomputeLinksetCompound()
     {
-        // Cause the root shape to be rebuilt as a compound object with just the root in it
-        LinksetRoot.ForceBodyShapeRebuild(true);
-
-        DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}",
-                        LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren);
-
-        // Add a shape for each of the other children in the linkset
-        ForEachMember(delegate(BSPhysObject cPrim)
+        try
         {
-            if (!IsRoot(cPrim))
+            // Suppress rebuilding while rebuilding
+            Rebuilding = true;
+
+            // Cause the root shape to be rebuilt as a compound object with just the root in it
+            LinksetRoot.ForceBodyShapeRebuild(true);
+
+            // The center of mass for the linkset is the geometric center of the group.
+            // Compute a displacement for each component so it is relative to the center-of-mass.
+            // Bullet presumes an object's origin (relative <0,0,0>) is its center-of-mass
+            OMV.Vector3 centerOfMass;
+            OMV.Vector3 centerDisplacement = OMV.Vector3.Zero;
+            if (disableCOM)                             // DEBUG DEBUG
+            {                                           // DEBUG DEBUG
+                centerOfMass = LinksetRoot.RawPosition; // DEBUG DEBUG
+                LinksetRoot.PositionDisplacement = OMV.Vector3.Zero;
+            }                                           // DEBUG DEBUG
+            else
             {
-                // Each child position and rotation is given relative to the root.
-                OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation);
-                OMV.Vector3 displacementPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation;
-                OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation;
+                centerOfMass = ComputeLinksetGeometricCenter();
+                centerDisplacement = centerOfMass - LinksetRoot.RawPosition;
 
-                DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addMemberToShape,mID={1},mShape={2},dispPos={3},dispRot={4}",
-                    LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, displacementPos, displacementRot);
+                // Since we're displacing the center of the shape, we need to move the body in the world
+                LinksetRoot.PositionDisplacement = centerDisplacement;
 
-                if (cPrim.PhysShape.isNativeShape)
-                {
-                    // Native shapes are not shared so we need to create a new one.
-                    // A mesh or hull is created because scale is not available on a native shape.
-                    //     (TODO: Bullet does have a btScaledCollisionShape. Can that be used?)
-                    BulletShape saveShape = cPrim.PhysShape;
-                    cPrim.PhysShape.ptr = IntPtr.Zero;  // Don't let the create free the child's shape
-                    PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null);
-                    BulletShape newShape = cPrim.PhysShape;
-                    cPrim.PhysShape = saveShape;
-                    BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot);
-                }
-                else
+                PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, 0, -centerDisplacement, OMV.Quaternion.Identity, false);
+                DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,com={1},rootPos={2},centerDisp={3}",
+                                        LinksetRoot.LocalID, centerOfMass, LinksetRoot.RawPosition, centerDisplacement);
+            }
+
+            DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}",
+                            LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren);
+
+            // Add a shape for each of the other children in the linkset
+            int memberIndex = 1;
+            ForEachMember(delegate(BSPhysObject cPrim)
+            {
+                if (!IsRoot(cPrim))
                 {
-                    // For the shared shapes (meshes and hulls), just use the shape in the child.
-                    if (PhysicsScene.Shapes.ReferenceShape(cPrim.PhysShape))
+                    // Compute the displacement of the child from the root of the linkset.
+                    // This info is saved in the child prim so the relationship does not
+                    //    change over time and the new child position can be computed
+                    //    when the linkset is being disassembled (the linkset may have moved).
+                    BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo;
+                    if (lci == null)
                     {
-                        PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}",
-                                            LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape);
+                        // Each child position and rotation is given relative to the center-of-mass.
+                        OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation);
+                        OMV.Vector3 displacementFromRoot = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation;
+                        OMV.Vector3 displacementFromCOM = displacementFromRoot - centerDisplacement;
+                        OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation;
+
+                        // Save relative position for recomputing child's world position after moving linkset.
+                        lci = new BSLinksetCompoundInfo(memberIndex, displacementFromCOM, displacementRot);
+                        lci.OffsetFromRoot = displacementFromRoot;
+                        cPrim.LinksetInfo = lci;
+                        DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci);
                     }
-                    BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, cPrim.PhysShape.ptr, displacementPos, displacementRot);
-                }
-            }
-            return false;   // 'false' says to move onto the next child in the list
-        });
 
-        // With all of the linkset packed into the root prim, it has the mass of everyone.
-        float linksetMass = LinksetMass;
-        LinksetRoot.UpdatePhysicalMassProperties(linksetMass);
+                    DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addMemberToShape,mID={1},mShape={2},lci={3}",
+                                                LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, lci);
 
-        BulletSimAPI.RecalculateCompoundShapeLocalAabb2(LinksetRoot.PhysShape.ptr);
+                    if (cPrim.PhysShape.isNativeShape)
+                    {
+                        // A native shape is turning into a hull collision shape because native
+                        //    shapes are not shared so we have to hullify it so it will be tracked
+                        //    and freed at the correct time. This also solves the scaling problem
+                        //    (native shapes scaled but hull/meshes are assumed to not be).
+                        // TODO: decide of the native shape can just be used in the compound shape.
+                        //    Use call to CreateGeomNonSpecial().
+                        BulletShape saveShape = cPrim.PhysShape;
+                        cPrim.PhysShape.Clear();        // Don't let the create free the child's shape
+                        // PhysicsScene.Shapes.CreateGeomNonSpecial(true, cPrim, null);
+                        PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null);
+                        BulletShape newShape = cPrim.PhysShape;
+                        cPrim.PhysShape = saveShape;
+                        PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, newShape, lci.OffsetFromCenterOfMass, lci.OffsetRot);
+                    }
+                    else
+                    {
+                        // For the shared shapes (meshes and hulls), just use the shape in the child.
+                        // The reference count added here will be decremented when the compound shape
+                        //     is destroyed in BSShapeCollection (the child shapes are looped over and dereferenced).
+                        if (PhysicsScene.Shapes.ReferenceShape(cPrim.PhysShape))
+                        {
+                            PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}",
+                                                LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape);
+                        }
+                        PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, cPrim.PhysShape, lci.OffsetFromCenterOfMass, lci.OffsetRot);
+                    }
+                    lci.Index = memberIndex;
+                    memberIndex++;
+                }
+                return false;   // 'false' says to move onto the next child in the list
+            });
 
-        // DEBUG: see of inter-linkset collisions are causing problems for constraint linksets.
-        // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, 
-        //                     (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
+            // With all of the linkset packed into the root prim, it has the mass of everyone.
+            LinksetMass = ComputeLinksetMass();
+            LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true);
+        }
+        finally
+        {
+            Rebuilding = false;
+        }
 
+        PhysicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape);
     }
 }
 }
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index c855fda..d0b2a56 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -36,9 +36,8 @@ public sealed class BSLinksetConstraints : BSLinkset
 {
     // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]";
 
-    public BSLinksetConstraints(BSScene scene, BSPhysObject parent)
+    public BSLinksetConstraints(BSScene scene, BSPhysObject parent) : base(scene, parent)
     {
-        base.Initialize(scene, parent);
     }
 
     // When physical properties are changed the linkset needs to recalculate
@@ -47,12 +46,17 @@ public sealed class BSLinksetConstraints : BSLinkset
     //   refresh will happen once after all the other taints are applied.
     public override void Refresh(BSPhysObject requestor)
     {
-        // Queue to happen after all the other taint processing
-        PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
-            {
-                if (HasAnyChildren && IsRoot(requestor))
-                    RecomputeLinksetConstraints();
-            });
+        base.Refresh(requestor);
+
+        if (HasAnyChildren && IsRoot(requestor))
+        {
+            // Queue to happen after all the other taint processing
+            PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
+                {
+                    if (HasAnyChildren && IsRoot(requestor))
+                        RecomputeLinksetConstraints();
+                });
+        }
     }
 
     // The object is going dynamic (physical). Do any setup necessary
@@ -79,23 +83,11 @@ public sealed class BSLinksetConstraints : BSLinkset
     }
 
     // Called at taint-time!!
-    public override void UpdateProperties(BSPhysObject updated)
+    public override void UpdateProperties(BSPhysObject updated, bool inTaintTime)
     {
         // Nothing to do for constraints on property updates
     }
 
-    // The children of the linkset are moved around by the constraints.
-    // Just grab the current values of wherever it is right now.
-    public override OMV.Vector3 Position(BSPhysObject member)
-    {
-        return BulletSimAPI.GetPosition2(member.PhysBody.ptr);
-    }
-
-    public override OMV.Quaternion Orientation(BSPhysObject member)
-    {
-        return BulletSimAPI.GetOrientation2(member.PhysBody.ptr);
-    }
-
     // Routine called when rebuilding the body of some member of the linkset.
     // Destroy all the constraints have have been made to root and set
     //     up to rebuild the constraints before the next simulation step.
@@ -106,7 +98,7 @@ public sealed class BSLinksetConstraints : BSLinkset
         bool ret = false;
 
         DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
-                                    child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"));
+                                    child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString);
 
         lock (m_linksetActivityLock)
         {
@@ -155,8 +147,8 @@ public sealed class BSLinksetConstraints : BSLinkset
 
             DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
                             childx.LocalID,
-                            rootx.LocalID, rootx.PhysBody.ptr.ToString("X"),
-                            childx.LocalID, childx.PhysBody.ptr.ToString("X"));
+                            rootx.LocalID, rootx.PhysBody.AddrString,
+                            childx.LocalID, childx.PhysBody.AddrString);
 
             PhysicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate()
             {
@@ -195,8 +187,8 @@ public sealed class BSLinksetConstraints : BSLinkset
 
         DetailLog("{0},BSLinksetConstraint.BuildConstraint,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
                                         rootPrim.LocalID,
-                                        rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString("X"),
-                                        childPrim.LocalID, childPrim.PhysBody.ptr.ToString("X"),
+                                        rootPrim.LocalID, rootPrim.PhysBody.AddrString,
+                                        childPrim.LocalID, childPrim.PhysBody.AddrString,
                                         rootPrim.Position, childPrim.Position, midPoint);
 
         // create a constraint that allows no freedom of movement between the two objects
@@ -239,14 +231,14 @@ 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;
     }
@@ -260,14 +252,14 @@ public sealed class BSLinksetConstraints : BSLinkset
         bool ret = false;
         DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
                             rootPrim.LocalID,
-                            rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString("X"),
-                            childPrim.LocalID, childPrim.PhysBody.ptr.ToString("X"));
+                            rootPrim.LocalID, rootPrim.PhysBody.AddrString,
+                            childPrim.LocalID, childPrim.PhysBody.AddrString);
 
         // Find the constraint for this link and get rid of it from the overall collection and from my list
         if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody))
         {
             // Make the child refresh its location
-            BulletSimAPI.PushUpdate2(childPrim.PhysBody.ptr);
+            PhysicsScene.PE.PushUpdate(childPrim.PhysBody);
             ret = true;
         }
 
@@ -292,20 +284,17 @@ public sealed class BSLinksetConstraints : BSLinkset
     private void RecomputeLinksetConstraints()
     {
         float linksetMass = LinksetMass;
-        LinksetRoot.UpdatePhysicalMassProperties(linksetMass);
+        LinksetRoot.UpdatePhysicalMassProperties(linksetMass, true);
 
-        // DEBUG: see of inter-linkset collisions are causing problems
-        // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, 
-        //                     (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
         DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}",
-                            LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), linksetMass);
+                            LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, linksetMass);
 
         foreach (BSPhysObject child in m_children)
         {
             // A child in the linkset physically shows the mass of the whole linkset.
             // This allows Bullet to apply enough force on the child to move the whole linkset.
             // (Also do the mass stuff before recomputing the constraint so mass is not zero.)
-            child.UpdatePhysicalMassProperties(linksetMass);
+            child.UpdatePhysicalMassProperties(linksetMass, true);
 
             BSConstraint constrain;
             if (!PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain))
@@ -315,11 +304,7 @@ public sealed class BSLinksetConstraints : BSLinkset
             }
             constrain.RecomputeConstraintVariables(linksetMass);
 
-            // DEBUG: see of inter-linkset collisions are causing problems
-            // BulletSimAPI.SetCollisionFilterMask2(child.BSBody.ptr, 
-            //                 (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
-
-            // BulletSimAPI.DumpConstraint2(PhysicsScene.World.ptr, constrain.Constraint.ptr);    // DEBUG DEBUG
+            // PhysicsScene.PE.DumpConstraint(PhysicsScene.World, constrain.Constraint);    // DEBUG DEBUG
         }
 
     }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs
new file mode 100755
index 0000000..92d62ff
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs
@@ -0,0 +1,200 @@
+/*
+ * 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 System.Reflection;
+using Nini.Config;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+
+public struct MaterialAttributes
+{
+    // Material type values that correspond with definitions for LSL
+    public enum Material : int
+    {
+        Stone = 0,
+        Metal,
+        Glass,
+        Wood,
+        Flesh,
+        Plastic,
+        Rubber,
+        Light,
+        // Hereafter are BulletSim additions
+        Avatar,
+        NumberOfTypes   // the count of types in the enum.
+    }
+
+    // Names must be in the order of the above enum.
+    // These names must coorespond to the lower case field names in the MaterialAttributes
+    //     structure as reflection is used to select the field to put the value in.
+    public static readonly string[] MaterialAttribs = { "Density", "Friction", "Restitution"};
+
+    public MaterialAttributes(string t, float d, float f, float r)
+    {
+        type = t;
+        density = d;
+        friction = f;
+        restitution = r;
+    }
+    public string type;
+    public float density;
+    public float friction;
+    public float restitution;
+}
+
+public static class BSMaterials
+{
+    // Attributes for each material type
+    private static readonly MaterialAttributes[] Attributes;
+
+    // Map of material name to material type code
+    public static readonly Dictionary<string, MaterialAttributes.Material> MaterialMap;
+
+    static BSMaterials()
+    {
+        // Attribute sets for both the non-physical and physical instances of materials.
+        Attributes = new MaterialAttributes[(int)MaterialAttributes.Material.NumberOfTypes * 2];
+
+        // Map of name to type code.
+        MaterialMap = new Dictionary<string, MaterialAttributes.Material>();
+        MaterialMap.Add("Stone", MaterialAttributes.Material.Stone);
+        MaterialMap.Add("Metal", MaterialAttributes.Material.Metal);
+        MaterialMap.Add("Glass", MaterialAttributes.Material.Glass);
+        MaterialMap.Add("Wood", MaterialAttributes.Material.Wood);
+        MaterialMap.Add("Flesh", MaterialAttributes.Material.Flesh);
+        MaterialMap.Add("Plastic", MaterialAttributes.Material.Plastic);
+        MaterialMap.Add("Rubber", MaterialAttributes.Material.Rubber);
+        MaterialMap.Add("Light", MaterialAttributes.Material.Light);
+        MaterialMap.Add("Avatar", MaterialAttributes.Material.Avatar);
+    }
+
+    // This is where all the default material attributes are defined.
+    public static void InitializeFromDefaults(ConfigurationParameters parms)
+    {
+        // Values from http://wiki.secondlife.com/wiki/PRIM_MATERIAL
+        float dDensity = parms.defaultDensity;
+        float dFriction = parms.defaultFriction;
+        float dRestitution = parms.defaultRestitution;
+        Attributes[(int)MaterialAttributes.Material.Stone] =
+                    new MaterialAttributes("stone",dDensity, 0.8f, 0.4f);
+        Attributes[(int)MaterialAttributes.Material.Metal] =
+                    new MaterialAttributes("metal",dDensity, 0.3f, 0.4f);
+        Attributes[(int)MaterialAttributes.Material.Glass] =
+                    new MaterialAttributes("glass",dDensity, 0.2f, 0.7f);
+        Attributes[(int)MaterialAttributes.Material.Wood] =
+                    new MaterialAttributes("wood",dDensity, 0.6f, 0.5f);
+        Attributes[(int)MaterialAttributes.Material.Flesh] =
+                    new MaterialAttributes("flesh",dDensity, 0.9f, 0.3f);
+        Attributes[(int)MaterialAttributes.Material.Plastic] =
+                    new MaterialAttributes("plastic",dDensity, 0.4f, 0.7f);
+        Attributes[(int)MaterialAttributes.Material.Rubber] =
+                    new MaterialAttributes("rubber",dDensity, 0.9f, 0.9f);
+        Attributes[(int)MaterialAttributes.Material.Light] =
+                    new MaterialAttributes("light",dDensity, dFriction, dRestitution);
+        Attributes[(int)MaterialAttributes.Material.Avatar] =
+                    new MaterialAttributes("avatar",3.5f, 0.2f, 0f);
+
+        Attributes[(int)MaterialAttributes.Material.Stone + (int)MaterialAttributes.Material.NumberOfTypes] =
+                    new MaterialAttributes("stonePhysical",dDensity, 0.8f, 0.4f);
+        Attributes[(int)MaterialAttributes.Material.Metal + (int)MaterialAttributes.Material.NumberOfTypes] =
+                    new MaterialAttributes("metalPhysical",dDensity, 0.3f, 0.4f);
+        Attributes[(int)MaterialAttributes.Material.Glass + (int)MaterialAttributes.Material.NumberOfTypes] =
+                    new MaterialAttributes("glassPhysical",dDensity, 0.2f, 0.7f);
+        Attributes[(int)MaterialAttributes.Material.Wood + (int)MaterialAttributes.Material.NumberOfTypes] =
+                    new MaterialAttributes("woodPhysical",dDensity, 0.6f, 0.5f);
+        Attributes[(int)MaterialAttributes.Material.Flesh + (int)MaterialAttributes.Material.NumberOfTypes] =
+                    new MaterialAttributes("fleshPhysical",dDensity, 0.9f, 0.3f);
+        Attributes[(int)MaterialAttributes.Material.Plastic + (int)MaterialAttributes.Material.NumberOfTypes] =
+                    new MaterialAttributes("plasticPhysical",dDensity, 0.4f, 0.7f);
+        Attributes[(int)MaterialAttributes.Material.Rubber + (int)MaterialAttributes.Material.NumberOfTypes] =
+                    new MaterialAttributes("rubberPhysical",dDensity, 0.9f, 0.9f);
+        Attributes[(int)MaterialAttributes.Material.Light + (int)MaterialAttributes.Material.NumberOfTypes] =
+                    new MaterialAttributes("lightPhysical",dDensity, dFriction, dRestitution);
+        Attributes[(int)MaterialAttributes.Material.Avatar + (int)MaterialAttributes.Material.NumberOfTypes] =
+                    new MaterialAttributes("avatarPhysical",3.5f, 0.2f, 0f);
+    }
+
+    // Under the [BulletSim] section, one can change the individual material
+    //    attribute values. The format of the configuration parameter is:
+    //        <materialName><Attribute>["Physical"] = floatValue
+    //    For instance:
+    //        [BulletSim]
+    //             StoneFriction = 0.2
+    //             FleshRestitutionPhysical = 0.8
+    // Materials can have different parameters for their static and
+    //    physical instantiations. When setting the non-physical value,
+    //    both values are changed. Setting the physical value only changes
+    //    the physical value.
+    public static void InitializefromParameters(IConfig pConfig)
+    {
+        foreach (KeyValuePair<string, MaterialAttributes.Material> kvp in MaterialMap)
+        {
+            string matName = kvp.Key;
+            foreach (string attribName in MaterialAttributes.MaterialAttribs)
+            {
+                string paramName = matName + attribName;
+                if (pConfig.Contains(paramName))
+                {
+                    float paramValue = pConfig.GetFloat(paramName);
+                    SetAttributeValue((int)kvp.Value, attribName, paramValue);
+                    // set the physical value also
+                    SetAttributeValue((int)kvp.Value + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue);
+                }
+                paramName += "Physical";
+                if (pConfig.Contains(paramName))
+                {
+                    float paramValue = pConfig.GetFloat(paramName);
+                    SetAttributeValue((int)kvp.Value + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue);
+                }
+            }
+        }
+    }
+
+    // Use reflection to set the value in the attribute structure.
+    private static void SetAttributeValue(int matType, string attribName, float val)
+    {
+        MaterialAttributes thisAttrib = Attributes[matType];
+        FieldInfo fieldInfo = thisAttrib.GetType().GetField(attribName.ToLower());
+        if (fieldInfo != null)
+        {
+            fieldInfo.SetValue(thisAttrib, val);
+            Attributes[matType] = thisAttrib;
+        }
+    }
+
+    // Given a material type, return a structure of attributes.
+    public static MaterialAttributes GetAttributes(MaterialAttributes.Material type, bool isPhysical)
+    {
+        int ind = (int)type;
+        if (isPhysical) ind += (int)MaterialAttributes.Material.NumberOfTypes;
+        return Attributes[ind];
+    }
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
index bc6e4c4..6d0db2e 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
@@ -1,104 +1,467 @@
-using System;

-using System.Collections.Generic;

-using System.Text;

-using OpenMetaverse;

-

-namespace OpenSim.Region.Physics.BulletSPlugin

-{

-public abstract class BSMotor

-{

-    public virtual void Reset() { }

-    public virtual void Zero() { }

-}

-// Can all the incremental stepping be replaced with motor classes?

-public class BSVMotor : BSMotor

-{

-    public Vector3 FrameOfReference { get; set; }

-    public Vector3 Offset { get; set; }

-

-    public float TimeScale { get; set; }

-    public float TargetValueDecayTimeScale { get; set; }

-    public Vector3 CurrentValueReductionTimescale { get; set; }

-    public float Efficiency { get; set; }

-

-    public Vector3 TargetValue { get; private set; }

-    public Vector3 CurrentValue { get; private set; }

-

-

-

-    BSVMotor(float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency)

-    {

-        TimeScale = timeScale;

-        TargetValueDecayTimeScale = decayTimeScale;

-        CurrentValueReductionTimescale = frictionTimeScale;

-        Efficiency = efficiency;

-    }

-    public void SetCurrent(Vector3 current)

-    {

-        CurrentValue = current;

-    }

-    public void SetTarget(Vector3 target)

-    {

-        TargetValue = target;

-    }

-    public Vector3 Step(float timeStep)

-    {

-        if (CurrentValue.LengthSquared() > 0.001f)

-        {

-            // Vector3 origDir = Target;       // DEBUG

-            // Vector3 origVel = CurrentValue;   // DEBUG

-

-            // Add (desiredVelocity - currentAppliedVelocity) / howLongItShouldTakeToComplete

-            Vector3 addAmount = (TargetValue - CurrentValue)/(TargetValue) * timeStep;

-            CurrentValue += addAmount;

-

-            float decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;

-            TargetValue *= (1f - decayFactor);

-

-            Vector3 frictionFactor = (Vector3.One / CurrentValueReductionTimescale) * timeStep;

-            CurrentValue *= (Vector3.One - frictionFactor);

-        }

-        else

-        {

-            // if what remains of direction is very small, zero it.

-            TargetValue = Vector3.Zero;

-            CurrentValue = Vector3.Zero;

-

-            // VDetailLog("{0},MoveLinear,zeroed", Prim.LocalID);

-        }

-        return CurrentValue;

-    }

-}

-

-public class BSFMotor : BSMotor

-{

-    public float TimeScale { get; set; }

-    public float DecayTimeScale { get; set; }

-    public float Friction { get; set; }

-    public float Efficiency { get; set; }

-

-    public float Target { get; private set; }

-    public float CurrentValue { get; private set; }

-

-    BSFMotor(float timeScale, float decayTimescale, float friction, float efficiency)

-    {

-    }

-    public void SetCurrent(float target)

-    {

-    }

-    public void SetTarget(float target)

-    {

-    }

-    public float Step(float timeStep)

-    {

-        return 0f;

-    }

-}

-public class BSPIDMotor : BSMotor

-{

-    // TODO: write and use this one

-    BSPIDMotor()

-    {

-    }

-}

-}

+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+using System;
+using System.Collections.Generic;
+using System.Text;
+using OpenMetaverse;
+using OpenSim.Framework;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public abstract class BSMotor
+{
+    // Timescales and other things can be turned off by setting them to 'infinite'.
+    public const float Infinite = 12345.6f;
+    public readonly static Vector3 InfiniteVector = new Vector3(BSMotor.Infinite, BSMotor.Infinite, BSMotor.Infinite);
+
+    public BSMotor(string useName)
+    {
+        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) { }
+
+    // A name passed at motor creation for easily identifyable debugging messages.
+    public string UseName { get; private set; }
+
+    // Used only for outputting debug information. Might not be set so check for null.
+    public BSScene PhysicsScene { get; set; }
+    protected void MDetailLog(string msg, params Object[] parms)
+    {
+        if (PhysicsScene != null)
+        {
+            PhysicsScene.DetailLog(msg, parms);
+        }
+    }
+}
+
+// Motor which moves CurrentValue to TargetValue over TimeScale seconds.
+// The TargetValue decays in TargetValueDecayTimeScale and
+//     the CurrentValue will be held back by FrictionTimeScale.
+// This motor will "zero itself" over time in that the targetValue will
+//    decay to zero and the currentValue will follow it to that zero.
+//    The overall effect is for the returned correction value to go from large
+//    values (the total difference between current and target minus friction)
+//    to small and eventually zero values.
+// TimeScale and TargetDelayTimeScale may be 'infinite' which means no decay.
+
+// For instance, if something is moving at speed X and the desired speed is Y,
+//    CurrentValue is X and TargetValue is Y. As the motor is stepped, new
+//    values of CurrentValue are returned that approach the TargetValue.
+// The feature of decaying TargetValue is so vehicles will eventually
+//    come to a stop rather than run forever. This can be disabled by
+//    setting TargetValueDecayTimescale to 'infinite'.
+// The change from CurrentValue to TargetValue is linear over TimeScale seconds.
+public class BSVMotor : BSMotor
+{
+    // public Vector3 FrameOfReference { get; set; }
+    // public Vector3 Offset { get; set; }
+
+    public virtual float TimeScale { get; set; }
+    public virtual float TargetValueDecayTimeScale { get; set; }
+    public virtual Vector3 FrictionTimescale { get; set; }
+    public virtual float Efficiency { get; set; }
+
+    public virtual float ErrorZeroThreshold { get; set; }
+
+    public virtual Vector3 TargetValue { get; protected set; }
+    public virtual Vector3 CurrentValue { get; protected set; }
+    public virtual Vector3 LastError { get; protected set; }
+
+    public virtual bool ErrorIsZero()
+    {
+        return ErrorIsZero(LastError);
+    }
+    public virtual bool ErrorIsZero(Vector3 err)
+    { 
+        return (err == Vector3.Zero || err.ApproxEquals(Vector3.Zero, ErrorZeroThreshold));
+    }
+
+    public BSVMotor(string useName)
+        : base(useName)
+    {
+        TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite;
+        Efficiency = 1f;
+        FrictionTimescale = BSMotor.InfiniteVector;
+        CurrentValue = TargetValue = Vector3.Zero;
+        ErrorZeroThreshold = 0.001f;
+    }
+    public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) 
+        : this(useName)
+    {
+        TimeScale = timeScale;
+        TargetValueDecayTimeScale = decayTimeScale;
+        FrictionTimescale = frictionTimeScale;
+        Efficiency = efficiency;
+        CurrentValue = TargetValue = Vector3.Zero;
+    }
+    public void SetCurrent(Vector3 current)
+    {
+        CurrentValue = current;
+    }
+    public void SetTarget(Vector3 target)
+    {
+        TargetValue = target;
+    }
+    public override void Zero()
+    {
+        base.Zero();
+        CurrentValue = TargetValue = Vector3.Zero;
+    }
+
+    // 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
+
+        Vector3 correction = Vector3.Zero;
+        Vector3 error = TargetValue - CurrentValue;
+        if (!ErrorIsZero(error))
+        {
+            correction = Step(timeStep, error);
+
+            CurrentValue += correction;
+
+            // The desired value reduces to zero which also reduces the difference with current.
+            // If the decay time is infinite, don't decay at all.
+            float decayFactor = 0f;
+            if (TargetValueDecayTimeScale != BSMotor.Infinite)
+            {
+                decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
+                TargetValue *= (1f - decayFactor);
+            }
+
+            // The amount we can correct the error is reduced by the friction
+            Vector3 frictionFactor = Vector3.Zero;
+            if (FrictionTimescale != BSMotor.InfiniteVector)
+            {
+                // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep;
+                // Individual friction components can be 'infinite' so compute each separately.
+                frictionFactor.X = (FrictionTimescale.X == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.X);
+                frictionFactor.Y = (FrictionTimescale.Y == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.Y);
+                frictionFactor.Z = (FrictionTimescale.Z == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.Z);
+                frictionFactor *= timeStep;
+                CurrentValue *= (Vector3.One - frictionFactor);
+            }
+
+            MDetailLog("{0},  BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},err={5},corr={6}",
+                                BSScene.DetailLogZero, UseName, origCurrVal, origTarget,
+                                timeStep, error, correction);
+            MDetailLog("{0},  BSVMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},frictTS={4},frictFact={5},tgt={6},curr={7}",
+                                BSScene.DetailLogZero, UseName,
+                                TargetValueDecayTimeScale, decayFactor, FrictionTimescale, frictionFactor,
+                                TargetValue, CurrentValue);
+        }
+        else
+        {
+            // 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={4}",
+                        BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue);
+        }
+
+        return CurrentValue;
+    }
+    public virtual Vector3 Step(float timeStep, Vector3 error)
+    {
+        if (!Enabled) return Vector3.Zero;
+
+        LastError = error;
+        Vector3 returnCorrection = Vector3.Zero;
+        if (!ErrorIsZero())
+        {
+            // correction =  error / secondsItShouldTakeToCorrect
+            Vector3 correctionAmount;
+            if (TimeScale == 0f || TimeScale == BSMotor.Infinite)
+                correctionAmount = error * timeStep;
+            else
+                correctionAmount = error / TimeScale * timeStep;
+
+            returnCorrection = correctionAmount;
+            MDetailLog("{0},  BSVMotor.Step,nonZero,{1},timeStep={2},timeScale={3},err={4},corr={5}",
+                                    BSScene.DetailLogZero, UseName, timeStep, TimeScale, error, correctionAmount);
+        }
+        return returnCorrection;
+    }
+
+    // The user sets all the parameters and calls this which outputs values until error is zero.
+    public override void GenerateTestOutput(float timeStep)
+    {
+        // maximum number of outputs to generate.
+        int maxOutput = 50;
+        MDetailLog("{0},BSVMotor.Test,{1},===================================== BEGIN Test Output", BSScene.DetailLogZero, UseName);
+        MDetailLog("{0},BSVMotor.Test,{1},timeScale={2},targDlyTS={3},frictTS={4},eff={5},curr={6},tgt={7}",
+                                BSScene.DetailLogZero, UseName,
+                                TimeScale, TargetValueDecayTimeScale, FrictionTimescale, Efficiency, 
+                                CurrentValue, TargetValue);
+
+        LastError = BSMotor.InfiniteVector;
+        while (maxOutput-- > 0 && !LastError.ApproxEquals(Vector3.Zero, ErrorZeroThreshold))
+        {
+            Vector3 lastStep = Step(timeStep);
+            MDetailLog("{0},BSVMotor.Test,{1},cur={2},tgt={3},lastError={4},lastStep={5}",
+                            BSScene.DetailLogZero, UseName, CurrentValue, TargetValue, LastError, lastStep);
+        }
+        MDetailLog("{0},BSVMotor.Test,{1},===================================== END Test Output", BSScene.DetailLogZero, UseName);
+        
+
+    }
+
+    public override string ToString()
+    {
+        return String.Format("<{0},curr={1},targ={2},lastErr={3},decayTS={4},frictTS={5}>",
+            UseName, CurrentValue, TargetValue, LastError, TargetValueDecayTimeScale, FrictionTimescale);
+    }
+}
+
+// ============================================================================
+// ============================================================================
+public class BSFMotor : BSMotor
+{
+    public virtual float TimeScale { get; set; }
+    public virtual float TargetValueDecayTimeScale { get; set; }
+    public virtual float FrictionTimescale { get; set; }
+    public virtual float Efficiency { get; set; }
+
+    public virtual float ErrorZeroThreshold { get; set; }
+
+    public virtual float TargetValue { get; protected set; }
+    public virtual float CurrentValue { get; protected set; }
+    public virtual float LastError { get; protected set; }
+
+    public virtual bool ErrorIsZero()
+    {
+        return ErrorIsZero(LastError);
+    }
+    public virtual bool ErrorIsZero(float err)
+    { 
+        return (err >= -ErrorZeroThreshold && err <= ErrorZeroThreshold);
+    }
+
+    public BSFMotor(string useName, float timeScale, float decayTimescale, float friction, float efficiency)
+        : base(useName)
+    {
+        TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite;
+        Efficiency = 1f;
+        FrictionTimescale = BSMotor.Infinite;
+        CurrentValue = TargetValue = 0f;
+        ErrorZeroThreshold = 0.01f;
+    }
+    public void SetCurrent(float current)
+    {
+        CurrentValue = current;
+    }
+    public void SetTarget(float target)
+    {
+        TargetValue = target;
+    }
+    public override void Zero()
+    {
+        base.Zero();
+        CurrentValue = TargetValue = 0f;
+    }
+
+    public virtual float Step(float timeStep)
+    {
+        if (!Enabled) return TargetValue;
+
+        float origTarget = TargetValue;       // DEBUG
+        float origCurrVal = CurrentValue;     // DEBUG
+
+        float correction = 0f;
+        float error = TargetValue - CurrentValue;
+        if (!ErrorIsZero(error))
+        {
+            correction = Step(timeStep, error);
+
+            CurrentValue += correction;
+
+            // The desired value reduces to zero which also reduces the difference with current.
+            // If the decay time is infinite, don't decay at all.
+            float decayFactor = 0f;
+            if (TargetValueDecayTimeScale != BSMotor.Infinite)
+            {
+                decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
+                TargetValue *= (1f - decayFactor);
+            }
+
+            // The amount we can correct the error is reduced by the friction
+            float frictionFactor = 0f;
+            if (FrictionTimescale != BSMotor.Infinite)
+            {
+                // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep;
+                // Individual friction components can be 'infinite' so compute each separately.
+                frictionFactor = 1f / FrictionTimescale;
+                frictionFactor *= timeStep;
+                CurrentValue *= (1f - frictionFactor);
+            }
+
+            MDetailLog("{0},  BSFMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},err={5},corr={6}",
+                                BSScene.DetailLogZero, UseName, origCurrVal, origTarget,
+                                timeStep, error, correction);
+            MDetailLog("{0},  BSFMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},frictTS={4},frictFact={5},tgt={6},curr={7}",
+                                BSScene.DetailLogZero, UseName,
+                                TargetValueDecayTimeScale, decayFactor, FrictionTimescale, frictionFactor,
+                                TargetValue, CurrentValue);
+        }
+        else
+        {
+            // Difference between what we have and target is small. Motor is done.
+            CurrentValue = TargetValue;
+            MDetailLog("{0},  BSFMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}",
+                        BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue);
+        }
+
+        return CurrentValue;
+    }
+
+    public virtual float Step(float timeStep, float error)
+    {
+        if (!Enabled) return 0f;
+
+        LastError = error;
+        float returnCorrection = 0f;
+        if (!ErrorIsZero())
+        {
+            // correction =  error / secondsItShouldTakeToCorrect
+            float correctionAmount;
+            if (TimeScale == 0f || TimeScale == BSMotor.Infinite)
+                correctionAmount = error * timeStep;
+            else
+                correctionAmount = error / TimeScale * timeStep;
+
+            returnCorrection = correctionAmount;
+            MDetailLog("{0},  BSFMotor.Step,nonZero,{1},timeStep={2},timeScale={3},err={4},corr={5}",
+                                    BSScene.DetailLogZero, UseName, timeStep, TimeScale, error, correctionAmount);
+        }
+        return returnCorrection;
+    }
+
+    public override string ToString()
+    {
+        return String.Format("<{0},curr={1},targ={2},lastErr={3},decayTS={4},frictTS={5}>",
+            UseName, CurrentValue, TargetValue, LastError, TargetValueDecayTimeScale, FrictionTimescale);
+    }
+
+}
+
+// ============================================================================
+// ============================================================================
+// Proportional, Integral, Derivitive Motor
+// Good description at http://www.answers.com/topic/pid-controller . Includes processes for choosing p, i and d factors.
+public class BSPIDVMotor : BSVMotor
+{
+    // Larger makes more overshoot, smaller means converge quicker. Range of 0.1 to 10.
+    public Vector3 proportionFactor { get; set; }
+    public Vector3 integralFactor { get; set; }
+    public Vector3 derivFactor { get; set; }
+
+    // The factors are vectors for the three dimensions. This is the proportional of each
+    //    that is applied. This could be multiplied through the actual factors but it
+    //    is sometimes easier to manipulate the factors and their mix separately.
+    //      to 
+    public Vector3 FactorMix;
+
+    // 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;
+
+    // Running integration of the error
+    Vector3 RunningIntegration { get; set; }
+
+    public BSPIDVMotor(string useName)
+        : base(useName)
+    {
+        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);
+        FactorMix = new Vector3(0.5f, 0.25f, 0.25f);
+        RunningIntegration = Vector3.Zero;
+        LastError = Vector3.Zero;
+    }
+
+    public override void Zero()
+    {
+        base.Zero();
+    }
+
+    public override float Efficiency
+    {
+        get { return base.Efficiency; }
+        set
+        {
+            base.Efficiency = Util.Clamp(value, 0f, 1f);
+
+            // Compute factors based on efficiency.
+            // If efficiency is high (1f), use a factor value that moves the error value to zero with little overshoot.
+            // If efficiency is low (0f), use a factor value that overcorrects.
+            // TODO: might want to vary contribution of different factor depending on efficiency.
+            float factor = ((1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow) / 3f;
+            // float factor = (1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow;
+
+            proportionFactor = new Vector3(factor, factor, factor);
+            integralFactor = new Vector3(factor, factor, factor);
+            derivFactor = new Vector3(factor, factor, factor);
+
+            MDetailLog("{0},BSPIDVMotor.setEfficiency,eff={1},factor={2}", BSScene.DetailLogZero, Efficiency, factor);
+        }
+    }
+
+    // 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
+        RunningIntegration += error * timeStep;
+
+        // A simple derivitive is the rate of change from the last error.
+        Vector3 derivitive = (error - LastError) * timeStep;
+        LastError = error;
+
+        // Correction = (proportionOfPresentError + accumulationOfPastError + rateOfChangeOfError)
+        Vector3 ret   =   error * timeStep   * proportionFactor * FactorMix.X
+                        + RunningIntegration * integralFactor   * FactorMix.Y
+                        + derivitive         * derivFactor      * FactorMix.Z
+                        ;
+
+        MDetailLog("{0},BSPIDVMotor.step,ts={1},err={2},runnInt={3},deriv={4},ret={5}",
+                        BSScene.DetailLogZero, timeStep, error, RunningIntegration, derivitive, ret);
+
+        return ret;
+    }
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
new file mode 100755
index 0000000..862dbf6
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -0,0 +1,634 @@
+/*
+ * 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 AvatarAlwaysRunFactor { 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 AvatarStepHeight { get; private set; }
+        public static float AvatarStepApproachFactor { get; private set; }
+        public static float AvatarStepForceFactor { get; private set; }
+
+    public static float VehicleAngularDamping { get; private set; }
+    public static float VehicleDebuggingEnabled { 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
+
+    // Various constants that come from that other virtual world that shall not be named
+    public const float MinGravityZ = -1f;
+    public const float MaxGravityZ = 28f;
+    public const float MinFriction = 0f;
+    public const float MaxFriction = 255f;
+    public const float MinDensity = 0f;
+    public const float MaxDensity = 22587f;
+    public const float MinRestitution = 0f;
+    public const float MaxRestitution = 1f;
+    public const float MaxAddForceMagnitude = 20000f;
+
+    // ===========================================================================
+    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("NominalFrameRate", "The base frame rate we claim",
+            55f,
+            (s,cf,p,v) => { s.NominalFrameRate = cf.GetInt(p, (int)v); },
+            (s) => { return (float)s.NominalFrameRate; },
+            (s,p,l,v) => { s.NominalFrameRate = (int)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) => { s.PE.SetGravity(o.PhysBody, 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) => { s.PE.SetDamping(o.PhysBody, 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) => { s.PE.SetDamping(o.PhysBody, 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) => { s.PE.SetDeactivationTime(o.PhysBody, 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) => { s.PE.SetSleepingThresholds(o.PhysBody, 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) => { s.PE.SetSleepingThresholds(o.PhysBody, v, v); } ),
+        new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ,
+            0.3f,     // 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) => { s.PE.SetCcdMotionThreshold(o.PhysBody, v); } ),
+        new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" ,
+            0.2f,
+            (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) => { s.PE.SetCcdSweptSphereRadius(o.PhysBody, 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) => { s.PE.SetContactProcessingThreshold(o.PhysBody, 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("AvatarAlwaysRunFactor", "Speed multiplier if avatar is set to always run",
+            1.3f,
+            (s,cf,p,v) => { AvatarAlwaysRunFactor = cf.GetFloat(p, v); },
+            (s) => { return AvatarAlwaysRunFactor; },
+            (s,p,l,v) => { AvatarAlwaysRunFactor = v; } ),
+        new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
+            3.5f,
+            (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("AvatarStepHeight", "Height of a step obstacle to consider step correction",
+            0.3f,
+            (s,cf,p,v) => { AvatarStepHeight = cf.GetFloat(p, v); },
+            (s) => { return AvatarStepHeight; },
+            (s,p,l,v) => { AvatarStepHeight = v; } ),
+            new ParameterDefn("AvatarStepApproachFactor", "Factor to control angle of approach to step (0=straight on)",
+            0.6f,
+            (s,cf,p,v) => { AvatarStepApproachFactor = cf.GetFloat(p, v); },
+            (s) => { return AvatarStepApproachFactor; },
+            (s,p,l,v) => { AvatarStepApproachFactor = v; } ),
+            new ParameterDefn("AvatarStepForceFactor", "Controls the amount of force up applied to step up onto a step",
+            2.0f,
+            (s,cf,p,v) => { AvatarStepForceFactor = cf.GetFloat(p, v); },
+            (s) => { return AvatarStepForceFactor; },
+            (s,p,l,v) => { AvatarStepForceFactor = 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("VehicleDebuggingEnable", "Turn on/off vehicle debugging",
+            ConfigurationParameters.numericFalse,
+            (s,cf,p,v) => { VehicleDebuggingEnabled = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
+            (s) => { return VehicleDebuggingEnabled; },
+            (s,p,l,v) => { VehicleDebuggingEnabled = 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.numericTrue,
+            (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("PhysicsMetricFrames", "Frames between outputting detailed phys metrics. (0 is off)",
+            0f,
+            (s,cf,p,v) => { s.PhysicsMetricDumpFrames = cf.GetFloat(p, (int)v); },
+            (s) => { return (float)s.PhysicsMetricDumpFrames; },
+            (s,p,l,v) => { s.PhysicsMetricDumpFrames = (int)v; } ),
+        new ParameterDefn("ResetBroadphasePool", "Setting this is any value resets the broadphase collision pool",
+            0f,
+            (s,cf,p,v) => { ; },
+            (s) => { return 0f; },
+            (s,p,l,v) => { BSParam.ResetBroadphasePoolTainted(s, v); } ),
+        new ParameterDefn("ResetConstraintSolver", "Setting this is any value resets the constraint solver",
+            0f,
+            (s,cf,p,v) => { ; },
+            (s) => { return 0f; },
+            (s,p,l,v) => { BSParam.ResetConstraintSolverTainted(s, 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);
+    }
+
+    private static void ResetBroadphasePoolTainted(BSScene pPhysScene, float v)
+    {
+        BSScene physScene = pPhysScene;
+        physScene.TaintedObject("BSParam.ResetBroadphasePoolTainted", delegate()
+        {
+            physScene.PE.ResetBroadphasePool(physScene.World);
+        });
+    }
+
+    private static void ResetConstraintSolverTainted(BSScene pPhysScene, float v)
+    {
+        BSScene physScene = pPhysScene;
+        physScene.TaintedObject("BSParam.ResetConstraintSolver", delegate()
+        {
+            physScene.PE.ResetConstraintSolver(physScene.World);
+        });
+    }
+
+    // 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 f6a890e..821f470 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()
@@ -57,26 +67,45 @@ public abstract class BSPhysObject : PhysicsActor
         PhysObjectName = name;
         TypeName = typeName;
 
+        // We don't have any physical representation yet.
+        PhysBody = new BulletBody(localID);
+        PhysShape = new BulletShape();
+
+        // A linkset of just me
         Linkset = BSLinkset.Factory(PhysicsScene, this);
+        PositionDisplacement = OMV.Vector3.Zero;
+
         LastAssetBuildFailed = false;
 
+        // Default material type
+        Material = MaterialAttributes.Material.Wood;
+
         CollisionCollection = new CollisionEventUpdate();
+        CollisionsLastTick = CollisionCollection;
         SubscribedEventsMs = 0;
         CollidingStep = 0;
         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; }
     public string TypeName { get; protected set; }
 
     public BSLinkset Linkset { get; set; }
+    public BSLinksetInfo LinksetInfo { get; set; }
 
     // Return the object mass without calculating it or having side effects
     public abstract float RawMass { get; }
     // Set the raw mass but also update physical mass properties (inertia, ...)
-    public abstract void UpdatePhysicalMassProperties(float mass);
+    // 'inWorld' true if the object has already been added to the dynamic world.
+    public abstract void UpdatePhysicalMassProperties(float mass, bool inWorld);
 
     // The last value calculated for the prim's inertia
     public OMV.Vector3 Inertia { get; set; }
@@ -105,9 +134,17 @@ public abstract class BSPhysObject : PhysicsActor
     public EntityProperties CurrentEntityProperties { get; set; }
     public EntityProperties LastEntityProperties { get; set; }
 
-    public abstract OMV.Vector3 Scale { get; set; }
+    public virtual OMV.Vector3 Scale { get; set; }
     public abstract bool IsSolid { get; }
     public abstract bool IsStatic { get; }
+    public abstract bool IsSelected { get; }
+
+    // Materialness
+    public MaterialAttributes.Material Material { get; private set; }
+    public override void SetMaterial(int material)
+    {
+        Material = (MaterialAttributes.Material)material;
+    }
 
     // Stop all physical motion.
     public abstract void ZeroMotion(bool inTaintTime);
@@ -119,15 +156,41 @@ 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; }
 
+    // Position is what the simulator thinks the positions of the prim is.
+    // Because Bullet needs the zero coordinate to be the center of mass of the linkset,
+    //     sometimes it is necessary to displace the position the physics engine thinks
+    //     the position is. PositionDisplacement must be added and removed from the
+    //     position as the simulator position is stored and fetched from the physics
+    //     engine. 
+    public virtual OMV.Vector3 PositionDisplacement { get; set; }
+
     public abstract OMV.Quaternion RawOrientation { get; set; }
     public abstract OMV.Quaternion ForceOrientation { get; set; }
 
+    // The system is telling us the velocity it wants to move at.
+    // Velocity in world coordinates.
+    // protected OMV.Vector3 m_targetVelocity;  // use the definition in PhysicsActor
+    public override OMV.Vector3 TargetVelocity
+    {
+        get { return m_targetVelocity; }
+        set
+        {
+            m_targetVelocity = value;
+            Velocity = value;
+        }
+    }
+    public virtual float TargetSpeed
+    {
+        get
+        {
+            OMV.Vector3 characterOrientedVelocity = TargetVelocity * OMV.Quaternion.Inverse(OMV.Quaternion.Normalize(RawOrientation));
+            return characterOrientedVelocity.X;
+        }
+    }
+    public abstract OMV.Vector3 RawVelocity { get; set; }
     public abstract OMV.Vector3 ForceVelocity { get; set; }
 
     public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }
@@ -136,6 +199,15 @@ public abstract class BSPhysObject : PhysicsActor
 
     public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; }
 
+    public virtual float ForwardSpeed
+    {
+        get
+        {
+            OMV.Vector3 characterOrientedVelocity = RawVelocity * OMV.Quaternion.Inverse(OMV.Quaternion.Normalize(RawOrientation));
+            return characterOrientedVelocity.X;
+        }
+    }
+
     #region Collisions
 
     // Requested number of milliseconds between collision events. Zero means disabled.
@@ -146,26 +218,65 @@ public abstract class BSPhysObject : PhysicsActor
     protected long CollidingStep { get; set; }
     // The simulation step that last had a collision with the ground
     protected long CollidingGroundStep { get; set; }
+    // The simulation step that last collided with an object
+    protected long CollidingObjectStep { get; set; }
     // The collision flags we think are set in Bullet
     protected CollisionFlags CurrentCollisionFlags { get; set; }
 
+    public override bool IsColliding {
+        get { return (CollidingStep == PhysicsScene.SimulationStep); }
+        set {
+            if (value)
+                CollidingStep = PhysicsScene.SimulationStep;
+            else
+                CollidingStep = 0;
+            }
+    }
+    public override bool CollidingGround {
+        get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
+        set
+        {
+            if (value)
+                CollidingGroundStep = PhysicsScene.SimulationStep;
+            else
+                CollidingGroundStep = 0;
+        }
+    }
+    public override bool CollidingObj {
+        get { return (CollidingObjectStep == PhysicsScene.SimulationStep); }
+        set { 
+            if (value)
+                CollidingObjectStep = PhysicsScene.SimulationStep;
+            else
+                CollidingObjectStep = 0;
+        }
+    }
+
     // The collisions that have been collected this tick
     protected CollisionEventUpdate CollisionCollection;
+    // Remember collisions from last tick for fancy collision based actions
+    //     (like a BSCharacter walking up stairs).
+    protected CollisionEventUpdate CollisionsLastTick;
 
     // The simulation step is telling this object about a collision.
     // Return 'true' if a collision was processed and should be sent up.
+    // Return 'false' if this object is not enabled/subscribed/appropriate for or has already seen this collision.
     // Called at taint time from within the Step() function
     public virtual bool Collide(uint collidingWith, BSPhysObject collidee,
                     OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
     {
         bool ret = false;
 
-        // The following lines make IsColliding() and IsCollidingGround() work
+        // The following lines make IsColliding(), CollidingGround() and CollidingObj work
         CollidingStep = PhysicsScene.SimulationStep;
         if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID)
         {
             CollidingGroundStep = PhysicsScene.SimulationStep;
         }
+        else
+        {
+            CollidingObjectStep = PhysicsScene.SimulationStep;
+        }
 
         // prims in the same linkset cannot collide with each other
         if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID))
@@ -192,7 +303,7 @@ public abstract class BSPhysObject : PhysicsActor
     {
         bool ret = true;
         // If the 'no collision' call, force it to happen right now so quick collision_end
-        bool force = CollisionCollection.Count == 0;
+        bool force = (CollisionCollection.Count == 0);
 
         // throttle the collisions to the number of milliseconds specified in the subscription
         if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime))
@@ -210,8 +321,13 @@ public abstract class BSPhysObject : PhysicsActor
             // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
             base.SendCollisionUpdate(CollisionCollection);
 
-            // The collisionCollection structure is passed around in the simulator.
+            // Remember the collisions from this tick for some collision specific processing.
+            CollisionsLastTick = CollisionCollection;
+
+            // The CollisionCollection instance is passed around in the simulator.
             // Make sure we don't have a handle to that one and that a new one is used for next time.
+            //    This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here, 
+            //    a race condition is created for the other users of this instance.
             CollisionCollection = new CollisionEventUpdate();
         }
         return ret;
@@ -229,7 +345,8 @@ public abstract class BSPhysObject : PhysicsActor
 
             PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate()
             {
-                CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+                if (PhysBody.HasPhysicalBody)
+                    CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
             });
         }
         else
@@ -243,7 +360,9 @@ public abstract class BSPhysObject : PhysicsActor
         SubscribedEventsMs = 0;
         PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate()
         {
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            // Make sure there is a body there because sometimes destruction happens in an un-ideal order.
+            if (PhysBody.HasPhysicalBody)
+                CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
         });
     }
     // Return 'true' if the simulator wants collision events
@@ -253,11 +372,66 @@ 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();
+
+        lock (RegisteredActions)
+        {
+            // Clean out any existing action
+            UnRegisterPreStepAction(op, id);
+
+            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;
+        lock (RegisteredActions)
+        {
+            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()
+    {
+        lock (RegisteredActions)
+        {
+            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/BSPlugin.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs
index 20f5180..9442854 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs
@@ -59,13 +59,7 @@ public class BSPlugin : IPhysicsPlugin
     {
         if (_mScene == null)
         {
-            if (Util.IsWindows())
-                Util.LoadArchSpecificWindowsDll("BulletSim.dll");
-            // If not Windows, loading is performed by the
-            // Mono loader as specified in
-            // "bin/Physics/OpenSim.Region.Physics.BulletSPlugin.dll.config".
-
-            _mScene = new BSScene(sceneIdentifier);
+            _mScene = new BSScene(GetName(), sceneIdentifier);
         }
         return (_mScene);
     }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 2b3fa25..79fe632 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -45,13 +45,15 @@ public sealed class BSPrim : BSPhysObject
     private static readonly string LogHeader = "[BULLETS PRIM]";
 
     // _size is what the user passed. Scale is what we pass to the physics engine with the mesh.
-    // Often Scale is unity because the meshmerizer will apply _size when creating the mesh.
     private OMV.Vector3 _size;  // the multiplier for each mesh dimension as passed by the user
 
     private bool _grabbed;
     private bool _isSelected;
     private bool _isVolumeDetect;
+
+    // _position is what the simulator thinks the positions of the prim is.
     private OMV.Vector3 _position;
+
     private float _mass;    // the mass of this object
     private float _density;
     private OMV.Vector3 _force;
@@ -67,9 +69,6 @@ public sealed class BSPrim : BSPhysObject
     private float _restitution;
     private bool _setAlwaysRun;
     private bool _throttleUpdates;
-    private bool _isColliding;
-    private bool _collidingGround;
-    private bool _collidingObj;
     private bool _floatOnWater;
     private OMV.Vector3 _rotationalVelocity;
     private bool _kinematic;
@@ -77,13 +76,14 @@ public sealed class BSPrim : BSPhysObject
 
     private BSDynamics _vehicle;
 
+    private BSVMotor _targetMotor;
     private OMV.Vector3 _PIDTarget;
-    private bool _usePID;
     private float _PIDTau;
-    private bool _useHoverPID;
+
+    private BSFMotor _hoverMotor;
     private float _PIDHoverHeight;
     private PIDHoverType _PIDHoverType;
-    private float _PIDHoverTao;
+    private float _PIDHoverTau;
 
     public BSPrim(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
                        OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
@@ -93,23 +93,27 @@ public sealed class BSPrim : BSPhysObject
         _physicsActorType = (int)ActorTypes.Prim;
         _position = pos;
         _size = size;
-        Scale = size;   // the scale will be set by CreateGeom depending on object type
+        Scale = size;   // prims are the size the user wants them to be (different for BSCharactes).
         _orientation = rotation;
-        _buoyancy = 1f;
+        _buoyancy = 0f;
         _velocity = OMV.Vector3.Zero;
         _rotationalVelocity = OMV.Vector3.Zero;
         BaseShape = pbs;
         _isPhysical = pisPhysical;
         _isVolumeDetect = false;
-        _friction = PhysicsScene.Params.defaultFriction;  // TODO: compute based on object material
-        _density = PhysicsScene.Params.defaultDensity;    // TODO: compute based on object material
+
+        // Someday set default attributes based on the material but, for now, we don't know the prim material yet.
+        // MaterialAttributes primMat = BSMaterials.GetAttributes(Material, pisPhysical);
+        _density = PhysicsScene.Params.defaultDensity;
+        _friction = PhysicsScene.Params.defaultFriction;
         _restitution = PhysicsScene.Params.defaultRestitution;
+
         _vehicle = new BSDynamics(PhysicsScene, this);            // add vehicleness
+
         _mass = CalculateMass();
 
-        // No body or shape yet
-        PhysBody = new BulletBody(LocalID, IntPtr.Zero);
-        PhysShape = new BulletShape(IntPtr.Zero);
+        // Cause linkset variables to be initialized (like mass)
+        Linkset.Refresh(this);
 
         DetailLog("{0},BSPrim.constructor,call", LocalID);
         // do the actual object creation at taint time
@@ -117,7 +121,7 @@ public sealed class BSPrim : BSPhysObject
         {
             CreateGeomAndObject(true);
 
-            CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(PhysBody.ptr);
+            CurrentCollisionFlags = PhysicsScene.PE.GetCollisionFlags(PhysBody);
         });
     }
 
@@ -125,6 +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;
@@ -143,7 +148,9 @@ public sealed class BSPrim : BSPhysObject
             DetailLog("{0},BSPrim.Destroy,taint,", LocalID);
             // If there are physical body and shape, release my use of same.
             PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
+            PhysBody.Clear();
             PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
+            PhysShape.Clear();
         });
     }
 
@@ -157,16 +164,15 @@ public sealed class BSPrim : BSPhysObject
             // We presume the scale and size are the same. If scale must be changed for
             //     the physical shape, that is done when the geometry is built.
             _size = value;
+            Scale = _size;
             ForceBodyShapeRebuild(false);
         }
     }
-    // Scale is what we set in the physics engine. It is different than 'size' in that
-    //     'size' can be encorporated into the mesh. In that case, the scale is <1,1,1>.
-    public override OMV.Vector3 Scale { get; set; }
 
     public override PrimitiveBaseShape Shape {
         set {
             BaseShape = value;
+            LastAssetBuildFailed = false;
             ForceBodyShapeRebuild(false);
         }
     }
@@ -176,7 +182,6 @@ public sealed class BSPrim : BSPhysObject
 
     public override bool ForceBodyShapeRebuild(bool inTaintTime)
     {
-        LastAssetBuildFailed = false;
         PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ForceBodyShapeRebuild", delegate()
         {
             _mass = CalculateMass();   // changing the shape changes the mass
@@ -189,15 +194,23 @@ public sealed class BSPrim : BSPhysObject
         }
     }
     public override bool Selected {
-        set {
-            _isSelected = value;
-            PhysicsScene.TaintedObject("BSPrim.setSelected", delegate()
+        set
+        {
+            if (value != _isSelected)
             {
-                DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected);
-                SetObjectDynamic(false);
-            });
+                _isSelected = value;
+                PhysicsScene.TaintedObject("BSPrim.setSelected", delegate()
+                {
+                    DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected);
+                    SetObjectDynamic(false);
+                });
+            }
         }
     }
+    public override bool IsSelected
+    {
+        get { return _isSelected; }
+    }
     public override void CrossingFailure() { return; }
 
     // link me to the specified parent
@@ -244,7 +257,8 @@ public sealed class BSPrim : BSPhysObject
         // Zero some other properties in the physics engine
         PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
         {
-            BulletSimAPI.ClearAllForces2(PhysBody.ptr);
+            if (PhysBody.HasPhysicalBody)
+                PhysicsScene.PE.ClearAllForces(PhysBody);
         });
     }
     public override void ZeroAngularMotion(bool inTaintTime)
@@ -253,8 +267,12 @@ public sealed class BSPrim : BSPhysObject
         // Zero some other properties in the physics engine
         PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
         {
-            BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
-            BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
+            // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity);
+            if (PhysBody.HasPhysicalBody)
+            {
+                PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity);
+                PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
+            }
         });
     }
 
@@ -271,41 +289,69 @@ public sealed class BSPrim : BSPhysObject
     }
     public override OMV.Vector3 Position {
         get {
+            /* NOTE: this refetch is not necessary. The simulator knows about linkset children
+             *    and does not fetch this position info for children. Thus this is commented out.
             // child prims move around based on their parent. Need to get the latest location
             if (!Linkset.IsRoot(this))
-                _position = Linkset.Position(this);
+                _position = Linkset.PositionGet(this);
+            */
 
             // don't do the GetObjectPosition for root elements because this function is called a zillion times.
-            // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
+            // _position = PhysicsScene.PE.GetObjectPosition2(PhysicsScene.World, BSBody) - PositionDisplacement;
             return _position;
         }
         set {
             // If the position must be forced into the physics engine, use ForcePosition.
+            // All positions are given in world positions.
             if (_position == value)
             {
+                DetailLog("{0},BSPrim.setPosition,call,positionNotChanging,pos={1},orient={2}", LocalID, _position, _orientation);
                 return;
             }
             _position = value;
-            // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint?
             PositionSanityCheck(false);
+
+            // A linkset might need to know if a component information changed.
+            Linkset.UpdateProperties(this, false);
+
             PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
             {
-                // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
-                ActivateIfPhysical(false);
+                DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
+                ForcePosition = _position;
             });
         }
     }
     public override OMV.Vector3 ForcePosition {
         get {
-            _position = BulletSimAPI.GetPosition2(PhysBody.ptr);
+            _position = PhysicsScene.PE.GetPosition(PhysBody) - PositionDisplacement;
             return _position;
         }
         set {
             _position = value;
-            // PositionSanityCheck();   // Don't do this! Causes a loop and caller should know better.
-            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
-            ActivateIfPhysical(false);
+            if (PhysBody.HasPhysicalBody)
+            {
+                PhysicsScene.PE.SetTranslation(PhysBody, _position + PositionDisplacement, _orientation);
+                ActivateIfPhysical(false);
+            }
+        }
+    }
+    // Override to have position displacement immediately update the physical position.
+    // A feeble attempt to keep the sim and physical positions in sync
+    // Must be called at taint time.
+    public override OMV.Vector3 PositionDisplacement
+    {
+        get
+        {
+            return base.PositionDisplacement;
+        }
+        set
+        {
+            base.PositionDisplacement = value;
+            PhysicsScene.TaintedObject(PhysicsScene.InTaintTime, "BSPrim.setPosition", delegate()
+            {
+                if (PhysBody.HasPhysicalBody)
+                    PhysicsScene.PE.SetTranslation(PhysBody, _position + base.PositionDisplacement, _orientation);
+            });
         }
     }
 
@@ -316,51 +362,56 @@ public sealed class BSPrim : BSPhysObject
     {
         bool ret = false;
 
+        if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(RawPosition))
+        {
+            // The physical object is out of the known/simulated area.
+            // Upper levels of code will handle the transition to other areas so, for
+            //     the time, we just ignore the position.
+            return ret;
+        }
+
         float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
         OMV.Vector3 upForce = OMV.Vector3.Zero;
-        if (Position.Z < terrainHeight)
+        if (RawPosition.Z < terrainHeight)
         {
             DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
             float targetHeight = terrainHeight + (Size.Z / 2f);
-            // Upforce proportional to the distance away from the terrain. Correct the error in 1 sec.
-            upForce.Z = (terrainHeight - Position.Z) * 1f;
+            // If the object is below ground it just has to be moved up because pushing will
+            //     not get it through the terrain
+            _position.Z = targetHeight;
+            if (inTaintTime)
+                ForcePosition = _position;
             ret = true;
         }
 
         if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
         {
-            float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position);
+            float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position);
             // TODO: a floating motor so object will bob in the water
-            if (Math.Abs(Position.Z - waterHeight) > 0.1f)
+            if (Math.Abs(RawPosition.Z - waterHeight) > 0.1f)
             {
                 // Upforce proportional to the distance away from the water. Correct the error in 1 sec.
-                upForce.Z = (waterHeight - Position.Z) * 1f;
+                upForce.Z = (waterHeight - RawPosition.Z) * 1f;
+
+                // Apply upforce and overcome gravity.
+                OMV.Vector3 correctionForce = upForce - PhysicsScene.DefaultGravity;
+                DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, _position, upForce, correctionForce);
+                AddForce(correctionForce, false, inTaintTime);
                 ret = true;
             }
         }
 
-        // TODO: check for out of bounds
-
-        // The above code computes a force to apply to correct any out-of-bounds problems. Apply same.
-        if (ret)
-        {
-            PhysicsScene.TaintedObject(inTaintTime, "BSPrim.PositionSanityCheck:belowTerrain", delegate()
-            {
-                // Apply upforce and overcome gravity.
-                ForceVelocity = ForceVelocity + upForce - PhysicsScene.DefaultGravity;
-            });
-        }
         return ret;
     }
 
     // Return the effective mass of the object.
-    // If there are multiple items in the linkset, add them together for the root
+        // The definition of this call is to return the mass of the prim.
+        // If the simulator cares about the mass of the linkset, it will sum it itself.
     public override float Mass
     {
         get
         {
-            return Linkset.LinksetMass;
-            // return _mass;
+            return _mass;
         }
     }
 
@@ -370,25 +421,64 @@ public sealed class BSPrim : BSPhysObject
     }
     // Set the physical mass to the passed mass.
     // Note that this does not change _mass!
-    public override void UpdatePhysicalMassProperties(float physMass)
+    public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
     {
-        if (IsStatic)
-        {
-            Inertia = OMV.Vector3.Zero;
-            BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia);
-            BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
-        }
-        else
+        if (PhysBody.HasPhysicalBody)
         {
-            Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
-            BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia);
-            BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
-            // center of mass is at the zero of the object
-            // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation);
-            DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, Inertia);
+            if (IsStatic)
+            {
+                PhysicsScene.PE.SetGravity(PhysBody, PhysicsScene.DefaultGravity);
+                Inertia = OMV.Vector3.Zero;
+                PhysicsScene.PE.SetMassProps(PhysBody, 0f, Inertia);
+                PhysicsScene.PE.UpdateInertiaTensor(PhysBody);
+            }
+            else
+            {
+                OMV.Vector3 grav = ComputeGravity(Buoyancy);
+
+                if (inWorld)
+                {
+                    // Changing interesting properties doesn't change proxy and collision cache
+                    //    information. The Bullet solution is to re-add the object to the world
+                    //    after parameters are changed.
+                    PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody);
+                }
+
+                // The computation of mass props requires gravity to be set on the object.
+                PhysicsScene.PE.SetGravity(PhysBody, grav);
+
+                Inertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape, physMass);
+                PhysicsScene.PE.SetMassProps(PhysBody, physMass, Inertia);
+                PhysicsScene.PE.UpdateInertiaTensor(PhysBody);
+
+                // center of mass is at the zero of the object
+                // DEBUG DEBUG PhysicsScene.PE.SetCenterOfMassByPosRot(PhysBody, ForcePosition, ForceOrientation);
+                DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},grav={3},inWorld={4}", LocalID, physMass, Inertia, grav, inWorld);
+
+                if (inWorld)
+                {
+                    AddObjectToPhysicalWorld();
+                }
+
+                // Must set gravity after it has been added to the world because, for unknown reasons,
+                //     adding the object resets the object's gravity to world gravity
+                PhysicsScene.PE.SetGravity(PhysBody, grav);
+
+            }
         }
     }
 
+    // Return what gravity should be set to this very moment
+    public OMV.Vector3 ComputeGravity(float buoyancy)
+    {
+        OMV.Vector3 ret = PhysicsScene.DefaultGravity;
+
+        if (!IsStatic)
+            ret *= (1f - buoyancy);
+
+        return ret;
+    }
+
     // Is this used?
     public override OMV.Vector3 CenterOfMass
     {
@@ -405,11 +495,26 @@ 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);
-                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)
+                        {
+                            PhysicsScene.PE.ApplyCentralForce(PhysBody, _force);
+                            ActivateIfPhysical(false);
+                        }
+                    }
+                );
+            }
+            else
+            {
+                UnRegisterPreStepAction("BSPrim.setForce", LocalID);
+            }
         }
     }
 
@@ -420,15 +525,18 @@ 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);
             });
         }
     }
@@ -464,23 +572,6 @@ 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);
@@ -495,6 +586,11 @@ public sealed class BSPrim : BSPhysObject
         }
         return;
     }
+    public override OMV.Vector3 RawVelocity
+    {
+        get { return _velocity; }
+        set { _velocity = value; }
+    }
     public override OMV.Vector3 Velocity {
         get { return _velocity; }
         set {
@@ -502,22 +598,44 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate()
             {
                 // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
-                BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
+                ForceVelocity = _velocity;
             });
         }
     }
     public override OMV.Vector3 ForceVelocity {
         get { return _velocity; }
         set {
+            PhysicsScene.AssertInTaintTime("BSPrim.ForceVelocity");
+
             _velocity = value;
-            BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
+            if (PhysBody.HasPhysicalBody)
+            {
+                DetailLog("{0},BSPrim.ForceVelocity,taint,vel={1}", LocalID, _velocity);
+                PhysicsScene.PE.SetLinearVelocity(PhysBody, _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);
         }
     }
@@ -537,23 +655,27 @@ public sealed class BSPrim : BSPhysObject
     }
     public override OMV.Quaternion Orientation {
         get {
+            /* NOTE: this refetch is not necessary. The simulator knows about linkset children
+             *    and does not fetch this position info for children. Thus this is commented out.
             // Children move around because tied to parent. Get a fresh value.
             if (!Linkset.IsRoot(this))
             {
-                _orientation = Linkset.Orientation(this);
+                _orientation = Linkset.OrientationGet(this);
             }
+             */
             return _orientation;
         }
         set {
             if (_orientation == value)
                 return;
             _orientation = value;
-            // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint?
+
+            // A linkset might need to know if a component information changed.
+            Linkset.UpdateProperties(this, false);
+
             PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
             {
-                // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
-                // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+                ForceOrientation = _orientation;
             });
         }
     }
@@ -562,13 +684,14 @@ public sealed class BSPrim : BSPhysObject
     {
         get
         {
-            _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr);
+            _orientation = PhysicsScene.PE.GetOrientation(PhysBody);
             return _orientation;
         }
         set
         {
             _orientation = value;
-            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+            if (PhysBody.HasPhysicalBody)
+                PhysicsScene.PE.SetTranslation(PhysBody, _position + PositionDisplacement, _orientation);
         }
     }
     public override int PhysicsActorType {
@@ -583,7 +706,7 @@ public sealed class BSPrim : BSPhysObject
                 _isPhysical = value;
                 PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate()
                 {
-                    // DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
+                    DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
                     SetObjectDynamic(true);
                     // whether phys-to-static or static-to-phys, the object is not moving.
                     ZeroMotion(true);
@@ -624,7 +747,7 @@ public sealed class BSPrim : BSPhysObject
 
         // Mangling all the physical properties requires the object not be in the physical world.
         // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
-        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
+        PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody);
 
         // Set up the object physicalness (does gravity and collisions move this object)
         MakeDynamic(IsStatic);
@@ -638,16 +761,10 @@ public sealed class BSPrim : BSPhysObject
         // Make solid or not (do things bounce off or pass through this object).
         MakeSolid(IsSolid);
 
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
+        AddObjectToPhysicalWorld();
 
         // Rebuild its shape
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
-
-        // Collision filter can be set only when the object is in the world
-        if (PhysBody.collisionFilter != 0 || PhysBody.collisionMask != 0)
-        {
-            BulletSimAPI.SetCollisionFilterMask2(PhysBody.ptr, (uint)PhysBody.collisionFilter, (uint)PhysBody.collisionMask);
-        }
+        PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody);
 
         // Recompute any linkset parameters.
         // When going from non-physical to physical, this re-enables the constraints that
@@ -655,8 +772,8 @@ public sealed class BSPrim : BSPhysObject
         // For compound based linksets, this enables and disables interactions of the children.
         Linkset.Refresh(this);
 
-        DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
-                        LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody, PhysShape);
+        DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},cType={6},body={7},shape={8}",
+                        LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody.collisionType, PhysBody, PhysShape);
     }
 
     // "Making dynamic" means changing to and from static.
@@ -669,74 +786,80 @@ public sealed class BSPrim : BSPhysObject
         if (makeStatic)
         {
             // Become a Bullet 'static' object type
-            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
+            CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT);
             // Stop all movement
             ZeroMotion(true);
-            // Center of mass is at the center of the object
-            // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation);
+
+            // Set various physical properties so other object interact properly
+            MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
+            PhysicsScene.PE.SetFriction(PhysBody, matAttrib.friction);
+            PhysicsScene.PE.SetRestitution(PhysBody, matAttrib.restitution);
+
             // Mass is zero which disables a bunch of physics stuff in Bullet
-            UpdatePhysicalMassProperties(0f);
+            UpdatePhysicalMassProperties(0f, false);
             // 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);
+                PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
+                PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
             }
-            // There can be special things needed for implementing linksets
-            Linkset.MakeStatic(this);
+
             // The activation state is 'disabled' so Bullet will not try to act on it.
-            BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
+            // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_SIMULATION);
             // Start it out sleeping and physical actions could wake it up.
-            // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
+            PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ISLAND_SLEEPING);
+
+            // This collides like a static object
+            PhysBody.collisionType = CollisionType.Static;
 
-            PhysBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter;
-            PhysBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
+            // There can be special things needed for implementing linksets
+            Linkset.MakeStatic(this);
         }
         else
         {
             // Not a Bullet static object
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
+            CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT);
 
-            // Set various physical properties so internal dynamic properties will get computed correctly as they are set
-            BulletSimAPI.SetFriction2(PhysBody.ptr, PhysicsScene.Params.defaultFriction);
-            BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.defaultRestitution);
+            // Set various physical properties so other object interact properly
+            MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, true);
+            PhysicsScene.PE.SetFriction(PhysBody, matAttrib.friction);
+            PhysicsScene.PE.SetRestitution(PhysBody, matAttrib.restitution);
 
             // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
             // Since this can be called multiple times, only zero forces when becoming physical
-            // BulletSimAPI.ClearAllForces2(BSBody.ptr);
+            // PhysicsScene.PE.ClearAllForces(BSBody);
 
             // For good measure, make sure the transform is set through to the motion state
-            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+            PhysicsScene.PE.SetTranslation(PhysBody, _position + PositionDisplacement, _orientation);
 
             // Center of mass is at the center of the object
-            // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation);
+            // DEBUG DEBUG PhysicsScene.PE.SetCenterOfMassByPosRot(Linkset.LinksetRoot.PhysBody, _position, _orientation);
 
             // A dynamic object has mass
-            UpdatePhysicalMassProperties(RawMass);
+            UpdatePhysicalMassProperties(RawMass, false);
 
             // 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);
+                PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
+                PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, 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);
+            PhysicsScene.PE.SetDamping(PhysBody, BSParam.LinearDamping, BSParam.AngularDamping);
+            PhysicsScene.PE.SetDeactivationTime(PhysBody, BSParam.DeactivationTime);
+            PhysicsScene.PE.SetSleepingThresholds(PhysBody, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold);
+            PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold);
 
-            // There might be special things needed for implementing linksets.
-            Linkset.MakeDynamic(this);
+            // This collides like an object.
+            PhysBody.collisionType = CollisionType.Dynamic;
 
             // Force activation of the object so Bullet will act on it.
             // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects.
-            BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG);
-            // BulletSimAPI.Activate2(BSBody.ptr, true);
+            PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG);
 
-            PhysBody.collisionFilter = CollisionFilterGroups.ObjectFilter;
-            PhysBody.collisionMask = CollisionFilterGroups.ObjectMask;
+            // There might be special things needed for implementing linksets.
+            Linkset.MakeDynamic(this);
         }
     }
 
@@ -746,7 +869,7 @@ public sealed class BSPrim : BSPhysObject
     //     the functions after this one set up the state of a possibly newly created collision body.
     private void MakeSolid(bool makeSolid)
     {
-        CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(PhysBody.ptr);
+        CollisionObjectTypes bodyType = (CollisionObjectTypes)PhysicsScene.PE.GetBodyType(PhysBody);
         if (makeSolid)
         {
             // Verify the previous code created the correct shape for this type of thing.
@@ -754,7 +877,7 @@ public sealed class BSPrim : BSPhysObject
             {
                 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType);
             }
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
         }
         else
         {
@@ -762,9 +885,10 @@ public sealed class BSPrim : BSPhysObject
             {
                 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType);
             }
-            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
-            PhysBody.collisionFilter = CollisionFilterGroups.VolumeDetectFilter;
-            PhysBody.collisionMask = CollisionFilterGroups.VolumeDetectMask;
+            CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+
+            // Change collision info from a static object to a ghosty collision object
+            PhysBody.collisionType = CollisionType.VolumeDetect;
         }
     }
 
@@ -773,8 +897,8 @@ public sealed class BSPrim : BSPhysObject
     // Called in taint-time!!
     private void ActivateIfPhysical(bool forceIt)
     {
-        if (IsPhysical)
-            BulletSimAPI.Activate2(PhysBody.ptr, forceIt);
+        if (IsPhysical && PhysBody.HasPhysicalBody)
+            PhysicsScene.PE.Activate(PhysBody, forceIt);
     }
 
     // Turn on or off the flag controlling whether collision events are returned to the simulator.
@@ -782,11 +906,27 @@ public sealed class BSPrim : BSPhysObject
     {
         if (wantsCollisionEvents)
         {
-            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+        }
+        else
+        {
+            CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+        }
+    }
+
+    // Add me to the physical world.
+    // Object MUST NOT already be in the world.
+    // This routine exists because some assorted properties get mangled by adding to the world.
+    internal void AddObjectToPhysicalWorld()
+    {
+        if (PhysBody.HasPhysicalBody)
+        {
+            PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody);
         }
         else
         {
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            m_log.ErrorFormat("{0} Attempt to add physical object without body. id={1}", LogHeader, LocalID);
+            DetailLog("{0},BSPrim.UpdatePhysicalParameters,addObjectWithoutBody,cType={1}", LocalID, PhysBody.collisionType);
         }
     }
 
@@ -805,18 +945,6 @@ public sealed class BSPrim : BSPhysObject
         get { return _throttleUpdates; }
         set { _throttleUpdates = value; }
     }
-    public override bool IsColliding {
-        get { return (CollidingStep == PhysicsScene.SimulationStep); }
-        set { _isColliding = value; }
-    }
-    public override bool CollidingGround {
-        get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
-        set { _collidingGround = value; }
-    }
-    public override bool CollidingObj {
-        get { return _collidingObj; }
-        set { _collidingObj = value; }
-    }
     public bool IsPhantom {
         get {
             // SceneObjectPart removes phantom objects from the physics scene
@@ -831,23 +959,14 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate()
             {
                 if (_floatOnWater)
-                    CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+                    CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
                 else
-                    CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+                    CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
             });
         }
     }
     public override OMV.Vector3 RotationalVelocity {
         get {
-            /*
-            OMV.Vector3 pv = OMV.Vector3.Zero;
-            // if close to zero, report zero
-            // This is copied from ODE but I'm not sure why it returns zero but doesn't
-            //    zero the property in the physics engine.
-            if (_rotationalVelocity.ApproxEquals(pv, 0.2f))
-                return pv;
-             */
-
             return _rotationalVelocity;
         }
         set {
@@ -856,7 +975,7 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
             {
                 DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
-                BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+                ForceRotationalVelocity = _rotationalVelocity;
             });
         }
     }
@@ -866,7 +985,11 @@ public sealed class BSPrim : BSPhysObject
         }
         set {
             _rotationalVelocity = value;
-            BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+            if (PhysBody.HasPhysicalBody)
+            {
+                PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
+                ActivateIfPhysical(false);
+            }
         }
     }
     public override bool Kinematic {
@@ -890,9 +1013,10 @@ public sealed class BSPrim : BSPhysObject
         set {
             _buoyancy = value;
             // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
-            // Buoyancy is faked by changing the gravity applied to the object
-            float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
-            BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
+            // Force the recalculation of the various inertia,etc variables in the object
+            DetailLog("{0},BSPrim.ForceBuoyancy,buoy={1},mass={2}", LocalID, _buoyancy, _mass);
+            UpdatePhysicalMassProperties(_mass, true);
+            ActivateIfPhysical(false);
         }
     }
 
@@ -900,17 +1024,103 @@ public sealed class BSPrim : BSPhysObject
     public override OMV.Vector3 PIDTarget {
         set { _PIDTarget = value; }
     }
-    public override bool PIDActive {
-        set { _usePID = value; }
-    }
     public override float PIDTau {
         set { _PIDTau = value; }
     }
+    public override bool PIDActive {
+        set {
+            if (value)
+            {
+                // We're taking over after this.
+                ZeroMotion(true);
+
+                _targetMotor = new BSVMotor("BSPrim.PIDTarget",
+                                            _PIDTau,                    // timeScale
+                                            BSMotor.Infinite,           // decay time scale
+                                            BSMotor.InfiniteVector,     // friction timescale
+                                            1f                          // efficiency
+                );
+                _targetMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
+                _targetMotor.SetTarget(_PIDTarget);
+                _targetMotor.SetCurrent(RawPosition);
+                /*
+                _targetMotor = new BSPIDVMotor("BSPrim.PIDTarget");
+                _targetMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
+
+                _targetMotor.SetTarget(_PIDTarget);
+                _targetMotor.SetCurrent(RawPosition);
+                _targetMotor.TimeScale = _PIDTau;
+                _targetMotor.Efficiency = 1f;
+                 */
+
+                RegisterPreStepAction("BSPrim.PIDTarget", LocalID, delegate(float timeStep)
+                {
+                    OMV.Vector3 origPosition = RawPosition;     // DEBUG DEBUG (for printout below)
+
+                    // 'movePosition' is where we'd like the prim to be at this moment.
+                    OMV.Vector3 movePosition = _targetMotor.Step(timeStep);
+
+                    // If we are very close to our target, turn off the movement motor.
+                    if (_targetMotor.ErrorIsZero())
+                    {
+                        DetailLog("{0},BSPrim.PIDTarget,zeroMovement,movePos={1},pos={2},mass={3}",
+                                                LocalID, movePosition, RawPosition, Mass);
+                        ForcePosition = _targetMotor.TargetValue;
+                        _targetMotor.Enabled = false;
+                    }
+                    else
+                    {
+                        ForcePosition = movePosition;
+                    }
+                    DetailLog("{0},BSPrim.PIDTarget,move,fromPos={1},movePos={2}", LocalID, origPosition, movePosition);
+                });
+            }
+            else
+            {
+                // Stop any targetting
+                UnRegisterPreStepAction("BSPrim.PIDTarget", LocalID);
+            }
+        }
+    }
 
     // Used for llSetHoverHeight and maybe vehicle height
     // Hover Height will override MoveTo target's Z
     public override bool PIDHoverActive {
-        set { _useHoverPID = value; }
+        set {
+            if (value)
+            {
+                // Turning the target on
+                _hoverMotor = new BSFMotor("BSPrim.Hover",
+                                            _PIDHoverTau,               // timeScale
+                                            BSMotor.Infinite,           // decay time scale
+                                            BSMotor.Infinite,           // friction timescale
+                                            1f                          // efficiency
+                );
+                _hoverMotor.SetTarget(ComputeCurrentPIDHoverHeight());
+                _hoverMotor.SetCurrent(RawPosition.Z);
+                _hoverMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
+
+                RegisterPreStepAction("BSPrim.Hover", LocalID, delegate(float timeStep)
+                {
+                    _hoverMotor.SetCurrent(RawPosition.Z);
+                    _hoverMotor.SetTarget(ComputeCurrentPIDHoverHeight());
+                    float targetHeight = _hoverMotor.Step(timeStep);
+
+                    // 'targetHeight' is where we'd like the Z of the prim to be at this moment.
+                    // Compute the amount of force to push us there.
+                    float moveForce = (targetHeight - RawPosition.Z) * Mass;
+                    // Undo anything the object thinks it's doing at the moment
+                    moveForce = -RawVelocity.Z * Mass;
+
+                    PhysicsScene.PE.ApplyCentralImpulse(PhysBody, new OMV.Vector3(0f, 0f, moveForce));
+                    DetailLog("{0},BSPrim.Hover,move,targHt={1},moveForce={2},mass={3}", LocalID, targetHeight, moveForce, Mass);
+                });
+            }
+            else
+            {
+                UnRegisterPreStepAction("BSPrim.Hover", LocalID);
+            }
+        }
     }
     public override float PIDHoverHeight {
         set { _PIDHoverHeight = value; }
@@ -919,8 +1129,35 @@ public sealed class BSPrim : BSPhysObject
         set { _PIDHoverType = value; }
     }
     public override float PIDHoverTau {
-        set { _PIDHoverTao = value; }
+        set { _PIDHoverTau = value; }
     }
+    // Based on current position, determine what we should be hovering at now.
+    // Must recompute often. What if we walked offa cliff>
+    private float ComputeCurrentPIDHoverHeight()
+    {
+        float ret = _PIDHoverHeight;
+        float groundHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition);
+
+        switch (_PIDHoverType)
+        {
+            case PIDHoverType.Ground:
+                ret = groundHeight + _PIDHoverHeight;
+                break;
+            case PIDHoverType.GroundAndWater:
+                float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(RawPosition);
+                if (groundHeight > waterHeight)
+                {
+                    ret = groundHeight + _PIDHoverHeight;
+                }
+                else
+                {
+                    ret = waterHeight + _PIDHoverHeight;
+                }
+                break;
+        }
+        return ret;
+    }
+
 
     // For RotLookAt
     public override OMV.Quaternion APIDTarget { set { return; } }
@@ -928,54 +1165,82 @@ 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);
+        // Since this force is being applied in only one step, make this a force per second.
+        OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep;
+        AddForce(addForce, 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())
+        if (!IsStatic)
         {
-            // _force += force;
-            lock (m_accumulatedForces)
-                m_accumulatedForces.Add(new OMV.Vector3(force));
-        }
-        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)
+            if (force.IsFinite())
             {
-                // Sum the accumulated additional forces for one big force to apply once.
-                foreach (OMV.Vector3 v in m_accumulatedForces)
+                float magnitude = force.Length();
+                if (magnitude > BSParam.MaxAddForceMagnitude)
                 {
-                    fSum += v;
+                    // Force has a limit
+                    force = force / magnitude * BSParam.MaxAddForceMagnitude;
                 }
-                m_accumulatedForces.Clear();
+
+                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)
+                    {
+                        PhysicsScene.PE.ApplyCentralForce(PhysBody, addForce);
+                        ActivateIfPhysical(false);
+                    }
+                });
             }
-            DetailLog("{0},BSPrim.AddForce,taint,force={1}", LocalID, fSum);
-            if (fSum != OMV.Vector3.Zero)
-                BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum);
-        });
+            else
+            {
+                m_log.WarnFormat("{0}: AddForce: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
+                return;
+            }
+        }
     }
 
-    // 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()
+    public void AddForceImpulse(OMV.Vector3 impulse, bool pushforce, bool inTaintTime) {
+        // for an object, doesn't matter if force is a pushforce or not
+        if (!IsStatic)
         {
-            DetailLog("{0},BSPrim.ApplyForceImpulse,taint,tImpulse={1}", LocalID, applyImpulse);
-            BulletSimAPI.ApplyCentralImpulse2(PhysBody.ptr, applyImpulse);
-        });
+            if (impulse.IsFinite())
+            {
+                float magnitude = impulse.Length();
+                if (magnitude > BSParam.MaxAddForceMagnitude)
+                {
+                    // Force has a limit
+                    impulse = impulse / magnitude * BSParam.MaxAddForceMagnitude;
+                }
+
+                // DetailLog("{0},BSPrim.addForceImpulse,call,impulse={1}", LocalID, impulse);
+                OMV.Vector3 addImpulse = impulse;
+                PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddImpulse", delegate()
+                {
+                    // Bullet adds this impulse immediately to the velocity
+                    DetailLog("{0},BSPrim.addForceImpulse,taint,impulseforce={1}", LocalID, addImpulse);
+                    if (PhysBody.HasPhysicalBody)
+                    {
+                        PhysicsScene.PE.ApplyCentralImpulse(PhysBody, addImpulse);
+                        ActivateIfPhysical(false);
+                    }
+                });
+            }
+            else
+            {
+                m_log.WarnFormat("{0}: AddForceImpulse: Got a NaN impulse applied to a prim. LocalID={1}", LogHeader, LocalID);
+                return;
+            }
+        }
     }
 
-    private List<OMV.Vector3> m_accumulatedAngularForces = new List<OMV.Vector3>();
     public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
         AddAngularForce(force, pushforce, false);
     }
@@ -983,42 +1248,37 @@ 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)
+                {
+                    PhysicsScene.PE.ApplyTorque(PhysBody, 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)
-            {
-                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.
+    // Computed as: angularVelocity += impulse * inertia;
     public void ApplyTorqueImpulse(OMV.Vector3 impulse, bool inTaintTime)
     {
         OMV.Vector3 applyImpulse = impulse;
         PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate()
         {
-            BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse);
+            if (PhysBody.HasPhysicalBody)
+            {
+                PhysicsScene.PE.ApplyTorqueImpulse(PhysBody, applyImpulse);
+                ActivateIfPhysical(false);
+            }
         });
     }
 
@@ -1313,11 +1573,7 @@ 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
@@ -1326,7 +1582,7 @@ public sealed class BSPrim : BSPhysObject
     // Rebuild the geometry and object.
     // This is called when the shape changes so we need to recreate the mesh/hull.
     // Called at taint-time!!!
-    private void CreateGeomAndObject(bool forceRebuild)
+    public void CreateGeomAndObject(bool forceRebuild)
     {
         // If this prim is part of a linkset, we must remove and restore the physical
         //    links if the body is rebuilt.
@@ -1336,12 +1592,11 @@ public sealed class BSPrim : BSPhysObject
         // Create the correct physical representation for this type of object.
         // Updates PhysBody and PhysShape with the new information.
         // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
-        // Returns 'true' if either the body or the shape was changed.
         PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, null, delegate(BulletBody dBody)
         {
             // Called if the current prim body is about to be destroyed.
             // Remove all the physical dependencies on the old body.
-            // (Maybe someday make the changing of BSShape an event handled by BSLinkset.)
+            // (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...)
             needToRestoreLinkset = Linkset.RemoveBodyDependencies(this);
             needToRestoreVehicle = _vehicle.RemoveBodyDependencies(this);
         });
@@ -1364,72 +1619,20 @@ public sealed class BSPrim : BSPhysObject
 
     // The physics engine says that properties have updated. Update same and inform
     // the world that things have changed.
-    // TODO: do we really need to check for changed? Maybe just copy values and call RequestPhysicsterseUpdate()
-    enum UpdatedProperties {
-        Position      = 1 << 0,
-        Rotation      = 1 << 1,
-        Velocity      = 1 << 2,
-        Acceleration  = 1 << 3,
-        RotationalVel = 1 << 4
-    }
-
-    const float ROTATION_TOLERANCE = 0.01f;
-    const float VELOCITY_TOLERANCE = 0.001f;
-    const float POSITION_TOLERANCE = 0.05f;
-    const float ACCELERATION_TOLERANCE = 0.01f;
-    const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f;
-
     public override void UpdateProperties(EntityProperties entprop)
     {
-        /*
-        UpdatedProperties changed = 0;
-        // assign to the local variables so the normal set action does not happen
-        // if (_position != entprop.Position)
-        if (!_position.ApproxEquals(entprop.Position, POSITION_TOLERANCE))
-        {
-            _position = entprop.Position;
-            changed |= UpdatedProperties.Position;
-        }
-        // if (_orientation != entprop.Rotation)
-        if (!_orientation.ApproxEquals(entprop.Rotation, ROTATION_TOLERANCE))
-        {
-            _orientation = entprop.Rotation;
-            changed |= UpdatedProperties.Rotation;
-        }
-        // if (_velocity != entprop.Velocity)
-        if (!_velocity.ApproxEquals(entprop.Velocity, VELOCITY_TOLERANCE))
-        {
-            _velocity = entprop.Velocity;
-            changed |= UpdatedProperties.Velocity;
-        }
-        // if (_acceleration != entprop.Acceleration)
-        if (!_acceleration.ApproxEquals(entprop.Acceleration, ACCELERATION_TOLERANCE))
-        {
-            _acceleration = entprop.Acceleration;
-            changed |= UpdatedProperties.Acceleration;
-        }
-        // if (_rotationalVelocity != entprop.RotationalVelocity)
-        if (!_rotationalVelocity.ApproxEquals(entprop.RotationalVelocity, ROTATIONAL_VELOCITY_TOLERANCE))
-        {
-            _rotationalVelocity = entprop.RotationalVelocity;
-            changed |= UpdatedProperties.RotationalVel;
-        }
-        if (changed != 0)
+        // Updates only for individual prims and for the root object of a linkset.
+        if (Linkset.IsRoot(this))
         {
-            // Only update the position of single objects and linkset roots
-            if (Linkset.IsRoot(this))
+            // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
+            // TODO: handle physics introduced by Bullet with computed vehicle physics.
+            if (_vehicle.IsActive)
             {
-                base.RequestPhysicsterseUpdate();
+                entprop.RotationalVelocity = OMV.Vector3.Zero;
             }
-        }
-        */
-
-        // Don't check for damping here -- it's done in BulletSim and SceneObjectPart.
 
-        // Updates only for individual prims and for the root object of a linkset.
-        if (Linkset.IsRoot(this))
-        {
-            // Assign directly to the local variables so the normal set action does not happen
+            // Assign directly to the local variables so the normal set actions do not happen
+            entprop.Position -= PositionDisplacement;
             _position = entprop.Position;
             _orientation = entprop.Rotation;
             _velocity = entprop.Velocity;
@@ -1437,21 +1640,19 @@ public sealed class BSPrim : BSPhysObject
             _rotationalVelocity = entprop.RotationalVelocity;
 
             // The sanity check can change the velocity and/or position.
-            if (PositionSanityCheck(true))
+            if (IsPhysical && PositionSanityCheck(true))
             {
                 entprop.Position = _position;
                 entprop.Velocity = _velocity;
             }
 
-            // remember the current and last set values
-            LastEntityProperties = CurrentEntityProperties;
-            CurrentEntityProperties = entprop;
-
-            OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation;
+            OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation;   // DEBUG DEBUG DEBUG
             DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}",
                     LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity);
 
-            // BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, BSBody.ptr);   // DEBUG DEBUG DEBUG
+            // remember the current and last set values
+            LastEntityProperties = CurrentEntityProperties;
+            CurrentEntityProperties = entprop;
 
             base.RequestPhysicsterseUpdate();
         }
@@ -1466,7 +1667,7 @@ public sealed class BSPrim : BSPhysObject
              */
 
         // The linkset implimentation might want to know about this.
-        Linkset.UpdateProperties(this);
+        Linkset.UpdateProperties(this, true);
     }
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 27a78d1..e0b4992 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -26,6 +26,7 @@
  */
 using System;
 using System.Collections.Generic;
+using System.Reflection;
 using System.Runtime.InteropServices;
 using System.Text;
 using System.Threading;
@@ -38,40 +39,22 @@ using Nini.Config;
 using log4net;
 using OpenMetaverse;
 
-// TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim)
-// Test sculpties (verified that they don't work)
-// Compute physics FPS reasonably
-// Based on material, set density and friction
-// Don't use constraints in linksets of non-physical objects. Means having to move children manually.
-// Four states of prim: Physical, regular, phantom and selected. Are we modeling these correctly?
-//     In SL one can set both physical and phantom (gravity, does not effect others, makes collisions with ground)
-//     At the moment, physical and phantom causes object to drop through the terrain
-// Physical phantom objects and related typing (collision options )
-// Check out llVolumeDetect. Must do something for that.
-// Use collision masks for collision with terrain and phantom objects
-// More efficient memory usage when passing hull information from BSPrim to BulletSim
-// Should prim.link() and prim.delink() membership checking happen at taint time?
-// Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once.
-// Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect
-// Implement LockAngularMotion
-// Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation)
-// Remove mesh and Hull stuff. Use mesh passed to bullet and use convexdecom from bullet.
-// Add PID movement operations. What does ScenePresence.MoveToTarget do?
-// Check terrain size. 128 or 127?
-// Raycast
-//
 namespace OpenSim.Region.Physics.BulletSPlugin
 {
 public sealed class BSScene : PhysicsScene, IPhysicsParameters
 {
-    private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
-    private static readonly string LogHeader = "[BULLETS SCENE]";
+    internal static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
+    internal static readonly string LogHeader = "[BULLETS SCENE]";
 
     // The name of the region we're working for.
     public string RegionName { get; private set; }
 
     public string BulletSimVersion = "?";
 
+    // The handle to the underlying managed or unmanaged version of Bullet being used.
+    public string BulletEngineName { get; private set; }
+    public BSAPITemplate PE;
+
     public Dictionary<uint, BSPhysObject> PhysObjects;
     public BSShapeCollection Shapes;
 
@@ -82,32 +65,30 @@ 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; }
+    public BulletWorld World { get; private set; }
 
     // All the constraints that have been allocated in this instance.
     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;
+    internal float NominalFrameRate { get; set; }
     public long SimulationStep { get { return m_simulationStep; } }
-    private int m_taintsToProcessPerStep;
+    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
@@ -121,31 +102,22 @@ 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;
+    internal int m_maxCollisionsPerFrame;
+    internal CollisionDesc[] m_collisionArray;
 
-    private int m_maxUpdatesPerFrame;
-    private EntityProperties[] m_updateArray;
-    private GCHandle m_updateArrayPinnedHandle;
-
-    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;
 
     public const uint TERRAIN_ID = 0;       // OpenSim senses terrain with a localID of zero
     public const uint GROUNDPLANE_ID = 1;
     public const uint CHILDTERRAIN_ID = 2;  // Terrain allocated based on our mega-prim childre start here
 
-    private float m_waterLevel;
+    public float SimpleWaterLevel { get; set; }
     public BSTerrainManager TerrainManager { get; private set; }
 
     public ConfigurationParameters Params
     {
-        get { return m_params[0]; }
+        get { return UnmanagedParams[0]; }
     }
     public Vector3 DefaultGravity
     {
@@ -157,8 +129,6 @@ 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
@@ -181,13 +151,7 @@ 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;
-    GCHandle m_paramsHandle;
-
-    // Handle to the callback used by the unmanaged code to call into the managed code.
-    // Used for debug logging.
-    // Need to store the handle in a persistant variable so it won't be freed.
-    private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle;
+    internal ConfigurationParameters[] UnmanagedParams;
 
     // Sometimes you just have to log everything.
     public Logging.LogWriter PhysicsLogging;
@@ -195,15 +159,24 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     private string m_physicsLoggingDir;
     private string m_physicsLoggingPrefix;
     private int m_physicsLoggingFileMinutes;
+    private bool m_physicsLoggingDoFlush;
+    private bool m_physicsPhysicalDumpEnabled;
+    public float PhysicsMetricDumpFrames { get; set; }
     // 'true' of the vehicle code is to log lots of details
     public bool VehicleLoggingEnabled { get; private set; }
+    public bool VehiclePhysicalLoggingEnabled { get; private set; }
 
     #region Construction and Initialization
-    public BSScene(string identifier)
+    public BSScene(string engineType, string identifier)
     {
         m_initialized = false;
-        // we are passed the name of the region we're working for.
+
+        // The name of the region we're working for is passed to us. Keep for identification.
         RegionName = identifier;
+
+        // Set identifying variables in the PhysicsScene interface.
+        EngineType = engineType;
+        Name = EngineType + "/" + RegionName;
     }
 
     public override void Initialise(IMesher meshmerizer, IConfigSource config)
@@ -216,17 +189,13 @@ 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];
 
         // Set default values for physics parameters plus any overrides from the ini file
         GetInitialParameterValues(config);
 
-        // allocate more pinned memory close to the above in an attempt to get the memory all together
-        m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame];
-        m_collisionArrayPinnedHandle = GCHandle.Alloc(m_collisionArray, GCHandleType.Pinned);
-        m_updateArray = new EntityProperties[m_maxUpdatesPerFrame];
-        m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned);
+        // Get the connection to the physics engine (could be native or one of many DLLs)
+        PE = SelectUnderlyingBulletEngine(BulletEngineName);
 
         // Enable very detailed logging.
         // By creating an empty logger when not logging, the log message invocation code
@@ -234,28 +203,16 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         if (m_physicsLoggingEnabled)
         {
             PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes);
+            PhysicsLogging.ErrorLogger = m_log; // for DEBUG. Let's the logger output error messages.
         }
         else
         {
             PhysicsLogging = new Logging.LogWriter();
         }
 
-        // If Debug logging level, enable logging from the unmanaged code
-        m_DebugLogCallbackHandle = null;
-        if (m_log.IsDebugEnabled || PhysicsLogging.Enabled)
-        {
-            m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader);
-            if (PhysicsLogging.Enabled)
-                // The handle is saved in a variable to make sure it doesn't get freed after this call
-                m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLoggerPhysLog);
-            else
-                m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger);
-        }
-
-        // Get the version of the DLL
-        // TODO: this doesn't work yet. Something wrong with marshaling the returned string.
-        // BulletSimVersion = BulletSimAPI.GetVersion();
-        // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion);
+        // Allocate memory for returning of the updates and collisions from the physics engine
+        m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame];
+        m_updateArray = new EntityProperties[m_maxUpdatesPerFrame];
 
         // The bounding box for the simulated world. The origin is 0,0,0 unless we're
         //    a child in a mega-region.
@@ -263,18 +220,14 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         //    area. It tracks active objects no matter where they are.
         Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
 
-        // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader);
-        World = new BulletSim(0, this, BulletSimAPI.Initialize2(worldExtent, m_paramsHandle.AddrOfPinnedObject(),
-                                        m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
-                                        m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject(),
-                                        m_DebugLogCallbackHandle));
+        World = PE.Initialize(worldExtent, Params, m_maxCollisionsPerFrame, ref m_collisionArray, m_maxUpdatesPerFrame, ref m_updateArray);
 
         Constraints = new BSConstraintCollection(World);
 
         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;
@@ -285,9 +238,9 @@ 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)
         {
@@ -295,19 +248,34 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             IConfig pConfig = config.Configs["BulletSim"];
             if (pConfig != null)
             {
-                SetParameterConfigurationValues(pConfig);
+                BSParam.SetParameterConfigurationValues(this, pConfig);
+
+                // There are two Bullet implementations to choose from
+                BulletEngineName = pConfig.GetString("BulletEngine", "BulletUnmanaged");
 
                 // Very detailed logging for physics debugging
+                // TODO: the boolean values can be moved to the normal parameter processing.
                 m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false);
                 m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", ".");
                 m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-");
                 m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5);
+                m_physicsLoggingDoFlush = pConfig.GetBoolean("PhysicsLoggingDoFlush", false);
+                m_physicsPhysicalDumpEnabled = pConfig.GetBoolean("PhysicsPhysicalDumpEnabled", false);
                 // Very detailed logging for vehicle debugging
                 VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
+                VehiclePhysicalLoggingEnabled = pConfig.GetBoolean("VehiclePhysicalLoggingEnabled", false);
 
                 // Do any replacements in the parameters
                 m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName);
             }
+
+            // The material characteristics.
+            BSMaterials.InitializeFromDefaults(Params);
+            if (pConfig != null)
+            {
+                // Let the user add new and interesting material property values.
+                BSMaterials.InitializefromParameters(pConfig);
+            }
         }
     }
 
@@ -326,16 +294,41 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         return ret;
     }
 
-    // Called directly from unmanaged code so don't do much
-    private void BulletLogger(string msg)
+    // Select the connection to the actual Bullet implementation.
+    // The main engine selection is the engineName up to the first hypen.
+    // So "Bullet-2.80-OpenCL-Intel" specifies the 'bullet' class here and the whole name
+    //     is passed to the engine to do its special selection, etc.
+    private BSAPITemplate SelectUnderlyingBulletEngine(string engineName)
     {
-        m_log.Debug("[BULLETS UNMANAGED]:" + msg);
-    }
+        // For the moment, do a simple switch statement.
+        // Someday do fancyness with looking up the interfaces in the assembly.
+        BSAPITemplate ret = null;
 
-    // Called directly from unmanaged code so don't do much
-    private void BulletLoggerPhysLog(string msg)
-    {
-        DetailLog("[BULLETS UNMANAGED]:" + msg);
+        string selectionName = engineName.ToLower();
+        int hyphenIndex = engineName.IndexOf("-");
+        if (hyphenIndex > 0)
+            selectionName = engineName.ToLower().Substring(0, hyphenIndex - 1);
+
+        switch (selectionName)
+        {
+            case "bulletunmanaged":
+                ret = new BSAPIUnman(engineName, this);
+                break;
+            case "bulletxna":
+                ret = new BSAPIXNA(engineName, this);
+                break;
+        }
+
+        if (ret == null)
+        {
+            m_log.ErrorFormat("{0) COULD NOT SELECT BULLET ENGINE: '[BulletSim]PhysicsEngine' must be either 'BulletUnmanaged-*' or 'BulletXNA-*'", LogHeader);
+        }
+        else
+        {
+            m_log.WarnFormat("{0} Selected bullet engine {1} -> {2}/{3}", LogHeader, engineName, ret.BulletEngineName, ret.BulletEngineVersion);
+        }
+
+        return ret;
     }
 
     public override void Dispose()
@@ -345,8 +338,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         // make sure no stepping happens while we're deleting stuff
         m_initialized = false;
 
-        TerrainManager.ReleaseGroundPlaneAndTerrain();
-
         foreach (KeyValuePair<uint, BSPhysObject> kvp in PhysObjects)
         {
             kvp.Value.Destroy();
@@ -366,8 +357,15 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             Shapes = null;
         }
 
+        if (TerrainManager != null)
+        {
+            TerrainManager.ReleaseGroundPlaneAndTerrain();
+            TerrainManager.Dispose();
+            TerrainManager = null;
+        }
+
         // Anything left in the unmanaged code should be cleaned out
-        BulletSimAPI.Shutdown2(World.ptr);
+        PE.Shutdown(World);
 
         // Not logging any more
         PhysicsLogging.Close();
@@ -389,12 +387,14 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         if (!m_initialized) return null;
 
         BSCharacter actor = new BSCharacter(localID, avName, this, position, size, isFlying);
-        lock (PhysObjects) PhysObjects.Add(localID, actor);
+        lock (PhysObjects)
+            PhysObjects.Add(localID, actor);
 
         // TODO: Remove kludge someday.
         // We must generate a collision for avatars whether they collide or not.
         // This is required by OpenSim to update avatar animations, etc.
-        lock (m_avatars) m_avatars.Add(actor);
+        lock (m_avatars)
+            m_avatars.Add(actor);
 
         return actor;
     }
@@ -410,9 +410,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         {
             try
             {
-                lock (PhysObjects) PhysObjects.Remove(actor.LocalID);
+                lock (PhysObjects)
+                    PhysObjects.Remove(bsactor.LocalID);
                 // Remove kludge someday
-                lock (m_avatars) m_avatars.Remove(bsactor);
+                lock (m_avatars)
+                    m_avatars.Remove(bsactor);
             }
             catch (Exception e)
             {
@@ -421,6 +423,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             bsactor.Destroy();
             // bsactor.dispose();
         }
+        else
+        {
+            m_log.ErrorFormat("{0}: Requested to remove avatar that is not a BSCharacter. ID={1}, type={2}",
+                                        LogHeader, actor.LocalID, actor.GetType().Name);
+        }
     }
 
     public override void RemovePrim(PhysicsActor prim)
@@ -474,41 +481,56 @@ 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;
-        IntPtr collidersPtr;
 
         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 physical objects requre individual, pre-step calls
+        //      (vehicles and avatar movement, in particular)
+        TriggerPreStepEvent(timeStep);
+
+        // the prestep actions might have added taints
+        numTaints += _taintOperations.Count;
         ProcessTaints();
 
-        // Some of the prims operate with special vehicle properties
-        ProcessVehicles(timeStep);
-        ProcessTaints();    // the vehicles might have added taints
+        InTaintTime = false; // Only used for debugging so locking is not necessary.
+
+        // 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.
+        if (m_physicsPhysicalDumpEnabled)
+            PE.DumpAllInfo(World);
 
         // step the physical world one interval
         m_simulationStep++;
         int numSubSteps = 0;
-
         try
         {
-            if (VehicleLoggingEnabled) DumpVehicles();  // DEBUG
-            if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
+            if (PhysicsLogging.Enabled)
+                beforeTime = Util.EnvironmentTickCount();
 
-            numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
-                        out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
+            numSubSteps = PE.PhysicsStep(World, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out collidersCount);
 
-            if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
-            DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}",
-                        DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount);
-            if (VehicleLoggingEnabled) DumpVehicles();  // DEBUG
+            if (PhysicsLogging.Enabled)
+            {
+                simTime = Util.EnvironmentTickCountSubtract(beforeTime);
+                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);
+            }
         }
         catch (Exception e)
         {
@@ -520,9 +542,10 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             collidersCount = 0;
         }
 
-        // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in
+        if ((m_simulationStep % PhysicsMetricDumpFrames) == 0)
+            PE.DumpPhysicsStatistics(World);
 
-        // Get a value for 'now' so all the collision and update routines don't have to get their own
+        // Get a value for 'now' so all the collision and update routines don't have to get their own.
         SimulationNowTime = Util.EnvironmentTickCount();
 
         // If there were collisions, process them by sending the event to the prim.
@@ -562,12 +585,16 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
 
         // Objects that are done colliding are removed from the ObjectsWithCollisions list.
         // Not done above because it is inside an iteration of ObjectWithCollisions.
+        // This complex collision processing is required to create an empty collision
+        //     event call after all real collisions have happened on an object. This enables
+        //     the simulator to generate the 'collision end' event.
         if (ObjectsWithNoMoreCollisions.Count > 0)
         {
             foreach (BSPhysObject po in ObjectsWithNoMoreCollisions)
                 ObjectsWithCollisions.Remove(po);
             ObjectsWithNoMoreCollisions.Clear();
         }
+        // Done with collisions.
 
         // If any of the objects had updated properties, tell the object it has been changed by the physics engine
         if (updatedEntityCount > 0)
@@ -583,17 +610,17 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             }
         }
 
-        ProcessPostStepTaints();
+        TriggerPostStepEvent(timeStep);
 
-        // This causes the unmanaged code to output ALL the values found in ALL the objects in the world.
+        // 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.
-        // BulletSimAPI.DumpAllInfo2(World.ptr);    // DEBUG DEBUG DEBUG
+        if (m_physicsPhysicalDumpEnabled)
+            PE.DumpAllInfo(World);
 
         // The physics engine returns the number of milliseconds it simulated this call.
         // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
-        // We multiply by 55 to give a recognizable running rate (55 or less).
-        return numSubSteps * m_fixedTimeStep * 1000 * 55;
-        // return timeStep * 1000 * 55;
+        // Multiply by a fixed nominal frame rate to give a rate similar to the simulator (usually 55).
+        return (float)numSubSteps * m_fixedTimeStep * 1000f * NominalFrameRate;
     }
 
     // Something has collided
@@ -639,12 +666,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
 
     public override void SetWaterLevel(float baseheight)
     {
-        m_waterLevel = baseheight;
-    }
-    // Someday....
-    public float GetWaterLevelAtXYZ(Vector3 loc)
-    {
-        return m_waterLevel;
+        SimpleWaterLevel = baseheight;
     }
 
     public override void DeleteTerrain()
@@ -681,6 +703,15 @@ 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.
@@ -707,58 +738,35 @@ 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)
@@ -797,6 +805,7 @@ 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)
@@ -824,45 +833,6 @@ 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)
     {
@@ -870,517 +840,21 @@ 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);
-            }
-        }
-    }
-
-    // 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
-    //
-    // 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",
-            0.5f,
-            (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!)",
-            0f,
-            (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" ,
-            0.5f,
-            (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("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.",
-            10f,
-            (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("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.
@@ -1392,8 +866,8 @@ 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;
@@ -1405,19 +879,20 @@ 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;
@@ -1436,8 +911,8 @@ 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)
                 {
@@ -1458,8 +933,8 @@ 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;
@@ -1472,22 +947,12 @@ 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)
     {
         PhysicsLogging.Write(msg, args);
         // Add the Flush() if debugging crashes. Gets all the messages written out.
-        // PhysicsLogging.Flush();
+        if (m_physicsLoggingDoFlush) PhysicsLogging.Flush();
     }
     // Used to fill in the LocalID when there isn't one. It's the correct number of characters.
     public const string DetailLogZero = "0000000000";
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index 892c34b..838c845 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -45,7 +45,7 @@ public sealed class BSShapeCollection : IDisposable
     // Description of a Mesh
     private struct MeshDesc
     {
-        public IntPtr ptr;
+        public BulletShape shape;
         public int referenceCount;
         public DateTime lastReferenced;
         public UInt64 shapeKey;
@@ -55,7 +55,7 @@ public sealed class BSShapeCollection : IDisposable
     // Meshes and hulls have the same shape hash key but we only need hulls for efficient collision calculations.
     private struct HullDesc
     {
-        public IntPtr ptr;
+        public BulletShape shape;
         public int referenceCount;
         public DateTime lastReferenced;
         public UInt64 shapeKey;
@@ -65,9 +65,16 @@ public sealed class BSShapeCollection : IDisposable
     private Dictionary<System.UInt64, MeshDesc> Meshes = new Dictionary<System.UInt64, MeshDesc>();
     private Dictionary<System.UInt64, HullDesc> Hulls = new Dictionary<System.UInt64, HullDesc>();
 
+    private bool DDetail = false;
+
     public BSShapeCollection(BSScene physScene)
     {
         PhysicsScene = physScene;
+        // Set the next to 'true' for very detailed shape update detailed logging (detailed details?)
+        // While detailed debugging is still active, this is better than commenting out all the
+        //     DetailLog statements. When debugging slows down, this and the protected logging
+        //     statements can be commented/removed.
+        DDetail = true;
     }
 
     public void Dispose()
@@ -91,7 +98,7 @@ public sealed class BSShapeCollection : IDisposable
     //    higher level dependencies on the shape or body. Mostly used for LinkSets to
     //    remove the physical constraints before the body is destroyed.
     // Called at taint-time!!
-    public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPhysObject prim,
+    public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim,
                     ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback)
     {
         PhysicsScene.AssertInTaintTime("BSShapeCollection.GetBodyAndShape");
@@ -119,6 +126,11 @@ public sealed class BSShapeCollection : IDisposable
         return ret;
     }
 
+    public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim)
+    {
+        return GetBodyAndShape(forceRebuild, sim, prim, null, null);
+    }
+
     // Track another user of a body.
     // We presume the caller has allocated the body.
     // Bodies only have one user so the body is just put into the world if not already there.
@@ -126,13 +138,13 @@ public sealed class BSShapeCollection : IDisposable
     {
         lock (m_collectionActivityLock)
         {
-            DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body);
+            if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body);
             PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.ReferenceBody", delegate()
             {
-                if (!BulletSimAPI.IsInWorld2(body.ptr))
+                if (!PhysicsScene.PE.IsInWorld(PhysicsScene.World, body))
                 {
-                    BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr);
-                    DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body);
+                    PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, body);
+                    if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body);
                 }
             });
         }
@@ -142,27 +154,27 @@ public sealed class BSShapeCollection : IDisposable
     // Called when releasing use of a BSBody. BSShape is handled separately.
     public void DereferenceBody(BulletBody body, bool inTaintTime, BodyDestructionCallback bodyCallback )
     {
-        if (body.ptr == IntPtr.Zero)
+        if (!body.HasPhysicalBody)
             return;
 
         lock (m_collectionActivityLock)
         {
             PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceBody", delegate()
             {
-                DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1},inTaintTime={2}",
+                if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1},inTaintTime={2}",
                                             body.ID, body, inTaintTime);
                 // If the caller needs to know the old body is going away, pass the event up.
                 if (bodyCallback != null) bodyCallback(body);
 
-                if (BulletSimAPI.IsInWorld2(body.ptr))
+                if (PhysicsScene.PE.IsInWorld(PhysicsScene.World, body))
                 {
-                    BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr);
-                    DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body);
+                    PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, body);
+                    if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body);
                 }
 
                 // Zero any reference to the shape so it is not freed when the body is deleted.
-                BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero);
-                BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr);
+                PhysicsScene.PE.SetCollisionShape(PhysicsScene.World, body, null);
+                PhysicsScene.PE.DestroyObject(PhysicsScene.World, body);
             });
         }
     }
@@ -184,17 +196,17 @@ public sealed class BSShapeCollection : IDisposable
                 {
                     // There is an existing instance of this mesh.
                     meshDesc.referenceCount++;
-                    DetailLog("{0},BSShapeCollection.ReferenceShape,existingMesh,key={1},cnt={2}",
+                    if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,existingMesh,key={1},cnt={2}",
                                 BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
                 }
                 else
                 {
                     // This is a new reference to a mesh
-                    meshDesc.ptr = shape.ptr;
+                    meshDesc.shape = shape.Clone();
                     meshDesc.shapeKey = shape.shapeKey;
                     // We keep a reference to the underlying IMesh data so a hull can be built
                     meshDesc.referenceCount = 1;
-                    DetailLog("{0},BSShapeCollection.ReferenceShape,newMesh,key={1},cnt={2}",
+                    if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newMesh,key={1},cnt={2}",
                                 BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
                     ret = true;
                 }
@@ -207,16 +219,16 @@ public sealed class BSShapeCollection : IDisposable
                 {
                     // There is an existing instance of this hull.
                     hullDesc.referenceCount++;
-                    DetailLog("{0},BSShapeCollection.ReferenceShape,existingHull,key={1},cnt={2}",
+                    if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,existingHull,key={1},cnt={2}",
                                 BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
                 }
                 else
                 {
                     // This is a new reference to a hull
-                    hullDesc.ptr = shape.ptr;
+                    hullDesc.shape = shape.Clone();
                     hullDesc.shapeKey = shape.shapeKey;
                     hullDesc.referenceCount = 1;
-                    DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}",
+                    if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}",
                                 BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
                     ret = true;
 
@@ -236,20 +248,20 @@ public sealed class BSShapeCollection : IDisposable
     // Release the usage of a shape.
     public void DereferenceShape(BulletShape shape, bool inTaintTime, ShapeDestructionCallback shapeCallback)
     {
-        if (shape.ptr == IntPtr.Zero)
+        if (!shape.HasPhysicalShape)
             return;
 
         PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceShape", delegate()
         {
-            if (shape.ptr != IntPtr.Zero)
+            if (shape.HasPhysicalShape)
             {
                 if (shape.isNativeShape)
                 {
                     // Native shapes are not tracked and are released immediately
-                    DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
-                                    BSScene.DetailLogZero, shape.ptr.ToString("X"), inTaintTime);
+                    if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
+                                    BSScene.DetailLogZero, shape.AddrString, inTaintTime);
                     if (shapeCallback != null) shapeCallback(shape);
-                    BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
+                    PhysicsScene.PE.DeleteCollisionShape(PhysicsScene.World, shape);
                 }
                 else
                 {
@@ -286,7 +298,7 @@ public sealed class BSShapeCollection : IDisposable
             if (shapeCallback != null) shapeCallback(shape);
             meshDesc.lastReferenced = System.DateTime.Now;
             Meshes[shape.shapeKey] = meshDesc;
-            DetailLog("{0},BSShapeCollection.DereferenceMesh,shape={1},refCnt={2}",
+            if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceMesh,shape={1},refCnt={2}",
                                 BSScene.DetailLogZero, shape, meshDesc.referenceCount);
 
         }
@@ -307,7 +319,7 @@ public sealed class BSShapeCollection : IDisposable
 
             hullDesc.lastReferenced = System.DateTime.Now;
             Hulls[shape.shapeKey] = hullDesc;
-            DetailLog("{0},BSShapeCollection.DereferenceHull,shape={1},refCnt={2}",
+            if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceHull,shape={1},refCnt={2}",
                     BSScene.DetailLogZero, shape, hullDesc.referenceCount);
         }
     }
@@ -320,57 +332,56 @@ public sealed class BSShapeCollection : IDisposable
     // Called at taint-time.
     private void DereferenceCompound(BulletShape shape, ShapeDestructionCallback shapeCallback)
     {
-        if (!BulletSimAPI.IsCompound2(shape.ptr))
+        if (!PhysicsScene.PE.IsCompound(shape))
         {
             // Failed the sanity check!!
             PhysicsScene.Logger.ErrorFormat("{0} Attempt to free a compound shape that is not compound!! type={1}, ptr={2}",
-                                        LogHeader, shape.type, shape.ptr.ToString("X"));
-            DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}",
-                                        BSScene.DetailLogZero, shape.type, shape.ptr.ToString("X"));
+                                        LogHeader, shape.type, shape.AddrString);
+            if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}",
+                                        BSScene.DetailLogZero, shape.type, shape.AddrString);
             return;
         }
 
-        int numChildren = BulletSimAPI.GetNumberOfCompoundChildren2(shape.ptr);
-        DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}", BSScene.DetailLogZero, shape, numChildren);
+        int numChildren = PhysicsScene.PE.GetNumberOfCompoundChildren(shape);
+        if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}", BSScene.DetailLogZero, shape, numChildren);
 
         for (int ii = numChildren - 1; ii >= 0; ii--)
         {
-            IntPtr childShape = BulletSimAPI.RemoveChildShapeFromCompoundShapeIndex2(shape.ptr, ii);
+            BulletShape childShape = PhysicsScene.PE.RemoveChildShapeFromCompoundShapeIndex(shape, ii);
             DereferenceAnonCollisionShape(childShape);
         }
-        BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
+        PhysicsScene.PE.DeleteCollisionShape(PhysicsScene.World, shape);
     }
 
     // Sometimes we have a pointer to a collision shape but don't know what type it is.
     // Figure out type and call the correct dereference routine.
     // Called at taint-time.
-    private void DereferenceAnonCollisionShape(IntPtr cShape)
+    private void DereferenceAnonCollisionShape(BulletShape shapeInfo)
     {
         MeshDesc meshDesc;
         HullDesc hullDesc;
 
-        BulletShape shapeInfo = new BulletShape(cShape);
-        if (TryGetMeshByPtr(cShape, out meshDesc))
+        if (TryGetMeshByPtr(shapeInfo, out meshDesc))
         {
             shapeInfo.type = BSPhysicsShapeType.SHAPE_MESH;
             shapeInfo.shapeKey = meshDesc.shapeKey;
         }
         else
         {
-            if (TryGetHullByPtr(cShape, out hullDesc))
+            if (TryGetHullByPtr(shapeInfo, out hullDesc))
             {
                 shapeInfo.type = BSPhysicsShapeType.SHAPE_HULL;
                 shapeInfo.shapeKey = hullDesc.shapeKey;
             }
             else
             {
-                if (BulletSimAPI.IsCompound2(cShape))
+                if (PhysicsScene.PE.IsCompound(shapeInfo))
                 {
                     shapeInfo.type = BSPhysicsShapeType.SHAPE_COMPOUND;
                 }
                 else
                 {
-                    if (BulletSimAPI.IsNativeShape2(cShape))
+                    if (PhysicsScene.PE.IsNativeShape(shapeInfo))
                     {
                         shapeInfo.isNativeShape = true;
                         shapeInfo.type = BSPhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter)
@@ -379,7 +390,7 @@ public sealed class BSShapeCollection : IDisposable
             }
         }
 
-        DetailLog("{0},BSShapeCollection.DereferenceAnonCollisionShape,shape={1}", BSScene.DetailLogZero, shapeInfo);
+        if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceAnonCollisionShape,shape={1}", BSScene.DetailLogZero, shapeInfo);
 
         if (shapeInfo.type != BSPhysicsShapeType.SHAPE_UNKNOWN)
         {
@@ -388,7 +399,7 @@ public sealed class BSShapeCollection : IDisposable
         else
         {
             PhysicsScene.Logger.ErrorFormat("{0} Could not decypher shape type. Region={1}, addr={2}",
-                                    LogHeader, PhysicsScene.RegionName, cShape.ToString("X"));
+                                    LogHeader, PhysicsScene.RegionName, shapeInfo.AddrString);
         }
     }
 
@@ -408,19 +419,18 @@ public sealed class BSShapeCollection : IDisposable
         if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE)
         {
             // an avatar capsule is close to a native shape (it is not shared)
-            ret = GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_CAPSULE,
-                            FixedShapeKey.KEY_CAPSULE, shapeCallback);
-            DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape);
+            GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_CAPSULE, FixedShapeKey.KEY_CAPSULE, shapeCallback);
+            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape);
             ret = true;
             haveShape = true;
         }
 
         // Compound shapes are handled special as they are rebuilt from scratch.
-        // This isn't too great a hardship since most of the child shapes will already been created.
+        // This isn't too great a hardship since most of the child shapes will have already been created.
         if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND)
         {
             ret = GetReferenceToCompoundShape(prim, shapeCallback);
-            DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, prim.PhysShape);
+            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, prim.PhysShape);
             haveShape = true;
         }
 
@@ -433,7 +443,7 @@ public sealed class BSShapeCollection : IDisposable
     }
 
     // Create a mesh/hull shape or a native shape if 'nativeShapePossible' is 'true'.
-    private bool CreateGeomNonSpecial(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback)
+    public bool CreateGeomNonSpecial(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback)
     {
         bool ret = false;
         bool haveShape = false;
@@ -443,8 +453,9 @@ public sealed class BSShapeCollection : IDisposable
         // If the prim attributes are simple, this could be a simple Bullet native shape
         if (!haveShape
                 && pbs != null
+                && !pbs.SculptEntry
                 && nativeShapePossible
-                && ((pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim)
+                && ((pbs.SculptEntry && !BSParam.ShouldMeshSculptedPrim)
                     || (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
                         && pbs.ProfileHollow == 0
                         && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
@@ -453,19 +464,27 @@ public sealed class BSShapeCollection : IDisposable
                         && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
                         && pbs.PathShearX == 0 && pbs.PathShearY == 0) ) )
         {
+            // Get the scale of any existing shape so we can see if the new shape is same native type and same size.
+            OMV.Vector3 scaleOfExistingShape = OMV.Vector3.Zero;
+            if (prim.PhysShape.HasPhysicalShape)
+                scaleOfExistingShape = PhysicsScene.PE.GetLocalScaling(prim.PhysShape);
+
+            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,maybeNative,force={1},primScale={2},primSize={3},primShape={4}",
+                        prim.LocalID, forceRebuild, prim.Scale, prim.Size, prim.PhysShape.type);
+
             // It doesn't look like Bullet scales spheres so make sure the scales are all equal
             if ((pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1)
                                 && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z)
             {
                 haveShape = true;
                 if (forceRebuild
-                        || prim.Scale != prim.Size
+                        || prim.Scale != scaleOfExistingShape
                         || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_SPHERE
                         )
                 {
                     ret = GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_SPHERE,
                                             FixedShapeKey.KEY_SPHERE, shapeCallback);
-                    DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}",
+                    if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}",
                                         prim.LocalID, forceRebuild, prim.PhysShape);
                 }
             }
@@ -473,13 +492,13 @@ public sealed class BSShapeCollection : IDisposable
             {
                 haveShape = true;
                 if (forceRebuild
-                        || prim.Scale != prim.Size
+                        || prim.Scale != scaleOfExistingShape
                         || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_BOX
                         )
                 {
                     ret = GetReferenceToNativeShape( prim, BSPhysicsShapeType.SHAPE_BOX,
                                             FixedShapeKey.KEY_BOX, shapeCallback);
-                    DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}",
+                    if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}",
                                         prim.LocalID, forceRebuild, prim.PhysShape);
                 }
             }
@@ -500,17 +519,17 @@ 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);
-            DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}",
+            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}",
                                     prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X"));
         }
         else
         {
             ret = GetReferenceToMesh(prim, shapeCallback);
-            DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}",
+            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}",
                                     prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X"));
         }
         return ret;
@@ -528,9 +547,10 @@ public sealed class BSShapeCollection : IDisposable
         BulletShape newShape = BuildPhysicalNativeShape(prim, shapeType, shapeKey);
 
         // Don't need to do a 'ReferenceShape()' here because native shapes are not shared.
-        DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}",
+        if (DDetail) DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}",
                                 prim.LocalID, newShape, prim.Scale);
 
+        // native shapes are scaled by Bullet
         prim.PhysShape = newShape;
         return true;
     }
@@ -550,20 +570,17 @@ public sealed class BSShapeCollection : IDisposable
 
         if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE)
         {
-            // The proper scale has been calculated in the prim.
-            newShape = new BulletShape(
-                        BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, prim.Scale)
-                        , shapeType);
-            DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
+
+            newShape = PhysicsScene.PE.BuildCapsuleShape(PhysicsScene.World, 1f, 1f, prim.Scale);
+            if (DDetail) DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
         }
         else
         {
             // Native shapes are scaled in Bullet so set the scaling to the size
-            prim.Scale = prim.Size;
-            nativeShapeData.Scale = prim.Scale;
-            newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, nativeShapeData), shapeType);
+            newShape = PhysicsScene.PE.BuildNativeShape(PhysicsScene.World, nativeShapeData);
+
         }
-        if (newShape.ptr == IntPtr.Zero)
+        if (!newShape.HasPhysicalShape)
         {
             PhysicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
                                     LogHeader, prim.LocalID, shapeType);
@@ -580,7 +597,7 @@ public sealed class BSShapeCollection : IDisposable
     // Called at taint-time!
     private bool GetReferenceToMesh(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
     {
-        BulletShape newShape = new BulletShape(IntPtr.Zero);
+        BulletShape newShape = new BulletShape();
 
         float lod;
         System.UInt64 newMeshKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
@@ -589,7 +606,7 @@ public sealed class BSShapeCollection : IDisposable
         if (newMeshKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_MESH)
             return false;
 
-        DetailLog("{0},BSShapeCollection.GetReferenceToMesh,create,oldKey={1},newKey={2}",
+        if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToMesh,create,oldKey={1},newKey={2}",
                                 prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newMeshKey.ToString("X"));
 
         // Since we're recreating new, get rid of the reference to the previous shape
@@ -601,8 +618,6 @@ public sealed class BSShapeCollection : IDisposable
 
         ReferenceShape(newShape);
 
-        // meshes are already scaled by the meshmerizer
-        prim.Scale = new OMV.Vector3(1f, 1f, 1f);
         prim.PhysShape = newShape;
 
         return true;        // 'true' means a new shape has been added to this prim
@@ -610,18 +625,18 @@ public sealed class BSShapeCollection : IDisposable
 
     private BulletShape CreatePhysicalMesh(string objName, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
     {
+        BulletShape newShape = new BulletShape();
         IMesh meshData = null;
-        IntPtr meshPtr = IntPtr.Zero;
+
         MeshDesc meshDesc;
         if (Meshes.TryGetValue(newMeshKey, out meshDesc))
         {
             // If the mesh has already been built just use it.
-            meshPtr = meshDesc.ptr;
+            newShape = meshDesc.shape.Clone();
         }
         else
         {
-            // Pass false for physicalness as this creates some sort of bounding box which we don't need
-            meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false);
+            meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false, false, false);
 
             if (meshData != null)
             {
@@ -640,11 +655,10 @@ public sealed class BSShapeCollection : IDisposable
                 // m_log.DebugFormat("{0}: BSShapeCollection.CreatePhysicalMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}",
                 //                  LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count);
 
-                meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
+                newShape = PhysicsScene.PE.CreateMeshShape(PhysicsScene.World,
                                     indices.GetLength(0), indices, vertices.Count, verticesAsFloats);
             }
         }
-        BulletShape newShape = new BulletShape(meshPtr, BSPhysicsShapeType.SHAPE_MESH);
         newShape.shapeKey = newMeshKey;
 
         return newShape;
@@ -663,7 +677,7 @@ public sealed class BSShapeCollection : IDisposable
         if (newHullKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_HULL)
             return false;
 
-        DetailLog("{0},BSShapeCollection.GetReferenceToHull,create,oldKey={1},newKey={2}",
+        if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToHull,create,oldKey={1},newKey={2}",
                         prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newHullKey.ToString("X"));
 
         // Remove usage of the previous shape.
@@ -674,8 +688,6 @@ public sealed class BSShapeCollection : IDisposable
 
         ReferenceShape(newShape);
 
-        // hulls are already scaled by the meshmerizer
-        prim.Scale = new OMV.Vector3(1f, 1f, 1f);
         prim.PhysShape = newShape;
         return true;        // 'true' means a new shape has been added to this prim
     }
@@ -684,18 +696,20 @@ public sealed class BSShapeCollection : IDisposable
     private BulletShape CreatePhysicalHull(string objName, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
     {
 
+        BulletShape newShape = new BulletShape();
         IntPtr hullPtr = IntPtr.Zero;
+
         HullDesc hullDesc;
         if (Hulls.TryGetValue(newHullKey, out hullDesc))
         {
             // If the hull shape already is created, just use it.
-            hullPtr = hullDesc.ptr;
+            newShape = hullDesc.shape.Clone();
         }
         else
         {
             // Build a new hull in the physical world
-            // Pass false for physicalness as this creates some sort of bounding box which we don't need
-            IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false);
+            // Pass true for physicalness as this creates some sort of bounding box which we don't need
+            IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false, false, false);
             if (meshData != null)
             {
 
@@ -777,14 +791,13 @@ public sealed class BSShapeCollection : IDisposable
                     }
                 }
                 // create the hull data structure in Bullet
-                hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls);
+                newShape = PhysicsScene.PE.CreateHullShape(PhysicsScene.World, hullCount, convHulls);
             }
         }
 
-        BulletShape newShape = new BulletShape(hullPtr, BSPhysicsShapeType.SHAPE_HULL);
         newShape.shapeKey = newHullKey;
 
-        return newShape;        // 'true' means a new shape has been added to this prim
+        return newShape;
     }
 
     // Callback from convex hull creater with a newly created hull.
@@ -803,13 +816,13 @@ public sealed class BSShapeCollection : IDisposable
         // Don't need to do this as the shape is freed when the new root shape is created below.
         // DereferenceShape(prim.PhysShape, true, shapeCallback);
 
-        BulletShape cShape = new BulletShape(
-            BulletSimAPI.CreateCompoundShape2(PhysicsScene.World.ptr, false), BSPhysicsShapeType.SHAPE_COMPOUND);
+
+        BulletShape cShape = PhysicsScene.PE.CreateCompoundShape(PhysicsScene.World, false);
 
         // Create the shape for the root prim and add it to the compound shape. Cannot be a native shape.
         CreateGeomMeshOrHull(prim, shapeCallback);
-        BulletSimAPI.AddChildShapeToCompoundShape2(cShape.ptr, prim.PhysShape.ptr, OMV.Vector3.Zero, OMV.Quaternion.Identity);
-        DetailLog("{0},BSShapeCollection.GetReferenceToCompoundShape,addRootPrim,compShape={1},rootShape={2}",
+        PhysicsScene.PE.AddChildShapeToCompoundShape(cShape, prim.PhysShape, OMV.Vector3.Zero, OMV.Quaternion.Identity);
+        if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToCompoundShape,addRootPrim,compShape={1},rootShape={2}",
                                     prim.LocalID, cShape, prim.PhysShape);
 
         prim.PhysShape = cShape;
@@ -822,14 +835,14 @@ 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);
@@ -851,7 +864,7 @@ public sealed class BSShapeCollection : IDisposable
     private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim)
     {
         // If the shape was successfully created, nothing more to do
-        if (newShape.ptr != IntPtr.Zero)
+        if (newShape.HasPhysicalShape)
             return newShape;
 
         // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset
@@ -893,7 +906,7 @@ public sealed class BSShapeCollection : IDisposable
             }
         }
 
-        // While we figure out the real problem, stick a simple native shape on the object.
+        // While we figure out the real problem, stick in a simple box for the object.
         BulletShape fillinShape =
             BuildPhysicalNativeShape(prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
 
@@ -904,19 +917,19 @@ public sealed class BSShapeCollection : IDisposable
     // Updates prim.BSBody with the information about the new body if one is created.
     // Returns 'true' if an object was actually created.
     // Called at taint-time.
-    private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletSim sim, BulletShape shape,
+    private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletWorld sim, BulletShape shape,
                             BodyDestructionCallback bodyCallback)
     {
         bool ret = false;
 
         // the mesh, hull or native shape must have already been created in Bullet
-        bool mustRebuild = (prim.PhysBody.ptr == IntPtr.Zero);
+        bool mustRebuild = !prim.PhysBody.HasPhysicalBody;
 
         // If there is an existing body, verify it's of an acceptable type.
         // If not a solid object, body is a GhostObject. Otherwise a RigidBody.
         if (!mustRebuild)
         {
-            CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(prim.PhysBody.ptr);
+            CollisionObjectTypes bodyType = (CollisionObjectTypes)PhysicsScene.PE.GetBodyType(prim.PhysBody);
             if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY
                 || !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT)
             {
@@ -931,20 +944,16 @@ public sealed class BSShapeCollection : IDisposable
             DereferenceBody(prim.PhysBody, true, bodyCallback);
 
             BulletBody aBody;
-            IntPtr bodyPtr = IntPtr.Zero;
             if (prim.IsSolid)
             {
-                bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr,
-                                        prim.LocalID, prim.RawPosition, prim.RawOrientation);
-                DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
+                aBody = PhysicsScene.PE.CreateBodyFromShape(sim, shape, prim.LocalID, prim.RawPosition, prim.RawOrientation);
+                if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,mesh,body={1}", prim.LocalID, aBody);
             }
             else
             {
-                bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr,
-                                        prim.LocalID, prim.RawPosition, prim.RawOrientation);
-                DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
+                aBody = PhysicsScene.PE.CreateGhostFromShape(sim, shape, prim.LocalID, prim.RawPosition, prim.RawOrientation);
+                if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,ghost,body={1}", prim.LocalID, aBody);
             }
-            aBody = new BulletBody(prim.LocalID, bodyPtr);
 
             ReferenceBody(aBody, true);
 
@@ -956,13 +965,13 @@ public sealed class BSShapeCollection : IDisposable
         return ret;
     }
 
-    private bool TryGetMeshByPtr(IntPtr addr, out MeshDesc outDesc)
+    private bool TryGetMeshByPtr(BulletShape shape, out MeshDesc outDesc)
     {
         bool ret = false;
         MeshDesc foundDesc = new MeshDesc();
         foreach (MeshDesc md in Meshes.Values)
         {
-            if (md.ptr == addr)
+            if (md.shape.ReferenceSame(shape))
             {
                 foundDesc = md;
                 ret = true;
@@ -974,13 +983,13 @@ public sealed class BSShapeCollection : IDisposable
         return ret;
     }
 
-    private bool TryGetHullByPtr(IntPtr addr, out HullDesc outDesc)
+    private bool TryGetHullByPtr(BulletShape shape, out HullDesc outDesc)
     {
         bool ret = false;
         HullDesc foundDesc = new HullDesc();
         foreach (HullDesc hd in Hulls.Values)
         {
-            if (hd.ptr == addr)
+            if (hd.shape.ReferenceSame(shape))
             {
                 foundDesc = hd;
                 ret = true;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
index 96cd55e..ee18379 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
@@ -27,24 +27,19 @@
 
 using System;
 using System.Collections.Generic;
-using System.Linq;
 using System.Text;
 
+using OMV = OpenMetaverse;
+
 namespace OpenSim.Region.Physics.BulletSPlugin
 {
 public abstract class BSShape
 {
-    public IntPtr ptr { get; set; }
-    public BSPhysicsShapeType type { get; set; }
-    public System.UInt64 key { get; set; }
     public int referenceCount { get; set; }
     public DateTime lastReferenced { get; set; }
 
     public BSShape()
     {
-        ptr = IntPtr.Zero;
-        type = BSPhysicsShapeType.SHAPE_UNKNOWN;
-        key = 0;
         referenceCount = 0;
         lastReferenced = DateTime.Now;
     }
@@ -63,7 +58,7 @@ public abstract class BSShape
         }
 
         // Compound shapes are handled special as they are rebuilt from scratch.
-        // This isn't too great a hardship since most of the child shapes will already been created.
+        // This isn't too great a hardship since most of the child shapes will have already been created.
         if (ret == null  && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND)
         {
             // Getting a reference to a compound shape gets you the compound shape with the root prim shape added
@@ -71,6 +66,14 @@ public abstract class BSShape
             physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, ret);
         }
 
+        // Avatars have their own unique shape
+        if (ret == null  && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_AVATAR)
+        {
+            // Getting a reference to a compound shape gets you the compound shape with the root prim shape added
+            ret = BSShapeAvatar.GetReference(prim);
+            physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,avatarShape,shape={1}", prim.LocalID, ret);
+        }
+
         if (ret == null)
             ret = GetShapeReferenceNonSpecial(physicsScene, forceRebuild, prim);
 
@@ -91,15 +94,17 @@ public abstract class BSShape
     // All shapes have a static call to get a reference to the physical shape
     // protected abstract static BSShape GetReference();
 
+    // Returns a string for debugging that uniquily identifies the memory used by this instance
+    public virtual string AddrString
+    {
+        get { return "unknown"; }
+    }
+
     public override string ToString()
     {
         StringBuilder buff = new StringBuilder();
         buff.Append("<p=");
-        buff.Append(ptr.ToString("X"));
-        buff.Append(",s=");
-        buff.Append(type.ToString());
-        buff.Append(",k=");
-        buff.Append(key.ToString("X"));
+        buff.Append(AddrString);
         buff.Append(",c=");
         buff.Append(referenceCount.ToString());
         buff.Append(">");
@@ -126,7 +131,8 @@ public class BSShapeNative : BSShape
                     BSPhysicsShapeType shapeType, FixedShapeKey shapeKey) 
     {
         // Native shapes are not shared and are always built anew.
-        return new BSShapeNative(physicsScene, prim, shapeType, shapeKey);
+        //return new BSShapeNative(physicsScene, prim, shapeType, shapeKey);
+        return null;
     }
 
     private BSShapeNative(BSScene physicsScene, BSPhysObject prim,
@@ -141,14 +147,15 @@ public class BSShapeNative : BSShape
         nativeShapeData.HullKey = (ulong)shapeKey;
 
        
+        /*
         if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE)
         {
-            ptr = BulletSimAPI.BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale);
+            ptr = PhysicsScene.PE.BuildCapsuleShape(physicsScene.World, 1f, 1f, prim.Scale);
             physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
         }
         else
         {
-            ptr = BulletSimAPI.BuildNativeShape2(physicsScene.World.ptr, nativeShapeData);
+            ptr = PhysicsScene.PE.BuildNativeShape(physicsScene.World, nativeShapeData);
         }
         if (ptr == IntPtr.Zero)
         {
@@ -157,15 +164,18 @@ public class BSShapeNative : BSShape
         }
         type = shapeType;
         key = (UInt64)shapeKey;
+         */
     }
     // Make this reference to the physical shape go away since native shapes are not shared.
     public override void Dereference(BSScene physicsScene)
     {
+        /*
         // Native shapes are not tracked and are released immediately
         physicsScene.DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this);
-        BulletSimAPI.DeleteCollisionShape2(physicsScene.World.ptr, ptr);
+        PhysicsScene.PE.DeleteCollisionShape(physicsScene.World, this);
         ptr = IntPtr.Zero;
         // Garbage collection will free up this instance.
+         */
     }
 }
 
@@ -205,4 +215,143 @@ public class BSShapeCompound : BSShape
     }
     public override void Dereference(BSScene physicsScene) { }
 }
+
+public class BSShapeAvatar : BSShape
+{
+    private static string LogHeader = "[BULLETSIM SHAPE AVATAR]";
+    public BSShapeAvatar() : base()
+    {
+    }
+    public static BSShape GetReference(BSPhysObject prim) 
+    { 
+        return new BSShapeNull();
+    }
+    public override void Dereference(BSScene physicsScene) { }
+
+    // From the front:
+    //     A---A
+    //    /     \
+    //   B-------B
+    //  /         \        +Z
+    // C-----------C        |
+    // \           /   -Y --+-- +Y
+    //  \         /         |
+    //   \       /         -Z
+    //    D-----D
+    //     \   /
+    //      E-E
+
+    // From the top A and E are just lines.
+    //              B, C and D are hexagons:
+    //
+    //     C1--C2            +X
+    //    /      \            |
+    //  C0        C3     -Y --+-- +Y
+    //    \      /            |
+    //     C5--C4            -X
+
+    // Zero goes directly through the middle so the offsets are from that middle axis
+    //     and up and down from a middle horizon (A and E are the same distance from the zero).
+    // The height, width and depth is one. All scaling is done by the simulator.
+
+    // Z component -- how far the level is from the middle zero
+    private const float Aup = 0.5f;
+    private const float Bup = 0.4f;
+    private const float Cup = 0.3f;
+    private const float Dup = -0.4f;
+    private const float Eup = -0.5f;
+
+    // Y component -- distance from center to x0 and x3
+    private const float Awid = 0.25f;
+    private const float Bwid = 0.3f;
+    private const float Cwid = 0.5f;
+    private const float Dwid = 0.3f;
+    private const float Ewid = 0.2f;
+
+    // Y component -- distance from center to x1, x2, x4 and x5
+    private const float Afwid = 0.0f;
+    private const float Bfwid = 0.2f;
+    private const float Cfwid = 0.4f;
+    private const float Dfwid = 0.2f;
+    private const float Efwid = 0.0f;
+
+    // X component -- distance from zero to the front or back of a level
+    private const float Adep = 0f;
+    private const float Bdep = 0.3f;
+    private const float Cdep = 0.5f;
+    private const float Ddep = 0.2f;
+    private const float Edep = 0f;
+
+    private OMV.Vector3[] avatarVertices = {
+           new OMV.Vector3( 0.0f, -Awid,  Aup),   // A0
+           new OMV.Vector3( 0.0f, +Awid,  Aup),   // A3
+
+           new OMV.Vector3( 0.0f, -Bwid,  Bup),   // B0
+           new OMV.Vector3(+Bdep, -Bfwid, Bup),   // B1
+           new OMV.Vector3(+Bdep, +Bfwid, Bup),   // B2
+           new OMV.Vector3( 0.0f, +Bwid,  Bup),   // B3
+           new OMV.Vector3(-Bdep, +Bfwid, Bup),   // B4
+           new OMV.Vector3(-Bdep, -Bfwid, Bup),   // B5
+
+           new OMV.Vector3( 0.0f, -Cwid,  Cup),   // C0
+           new OMV.Vector3(+Cdep, -Cfwid, Cup),   // C1
+           new OMV.Vector3(+Cdep, +Cfwid, Cup),   // C2
+           new OMV.Vector3( 0.0f, +Cwid,  Cup),   // C3
+           new OMV.Vector3(-Cdep, +Cfwid, Cup),   // C4
+           new OMV.Vector3(-Cdep, -Cfwid, Cup),   // C5
+
+           new OMV.Vector3( 0.0f, -Dwid,  Dup),   // D0
+           new OMV.Vector3(+Ddep, -Dfwid, Dup),   // D1
+           new OMV.Vector3(+Ddep, +Dfwid, Dup),   // D2
+           new OMV.Vector3( 0.0f, +Dwid,  Dup),   // D3
+           new OMV.Vector3(-Ddep, +Dfwid, Dup),   // D4
+           new OMV.Vector3(-Ddep, -Dfwid, Dup),   // D5
+
+           new OMV.Vector3( 0.0f, -Ewid,  Eup),   // E0
+           new OMV.Vector3( 0.0f, +Ewid,  Eup),   // E3
+    };
+
+    // Offsets of the vertices in the vertices array
+    private enum Ind : int
+    {
+        A0, A3,
+        B0, B1, B2, B3, B4, B5,
+        C0, C1, C2, C3, C4, C5,
+        D0, D1, D2, D3, D4, D5,
+        E0, E3
+    }
+
+    // Comments specify trianges and quads in clockwise direction
+    private Ind[] avatarIndices = {
+        Ind.A0, Ind.B0, Ind.B1,                         // A0,B0,B1
+        Ind.A0, Ind.B1, Ind.B2, Ind.B2, Ind.A3, Ind.A0, // A0,B1,B2,A3
+        Ind.A3, Ind.B2, Ind.B3,                         // A3,B2,B3
+        Ind.A3, Ind.B3, Ind.B4,                         // A3,B3,B4
+        Ind.A3, Ind.B4, Ind.B5, Ind.B5, Ind.A0, Ind.A3, // A3,B4,B5,A0
+        Ind.A0, Ind.B5, Ind.B0,                         // A0,B5,B0
+
+        Ind.B0, Ind.C0, Ind.C1, Ind.C1, Ind.B1, Ind.B0, // B0,C0,C1,B1
+        Ind.B1, Ind.C1, Ind.C2, Ind.C2, Ind.B2, Ind.B1, // B1,C1,C2,B2
+        Ind.B2, Ind.C2, Ind.C3, Ind.C3, Ind.B3, Ind.B2, // B2,C2,C3,B3
+        Ind.B3, Ind.C3, Ind.C4, Ind.C4, Ind.B4, Ind.B3, // B3,C3,C4,B4
+        Ind.B4, Ind.C4, Ind.C5, Ind.C5, Ind.B5, Ind.B4, // B4,C4,C5,B5
+        Ind.B5, Ind.C5, Ind.C0, Ind.C0, Ind.B0, Ind.B5, // B5,C5,C0,B0
+
+        Ind.C0, Ind.D0, Ind.D1, Ind.D1, Ind.C1, Ind.C0, // C0,D0,D1,C1
+        Ind.C1, Ind.D1, Ind.D2, Ind.D2, Ind.C2, Ind.C1, // C1,D1,D2,C2
+        Ind.C2, Ind.D2, Ind.D3, Ind.D3, Ind.C3, Ind.C2, // C2,D2,D3,C3
+        Ind.C3, Ind.D3, Ind.D4, Ind.D4, Ind.C4, Ind.C3, // C3,D3,D4,C4
+        Ind.C4, Ind.D4, Ind.D5, Ind.D5, Ind.C5, Ind.C4, // C4,D4,D5,C5
+        Ind.C5, Ind.D5, Ind.D0, Ind.D0, Ind.C0, Ind.C5, // C5,D5,D0,C0
+
+        Ind.E0, Ind.D0, Ind.D1,                         // E0,D0,D1
+        Ind.E0, Ind.D1, Ind.D2, Ind.D2, Ind.E3, Ind.E0, // E0,D1,D2,E3
+        Ind.E3, Ind.D2, Ind.D3,                         // E3,D2,D3
+        Ind.E3, Ind.D3, Ind.D4,                         // E3,D3,D4
+        Ind.E3, Ind.D4, Ind.D5, Ind.D5, Ind.E0, Ind.E3, // E3,D4,D5,E0
+        Ind.E0, Ind.D5, Ind.D0,                         // E0,D5,D0
+
+    };
+
+}
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
index 3ca756c..e4fecc3 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
@@ -44,7 +44,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
 {
     static string LogHeader = "[BULLETSIM TERRAIN HEIGHTMAP]";
 
-    BulletHeightMapInfo m_mapInfo = null;
+    BulletHMapInfo m_mapInfo = null;
 
     // Constructor to build a default, flat heightmap terrain.
     public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize)
@@ -58,7 +58,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
         {
             initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION;
         }
-        m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero);
+        m_mapInfo = new BulletHMapInfo(id, initialMap);
         m_mapInfo.minCoords = minTerrainCoords;
         m_mapInfo.maxCoords = maxTerrainCoords;
         m_mapInfo.terrainRegionBase = TerrainBase;
@@ -72,7 +72,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
                                                     Vector3 minCoords, Vector3 maxCoords)
         : base(physicsScene, regionBase, id)
     {
-        m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero);
+        m_mapInfo = new BulletHMapInfo(id, initialMap);
         m_mapInfo.minCoords = minCoords;
         m_mapInfo.maxCoords = maxCoords;
         m_mapInfo.minZ = minCoords.Z;
@@ -91,13 +91,11 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
     // Using the information in m_mapInfo, create the physical representation of the heightmap.
     private void BuildHeightmapTerrain()
     {
-        m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID,
-                                m_mapInfo.minCoords, m_mapInfo.maxCoords, 
-                                m_mapInfo.heightMap, BSTerrainManager.TERRAIN_COLLISION_MARGIN);
-
         // Create the terrain shape from the mapInfo
-        m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr),
-                                                    BSPhysicsShapeType.SHAPE_TERRAIN);
+        m_mapInfo.terrainShape = PhysicsScene.PE.CreateTerrainShape( m_mapInfo.ID, 
+                                new Vector3(m_mapInfo.sizeX, m_mapInfo.sizeY, 0), m_mapInfo.minZ, m_mapInfo.maxZ,
+                                m_mapInfo.heightMap, 1f, BSParam.TerrainCollisionMargin);
+
 
         // The terrain object initial position is at the center of the object
         Vector3 centerPos;
@@ -105,28 +103,26 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
         centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f);
         centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f);
 
-        m_mapInfo.terrainBody = new BulletBody(m_mapInfo.ID,
-                BulletSimAPI.CreateBodyWithDefaultMotionState2(m_mapInfo.terrainShape.ptr,
-                                            m_mapInfo.ID, centerPos, Quaternion.Identity));
+        m_mapInfo.terrainBody = PhysicsScene.PE.CreateBodyWithDefaultMotionState(m_mapInfo.terrainShape, 
+                                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.SetCollisionFlags2(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
+        PhysicsScene.PE.SetFriction(m_mapInfo.terrainBody, BSParam.TerrainFriction);
+        PhysicsScene.PE.SetHitFraction(m_mapInfo.terrainBody, BSParam.TerrainHitFraction);
+        PhysicsScene.PE.SetRestitution(m_mapInfo.terrainBody, BSParam.TerrainRestitution);
+        PhysicsScene.PE.SetCollisionFlags(m_mapInfo.terrainBody, CollisionFlags.CF_STATIC_OBJECT);
 
         // Return the new terrain to the world of physical objects
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
+        PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_mapInfo.terrainBody);
 
         // redo its bounding box now that it is in the world
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
+        PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_mapInfo.terrainBody);
 
-        BulletSimAPI.SetCollisionFilterMask2(m_mapInfo.terrainBody.ptr,
-                            (uint)CollisionFilterGroups.TerrainFilter,
-                            (uint)CollisionFilterGroups.TerrainMask);
+        m_mapInfo.terrainBody.collisionType = CollisionType.Terrain;
+        m_mapInfo.terrainBody.ApplyCollisionMask(PhysicsScene);
 
         // Make it so the terrain will not move or be considered for movement.
-        BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
+        PhysicsScene.PE.ForceActivationState(m_mapInfo.terrainBody, ActivationState.DISABLE_SIMULATION);
 
         return;
     }
@@ -136,19 +132,18 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
     {
         if (m_mapInfo != null)
         {
-            if (m_mapInfo.terrainBody.ptr != IntPtr.Zero)
+            if (m_mapInfo.terrainBody.HasPhysicalBody)
             {
-                BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
+                PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_mapInfo.terrainBody);
                 // Frees both the body and the shape.
-                BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
-                BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr);
+                PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_mapInfo.terrainBody);
             }
         }
         m_mapInfo = null;
     }
 
     // The passed position is relative to the base of the region.
-    public override float GetHeightAtXYZ(Vector3 pos)
+    public override float GetTerrainHeightAtXYZ(Vector3 pos)
     {
         float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
 
@@ -166,5 +161,11 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
         }
         return ret;
     }
+
+    // The passed position is relative to the base of the region.
+    public override float GetWaterLevelAtXYZ(Vector3 pos)
+    {
+        return PhysicsScene.SimpleWaterLevel;
+    }
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
index 23fcfd3..2e9db39 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
@@ -62,11 +62,12 @@ public abstract class BSTerrainPhys : IDisposable
         ID = id;
     }
     public abstract void Dispose();
-    public abstract float GetHeightAtXYZ(Vector3 pos);
+    public abstract float GetTerrainHeightAtXYZ(Vector3 pos);
+    public abstract float GetWaterLevelAtXYZ(Vector3 pos);
 }
 
 // ==========================================================================================
-public sealed class BSTerrainManager
+public sealed class BSTerrainManager : IDisposable
 {
     static string LogHeader = "[BULLETSIM TERRAIN MANAGER]";
 
@@ -75,13 +76,12 @@ public sealed class BSTerrainManager
     public const float HEIGHT_INITIALIZATION = 24.987f;
     public const float HEIGHT_INITIAL_LASTHEIGHT = 24.876f;
     public const float HEIGHT_GETHEIGHT_RET = 24.765f;
+    public const float WATER_HEIGHT_GETHEIGHT_RET = 19.998f;
 
     // If the min and max height are equal, we reduce the min by this
     //    amount to make sure that a bounding box is built for the terrain.
     public const float HEIGHT_EQUAL_FUDGE = 0.2f;
 
-    public const float TERRAIN_COLLISION_MARGIN = 0.0f;
-
     // Until the whole simulator is changed to pass us the region size, we rely on constants.
     public Vector3 DefaultRegionSize = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
 
@@ -122,25 +122,28 @@ public sealed class BSTerrainManager
         MegaRegionParentPhysicsScene = null;
     }
 
+    public void Dispose()
+    {
+        ReleaseGroundPlaneAndTerrain();
+    }
+
     // Create the initial instance of terrain and the underlying ground plane.
     // This is called from the initialization routine so we presume it is
     //    safe to call Bullet in real time. We hope no one is moving prims around yet.
     public void CreateInitialGroundPlaneAndTerrain()
     {
         // 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, TERRAIN_COLLISION_MARGIN),
-                    BSPhysicsShapeType.SHAPE_GROUNDPLANE);
-        m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID,
-                        BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID,
-                                                            Vector3.Zero, Quaternion.Identity));
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr);
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_groundPlane.ptr);
+        BulletShape groundPlaneShape = PhysicsScene.PE.CreateGroundPlaneShape(BSScene.GROUNDPLANE_ID, 1f, BSParam.TerrainCollisionMargin);
+        m_groundPlane = PhysicsScene.PE.CreateBodyWithDefaultMotionState(groundPlaneShape, 
+                                        BSScene.GROUNDPLANE_ID, Vector3.Zero, Quaternion.Identity);
+
+        PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_groundPlane);
+        PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_groundPlane);
         // Ground plane does not move
-        BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION);
+        PhysicsScene.PE.ForceActivationState(m_groundPlane, ActivationState.DISABLE_SIMULATION);
         // Everything collides with the ground plane.
-        BulletSimAPI.SetCollisionFilterMask2(m_groundPlane.ptr,
-                        (uint)CollisionFilterGroups.GroundPlaneFilter, (uint)CollisionFilterGroups.GroundPlaneMask);
+        m_groundPlane.collisionType = CollisionType.Groundplane;
+        m_groundPlane.ApplyCollisionMask(PhysicsScene);
 
         // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain.
         BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize);
@@ -150,13 +153,13 @@ public sealed class BSTerrainManager
     // Release all the terrain structures we might have allocated
     public void ReleaseGroundPlaneAndTerrain()
     {
-        if (m_groundPlane.ptr != IntPtr.Zero)
+        if (m_groundPlane.HasPhysicalBody)
         {
-            if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr))
+            if (PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_groundPlane))
             {
-                BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_groundPlane.ptr);
+                PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_groundPlane);
             }
-            m_groundPlane.ptr = IntPtr.Zero;
+            m_groundPlane.Clear();
         }
 
         ReleaseTerrain();
@@ -165,17 +168,22 @@ public sealed class BSTerrainManager
     // Release all the terrain we have allocated
     public void ReleaseTerrain()
     {
-        foreach (KeyValuePair<Vector3, BSTerrainPhys> kvp in m_terrains)
+        lock (m_terrains)
         {
-            kvp.Value.Dispose();
+            foreach (KeyValuePair<Vector3, BSTerrainPhys> kvp in m_terrains)
+            {
+                kvp.Value.Dispose();
+            }
+            m_terrains.Clear();
         }
-        m_terrains.Clear();
     }
 
     // The simulator wants to set a new heightmap for the terrain.
     public void SetTerrain(float[] heightMap) {
         float[] localHeightMap = heightMap;
-        PhysicsScene.TaintedObject("TerrainManager.SetTerrain", delegate()
+        // If there are multiple requests for changes to the same terrain between ticks,
+        //      only do that last one.
+        PhysicsScene.PostTaintObject("TerrainManager.SetTerrain-"+ m_worldOffset.ToString(), 0, delegate()
         {
             if (m_worldOffset != Vector3.Zero && MegaRegionParentPhysicsScene != null)
             {
@@ -211,6 +219,7 @@ public sealed class BSTerrainManager
     //     terrain shape is created and added to the body.
     //     This call is most often used to update the heightMap and parameters of the terrain.
     // (The above does suggest that some simplification/refactoring is in order.)
+    // Called during taint-time.
     private void UpdateTerrain(uint id, float[] heightMap, 
                             Vector3 minCoords, Vector3 maxCoords, bool inTaintTime)
     {
@@ -220,7 +229,7 @@ public sealed class BSTerrainManager
         // Find high and low points of passed heightmap.
         // The min and max passed in is usually the area objects can be in (maximum
         //     object height, for instance). The terrain wants the bounding box for the
-        //     terrain so we replace passed min and max Z with the actual terrain min/max Z.
+        //     terrain so replace passed min and max Z with the actual terrain min/max Z.
         float minZ = float.MaxValue;
         float maxZ = float.MinValue;
         foreach (float height in heightMap)
@@ -238,15 +247,15 @@ public sealed class BSTerrainManager
 
         Vector3 terrainRegionBase = new Vector3(minCoords.X, minCoords.Y, 0f);
 
-        BSTerrainPhys terrainPhys;
-        if (m_terrains.TryGetValue(terrainRegionBase, out terrainPhys))
+        lock (m_terrains)
         {
-            // There is already a terrain in this spot. Free the old and build the new.
-            DetailLog("{0},UpdateTerrain:UpdateExisting,call,id={1},base={2},minC={3},maxC={4}",
-                            BSScene.DetailLogZero, id, terrainRegionBase, minCoords, minCoords);
-
-            PhysicsScene.TaintedObject(inTaintTime, "BSScene.UpdateTerrain:UpdateExisting", delegate()
+            BSTerrainPhys terrainPhys;
+            if (m_terrains.TryGetValue(terrainRegionBase, out terrainPhys))
             {
+                // There is already a terrain in this spot. Free the old and build the new.
+                DetailLog("{0},UpdateTerrain:UpdateExisting,call,id={1},base={2},minC={3},maxC={4}",
+                                BSScene.DetailLogZero, id, terrainRegionBase, minCoords, minCoords);
+
                 // Remove old terrain from the collection
                 m_terrains.Remove(terrainRegionBase);
                 // Release any physical memory it may be using.
@@ -271,35 +280,24 @@ public sealed class BSTerrainManager
                     // I hate doing this, but just bail
                     return;
                 }
-            });
-        }
-        else
-        {
-            // We don't know about this terrain so either we are creating a new terrain or
-            //    our mega-prim child is giving us a new terrain to add to the phys world
-
-            // if this is a child terrain, calculate a unique terrain id
-            uint newTerrainID = id;
-            if (newTerrainID >= BSScene.CHILDTERRAIN_ID)
-                newTerrainID = ++m_terrainCount;
-
-            float[] heightMapX = heightMap;
-            Vector3 minCoordsX = minCoords;
-            Vector3 maxCoordsX = maxCoords;
+            }
+            else
+            {
+                // We don't know about this terrain so either we are creating a new terrain or
+                //    our mega-prim child is giving us a new terrain to add to the phys world
 
-            DetailLog("{0},UpdateTerrain:NewTerrain,call,id={1}, minC={2}, maxC={3}",
-                            BSScene.DetailLogZero, newTerrainID, minCoords, minCoords);
+                // if this is a child terrain, calculate a unique terrain id
+                uint newTerrainID = id;
+                if (newTerrainID >= BSScene.CHILDTERRAIN_ID)
+                    newTerrainID = ++m_terrainCount;
 
-            // Code that must happen at taint-time
-            PhysicsScene.TaintedObject(inTaintTime, "BSScene.UpdateTerrain:NewTerrain", delegate()
-            {
-                DetailLog("{0},UpdateTerrain:NewTerrain,taint,baseX={1},baseY={2}", 
-                                            BSScene.DetailLogZero, minCoordsX.X, minCoordsX.Y);
+                DetailLog("{0},UpdateTerrain:NewTerrain,taint,newID={1},minCoord={2},maxCoord={3}",
+                                            BSScene.DetailLogZero, newTerrainID, minCoords, minCoords);
                 BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords);
                 m_terrains.Add(terrainRegionBase, newTerrainPhys);
 
                 m_terrainModified = true;
-            });
+            }
         }
     }
 
@@ -308,9 +306,9 @@ public sealed class BSTerrainManager
     {
         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,
@@ -323,14 +321,21 @@ public sealed class BSTerrainManager
             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;
         }
         return newTerrainPhys;
     }
 
+    // Return 'true' of this position is somewhere in known physical terrain space
+    public bool IsWithinKnownTerrain(Vector3 pos)
+    {
+        Vector3 terrainBaseXYZ;
+        BSTerrainPhys physTerrain;
+        return GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ);
+    }
 
     // Given an X and Y, find the height of the terrain.
     // Since we could be handling multiple terrains for a mega-region,
@@ -341,40 +346,74 @@ public sealed class BSTerrainManager
     private float lastHeightTX = 999999f;
     private float lastHeightTY = 999999f;
     private float lastHeight = HEIGHT_INITIAL_LASTHEIGHT;
-    public float GetTerrainHeightAtXYZ(Vector3 loc)
+    public float GetTerrainHeightAtXYZ(Vector3 pos)
     {
-        float tX = loc.X;
-        float tY = loc.Y;
+        float tX = pos.X;
+        float tY = pos.Y;
         // You'd be surprized at the number of times this routine is called
         //    with the same parameters as last time.
-        if (!m_terrainModified && lastHeightTX == tX && lastHeightTY == tY)
+        if (!m_terrainModified && (lastHeightTX == tX) && (lastHeightTY == tY))
             return lastHeight;
+        m_terrainModified = false;
 
         lastHeightTX = tX;
         lastHeightTY = tY;
         float ret = HEIGHT_GETHEIGHT_RET;
 
-        int offsetX = ((int)(tX / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X;
-        int offsetY = ((int)(tY / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y;
-        Vector3 terrainBaseXYZ = new Vector3(offsetX, offsetY, 0f);
-
+        Vector3 terrainBaseXYZ;
         BSTerrainPhys physTerrain;
-        if (m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain))
+        if (GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ))
         {
-            ret = physTerrain.GetHeightAtXYZ(loc - terrainBaseXYZ);
-            DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXYZ,loc={1},base={2},height={3}",
-                                             BSScene.DetailLogZero, loc, terrainBaseXYZ, ret);
+            ret = physTerrain.GetTerrainHeightAtXYZ(pos - terrainBaseXYZ);
         }
         else
         {
             PhysicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}",
                     LogHeader, PhysicsScene.RegionName, tX, tY);
+            DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXYZ,terrainNotFound,pos={1},base={2}",
+                                BSScene.DetailLogZero, pos, terrainBaseXYZ);
         }
-        m_terrainModified = false;
+
         lastHeight = ret;
         return ret;
     }
 
+    public float GetWaterLevelAtXYZ(Vector3 pos)
+    {
+        float ret = WATER_HEIGHT_GETHEIGHT_RET;
+
+        Vector3 terrainBaseXYZ;
+        BSTerrainPhys physTerrain;
+        if (GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ))
+        {
+            ret = physTerrain.GetWaterLevelAtXYZ(pos);
+        }
+        else
+        {
+            PhysicsScene.Logger.ErrorFormat("{0} GetWaterHeightAtXY: terrain not found: pos={1}, terrainBase={2}, height={3}",
+                    LogHeader, PhysicsScene.RegionName, pos, terrainBaseXYZ, ret);
+        }
+        return ret;
+    }
+
+    // Given an address, return 'true' of there is a description of that terrain and output
+    //    the descriptor class and the 'base' fo the addresses therein.
+    private bool GetTerrainPhysicalAtXYZ(Vector3 pos, out BSTerrainPhys outPhysTerrain, out Vector3 outTerrainBase)
+    {
+        int offsetX = ((int)(pos.X / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X;
+        int offsetY = ((int)(pos.Y / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y;
+        Vector3 terrainBaseXYZ = new Vector3(offsetX, offsetY, 0f);
+
+        BSTerrainPhys physTerrain = null;
+        lock (m_terrains)
+        {
+            m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain);
+        }
+        outTerrainBase = terrainBaseXYZ;
+        outPhysTerrain = physTerrain;
+        return (physTerrain != null);
+    }
+
     // Although no one seems to check this, I do support combining.
     public bool SupportsCombining()
     {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
index dca7150..8244f02 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
@@ -88,11 +88,11 @@ public sealed class BSTerrainMesh : BSTerrainPhys
             // Something is very messed up and a crash is in our future.
             return;
         }
+        PhysicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,indices={1},indSz={2},vertices={3},vertSz={4}", 
+                                ID, indicesCount, indices.Length, verticesCount, vertices.Length);
 
-        m_terrainShape = new BulletShape(BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
-                                        indicesCount, indices, verticesCount, vertices),
-                                        BSPhysicsShapeType.SHAPE_MESH);
-        if (m_terrainShape.ptr == IntPtr.Zero)
+        m_terrainShape = PhysicsScene.PE.CreateMeshShape(PhysicsScene.World, indicesCount, indices, verticesCount, vertices);
+        if (!m_terrainShape.HasPhysicalShape)
         {
             // DISASTER!!
             PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape", ID);
@@ -104,8 +104,8 @@ public sealed class BSTerrainMesh : BSTerrainPhys
         Vector3 pos = regionBase;
         Quaternion rot = Quaternion.Identity;
 
-        m_terrainBody = new BulletBody(id, BulletSimAPI.CreateBodyWithDefaultMotionState2( m_terrainShape.ptr, ID, pos, rot));
-        if (m_terrainBody.ptr == IntPtr.Zero)
+        m_terrainBody = PhysicsScene.PE.CreateBodyWithDefaultMotionState(m_terrainShape, ID, pos, rot);
+        if (!m_terrainBody.HasPhysicalBody)
         {
             // DISASTER!!
             physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase);
@@ -114,39 +114,40 @@ 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.SetCollisionFlags2(m_terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
+        PhysicsScene.PE.SetFriction(m_terrainBody, BSParam.TerrainFriction);
+        PhysicsScene.PE.SetHitFraction(m_terrainBody, BSParam.TerrainHitFraction);
+        PhysicsScene.PE.SetRestitution(m_terrainBody, BSParam.TerrainRestitution);
+        PhysicsScene.PE.SetCollisionFlags(m_terrainBody, CollisionFlags.CF_STATIC_OBJECT);
 
         // Static objects are not very massive.
-        BulletSimAPI.SetMassProps2(m_terrainBody.ptr, 0f, Vector3.Zero);
+        PhysicsScene.PE.SetMassProps(m_terrainBody, 0f, Vector3.Zero);
 
-        // Return the new terrain to the world of physical objects
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr);
+        // Put the new terrain to the world of physical objects
+        PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_terrainBody);
 
-        // redo its bounding box now that it is in the world
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr);
+        // Redo its bounding box now that it is in the world
+        PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_terrainBody);
 
-        BulletSimAPI.SetCollisionFilterMask2(m_terrainBody.ptr,
-                            (uint)CollisionFilterGroups.TerrainFilter,
-                            (uint)CollisionFilterGroups.TerrainMask);
+        m_terrainBody.collisionType = CollisionType.Terrain;
+        m_terrainBody.ApplyCollisionMask(PhysicsScene);
 
         // Make it so the terrain will not move or be considered for movement.
-        BulletSimAPI.ForceActivationState2(m_terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
+        PhysicsScene.PE.ForceActivationState(m_terrainBody, ActivationState.DISABLE_SIMULATION);
     }
 
     public override void Dispose()
     {
-        if (m_terrainBody.ptr != IntPtr.Zero)
+        if (m_terrainBody.HasPhysicalBody)
         {
-            BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr);
+            PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_terrainBody);
             // Frees both the body and the shape.
-            BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_terrainBody.ptr);
+            PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_terrainBody);
+            m_terrainBody.Clear();
+            m_terrainShape.Clear();
         }
     }
 
-    public override float GetHeightAtXYZ(Vector3 pos)
+    public override float GetTerrainHeightAtXYZ(Vector3 pos)
     {
         // For the moment use the saved heightmap to get the terrain height.
         // TODO: raycast downward to find the true terrain below the position.
@@ -167,6 +168,12 @@ public sealed class BSTerrainMesh : BSTerrainPhys
         return ret;
     }
 
+    // The passed position is relative to the base of the region.
+    public override float GetWaterLevelAtXYZ(Vector3 pos)
+    {
+        return PhysicsScene.SimpleWaterLevel;
+    }
+
     // Convert the passed heightmap to mesh information suitable for CreateMeshShape2().
     // Return 'true' if successfully created.
     public static bool ConvertHeightmapToMesh(
@@ -188,6 +195,11 @@ public sealed class BSTerrainMesh : BSTerrainPhys
         // Simple mesh creation which assumes magnification == 1.
         // TODO: do a more general solution that scales, adds new vertices and smoothes the result.
 
+        // Create an array of vertices that is sizeX+1 by sizeY+1 (note the loop
+        //    from zero to <= sizeX). The triangle indices are then generated as two triangles
+        //    per heightmap point. There are sizeX by sizeY of these squares. The extra row and
+        //    column of vertices are used to complete the triangles of the last row and column
+        //    of the heightmap.
         try
         {
             // One vertice per heightmap value plus the vertices off the top and bottom edge.
@@ -200,16 +212,18 @@ public sealed class BSTerrainMesh : BSTerrainPhys
             float magY = (float)sizeY / extentY;
             physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2},extentBase={3},magX={4},magY={5}",
                                     BSScene.DetailLogZero, totalVertices, totalIndices, extentBase, magX, magY);
+            float minHeight = float.MaxValue;
             // Note that sizeX+1 vertices are created since there is land between this and the next region.
             for (int yy = 0; yy <= sizeY; yy++)
             {
-                for (int xx = 0; xx <= sizeX; xx++)     // Hint: the "<=" means we got through sizeX + 1 times
+                for (int xx = 0; xx <= sizeX; xx++)     // Hint: the "<=" means we go around sizeX + 1 times
                 {
                     int offset = yy * sizeX + xx;
-                    // Extend the height from the height from the last row or column
+                    // Extend the height with the height from the last row or column
                     if (yy == sizeY) offset -= sizeX;
                     if (xx == sizeX) offset -= 1;
                     float height = heightMap[offset];
+                    minHeight = Math.Min(minHeight, height);
                     vertices[verticesCount + 0] = (float)xx * magX + extentBase.X;
                     vertices[verticesCount + 1] = (float)yy * magY + extentBase.Y;
                     vertices[verticesCount + 2] = height + extentBase.Z;
@@ -217,14 +231,12 @@ public sealed class BSTerrainMesh : BSTerrainPhys
                 }
             }
             verticesCount = verticesCount / 3;
-            physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,completeVerts,verCount={1}", 
-                                            BSScene.DetailLogZero, verticesCount);
 
             for (int yy = 0; yy < sizeY; yy++)
             {
                 for (int xx = 0; xx < sizeX; xx++)
                 {
-                    int offset = yy * sizeX + xx;
+                    int offset = yy * (sizeX + 1) + xx;
                     // Each vertices is presumed to be the upper left corner of a box of two triangles
                     indices[indicesCount + 0] = offset;
                     indices[indicesCount + 1] = offset + 1;
@@ -235,8 +247,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys
                     indicesCount += 6;
                 }
             }
-            physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,completeIndices,indCount={1}",   // DEEBUG DEBUG DEBUG
-                                                        LogHeader, indicesCount);                        // DEBUG
+
             ret = true;
         }
         catch (Exception e)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
deleted file mode 100644
index e60a760..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ /dev/null
@@ -1,1015 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Runtime.InteropServices;
-using System.Security;
-using System.Text;
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSPlugin {
-
-// Classes to allow some type checking for the API
-// These hold pointers to allocated objects in the unmanaged space.
-
-// The physics engine controller class created at initialization
-public struct BulletSim
-{
-    public BulletSim(uint worldId, BSScene bss, IntPtr xx)
-    {
-        ptr = xx;
-        worldID = worldId;
-        physicsScene = bss;
-    }
-    public IntPtr ptr;
-    public uint worldID;
-    // The scene is only in here so very low level routines have a handle to print debug/error messages
-    public BSScene physicsScene;
-}
-
-// An allocated Bullet btRigidBody
-public struct BulletBody
-{
-    public BulletBody(uint id, IntPtr xx)
-    {
-        ID = id;
-        ptr = xx;
-        collisionFilter = 0;
-        collisionMask = 0;
-    }
-    public IntPtr ptr;
-    public uint ID;
-    public CollisionFilterGroups collisionFilter;
-    public CollisionFilterGroups collisionMask;
-    public override string ToString()
-    {
-        StringBuilder buff = new StringBuilder();
-        buff.Append("<id=");
-        buff.Append(ID.ToString());
-        buff.Append(",p=");
-        buff.Append(ptr.ToString("X"));
-        if (collisionFilter != 0 || collisionMask != 0)
-        {
-            buff.Append(",f=");
-            buff.Append(collisionFilter.ToString("X"));
-            buff.Append(",m=");
-            buff.Append(collisionMask.ToString("X"));
-        }
-        buff.Append(">");
-        return buff.ToString();
-    }
-}
-
-public struct BulletShape
-{
-    public BulletShape(IntPtr xx)
-    {
-        ptr = xx;
-        type=BSPhysicsShapeType.SHAPE_UNKNOWN;
-        shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE;
-        isNativeShape = false;
-    }
-    public BulletShape(IntPtr xx, BSPhysicsShapeType typ)
-    {
-        ptr = xx;
-        type = typ;
-        shapeKey = 0;
-        isNativeShape = false;
-    }
-    public IntPtr ptr;
-    public BSPhysicsShapeType type;
-    public System.UInt64 shapeKey;
-    public bool isNativeShape;
-    public override string ToString()
-    {
-        StringBuilder buff = new StringBuilder();
-        buff.Append("<p=");
-        buff.Append(ptr.ToString("X"));
-        buff.Append(",s=");
-        buff.Append(type.ToString());
-        buff.Append(",k=");
-        buff.Append(shapeKey.ToString("X"));
-        buff.Append(",n=");
-        buff.Append(isNativeShape.ToString());
-        buff.Append(">");
-        return buff.ToString();
-    }
-}
-
-    // Constraint type values as defined by Bullet
-public enum ConstraintType : int
-{
-        POINT2POINT_CONSTRAINT_TYPE = 3,
-        HINGE_CONSTRAINT_TYPE,
-        CONETWIST_CONSTRAINT_TYPE,
-        D6_CONSTRAINT_TYPE,
-        SLIDER_CONSTRAINT_TYPE,
-        CONTACT_CONSTRAINT_TYPE,
-        D6_SPRING_CONSTRAINT_TYPE,
-        MAX_CONSTRAINT_TYPE
-}
-
-// An allocated Bullet btConstraint
-public struct BulletConstraint
-{
-    public BulletConstraint(IntPtr xx)
-    {
-        ptr = xx;
-    }
-    public IntPtr ptr;
-}
-
-// An allocated HeightMapThing which holds various heightmap info.
-// Made a class rather than a struct so there would be only one
-//      instance of this and C# will pass around pointers rather
-//      than making copies.
-public class BulletHeightMapInfo
-{
-    public BulletHeightMapInfo(uint id, float[] hm, IntPtr xx) {
-        ID = id;
-        Ptr = xx;
-        heightMap = hm;
-        terrainRegionBase = Vector3.Zero;
-        minCoords = new Vector3(100f, 100f, 25f);
-        maxCoords = new Vector3(101f, 101f, 26f);
-        minZ = maxZ = 0f;
-        sizeX = sizeY = 256f;
-    }
-    public uint ID;
-    public IntPtr Ptr;
-    public float[] heightMap;
-    public Vector3 terrainRegionBase;
-    public Vector3 minCoords;
-    public Vector3 maxCoords;
-    public float sizeX, sizeY;
-    public float minZ, maxZ;
-    public BulletShape terrainShape;
-    public BulletBody terrainBody;
-}
-
-// ===============================================================================
-[StructLayout(LayoutKind.Sequential)]
-public struct ConvexHull
-{
-        Vector3 Offset;
-        int VertexCount;
-        Vector3[] Vertices;
-}
-public enum BSPhysicsShapeType
-{
-        SHAPE_UNKNOWN   = 0,
-        SHAPE_CAPSULE   = 1,
-        SHAPE_BOX       = 2,
-        SHAPE_CONE      = 3,
-        SHAPE_CYLINDER  = 4,
-        SHAPE_SPHERE    = 5,
-        SHAPE_MESH      = 6,
-        SHAPE_HULL      = 7,
-    // following defined by BulletSim
-        SHAPE_GROUNDPLANE  = 20,
-        SHAPE_TERRAIN   = 21,
-        SHAPE_COMPOUND  = 22,
-        SHAPE_HEIGHTMAP = 23,
-};
-
-// The native shapes have predefined shape hash keys
-public enum FixedShapeKey : ulong
-{
-    KEY_NONE        = 0,
-    KEY_BOX         = 1,
-    KEY_SPHERE      = 2,
-    KEY_CONE        = 3,
-    KEY_CYLINDER    = 4,
-    KEY_CAPSULE     = 5,
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public struct ShapeData
-{
-    public uint ID;
-    public BSPhysicsShapeType Type;
-    public Vector3 Position;
-    public Quaternion Rotation;
-    public Vector3 Velocity;
-    public Vector3 Scale;
-    public float Mass;
-    public float Buoyancy;
-    public System.UInt64 HullKey;
-    public System.UInt64 MeshKey;
-    public float Friction;
-    public float Restitution;
-    public float Collidable;    // true of things bump into this
-    public float Static;        // true if a static object. Otherwise gravity, etc.
-    public float Solid;         // true if object cannot be passed through
-    public Vector3 Size;
-
-    // note that bools are passed as floats since bool size changes by language and architecture
-    public const float numericTrue = 1f;
-    public const float numericFalse = 0f;
-}
-[StructLayout(LayoutKind.Sequential)]
-public struct SweepHit
-{
-    public uint ID;
-    public float Fraction;
-    public Vector3 Normal;
-    public Vector3 Point;
-}
-[StructLayout(LayoutKind.Sequential)]
-public struct RaycastHit
-{
-    public uint ID;
-    public float Fraction;
-    public Vector3 Normal;
-}
-[StructLayout(LayoutKind.Sequential)]
-public struct CollisionDesc
-{
-    public uint aID;
-    public uint bID;
-    public Vector3 point;
-    public Vector3 normal;
-}
-[StructLayout(LayoutKind.Sequential)]
-public struct EntityProperties
-{
-    public uint ID;
-    public Vector3 Position;
-    public Quaternion Rotation;
-    public Vector3 Velocity;
-    public Vector3 Acceleration;
-    public Vector3 RotationalVelocity;
-}
-
-// Format of this structure must match the definition in the C++ code
-[StructLayout(LayoutKind.Sequential)]
-public struct ConfigurationParameters
-{
-    public float defaultFriction;
-    public float defaultDensity;
-    public float defaultRestitution;
-    public float collisionMargin;
-    public float gravity;
-
-    public float linearDamping;
-    public float angularDamping;
-    public float deactivationTime;
-    public float linearSleepingThreshold;
-    public float angularSleepingThreshold;
-        public float ccdMotionThreshold;
-        public float ccdSweptSphereRadius;
-    public float contactProcessingThreshold;
-
-    public float terrainImplementation;
-    public float terrainFriction;
-    public float terrainHitFraction;
-    public float terrainRestitution;
-    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 maxPersistantManifoldPoolSize;
-        public float maxCollisionAlgorithmPoolSize;
-        public float shouldDisableContactPoolDynamicAllocation;
-        public float shouldForceUpdateAllAabbs;
-        public float shouldRandomizeSolverOrder;
-        public float shouldSplitSimulationIslands;
-        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 physicsLoggingFrames;
-
-    public const float numericTrue = 1f;
-    public const float numericFalse = 0f;
-}
-
-
-// The states a bullet collision object can have
-public enum ActivationState : uint
-{
-    ACTIVE_TAG = 1,
-    ISLAND_SLEEPING,
-    WANTS_DEACTIVATION,
-    DISABLE_DEACTIVATION,
-    DISABLE_SIMULATION,
-}
-
-public enum CollisionObjectTypes : int
-{
-    CO_COLLISION_OBJECT             = 1 << 0,
-    CO_RIGID_BODY                   = 1 << 1,
-    CO_GHOST_OBJECT                 = 1 << 2,
-    CO_SOFT_BODY                    = 1 << 3,
-    CO_HF_FLUID                     = 1 << 4,
-    CO_USER_TYPE                    = 1 << 5,
-}
-
-// Values used by Bullet and BulletSim to control object properties.
-// Bullet's "CollisionFlags" has more to do with operations on the
-//    object (if collisions happen, if gravity effects it, ...).
-public enum CollisionFlags : uint
-{
-    CF_STATIC_OBJECT                 = 1 << 0,
-    CF_KINEMATIC_OBJECT              = 1 << 1,
-    CF_NO_CONTACT_RESPONSE           = 1 << 2,
-    CF_CUSTOM_MATERIAL_CALLBACK      = 1 << 3,
-    CF_CHARACTER_OBJECT              = 1 << 4,
-    CF_DISABLE_VISUALIZE_OBJECT      = 1 << 5,
-    CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
-    // Following used by BulletSim to control collisions
-    BS_SUBSCRIBE_COLLISION_EVENTS    = 1 << 10,
-    BS_FLOATS_ON_WATER               = 1 << 11,
-    BS_NONE                          = 0,
-    BS_ALL                           = 0xFFFFFFFF,
-
-    // These are the collision flags switched depending on physical state.
-    // The other flags are used for other things and should not be fooled with.
-    BS_ACTIVE = CF_STATIC_OBJECT
-                | CF_KINEMATIC_OBJECT
-                | CF_NO_CONTACT_RESPONSE
-};
-
-// Values for collisions groups and masks
-public enum CollisionFilterGroups : uint
-{
-    // Don't use the bit definitions!!  Define the use in a
-    //   filter/mask definition below. This way collision interactions
-    //   are more easily debugged.
-    BNoneFilter              = 0,
-    BDefaultFilter           = 1 << 0,
-    BStaticFilter            = 1 << 1,
-    BKinematicFilter         = 1 << 2,
-    BDebrisFilter            = 1 << 3,
-    BSensorTrigger           = 1 << 4,
-    BCharacterFilter         = 1 << 5,
-    BAllFilter               = 0xFFFFFFFF,
-    // Filter groups defined by BulletSim
-    BGroundPlaneFilter       = 1 << 10,
-    BTerrainFilter           = 1 << 11,
-    BRaycastFilter           = 1 << 12,
-    BSolidFilter             = 1 << 13,
-    BLinksetFilter           = 1 << 14,
-
-    // The collsion filters and masked are defined in one place -- don't want them scattered
-    AvatarFilter            = BCharacterFilter,
-    AvatarMask              = BAllFilter,
-    ObjectFilter            = BSolidFilter,
-    ObjectMask              = BAllFilter,
-    StaticObjectFilter      = BStaticFilter,
-    StaticObjectMask        = BAllFilter & ~BStaticFilter,   // static objects don't collide with each other
-    LinksetFilter           = BLinksetFilter,
-    LinksetMask             = BAllFilter & ~BLinksetFilter, // linkset objects don't collide with each other
-    VolumeDetectFilter      = BSensorTrigger,
-    VolumeDetectMask        = ~BSensorTrigger,
-    TerrainFilter           = BTerrainFilter,
-    TerrainMask             = BAllFilter & ~BStaticFilter,  // static objects on the ground don't collide
-    GroundPlaneFilter       = BGroundPlaneFilter,
-    GroundPlaneMask         = BAllFilter
-
-};
-
-// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
-// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2.
-public enum ConstraintParams : int
-{
-    BT_CONSTRAINT_ERP = 1,  // this one is not used in Bullet as of 20120730
-    BT_CONSTRAINT_STOP_ERP,
-    BT_CONSTRAINT_CFM,
-    BT_CONSTRAINT_STOP_CFM,
-};
-public enum ConstraintParamAxis : int
-{
-    AXIS_LINEAR_X = 0,
-    AXIS_LINEAR_Y,
-    AXIS_LINEAR_Z,
-    AXIS_ANGULAR_X,
-    AXIS_ANGULAR_Y,
-    AXIS_ANGULAR_Z,
-    AXIS_LINEAR_ALL = 20,    // these last three added by BulletSim so we don't have to do zillions of calls
-    AXIS_ANGULAR_ALL,
-    AXIS_ALL
-};
-
-// ===============================================================================
-static class BulletSimAPI {
-
-// Link back to the managed code for outputting log messages
-[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
-public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
-
-// ===============================================================================
-// Initialization and simulation
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
-                                                                                        int maxCollisions,  IntPtr collisionArray,
-                                                                                        int maxUpdates, IntPtr updateArray,
-                                            DebugLogCallback logRoutine);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetHeightMap2(IntPtr world, float[] heightmap);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void Shutdown2(IntPtr sim);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
-                        out int updatedEntityCount,
-                        out IntPtr updatedEntitiesPtr,
-                        out int collidersCount,
-                        out IntPtr collidersPtr);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool PushUpdate2(IntPtr obj);
-
-// =====================================================================================
-// Mesh, hull, shape and body creation helper routines
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateMeshShape2(IntPtr world,
-                int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
-                int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices );
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateHullShape2(IntPtr world,
-                int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsNativeShape2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateCompoundShape2(IntPtr sim, bool enableDynamicAabbTree);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int GetNumberOfCompoundChildren2(IntPtr cShape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void AddChildShapeToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr GetChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr RemoveChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void RemoveChildShapeFromCompoundShape2(IntPtr cShape, IntPtr removeShape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void RecalculateCompoundShapeLocalAabb2(IntPtr cShape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, uint id, IntPtr constructionInfo);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int GetBodyType2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr AllocateBodyInfo2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ReleaseBodyInfo2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DestroyObject2(IntPtr sim, IntPtr obj);
-
-// =====================================================================================
-// Terrain creation and helper routines
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords,
-        [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords,
-        [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool ReleaseHeightMapInfo2(IntPtr heightMapInfo);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo);
-
-// =====================================================================================
-// Constraint creation and helper routines
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
-                    Vector3 frame1loc, Quaternion frame1rot,
-                    Vector3 frame2loc, Quaternion frame2rot,
-                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr Create6DofConstraintToPoint2(IntPtr world, IntPtr obj1, IntPtr obj2,
-                    Vector3 joinPoint,
-                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
-                    Vector3 pivotinA, Vector3 pivotinB,
-                    Vector3 axisInA, Vector3 axisInB,
-                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetFrames2(IntPtr constrain,
-                Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetAngularLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool UseFrameOffset2(IntPtr constrain, float enable);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool CalculateTransforms2(IntPtr constrain);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain);
-
-// =====================================================================================
-// btCollisionWorld entries
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void UpdateSingleAabb2(IntPtr world, IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void UpdateAabbs2(IntPtr world);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool GetForceUpdateAllAabbs2(IntPtr world);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetForceUpdateAllAabbs2(IntPtr world, bool force);
-
-// =====================================================================================
-// btDynamicsWorld entries
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool RemoveConstraintFromWorld2(IntPtr world, IntPtr constrain);
-// =====================================================================================
-// btCollisionObject entries
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetAnisotripicFriction2(IntPtr constrain);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 SetAnisotripicFriction2(IntPtr constrain, Vector3 frict);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool HasAnisotripicFriction2(IntPtr constrain);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetContactProcessingThreshold2(IntPtr obj, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetContactProcessingThreshold2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsStaticObject2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsKinematicObject2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsStaticOrKinematicObject2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool HasContactResponse2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr GetCollisionShape2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int GetActivationState2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetActivationState2(IntPtr obj, int state);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetDeactivationTime2(IntPtr obj, float dtime);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetDeactivationTime2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ForceActivationState2(IntPtr obj, ActivationState state);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void Activate2(IntPtr obj, bool forceActivation);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsActive2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetRestitution2(IntPtr obj, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetRestitution2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetFriction2(IntPtr obj, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetFriction2(IntPtr obj);
-
-    /* Haven't defined the type 'Transform'
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Transform GetWorldTransform2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void setWorldTransform2(IntPtr obj, Transform trans);
-     */
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetPosition2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Quaternion GetOrientation2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr GetBroadphaseHandle2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle);
-
-    /*
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Transform GetInterpolationWorldTransform2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetInterpolationWorldTransform2(IntPtr obj, Transform trans);
-     */
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetHitFraction2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetHitFraction2(IntPtr obj, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern CollisionFlags GetCollisionFlags2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetCcdMotionThreshold2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCcdMotionThreshold2(IntPtr obj, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetCcdSweptSphereRadius2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCcdSweptSphereRadius2(IntPtr obj, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr GetUserPointer2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetUserPointer2(IntPtr obj, IntPtr val);
-
-// =====================================================================================
-// btRigidBody entries
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyGravity2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetGravity2(IntPtr obj, Vector3 val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetGravity2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetLinearDamping2(IntPtr obj, float lin_damping);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetAngularDamping2(IntPtr obj, float ang_damping);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetLinearDamping2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetAngularDamping2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetLinearSleepingThreshold2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetAngularSleepingThreshold2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyDamping2(IntPtr obj, float timeStep);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetMassProps2(IntPtr obj, float mass, Vector3 inertia);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetLinearFactor2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor);
-
-    /*
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans);
-     */
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCenterOfMassByPosRot2(IntPtr obj, Vector3 pos, Quaternion rot);
-
-// Add a force to the object as if its mass is one.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyCentralForce2(IntPtr obj, Vector3 force);
-
-// Set the force being applied to the object as if its mass is one.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetObjectForce2(IntPtr obj, Vector3 force);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetTotalForce2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetTotalTorque2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyTorque2(IntPtr obj, Vector3 torque);
-
-// Apply force at the given point. Will add torque to the object.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyForce2(IntPtr obj, Vector3 force, Vector3 pos);
-
-// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyCentralImpulse2(IntPtr obj, Vector3 imp);
-
-// Apply impulse to the object's torque. Force is scaled by object's mass.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyTorqueImpulse2(IntPtr obj, Vector3 imp);
-
-// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyImpulse2(IntPtr obj, Vector3 imp, Vector3 pos);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ClearForces2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ClearAllForces2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void UpdateInertiaTensor2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetCenterOfMassPosition2(IntPtr obj);
-
-    /*
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Transform GetCenterOfMassTransform2(IntPtr obj);
-     */
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetLinearVelocity2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetAngularVelocity2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void Translate2(IntPtr obj, Vector3 trans);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void UpdateDeactivation2(IntPtr obj, float timeStep);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool WantsSleeping2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetAngularFactor2(IntPtr obj, float factor);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetAngularFactor2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsInWorld2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr GetConstraintRef2(IntPtr obj, int index);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int GetNumConstraintRefs2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCollisionFilterMask2(IntPtr body, uint filter, uint mask);
-
-// =====================================================================================
-// btCollisionShape entries
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetAngularMotionDisc2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetContactBreakingThreshold2(IntPtr shape, float defaultFactor);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsPolyhedral2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsConvex2d2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsConvex2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsNonMoving2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsConcave2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsCompound2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsSoftBody2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsInfinite2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetLocalScaling2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 CalculateLocalInertia2(IntPtr shape, float mass);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int GetShapeType2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetMargin2(IntPtr shape, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetMargin2(IntPtr shape);
-
-// =====================================================================================
-// Debugging
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpAllInfo2(IntPtr sim);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpPhysicsStatistics2(IntPtr sim);
-
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
new file mode 100755
index 0000000..c7a2f7e
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
@@ -0,0 +1,265 @@
+/*
+ * 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 OMV = OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+// Classes to allow some type checking for the API
+// These hold pointers to allocated objects in the unmanaged space.
+// These classes are subclassed by the various physical implementations of
+// objects. In particular, there is a version for physical instances in
+// unmanaged memory ("unman") and one for in managed memory ("XNA").
+
+// Currently, the instances of these classes are a reference to a
+// physical representation and this has no releationship to other
+// instances. Someday, refarb the usage of these classes so each instance
+// refers to a particular physical instance and this class controls reference
+// counts and such. This should be done along with adding BSShapes.
+
+public class BulletWorld
+{
+    public BulletWorld(uint worldId, BSScene bss)
+    {
+        worldID = worldId;
+        physicsScene = bss;
+    }
+    public uint worldID;
+    // The scene is only in here so very low level routines have a handle to print debug/error messages
+    public BSScene physicsScene;
+}
+
+// An allocated Bullet btRigidBody
+public class BulletBody
+{
+    public BulletBody(uint id)
+    {
+        ID = id;
+        collisionType = CollisionType.Static;
+    }
+    public uint ID;
+    public CollisionType collisionType;
+
+    public virtual void Clear() { }
+    public virtual bool HasPhysicalBody { get { return false; } }
+
+    // Apply the specificed collision mask into the physical world
+    public virtual bool ApplyCollisionMask(BSScene physicsScene)
+    {
+        // Should assert the body has been added to the physical world.
+        // (The collision masks are stored in the collision proxy cache which only exists for
+        //    a collision body that is in the world.)
+        return physicsScene.PE.SetCollisionGroupMask(this,
+                                BulletSimData.CollisionTypeMasks[collisionType].group,
+                                BulletSimData.CollisionTypeMasks[collisionType].mask);
+    }
+
+    // Used for log messages for a unique display of the memory/object allocated to this instance
+    public virtual string AddrString
+    {
+        get { return "unknown"; }
+    }
+
+    public override string ToString()
+    {
+        StringBuilder buff = new StringBuilder();
+        buff.Append("<id=");
+        buff.Append(ID.ToString());
+        buff.Append(",p=");
+        buff.Append(AddrString);
+        buff.Append(",c=");
+        buff.Append(collisionType);
+        buff.Append(">");
+        return buff.ToString();
+    }
+}
+
+public class BulletShape
+{
+    public BulletShape()
+    {
+        type = BSPhysicsShapeType.SHAPE_UNKNOWN;
+        shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE;
+        isNativeShape = false;
+    }
+    public BSPhysicsShapeType type;
+    public System.UInt64 shapeKey;
+    public bool isNativeShape;
+
+    public virtual void Clear() { }
+    public virtual bool HasPhysicalShape { get { return false; } }
+
+    // Make another reference to this physical object.
+    public virtual BulletShape Clone() { return new BulletShape(); }
+
+    // Return 'true' if this and other refer to the same physical object
+    public virtual bool ReferenceSame(BulletShape xx) { return false; }
+
+    // Used for log messages for a unique display of the memory/object allocated to this instance
+    public virtual string AddrString
+    {
+        get { return "unknown"; }
+    }
+
+    public override string ToString()
+    {
+        StringBuilder buff = new StringBuilder();
+        buff.Append("<p=");
+        buff.Append(AddrString);
+        buff.Append(",s=");
+        buff.Append(type.ToString());
+        buff.Append(",k=");
+        buff.Append(shapeKey.ToString("X"));
+        buff.Append(",n=");
+        buff.Append(isNativeShape.ToString());
+        buff.Append(">");
+        return buff.ToString();
+    }
+}
+
+// An allocated Bullet btConstraint
+public class BulletConstraint
+{
+    public BulletConstraint()
+    {
+    }
+    public virtual void Clear() { }
+    public virtual bool HasPhysicalConstraint { get { return false; } }
+
+    // Used for log messages for a unique display of the memory/object allocated to this instance
+    public virtual string AddrString
+    {
+        get { return "unknown"; }
+    }
+}
+
+// An allocated HeightMapThing which holds various heightmap info.
+// Made a class rather than a struct so there would be only one
+//      instance of this and C# will pass around pointers rather
+//      than making copies.
+public class BulletHMapInfo
+{
+    public BulletHMapInfo(uint id, float[] hm) {
+        ID = id;
+        heightMap = hm;
+        terrainRegionBase = OMV.Vector3.Zero;
+        minCoords = new OMV.Vector3(100f, 100f, 25f);
+        maxCoords = new OMV.Vector3(101f, 101f, 26f);
+        minZ = maxZ = 0f;
+        sizeX = sizeY = 256f;
+    }
+    public uint ID;
+    public float[] heightMap;
+    public OMV.Vector3 terrainRegionBase;
+    public OMV.Vector3 minCoords;
+    public OMV.Vector3 maxCoords;
+    public float sizeX, sizeY;
+    public float minZ, maxZ;
+    public BulletShape terrainShape;
+    public BulletBody terrainBody;
+}
+
+// The general class of collsion object.
+public enum CollisionType
+{
+    Avatar,
+    Groundplane,
+    Terrain,
+    Static,
+    Dynamic,
+    VolumeDetect,
+    // Linkset, // A linkset should be either Static or Dynamic
+    LinksetChild,
+    Unknown
+};
+
+// Hold specification of group and mask collision flags for a CollisionType
+public struct CollisionTypeFilterGroup
+{
+    public CollisionTypeFilterGroup(CollisionType t, uint g, uint m)
+    {
+        type = t;
+        group = g;
+        mask = m;
+    }
+    public CollisionType type;
+    public uint group;
+    public uint mask;
+};
+
+public static class BulletSimData
+{
+
+// Map of collisionTypes to flags for collision groups and masks.
+// As mentioned above, don't use the CollisionFilterGroups definitions directly in the code
+//     but, instead, use references to this dictionary. Finding and debugging
+//     collision flag problems will be made easier.
+public static Dictionary<CollisionType, CollisionTypeFilterGroup> CollisionTypeMasks 
+            = new Dictionary<CollisionType, CollisionTypeFilterGroup>()
+{
+    { CollisionType.Avatar, 
+                new CollisionTypeFilterGroup(CollisionType.Avatar, 
+                                (uint)CollisionFilterGroups.BCharacterGroup, 
+                                (uint)CollisionFilterGroups.BAllGroup)
+    },
+    { CollisionType.Groundplane, 
+                new CollisionTypeFilterGroup(CollisionType.Groundplane, 
+                                (uint)CollisionFilterGroups.BGroundPlaneGroup, 
+                                (uint)CollisionFilterGroups.BAllGroup)
+    },
+    { CollisionType.Terrain, 
+                new CollisionTypeFilterGroup(CollisionType.Terrain, 
+                                (uint)CollisionFilterGroups.BTerrainGroup, 
+                                (uint)(CollisionFilterGroups.BAllGroup & ~CollisionFilterGroups.BStaticGroup))
+    },
+    { CollisionType.Static, 
+                new CollisionTypeFilterGroup(CollisionType.Static, 
+                                (uint)CollisionFilterGroups.BStaticGroup, 
+                                (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup))
+    },
+    { CollisionType.Dynamic, 
+                new CollisionTypeFilterGroup(CollisionType.Dynamic, 
+                                (uint)CollisionFilterGroups.BSolidGroup, 
+                                (uint)(CollisionFilterGroups.BAllGroup))
+    },
+    { CollisionType.VolumeDetect, 
+                new CollisionTypeFilterGroup(CollisionType.VolumeDetect, 
+                                (uint)CollisionFilterGroups.BSensorTrigger, 
+                                (uint)(~CollisionFilterGroups.BSensorTrigger))
+    },
+    { CollisionType.LinksetChild,
+                new CollisionTypeFilterGroup(CollisionType.LinksetChild, 
+                                (uint)CollisionFilterGroups.BLinksetChildGroup, 
+                                (uint)(CollisionFilterGroups.BNoneGroup))
+                                // (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup))
+    },
+};
+
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
new file mode 100755
index 0000000..59cbab9
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -0,0 +1,290 @@
+CURRENT PRIORITIES
+=================================================
+Nebadon vehicles turning funny in arena
+limitMotorUp calibration (more down?)
+Vehicle angular vertical attraction
+Vehicle angular deflection
+        Preferred orientation angular correction fix
+vehicle angular banking
+Avatars walking up stairs (HALF DONE)
+    Radius of the capsule affects ability to climb edges.
+Vehicle movement on terrain smoothness
+Surfboard go wonky when turning
+        Angular motor direction is global coordinates rather than local coordinates?
+Boats float low in the water (DONE)
+Avatar movement
+        flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE)
+        walking up stairs is not calibrated correctly (stairs out of Kepler cabin)
+        avatar capsule rotation completed (NOT DONE - Bullet's capsule shape is not the solution)
+Enable vehicle border crossings (at least as poorly as ODE)
+        Terrain skirts
+        Avatar created in previous region and not new region when crossing border
+        Vehicle recreated in new sim at small Z value (offset from root value?) (DONE)
+Vehicle script tuning/debugging
+        Avanti speed script
+        Weapon shooter script
+Add material densities to the material types
+
+CRASHES
+=================================================
+20121129.1411: editting/moving phys object across region boundries causes crash
+    getPos-> btRigidBody::upcast -> getBodyType -> BOOM
+20121128.1600: mesh object not rezzing (no physics mesh).
+    Causes many errors. Doesn't stop after first error with box shape.
+    Eventually crashes when deleting the object.
+20121206.1434: rez Sam-pan into OSGrid BulletSim11 region
+        Immediate simulator crash. Mono does not output any stacktrace and
+        log just stops after reporting taint-time linking of the linkset.
+
+VEHICLES TODO LIST:
+=================================================
+Border crossing with linked vehicle causes crash
+Vehicles (Move smoothly)
+Some vehicles should not be able to turn if no speed or off ground.
+Cannot edit/move a vehicle being ridden: it jumps back to the origional position.
+Neb car jiggling left and right
+        Happens on terrain and any other mesh object. Flat cubes are much smoother.
+        This has been reduced but not eliminated.
+Implement referenceFrame for all the motion routines.
+For limitMotorUp, use raycast down to find if vehicle is in the air.
+Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE.
+        Verify that angular motion specified around Z moves in the vehicle coordinates.
+Verify llGetVel() is returning a smooth and good value for vehicle movement.
+llGetVel() should return the root's velocity if requested in a child prim.
+Implement function efficiency for lineaar and angular motion.
+After getting off a vehicle, the root prim is phantom (can be walked through)
+    Need to force a position update for the root prim after compound shape destruction
+Linkset explosion after three "rides" on Nebadon lite vehicle (LinksetConstraint)
+Remove vehicle angular velocity zeroing in BSPrim.UpdateProperties().
+        A kludge that isn't fixing the real problem of Bullet adding extra motion.
+Incorporate inter-relationship of angular corrections. For instance, angularDeflection
+        and angularMotorUp will compute same X or Y correction. When added together
+        creates over-correction and over-shoot and wabbling.
+
+GENERAL TODO LIST:
+=================================================
+Implement an avatar mesh shape. The Bullet capsule is way too limited.
+        Consider just hand creating a vertex/index array in a new BSShapeAvatar.
+Revisit CollisionMargin. Builders notice the 0.04 spacing between prims.
+Duplicating a physical prim causes old prim to jump away
+        Dup a phys prim and the original become unselected and thus interacts w/ selected prim.
+Scenes with hundred of thousands of static objects take a lot of physics CPU time.
+BSPrim.Force should set a continious force on the prim. The force should be
+        applied each tick.  Some limits?
+Gun sending shooter flying.
+Collision margin (gap between physical objects lying on each other)
+Boundry checking (crashes related to crossing boundry)
+    Add check for border edge position for avatars and objects.
+    Verify the events are created for border crossings.
+Avatar rotation (check out changes to ScenePresence for physical rotation)
+Avatar running (what does phys engine need to do?)
+Small physical objects do not interact correctly
+    Create chain of .5x.5x.1 torui and make all but top physical so to hang.
+        The chain will fall apart and pairs will dance around on ground
+    Chains of 1x1x.2 will stay connected but will dance.
+    Chains above 2x2x.4 are more stable and get stablier as torui get larger.
+Add PID motor for avatar movement (slow to stop, ...)
+setForce should set a constant force. Different than AddImpulse.
+Implement raycast.
+Implement ShapeCollection.Dispose()
+Implement water as a plain so raycasting and collisions can happen with same.
+Add collision penetration return
+        Add field passed back by BulletSim.dll and fill with info in ManifoldConstact.GetDistance()
+Add osGetPhysicsEngineName() so scripters can tell whether BulletSim or ODE
+        Also osGetPhysicsEngineVerion() maybe.
+Linkset.Position and Linkset.Orientation requre rewrite to properly return
+        child position. LinksetConstraint acts like it's at taint time!!
+Implement LockAngularMotion -- implements llSetStatus(ROTATE_AXIS_*, T/F)
+Should the different PID factors have non-equal contributions for different
+        values of Efficiency?
+Selecting and deselecting physical objects causes CPU processing time to jump
+        http://www.youtube.com/watch?v=Hjg57fWg8yI&hd=1
+        put thousand physical objects, select and deselect same. CPU time will be large.
+Re-implement buoyancy as a separate force on the object rather than diddling gravity.
+        Register a pre-step event to add the force.
+More efficient memory usage when passing hull information from BSPrim to BulletSim
+Avatar movement motor check for zero or small movement. Somehow suppress small movements
+        when avatar has stopped and is just standing. Simple test for near zero has
+        the problem of preventing starting up (increase from zero) especially when falling.
+Physical and phantom will drop through the terrain
+
+
+LINKSETS
+======================================================
+Offset the center of the linkset to be the geometric center of all the prims
+        Not quite the same as the center-of-gravity
+Linksets should allow collisions to individual children
+        Add LocalID to children shapes in LinksetCompound and create events for individuals
+LinksetCompound: when one of the children changes orientation (like tires
+        turning on a vehicle, the whole compound object is rebuilt. Optimize this
+        so orientation/position of individual children can change without a rebuild.
+Verify/think through scripts in children of linksets. What do they reference
+        and return when getting position, velocity, ...
+Confirm constraint linksets still work after making all the changes for compound linksets.
+Use PostTaint callback to do rebuilds for constraint linksets to reduce rebuilding
+Add 'changed' flag or similar to reduce the number of times a linkset is rebuilt.
+        For compound linksets, add ability to remove or reposition individual child shapes.
+Speed up creation of large physical linksets
+        For instance, sitting in Neb's car (130 prims) takes several seconds to become physical.
+        REALLY bad for very large physical linksets (freezes the sim for many seconds).
+Eliminate collisions between objects in a linkset. (LinksetConstraint)
+    Have UserPointer point to struct with localID and linksetID?
+    Objects in original linkset still collide with each other?
+
+MORE
+======================================================
+Use the HACD convex hull routine in Bullet rather than the C# version.
+Do we need to do convex hulls all the time? Can complex meshes be left meshes?
+        There is some problem with meshes and collisions
+        Hulls are not as detailed as meshes. Hulled vehicles insides are different shape.
+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.
+    Use collision subscription and remove the collsion(A,B) and collision(B,A)
+Check whether SimMotionState needs large if statement (see TODO).
+Implement 'top colliders' info.
+Avatar jump
+Performance measurement and changes to make quicker.
+Implement detailed physics stats (GetStats()).
+Measure performance improvement from hulls
+Test not using ghost objects for volume detect implementation.
+Performance of closures and delegates for taint processing
+        Are there faster ways?
+        Is any slowdown introduced by the existing implementation significant?
+Is there are more efficient method of implementing pre and post step actions?
+        See http://www.codeproject.com/Articles/29922/Weak-Events-in-C
+Physics Arena central pyramid: why is one side permiable?
+In SL, perfect spheres don't seem to have rolling friction. Add special case.
+Enforce physical parameter min/max:
+        Gravity: [-1, 28]
+        Friction: [0, 255]
+        Density: [1, 22587]
+        Restitution [0, 1]
+        http://wiki.secondlife.com/wiki/Physics_Material_Settings_test
+Avatar attachments have no mass? http://forums-archive.secondlife.com/54/f0/31796/1.html
+
+INTERNAL IMPROVEMENT/CLEANUP
+=================================================
+Can the 'inTaintTime' flag be cleaned up and used? For instance, a call to
+        BSScene.TaintedObject() could immediately execute the callback if already in taint time.
+Create the physical wrapper classes (BulletBody, BulletShape) by methods on
+        BSAPITemplate and make their actual implementation Bullet engine specific.
+        For the short term, just call the existing functions in ShapeCollection.
+Consider moving prim/character body and shape destruction in destroy()
+        to postTimeTime rather than protecting all the potential sets that
+        might have been queued up.
+Remove unused fields from ShapeData (not used in API2)
+Remove unused fields from pinned memory shared parameter block
+        Create parameter variables in BSScene to replace same.
+Breakout code for mesh/hull/compound/native into separate BSShape* classes
+    Standardize access to building and reference code.
+        The skeleton classes are in the sources but are not complete or linked in.
+Make BSBody and BSShape real classes to centralize creation/changin/destruction
+        Convert state and parameter calls from BulletSimAPI direct calls to
+                calls on BSBody and BSShape
+Generalize Dynamics and PID with standardized motors.
+Generalize Linkset and vehicles into PropertyManagers
+    Methods for Refresh, RemoveBodyDependencies, RestoreBodyDependencies
+        Potentially add events for shape destruction, etc.
+Better mechanism for resetting linkset set and vehicle parameters when body rebuilt.
+        BSPrim.CreateGeomAndObject is kludgy with the callbacks, etc.
+Implement linkset by setting position of children when root updated. (LinksetManual)
+        Linkset implementation using manual prim movement.
+LinkablePrim class? Would that simplify/centralize the linkset logic?
+BSScene.UpdateParameterSet() is broken. How to set params on objects?
+Add floating motor for BS_FLOATS_ON_WATER so prim and avatar will
+    bob at the water level. BSPrim.PositionSanityCheck()
+Should taints check for existance or activeness of target?
+        When destroying linksets/etc, taints can be generated for objects that are
+        actually gone when the taint happens. Crashes don't happen because the taint closure
+        keeps the object from being freed, but that is just an accident.
+        Possibly have an 'active' flag that is checked by the taint processor?
+Parameters for physics logging should be moved from BSScene to BSParam (at least boolean ones)
+Can some of the physical wrapper classes (BulletBody, BulletWorld, BulletShape) be 'sealed'?
+There are TOO MANY interfaces from BulletSim core to Bullet itself
+        Think of something to eliminate one or more of the layers
+
+THREADING
+=================================================
+Do taint action immediately if not actually executing Bullet.
+        Add lock around Bullet execution and just do taint actions if simulation is not happening.
+
+DONE DONE DONE DONE
+=================================================
+Cleanup code in BSDynamics by using motors. (Resolution: started)
+Consider implementing terrain with a mesh rather than heightmap. (Resolution: done)
+    Would have better and adjustable resolution.
+Build terrain mesh so heighmap is height of the center of the square meter.
+    Resolution: NOT DONE: SL and ODE define meter square as being at one corner with one diagional.
+Terrain as mesh. (Resolution: done)
+How are static linksets seen by the physics engine?
+    Resolution: they are not linked in physics. When moved, all the children are repositioned.
+Convert BSCharacter to use all API2 (Resolution: done)
+Avatar pushing difficult (too heavy?)
+Use asset service passed to BulletSim to get sculptie bodies, etc. (Resolution: done)
+Remove old code in DLL (all non-API2 stuff). (Resolution: done)
+Measurements of mega-physical prim performance (with graph) (Resolution: done, email)
+Debug Bullet internal stats output (why is timing all wrong?)
+        Resolution: Bullet stats logging only works with a single instance of Bullet (one region).
+Implement meshes or just verify that they work. (Resolution: they do!)
+Do prim hash codes work for sculpties and meshes? (Resolution: yes)
+Linkset implementation using compound shapes. (Resolution: implemented LinksetCompound)
+    Compound shapes will need the LocalID in the shapes and collision
+    processing to get it from there.
+Light cycle not banking (Resolution: It doesn't. Banking is roll adding yaw.)
+Package Bullet source mods for Bullet internal stats output
+        (Resolution: move code into WorldData.h rather than relying on patches)
+Single prim vehicles don't seem to properly vehiclize.
+        (Resolution: mass was not getting set properly for single prim linksets)
+Add material type linkage and input all the material property definitions.
+        Skeleton classes and table are in the sources but are not filled or used.
+        (Resolution: 
+Neb vehicle taking > 25ms of physics time!!
+        (Resolution: compound linksets were being rebuild WAY too often)
+Avatar height off after unsitting (floats off ground)
+        Editting appearance then moving restores.
+        Must not be initializing height when recreating capsule after unsit.
+        (Resolution: confusion of scale vs size for native objects removed)
+Light cycle falling over when driving (Resolution: implemented angularMotorUp)
+Should vehicle angular/linear movement friction happen after all the components
+        or does it only apply to the basic movement?
+        (Resolution: friction added before returning newly computed motor value.
+        What is expected by some vehicles (turning up friction to moderate speed))
+Tune terrain/object friction to be closer to SL.
+        (Resolution: added material type with friction and resolution)
+Smooth avatar movement with motor (DONE)
+        Should motor update be all at taint-time? (Yes, DONE)
+        Fix avatar slowly sliding when standing (zero motion when stopped) (DONE)
+        (Resolution: added BSVMotor for avatar starting and stopping)
+llApplyImpulse()
+        Compare mass/movement in OS and SL. Calibrate actions.  (DONE)
+        (Resolution: tested on SL and OS. AddForce scales the force for timestep)
+llSetBuoyancy() (DONE)
+        (Resolution: Bullet resets object gravity when added to world. Moved set gravity)
+Avatar density is WAY off. Compare and calibrate with what's in SL. (DONE)
+        (Resolution: set default density to 3.5 (from 60) which is closer to SL)
+Redo BulletSimAPI to allow native C# implementation of Bullet option (DONE)
+        (Resolution: added BSAPITemplate and then interfaces for C++ Bullet and C# BulletXNA
+Meshes rendering as bounding boxes (DONE)
+        (Resolution: Added test for mesh/sculpties in native shapes so it didn't think it was a box)
+llMoveToTarget (Resolution: added simple motor to update the position.)
+Angular motor direction is global coordinates rather than local coordinates (DONE)
+Add vehicle collisions so IsColliding is properly reported. (DONE)
+        Needed for banking, limitMotorUp, movementLimiting, ...
+        (Resolution: added CollisionFlags.BS_VEHICLE_COLLISION and code to use it)
+VehicleAddForce is not scaled by the simulation step but it is only
+        applied for one step. Should it be scaled? (DONE)
+        (Resolution: use force for timed things, Impulse for immediate, non-timed things)
+Complete implemention of preStepActions (DONE)
+        Replace vehicle step call with prestep event.
+        Is there a need for postStepActions? postStepTaints?
+Disable activity of passive linkset children. (DONE)
+        Since the linkset is a compound object, the old prims are left lying
+        around and need to be phantomized so they don't collide, ...
+Remove HeightmapInfo from terrain specification (DONE)
+    Since C++ code does not need terrain height, this structure et al are not needed.
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
index 8de70ef..ba24aa7 100644
--- a/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
@@ -2190,7 +2190,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                         convex = false;
                     try
                     {
-                        _mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size, (int)LevelOfDetail.High, true,convex,false);
+                        _mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size, (int)LevelOfDetail.High, true,false,convex,false);
                     }
                     catch
                     {
@@ -2557,7 +2557,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 
                 try
                 {
-                    mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, (int)LevelOfDetail.High, true, convex,false);
+                    mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, (int)LevelOfDetail.High, true, false,convex,false);
                 }
                 catch
                 {
diff --git a/OpenSim/Region/Physics/Manager/IMesher.cs b/OpenSim/Region/Physics/Manager/IMesher.cs
index ecc2918..df980ab 100644
--- a/OpenSim/Region/Physics/Manager/IMesher.cs
+++ b/OpenSim/Region/Physics/Manager/IMesher.cs
@@ -37,7 +37,7 @@ namespace OpenSim.Region.Physics.Manager
     {
         IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod);
         IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical);
-        IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex, bool forOde);
+        IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool shouldCache, bool convex, bool forOde);
         IMesh GetMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex);
         void ReleaseMesh(IMesh mesh);
         void ExpireReleaseMeshs();
diff --git a/OpenSim/Region/Physics/Manager/PhysicsActor.cs b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
index 9338130..e2789d6 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsActor.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
@@ -349,17 +349,20 @@ namespace OpenSim.Region.Physics.Manager
         }
 
         /// <summary>
-        /// Velocity of this actor.
+        /// The desired velocity of this actor.
         /// </summary>
         /// <remarks>
         /// Setting this provides a target velocity for physics scene updates.
-        /// Getting this returns the velocity calculated by physics scene updates, using factors such as target velocity,
-        /// time to accelerate and collisions.
+        /// Getting this returns the last set target. Fetch Velocity to get the current velocity.
         /// </remarks>
+        protected Vector3 m_targetVelocity;
         public virtual Vector3 TargetVelocity
         {
-            get { return Velocity; }
-            set { Velocity = value; }
+            get { return m_targetVelocity; }
+            set {
+                m_targetVelocity = value;
+                Velocity = m_targetVelocity;
+            }
         }
 
         public abstract Vector3 Velocity { get; set; }
diff --git a/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs b/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs
index 8587a2b..8ccfda5 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs
@@ -30,7 +30,7 @@ using System.Collections.Generic;
 using System.IO;
 using System.Reflection;
 using Nini.Config;
-using log4net;

+using log4net;
 using OpenSim.Framework;
 
 namespace OpenSim.Region.Physics.Manager
diff --git a/OpenSim/Region/Physics/Manager/PhysicsScene.cs b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
index d24ab2a..f82b597 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsScene.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
@@ -97,13 +97,20 @@ namespace OpenSim.Region.Physics.Manager
 //        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
         /// <summary>
-        /// Name of this scene.  Useful in debug messages to distinguish one OdeScene instance from another.
+        /// A unique identifying string for this instance of the physics engine.
+        /// Useful in debug messages to distinguish one OdeScene instance from another.
+        /// Usually set to include the region name that the physics engine is acting for.
         /// </summary>
         public string Name { get; protected set; }
 
+        /// <summary>
+        /// A string identifying the family of this physics engine. Most common values returned
+        /// are "OpenDynamicsEngine" and "BulletSim" but others are possible.
+        /// </summary>
+        public string EngineType { get; protected set; }
+
         // The only thing that should register for this event is the SceneGraph
         // Anything else could cause problems.
-
         public event physicsCrash OnPhysicsCrash;
 
         public static PhysicsScene Null
diff --git a/OpenSim/Region/Physics/Manager/ZeroMesher.cs b/OpenSim/Region/Physics/Manager/ZeroMesher.cs
index 16846e6..80ecf66 100644
--- a/OpenSim/Region/Physics/Manager/ZeroMesher.cs
+++ b/OpenSim/Region/Physics/Manager/ZeroMesher.cs
@@ -64,16 +64,21 @@ namespace OpenSim.Region.Physics.Manager
     {
         public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod)
         {
-            return CreateMesh(primName, primShape, size, lod, false);
+            return CreateMesh(primName, primShape, size, lod, false, false);
         }
 
-        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex,bool forOde)
+        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool shouldCache, bool convex,bool forOde)
         {
             return CreateMesh(primName, primShape, size, lod, false);
         }
 
         public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical)
         {
+            return CreateMesh(primName, primShape, size, lod, false, false);
+        }
+
+        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool shouldCache)
+        {
             // Remove the reference to the encoded JPEG2000 data so it can be GCed
             primShape.SculptData = OpenMetaverse.Utils.EmptyBytes;
 
diff --git a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
index f629c4d..d181b78 100644
--- a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
+++ b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
@@ -321,6 +321,9 @@ namespace OpenSim.Region.Physics.Meshing
 
             if (primShape.SculptData.Length <= 0)
             {
+                // XXX: At the moment we can not log here since ODEPrim, for instance, ends up triggering this
+                // method twice - once before it has loaded sculpt data from the asset service and once afterwards.
+                // The first time will always call with unloaded SculptData if this needs to be uploaded.
 //                m_log.ErrorFormat("[MESH]: asset data for {0} is zero length", primName);
                 return false;
             }
@@ -699,16 +702,21 @@ namespace OpenSim.Region.Physics.Meshing
 
         public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod)
         {
-            return CreateMesh(primName, primShape, size, lod, false);
+            return CreateMesh(primName, primShape, size, lod, false, true);
         }
 
-        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex, bool forOde)
+        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool shouldCache, bool convex, bool forOde)
         {
             return CreateMesh(primName, primShape, size, lod, false);
         }
 
         public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical)
         {
+            return CreateMesh(primName, primShape, size, lod, isPhysical, true);
+        }
+
+        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool shouldCache)
+        {
 #if SPAM
             m_log.DebugFormat("[MESH]: Creating mesh for {0}", primName);
 #endif
@@ -718,9 +726,12 @@ namespace OpenSim.Region.Physics.Meshing
 
             // If this mesh has been created already, return it instead of creating another copy
             // For large regions with 100k+ prims and hundreds of copies of each, this can save a GB or more of memory
-            key = primShape.GetMeshKey(size, lod);
-            if (m_uniqueMeshes.TryGetValue(key, out mesh))
-                return mesh;
+            if (shouldCache)
+            {
+                key = primShape.GetMeshKey(size, lod);
+                if (m_uniqueMeshes.TryGetValue(key, out mesh))
+                    return mesh;
+            }
 
             if (size.X < 0.01f) size.X = 0.01f;
             if (size.Y < 0.01f) size.Y = 0.01f;
@@ -743,7 +754,10 @@ namespace OpenSim.Region.Physics.Meshing
                 // trim the vertex and triangle lists to free up memory
                 mesh.TrimExcess();
 
-                m_uniqueMeshes.Add(key, mesh);
+                if (shouldCache)
+                {
+                    m_uniqueMeshes.Add(key, mesh);
+                }
             }
 
             return mesh;
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
index a59f63f..d09aa62 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
@@ -3367,6 +3367,11 @@ Console.WriteLine(" JointCreateFixed");
                 _pbs.SculptData = new byte[asset.Data.Length];
                 asset.Data.CopyTo(_pbs.SculptData, 0);
 //                m_assetFailed = false;
+
+//                m_log.DebugFormat(
+//                    "[ODE PRIM]: Received mesh/sculpt data asset {0} with {1} bytes for {2} at {3} in {4}", 
+//                    _pbs.SculptTexture, _pbs.SculptData.Length, Name, _position, _parent_scene.Name);
+
                 m_taintshape = true;
                _parent_scene.AddPhysicsActorTaint(this);
             }
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
index 478dd95..07663b3 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
@@ -72,7 +72,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 // http://opensimulator.org/mantis/view.php?id=2750).
                 d.InitODE();
                 
-                m_scene = new OdeScene(sceneIdentifier);
+                m_scene = new OdeScene(GetName(), sceneIdentifier);
             }
 
             return m_scene;
diff --git a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs b/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
index d53bd90..02a0b15 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
@@ -526,11 +526,12 @@ namespace OpenSim.Region.Physics.OdePlugin
         /// These settings need to be tweaked 'exactly' right or weird stuff happens.
         /// </summary>
         /// <param value="name">Name of the scene.  Useful in debug messages.</param>
-        public OdeScene(string name)
+        public OdeScene(string engineType, string name)
         {
             m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString() + "." + name);
 
             Name = name;
+            EngineType = engineType;
 
             nearCallback = near;
             triCallback = TriCallback;
diff --git a/OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs b/OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs
index cbc6b95..16404c6 100644
--- a/OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs
+++ b/OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs
@@ -32,13 +32,14 @@ using OpenMetaverse;
 using OpenSim.Framework;
 using OpenSim.Region.Physics.Manager;
 using OpenSim.Region.Physics.OdePlugin;
+using OpenSim.Tests.Common;
 using log4net;
 using System.Reflection;
 
 namespace OpenSim.Region.Physics.OdePlugin.Tests
 {
     [TestFixture]
-    public class ODETestClass
+    public class ODETestClass : OpenSimTestCase
     {
         private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
diff --git a/OpenSim/Region/Physics/POSPlugin/POSPlugin.cs b/OpenSim/Region/Physics/POSPlugin/POSPlugin.cs
index e6b42e6..ed086dd 100644
--- a/OpenSim/Region/Physics/POSPlugin/POSPlugin.cs
+++ b/OpenSim/Region/Physics/POSPlugin/POSPlugin.cs
@@ -49,7 +49,7 @@ namespace OpenSim.Region.Physics.POSPlugin
 
         public PhysicsScene GetScene(string sceneIdentifier)
         {
-            return new POSScene(sceneIdentifier);
+            return new POSScene(GetName(), sceneIdentifier);
         }
 
         public string GetName()
diff --git a/OpenSim/Region/Physics/POSPlugin/POSScene.cs b/OpenSim/Region/Physics/POSPlugin/POSScene.cs
index 2f24a50..d30d482 100644
--- a/OpenSim/Region/Physics/POSPlugin/POSScene.cs
+++ b/OpenSim/Region/Physics/POSPlugin/POSScene.cs
@@ -43,8 +43,10 @@ namespace OpenSim.Region.Physics.POSPlugin
 
         //protected internal string sceneIdentifier;
 
-        public POSScene(String _sceneIdentifier)
+        public POSScene(string engineType, String _sceneIdentifier)
         {
+            EngineType = engineType;
+            Name = EngineType + "/" + _sceneIdentifier;
             //sceneIdentifier = _sceneIdentifier;
         }
 
diff --git a/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs b/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs
index 6e1a105..00cbfbd 100644
--- a/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs
+++ b/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs
@@ -1031,12 +1031,12 @@ namespace OpenSim.Region.Physics.Meshing
 
         public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod)
         {
-            return CreateMesh(primName, primShape, size, lod, false,false,false);
+            return CreateMesh(primName, primShape, size, lod, false,false,false,false);
         }
 
         public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical)
         {
-            return CreateMesh(primName, primShape, size, lod, false,false,false);
+            return CreateMesh(primName, primShape, size, lod, false,false,false,false);
         }
 
         public IMesh GetMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex)
@@ -1080,7 +1080,7 @@ namespace OpenSim.Region.Physics.Meshing
 
         private static Vector3 m_MeshUnitSize = new Vector3(1.0f, 1.0f, 1.0f);
         
-        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex, bool forOde)
+        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool shouldCache, bool convex, bool forOde)
         {
 #if SPAM
             m_log.DebugFormat("[MESH]: Creating mesh for {0}", primName);
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs
index 5030cec..0df71eb 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs
@@ -448,7 +448,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 else
                 {
                     repData.meshState = MeshState.needMesh;
-                    mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex, true);
+                    mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, false, convex, true);
                     if (mesh == null)
                     {
                         repData.meshState = MeshState.MeshFailed;
@@ -513,7 +513,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                     clod = (int)LevelOfDetail.Low;
             }
 
-            mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex, true);
+            mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, false, convex, true);
    
             if (mesh == null)
             {
@@ -929,4 +929,4 @@ namespace OpenSim.Region.Physics.OdePlugin
                     repData.actor.Name);
         }
     }
-}
\ No newline at end of file
+}
diff --git a/OpenSim/Region/ScriptEngine/Interfaces/IScriptApi.cs b/OpenSim/Region/ScriptEngine/Interfaces/IScriptApi.cs
index 2027ca6..d2323f5 100644
--- a/OpenSim/Region/ScriptEngine/Interfaces/IScriptApi.cs
+++ b/OpenSim/Region/ScriptEngine/Interfaces/IScriptApi.cs
@@ -26,9 +26,11 @@
  */
 
 using System;
+using System.Threading;
 using OpenMetaverse;
 using OpenSim.Framework;
 using OpenSim.Region.Framework.Scenes;
+using OpenSim.Region.ScriptEngine.Shared;
 
 namespace OpenSim.Region.ScriptEngine.Interfaces
 {
@@ -38,11 +40,12 @@ namespace OpenSim.Region.ScriptEngine.Interfaces
         /// Initialize the API
         /// </summary>
         /// <remarks>
-        /// Each API has an identifier, which is used to load the
-        /// proper runtime assembly at load time.
-        /// <param name='engine'>/param>
-        /// <param name='part'></param>
-        /// <param name='item'></param>
-        void Initialize(IScriptEngine engine, SceneObjectPart part, TaskInventoryItem item);
+        /// Each API has an identifier, which is used to load the proper runtime assembly at load time.
+        /// <param name='scriptEngine'>/param>
+        /// <param name='host'>/param>
+        /// <param name='item'>/param>
+        /// <param name='coopSleepHandle'>/param>
+        void Initialize(
+            IScriptEngine scriptEngine, SceneObjectPart host, TaskInventoryItem item, EventWaitHandle coopSleepHandle);
     }
 }
\ No newline at end of file
diff --git a/OpenSim/Region/ScriptEngine/Interfaces/IScriptInstance.cs b/OpenSim/Region/ScriptEngine/Interfaces/IScriptInstance.cs
index b04f6b6..f68612c 100644
--- a/OpenSim/Region/ScriptEngine/Interfaces/IScriptInstance.cs
+++ b/OpenSim/Region/ScriptEngine/Interfaces/IScriptInstance.cs
@@ -28,9 +28,11 @@
 using System;
 using System.Collections;
 using System.Collections.Generic;
+using System.Threading;
 using OpenMetaverse;
 using log4net;
 using OpenSim.Framework;
+using OpenSim.Region.Framework.Scenes;
 using OpenSim.Region.ScriptEngine.Shared;
 using OpenSim.Region.ScriptEngine.Interfaces;
 
@@ -59,6 +61,18 @@ namespace OpenSim.Region.ScriptEngine.Interfaces
     public interface IScriptInstance
     {
         /// <summary>
+        /// Debug level for this script instance.
+        /// </summary>
+        /// <remarks>
+        /// Level == 0, no extra data is logged.
+        /// Level >= 1, state changes are logged.
+        /// Level >= 2, event firing is logged.
+        /// <value>
+        /// The debug level.
+        /// </value>
+        int DebugLevel { get; set; }
+
+        /// <summary>
         /// Is the script currently running?
         /// </summary>
         bool Running { get; set; }
@@ -93,6 +107,11 @@ namespace OpenSim.Region.ScriptEngine.Interfaces
         /// </summary>
         long MeasurementPeriodExecutionTime { get; }
 
+        /// <summary>
+        /// Scene part in which this script instance is contained.
+        /// </summary>
+        SceneObjectPart Part { get; }
+
         IScriptEngine Engine { get; }
         UUID AppDomain { get; set; }
         string PrimName { get; }
@@ -112,8 +131,24 @@ namespace OpenSim.Region.ScriptEngine.Interfaces
 
         uint LocalID { get; }
         UUID AssetID { get; }
+
+        /// <summary>
+        /// Inventory item containing the script used.
+        /// </summary>
+        TaskInventoryItem ScriptTask { get; }
+
         Queue EventQueue { get; }
 
+        /// <summary>
+        /// Number of events queued for processing.
+        /// </summary>
+        long EventsQueued { get; }
+
+        /// <summary>
+        /// Number of events processed by this script instance.
+        /// </summary>
+        long EventsProcessed { get; }
+
         void ClearQueue();
         int StartParam { get; set; }
 
@@ -125,7 +160,13 @@ namespace OpenSim.Region.ScriptEngine.Interfaces
         /// <summary>
         /// Stop the script instance.
         /// </summary>
+        /// <remarks>
+        /// This must not be called by a thread that is in the process of handling an event for this script.  Otherwise
+        /// there is a danger that it will self-abort and not complete the reset.
+        /// </remarks>
         /// <param name="timeout"></param>
+        /// How many milliseconds we will wait for an existing script event to finish before
+        /// forcibly aborting that event.
         /// <returns>true if the script was successfully stopped, false otherwise</returns>
         bool Stop(int timeout);
 
@@ -147,8 +188,31 @@ namespace OpenSim.Region.ScriptEngine.Interfaces
         object EventProcessor();
 
         int EventTime();
-        void ResetScript();
+
+        /// <summary>
+        /// Reset the script.
+        /// </summary>
+        /// <remarks>
+        /// This must not be called by a thread that is in the process of handling an event for this script.  Otherwise
+        /// there is a danger that it will self-abort and not complete the reset.  Such a thread must call
+        /// ApiResetScript() instead.
+        /// </remarks>
+        /// <param name='timeout'>
+        /// How many milliseconds we will wait for an existing script event to finish before
+        /// forcibly aborting that event prior to script reset.
+        /// </param>
+        void ResetScript(int timeout);
+
+        /// <summary>
+        /// Reset the script.
+        /// </summary>
+        /// <remarks>
+        /// This must not be called by any thread other than the one executing the scripts current event.  This is 
+        /// because there is no wait or abort logic if another thread is in the middle of processing a script event.
+        /// Such an external thread should use ResetScript() instead.
+        /// </remarks>
         void ApiResetScript();
+
         Dictionary<string, object> GetVars();
         void SetVars(Dictionary<string, object> vars);
         DetectParams GetDetectParams(int idx);
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/CM_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/CM_Api.cs
index b5fa6de..d03955b 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/CM_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/CM_Api.cs
@@ -26,6 +26,7 @@
  */
 
 using System;
+using System.Threading;
 using System.Reflection;
 using System.Collections;
 using System.Collections.Generic;
@@ -62,7 +63,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         internal TaskInventoryItem m_item;
         internal bool m_CMFunctionsEnabled = false;
 
-        public void Initialize(IScriptEngine ScriptEngine, SceneObjectPart host, TaskInventoryItem item)
+        public void Initialize(IScriptEngine ScriptEngine, SceneObjectPart host, TaskInventoryItem item, EventWaitHandle coopSleepHandle)
         {
             m_ScriptEngine = ScriptEngine;
             m_host = host;
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
index 525e575..da2a90f 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
@@ -87,10 +87,17 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
     public class LSL_Api : MarshalByRefObject, ILSL_Api, IScriptApi
     {
         private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+
         protected IScriptEngine m_ScriptEngine;
         protected SceneObjectPart m_host;
 
         /// <summary>
+        /// Used for script sleeps when we are using co-operative script termination.
+        /// </summary>
+        /// <remarks>null if co-operative script termination is not active</remarks>  
+        EventWaitHandle m_coopSleepHandle;       
+
+        /// <summary>
         /// The item that hosts this script
         /// </summary>
         protected TaskInventoryItem m_item;
@@ -100,6 +107,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         protected float m_ScriptDelayFactor = 1.0f;
         protected float m_ScriptDistanceFactor = 1.0f;
         protected float m_MinTimerInterval = 0.5f;
+        protected float m_recoilScaleFactor = 0.0f;
 
         protected DateTime m_timer = DateTime.Now;
         protected bool m_waitingForScriptAnswer = false;
@@ -141,33 +149,31 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                         {"TURNRIGHT", "Turning Right"}
                 };
 
-        public void Initialize(IScriptEngine ScriptEngine, SceneObjectPart host, TaskInventoryItem item)
+        public void Initialize(
+            IScriptEngine scriptEngine, SceneObjectPart host, TaskInventoryItem item, EventWaitHandle coopSleepHandle)
         {
-/*
-            m_ShoutSayTimer = new Timer(1000);
-            m_ShoutSayTimer.Elapsed += SayShoutTimerElapsed;
-            m_ShoutSayTimer.AutoReset = true;
-            m_ShoutSayTimer.Start();
-*/
             m_lastSayShoutCheck = DateTime.UtcNow;
 
-            m_ScriptEngine = ScriptEngine;
+            m_ScriptEngine = scriptEngine;
             m_host = host;
             m_item = item;
             m_debuggerSafe = m_ScriptEngine.Config.GetBoolean("DebuggerSafe", false);
+            m_coopSleepHandle = coopSleepHandle;
 
-            LoadLimits();  // read script limits from config.
+            LoadConfig();
 
             m_TransferModule =
                     m_ScriptEngine.World.RequestModuleInterface<IMessageTransferModule>();
             m_UrlModule = m_ScriptEngine.World.RequestModuleInterface<IUrlModule>();
             m_SoundModule = m_ScriptEngine.World.RequestModuleInterface<ISoundModule>();
 
-            AsyncCommands = new AsyncCommandManager(ScriptEngine);
+            AsyncCommands = new AsyncCommandManager(m_ScriptEngine);
         }
 
-        /* load configuration items that affect script, object and run-time behavior. */
-        private void LoadLimits()
+        /// <summary>
+        /// Load configuration items that affect script, object and run-time behavior. */
+        /// </summary>
+        private void LoadConfig()
         {
             m_ScriptDelayFactor =
                 m_ScriptEngine.Config.GetFloat("ScriptDelayFactor", 1.0f);
@@ -181,12 +187,18 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                 m_ScriptEngine.Config.GetInt("NotecardLineReadCharsMax", 255);
             if (m_notecardLineReadCharsMax > 65535)
                 m_notecardLineReadCharsMax = 65535;
+
             // load limits for particular subsystems.
             IConfig SMTPConfig;
             if ((SMTPConfig = m_ScriptEngine.ConfigSource.Configs["SMTP"]) != null) {
                 // there's an smtp config, so load in the snooze time.
                 EMAIL_PAUSE_TIME = SMTPConfig.GetInt("email_pause_time", EMAIL_PAUSE_TIME);
             }
+
+            // Rezzing an object with a velocity can create recoil. This feature seems to have been
+            //    removed from recent versions of SL. The code computes recoil (vel*mass) and scales
+            //    it by this factor. May be zero to turn off recoil all together.
+            m_recoilScaleFactor = m_ScriptEngine.Config.GetFloat("RecoilScaleFactor", m_recoilScaleFactor);
         }
 
         public override Object InitializeLifetimeService()
@@ -207,7 +219,16 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             delay = (int)((float)delay * m_ScriptDelayFactor);
             if (delay == 0)
                 return;
-            System.Threading.Thread.Sleep(delay);
+
+            Sleep(delay);
+        }
+
+        protected virtual void Sleep(int delay)
+        {
+            if (m_coopSleepHandle == null)
+                System.Threading.Thread.Sleep(delay);
+            else if (m_coopSleepHandle.WaitOne(delay))
+                throw new ScriptCoopStopException();
         }
 
         public Scene World
@@ -1483,19 +1504,20 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                         return 0;
 
                 case ScriptBaseClass.STATUS_ROTATE_X:
-                    if (m_host.GetAxisRotation(2) == 2)
+                    // if (m_host.GetAxisRotation(2) != 0)
+                    if (m_host.GetAxisRotation((int)SceneObjectGroup.axisSelect.STATUS_ROTATE_X) != 0)
                         return 1;
                     else
                         return 0;
 
                 case ScriptBaseClass.STATUS_ROTATE_Y:
-                    if (m_host.GetAxisRotation(4) == 4)
+                    if (m_host.GetAxisRotation((int)SceneObjectGroup.axisSelect.STATUS_ROTATE_Y) != 0)
                         return 1;
                     else
                         return 0;
 
                 case ScriptBaseClass.STATUS_ROTATE_Z:
-                    if (m_host.GetAxisRotation(8) == 8)
+                    if (m_host.GetAxisRotation((int)SceneObjectGroup.axisSelect.STATUS_ROTATE_Z) != 0)
                         return 1;
                     else
                         return 0;
@@ -3140,11 +3162,15 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
                 PhysicsActor pa = new_group.RootPart.PhysActor;
 
+                //Recoil.
                 if (pa != null && pa.IsPhysical && (Vector3)vel != Vector3.Zero)
                 {
                     float groupmass = new_group.GetMass();
-                    vel *= -groupmass;
-                    llApplyImpulse(vel, 0);
+                    Vector3 recoil = -vel * groupmass * m_recoilScaleFactor;
+                    if (recoil != Vector3.Zero)
+                    {
+                        llApplyImpulse(recoil, 0);
+                    }
                 }
                 // Variable script delay? (see (http://wiki.secondlife.com/wiki/LSL_Delay)
                 return;
@@ -3219,7 +3245,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         {
 //            m_log.Info("llSleep snoozing " + sec + "s.");
             m_host.AddScriptLPS(1);
-            Thread.Sleep((int)(sec * 1000));
+
+            Sleep((int)(sec * 1000));
         }
 
         public LSL_Float llGetMass()
@@ -3321,7 +3348,9 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         /// <summary>
         /// Attach the object containing this script to the avatar that owns it.
         /// </summary>
-        /// <param name='attachment'>The attachment point (e.g. ATTACH_CHEST)</param>
+        /// <param name='attachmentPoint'>
+        /// The attachment point (e.g. <see cref="OpenSim.Region.ScriptEngine.Shared.ScriptBase.ScriptBaseClass.ATTACH_CHEST">ATTACH_CHEST</see>)
+        /// </param>
         /// <returns>true if the attach suceeded, false if it did not</returns>
         public bool AttachToAvatar(int attachmentPoint)
         {
@@ -3752,21 +3781,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             }
             else
             {
-                bool sitting = false;
-                if (m_host.SitTargetAvatar == agentID)
-                {
-                    sitting = true;
-                }
-                else
-                {
-                    foreach (SceneObjectPart p in m_host.ParentGroup.Parts)
-                    {
-                        if (p.SitTargetAvatar == agentID)
-                            sitting = true;
-                    }
-                }
-
-                if (sitting)
+                if (m_host.ParentGroup.GetSittingAvatars().Contains(agentID))
                 {
                     // When agent is sitting, certain permissions are implicit if requested from sitting agent
                     implicitPerms = ScriptBaseClass.PERMISSION_TRIGGER_ANIMATION |
@@ -3808,7 +3823,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                 INPCModule npcModule = World.RequestModuleInterface<INPCModule>();
                 if (npcModule != null && npcModule.IsNPC(agentID, World))
                 {
-                    if (agentID == m_host.ParentGroup.OwnerID || npcModule.GetOwner(agentID) == m_host.ParentGroup.OwnerID)
+                    if (npcModule.CheckPermissions(agentID, m_host.OwnerID))
                     {
                         lock (m_host.TaskInventory)
                         {
@@ -4183,62 +4198,56 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         public LSL_String llGetLinkName(int linknum)
         {
             m_host.AddScriptLPS(1);
-            // simplest case, this prims link number
-            if (linknum == m_host.LinkNum || linknum == ScriptBaseClass.LINK_THIS)
-                return m_host.Name;
 
-            // parse for sitting avatare-names
-            List<String> nametable = new List<String>();
-            World.ForEachRootScenePresence(delegate(ScenePresence presence)
+            if (linknum < 0)
             {
-                SceneObjectPart sitPart = presence.ParentPart;
-                if (sitPart != null && m_host.ParentGroup.ContainsPart(sitPart.LocalId))
-                    nametable.Add(presence.ControllingClient.Name);
-            });
-
-            int totalprims = m_host.ParentGroup.PrimCount + nametable.Count;
-            if (totalprims > m_host.ParentGroup.PrimCount)
-            {
-                // sitting Avatar-Name with negativ linknum / SinglePrim
-                if (linknum < 0 && m_host.ParentGroup.PrimCount == 1 && nametable.Count == 1)
-                    return nametable[0];
-                // Prim-Name / SinglePrim Sitting Avatar
-                if (linknum == 1 && m_host.ParentGroup.PrimCount == 1 && nametable.Count == 1)
+                if (linknum == ScriptBaseClass.LINK_THIS)
                     return m_host.Name;
-                // LinkNumber > of Real PrimSet = AvatarName
-                if (linknum > m_host.ParentGroup.PrimCount && linknum <= totalprims)
-                    return nametable[totalprims - linknum];
+                else
+                    return ScriptBaseClass.NULL_KEY;
             }
 
-            // Single prim
-            if (m_host.LinkNum == 0)
+            int actualPrimCount = m_host.ParentGroup.PrimCount;
+            List<UUID> sittingAvatarIds = m_host.ParentGroup.GetSittingAvatars();
+            int adjustedPrimCount = actualPrimCount + sittingAvatarIds.Count;
+
+            // Special case for a single prim.  In this case the linknum is zero.  However, this will not match a single
+            // prim that has any avatars sat upon it (in which case the root prim is link 1).
+            if (linknum == 0)
             {
-                if (linknum == 0 || linknum == ScriptBaseClass.LINK_ROOT)
+                if (actualPrimCount == 1 && sittingAvatarIds.Count == 0)
                     return m_host.Name;
-                else
-                    return UUID.Zero.ToString();
-            }
 
-            // Link set
-            SceneObjectPart part = null;
-            if (m_host.LinkNum == 1) // this is the Root prim
+                return ScriptBaseClass.NULL_KEY;
+            }
+            // Special case to handle a single prim with sitting avatars.  GetLinkPart() would only match zero but
+            // here we must match 1 (ScriptBaseClass.LINK_ROOT).
+            else if (linknum == 1 && actualPrimCount == 1)
             {
-                if (linknum < 0)
-                    part = m_host.ParentGroup.GetLinkNumPart(2);
+                if (sittingAvatarIds.Count > 0)
+                    return m_host.ParentGroup.RootPart.Name;
                 else
-                    part = m_host.ParentGroup.GetLinkNumPart(linknum);
+                    return ScriptBaseClass.NULL_KEY;
             }
-            else // this is a child prim
+            else if (linknum <= adjustedPrimCount)
             {
-                if (linknum < 2)
-                    part = m_host.ParentGroup.GetLinkNumPart(1);
+                if (linknum <= actualPrimCount)
+                {
+                    return m_host.ParentGroup.GetLinkNumPart(linknum).Name;
+                }
                 else
-                    part = m_host.ParentGroup.GetLinkNumPart(linknum);
+                {
+                    ScenePresence sp = World.GetScenePresence(sittingAvatarIds[linknum - actualPrimCount - 1]);
+                    if (sp != null)
+                        return sp.Name;
+                    else
+                        return ScriptBaseClass.NULL_KEY;
+                }
             }
-            if (part != null)
-                return part.Name;
             else
-                return UUID.Zero.ToString();
+            {
+                return ScriptBaseClass.NULL_KEY;
+            }
         }
 
         public LSL_Integer llGetInventoryNumber(int type)
@@ -5851,9 +5860,9 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         }
 
         /// <summary>
-        /// Insert the list identified by <src> into the
-        /// list designated by <dest> such that the first
-        /// new element has the index specified by <index>
+        /// Insert the list identified by <paramref name="src"/> into the
+        /// list designated by <paramref name="dest"/> such that the first
+        /// new element has the index specified by <paramref name="index"/>
         /// </summary>
 
         public LSL_List llListInsertList(LSL_List dest, LSL_List src, int index)
@@ -6686,6 +6695,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             ps.BurstSpeedMax = 1.0f;
             ps.BurstRate = 0.1f;
             ps.PartMaxAge = 10.0f;
+            ps.BurstPartCount = 1;
             return ps;
         }
 
@@ -6707,10 +6717,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             SetParticleSystem(m_host, rules);
         }
 
-        private void SetParticleSystem(SceneObjectPart part, LSL_List rules)
+        private void SetParticleSystem(SceneObjectPart part, LSL_List rules) 
         {
-
-
             if (rules.Length == 0)
             {
                 part.RemoveParticleSystem();
@@ -7367,6 +7375,13 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         public void llCloseRemoteDataChannel(string channel)
         {
             m_host.AddScriptLPS(1);
+
+            IXmlRpcRouter xmlRpcRouter = m_ScriptEngine.World.RequestModuleInterface<IXmlRpcRouter>();
+            if (xmlRpcRouter != null)
+            {
+                xmlRpcRouter.UnRegisterReceiver(channel, m_item.ItemID);
+            }
+
             IXMLRPC xmlrpcMod = m_ScriptEngine.World.RequestModuleInterface<IXMLRPC>();
             xmlrpcMod.CloseXMLRPCChannel((UUID)channel);
             ScriptSleep(1000);
@@ -13255,7 +13270,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         /// Get a notecard line.
         /// </summary>
         /// <param name="assetID"></param>
-        /// <param name="line">Lines start at index 0</param>
+        /// <param name="lineNumber">Lines start at index 0</param>
         /// <returns></returns>
         public static string GetLine(UUID assetID, int lineNumber)
         {
@@ -13284,9 +13299,14 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         /// Get a notecard line.
         /// </summary>
         /// <param name="assetID"></param>
-        /// <param name="line">Lines start at index 0</param>
-        /// <param name="maxLength">Maximum length of the returned line.  Longer lines will be truncated</para>
-        /// <returns></returns>
+        /// <param name="lineNumber">Lines start at index 0</param>
+        /// <param name="maxLength">
+        /// Maximum length of the returned line.
+        /// </param>
+        /// <returns>
+        /// If the line length is longer than <paramref name="maxLength"/>,
+        /// the return string will be truncated.
+        /// </returns>
         public static string GetLine(UUID assetID, int lineNumber, int maxLength)
         {
             string line = GetLine(assetID, lineNumber);
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LS_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LS_Api.cs
index ceb4660..a08ccc8 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LS_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LS_Api.cs
@@ -30,6 +30,7 @@ using System.Reflection;
 using System.Collections;
 using System.Collections.Generic;
 using System.Runtime.Remoting.Lifetime;
+using System.Threading;
 using OpenMetaverse;
 using Nini.Config;
 using OpenSim;
@@ -61,9 +62,10 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         internal bool m_LSFunctionsEnabled = false;
         internal IScriptModuleComms m_comms = null;
 
-        public void Initialize(IScriptEngine ScriptEngine, SceneObjectPart host, TaskInventoryItem item)
+        public void Initialize(
+            IScriptEngine scriptEngine, SceneObjectPart host, TaskInventoryItem item, EventWaitHandle coopSleepHandle)
         {
-            m_ScriptEngine = ScriptEngine;
+            m_ScriptEngine = scriptEngine;
             m_host = host;
 
             if (m_ScriptEngine.Config.GetBoolean("AllowLightShareFunctions", false))
@@ -92,10 +94,9 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             get { return m_ScriptEngine.World; }
         }
 
-        //
-        //Dumps an error message on the debug console.
-        //
-
+        /// <summary>
+        /// Dumps an error message on the debug console.
+        /// </summary>
         internal void LSShoutError(string message)
         {
             if (message.Length > 1023)
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/MOD_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/MOD_Api.cs
index 8f34833..981499e 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/MOD_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/MOD_Api.cs
@@ -30,6 +30,7 @@ using System.Reflection;
 using System.Collections;
 using System.Collections.Generic;
 using System.Runtime.Remoting.Lifetime;
+using System.Threading;
 using OpenMetaverse;
 using Nini.Config;
 using OpenSim;
@@ -61,9 +62,10 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         internal bool m_MODFunctionsEnabled = false;
         internal IScriptModuleComms m_comms = null;
 
-        public void Initialize(IScriptEngine ScriptEngine, SceneObjectPart host, TaskInventoryItem item)
+        public void Initialize(
+            IScriptEngine scriptEngine, SceneObjectPart host, TaskInventoryItem item, EventWaitHandle coopSleepHandle)
         {
-            m_ScriptEngine = ScriptEngine;
+            m_ScriptEngine = scriptEngine;
             m_host = host;
             m_item = item;
 
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs
index 51c8c7e..49857cf 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs
@@ -143,9 +143,10 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
         protected IUrlModule m_UrlModule = null;
 
-        public void Initialize(IScriptEngine ScriptEngine, SceneObjectPart host, TaskInventoryItem item)
+        public void Initialize(
+            IScriptEngine scriptEngine, SceneObjectPart host, TaskInventoryItem item, EventWaitHandle coopSleepHandle)
         {
-            m_ScriptEngine = ScriptEngine;
+            m_ScriptEngine = scriptEngine;
             m_host = host;
             m_item = item;
             m_debuggerSafe = m_ScriptEngine.Config.GetBoolean("DebuggerSafe", false);
@@ -254,11 +255,23 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             wComm.DeliverMessage(ChatTypeEnum.Shout, ScriptBaseClass.DEBUG_CHANNEL, m_host.Name, m_host.UUID, message);
         }
 
+        // Returns of the function is allowed. Throws a script exception if not allowed.
         public void CheckThreatLevel(ThreatLevel level, string function)
         {
             if (!m_OSFunctionsEnabled)
                 OSSLError(String.Format("{0} permission denied.  All OS functions are disabled.", function)); // throws
 
+            string reasonWhyNot = CheckThreatLevelTest(level, function);
+            if (!String.IsNullOrEmpty(reasonWhyNot))
+            {
+                OSSLError(reasonWhyNot);
+            }
+        }
+
+        // Check to see if function is allowed. Returns an empty string if function permitted
+        //     or a string explaining why this function can't be used.
+        private string CheckThreatLevelTest(ThreatLevel level, string function)
+        {
             if (!m_FunctionPerms.ContainsKey(function))
             {
                 FunctionPerms perms = new FunctionPerms();
@@ -338,10 +351,10 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             {
                 // Allow / disallow by threat level
                 if (level > m_MaxThreatLevel)
-                    OSSLError(
+                    return
                         String.Format(
                             "{0} permission denied.  Allowed threat level is {1} but function threat level is {2}.",
-                            function, m_MaxThreatLevel, level));
+                            function, m_MaxThreatLevel, level);
             }
             else
             {
@@ -351,7 +364,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                     if (m_FunctionPerms[function].AllowedOwners.Contains(m_host.OwnerID))
                     {
                         // prim owner is in the list of allowed owners
-                        return;
+                        return String.Empty;
                     }
 
                     UUID ownerID = m_item.OwnerID;
@@ -363,7 +376,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
                         if (land.LandData.GroupID == m_item.GroupID && land.LandData.GroupID != UUID.Zero)
                         {
-                            return;
+                            return String.Empty;
                         }
                     }
 
@@ -374,7 +387,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
                         if (land.LandData.OwnerID == ownerID)
                         {
-                            return;
+                            return String.Empty;
                         }
                     }
 
@@ -384,7 +397,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                         //Only Estate Managers may use the function
                         if (World.RegionInfo.EstateSettings.IsEstateManagerOrOwner(ownerID) && World.RegionInfo.EstateSettings.EstateOwner != ownerID)
                         {
-                            return;
+                            return String.Empty;
                         }
                     }
 
@@ -393,25 +406,24 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                     {
                         if (World.RegionInfo.EstateSettings.EstateOwner == ownerID)
                         {
-                            return;
+                            return String.Empty;
                         }
                     }
 
                     if (!m_FunctionPerms[function].AllowedCreators.Contains(m_item.CreatorID))
-                        OSSLError(
+                        return(
                             String.Format("{0} permission denied. Script creator is not in the list of users allowed to execute this function and prim owner also has no permission.",
                             function));
 
                     if (m_item.CreatorID != ownerID)
                     {
                         if ((m_item.CurrentPermissions & (uint)PermissionMask.Modify) != 0)
-                            OSSLError(
-                                String.Format("{0} permission denied. Script permissions error.",
-                                function));
+                            return String.Format("{0} permission denied. Script permissions error.", function);
 
                     }
                 }
             }
+            return String.Empty;
         }
 
         internal void OSSLDeprecated(string function, string replacement)
@@ -1214,12 +1226,11 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                 sunHour += 24.0;
 
             World.RegionInfo.RegionSettings.UseEstateSun = useEstateSun;
-            World.RegionInfo.RegionSettings.SunPosition  = sunHour + 6; // LL Region Sun Hour is 6 to 30
-            World.RegionInfo.RegionSettings.FixedSun     = sunFixed;
+            World.RegionInfo.RegionSettings.SunPosition = sunHour + 6; // LL Region Sun Hour is 6 to 30
+            World.RegionInfo.RegionSettings.FixedSun = sunFixed;
             World.RegionInfo.RegionSettings.Save();
 
-            World.EventManager.TriggerEstateToolsSunUpdate(
-                World.RegionInfo.RegionHandle, sunFixed, useEstateSun, (float)sunHour);
+            World.EventManager.TriggerEstateToolsSunUpdate(World.RegionInfo.RegionHandle);
         }
 
         /// <summary>
@@ -1244,8 +1255,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             World.RegionInfo.EstateSettings.FixedSun = sunFixed;
             World.RegionInfo.EstateSettings.Save();
 
-            World.EventManager.TriggerEstateToolsSunUpdate(
-                World.RegionInfo.RegionHandle, sunFixed, World.RegionInfo.RegionSettings.UseEstateSun, (float)sunHour);
+            World.EventManager.TriggerEstateToolsSunUpdate(World.RegionInfo.RegionHandle);
         }
 
         /// <summary>
@@ -1569,6 +1579,32 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             }
         }
 
+        public string osGetPhysicsEngineType()
+        {
+            // High because it can be used to target attacks to known weaknesses
+            // This would allow a new class of griefer scripts that don't even
+            // require their user to know what they are doing (see script
+            // kiddie)
+            // Because it would be nice if scripts didn't blow up if the information
+            //    about the physics engine, this function returns an empty string if
+            //    the user does not have permission to see it. This as opposed to
+            //    throwing an exception.
+            m_host.AddScriptLPS(1);
+            string ret = String.Empty;
+            if (String.IsNullOrEmpty(CheckThreatLevelTest(ThreatLevel.High, "osGetPhysicsEngineType")))
+            {
+                if (m_ScriptEngine.World.PhysicsScene != null)
+                {
+                    ret = m_ScriptEngine.World.PhysicsScene.EngineType;
+                    // An old physics engine might have an uninitialized engine type
+                    if (ret == null)
+                        ret = "unknown";
+                }
+            }
+
+            return ret;
+        }
+
         public string osGetSimulatorVersion()
         {
             // High because it can be used to target attacks to known weaknesses
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Plugins/SensorRepeat.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Plugins/SensorRepeat.cs
index 4dd795d..d3ef378 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Plugins/SensorRepeat.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Plugins/SensorRepeat.cs
@@ -42,6 +42,29 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
     {
 //        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
+        /// <summary>
+        /// Used by one-off and repeated sensors
+        /// </summary>
+        public class SensorInfo
+        {
+            public uint localID;
+            public UUID itemID;
+            public double interval;
+            public DateTime next;
+
+            public string name;
+            public UUID keyID;
+            public int type;
+            public double range;
+            public double arc;
+            public SceneObjectPart host;
+
+            public SensorInfo Clone()
+            {
+                return (SensorInfo)this.MemberwiseClone();
+            }
+        }
+
         public AsyncCommandManager m_CmdManager;
 
         /// <summary>
@@ -78,24 +101,6 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
         private int maximumToReturn = 16;
 
         //
-        // SenseRepeater and Sensors
-        //
-        private class SenseRepeatClass
-        {
-            public uint localID;
-            public UUID itemID;
-            public double interval;
-            public DateTime next;
-
-            public string name;
-            public UUID keyID;
-            public int type;
-            public double range;
-            public double arc;
-            public SceneObjectPart host;
-        }
-
-        //
         // Sensed entity
         //
         private class SensedEntity : IComparable
@@ -127,7 +132,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
         ///
         /// Always lock SenseRepeatListLock when updating this list.
         /// </remarks>
-        private List<SenseRepeatClass> SenseRepeaters = new List<SenseRepeatClass>();
+        private List<SensorInfo> SenseRepeaters = new List<SensorInfo>();
         private object SenseRepeatListLock = new object();
 
         public void SetSenseRepeatEvent(uint m_localID, UUID m_itemID,
@@ -141,7 +146,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
                 return;
 
             // Add to timer
-            SenseRepeatClass ts = new SenseRepeatClass();
+            SensorInfo ts = new SensorInfo();
             ts.localID = m_localID;
             ts.itemID = m_itemID;
             ts.interval = sec;
@@ -160,11 +165,11 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
             AddSenseRepeater(ts);
         }
 
-        private void AddSenseRepeater(SenseRepeatClass senseRepeater)
+        private void AddSenseRepeater(SensorInfo senseRepeater)
         {
             lock (SenseRepeatListLock)
             {
-                List<SenseRepeatClass> newSenseRepeaters = new List<SenseRepeatClass>(SenseRepeaters);
+                List<SensorInfo> newSenseRepeaters = new List<SensorInfo>(SenseRepeaters);
                 newSenseRepeaters.Add(senseRepeater);
                 SenseRepeaters = newSenseRepeaters;
             }
@@ -175,8 +180,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
             // Remove from timer
             lock (SenseRepeatListLock)
             {
-                List<SenseRepeatClass> newSenseRepeaters = new List<SenseRepeatClass>();
-                foreach (SenseRepeatClass ts in SenseRepeaters)
+                List<SensorInfo> newSenseRepeaters = new List<SensorInfo>();
+                foreach (SensorInfo ts in SenseRepeaters)
                 {
                     if (ts.localID != m_localID || ts.itemID != m_itemID)
                     {
@@ -191,7 +196,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
         public void CheckSenseRepeaterEvents()
         {
             // Go through all timers
-            foreach (SenseRepeatClass ts in SenseRepeaters)
+            foreach (SensorInfo ts in SenseRepeaters)
             {
                 // Time has passed?
                 if (ts.next.ToUniversalTime() < DateTime.Now.ToUniversalTime())
@@ -208,7 +213,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
                               double range, double arc, SceneObjectPart host)
         {
             // Add to timer
-            SenseRepeatClass ts = new SenseRepeatClass();
+            SensorInfo ts = new SensorInfo();
             ts.localID = m_localID;
             ts.itemID = m_itemID;
             ts.interval = 0;
@@ -224,7 +229,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
             SensorSweep(ts);
         }
 
-        private void SensorSweep(SenseRepeatClass ts)
+        private void SensorSweep(SensorInfo ts)
         {
             if (ts.host == null)
             {
@@ -300,7 +305,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
             }
         }
 
-        private List<SensedEntity> doObjectSensor(SenseRepeatClass ts)
+        private List<SensedEntity> doObjectSensor(SensorInfo ts)
         {
             List<EntityBase> Entities;
             List<SensedEntity> sensedEntities = new List<SensedEntity>();
@@ -451,7 +456,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
             return sensedEntities;
         }
 
-        private List<SensedEntity> doAgentSensor(SenseRepeatClass ts)
+        private List<SensedEntity> doAgentSensor(SensorInfo ts)
         {
             List<SensedEntity> sensedEntities = new List<SensedEntity>();
 
@@ -630,7 +635,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
         {
             List<Object> data = new List<Object>();
 
-            foreach (SenseRepeatClass ts in SenseRepeaters)
+            foreach (SensorInfo ts in SenseRepeaters)
             {
                 if (ts.itemID == itemID)
                 {
@@ -660,7 +665,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
 
             while (idx < data.Length)
             {
-                SenseRepeatClass ts = new SenseRepeatClass();
+                SensorInfo ts = new SensorInfo();
 
                 ts.localID = localID;
                 ts.itemID = itemID;
@@ -681,5 +686,18 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
                 idx += 6;
             }
         }
+
+        public List<SensorInfo> GetSensorInfo()
+        {
+            List<SensorInfo> retList = new List<SensorInfo>();
+
+            lock (SenseRepeatListLock)
+            {
+                foreach (SensorInfo i in SenseRepeaters)
+                    retList.Add(i.Clone());
+            }
+
+            return retList;
+        }           
     }
-}
+}
\ No newline at end of file
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Plugins/Timer.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Plugins/Timer.cs
index 9ee6946..68aacd2 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Plugins/Timer.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Plugins/Timer.cs
@@ -35,6 +35,21 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
 {
     public class Timer
     {
+        public class TimerInfo
+        {
+            public uint localID;
+            public UUID itemID;
+            //public double interval;
+            public long interval;
+            //public DateTime next;
+            public long next;
+
+            public TimerInfo Clone()
+            {
+                return (TimerInfo)this.MemberwiseClone();
+            }
+        }
+
         public AsyncCommandManager m_CmdManager;
 
         public int TimersCount
@@ -59,17 +74,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
             return localID.ToString() + itemID.ToString();
         }
 
-        private class TimerClass
-        {
-            public uint localID;
-            public UUID itemID;
-            //public double interval;
-            public long interval;
-            //public DateTime next;
-            public long next;
-        }
-
-        private Dictionary<string,TimerClass> Timers = new Dictionary<string,TimerClass>();
+        private Dictionary<string,TimerInfo> Timers = new Dictionary<string,TimerInfo>();
         private object TimerListLock = new object();
 
         public void SetTimerEvent(uint m_localID, UUID m_itemID, double sec)
@@ -81,7 +86,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
             }
 
             // Add to timer
-            TimerClass ts = new TimerClass();
+            TimerInfo ts = new TimerInfo();
             ts.localID = m_localID;
             ts.itemID = m_itemID;
             ts.interval = Convert.ToInt64(sec * 10000000); // How many 100 nanoseconds (ticks) should we wait
@@ -118,14 +123,14 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
             if (Timers.Count == 0)
                 return;
 
-            Dictionary<string, TimerClass>.ValueCollection tvals;
+            Dictionary<string, TimerInfo>.ValueCollection tvals;
             lock (TimerListLock)
             {
                 // Go through all timers
                 tvals = Timers.Values;
             }
 
-            foreach (TimerClass ts in tvals)
+            foreach (TimerInfo ts in tvals)
             {
                 // Time has passed?
                 if (ts.next < DateTime.Now.Ticks)
@@ -149,8 +154,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
 
             lock (TimerListLock)
             {
-                Dictionary<string, TimerClass>.ValueCollection tvals = Timers.Values;
-                foreach (TimerClass ts in tvals)
+                Dictionary<string, TimerInfo>.ValueCollection tvals = Timers.Values;
+                foreach (TimerInfo ts in tvals)
                 {
                     if (ts.itemID == itemID)
                     {
@@ -169,7 +174,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
 
             while (idx < data.Length)
             {
-                TimerClass ts = new TimerClass();
+                TimerInfo ts = new TimerInfo();
 
                 ts.localID = localID;
                 ts.itemID = itemID;
@@ -183,5 +188,18 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
                 }
             }
         }
+
+        public List<TimerInfo> GetTimersInfo()
+        {
+            List<TimerInfo> retList = new List<TimerInfo>();
+
+            lock (TimerListLock)
+            {
+                foreach (TimerInfo i in Timers.Values)
+                    retList.Add(i.Clone());
+            }
+
+            return retList;
+        }  
     }
 }
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Interface/IOSSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Interface/IOSSL_Api.cs
index c447d1f..7eb347e 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Interface/IOSSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Interface/IOSSL_Api.cs
@@ -259,6 +259,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Interfaces
 
         string osGetScriptEngineName();
         string osGetSimulatorVersion();
+        string osGetPhysicsEngineType();
         Object osParseJSONNew(string JSON);
         Hashtable osParseJSON(string JSON);
 
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/OSSL_Stub.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/OSSL_Stub.cs
index afa9ae0..c9902e4 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/OSSL_Stub.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/OSSL_Stub.cs
@@ -420,6 +420,11 @@ namespace OpenSim.Region.ScriptEngine.Shared.ScriptBase
             return m_OSSL_Functions.osGetScriptEngineName();
         }
 
+        public string osGetPhysicsEngineType()
+        {
+            return m_OSSL_Functions.osGetPhysicsEngineType();
+        }
+
         public string osGetSimulatorVersion()
         {
            return m_OSSL_Functions.osGetSimulatorVersion();
diff --git a/OpenSim/Region/ScriptEngine/Shared/CodeTools/Tests/CSCodeGeneratorTest.cs b/OpenSim/Region/ScriptEngine/Shared/CodeTools/Tests/CSCodeGeneratorTest.cs
index 7763619..77e087c 100644
--- a/OpenSim/Region/ScriptEngine/Shared/CodeTools/Tests/CSCodeGeneratorTest.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/CodeTools/Tests/CSCodeGeneratorTest.cs
@@ -39,7 +39,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools.Tests
     /// The generated C# code is compared against the expected C# code.
     /// </summary>
     [TestFixture]
-    public class CSCodeGeneratorTest
+    public class CSCodeGeneratorTest : OpenSimTestCase
     {
         [Test]
         public void TestDefaultState()
diff --git a/OpenSim/Region/ScriptEngine/Shared/CodeTools/Tests/CompilerTest.cs b/OpenSim/Region/ScriptEngine/Shared/CodeTools/Tests/CompilerTest.cs
index 1fa6954..05a8756 100644
--- a/OpenSim/Region/ScriptEngine/Shared/CodeTools/Tests/CompilerTest.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/CodeTools/Tests/CompilerTest.cs
@@ -41,7 +41,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools.Tests
     /// the LSL source.
     /// </summary>
     [TestFixture]
-    public class CompilerTest
+    public class CompilerTest : OpenSimTestCase
     {
         private string m_testDir;
         private CSharpCodeProvider m_CSCodeProvider;
diff --git a/OpenSim/Region/ScriptEngine/Shared/Helpers.cs b/OpenSim/Region/ScriptEngine/Shared/Helpers.cs
index 22804f5..e44a106 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Helpers.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Helpers.cs
@@ -82,6 +82,24 @@ namespace OpenSim.Region.ScriptEngine.Shared
         }
     }
 
+    /// <summary>
+    /// Used to signal when the script is stopping in co-operation with the script engine 
+    /// (instead of through Thread.Abort()).
+    /// </summary>
+    [Serializable]
+    public class ScriptCoopStopException : Exception
+    {
+        public ScriptCoopStopException()
+        {
+        }
+
+        protected ScriptCoopStopException(
+                SerializationInfo info, 
+                StreamingContext context)
+        {
+        }
+    }
+
     public class DetectParams
     {
         public const int AGENT = 1;
diff --git a/OpenSim/Region/ScriptEngine/Shared/Instance/ScriptInstance.cs b/OpenSim/Region/ScriptEngine/Shared/Instance/ScriptInstance.cs
index 771db0c..a869a6a 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Instance/ScriptInstance.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Instance/ScriptInstance.cs
@@ -94,6 +94,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
         private UUID m_CurrentStateHash;
         private UUID m_RegionID;
 
+        public int DebugLevel { get; set; }
+
         public Dictionary<KeyValuePair<int, int>, KeyValuePair<int, int>> LineMap { get; set; }
 
         private Dictionary<string,IScriptApi> m_Apis = new Dictionary<string,IScriptApi>();
@@ -156,6 +158,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
 
         public UUID AppDomain { get; set; }
 
+        public SceneObjectPart Part { get; private set; }
+
         public string PrimName { get; private set; }
 
         public string ScriptName { get; private set; }
@@ -174,6 +178,17 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
 
         public Queue EventQueue { get; private set; }
 
+        public long EventsQueued
+        {
+            get 
+            {
+                lock (EventQueue)
+                    return EventQueue.Count;
+            }   
+        }
+
+        public long EventsProcessed { get; private set; }
+
         public int StartParam { get; set; }
 
         public TaskInventoryItem ScriptTask { get; private set; }
@@ -186,54 +201,68 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
 
         public static readonly long MaxMeasurementPeriod = 30 * TimeSpan.TicksPerMinute;
 
+        private bool m_coopTermination;
+ 
+        private EventWaitHandle m_coopSleepHandle;
+
         public void ClearQueue()
         {
             m_TimerQueued = false;
             EventQueue.Clear();
         }
 
-        public ScriptInstance(IScriptEngine engine, SceneObjectPart part,
-                UUID itemID, UUID assetID, string assembly,
-                AppDomain dom, string primName, string scriptName,
-                int startParam, bool postOnRez, StateSource stateSource,
-                int maxScriptQueue)
+        public ScriptInstance(
+            IScriptEngine engine, SceneObjectPart part, TaskInventoryItem item,
+            int startParam, bool postOnRez,
+            int maxScriptQueue)
         {
             State = "default";
             EventQueue = new Queue(32);
 
             Engine = engine;
-            LocalID = part.LocalId;
-            ObjectID = part.UUID;
-            RootLocalID = part.ParentGroup.LocalId;
-            RootObjectID = part.ParentGroup.UUID;
-            ItemID = itemID;
-            AssetID = assetID;
-            PrimName = primName;
-            ScriptName = scriptName;
-            m_Assembly = assembly;
+            Part = part;
+            ScriptTask = item;
+
+            // This is currently only here to allow regression tests to get away without specifying any inventory
+            // item when they are testing script logic that doesn't require an item.
+            if (ScriptTask != null)
+            {
+                ScriptName = ScriptTask.Name;
+                ItemID = ScriptTask.ItemID;
+                AssetID = ScriptTask.AssetID;
+            }
+
+            PrimName = part.ParentGroup.Name;
             StartParam = startParam;
             m_MaxScriptQueue = maxScriptQueue;
-            m_stateSource = stateSource;
             m_postOnRez = postOnRez;
             m_AttachedAvatar = part.ParentGroup.AttachedAvatar;
             m_RegionID = part.ParentGroup.Scene.RegionInfo.RegionID;
 
-            if (part != null)
+            if (Engine.Config.GetString("ScriptStopStrategy", "abort") == "co-op")
             {
-                part.TaskInventory.LockItemsForRead(true);
-                if (part.TaskInventory.ContainsKey(ItemID))
-                {
-                    ScriptTask = part.TaskInventory[ItemID];
-                }
-                part.TaskInventory.LockItemsForRead(false);
+                m_coopTermination = true;
+                m_coopSleepHandle = new AutoResetEvent(false);
             }
+        }
+
+        /// <summary>
+        /// Load the script from an assembly into an AppDomain.
+        /// </summary>
+        /// <param name='dom'></param>
+        /// <param name='assembly'></param>
+        /// <param name='stateSource'></param>
+        public void Load(AppDomain dom, string assembly, StateSource stateSource)
+        {
+            m_Assembly = assembly;
+            m_stateSource = stateSource;
 
             ApiManager am = new ApiManager();
 
             foreach (string api in am.GetApis())
             {
                 m_Apis[api] = am.CreateApi(api);
-                m_Apis[api].Initialize(engine, part, ScriptTask);
+                m_Apis[api].Initialize(Engine, Part, ScriptTask, m_coopSleepHandle);
             }
     
             try
@@ -267,7 +296,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
 
 //                // m_log.Debug("[Script] Script instance created");
 
-                part.SetScriptEvents(ItemID,
+                Part.SetScriptEvents(ItemID,
                                      (int)m_Script.GetStateEventFlags(State));
             }
             catch (Exception e)
@@ -309,7 +338,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
 
 //                            m_log.DebugFormat("[Script] Successfully retrieved state for script {0}.{1}", PrimName, m_ScriptName);
 
-                            part.SetScriptEvents(ItemID,
+                            Part.SetScriptEvents(ItemID,
                                     (int)m_Script.GetStateEventFlags(State));
 
                             if (!Running)
@@ -521,9 +550,34 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
             }
 
             // Wait for the current event to complete.
-            if (!m_InSelfDelete && workItem.Wait(new TimeSpan((long)timeout * 100000)))
+            if (!m_InSelfDelete)
             {
-                return true;
+                if (!m_coopTermination)
+                {
+                    // If we're not co-operative terminating then try and wait for the event to complete before stopping
+                    if (workItem.Wait(new TimeSpan((long)timeout * 100000)))
+                        return true;
+                }
+                else
+                {
+                    m_log.DebugFormat(
+                        "[SCRIPT INSTANCE]: Co-operatively stopping script {0} {1} in {2} {3}",
+                        ScriptName, ItemID, PrimName, ObjectID);
+
+                    // This will terminate the event on next handle check by the script.
+                    m_coopSleepHandle.Set();
+
+                    // For now, we will wait forever since the event should always cleanly terminate once LSL loop
+                    // checking is implemented.  May want to allow a shorter timeout option later.
+                    if (workItem.Wait(TimeSpan.MaxValue))
+                    {
+                        m_log.DebugFormat(
+                            "[SCRIPT INSTANCE]: Co-operatively stopped script {0} {1} in {2} {3}",
+                            ScriptName, ItemID, PrimName, ObjectID);
+
+                        return true;
+                    }
+                }
             }
 
             lock (EventQueue)
@@ -536,11 +590,12 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
 
             // If the event still hasn't stopped and we the stop isn't the result of script or object removal, then
             // forcibly abort the work item (this aborts the underlying thread).
+            // Co-operative termination should never reach this point.
             if (!m_InSelfDelete)
             {
-//                m_log.ErrorFormat(
-//                    "[SCRIPT INSTANCE]: Aborting script {0} {1} in prim {2} {3} {4} {5}",
-//                    ScriptName, ItemID, PrimName, ObjectID, m_InSelfDelete, DateTime.Now.Ticks);
+                m_log.DebugFormat(
+                    "[SCRIPT INSTANCE]: Aborting unstopped script {0} {1} in prim {2}, localID {3}, timeout was {4} ms", 
+                    ScriptName, ItemID, PrimName, LocalID, timeout);
 
                 workItem.Abort();
             }
@@ -696,19 +751,41 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
             {
                 
 //                m_log.DebugFormat("[XEngine]: Processing event {0} for {1}", data.EventName, this);
+                SceneObjectPart part = Engine.World.GetSceneObjectPart(LocalID);
+
+                if (DebugLevel >= 2)
+                    m_log.DebugFormat(
+                        "[SCRIPT INSTANCE]: Processing event {0} for {1}/{2}({3})/{4}({5}) @ {6}/{7}", 
+                        data.EventName, 
+                        ScriptName, 
+                        part.Name, 
+                        part.LocalId, 
+                        part.ParentGroup.Name, 
+                        part.ParentGroup.UUID, 
+                        part.AbsolutePosition, 
+                        part.ParentGroup.Scene.Name);
 
                 m_DetectParams = data.DetectParams;
 
                 if (data.EventName == "state") // Hardcoded state change
                 {
-    //                m_log.DebugFormat("[Script] Script {0}.{1} state set to {2}",
-    //                        PrimName, ScriptName, data.Params[0].ToString());
                     State = data.Params[0].ToString();
+
+                    if (DebugLevel >= 1)
+                        m_log.DebugFormat(
+                            "[SCRIPT INSTANCE]: Changing state to {0} for {1}/{2}({3})/{4}({5}) @ {6}/{7}", 
+                            State, 
+                            ScriptName, 
+                            part.Name, 
+                            part.LocalId, 
+                            part.ParentGroup.Name, 
+                            part.ParentGroup.UUID, 
+                            part.AbsolutePosition, 
+                            part.ParentGroup.Scene.Name);
+
                     AsyncCommandManager.RemoveScript(Engine,
                         LocalID, ItemID);
 
-                    SceneObjectPart part = Engine.World.GetSceneObjectPart(
-                        LocalID);
                     if (part != null)
                     {
                         part.SetScriptEvents(ItemID,
@@ -720,8 +797,6 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
                     if (Engine.World.PipeEventsForScript(LocalID) ||
                         data.EventName == "control") // Don't freeze avies!
                     {
-                        SceneObjectPart part = Engine.World.GetSceneObjectPart(
-                            LocalID);
         //                m_log.DebugFormat("[Script] Delivered event {2} in state {3} to {0}.{1}",
         //                        PrimName, ScriptName, data.EventName, State);
 
@@ -763,7 +838,11 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
                             m_InEvent = false;
                             m_CurrentEvent = String.Empty;
 
-                            if ((!(e is TargetInvocationException) || (!(e.InnerException is SelfDeleteException) && !(e.InnerException is ScriptDeleteException))) && !(e is ThreadAbortException))
+                            if ((!(e is TargetInvocationException) 
+                                || (!(e.InnerException is SelfDeleteException) 
+                                    && !(e.InnerException is ScriptDeleteException)
+                                    && !(e.InnerException is ScriptCoopStopException))) 
+                                && !(e is ThreadAbortException))
                             {
                                 try
                                 {
@@ -776,6 +855,17 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
                                                            ChatTypeEnum.DebugChannel, 2147483647,
                                                            part.AbsolutePosition,
                                                            part.Name, part.UUID, false);
+
+
+                                    m_log.DebugFormat(
+                                        "[SCRIPT INSTANCE]: Runtime error in script {0}, part {1} {2} at {3} in {4}, displayed error {5}, actual exception {6}", 
+                                        ScriptName, 
+                                        PrimName, 
+                                        part.UUID,
+                                        part.AbsolutePosition,
+                                        part.ParentGroup.Scene.Name, 
+                                        text.Replace("\n", "\\n"), 
+                                        e.InnerException);
                                 }
                                 catch (Exception)
                                 {
@@ -802,6 +892,12 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
                                 if (part != null)
                                     part.Inventory.RemoveInventoryItem(ItemID);
                             }
+                            else if ((e is TargetInvocationException) && (e.InnerException is ScriptCoopStopException))
+                            {
+                                m_log.DebugFormat(
+                                    "[SCRIPT INSTANCE]: Script {0}.{1} in event {2}, state {3} stopped co-operatively.",
+                                    PrimName, ScriptName, data.EventName, State);
+                            }
                         }
                     }
                 }
@@ -810,6 +906,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
                 // script engine to run the next event.
                 lock (EventQueue)
                 {
+                    EventsProcessed++;
+
                     if (EventQueue.Count > 0 && Running && !ShuttingDown)
                     {
                         m_CurrentWorkItem = Engine.QueueEventHandler(this);
@@ -834,7 +932,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
             return (DateTime.Now - m_EventStart).Seconds;
         }
 
-        public void ResetScript()
+        public void ResetScript(int timeout)
         {
             if (m_Script == null)
                 return;
@@ -844,7 +942,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
             RemoveState();
             ReleaseControls();
 
-            Stop(0);
+            Stop(timeout);
             SceneObjectPart part = Engine.World.GetSceneObjectPart(LocalID);
             part.Inventory.GetInventoryItem(ItemID).PermsMask = 0;
             part.Inventory.GetInventoryItem(ItemID).PermsGranter = UUID.Zero;
@@ -1015,7 +1113,6 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
                                     "({0}): {1}", scriptLine - 1,
                                     e.InnerException.Message);
 
-                            System.Console.WriteLine(e.ToString()+"\n");
                             return message;
                         }
                     }
diff --git a/OpenSim/Region/ScriptEngine/Shared/LSL_Types.cs b/OpenSim/Region/ScriptEngine/Shared/LSL_Types.cs
index c9c4753..2e61fb8 100644
--- a/OpenSim/Region/ScriptEngine/Shared/LSL_Types.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/LSL_Types.cs
@@ -633,19 +633,44 @@ namespace OpenSim.Region.ScriptEngine.Shared
 
             public LSL_Types.Vector3 GetVector3Item(int itemIndex)
             {
-                if(m_data[itemIndex] is LSL_Types.Vector3)
+                if (m_data[itemIndex] is LSL_Types.Vector3)
+                {
                     return (LSL_Types.Vector3)m_data[itemIndex];
+                }
+                else if(m_data[itemIndex] is OpenMetaverse.Vector3)
+                {
+                    return new LSL_Types.Vector3(
+                            (OpenMetaverse.Vector3)m_data[itemIndex]);
+                }
                 else
+                {
                     throw new InvalidCastException(string.Format(
                         "{0} expected but {1} given",
                         typeof(LSL_Types.Vector3).Name,
                         m_data[itemIndex] != null ?
                         m_data[itemIndex].GetType().Name : "null"));
+                }
             }
 
             public LSL_Types.Quaternion GetQuaternionItem(int itemIndex)
             {
-              return (LSL_Types.Quaternion)m_data[itemIndex];
+                if (m_data[itemIndex] is LSL_Types.Quaternion)
+                {
+                    return (LSL_Types.Quaternion)m_data[itemIndex];
+                }
+                else if(m_data[itemIndex] is OpenMetaverse.Quaternion)
+                {
+                    return new LSL_Types.Quaternion(
+                            (OpenMetaverse.Quaternion)m_data[itemIndex]);
+                }
+                else
+                {
+                    throw new InvalidCastException(string.Format(
+                        "{0} expected but {1} given",
+                        typeof(LSL_Types.Quaternion).Name,
+                        m_data[itemIndex] != null ?
+                        m_data[itemIndex].GetType().Name : "null"));
+                }
             }
 
             public LSL_Types.key GetKeyItem(int itemIndex)
diff --git a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiInventoryTests.cs b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiInventoryTests.cs
index c73e22f..6dd6c17 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiInventoryTests.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiInventoryTests.cs
@@ -41,6 +41,7 @@ using OpenSim.Region.OptionalModules.World.NPC;
 using OpenSim.Region.Framework.Scenes;
 using OpenSim.Region.ScriptEngine.Shared;
 using OpenSim.Region.ScriptEngine.Shared.Api;
+using OpenSim.Region.ScriptEngine.Shared.Instance;
 using OpenSim.Services.Interfaces;
 using OpenSim.Tests.Common;
 using OpenSim.Tests.Common.Mock;
@@ -51,14 +52,16 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
     /// Tests for inventory functions in LSL
     /// </summary>
     [TestFixture]
-    public class LSL_ApiInventoryTests
+    public class LSL_ApiInventoryTests : OpenSimTestCase
     {
         protected Scene m_scene;
         protected XEngine.XEngine m_engine;
 
         [SetUp]
-        public void SetUp()
+        public override void SetUp()
         {
+            base.SetUp();
+
             IConfigSource initConfigSource = new IniConfigSource();
             IConfig config = initConfigSource.AddConfig("XEngine");
             config.Set("Enabled", "true");
@@ -91,7 +94,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             TaskInventoryHelpers.AddSceneObject(m_scene, so1.RootPart, inventoryItemName, itemId, userId);
 
             LSL_Api api = new LSL_Api();
-            api.Initialize(m_engine, so1.RootPart, null);
+            api.Initialize(m_engine, so1.RootPart, null, null);
 
             // Create a second object
             SceneObjectGroup so2 = SceneHelpers.CreateSceneObject(1, userId, "so2", 0x100);
@@ -124,7 +127,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             SceneObjectGroup so1 = SceneHelpers.CreateSceneObject(1, user1Id, "so1", 0x10);
             m_scene.AddSceneObject(so1);
             LSL_Api api = new LSL_Api();
-            api.Initialize(m_engine, so1.RootPart, null);
+            api.Initialize(m_engine, so1.RootPart, null, null);
 
             // Create an object embedded inside the first
             UUID itemId = TestHelpers.ParseTail(0x20);
@@ -134,7 +137,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             SceneObjectGroup so2 = SceneHelpers.CreateSceneObject(1, user2Id, "so2", 0x100);
             m_scene.AddSceneObject(so2);
             LSL_Api api2 = new LSL_Api();
-            api2.Initialize(m_engine, so2.RootPart, null);
+            api2.Initialize(m_engine, so2.RootPart, null, null);
 
             // *** Firstly, we test where llAllowInventoryDrop() has not been called. ***
             api.llGiveInventory(so2.UUID.ToString(), inventoryItemName);
diff --git a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiLinkingTests.cs b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiLinkingTests.cs
index 2565ae7..5b57bbe 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiLinkingTests.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiLinkingTests.cs
@@ -41,6 +41,7 @@ using OpenSim.Region.OptionalModules.World.NPC;
 using OpenSim.Region.Framework.Scenes;
 using OpenSim.Region.ScriptEngine.Shared;
 using OpenSim.Region.ScriptEngine.Shared.Api;
+using OpenSim.Region.ScriptEngine.Shared.Instance;
 using OpenSim.Region.ScriptEngine.Shared.ScriptBase;
 using OpenSim.Services.Interfaces;
 using OpenSim.Tests.Common;
@@ -56,14 +57,16 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
     /// OpenSim.Region.Framework.Scenes.Tests.SceneObjectLinkingTests.
     /// </remarks>
     [TestFixture]
-    public class LSL_ApiLinkingTests
+    public class LSL_ApiLinkingTests : OpenSimTestCase
     {
         protected Scene m_scene;
         protected XEngine.XEngine m_engine;
 
         [SetUp]
-        public void SetUp()
+        public override void SetUp()
         {
+            base.SetUp();
+
             IConfigSource initConfigSource = new IniConfigSource();
             IConfig config = initConfigSource.AddConfig("XEngine");
             config.Set("Enabled", "true");
@@ -102,7 +105,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             m_scene.AddSceneObject(grp2);
 
             LSL_Api apiGrp1 = new LSL_Api();
-            apiGrp1.Initialize(m_engine, grp1.RootPart, grp1Item);
+            apiGrp1.Initialize(m_engine, grp1.RootPart, grp1Item, null);
 
             apiGrp1.llCreateLink(grp2.UUID.ToString(), ScriptBaseClass.TRUE);
 
@@ -129,7 +132,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             grp1Item.PermsMask |= ScriptBaseClass.PERMISSION_CHANGE_LINKS;
 
             LSL_Api apiGrp1 = new LSL_Api();
-            apiGrp1.Initialize(m_engine, grp1.RootPart, grp1Item);
+            apiGrp1.Initialize(m_engine, grp1.RootPart, grp1Item, null);
 
             apiGrp1.llBreakLink(2);
 
diff --git a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiListTests.cs b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiListTests.cs
index dd23be8..60de5cb 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiListTests.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiListTests.cs
@@ -34,6 +34,7 @@ using OpenSim.Region.ScriptEngine.Shared;
 using OpenSim.Region.Framework.Scenes;
 using Nini.Config;
 using OpenSim.Region.ScriptEngine.Shared.Api;
+using OpenSim.Region.ScriptEngine.Shared.Instance;
 using OpenSim.Region.ScriptEngine.Shared.ScriptBase;
 using OpenMetaverse;
 using OpenSim.Tests.Common.Mock;
@@ -46,13 +47,15 @@ using LSL_String = OpenSim.Region.ScriptEngine.Shared.LSL_Types.LSLString;
 namespace OpenSim.Region.ScriptEngine.Shared.Tests
 {
     [TestFixture]
-    public class LSL_ApiListTests
+    public class LSL_ApiListTests : OpenSimTestCase
     {
         private LSL_Api m_lslApi;
 
         [SetUp]
-        public void SetUp()
+        public override void SetUp()
         {
+            base.SetUp();
+
             IConfigSource initConfigSource = new IniConfigSource();
             IConfig config = initConfigSource.AddConfig("XEngine");
             config.Set("Enabled", "true");
@@ -65,7 +68,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             engine.AddRegion(scene);
 
             m_lslApi = new LSL_Api();
-            m_lslApi.Initialize(engine, part, null);
+            m_lslApi.Initialize(engine, part, null, null);
         }
  
         [Test]
diff --git a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiTest.cs b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiTest.cs
index c41d1e7..e97ae06 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiTest.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiTest.cs
@@ -33,6 +33,7 @@ using OpenSim.Region.ScriptEngine.Shared;
 using OpenSim.Region.Framework.Scenes;
 using Nini.Config;
 using OpenSim.Region.ScriptEngine.Shared.Api;
+using OpenSim.Region.ScriptEngine.Shared.Instance;
 using OpenSim.Region.ScriptEngine.Shared.ScriptBase;
 using OpenMetaverse;
 using System;
@@ -66,7 +67,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             engine.AddRegion(scene);
 
             m_lslApi = new LSL_Api();
-            m_lslApi.Initialize(engine, part, null);
+            m_lslApi.Initialize(engine, part, null, null);
         }
 
         [Test]
diff --git a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestLSLFloat.cs b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestLSLFloat.cs
index 3ed2562..c8c7f82 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestLSLFloat.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestLSLFloat.cs
@@ -33,7 +33,7 @@ using OpenSim.Region.ScriptEngine.Shared;
 namespace OpenSim.Region.ScriptEngine.Shared.Tests
 {
     [TestFixture]
-    public class LSL_TypesTestLSLFloat
+    public class LSL_TypesTestLSLFloat : OpenSimTestCase
     {
         // Used for testing equality of two floats.
         private double _lowPrecisionTolerance = 0.000001;
diff --git a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestLSLInteger.cs b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestLSLInteger.cs
index 8d1169a..c664108 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestLSLInteger.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestLSLInteger.cs
@@ -33,7 +33,7 @@ using OpenSim.Region.ScriptEngine.Shared;
 namespace OpenSim.Region.ScriptEngine.Shared.Tests
 {
     [TestFixture]
-    public class LSL_TypesTestLSLInteger
+    public class LSL_TypesTestLSLInteger : OpenSimTestCase
     {
         private Dictionary<double, int> m_doubleIntSet;
         private Dictionary<string, int> m_stringIntSet;
diff --git a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestLSLString.cs b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestLSLString.cs
index c4ca1a8..8550f2d 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestLSLString.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestLSLString.cs
@@ -33,7 +33,7 @@ using OpenSim.Region.ScriptEngine.Shared;
 namespace OpenSim.Region.ScriptEngine.Shared.Tests
 {
     [TestFixture]
-    public class LSL_TypesTestLSLString
+    public class LSL_TypesTestLSLString : OpenSimTestCase
     {
         private Dictionary<double, string> m_doubleStringSet;
 
diff --git a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestList.cs b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestList.cs
index b81225f..71b88bc 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestList.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestList.cs
@@ -36,7 +36,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
     /// Tests the LSL_Types.list class.
     /// </summary>
     [TestFixture]
-    public class LSL_TypesTestList
+    public class LSL_TypesTestList : OpenSimTestCase
     {
         /// <summary>
         /// Tests concatenating a string to a list.
diff --git a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestVector3.cs b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestVector3.cs
index ebf8001..0c838af 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestVector3.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestVector3.cs
@@ -36,7 +36,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
     /// Tests for Vector3
     /// </summary>
     [TestFixture]
-    public class LSL_TypesTestVector3
+    public class LSL_TypesTestVector3 : OpenSimTestCase
     {
         [Test]
         public void TestDotProduct()
diff --git a/OpenSim/Region/ScriptEngine/Shared/Tests/OSSL_ApiAppearanceTest.cs b/OpenSim/Region/ScriptEngine/Shared/Tests/OSSL_ApiAppearanceTest.cs
index c401794..c88bad5 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Tests/OSSL_ApiAppearanceTest.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Tests/OSSL_ApiAppearanceTest.cs
@@ -41,6 +41,7 @@ using OpenSim.Region.OptionalModules.World.NPC;
 using OpenSim.Region.Framework.Scenes;
 using OpenSim.Region.ScriptEngine.Shared;
 using OpenSim.Region.ScriptEngine.Shared.Api;
+using OpenSim.Region.ScriptEngine.Shared.Instance;
 using OpenSim.Services.Interfaces;
 using OpenSim.Tests.Common;
 using OpenSim.Tests.Common.Mock;
@@ -51,14 +52,16 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
     /// Tests for OSSL_Api
     /// </summary>
     [TestFixture]
-    public class OSSL_ApiAppearanceTest
+    public class OSSL_ApiAppearanceTest : OpenSimTestCase
     {
         protected Scene m_scene;
         protected XEngine.XEngine m_engine;
 
         [SetUp]
-        public void SetUp()
+        public override void SetUp()
         {
+            base.SetUp();
+
             IConfigSource initConfigSource = new IniConfigSource();
             IConfig config = initConfigSource.AddConfig("XEngine");
             config.Set("Enabled", "true");
@@ -91,7 +94,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             m_scene.AddSceneObject(so);
 
             OSSL_Api osslApi = new OSSL_Api();
-            osslApi.Initialize(m_engine, part, null);
+            osslApi.Initialize(m_engine, part, null, null);
 
             string notecardName = "appearanceNc";
 
@@ -132,7 +135,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             m_scene.AddSceneObject(so);
 
             OSSL_Api osslApi = new OSSL_Api();
-            osslApi.Initialize(m_engine, part, null);
+            osslApi.Initialize(m_engine, part, null, null);
 
             string notecardName = "appearanceNc";
 
diff --git a/OpenSim/Region/ScriptEngine/Shared/Tests/OSSL_ApiAttachmentTests.cs b/OpenSim/Region/ScriptEngine/Shared/Tests/OSSL_ApiAttachmentTests.cs
index 5ed1f3d..b2803a1 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Tests/OSSL_ApiAttachmentTests.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Tests/OSSL_ApiAttachmentTests.cs
@@ -41,6 +41,7 @@ using OpenSim.Region.CoreModules.Framework.InventoryAccess;
 using OpenSim.Region.Framework.Scenes;
 using OpenSim.Region.ScriptEngine.Shared;
 using OpenSim.Region.ScriptEngine.Shared.Api;
+using OpenSim.Region.ScriptEngine.Shared.Instance;
 using OpenSim.Services.Interfaces;
 using OpenSim.Tests.Common;
 using OpenSim.Tests.Common.Mock;
@@ -98,9 +99,9 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             SceneObjectGroup inWorldObj = SceneHelpers.AddSceneObject(m_scene, "inWorldObj", ua1.PrincipalID);
             TaskInventoryItem scriptItem = TaskInventoryHelpers.AddScript(m_scene, inWorldObj.RootPart);
 
-            new LSL_Api().Initialize(m_engine, inWorldObj.RootPart, scriptItem);
+            new LSL_Api().Initialize(m_engine, inWorldObj.RootPart, scriptItem, null);
             OSSL_Api osslApi = new OSSL_Api();
-            osslApi.Initialize(m_engine, inWorldObj.RootPart, scriptItem);
+            osslApi.Initialize(m_engine, inWorldObj.RootPart, scriptItem, null);
 
 //            SceneObjectGroup sog1 = SceneHelpers.CreateSceneObject(1, ua1.PrincipalID);
 
@@ -144,9 +145,9 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             SceneObjectGroup inWorldObj = SceneHelpers.AddSceneObject(m_scene, "inWorldObj", ua1.PrincipalID);
             TaskInventoryItem scriptItem = TaskInventoryHelpers.AddScript(m_scene, inWorldObj.RootPart);
 
-            new LSL_Api().Initialize(m_engine, inWorldObj.RootPart, scriptItem);
+            new LSL_Api().Initialize(m_engine, inWorldObj.RootPart, scriptItem, null);
             OSSL_Api osslApi = new OSSL_Api();
-            osslApi.Initialize(m_engine, inWorldObj.RootPart, scriptItem);
+            osslApi.Initialize(m_engine, inWorldObj.RootPart, scriptItem, null);
 
             // Create an object embedded inside the first
             TaskInventoryHelpers.AddNotecard(
@@ -192,12 +193,13 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             SceneObjectGroup inWorldObj = SceneHelpers.AddSceneObject(m_scene, "inWorldObj", ua1.PrincipalID);
             TaskInventoryItem scriptItem = TaskInventoryHelpers.AddScript(m_scene, inWorldObj.RootPart);
 
-            new LSL_Api().Initialize(m_engine, inWorldObj.RootPart, scriptItem);
+            new LSL_Api().Initialize(m_engine, inWorldObj.RootPart, scriptItem, null);
             OSSL_Api osslApi = new OSSL_Api();
-            osslApi.Initialize(m_engine, inWorldObj.RootPart, scriptItem);
+            osslApi.Initialize(m_engine, inWorldObj.RootPart, scriptItem, null);
 
             // Create an object embedded inside the first
-            TaskInventoryHelpers.AddSceneObject(m_scene, inWorldObj.RootPart, taskInvObjItemName, taskInvObjItemId, ua1.PrincipalID);
+            TaskInventoryHelpers.AddSceneObject(
+                m_scene, inWorldObj.RootPart, taskInvObjItemName, taskInvObjItemId, ua1.PrincipalID);
 
             ScenePresence sp2 = SceneHelpers.AddScenePresence(m_scene, ua2);
 
diff --git a/OpenSim/Region/ScriptEngine/Shared/Tests/OSSL_ApiNpcTests.cs b/OpenSim/Region/ScriptEngine/Shared/Tests/OSSL_ApiNpcTests.cs
index b49bcc2..1f8a6e5 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Tests/OSSL_ApiNpcTests.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Tests/OSSL_ApiNpcTests.cs
@@ -42,6 +42,7 @@ using OpenSim.Region.OptionalModules.World.NPC;
 using OpenSim.Region.Framework.Scenes;
 using OpenSim.Region.ScriptEngine.Shared;
 using OpenSim.Region.ScriptEngine.Shared.Api;
+using OpenSim.Region.ScriptEngine.Shared.Instance;
 using OpenSim.Region.ScriptEngine.Shared.ScriptBase;
 using OpenSim.Services.Interfaces;
 using OpenSim.Tests.Common;
@@ -99,7 +100,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             m_scene.AddSceneObject(so);
 
             OSSL_Api osslApi = new OSSL_Api();
-            osslApi.Initialize(m_engine, part, null);
+            osslApi.Initialize(m_engine, part, null, null);
 
             string notecardName = "appearanceNc";
             osslApi.osOwnerSaveAppearance(notecardName);
@@ -125,14 +126,12 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             m_scene.AddSceneObject(so);
 
             OSSL_Api osslApi = new OSSL_Api();
-            osslApi.Initialize(m_engine, so.RootPart, null);
+            osslApi.Initialize(m_engine, so.RootPart, null, null);
 
-            string npcRaw;
             bool gotExpectedException = false;
             try
             {
-                npcRaw
-                    = osslApi.osNpcCreate("Jane", "Doe", new LSL_Types.Vector3(128, 128, 128), "not existing notecard name");
+                osslApi.osNpcCreate("Jane", "Doe", new LSL_Types.Vector3(128, 128, 128), "not existing notecard name");
             }
             catch (ScriptException)
             {
@@ -162,7 +161,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             m_scene.AddSceneObject(so);
 
             OSSL_Api osslApi = new OSSL_Api();
-            osslApi.Initialize(m_engine, part, null);
+            osslApi.Initialize(m_engine, part, null, null);
 
             string notecardName = "appearanceNc";
             osslApi.osOwnerSaveAppearance(notecardName);
@@ -196,7 +195,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             m_scene.AddSceneObject(so);
 
             OSSL_Api osslApi = new OSSL_Api();
-            osslApi.Initialize(m_engine, part, null);
+            osslApi.Initialize(m_engine, part, null, null);
 
             osslApi.osOwnerSaveAppearance(firstAppearanceNcName);
 
@@ -234,7 +233,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             m_scene.AddSceneObject(so);
 
             OSSL_Api osslApi = new OSSL_Api();
-            osslApi.Initialize(m_engine, part, null);
+            osslApi.Initialize(m_engine, part, null, null);
 
             osslApi.osOwnerSaveAppearance(firstAppearanceNcName);
 
@@ -286,10 +285,10 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             m_scene.AddSceneObject(otherSo);
 
             OSSL_Api osslApi = new OSSL_Api();
-            osslApi.Initialize(m_engine, part, null);
+            osslApi.Initialize(m_engine, part, null, null);
 
             OSSL_Api otherOsslApi = new OSSL_Api();
-            otherOsslApi.Initialize(m_engine, otherPart, null);
+            otherOsslApi.Initialize(m_engine, otherPart, null, null);
 
             string notecardName = "appearanceNc";
             osslApi.osOwnerSaveAppearance(notecardName);
@@ -333,7 +332,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             m_scene.AddSceneObject(so);
 
             OSSL_Api osslApi = new OSSL_Api();
-            osslApi.Initialize(m_engine, part, null);
+            osslApi.Initialize(m_engine, part, null, null);
 
             string notecardName = "appearanceNc";
             osslApi.osOwnerSaveAppearance(notecardName);
diff --git a/OpenSim/Region/ScriptEngine/XEngine/ScriptEngineConsoleCommands.cs b/OpenSim/Region/ScriptEngine/XEngine/ScriptEngineConsoleCommands.cs
new file mode 100644
index 0000000..efb854d
--- /dev/null
+++ b/OpenSim/Region/ScriptEngine/XEngine/ScriptEngineConsoleCommands.cs
@@ -0,0 +1,126 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections.Generic;
+using OpenSim.Framework;
+using OpenSim.Framework.Console;
+using OpenSim.Region.ScriptEngine.Interfaces;
+using OpenSim.Region.ScriptEngine.Shared.Api;
+using OpenSim.Region.ScriptEngine.Shared.Api.Plugins;
+
+namespace OpenSim.Region.ScriptEngine.XEngine
+{
+    public class ScriptEngineConsoleCommands
+    {
+        IScriptEngine m_engine;
+
+        public ScriptEngineConsoleCommands(IScriptEngine engine)
+        {
+            m_engine = engine;
+        }
+
+        public void RegisterCommands()
+        {
+            MainConsole.Instance.Commands.AddCommand(
+                "Scripts", false, "show script sensors", "show script sensors", "Show script sensors information",
+                HandleShowSensors);
+
+            MainConsole.Instance.Commands.AddCommand(
+                "Scripts", false, "show script timers", "show script timers", "Show script sensors information",
+                HandleShowTimers);
+        }
+
+        private bool IsSceneSelected()
+        {
+            return MainConsole.Instance.ConsoleScene == null || MainConsole.Instance.ConsoleScene == m_engine.World;
+        }
+
+        private void HandleShowSensors(string module, string[] cmdparams)
+        {
+            if (!IsSceneSelected())
+                return;
+
+            SensorRepeat sr = AsyncCommandManager.GetSensorRepeatPlugin(m_engine);
+
+            if (sr == null)
+            {
+                MainConsole.Instance.Output("Plugin not yet initialized");
+                return;
+            }
+
+            List<SensorRepeat.SensorInfo> sensorInfo = sr.GetSensorInfo();
+
+            ConsoleDisplayTable cdt = new ConsoleDisplayTable();
+            cdt.AddColumn("Part name", 40);
+            cdt.AddColumn("Script item ID", 36);
+            cdt.AddColumn("Type", 4);
+            cdt.AddColumn("Interval", 8);
+            cdt.AddColumn("Range", 8);
+            cdt.AddColumn("Arc", 8);
+
+            foreach (SensorRepeat.SensorInfo s in sensorInfo)
+            {
+                cdt.AddRow(s.host.Name, s.itemID, s.type, s.interval, s.range, s.arc);
+            }
+
+            MainConsole.Instance.Output(cdt.ToString());
+            MainConsole.Instance.OutputFormat("Total: {0}", sensorInfo.Count);
+        }
+
+        private void HandleShowTimers(string module, string[] cmdparams)
+        {
+            if (!IsSceneSelected())
+                return;
+
+            Timer timerPlugin = AsyncCommandManager.GetTimerPlugin(m_engine);
+
+            if (timerPlugin == null)
+            {
+                MainConsole.Instance.Output("Plugin not yet initialized");
+                return;
+            }
+
+            List<Timer.TimerInfo> timersInfo = timerPlugin.GetTimersInfo();
+
+            ConsoleDisplayTable cdt = new ConsoleDisplayTable();
+            cdt.AddColumn("Part local ID", 13);
+            cdt.AddColumn("Script item ID", 36);
+            cdt.AddColumn("Interval", 10);
+            cdt.AddColumn("Next", 8);
+
+            foreach (Timer.TimerInfo t in timersInfo)
+            {
+                // Convert from 100 ns ticks back to seconds
+                cdt.AddRow(t.localID, t.itemID, (double)t.interval / 10000000, t.next);
+            }
+
+            MainConsole.Instance.Output(cdt.ToString());
+            MainConsole.Instance.OutputFormat("Total: {0}", timersInfo.Count);
+        }
+    }
+}
\ No newline at end of file
diff --git a/OpenSim/Region/ScriptEngine/XEngine/Tests/XEngineTest.cs b/OpenSim/Region/ScriptEngine/XEngine/Tests/XEngineTest.cs
index f331658..5abfe9a 100644
--- a/OpenSim/Region/ScriptEngine/XEngine/Tests/XEngineTest.cs
+++ b/OpenSim/Region/ScriptEngine/XEngine/Tests/XEngineTest.cs
@@ -44,7 +44,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine.Tests
     /// XEngine tests.
     /// </summary>
     [TestFixture]
-    public class XEngineTest
+    public class XEngineTest : OpenSimTestCase
     {
         private TestScene m_scene;
         private XEngine m_xEngine;
diff --git a/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs b/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs
index 9f05666..2065a46 100644
--- a/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs
+++ b/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs
@@ -31,6 +31,7 @@ using System.Collections.Generic;
 using System.Diagnostics; //for [DebuggerNonUserCode]
 using System.Globalization;
 using System.IO;
+using System.Linq;
 using System.Reflection;
 using System.Security;
 using System.Security.Policy;
@@ -107,6 +108,24 @@ namespace OpenSim.Region.ScriptEngine.XEngine
         private IXmlRpcRouter m_XmlRpcRouter;
         private int m_EventLimit;
         private bool m_KillTimedOutScripts;
+
+        /// <summary>
+        /// Number of milliseconds we will wait for a script event to complete on script stop before we forcibly abort
+        /// its thread.
+        /// </summary>
+        /// <remarks>
+        /// It appears that if a script thread is aborted whilst it is holding ReaderWriterLockSlim (possibly the write
+        /// lock) then the lock is not properly released.  This causes mono 2.6, 2.10 and possibly
+        /// later to crash, sometimes with symptoms such as a leap to 100% script usage and a vm thead dump showing
+        /// all threads waiting on release of ReaderWriterLockSlim write thread which none of the threads listed 
+        /// actually hold.
+        /// 
+        /// Pausing for event completion reduces the risk of this happening.  However, it may be that aborting threads
+        /// is not a mono issue per se but rather a risky activity in itself in an AppDomain that is not immediately
+        /// shutting down.
+        /// </remarks>
+        private int m_WaitForEventCompletionOnScriptStop = 1000;
+
         private string m_ScriptEnginesPath = null;
 
         private ExpiringCache<UUID, bool> m_runFlags = new ExpiringCache<UUID, bool>();
@@ -218,6 +237,8 @@ namespace OpenSim.Region.ScriptEngine.XEngine
             }
         }
 
+        private ScriptEngineConsoleCommands m_consoleCommands;
+
         public string ScriptEngineName
         {
             get { return "XEngine"; }
@@ -316,6 +337,9 @@ namespace OpenSim.Region.ScriptEngine.XEngine
             m_EventLimit = m_ScriptConfig.GetInt("EventLimit", 30);
             m_KillTimedOutScripts = m_ScriptConfig.GetBoolean("KillTimedOutScripts", false);
             m_SaveTime = m_ScriptConfig.GetInt("SaveInterval", 120) * 1000;
+            m_WaitForEventCompletionOnScriptStop 
+                = m_ScriptConfig.GetInt("WaitForEventCompletionOnScriptStop", m_WaitForEventCompletionOnScriptStop);
+
             m_ScriptEnginesPath = m_ScriptConfig.GetString("ScriptEnginesPath", "ScriptEngines");
 
             m_Prio = ThreadPriority.BelowNormal;
@@ -364,48 +388,59 @@ namespace OpenSim.Region.ScriptEngine.XEngine
                 OnObjectRemoved += m_XmlRpcRouter.ObjectRemoved;
             }
 
+            m_consoleCommands = new ScriptEngineConsoleCommands(this);
+            m_consoleCommands.RegisterCommands();
+
             MainConsole.Instance.Commands.AddCommand(
                 "Scripts", false, "xengine status", "xengine status", "Show status information",
                 "Show status information on the script engine.",
                 HandleShowStatus);
 
             MainConsole.Instance.Commands.AddCommand(
-                "Scripts", false, "scripts show", "scripts show [<script-item-uuid>]", "Show script information",
-                "Show information on all scripts known to the script engine."
-                    + "If a <script-item-uuid> is given then only information on that script will be shown.",
+                "Scripts", false, "scripts show", "scripts show [<script-item-uuid>+]", "Show script information",
+                "Show information on all scripts known to the script engine.\n"
+                    + "If one or more <script-item-uuid>s are given then only information on that script will be shown.",
                 HandleShowScripts);
 
             MainConsole.Instance.Commands.AddCommand(
-                "Scripts", false, "show scripts", "show scripts [<script-item-uuid>]", "Show script information",
+                "Scripts", false, "show scripts", "show scripts [<script-item-uuid>+]", "Show script information",
                 "Synonym for scripts show command", HandleShowScripts);
 
             MainConsole.Instance.Commands.AddCommand(
-                "Scripts", false, "scripts suspend", "scripts suspend [<script-item-uuid>]", "Suspends all running scripts",
+                "Scripts", false, "scripts suspend", "scripts suspend [<script-item-uuid>+]", "Suspends all running scripts",
                 "Suspends all currently running scripts.  This only suspends event delivery, it will not suspend a"
                     + " script that is currently processing an event.\n"
                     + "Suspended scripts will continue to accumulate events but won't process them.\n"
-                    + "If a <script-item-uuid> is given then only that script will be suspended.  Otherwise, all suitable scripts are suspended.",
+                    + "If one or more <script-item-uuid>s are given then only that script will be suspended.  Otherwise, all suitable scripts are suspended.",
                  (module, cmdparams) => HandleScriptsAction(cmdparams, HandleSuspendScript));
 
             MainConsole.Instance.Commands.AddCommand(
-                "Scripts", false, "scripts resume", "scripts resume [<script-item-uuid>]", "Resumes all suspended scripts",
+                "Scripts", false, "scripts resume", "scripts resume [<script-item-uuid>+]", "Resumes all suspended scripts",
                 "Resumes all currently suspended scripts.\n"
-                    + "Resumed scripts will process all events accumulated whilst suspended."
-                    + "If a <script-item-uuid> is given then only that script will be resumed.  Otherwise, all suitable scripts are resumed.",
+                    + "Resumed scripts will process all events accumulated whilst suspended.\n"
+                    + "If one or more <script-item-uuid>s are given then only that script will be resumed.  Otherwise, all suitable scripts are resumed.",
                 (module, cmdparams) => HandleScriptsAction(cmdparams, HandleResumeScript));
 
             MainConsole.Instance.Commands.AddCommand(
-                "Scripts", false, "scripts stop", "scripts stop [<script-item-uuid>]", "Stops all running scripts",
-                "Stops all running scripts."
-                    + "If a <script-item-uuid> is given then only that script will be stopped.  Otherwise, all suitable scripts are stopped.",
+                "Scripts", false, "scripts stop", "scripts stop [<script-item-uuid>+]", "Stops all running scripts",
+                "Stops all running scripts.\n"
+                    + "If one or more <script-item-uuid>s are given then only that script will be stopped.  Otherwise, all suitable scripts are stopped.",
                 (module, cmdparams) => HandleScriptsAction(cmdparams, HandleStopScript));
 
             MainConsole.Instance.Commands.AddCommand(
-                "Scripts", false, "scripts start", "scripts start [<script-item-uuid>]", "Starts all stopped scripts",
-                "Starts all stopped scripts."
-                    + "If a <script-item-uuid> is given then only that script will be started.  Otherwise, all suitable scripts are started.",
+                "Scripts", false, "scripts start", "scripts start [<script-item-uuid>+]", "Starts all stopped scripts",
+                "Starts all stopped scripts.\n"
+                    + "If one or more <script-item-uuid>s are given then only that script will be started.  Otherwise, all suitable scripts are started.",
                 (module, cmdparams) => HandleScriptsAction(cmdparams, HandleStartScript));
 
+            MainConsole.Instance.Commands.AddCommand(
+                "Scripts", false, "debug scripts log", "debug scripts log <item-id> <log-level>", "Extra debug logging for a script",
+                "Activates or deactivates extra debug logging for the given script.\n"
+                    + "Level == 0, deactivate extra debug logging.\n"
+                    + "Level >= 1, log state changes.\n"
+                    + "Level >= 2, log event invocations.\n",
+                HandleDebugScriptLogCommand);
+
 //            MainConsole.Instance.Commands.AddCommand(
 //                "Debug", false, "debug xengine", "debug xengine [<level>]",
 //                "Turn on detailed xengine debugging.",
@@ -414,6 +449,41 @@ namespace OpenSim.Region.ScriptEngine.XEngine
 //                HandleDebugLevelCommand);
         }
 
+        private void HandleDebugScriptLogCommand(string module, string[] args)
+        {
+            if (!(MainConsole.Instance.ConsoleScene == null || MainConsole.Instance.ConsoleScene == m_Scene))
+                return;
+
+            if (args.Length != 5)
+            {
+                MainConsole.Instance.Output("Usage: debug script log <item-id> <log-level>");
+                return;
+            }
+
+            UUID itemId;
+
+            if (!ConsoleUtil.TryParseConsoleUuid(MainConsole.Instance, args[3], out itemId))
+                return;
+
+            int newLevel;
+
+            if (!ConsoleUtil.TryParseConsoleInt(MainConsole.Instance, args[4], out newLevel))
+                return;
+
+            IScriptInstance si;
+
+            lock (m_Scripts)
+            {
+                // XXX: We can't give the user feedback on a bad item id because this may apply to a different script
+                // engine
+                if (!m_Scripts.TryGetValue(itemId, out si))
+                    return;
+            }
+
+            si.DebugLevel = newLevel;
+            MainConsole.Instance.OutputFormat("Set debug level of {0} {1} to {2}", si.ScriptName, si.ItemID, newLevel);
+        }
+
         /// <summary>
         /// Change debug level
         /// </summary>
@@ -445,9 +515,21 @@ namespace OpenSim.Region.ScriptEngine.XEngine
         /// </summary>
         /// <param name="cmdparams"></param>
         /// <param name="instance"></param>
-        /// <returns>true if we're okay to proceed, false if not.</returns>
+        /// <param name="comparer">Basis on which to sort output.  Can be null if no sort needs to take place</param>
         private void HandleScriptsAction(string[] cmdparams, Action<IScriptInstance> action)
         {
+            HandleScriptsAction<object>(cmdparams, action, null);
+        }
+
+        /// <summary>
+        /// Parse the raw item id into a script instance from the command params if it's present.
+        /// </summary>
+        /// <param name="cmdparams"></param>
+        /// <param name="instance"></param>
+        /// <param name="keySelector">Basis on which to sort output.  Can be null if no sort needs to take place</param>
+        private void HandleScriptsAction<TKey>(
+            string[] cmdparams, Action<IScriptInstance> action, Func<IScriptInstance, TKey> keySelector)
+        {
             if (!(MainConsole.Instance.ConsoleScene == null || MainConsole.Instance.ConsoleScene == m_Scene))
                 return;
 
@@ -458,35 +540,42 @@ namespace OpenSim.Region.ScriptEngine.XEngine
     
                 if (cmdparams.Length == 2)
                 {
-                    foreach (IScriptInstance instance in m_Scripts.Values)
+                    IEnumerable<IScriptInstance> scripts = m_Scripts.Values;
+
+                    if (keySelector != null)
+                        scripts = scripts.OrderBy<IScriptInstance, TKey>(keySelector);
+
+                    foreach (IScriptInstance instance in scripts)
                         action(instance);
 
                     return;
                 }
     
-                rawItemId = cmdparams[2];
-    
-                if (!UUID.TryParse(rawItemId, out itemId))
-                {
-                    MainConsole.Instance.OutputFormat("Error - {0} is not a valid UUID", rawItemId);
-                    return;
-                }
-    
-                if (itemId != UUID.Zero)
+                for (int i = 2; i < cmdparams.Length; i++)
                 {
-                    IScriptInstance instance = GetInstance(itemId);
-                    if (instance == null)
+                    rawItemId = cmdparams[i];
+        
+                    if (!UUID.TryParse(rawItemId, out itemId))
                     {
-                        // Commented out for now since this will cause false reports on simulators with more than
-                        // one scene where the current command line set region is 'root' (which causes commands to
-                        // go to both regions... (sigh)
-//                        MainConsole.Instance.OutputFormat("Error - No item found with id {0}", itemId);
-                        return;
+                        MainConsole.Instance.OutputFormat("ERROR: {0} is not a valid UUID", rawItemId);
+                        continue;
                     }
-                    else
+        
+                    if (itemId != UUID.Zero)
                     {
-                        action(instance);
-                        return;
+                        IScriptInstance instance = GetInstance(itemId);
+                        if (instance == null)
+                        {
+                            // Commented out for now since this will cause false reports on simulators with more than
+                            // one scene where the current command line set region is 'root' (which causes commands to
+                            // go to both regions... (sigh)
+    //                        MainConsole.Instance.OutputFormat("Error - No item found with id {0}", itemId);
+                            continue;
+                        }
+                        else
+                        {
+                            action(instance);
+                        }
                     }
                 }
             }
@@ -505,9 +594,20 @@ namespace OpenSim.Region.ScriptEngine.XEngine
             StringBuilder sb = new StringBuilder();
             sb.AppendFormat("Status of XEngine instance for {0}\n", m_Scene.RegionInfo.RegionName);
 
+            long scriptsLoaded, eventsQueued = 0, eventsProcessed = 0;
+
             lock (m_Scripts)
-                sb.AppendFormat("Scripts loaded             : {0}\n", m_Scripts.Count);
+            {
+                scriptsLoaded = m_Scripts.Count;
 
+                foreach (IScriptInstance si in m_Scripts.Values)
+                {
+                    eventsQueued += si.EventsQueued;
+                    eventsProcessed += si.EventsProcessed;
+                }
+            }
+
+            sb.AppendFormat("Scripts loaded             : {0}\n", scriptsLoaded);
             sb.AppendFormat("Unique scripts             : {0}\n", m_uniqueScripts.Count);
             sb.AppendFormat("Scripts waiting for load   : {0}\n", m_CompileQueue.Count);
             sb.AppendFormat("Max threads                : {0}\n", m_ThreadPool.MaxThreads);
@@ -516,6 +616,8 @@ namespace OpenSim.Region.ScriptEngine.XEngine
             sb.AppendFormat("In use threads             : {0}\n", m_ThreadPool.InUseThreads);
             sb.AppendFormat("Work items waiting         : {0}\n", m_ThreadPool.WaitingCallbacks);
 //            sb.AppendFormat("Assemblies loaded          : {0}\n", m_Assemblies.Count);
+            sb.AppendFormat("Events queued              : {0}\n", eventsQueued);
+            sb.AppendFormat("Events processed           : {0}\n", eventsProcessed);
 
             SensorRepeat sr = AsyncCommandManager.GetSensorRepeatPlugin(this);
             sb.AppendFormat("Sensors                    : {0}\n", sr != null ? sr.SensorsCount : 0);
@@ -546,7 +648,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine
                 }
             }
 
-            HandleScriptsAction(cmdparams, HandleShowScript);
+            HandleScriptsAction<long>(cmdparams, HandleShowScript, si => si.EventsProcessed);
         }
 
         private void HandleShowScript(IScriptInstance instance)
@@ -576,11 +678,10 @@ namespace OpenSim.Region.ScriptEngine.XEngine
 
             sb.AppendFormat("Script name         : {0}\n", instance.ScriptName);
             sb.AppendFormat("Status              : {0}\n", status);
-
-            lock (eq)
-                sb.AppendFormat("Queued events       : {0}\n", eq.Count);
-
+            sb.AppendFormat("Queued events       : {0}\n", instance.EventsQueued);
+            sb.AppendFormat("Processed events    : {0}\n", instance.EventsProcessed);
             sb.AppendFormat("Item UUID           : {0}\n", instance.ItemID);
+            sb.AppendFormat("Asset UUID          : {0}\n", instance.AssetID);
             sb.AppendFormat("Containing part name: {0}\n", instance.PrimName);
             sb.AppendFormat("Containing part UUID: {0}\n", instance.ObjectID);
             sb.AppendFormat("Position            : {0}\n", sop.AbsolutePosition);
@@ -1089,8 +1190,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine
 
             string assembly = "";
 
-            CultureInfo USCulture = new CultureInfo("en-US");
-            Thread.CurrentThread.CurrentCulture = USCulture;
+            Culture.SetCurrentCulture();
 
             Dictionary<KeyValuePair<int, int>, KeyValuePair<int, int>> linemap;
 
@@ -1256,12 +1356,11 @@ namespace OpenSim.Region.ScriptEngine.XEngine
                 m_DomainScripts[appDomain].Add(itemID);
 
                 instance = new ScriptInstance(this, part,
-                                              itemID, assetID, assembly,
-                                              m_AppDomains[appDomain],
-                                              part.ParentGroup.RootPart.Name,
-                                              item.Name, startParam, postOnRez,
-                                              stateSource, m_MaxScriptQueue);
+                                              item,
+                                              startParam, postOnRez,
+                                              m_MaxScriptQueue);
 
+                instance.Load(m_AppDomains[appDomain], assembly, stateSource);
 //                m_log.DebugFormat(
 //                        "[XEngine] Loaded script {0}.{1}, script UUID {2}, prim UUID {3} @ {4}.{5}",
 //                        part.ParentGroup.RootPart.Name, item.Name, assetID, part.UUID, 
@@ -1347,9 +1446,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine
             lockScriptsForWrite(false);
             instance.ClearQueue();
 
-            // Give the script some time to finish processing its last event.  Simply aborting the script thread can
-            // cause issues on mono 2.6, 2.10 and possibly later where locks are not released properly on abort.
-            instance.Stop(1000);
+            instance.Stop(m_WaitForEventCompletionOnScriptStop);
 
 //                bool objectRemoved = false;
 
@@ -1485,6 +1582,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine
             startInfo.StartSuspended = true;
 
             m_ThreadPool = new SmartThreadPool(startInfo);
+            m_ThreadPool.Name = "XEngine";
         }
 
         //
@@ -1504,8 +1602,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine
         /// <returns></returns>
         private object ProcessEventHandler(object parms)
         {
-            CultureInfo USCulture = new CultureInfo("en-US");
-            Thread.CurrentThread.CurrentCulture = USCulture;
+            Culture.SetCurrentCulture();
 
             IScriptInstance instance = (ScriptInstance) parms;
             
@@ -1693,7 +1790,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine
         {
             IScriptInstance instance = GetInstance(itemID);
             if (instance != null)
-                instance.ResetScript();
+                instance.ResetScript(m_WaitForEventCompletionOnScriptStop);
         }
 
         public void StartScript(UUID itemID)
@@ -1708,14 +1805,14 @@ namespace OpenSim.Region.ScriptEngine.XEngine
         public void StopScript(UUID itemID)
         {
             IScriptInstance instance = GetInstance(itemID);
+
             if (instance != null)
             {
-                // Give the script some time to finish processing its last event.  Simply aborting the script thread can
-                // cause issues on mono 2.6, 2.10 and possibly later where locks are not released properly on abort.
-                instance.Stop(1000);
+                instance.Stop(m_WaitForEventCompletionOnScriptStop);
             }
             else
             {
+//                m_log.DebugFormat("[XENGINE]: Could not find script with ID {0} to stop in {1}", itemID, World.Name);
                 m_runFlags.AddOrUpdate(itemID, false, 240);
             }
         }
diff --git a/OpenSim/Region/UserStatistics/WebStatsModule.cs b/OpenSim/Region/UserStatistics/WebStatsModule.cs
index b08233c..64cb577 100644
--- a/OpenSim/Region/UserStatistics/WebStatsModule.cs
+++ b/OpenSim/Region/UserStatistics/WebStatsModule.cs
@@ -94,8 +94,6 @@ namespace OpenSim.Region.UserStatistics
             if (!enabled)
                 return;
 
-            AddEventHandlers();
-
             if (Util.IsWindows())
                 Util.LoadArchSpecificWindowsDll("sqlite3.dll");
 
@@ -143,10 +141,14 @@ namespace OpenSim.Region.UserStatistics
             lock (m_scenes)
             {
                 m_scenes.Add(scene);
-                if (m_simstatsCounters.ContainsKey(scene.RegionInfo.RegionID))
-                    m_simstatsCounters.Remove(scene.RegionInfo.RegionID);
+                updateLogMod = m_scenes.Count * 2;
 
                 m_simstatsCounters.Add(scene.RegionInfo.RegionID, new USimStatsData(scene.RegionInfo.RegionID));
+
+                scene.EventManager.OnRegisterCaps += OnRegisterCaps;
+                scene.EventManager.OnDeregisterCaps += OnDeRegisterCaps;
+                scene.EventManager.OnClientClosed += OnClientClosed;
+                scene.EventManager.OnMakeRootAgent += OnMakeRootAgent;
                 scene.StatsReporter.OnSendStatsResult += ReceiveClassicSimStatsPacket;
             }
         }
@@ -157,6 +159,15 @@ namespace OpenSim.Region.UserStatistics
 
         public void RemoveRegion(Scene scene)
         {
+            if (!enabled)
+                return;
+
+            lock (m_scenes)
+            {
+                m_scenes.Remove(scene);
+                updateLogMod = m_scenes.Count * 2;
+                m_simstatsCounters.Remove(scene.RegionInfo.RegionID);
+            }
         }
 
         public virtual void Close()
@@ -187,9 +198,7 @@ namespace OpenSim.Region.UserStatistics
         private void ReceiveClassicSimStatsPacket(SimStats stats)
         {
             if (!enabled)
-            {
                 return;
-            }
 
             try
             {
@@ -198,17 +207,25 @@ namespace OpenSim.Region.UserStatistics
                 if (concurrencyCounter > 0 || System.Environment.TickCount - lastHit > 30000)
                     return;
 
-                if ((updateLogCounter++ % updateLogMod) == 0)
+                // We will conduct this under lock so that fields such as updateLogCounter do not potentially get
+                // confused if a scene is removed.
+                // XXX: Possibly the scope of this lock could be reduced though it's not critical.
+                lock (m_scenes)
                 {
-                    m_loglines = readLogLines(10);
-                    if (updateLogCounter > 10000) updateLogCounter = 1;
-                }
+                    if (updateLogMod != 0 && updateLogCounter++ % updateLogMod == 0)
+                    {
+                        m_loglines = readLogLines(10);
 
-                USimStatsData ss = m_simstatsCounters[stats.RegionUUID];
+                        if (updateLogCounter > 10000) 
+                            updateLogCounter = 1;
+                    }
 
-                if ((++ss.StatsCounter % updateStatsMod) == 0)
-                {
-                    ss.ConsumeSimStats(stats);
+                    USimStatsData ss = m_simstatsCounters[stats.RegionUUID];
+
+                    if ((++ss.StatsCounter % updateStatsMod) == 0)
+                    {
+                        ss.ConsumeSimStats(stats);
+                    }
                 }
             } 
             catch (KeyNotFoundException)
diff --git a/OpenSim/Server/Base/CommandManager.cs b/OpenSim/Server/Base/CommandManager.cs
new file mode 100644
index 0000000..bd18485
--- /dev/null
+++ b/OpenSim/Server/Base/CommandManager.cs
@@ -0,0 +1,359 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+
+using System;
+using System.Text;
+using System.Linq;
+using System.Collections;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+using Mono.Addins.Setup;
+using Mono.Addins;
+using Mono.Addins.Description;
+using OpenSim.Framework;
+
+namespace OpenSim.Server.Base
+{
+    /// <summary>
+    /// Command manager -
+    /// Wrapper for OpenSim.Framework.PluginManager to allow 
+    /// us to add commands to the console to perform operations
+    /// on our repos and plugins
+    /// </summary>
+        public class CommandManager
+        {
+                public AddinRegistry PluginRegistry;
+                protected PluginManager PluginManager;
+
+                public CommandManager(AddinRegistry registry)
+        {
+                        PluginRegistry = registry;
+                        PluginManager = new PluginManager(PluginRegistry);
+                        AddManagementCommands();
+                }
+
+                private void AddManagementCommands()
+                {
+                        // add plugin
+                        MainConsole.Instance.Commands.AddCommand("Plugin", true,
+                                                     "plugin add", "plugin add \"plugin index\"",
+                                                                 "Install plugin from repository.",
+                                                     HandleConsoleInstallPlugin);
+
+                        // remove plugin
+            MainConsole.Instance.Commands.AddCommand("Plugin", true,
+                                                     "plugin remove", "plugin remove \"plugin index\"",
+                                                                 "Remove plugin from repository",
+                                                     HandleConsoleUnInstallPlugin);
+
+                        // list installed plugins
+            MainConsole.Instance.Commands.AddCommand("Plugin", true,
+                                                     "plugin list installed", 
+                                                                 "plugin list installed","List install plugins",
+                                                     HandleConsoleListInstalledPlugin);
+
+                        // list plugins available from registered repositories
+            MainConsole.Instance.Commands.AddCommand("Plugin", true,
+                                                     "plugin list available",
+                                                                 "plugin list available","List available plugins",
+                                                     HandleConsoleListAvailablePlugin);
+                        // List available updates
+            MainConsole.Instance.Commands.AddCommand("Plugin", true,
+                                                     "plugin updates", "plugin updates","List availble updates",
+                                                     HandleConsoleListUpdates);
+
+                        // Update plugin
+            MainConsole.Instance.Commands.AddCommand("Plugin", true,
+                                                     "plugin update", "plugin update \"plugin index\"","Update the plugin",
+                                                     HandleConsoleUpdatePlugin);
+
+                        // Add repository
+            MainConsole.Instance.Commands.AddCommand("Repository", true,
+                                                     "repo add", "repo add \"url\"","Add repository",
+                                                     HandleConsoleAddRepo);
+
+                        // Refresh repo
+            MainConsole.Instance.Commands.AddCommand("Repository", true,
+                                                     "repo refresh", "repo refresh \"url\"", "Sync with a registered repository",
+                                                     HandleConsoleGetRepo);
+
+                        // Remove repository from registry
+            MainConsole.Instance.Commands.AddCommand("Repository", true,
+                                                     "repo remove",
+                                                                 "repo remove \"[url | index]\"",
+                                                                 "Remove repository from registry",
+                                                     HandleConsoleRemoveRepo);
+
+                        // Enable repo
+            MainConsole.Instance.Commands.AddCommand("Repository", true,
+                                                     "repo enable", "repo enable \"[url | index]\"",
+                                                                 "Enable registered repository",
+                                                     HandleConsoleEnableRepo);
+
+                        // Disable repo
+            MainConsole.Instance.Commands.AddCommand("Repository", true,
+                                                     "repo disable", "repo disable\"[url | index]\"",
+                                                                 "Disable registered repository",
+                                                     HandleConsoleDisableRepo);
+
+                        // List registered repositories
+            MainConsole.Instance.Commands.AddCommand("Repository", true,
+                                                     "repo list", "repo list",
+                                                                 "List registered repositories",
+                                                     HandleConsoleListRepos);
+
+                        // *
+            MainConsole.Instance.Commands.AddCommand("Plugin", true,
+                                                     "plugin info", "plugin info \"plugin index\"","Show detailed information for plugin",
+                                                     HandleConsoleShowAddinInfo);
+
+                        // Plugin disable
+            MainConsole.Instance.Commands.AddCommand("Plugin", true,
+                                                     "plugin disable", "plugin disable \"plugin index\"",
+                                                                 "Disable a plugin",
+                                                     HandleConsoleDisablePlugin);
+
+                        // Enable plugin
+            MainConsole.Instance.Commands.AddCommand("Plugin", true,
+                                                     "plugin enable", "plugin enable \"plugin index\"",
+                                                                 "Enable the selected plugin plugin",
+                                                     HandleConsoleEnablePlugin);
+        }
+                
+        #region console handlers
+        // Handle our console commands
+        //
+        // Install plugin from registered repository
+        /// <summary>
+        /// Handles the console install plugin command. Attempts to install the selected plugin
+        /// and 
+        /// </summary>
+        /// <param name='module'>
+        /// Module.
+        /// </param>
+        /// <param name='cmd'>
+        /// Cmd.
+        /// </param>
+        private void HandleConsoleInstallPlugin(string module, string[] cmd)
+        {
+            Dictionary<string, object> result = new Dictionary<string, object>();
+
+            if (cmd.Length == 3)
+            {
+                int ndx = Convert.ToInt16(cmd[2]);
+                if (PluginManager.InstallPlugin(ndx, out result) == true)
+                {
+                    ArrayList s = new ArrayList();
+                    s.AddRange(result.Keys);
+                    s.Sort();
+
+                    var list = result.Keys.ToList();
+                    list.Sort();
+                    foreach (var k in list)
+                    {
+                        Dictionary<string, object> plugin = (Dictionary<string, object>)result[k];
+                        bool enabled = (bool)plugin["enabled"];
+                        MainConsole.Instance.OutputFormat("{0}) {1} {2} rev. {3}",
+                                                  k,
+                                                  enabled == true ? "[ ]" : "[X]",
+                                                  plugin["name"], plugin["version"]);
+                    }
+                }
+            }
+            return;
+        }
+
+        // Remove installed plugin
+        private void HandleConsoleUnInstallPlugin(string module, string[] cmd)
+        {
+            if (cmd.Length == 3)
+            {
+                int ndx = Convert.ToInt16(cmd[2]);
+                PluginManager.UnInstall(ndx);
+            }
+            return;
+        }
+
+        // List installed plugins
+        private void HandleConsoleListInstalledPlugin(string module, string[] cmd)
+        {
+            Dictionary<string, object> result = new Dictionary<string, object>();
+            PluginManager.ListInstalledAddins(out result);
+
+            ArrayList s = new ArrayList();
+            s.AddRange(result.Keys);
+            s.Sort();
+
+            var list = result.Keys.ToList();
+            list.Sort();
+            foreach (var k in list)
+            {
+                Dictionary<string, object> plugin = (Dictionary<string, object>)result[k];
+                bool enabled = (bool)plugin["enabled"];
+                MainConsole.Instance.OutputFormat("{0}) {1} {2} rev. {3}",
+                                                  k,
+                                                  enabled == true ? "[ ]" : "[X]",
+                                                  plugin["name"], plugin["version"]);
+            }
+            return;
+        }
+
+        // List available plugins on registered repositories
+        private void HandleConsoleListAvailablePlugin(string module, string[] cmd)
+        {
+            Dictionary<string, object> result = new Dictionary<string, object>();
+            PluginManager.ListAvailable(out result);
+
+            var list = result.Keys.ToList();
+            list.Sort();
+            foreach (var k in list)
+            {
+                // name, version, repository
+                Dictionary<string, object> plugin = (Dictionary<string, object>)result[k];
+                MainConsole.Instance.OutputFormat("{0}) {1} rev. {2} {3}",
+                                                  k,
+                                                  plugin["name"],
+                                                  plugin["version"],
+                                                  plugin["repository"]);
+            }
+            return;
+        }
+
+        // List available updates **not ready
+        private void HandleConsoleListUpdates(string module, string[] cmd)
+        {
+            PluginManager.ListUpdates();
+            return;
+        }
+
+        // Update plugin **not ready
+        private void HandleConsoleUpdatePlugin(string module, string[] cmd)
+        {
+            MainConsole.Instance.Output(PluginManager.Update());
+            return;
+        }
+
+        // Register repository
+        private void HandleConsoleAddRepo(string module, string[] cmd)
+        {
+            if ( cmd.Length == 3)
+            {
+                PluginManager.AddRepository(cmd[2]);
+            }
+            return;
+        }
+
+        // Get repository status **not working
+        private void HandleConsoleGetRepo(string module, string[] cmd)
+        {
+            PluginManager.GetRepository();
+            return;
+        }
+
+        // Remove registered repository
+        private void HandleConsoleRemoveRepo(string module, string[] cmd)
+        {
+            if (cmd.Length == 3)
+                PluginManager.RemoveRepository(cmd);
+            return;
+        }
+
+        // Enable repository
+        private void HandleConsoleEnableRepo(string module, string[] cmd)
+        {
+            PluginManager.EnableRepository(cmd);
+            return;
+        }
+
+        // Disable repository
+        private void HandleConsoleDisableRepo(string module, string[] cmd)
+        {
+            PluginManager.DisableRepository(cmd);
+            return;
+        }
+
+        // List repositories
+        private void HandleConsoleListRepos(string module, string[] cmd)
+        {
+            Dictionary<string, object> result = new Dictionary<string, object>();
+            PluginManager.ListRepositories(out result);
+
+            var list = result.Keys.ToList();
+            list.Sort();
+            foreach (var k in list)
+            {
+                Dictionary<string, object> repo = (Dictionary<string, object>)result[k];
+                bool enabled = (bool)repo["enabled"];
+                MainConsole.Instance.OutputFormat("{0}) {1} {2}",
+                                                  k,
+                                                  enabled == true ? "[ ]" : "[X]",
+                                                  repo["name"], repo["url"]);
+            }
+
+            return;
+        }
+
+        // Show description information
+        private void HandleConsoleShowAddinInfo(string module, string[] cmd)
+        {
+            if (cmd.Length >= 3)
+            {
+                
+                Dictionary<string, object> result = new Dictionary<string, object>();
+
+                int ndx = Convert.ToInt16(cmd[2]);
+                PluginManager.AddinInfo(ndx, out result);
+
+                MainConsole.Instance.OutputFormat("Name: {0}\nURL: {1}\nFile: {2}\nAuthor: {3}\nCategory: {4}\nDesc: {5}",
+                                                  result["name"],
+                                                  result["url"],
+                                                  result["file_name"],
+                                                  result["author"],
+                                                  result["category"],
+                                                  result["description"]);
+
+                return;
+            }
+        }
+
+        // Disable plugin
+        private void HandleConsoleDisablePlugin(string module, string[] cmd)
+        {
+            PluginManager.DisablePlugin(cmd);
+            return;
+        }
+
+        // Enable plugin
+        private void HandleConsoleEnablePlugin(string module, string[] cmd)
+        {
+            PluginManager.EnablePlugin(cmd);
+            return;
+        }
+        #endregion
+        }
+}
\ No newline at end of file
diff --git a/OpenSim/Server/Base/ServerUtils.cs b/OpenSim/Server/Base/ServerUtils.cs
index 42c82cf..2e6d279 100644
--- a/OpenSim/Server/Base/ServerUtils.cs
+++ b/OpenSim/Server/Base/ServerUtils.cs
@@ -33,11 +33,163 @@ using System.Xml.Serialization;
 using System.Text;
 using System.Collections.Generic;
 using log4net;
+using Nini.Config;
 using OpenSim.Framework;
 using OpenMetaverse;
+using Mono.Addins;
+using OpenSim.Framework.Servers.HttpServer;
+using OpenSim.Framework.Servers;
 
+
+[assembly:AddinRoot("Robust", "0.1")]
 namespace OpenSim.Server.Base
 {
+    [TypeExtensionPoint(Path="/Robust/Connector", Name="RobustConnector")]
+    public interface IRobustConnector
+    {
+        string ConfigName
+        {
+            get;
+        }
+
+        bool Enabled
+        {
+            get;
+        }
+
+        string PluginPath
+        {
+            get;
+            set;
+        }
+
+        uint Configure(IConfigSource config);
+        void Initialize(IHttpServer server);
+        void Unload();
+    }
+
+    public class PluginLoader
+    {
+        static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+
+        public AddinRegistry Registry
+        {
+            get;
+            private set;
+        }
+
+        public IConfigSource Config
+        {
+            get;
+            private set;
+        }
+
+        public PluginLoader(IConfigSource config, string registryPath)
+        {
+            Config = config;
+
+            Registry = new AddinRegistry(registryPath, ".");
+            suppress_console_output_(true);
+            AddinManager.Initialize(registryPath);
+            suppress_console_output_(false);
+            AddinManager.Registry.Update();
+            CommandManager commandmanager = new CommandManager(Registry);
+            AddinManager.AddExtensionNodeHandler("/Robust/Connector", OnExtensionChanged);
+        }
+
+        private static TextWriter prev_console_;
+        // Temporarily masking the errors reported on start
+        // This is caused by a non-managed dll in the ./bin dir
+        // when the registry is initialized. The dll belongs to
+        // libomv, which has a hard-coded path to "." for pinvoke
+        // to load the openjpeg dll
+        //
+        // Will look for a way to fix, but for now this keeps the 
+        // confusion to a minimum. this was copied from our region
+        // plugin loader, we have been doing this in there for a long time.
+        //
+        public void suppress_console_output_(bool save)
+        {
+            if (save)
+            {
+                prev_console_ = System.Console.Out;
+                System.Console.SetOut(new StreamWriter(Stream.Null));
+            }
+            else
+            {
+                if (prev_console_ != null)
+                    System.Console.SetOut(prev_console_);
+            }
+        }
+
+        private void OnExtensionChanged(object s, ExtensionNodeEventArgs args)
+        {
+            IRobustConnector connector = (IRobustConnector)args.ExtensionObject;
+            Addin a = Registry.GetAddin(args.ExtensionNode.Addin.Id);
+
+            if(a == null)
+            {
+                Registry.Rebuild(null);
+                a = Registry.GetAddin(args.ExtensionNode.Addin.Id);
+            }
+
+            switch(args.Change)
+            {
+                case ExtensionChange.Add:
+                    if (a.AddinFile.Contains(Registry.DefaultAddinsFolder))
+                    {
+                        m_log.InfoFormat("[SERVER]: Adding {0} from registry", a.Name);
+                        connector.PluginPath = System.IO.Path.Combine(Registry.DefaultAddinsFolder,a.Name.Replace(',', '.'));                    }
+                    else
+                    {
+                        m_log.InfoFormat("[SERVER]: Adding {0} from ./bin", a.Name);
+                        connector.PluginPath = a.AddinFile;
+                    }
+                    LoadPlugin(connector);
+                    break;
+                case ExtensionChange.Remove:
+                    m_log.InfoFormat("[SERVER]: Removing {0}", a.Name);
+                    UnloadPlugin(connector);
+                    break;
+            }
+        }
+
+        private void LoadPlugin(IRobustConnector connector)
+        {
+            IHttpServer server = null;
+            uint port = connector.Configure(Config);
+
+            if(connector.Enabled)
+            {
+                server = GetServer(connector, port);
+                connector.Initialize(server);
+            }
+            else
+            {
+                m_log.InfoFormat("[SERVER]: {0} Disabled.", connector.ConfigName);
+            }
+        }
+
+        private void UnloadPlugin(IRobustConnector connector)
+        {
+            m_log.InfoFormat("[Server]: Unloading {0}", connector.ConfigName);
+
+            connector.Unload();
+        }
+
+        private IHttpServer GetServer(IRobustConnector connector, uint port)
+        {
+            IHttpServer server;
+
+            if(port != 0)
+                server = MainServer.GetHttpServer(port);
+            else    
+                server = MainServer.Instance;
+
+            return server;
+        }
+    }
+
     public static class ServerUtils
     {
         private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
@@ -63,20 +215,30 @@ namespace OpenSim.Server.Base
         /// <param name="dllName"></param>
         /// <param name="args">The arguments which control which constructor is invoked on the plugin</param>
         /// <returns></returns>
-        public static T LoadPlugin<T>(string dllName, Object[] args) where T:class
+        public static T LoadPlugin<T> (string dllName, Object[] args) where T:class
         {
             // This is good to debug configuration problems
             //if (dllName == string.Empty)
             //    Util.PrintCallStack();
-
-            string[] parts = dllName.Split(new char[] {':'});
-
-            dllName = parts[0];
-
+            
             string className = String.Empty;
 
-            if (parts.Length > 1)
-                className = parts[1];
+            // The path for a dynamic plugin will contain ":" on Windows
+            string[] parts = dllName.Split (new char[] {':'});
+
+            if (parts [0].Length > 1) 
+            {
+                dllName = parts [0];
+                if (parts.Length > 1)
+                    className = parts[1];
+            } 
+            else 
+            {
+                // This is Windows - we must replace the ":" in the path
+                dllName = String.Format ("{0}:{1}", parts [0], parts [1]);
+                if (parts.Length > 2)
+                    className = parts[2];
+            }
 
             return LoadPlugin<T>(dllName, className, args);
         }
@@ -118,8 +280,11 @@ namespace OpenSim.Server.Base
                             {
                                 if (!(e is System.MissingMethodException))
                                 {
-                                    m_log.ErrorFormat("Error loading plugin {0} from {1}. Exception: {2}",
-                                        interfaceName, dllName, e.InnerException == null ? e.Message : e.InnerException.Message);
+                                    m_log.ErrorFormat("Error loading plugin {0} from {1}. Exception: {2}, {3}",
+                                        interfaceName, 
+                                        dllName, 
+                                        e.InnerException == null ? e.Message : e.InnerException.Message, 
+                                        e.StackTrace);
                                 }
                                 return null;
                             }
@@ -333,5 +498,42 @@ namespace OpenSim.Server.Base
 
             return ret;
         }
+
+        public static IConfig GetConfig(string configFile, string configName)
+        {
+            IConfig config;
+
+            if (File.Exists(configFile))
+            {
+                IConfigSource configsource = new IniConfigSource(configFile);
+                config = configsource.Configs[configName];
+            }
+            else
+                config = null;
+
+            return config;
+        }
+
+        public static IConfigSource LoadInitialConfig(string url)
+        {
+            IConfigSource source = new XmlConfigSource();
+            m_log.InfoFormat("[CONFIG]: {0} is a http:// URI, fetching ...", url);
+
+            // The ini file path is a http URI
+            // Try to read it
+            try
+            {
+                XmlReader r = XmlReader.Create(url);
+                IConfigSource cs = new XmlConfigSource(r);
+                source.Merge(cs);
+            }
+            catch (Exception e)
+            {
+                m_log.FatalFormat("[CONFIG]: Exception reading config from URI {0}\n" + e.ToString(), url);
+                Environment.Exit(1);
+            }
+
+            return source;
+        }
     }
 }
diff --git a/OpenSim/Server/Base/ServicesServerBase.cs b/OpenSim/Server/Base/ServicesServerBase.cs
index 5b23149..ecd69b0 100644
--- a/OpenSim/Server/Base/ServicesServerBase.cs
+++ b/OpenSim/Server/Base/ServicesServerBase.cs
@@ -56,6 +56,12 @@ namespace OpenSim.Server.Base
         //
         protected string[] m_Arguments;
 
+        public string ConfigDirectory
+        {
+            get;
+            private set;
+        }
+
         // Run flag
         //
         private bool m_Running = true;
@@ -134,6 +140,8 @@ namespace OpenSim.Server.Base
                 startupConfig = Config.Configs["Startup"];
             }
 
+            ConfigDirectory = startupConfig.GetString("ConfigDirectory", ".");
+
             prompt = startupConfig.GetString("Prompt", prompt);
 
             // Allow derived classes to load config before the console is
@@ -242,4 +250,4 @@ namespace OpenSim.Server.Base
         {
         }
     }
-}
\ No newline at end of file
+}
diff --git a/OpenSim/Server/Handlers/Base/ServerConnector.cs b/OpenSim/Server/Handlers/Base/ServerConnector.cs
index 71876da..72014db 100644
--- a/OpenSim/Server/Handlers/Base/ServerConnector.cs
+++ b/OpenSim/Server/Handlers/Base/ServerConnector.cs
@@ -39,8 +39,75 @@ namespace OpenSim.Server.Handlers.Base
 
     public class ServiceConnector : IServiceConnector
     {
+        public virtual string ConfigURL
+        {
+            get { return String.Empty; }
+        }
+
+        public virtual string ConfigName
+        {
+            get;
+            protected set;
+        }
+
+        public virtual string ConfigFile
+        {
+            get;
+            protected set;
+        }
+
+        public virtual IConfigSource Config
+        {
+            get;
+            protected set;
+        }
+
+        public ServiceConnector()
+        {
+        }
+
         public ServiceConnector(IConfigSource config, IHttpServer server, string configName)
         {
         }
+
+        // We call this from our plugin module to get our configuration
+        public IConfig GetConfig()
+        { 
+            IConfig config = null;
+            config = ServerUtils.GetConfig(ConfigFile, ConfigName);
+
+            // Our file is not here? We can get one to bootstrap our plugin module
+            if ( config == null )
+            {
+                IConfigSource remotesource = GetConfigSource();
+
+                if (remotesource != null)
+                {
+                    IniConfigSource initialconfig = new IniConfigSource();
+                    initialconfig.Merge (remotesource);
+                    initialconfig.Save(ConfigFile);
+                }
+
+                config = remotesource.Configs[ConfigName];
+            }
+
+            return config;
+        }
+
+        // We get our remote initial configuration for bootstrapping in case
+        // we have no configuration in our main file or in an existing
+        // modular config file. This is the last resort to bootstrap the 
+        // configuration, likely a new plugin loading for the first time.
+        private IConfigSource GetConfigSource()
+        {
+            IConfigSource source = null;
+            
+            source = ServerUtils.LoadInitialConfig(ConfigURL);
+
+            if (source == null)
+                System.Console.WriteLine(String.Format ("Config Url: {0} Not found!", ConfigURL));
+
+            return source;
+        }
     }
 }
diff --git a/OpenSim/Server/ServerMain.cs b/OpenSim/Server/ServerMain.cs
index 45c13fb..8be69a9 100644
--- a/OpenSim/Server/ServerMain.cs
+++ b/OpenSim/Server/ServerMain.cs
@@ -34,6 +34,7 @@ using OpenSim.Framework.Servers;
 using OpenSim.Framework.Servers.HttpServer;
 using OpenSim.Server.Base;
 using OpenSim.Server.Handlers.Base;
+using Mono.Addins;
 
 namespace OpenSim.Server
 {
@@ -48,9 +49,13 @@ namespace OpenSim.Server
         protected static List<IServiceConnector> m_ServiceConnectors =
                 new List<IServiceConnector>();
 
+        protected static PluginLoader loader;
+
         public static int Main(string[] args)
         {
             m_Server = new HttpServerBase("R.O.B.U.S.T.", args);
+            
+            string registryLocation;
 
             IConfig serverConfig = m_Server.Config.Configs["Startup"];
             if (serverConfig == null)
@@ -60,6 +65,8 @@ namespace OpenSim.Server
             }
 
             string connList = serverConfig.GetString("ServiceConnectors", String.Empty);
+            
+            registryLocation = serverConfig.GetString("RegistryLocation",".");
 
             IConfig servicesConfig = m_Server.Config.Configs["ServiceList"];
             if (servicesConfig != null)
@@ -141,6 +148,9 @@ namespace OpenSim.Server
                     m_log.InfoFormat("[SERVER]: Failed to load {0}", conn);
                 }
             }
+
+            loader = new PluginLoader(m_Server.Config, registryLocation);
+
             int res = m_Server.Run();
 
             Environment.Exit(res);
diff --git a/OpenSim/Services/Connectors/Simulation/SimulationServiceConnector.cs b/OpenSim/Services/Connectors/Simulation/SimulationServiceConnector.cs
index 508baf7..ef2494a 100644
--- a/OpenSim/Services/Connectors/Simulation/SimulationServiceConnector.cs
+++ b/OpenSim/Services/Connectors/Simulation/SimulationServiceConnector.cs
@@ -315,7 +315,7 @@ namespace OpenSim.Services.Connectors.Simulation
 
             try
             {
-                OSDMap result = WebUtil.ServiceOSDRequest(uri, request, "QUERYACCESS", 10000, false);
+                OSDMap result = WebUtil.ServiceOSDRequest(uri, request, "QUERYACCESS", 30000, false);
                 bool success = result["success"].AsBoolean();
                 if (result.ContainsKey("_Result"))
                 {
diff --git a/OpenSim/Services/GridService/GridService.cs b/OpenSim/Services/GridService/GridService.cs
index ee3b858..daebf8b 100644
--- a/OpenSim/Services/GridService/GridService.cs
+++ b/OpenSim/Services/GridService/GridService.cs
@@ -185,15 +185,15 @@ namespace OpenSim.Services.GridService
 
             if (!m_AllowDuplicateNames)
             {
-                List<RegionData> dupe = m_Database.Get(regionInfos.RegionName, scopeID);
+                List<RegionData> dupe = m_Database.Get(Util.EscapeForLike(regionInfos.RegionName), scopeID);
                 if (dupe != null && dupe.Count > 0)
                 {
                     foreach (RegionData d in dupe)
                     {
                         if (d.RegionID != regionInfos.RegionID)
                         {
-                            m_log.WarnFormat("[GRID SERVICE]: Region {0} tried to register duplicate name with ID {1}.", 
-                                regionInfos.RegionName, regionInfos.RegionID);
+                            m_log.WarnFormat("[GRID SERVICE]: Region tried to register using a duplicate name. New region: {0} ({1}), existing region: {2} ({3}).", 
+                                regionInfos.RegionName, regionInfos.RegionID, d.RegionName, d.RegionID);
                             return "Duplicate region name";
                         }
                     }
@@ -359,7 +359,7 @@ namespace OpenSim.Services.GridService
 
         public GridRegion GetRegionByName(UUID scopeID, string name)
         {
-            List<RegionData> rdatas = m_Database.Get(name, scopeID);
+            List<RegionData> rdatas = m_Database.Get(Util.EscapeForLike(name), scopeID);
             if ((rdatas != null) && (rdatas.Count > 0))
                 return RegionData2RegionInfo(rdatas[0]); // get the first
 
@@ -377,7 +377,7 @@ namespace OpenSim.Services.GridService
         {
 //            m_log.DebugFormat("[GRID SERVICE]: GetRegionsByName {0}", name);
 
-            List<RegionData> rdatas = m_Database.Get(name + "%", scopeID);
+            List<RegionData> rdatas = m_Database.Get(Util.EscapeForLike(name) + "%", scopeID);
 
             int count = 0;
             List<GridRegion> rinfos = new List<GridRegion>();
@@ -586,7 +586,7 @@ namespace OpenSim.Services.GridService
 
             string regionName = cmd[3];
 
-            List<RegionData> regions = m_Database.Get(regionName, UUID.Zero);
+            List<RegionData> regions = m_Database.Get(Util.EscapeForLike(regionName), UUID.Zero);
             if (regions == null || regions.Count < 1)
             {
                 MainConsole.Instance.Output("No region with name {0} found", regionName);
@@ -716,7 +716,7 @@ namespace OpenSim.Services.GridService
                 return;
             }
 
-            List<RegionData> regions = m_Database.Get(cmd[3], UUID.Zero);
+            List<RegionData> regions = m_Database.Get(Util.EscapeForLike(cmd[3]), UUID.Zero);
             if (regions == null || regions.Count < 1)
             {
                 MainConsole.Instance.Output("Region not found");
diff --git a/OpenSim/Services/GridService/HypergridLinker.cs b/OpenSim/Services/GridService/HypergridLinker.cs
index 743d089..073197f 100644
--- a/OpenSim/Services/GridService/HypergridLinker.cs
+++ b/OpenSim/Services/GridService/HypergridLinker.cs
@@ -387,7 +387,7 @@ namespace OpenSim.Services.GridService
             m_log.DebugFormat("[HYPERGRID LINKER]: Request to unlink {0}", mapName);
             GridRegion regInfo = null;
 
-            List<RegionData> regions = m_Database.Get(mapName, m_ScopeID);
+            List<RegionData> regions = m_Database.Get(Util.EscapeForLike(mapName), m_ScopeID);
             if (regions != null && regions.Count > 0)
             {
                 OpenSim.Framework.RegionFlags rflags = (OpenSim.Framework.RegionFlags)Convert.ToInt32(regions[0].Data["flags"]);
diff --git a/OpenSim/Services/HypergridService/HGInstantMessageService.cs b/OpenSim/Services/HypergridService/HGInstantMessageService.cs
index 0c9cfd3..e8d7cca 100644
--- a/OpenSim/Services/HypergridService/HGInstantMessageService.cs
+++ b/OpenSim/Services/HypergridService/HGInstantMessageService.cs
@@ -61,13 +61,13 @@ namespace OpenSim.Services.HypergridService
         protected static IGridService m_GridService;
         protected static IPresenceService m_PresenceService;
         protected static IUserAgentService m_UserAgentService;
+        protected static IOfflineIMService m_OfflineIMService;
 
         protected static IInstantMessageSimConnector m_IMSimConnector;
 
         protected static Dictionary<UUID, object> m_UserLocationMap = new Dictionary<UUID, object>();
         private static ExpiringCache<UUID, GridRegion> m_RegionCache;
 
-        private static string m_RestURL;
         private static bool m_ForwardOfflineGroupMessages;
         private static bool m_InGatekeeper;
 
@@ -111,9 +111,14 @@ namespace OpenSim.Services.HypergridService
                     return;
                 }
 
-                m_RestURL = cnf.GetString("OfflineMessageURL", string.Empty);
                 m_ForwardOfflineGroupMessages = cnf.GetBoolean("ForwardOfflineGroupMessages", false);
 
+                if (m_InGatekeeper)
+                {
+                    string offlineIMService = cnf.GetString("OfflineIMService", string.Empty);
+                    if (offlineIMService != string.Empty)
+                        m_OfflineIMService = ServerUtils.LoadPlugin<IOfflineIMService>(offlineIMService, args);
+                }
             }
         }
 
@@ -329,18 +334,28 @@ namespace OpenSim.Services.HypergridService
 
         private bool UndeliveredMessage(GridInstantMessage im)
         {
-            if (m_RestURL != string.Empty && (im.offline != 0)
-                && (!im.fromGroup || (im.fromGroup && m_ForwardOfflineGroupMessages)))
-            {
-//                m_log.DebugFormat("[HG IM SERVICE]: Message saved");
+            if (m_OfflineIMService == null)
+                return false;
 
-                return SynchronousRestObjectRequester.MakeRequest<GridInstantMessage, bool>(
-                         "POST", m_RestURL + "/SaveMessage/", im);
-            }
-            else
+            if (im.dialog != (byte)InstantMessageDialog.MessageFromObject &&
+                im.dialog != (byte)InstantMessageDialog.MessageFromAgent &&
+                im.dialog != (byte)InstantMessageDialog.GroupNotice &&
+                im.dialog != (byte)InstantMessageDialog.GroupInvitation &&
+                im.dialog != (byte)InstantMessageDialog.InventoryOffered)
             {
                 return false;
             }
+
+            if (!m_ForwardOfflineGroupMessages)
+            {
+                if (im.dialog == (byte)InstantMessageDialog.GroupNotice ||
+                    im.dialog == (byte)InstantMessageDialog.GroupInvitation)
+                    return false;
+            }
+
+//                m_log.DebugFormat("[HG IM SERVICE]: Message saved");
+            string reason = string.Empty;
+            return m_OfflineIMService.StoreMessage(im, out reason);
         }
     }
 }
\ No newline at end of file
diff --git a/OpenSim/Services/Interfaces/IOfflineIMService.cs b/OpenSim/Services/Interfaces/IOfflineIMService.cs
new file mode 100644
index 0000000..2848967
--- /dev/null
+++ b/OpenSim/Services/Interfaces/IOfflineIMService.cs
@@ -0,0 +1,115 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+
+using OpenSim.Framework;
+using OpenMetaverse;
+
+namespace OpenSim.Services.Interfaces
+{
+    public interface IOfflineIMService
+    {
+        List<GridInstantMessage> GetMessages(UUID principalID);
+        bool StoreMessage(GridInstantMessage im, out string reason);
+    }
+
+    public class OfflineIMDataUtils
+    {
+        public static GridInstantMessage GridInstantMessage(Dictionary<string, object> dict)
+        {
+            GridInstantMessage im = new GridInstantMessage();
+
+            if (dict.ContainsKey("BinaryBucket") && dict["BinaryBucket"] != null)
+                im.binaryBucket = OpenMetaverse.Utils.HexStringToBytes(dict["BinaryBucket"].ToString(), true);
+
+            if (dict.ContainsKey("Dialog") && dict["Dialog"] != null)
+                im.dialog = byte.Parse(dict["Dialog"].ToString());
+
+            if (dict.ContainsKey("FromAgentID") && dict["FromAgentID"] != null)
+                im.fromAgentID = new Guid(dict["FromAgentID"].ToString());
+
+            if (dict.ContainsKey("FromAgentName") && dict["FromAgentName"] != null)
+                im.fromAgentName = dict["FromAgentName"].ToString();
+            else
+                im.fromAgentName = string.Empty;
+
+            if (dict.ContainsKey("FromGroup") && dict["FromGroup"] != null)
+                im.fromGroup = bool.Parse(dict["FromGroup"].ToString());
+
+            if (dict.ContainsKey("SessionID") && dict["SessionID"] != null)
+                im.imSessionID = new Guid(dict["SessionID"].ToString());
+
+            if (dict.ContainsKey("Message") && dict["Message"] != null)
+                im.message = dict["Message"].ToString();
+            else
+                im.message = string.Empty;
+
+            if (dict.ContainsKey("Offline") && dict["Offline"] != null)
+                im.offline = byte.Parse(dict["Offline"].ToString());
+
+            if (dict.ContainsKey("EstateID") && dict["EstateID"] != null)
+                im.ParentEstateID = UInt32.Parse(dict["EstateID"].ToString());
+
+            if (dict.ContainsKey("Position") && dict["Position"] != null)
+                im.Position = Vector3.Parse(dict["Position"].ToString());
+
+            if (dict.ContainsKey("RegionID") && dict["RegionID"] != null)
+                im.RegionID = new Guid(dict["RegionID"].ToString());
+
+            if (dict.ContainsKey("Timestamp") && dict["Timestamp"] != null)
+                im.timestamp = UInt32.Parse(dict["Timestamp"].ToString());
+
+            if (dict.ContainsKey("ToAgentID") && dict["ToAgentID"] != null)
+                im.toAgentID = new Guid(dict["ToAgentID"].ToString());
+
+            return im;
+        }
+
+        public static Dictionary<string, object> GridInstantMessage(GridInstantMessage im)
+        {
+            Dictionary<string, object> dict = new Dictionary<string, object>();
+
+            dict["BinaryBucket"] = OpenMetaverse.Utils.BytesToHexString(im.binaryBucket, im.binaryBucket.Length, null);
+            dict["Dialog"] = im.dialog.ToString();
+            dict["FromAgentID"] = im.fromAgentID.ToString();
+            dict["FromAgentName"] = im.fromAgentName == null ? string.Empty : im.fromAgentName;
+            dict["FromGroup"] = im.fromGroup.ToString();
+            dict["SessionID"] = im.imSessionID.ToString();
+            dict["Message"] = im.message == null ? string.Empty : im.message;
+            dict["Offline"] = im.offline.ToString();
+            dict["EstateID"] = im.ParentEstateID.ToString();
+            dict["Position"] = im.Position.ToString();
+            dict["RegionID"] = im.RegionID.ToString();
+            dict["Timestamp"] = im.timestamp.ToString();
+            dict["ToAgentID"] = im.toAgentID.ToString();
+
+            return dict;
+        }
+
+    }
+}
diff --git a/OpenSim/Services/InventoryService/XInventoryService.cs b/OpenSim/Services/InventoryService/XInventoryService.cs
index 00faa44..7bad4b0 100644
--- a/OpenSim/Services/InventoryService/XInventoryService.cs
+++ b/OpenSim/Services/InventoryService/XInventoryService.cs
@@ -219,9 +219,15 @@ namespace OpenSim.Services.InventoryService
 
             XInventoryFolder root = null;
             foreach (XInventoryFolder folder in folders)
+            {
                 if (folder.folderName == "My Inventory")
+                {
                     root = folder;
-            if (folders == null) // oops
+                    break;
+                }
+            }
+            
+            if (root == null) // oops
                 root = folders[0];
 
             return ConvertToOpenSim(root);
@@ -249,6 +255,9 @@ namespace OpenSim.Services.InventoryService
         {
 //            m_log.DebugFormat("[XINVENTORY SERVICE]: Getting folder type {0} for user {1}", type, principalID);
             
+            if (type == AssetType.RootFolder)
+                return rootFolder;
+
             XInventoryFolder[] folders = m_Database.GetFolders(
                     new string[] { "agentID", "parentFolderID", "type"},
                     new string[] { rootFolder.Owner.ToString(), rootFolder.ID.ToString(), ((int)type).ToString() });
diff --git a/OpenSim/Tests/Common/Mock/MockGroupsServicesConnector.cs b/OpenSim/Tests/Common/Mock/MockGroupsServicesConnector.cs
index 6fb9df1..3035cea 100644
--- a/OpenSim/Tests/Common/Mock/MockGroupsServicesConnector.cs
+++ b/OpenSim/Tests/Common/Mock/MockGroupsServicesConnector.cs
@@ -26,12 +26,15 @@
  */
 
 using System;
+using System.Collections;
 using System.Collections.Generic;
 using System.Reflection;
 using log4net;
 using Mono.Addins;
 using Nini.Config;
 using OpenMetaverse;
+using OpenSim.Data;
+using OpenSim.Data.Null;
 using OpenSim.Framework;
 using OpenSim.Region.Framework.Interfaces;
 using OpenSim.Region.Framework.Scenes;
@@ -44,6 +47,8 @@ namespace OpenSim.Tests.Common.Mock
     {
         private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
+        IXGroupData m_data = new NullXGroupData(null, null);
+
         public string Name
         {
             get { return "MockGroupsServicesConnector"; }
@@ -84,7 +89,33 @@ namespace OpenSim.Tests.Common.Mock
                                 int membershipFee, bool openEnrollment, bool allowPublish, 
                                 bool maturePublish, UUID founderID)
         {
-            return UUID.Zero;
+            XGroup group = new XGroup()
+            {
+                groupID = UUID.Random(),
+                ownerRoleID = UUID.Random(),
+                name = name,
+                charter = charter,
+                showInList = showInList,
+                insigniaID = insigniaID,
+                membershipFee = membershipFee,
+                openEnrollment = openEnrollment,
+                allowPublish = allowPublish,
+                maturePublish = maturePublish,
+                founderID = founderID,
+                everyonePowers = (ulong)XmlRpcGroupsServicesConnectorModule.DefaultEveryonePowers,
+                ownersPowers = (ulong)XmlRpcGroupsServicesConnectorModule.DefaultOwnerPowers
+            };
+
+            if (m_data.StoreGroup(group))
+            {
+                m_log.DebugFormat("[MOCK GROUPS SERVICES CONNECTOR]: Created group {0} {1}", group.name, group.groupID);
+                return group.groupID;
+            }
+            else
+            {
+                m_log.ErrorFormat("[MOCK GROUPS SERVICES CONNECTOR]: Failed to create group {0}", name);
+                return UUID.Zero;
+            }
         }
 
         public void UpdateGroup(UUID requestingAgentID, UUID groupID, string charter, bool showInList, 
@@ -107,9 +138,49 @@ namespace OpenSim.Tests.Common.Mock
         {
         }
 
-        public GroupRecord GetGroupRecord(UUID requestingAgentID, UUID GroupID, string GroupName)
+        public GroupRecord GetGroupRecord(UUID requestingAgentID, UUID groupID, string groupName)
         {
-            return null;
+            m_log.DebugFormat(
+                "[MOCK GROUPS SERVICES CONNECTOR]: Processing GetGroupRecord() for groupID {0}, name {1}", 
+                groupID, groupName);
+
+            XGroup[] groups;
+            string field, val;
+
+            if (groupID != UUID.Zero)
+            {
+                field = "groupID";
+                val = groupID.ToString();
+            }
+            else
+            {
+                field = "name";
+                val = groupName;
+            }
+
+            groups = m_data.GetGroups(field, val);
+
+            if (groups.Length == 0)
+                return null;
+
+            XGroup xg = groups[0];
+
+            GroupRecord gr = new GroupRecord()
+            {
+                GroupID = xg.groupID,
+                GroupName = xg.name,
+                AllowPublish = xg.allowPublish,
+                MaturePublish = xg.maturePublish,
+                Charter = xg.charter,
+                FounderID = xg.founderID,
+                // FIXME: group picture storage location unknown
+                MembershipFee = xg.membershipFee,
+                OpenEnrollment = xg.openEnrollment,
+                OwnerRoleID = xg.ownerRoleID,
+                ShowInList = xg.showInList
+            };
+
+            return gr;
         }
 
         public GroupProfileData GetMemberGroupProfile(UUID requestingAgentID, UUID GroupID, UUID AgentID)
diff --git a/OpenSim/Tests/Common/Mock/TestXInventoryDataPlugin.cs b/OpenSim/Tests/Common/Mock/TestXInventoryDataPlugin.cs
index f9bf768..ccbdf81 100644
--- a/OpenSim/Tests/Common/Mock/TestXInventoryDataPlugin.cs
+++ b/OpenSim/Tests/Common/Mock/TestXInventoryDataPlugin.cs
@@ -33,10 +33,11 @@ using log4net;
 using OpenMetaverse;
 using OpenSim.Framework;
 using OpenSim.Data;
+using OpenSim.Data.Null;
 
 namespace OpenSim.Tests.Common.Mock
 {
-    public class TestXInventoryDataPlugin : IXInventoryData
+    public class TestXInventoryDataPlugin : NullGenericDataHandler, IXInventoryData
     {
         private Dictionary<UUID, XInventoryFolder> m_allFolders = new Dictionary<UUID, XInventoryFolder>();
         private Dictionary<UUID, XInventoryItem> m_allItems = new Dictionary<UUID, XInventoryItem>();
@@ -58,28 +59,6 @@ namespace OpenSim.Tests.Common.Mock
             return origFolders.Select(f => f.Clone()).ToArray();
         }
 
-        private List<T> Get<T>(string[] fields, string[] vals, List<T> inputEntities)
-        {
-            List<T> entities = inputEntities;
-
-            for (int i = 0; i < fields.Length; i++)
-            {
-                entities
-                    = entities.Where(
-                        e =>
-                        {
-                            FieldInfo fi = typeof(T).GetField(fields[i]);
-                            if (fi == null)
-                                throw new NotImplementedException(string.Format("No field {0} for val {1}", fields[i], vals[i]));
-
-                            return fi.GetValue(e).ToString() == vals[i];
-                        }
-                    ).ToList();
-            }
-
-            return entities;
-        }
-
         public bool StoreFolder(XInventoryFolder folder)
         {
             m_allFolders[folder.folderID] = folder.Clone();
diff --git a/OpenSim/Tests/ConfigurationLoaderTest.cs b/OpenSim/Tests/ConfigurationLoaderTest.cs
index 067264d..e5186ae 100644
--- a/OpenSim/Tests/ConfigurationLoaderTest.cs
+++ b/OpenSim/Tests/ConfigurationLoaderTest.cs
@@ -29,11 +29,12 @@ using System.IO;
 using Nini.Config;
 using NUnit.Framework;
 using OpenSim.Framework;
+using OpenSim.Tests.Common;
 
 namespace OpenSim.Tests
 {
     [TestFixture]
-    public class ConfigurationLoaderTests
+    public class ConfigurationLoaderTests : OpenSimTestCase
     {
         private const string m_testSubdirectory = "test";
         private string m_basePath;
diff --git a/OpenSim/Tests/Performance/NPCPerformanceTests.cs b/OpenSim/Tests/Performance/NPCPerformanceTests.cs
index afda574..fde1b91 100644
--- a/OpenSim/Tests/Performance/NPCPerformanceTests.cs
+++ b/OpenSim/Tests/Performance/NPCPerformanceTests.cs
@@ -58,7 +58,7 @@ namespace OpenSim.Tests.Performance
     /// earlier tests.
     /// </remarks>
     [TestFixture]
-    public class NPCPerformanceTests
+    public class NPCPerformanceTests : OpenSimTestCase
     {
         private TestScene scene;
         private AvatarFactoryModule afm;
diff --git a/OpenSim/Tests/Performance/ObjectPerformanceTests.cs b/OpenSim/Tests/Performance/ObjectPerformanceTests.cs
index 2264d86..656a971 100644
--- a/OpenSim/Tests/Performance/ObjectPerformanceTests.cs
+++ b/OpenSim/Tests/Performance/ObjectPerformanceTests.cs
@@ -47,7 +47,7 @@ namespace OpenSim.Tests.Performance
     /// earlier tests.
     /// </remarks>
     [TestFixture]
-    public class ObjectPerformanceTests
+    public class ObjectPerformanceTests : OpenSimTestCase
     {
         [TearDown]
         public void TearDown()
diff --git a/OpenSim/Tests/Performance/ScriptPerformanceTests.cs b/OpenSim/Tests/Performance/ScriptPerformanceTests.cs
index d708abd..4064edc 100644
--- a/OpenSim/Tests/Performance/ScriptPerformanceTests.cs
+++ b/OpenSim/Tests/Performance/ScriptPerformanceTests.cs
@@ -53,7 +53,7 @@ namespace OpenSim.Tests.Performance
     /// earlier tests.
     /// </remarks>
     [TestFixture]
-    public class ScriptPerformanceTests
+    public class ScriptPerformanceTests : OpenSimTestCase
     {
         private TestScene m_scene;
         private XEngine m_xEngine;
diff --git a/TESTING.txt b/TESTING.txt
index 08a0698..a7346ff 100644
--- a/TESTING.txt
+++ b/TESTING.txt
@@ -1,4 +1,4 @@
-=== The Quick Guide to OpenSim Unit Testing ===
+===== The Quick Guide to OpenSim Unit Testing ===
 
 == Running Tests ==
 
diff --git a/ThirdPartyLicenses/Bullet-XNA.txt b/ThirdPartyLicenses/Bullet-XNA.txt
new file mode 100644
index 0000000..5d8899b
--- /dev/null
+++ b/ThirdPartyLicenses/Bullet-XNA.txt
@@ -0,0 +1,23 @@
+/*
+ * C# / XNA  port of Bullet (c) 2011 Mark Neale <xexuxjy@hotmail.com> 
+ * http://code.google.com/p/bullet-xna/
+ *
+ * Bullet Continuous Collision Detection and Physics Library
+ * Copyright (c) 2003-2008 Erwin Coumans  http://www.bulletphysics.com/
+ *
+ * This software is provided 'as-is', without any express or implied warranty.
+ * In no event will the authors be held liable for any damages arising from
+ * the use of this software.
+ * 
+ * Permission is granted to anyone to use this software for any purpose, 
+ * including commercial applications, and to alter it and redistribute it
+ * freely, subject to the following restrictions:
+ * 
+ * 1. The origin of this software must not be misrepresented; you must not
+ *    claim that you wrote the original software. If you use this software
+ *    in a product, an acknowledgment in the product documentation would be
+ *    appreciated but is not required.
+ * 2. Altered source versions must be plainly marked as such, and must not be
+ *    misrepresented as being the original software.
+ * 3. This notice may not be removed or altered from any source distribution.
+ */
\ No newline at end of file
diff --git a/bin/BulletXNA.dll b/bin/BulletXNA.dll
new file mode 100644
index 0000000..1e3f042
--- /dev/null
+++ b/bin/BulletXNA.dll
diff --git a/bin/BulletXNA.pdb b/bin/BulletXNA.pdb
new file mode 100644
index 0000000..4b83b83
--- /dev/null
+++ b/bin/BulletXNA.pdb
diff --git a/bin/Mono.Addins.CecilReflector.dll b/bin/Mono.Addins.CecilReflector.dll
index a1a6382..9ca4631 100755
--- a/bin/Mono.Addins.CecilReflector.dll
+++ b/bin/Mono.Addins.CecilReflector.dll
diff --git a/bin/Mono.Addins.Setup.dll b/bin/Mono.Addins.Setup.dll
index 8aa6d5f..75773aa 100755
--- a/bin/Mono.Addins.Setup.dll
+++ b/bin/Mono.Addins.Setup.dll
diff --git a/bin/Mono.Addins.dll b/bin/Mono.Addins.dll
index ea330fd..326ed1d 100755
--- a/bin/Mono.Addins.dll
+++ b/bin/Mono.Addins.dll
diff --git a/bin/OpenMetaverse.dll.config b/bin/OpenMetaverse.dll.config
index b67da5f..f5423b2 100644
--- a/bin/OpenMetaverse.dll.config
+++ b/bin/OpenMetaverse.dll.config
@@ -1,5 +1,5 @@
 <configuration>
-    <dllmap os="osx" dll="openjpeg-dotnet.dll" target="lib64/libopenjpeg-dotnet-2.1.5.0-dotnet-1.dylib" />
+    <dllmap os="osx" dll="openjpeg-dotnet.dll" target="lib64/libopenjpeg-dotnet.dylib" />
     <dllmap os="!windows,osx" cpu="x86-64,ia64" dll="openjpeg-dotnet-x86_64.dll" target="lib64/libopenjpeg-dotnet-x86_64" />
     <dllmap os="!windows,osx" cpu="x86" dll="openjpeg-dotnet.dll" target="lib32/libopenjpeg-dotnet" />
 </configuration>
diff --git a/bin/OpenSim.exe.config b/bin/OpenSim.exe.config
index e3107ab..8a891f4 100755
--- a/bin/OpenSim.exe.config
+++ b/bin/OpenSim.exe.config
@@ -32,9 +32,15 @@
       <appender-ref ref="LogFileAppender" />
     </root>
 
+    <!-- Independently control logging level for XEngine -->
     <logger name="OpenSim.Region.ScriptEngine.XEngine">
       <level value="INFO"/>
     </logger>
 
+    <!-- Independently control logging level for per region module loading -->
+    <logger name="OpenSim.ApplicationPlugins.RegionModulesController.RegionModulesControllerPlugin">
+      <level value="INFO"/>
+    </logger>
+
   </log4net>
 </configuration>
diff --git a/bin/OpenSim.ini.example b/bin/OpenSim.ini.example
index 6757081..cc750a9 100644
--- a/bin/OpenSim.ini.example
+++ b/bin/OpenSim.ini.example
@@ -206,12 +206,13 @@
     ;; Choose one of the physics engines below
     ;# {physics} {} {Select physics engine} {OpenDynamicsEngine BulletSim basicphysics POS} OpenDynamicsEngine
     ;; OpenDynamicsEngine is by some distance the most developed physics engine
-    ;; BulletSim is incomplete and experimental but in active development
+    ;; BulletSim is incomplete and experimental but in active development.  BulletSimN is a purely C# version of BulletSim.
     ;; basicphysics effectively does not model physics at all, making all
-    ;; objects phantom
+    ;; objects phantom.   
     ;; Default is OpenDynamicsEngine
     ; physics = OpenDynamicsEngine
     ; physics = BulletSim
+    ; physics = BulletSimN
     ; physics = basicphysics
     ; physics = POS
 
@@ -786,8 +787,9 @@
     ;; Allow the use of os* functions (some are dangerous)
     ; AllowOSFunctions = false
 
-    ;# {AllowLightShareFunctions} {Enabled:true [LightShare]enable_windlight:true} {Allow LightShare functions?} {true false} true
-    ; Allow the user of LightShare functions
+    ;# {AllowLightShareFunctions} {Enabled:false [LightShare]enable_windlight:true} {Allow LightShare functions?} {true false} false
+    ; Allow the use of LightShare functions.
+    ; The setting enable_windlight = true must also be enabled in the [LightShare] section.
     ; AllowLightShareFunctions = false
 
     ;# {OSFunctionThreatLevel} {Enabled:true AllowOSFunctions:true} {OSFunction threat level? (DANGEROUS!)} {None VeryLow Low Moderate High VeryHigh Severe} VeryLow
diff --git a/bin/OpenSimDefaults.ini b/bin/OpenSimDefaults.ini
index 54f252e..85f7708 100644
--- a/bin/OpenSimDefaults.ini
+++ b/bin/OpenSimDefaults.ini
@@ -217,10 +217,10 @@
     ; to false if you have compatibility problems.
     ;CacheSculptMaps = true
     
-    ; Choose one of the physics engines below
-    ; OpenDynamicsEngine is by some distance the most developed physics engine
-    ; basicphysics effectively does not model physics at all, making all objects phantom
-
+    ; Choose one of the physics engines below.
+    ; OpenDynamicsEngine is by some distance the most developed physics engine.
+    ; BulletSim is a high performance, up-and-coming physics engine.
+    ; basicphysics effectively does not model physics at all, making all objects phantom.
     physics = OpenDynamicsEngine
     ;physics = basicphysics
     ;physics = POS
@@ -364,6 +364,12 @@
     ; alert_uri = "http://myappserver.net/my_handler/"
 
 
+[EstateManagement]
+    ; If false, then block any region restart requests from the client even if they are otherwise valid.
+    ; Default is true
+    AllowRegionRestartFromClient = true
+
+
 [SMTP]
     enabled = false
 
@@ -898,17 +904,20 @@
 
 [BulletSim]
     ; World parameters
-    DefaultFriction = 0.50
+    DefaultFriction = 0.20
     DefaultDensity = 10.000006836
     DefaultRestitution = 0.0
     Gravity = -9.80665
 
-    TerrainFriction = 0.50
-    TerrainHitFriction = 0.8
+    TerrainFriction = 0.30
+    TerrainHitFraction = 0.8
     TerrainRestitution = 0
+    TerrainCollisionMargin = 0.04
+
     AvatarFriction = 0.2
+    AvatarStandingFriction = 10.0
     AvatarRestitution = 0.0
-    AvatarDensity = 60.0
+    AvatarDensity = 3.5
     AvatarCapsuleWidth = 0.6
     AvatarCapsuleDepth = 0.45
     AvatarCapsuleHeight = 1.5
@@ -916,30 +925,10 @@
 
     MaxObjectMass = 10000.01
 
-    ; Dynamic parameters
-    LinearDamping = 0.0
-    AngularDamping = 0.0
-    DeactivationTime = 0.2
-    LinearSleepingThreshold = 0.8
-    AngularSleepingThreshold = 1.0
-    CcdMotionThreshold = 0.0
-    CcdSweptSphereRadius = 0.0
-    ContactProcessingThreshold = 0.1
-    ; If setting a pool size, also disable dynamic allocation (default pool size is 4096 with dynamic alloc)
-    MaxPersistantManifoldPoolSize = 0
-    ShouldDisableContactPoolDynamicAllocation = False
-    ShouldForceUpdateAllAabbs = False
-    ShouldRandomizeSolverOrder = True
-    ShouldSplitSimulationIslands = True
-    ShouldEnableFrictionCaching = False
-    NumberOfSolverIterations = 0   
+    CollisionMargin = 0.04
 
     ; Linkset constraint parameters
-    LinkConstraintUseFrameOffset = False
-    LinkConstraintEnableTransMotor = True
-    LinkConstraintTransMotorMaxVel = 5.0
-    LinkConstraintTransMotorMaxForce = 0.1
-
+    LinkImplementation = 1      ; 0=constraint, 1=compound
 
     ; Whether to mesh sculpties
     MeshSculptedPrim = true
@@ -1367,6 +1356,10 @@
     ; If a script overruns it's event limit, kill the script?
     KillTimedOutScripts = false
 
+    ; Amount of time in milliseconds we will wait for an event to completely normally when a script stop is requested
+    ; before aborting the thread (such as when an object containing scripts is taken into inventory).
+    WaitForEventCompletionOnScriptStop = 1000;
+
     ; Sets the multiplier for the scripting delays
     ScriptDelayFactor = 1.0
 
@@ -1582,8 +1575,7 @@
 
     ; If true, then the basic packet objects used to receive data are also recycled, not just the LLUDP packets.
     ; This reduces data churn
-    ; This setting is currently experimental and defaults to false.
-    RecycleBaseUDPPackets = false;
+    RecycleBaseUDPPackets = true
 
 
 [InterestManagement]
diff --git a/bin/Robust.HG.ini.example b/bin/Robust.HG.ini.example
index 4ecc6b0..c7d4b7f 100644
--- a/bin/Robust.HG.ini.example
+++ b/bin/Robust.HG.ini.example
@@ -22,6 +22,18 @@
 ; *
 [Startup]
 
+; Plugin Registry Location
+; Set path to directory for plugin registry. Information
+; about the registered repositories and installed plugins
+; will be stored here
+; The Robust.exe process must hvae R/W access to the location 
+RegistryLocation = "."
+
+; Modular configurations
+; Set path to directory for modular ini files...
+; The Robust.exe process must hvae R/W access to the location 
+ConfigDirectory = "/home/opensim/etc/Configs"
+
 [ServiceList]
 
 AssetServiceConnector = "8003/OpenSim.Server.Handlers.dll:AssetServiceConnector"
@@ -53,7 +65,6 @@ HGAssetServiceConnector = "HGAssetService@8002/OpenSim.Server.Handlers.dll:Asset
 ;; Additions for other add-on modules. For example:
 ;; WifiServerConnector = "8002/Diva.Wifi.dll:WifiServerConnector"
 
-
 ; * This is common for all services, it's the network setup for the entire
 ; * server instance, if none is specified above
 ; *
diff --git a/bin/Robust.ini.example b/bin/Robust.ini.example
index 7503c5e..bc5cbcc 100644
--- a/bin/Robust.ini.example
+++ b/bin/Robust.ini.example
@@ -14,6 +14,19 @@
 ; *
 [Startup]
 
+; Plugin Registry Location
+; Set path to directory for plugin registry. Information
+; about the registered repositories and installed plugins
+; will be stored here
+; The Robust.exe process must hvae R/W access to the location 
+RegistryLocation = "."
+
+
+; Modular configurations
+; Set path to directory for modular ini files...
+; The Robust.exe process must hvae R/W access to the location 
+ConfigDirectory = "/home/opensim/etc/Configs"
+
 [ServiceList]
 AssetServiceConnector = "8003/OpenSim.Server.Handlers.dll:AssetServiceConnector"
 InventoryInConnector = "8003/OpenSim.Server.Handlers.dll:XInventoryInConnector"
diff --git a/bin/config-include/GridCommon.ini.example b/bin/config-include/GridCommon.ini.example
index 79f7ed6..e53fcca 100644
--- a/bin/config-include/GridCommon.ini.example
+++ b/bin/config-include/GridCommon.ini.example
@@ -137,6 +137,11 @@
     ;; uncomment the next line. You may want to do this on sims that have licensed content.
     ; OutboundPermission = False
 
+        ;; Send visual reminder to local users that their inventories are unavailable while they are traveling
+        ;; and available when they return. True by default.
+        ;RestrictInventoryAccessAbroad = True
+
+
 [HGAssetService]
     ;
     ; === HG ONLY ===
diff --git a/bin/lib32/BulletSim.dll b/bin/lib32/BulletSim.dll
index 2ae1c75..014eca4 100755
--- a/bin/lib32/BulletSim.dll
+++ b/bin/lib32/BulletSim.dll
diff --git a/bin/lib32/libBulletSim.so b/bin/lib32/libBulletSim.so
index d4852a5..5e4d8cc 100755
--- a/bin/lib32/libBulletSim.so
+++ b/bin/lib32/libBulletSim.so
diff --git a/bin/lib64/BulletSim.dll b/bin/lib64/BulletSim.dll
index 77cf7e3..d00549e 100755
--- a/bin/lib64/BulletSim.dll
+++ b/bin/lib64/BulletSim.dll
diff --git a/bin/lib64/libBulletSim.so b/bin/lib64/libBulletSim.so
index 4ec62b2..b94e264 100755
--- a/bin/lib64/libBulletSim.so
+++ b/bin/lib64/libBulletSim.so
diff --git a/doc/README b/doc/README
new file mode 100644
index 0000000..9c95557
--- /dev/null
+++ b/doc/README
@@ -0,0 +1,20 @@
+README
+
+This directory does not currently contain any OpenSimulator user level documentation.  Such
+documentation can be found at
+
+http://opensimulator.org
+
+instead.
+
+Rather, this directory can contain source-code documentation as generated via the doxygen package.
+
+To do this, either execute
+
+doxygen doxygen.conf 
+
+on the command line or run the target
+
+nant doxygen
+
+if you have nant installed.
diff --git a/doc/doxygen.conf b/doc/doxygen.conf
index 3712dfa..148de9c 100644
--- a/doc/doxygen.conf
+++ b/doc/doxygen.conf
@@ -1,1356 +1,290 @@
-# Doxyfile 1.5.5
-
-# This file describes the settings to be used by the documentation system
-# doxygen (www.doxygen.org) for a project
-#
-# All text after a hash (#) is considered a comment and will be ignored
-# The format is:
-#       TAG = value [value, ...]
-# For lists items can also be appended using:
-#       TAG += value [value, ...]
-# Values that contain spaces should be placed between quotes (" ")
+# Doxyfile 1.8.2
 
 #---------------------------------------------------------------------------
 # Project related configuration options
 #---------------------------------------------------------------------------
-
-# This tag specifies the encoding used for all characters in the config file 
-# that follow. The default is UTF-8 which is also the encoding used for all 
-# text before the first occurrence of this tag. Doxygen uses libiconv (or the 
-# iconv built into libc) for the transcoding. See 
-# http://www.gnu.org/software/libiconv for the list of possible encodings.
-
 DOXYFILE_ENCODING      = UTF-8
-
-# The PROJECT_NAME tag is a single word (or a sequence of words surrounded 
-# by quotes) that should identify the project.
-
 PROJECT_NAME           = OpenSim
-
-# The PROJECT_NUMBER tag can be used to enter a project or revision number. 
-# This could be handy for archiving the generated documentation or 
-# if some version control system is used.
-
-PROJECT_NUMBER         = SVN
-
-# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) 
-# base path where the generated documentation will be put. 
-# If a relative path is entered, it will be relative to the location 
-# where doxygen was started. If left blank the current directory will be used.
-
+PROJECT_NUMBER         = GIT
+PROJECT_BRIEF          =
+PROJECT_LOGO           =
 OUTPUT_DIRECTORY       =
-
-# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create 
-# 4096 sub-directories (in 2 levels) under the output directory of each output 
-# format and will distribute the generated files over these directories. 
-# Enabling this option can be useful when feeding doxygen a huge amount of 
-# source files, where putting all generated files in the same directory would 
-# otherwise cause performance problems for the file system.
-
 CREATE_SUBDIRS         = NO
-
-# The OUTPUT_LANGUAGE tag is used to specify the language in which all 
-# documentation generated by doxygen is written. Doxygen will use this 
-# information to generate all constant output in the proper language. 
-# The default language is English, other supported languages are: 
-# Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional, 
-# Croatian, Czech, Danish, Dutch, Farsi, Finnish, French, German, Greek, 
-# Hungarian, Italian, Japanese, Japanese-en (Japanese with English messages), 
-# Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian, Polish, 
-# Portuguese, Romanian, Russian, Serbian, Slovak, Slovene, Spanish, Swedish, 
-# and Ukrainian.
-
 OUTPUT_LANGUAGE        = English
-
-# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will 
-# include brief member descriptions after the members that are listed in 
-# the file and class documentation (similar to JavaDoc). 
-# Set to NO to disable this.
-
 BRIEF_MEMBER_DESC      = YES
-
-# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend 
-# the brief description of a member or function before the detailed description. 
-# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the 
-# brief descriptions will be completely suppressed.
-
 REPEAT_BRIEF           = YES
-
-# This tag implements a quasi-intelligent brief description abbreviator 
-# that is used to form the text in various listings. Each string 
-# in this list, if found as the leading text of the brief description, will be 
-# stripped from the text and the result after processing the whole list, is 
-# used as the annotated text. Otherwise, the brief description is used as-is. 
-# If left blank, the following values are used ("$name" is automatically 
-# replaced with the name of the entity): "The $name class" "The $name widget" 
-# "The $name file" "is" "provides" "specifies" "contains" 
-# "represents" "a" "an" "the"
-
-ABBREVIATE_BRIEF       = 
-
-# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then 
-# Doxygen will generate a detailed section even if there is only a brief 
-# description.
-
+ABBREVIATE_BRIEF       =
 ALWAYS_DETAILED_SEC    = NO
-
-# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all 
-# inherited members of a class in the documentation of that class as if those 
-# members were ordinary class members. Constructors, destructors and assignment 
-# operators of the base classes will not be shown.
-
 INLINE_INHERITED_MEMB  = NO
-
-# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full 
-# path before files name in the file list and in the header files. If set 
-# to NO the shortest path that makes the file name unique will be used.
-
 FULL_PATH_NAMES        = YES
-
-# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag 
-# can be used to strip a user-defined part of the path. Stripping is 
-# only done if one of the specified strings matches the left-hand part of 
-# the path. The tag can be used to show relative paths in the file list. 
-# If left blank the directory from which doxygen is run is used as the 
-# path to strip.
-
-STRIP_FROM_PATH        = 
-
-# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of 
-# the path mentioned in the documentation of a class, which tells 
-# the reader which header file to include in order to use a class. 
-# If left blank only the name of the header file containing the class 
-# definition is used. Otherwise one should specify the include paths that 
-# are normally passed to the compiler using the -I flag.
-
-STRIP_FROM_INC_PATH    = 
-
-# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter 
-# (but less readable) file names. This can be useful is your file systems 
-# doesn't support long names like on DOS, Mac, or CD-ROM.
-
+STRIP_FROM_PATH        =
+STRIP_FROM_INC_PATH    =
 SHORT_NAMES            = NO
-
-# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen 
-# will interpret the first line (until the first dot) of a JavaDoc-style 
-# comment as the brief description. If set to NO, the JavaDoc 
-# comments will behave just like regular Qt-style comments 
-# (thus requiring an explicit @brief command for a brief description.)
-
 JAVADOC_AUTOBRIEF      = NO
-
-# If the QT_AUTOBRIEF tag is set to YES then Doxygen will 
-# interpret the first line (until the first dot) of a Qt-style 
-# comment as the brief description. If set to NO, the comments 
-# will behave just like regular Qt-style comments (thus requiring 
-# an explicit \brief command for a brief description.)
-
 QT_AUTOBRIEF           = NO
-
-# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen 
-# treat a multi-line C++ special comment block (i.e. a block of //! or /// 
-# comments) as a brief description. This used to be the default behaviour. 
-# The new default is to treat a multi-line C++ comment block as a detailed 
-# description. Set this tag to YES if you prefer the old behaviour instead.
-
 MULTILINE_CPP_IS_BRIEF = NO
-
-# If the DETAILS_AT_TOP tag is set to YES then Doxygen 
-# will output the detailed description near the top, like JavaDoc.
-# If set to NO, the detailed description appears after the member 
-# documentation.
-
-DETAILS_AT_TOP         = NO
-
-# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented 
-# member inherits the documentation from any documented member that it 
-# re-implements.
-
 INHERIT_DOCS           = YES
-
-# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce 
-# a new page for each member. If set to NO, the documentation of a member will 
-# be part of the file/class/namespace that contains it.
-
 SEPARATE_MEMBER_PAGES  = NO
-
-# The TAB_SIZE tag can be used to set the number of spaces in a tab. 
-# Doxygen uses this value to replace tabs by spaces in code fragments.
-
 TAB_SIZE               = 8
-
-# This tag can be used to specify a number of aliases that acts 
-# as commands in the documentation. An alias has the form "name=value". 
-# For example adding "sideeffect=\par Side Effects:\n" will allow you to 
-# put the command \sideeffect (or @sideeffect) in the documentation, which 
-# will result in a user-defined paragraph with heading "Side Effects:". 
-# You can put \n's in the value part of an alias to insert newlines.
-
-ALIASES                = 
-
-# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C 
-# sources only. Doxygen will then generate output that is more tailored for C. 
-# For instance, some of the names that are used will be different. The list 
-# of all members will be omitted, etc.
-
+ALIASES                =
+TCL_SUBST              =
 OPTIMIZE_OUTPUT_FOR_C  = NO
-
-# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java 
-# sources only. Doxygen will then generate output that is more tailored for 
-# Java. For instance, namespaces will be presented as packages, qualified 
-# scopes will look different, etc.
-
 OPTIMIZE_OUTPUT_JAVA   = NO
-
-# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran 
-# sources only. Doxygen will then generate output that is more tailored for 
-# Fortran.
-
 OPTIMIZE_FOR_FORTRAN   = NO
-
-# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL 
-# sources. Doxygen will then generate output that is tailored for 
-# VHDL.
-
 OPTIMIZE_OUTPUT_VHDL   = NO
-
-# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want 
-# to include (a tag file for) the STL sources as input, then you should 
-# set this tag to YES in order to let doxygen match functions declarations and 
-# definitions whose arguments contain STL classes (e.g. func(std::string); v.s. 
-# func(std::string) {}). This also make the inheritance and collaboration 
-# diagrams that involve STL classes more complete and accurate.
-
+EXTENSION_MAPPING      =
+MARKDOWN_SUPPORT       = YES
+AUTOLINK_SUPPORT       = YES
 BUILTIN_STL_SUPPORT    = NO
-
-# If you use Microsoft's C++/CLI language, you should set this option to YES to
-# enable parsing support.
-
 CPP_CLI_SUPPORT        = NO
-
-# Set the SIP_SUPPORT tag to YES if your project consists of sip sources only. 
-# Doxygen will parse them like normal C++ but will assume all classes use public 
-# instead of private inheritance when no explicit protection keyword is present.
-
 SIP_SUPPORT            = NO
-
-# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC 
-# tag is set to YES, then doxygen will reuse the documentation of the first 
-# member in the group (if any) for the other members of the group. By default 
-# all members of a group must be documented explicitly.
-
+IDL_PROPERTY_SUPPORT   = YES
 DISTRIBUTE_GROUP_DOC   = NO
-
-# Set the SUBGROUPING tag to YES (the default) to allow class member groups of 
-# the same type (for instance a group of public functions) to be put as a 
-# subgroup of that type (e.g. under the Public Functions section). Set it to 
-# NO to prevent subgrouping. Alternatively, this can be done per class using 
-# the \nosubgrouping command.
-
 SUBGROUPING            = YES
-
-# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum 
-# is documented as struct, union, or enum with the name of the typedef. So 
-# typedef struct TypeS {} TypeT, will appear in the documentation as a struct 
-# with name TypeT. When disabled the typedef will appear as a member of a file, 
-# namespace, or class. And the struct will be named TypeS. This can typically 
-# be useful for C code in case the coding convention dictates that all compound 
-# types are typedef'ed and only the typedef is referenced, never the tag name.
-
+INLINE_GROUPED_CLASSES = NO
+INLINE_SIMPLE_STRUCTS  = NO
 TYPEDEF_HIDES_STRUCT   = NO
-
+SYMBOL_CACHE_SIZE      = 0
+LOOKUP_CACHE_SIZE      = 0
 #---------------------------------------------------------------------------
 # Build related configuration options
 #---------------------------------------------------------------------------
-
-# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in 
-# documentation are documented, even if no documentation was available. 
-# Private class members and static file members will be hidden unless 
-# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES
-
 EXTRACT_ALL            = YES
-
-# If the EXTRACT_PRIVATE tag is set to YES all private members of a class 
-# will be included in the documentation.
-
 EXTRACT_PRIVATE        = NO
-
-# If the EXTRACT_STATIC tag is set to YES all static members of a file 
-# will be included in the documentation.
-
+EXTRACT_PACKAGE        = NO
 EXTRACT_STATIC         = NO
-
-# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) 
-# defined locally in source files will be included in the documentation. 
-# If set to NO only classes defined in header files are included.
-
 EXTRACT_LOCAL_CLASSES  = YES
-
-# This flag is only useful for Objective-C code. When set to YES local 
-# methods, which are defined in the implementation section but not in 
-# the interface are included in the documentation. 
-# If set to NO (the default) only methods in the interface are included.
-
 EXTRACT_LOCAL_METHODS  = NO
-
-# If this flag is set to YES, the members of anonymous namespaces will be 
-# extracted and appear in the documentation as a namespace called 
-# 'anonymous_namespace{file}', where file will be replaced with the base 
-# name of the file that contains the anonymous namespace. By default 
-# anonymous namespace are hidden.
-
 EXTRACT_ANON_NSPACES   = NO
-
-# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all 
-# undocumented members of documented classes, files or namespaces. 
-# If set to NO (the default) these members will be included in the 
-# various overviews, but no documentation section is generated. 
-# This option has no effect if EXTRACT_ALL is enabled.
-
 HIDE_UNDOC_MEMBERS     = NO
-
-# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all 
-# undocumented classes that are normally visible in the class hierarchy. 
-# If set to NO (the default) these classes will be included in the various 
-# overviews. This option has no effect if EXTRACT_ALL is enabled.
-
 HIDE_UNDOC_CLASSES     = NO
-
-# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all 
-# friend (class|struct|union) declarations. 
-# If set to NO (the default) these declarations will be included in the 
-# documentation.
-
 HIDE_FRIEND_COMPOUNDS  = NO
-
-# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any 
-# documentation blocks found inside the body of a function. 
-# If set to NO (the default) these blocks will be appended to the 
-# function's detailed documentation block.
-
 HIDE_IN_BODY_DOCS      = NO
-
-# The INTERNAL_DOCS tag determines if documentation 
-# that is typed after a \internal command is included. If the tag is set 
-# to NO (the default) then the documentation will be excluded. 
-# Set it to YES to include the internal documentation.
-
 INTERNAL_DOCS          = NO
-
-# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate 
-# file names in lower-case letters. If set to YES upper-case letters are also 
-# allowed. This is useful if you have classes or files whose names only differ 
-# in case and if your file system supports case sensitive file names. Windows 
-# and Mac users are advised to set this option to NO.
-
 CASE_SENSE_NAMES       = YES
-
-# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen 
-# will show members with their full class and namespace scopes in the 
-# documentation. If set to YES the scope will be hidden.
-
 HIDE_SCOPE_NAMES       = NO
-
-# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen 
-# will put a list of the files that are included by a file in the documentation 
-# of that file.
-
 SHOW_INCLUDE_FILES     = YES
-
-# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] 
-# is inserted in the documentation for inline members.
-
+FORCE_LOCAL_INCLUDES   = NO
 INLINE_INFO            = YES
-
-# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen 
-# will sort the (detailed) documentation of file and class members 
-# alphabetically by member name. If set to NO the members will appear in 
-# declaration order.
-
 SORT_MEMBER_DOCS       = YES
-
-# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the 
-# brief documentation of file, namespace and class members alphabetically 
-# by member name. If set to NO (the default) the members will appear in 
-# declaration order.
-
 SORT_BRIEF_DOCS        = NO
-
-# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the 
-# hierarchy of group names into alphabetical order. If set to NO (the default) 
-# the group names will appear in their defined order.
-
+SORT_MEMBERS_CTORS_1ST = NO
 SORT_GROUP_NAMES       = NO
-
-# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be 
-# sorted by fully-qualified names, including namespaces. If set to 
-# NO (the default), the class list will be sorted only by class name, 
-# not including the namespace part. 
-# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
-# Note: This option applies only to the class list, not to the 
-# alphabetical list.
-
 SORT_BY_SCOPE_NAME     = NO
-
-# The GENERATE_TODOLIST tag can be used to enable (YES) or 
-# disable (NO) the todo list. This list is created by putting \todo 
-# commands in the documentation.
-
+STRICT_PROTO_MATCHING  = NO
 GENERATE_TODOLIST      = YES
-
-# The GENERATE_TESTLIST tag can be used to enable (YES) or 
-# disable (NO) the test list. This list is created by putting \test 
-# commands in the documentation.
-
 GENERATE_TESTLIST      = YES
-
-# The GENERATE_BUGLIST tag can be used to enable (YES) or 
-# disable (NO) the bug list. This list is created by putting \bug 
-# commands in the documentation.
-
 GENERATE_BUGLIST       = YES
-
-# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or 
-# disable (NO) the deprecated list. This list is created by putting 
-# \deprecated commands in the documentation.
-
 GENERATE_DEPRECATEDLIST= YES
-
-# The ENABLED_SECTIONS tag can be used to enable conditional 
-# documentation sections, marked by \if sectionname ... \endif.
-
-ENABLED_SECTIONS       = 
-
-# The MAX_INITIALIZER_LINES tag determines the maximum number of lines 
-# the initial value of a variable or define consists of for it to appear in 
-# the documentation. If the initializer consists of more lines than specified 
-# here it will be hidden. Use a value of 0 to hide initializers completely. 
-# The appearance of the initializer of individual variables and defines in the 
-# documentation can be controlled using \showinitializer or \hideinitializer 
-# command in the documentation regardless of this setting.
-
+ENABLED_SECTIONS       =
 MAX_INITIALIZER_LINES  = 30
-
-# Set the SHOW_USED_FILES tag to NO to disable the list of files generated 
-# at the bottom of the documentation of classes and structs. If set to YES the 
-# list will mention the files that were used to generate the documentation.
-
 SHOW_USED_FILES        = YES
-
-# If the sources in your project are distributed over multiple directories 
-# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy 
-# in the documentation. The default is NO.
-
-SHOW_DIRECTORIES       = NO
-
-# The FILE_VERSION_FILTER tag can be used to specify a program or script that 
-# doxygen should invoke to get the current version for each file (typically from 
-# the version control system). Doxygen will invoke the program by executing (via 
-# popen()) the command <command> <input-file>, where <command> is the value of 
-# the FILE_VERSION_FILTER tag, and <input-file> is the name of an input file 
-# provided by doxygen. Whatever the program writes to standard output 
-# is used as the file version. See the manual for examples.
-
-FILE_VERSION_FILTER    = 
-
+SHOW_FILES             = YES
+SHOW_NAMESPACES        = YES
+FILE_VERSION_FILTER    =
+LAYOUT_FILE            =
+CITE_BIB_FILES         =
 #---------------------------------------------------------------------------
 # configuration options related to warning and progress messages
 #---------------------------------------------------------------------------
-
-# The QUIET tag can be used to turn on/off the messages that are generated 
-# by doxygen. Possible values are YES and NO. If left blank NO is used.
-
 QUIET                  = NO
-
-# The WARNINGS tag can be used to turn on/off the warning messages that are 
-# generated by doxygen. Possible values are YES and NO. If left blank 
-# NO is used.
-
 WARNINGS               = YES
-
-# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings 
-# for undocumented members. If EXTRACT_ALL is set to YES then this flag will 
-# automatically be disabled.
-
 WARN_IF_UNDOCUMENTED   = YES
-
-# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for 
-# potential errors in the documentation, such as not documenting some 
-# parameters in a documented function, or documenting parameters that 
-# don't exist or using markup commands wrongly.
-
 WARN_IF_DOC_ERROR      = YES
-
-# This WARN_NO_PARAMDOC option can be abled to get warnings for 
-# functions that are documented, but have no documentation for their parameters 
-# or return value. If set to NO (the default) doxygen will only warn about 
-# wrong or incomplete parameter documentation, but not about the absence of 
-# documentation.
-
 WARN_NO_PARAMDOC       = NO
-
-# The WARN_FORMAT tag determines the format of the warning messages that 
-# doxygen can produce. The string should contain the $file, $line, and $text 
-# tags, which will be replaced by the file and line number from which the 
-# warning originated and the warning text. Optionally the format may contain 
-# $version, which will be replaced by the version of the file (if it could 
-# be obtained via FILE_VERSION_FILTER)
-
 WARN_FORMAT            = "$file:$line: $text"
-
-# The WARN_LOGFILE tag can be used to specify a file to which warning 
-# and error messages should be written. If left blank the output is written 
-# to stderr.
-
-WARN_LOGFILE           = 
-
+WARN_LOGFILE           = doxygen.error.log
 #---------------------------------------------------------------------------
 # configuration options related to the input files
 #---------------------------------------------------------------------------
-
-# The INPUT tag can be used to specify the files and/or directories that contain 
-# documented source files. You may enter file names like "myfile.cpp" or 
-# directories like "/usr/src/myproject". Separate the files or directories 
-# with spaces.
-
 INPUT                  = ../OpenSim
-
-# This tag can be used to specify the character encoding of the source files 
-# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is 
-# also the default input encoding. Doxygen uses libiconv (or the iconv built 
-# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for 
-# the list of possible encodings.
-
 INPUT_ENCODING         = UTF-8
-
-# If the value of the INPUT tag contains directories, you can use the 
-# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp 
-# and *.h) to filter out the source-files in the directories. If left 
-# blank the following patterns are tested: 
-# *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx 
-# *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.py *.f90
-
-FILE_PATTERNS          = 
-
-# The RECURSIVE tag can be used to turn specify whether or not subdirectories 
-# should be searched for input files as well. Possible values are YES and NO. 
-# If left blank NO is used.
-
+FILE_PATTERNS          =
 RECURSIVE              = YES
-
-# The EXCLUDE tag can be used to specify files and/or directories that should 
-# excluded from the INPUT source files. This way you can easily exclude a 
-# subdirectory from a directory tree whose root is specified with the INPUT tag.
-
 EXCLUDE                =
-
-# The EXCLUDE_SYMLINKS tag can be used select whether or not files or 
-# directories that are symbolic links (a Unix filesystem feature) are excluded 
-# from the input.
-
 EXCLUDE_SYMLINKS       = NO
-
-# If the value of the INPUT tag contains directories, you can use the 
-# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude 
-# certain files from those directories. Note that the wildcards are matched 
-# against the file with absolute path, so to exclude all test directories 
-# for example use the pattern */test/*
-
-EXCLUDE_PATTERNS       = 
-
-# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names 
-# (namespaces, classes, functions, etc.) that should be excluded from the 
-# output. The symbol name can be a fully qualified name, a word, or if the 
-# wildcard * is used, a substring. Examples: ANamespace, AClass, 
-# AClass::ANamespace, ANamespace::*Test
-
-EXCLUDE_SYMBOLS        = 
-
-# The EXAMPLE_PATH tag can be used to specify one or more files or 
-# directories that contain example code fragments that are included (see 
-# the \include command).
-
-EXAMPLE_PATH           = 
-
-# If the value of the EXAMPLE_PATH tag contains directories, you can use the 
-# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp 
-# and *.h) to filter out the source-files in the directories. If left 
-# blank all files are included.
-
-EXAMPLE_PATTERNS       = 
-
-# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be 
-# searched for input files to be used with the \include or \dontinclude 
-# commands irrespective of the value of the RECURSIVE tag. 
-# Possible values are YES and NO. If left blank NO is used.
-
+EXCLUDE_PATTERNS       =
+EXCLUDE_SYMBOLS        =
+EXAMPLE_PATH           =
+EXAMPLE_PATTERNS       =
 EXAMPLE_RECURSIVE      = NO
-
-# The IMAGE_PATH tag can be used to specify one or more files or 
-# directories that contain image that are included in the documentation (see 
-# the \image command).
-
-IMAGE_PATH             = 
-
-# The INPUT_FILTER tag can be used to specify a program that doxygen should 
-# invoke to filter for each input file. Doxygen will invoke the filter program 
-# by executing (via popen()) the command <filter> <input-file>, where <filter> 
-# is the value of the INPUT_FILTER tag, and <input-file> is the name of an 
-# input file. Doxygen will then use the output that the filter program writes 
-# to standard output.  If FILTER_PATTERNS is specified, this tag will be 
-# ignored.
-
-INPUT_FILTER           = 
-
-# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern 
-# basis.  Doxygen will compare the file name with each pattern and apply the 
-# filter if there is a match.  The filters are a list of the form: 
-# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further 
-# info on how filters are used. If FILTER_PATTERNS is empty, INPUT_FILTER 
-# is applied to all files.
-
-FILTER_PATTERNS        = 
-
-# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using 
-# INPUT_FILTER) will be used to filter the input files when producing source 
-# files to browse (i.e. when SOURCE_BROWSER is set to YES).
-
+IMAGE_PATH             =
+INPUT_FILTER           =
+FILTER_PATTERNS        =
 FILTER_SOURCE_FILES    = NO
-
+FILTER_SOURCE_PATTERNS =
 #---------------------------------------------------------------------------
 # configuration options related to source browsing
 #---------------------------------------------------------------------------
-
-# If the SOURCE_BROWSER tag is set to YES then a list of source files will 
-# be generated. Documented entities will be cross-referenced with these sources. 
-# Note: To get rid of all source code in the generated output, make sure also 
-# VERBATIM_HEADERS is set to NO.
-
 SOURCE_BROWSER         = NO
-
-# Setting the INLINE_SOURCES tag to YES will include the body 
-# of functions and classes directly in the documentation.
-
 INLINE_SOURCES         = NO
-
-# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct 
-# doxygen to hide any special comment blocks from generated source code 
-# fragments. Normal C and C++ comments will always remain visible.
-
 STRIP_CODE_COMMENTS    = YES
-
-# If the REFERENCED_BY_RELATION tag is set to YES (the default) 
-# then for each documented function all documented 
-# functions referencing it will be listed.
-
 REFERENCED_BY_RELATION = NO
-
-# If the REFERENCES_RELATION tag is set to YES (the default) 
-# then for each documented function all documented entities 
-# called/used by that function will be listed.
-
 REFERENCES_RELATION    = NO
-
-# If the REFERENCES_LINK_SOURCE tag is set to YES (the default)
-# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from
-# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will
-# link to the source code.  Otherwise they will link to the documentstion.
-
 REFERENCES_LINK_SOURCE = YES
-
-# If the USE_HTAGS tag is set to YES then the references to source code 
-# will point to the HTML generated by the htags(1) tool instead of doxygen 
-# built-in source browser. The htags tool is part of GNU's global source 
-# tagging system (see http://www.gnu.org/software/global/global.html). You 
-# will need version 4.8.6 or higher.
-
 USE_HTAGS              = NO
-
-# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen 
-# will generate a verbatim copy of the header file for each class for 
-# which an include is specified. Set to NO to disable this.
-
 VERBATIM_HEADERS       = YES
-
 #---------------------------------------------------------------------------
 # configuration options related to the alphabetical class index
 #---------------------------------------------------------------------------
-
-# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index 
-# of all compounds will be generated. Enable this if the project 
-# contains a lot of classes, structs, unions or interfaces.
-
 ALPHABETICAL_INDEX     = NO
-
-# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then 
-# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns 
-# in which this list will be split (can be a number in the range [1..20])
-
 COLS_IN_ALPHA_INDEX    = 5
-
-# In case all classes in a project start with a common prefix, all 
-# classes will be put under the same header in the alphabetical index. 
-# The IGNORE_PREFIX tag can be used to specify one or more prefixes that 
-# should be ignored while generating the index headers.
-
-IGNORE_PREFIX          = 
-
+IGNORE_PREFIX          =
 #---------------------------------------------------------------------------
 # configuration options related to the HTML output
 #---------------------------------------------------------------------------
-
-# If the GENERATE_HTML tag is set to YES (the default) Doxygen will 
-# generate HTML output.
-
 GENERATE_HTML          = YES
-
-# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. 
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be 
-# put in front of it. If left blank `html' will be used as the default path.
-
 HTML_OUTPUT            = html
-
-# The HTML_FILE_EXTENSION tag can be used to specify the file extension for 
-# each generated HTML page (for example: .htm,.php,.asp). If it is left blank 
-# doxygen will generate files with .html extension.
-
 HTML_FILE_EXTENSION    = .html
-
-# The HTML_HEADER tag can be used to specify a personal HTML header for 
-# each generated HTML page. If it is left blank doxygen will generate a 
-# standard header.
-
-HTML_HEADER            = 
-
-# The HTML_FOOTER tag can be used to specify a personal HTML footer for 
-# each generated HTML page. If it is left blank doxygen will generate a 
-# standard footer.
-
-HTML_FOOTER            = 
-
-# The HTML_STYLESHEET tag can be used to specify a user-defined cascading 
-# style sheet that is used by each HTML page. It can be used to 
-# fine-tune the look of the HTML output. If the tag is left blank doxygen 
-# will generate a default style sheet. Note that doxygen will try to copy 
-# the style sheet file to the HTML output directory, so don't put your own 
-# stylesheet in the HTML output directory as well, or it will be erased!
-
-HTML_STYLESHEET        = 
-
-# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, 
-# files or namespaces will be aligned in HTML using tables. If set to 
-# NO a bullet list will be used.
-
-HTML_ALIGN_MEMBERS     = YES
-
-# If the GENERATE_HTMLHELP tag is set to YES, additional index files 
-# will be generated that can be used as input for tools like the 
-# Microsoft HTML help workshop to generate a compiled HTML help file (.chm) 
-# of the generated HTML documentation.
-
-GENERATE_HTMLHELP      = NO
-
-# If the GENERATE_DOCSET tag is set to YES, additional index files 
-# will be generated that can be used as input for Apple's Xcode 3 
-# integrated development environment, introduced with OSX 10.5 (Leopard). 
-# To create a documentation set, doxygen will generate a Makefile in the 
-# HTML output directory. Running make will produce the docset in that 
-# directory and running "make install" will install the docset in 
-# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find 
-# it at startup.
-
-GENERATE_DOCSET        = NO
-
-# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the 
-# feed. A documentation feed provides an umbrella under which multiple 
-# documentation sets from a single provider (such as a company or product suite) 
-# can be grouped.
-
-DOCSET_FEEDNAME        = "Doxygen generated docs"
-
-# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that 
-# should uniquely identify the documentation set bundle. This should be a 
-# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen 
-# will append .docset to the name.
-
-DOCSET_BUNDLE_ID       = org.doxygen.Project
-
-# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML 
-# documentation will contain sections that can be hidden and shown after the 
-# page has loaded. For this to work a browser that supports 
-# JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox 
-# Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari).
-
+HTML_HEADER            =
+HTML_FOOTER            =
+HTML_STYLESHEET        =
+HTML_EXTRA_STYLESHEET  =
+HTML_EXTRA_FILES       =
+HTML_COLORSTYLE_HUE    = 220
+HTML_COLORSTYLE_SAT    = 100
+HTML_COLORSTYLE_GAMMA  = 80
+HTML_TIMESTAMP         = YES
 HTML_DYNAMIC_SECTIONS  = NO
-
-# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can 
-# be used to specify the file name of the resulting .chm file. You 
-# can add a path in front of the file if the result should not be 
-# written to the html output directory.
-
-CHM_FILE               = 
-
-# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can 
-# be used to specify the location (absolute path including file name) of 
-# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run 
-# the HTML help compiler on the generated index.hhp.
-
-HHC_LOCATION           = 
-
-# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag 
-# controls if a separate .chi index file is generated (YES) or that 
-# it should be included in the master .chm file (NO).
-
+HTML_INDEX_NUM_ENTRIES = 100
+GENERATE_DOCSET        = NO
+DOCSET_FEEDNAME        = "OpenSimulator docs"
+DOCSET_BUNDLE_ID       = org.opensimulator.OpenSim
+DOCSET_PUBLISHER_ID    = org.opensimulator.OpenSim
+DOCSET_PUBLISHER_NAME  = OpenSim
+GENERATE_HTMLHELP      = NO
+CHM_FILE               =
+HHC_LOCATION           =
 GENERATE_CHI           = NO
-
-# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag 
-# controls whether a binary table of contents is generated (YES) or a 
-# normal table of contents (NO) in the .chm file.
-
+CHM_INDEX_ENCODING     =
 BINARY_TOC             = NO
-
-# The TOC_EXPAND flag can be set to YES to add extra items for group members 
-# to the contents of the HTML help documentation and to the tree view.
-
 TOC_EXPAND             = NO
-
-# The DISABLE_INDEX tag can be used to turn on/off the condensed index at 
-# top of each HTML page. The value NO (the default) enables the index and 
-# the value YES disables it.
-
+GENERATE_QHP           = NO
+QCH_FILE               =
+QHP_NAMESPACE          = org.opensimulator.OpenSim
+QHP_VIRTUAL_FOLDER     = doc
+QHP_CUST_FILTER_NAME   =
+QHP_CUST_FILTER_ATTRS  =
+QHP_SECT_FILTER_ATTRS  =
+QHG_LOCATION           =
+GENERATE_ECLIPSEHELP   = NO
+ECLIPSE_DOC_ID         = org.opensimulator.OpenSim
 DISABLE_INDEX          = NO
-
-# This tag can be used to set the number of enum values (range [1..20]) 
-# that doxygen will group on one line in the generated HTML documentation.
-
-ENUM_VALUES_PER_LINE   = 4
-
-# If the GENERATE_TREEVIEW tag is set to YES, a side panel will be
-# generated containing a tree-like index structure (just like the one that 
-# is generated for HTML Help). For this to work a browser that supports 
-# JavaScript, DHTML, CSS and frames is required (for instance Mozilla 1.0+, 
-# Netscape 6.0+, Internet explorer 5.0+, or Konqueror). Windows users are 
-# probably better off using the HTML help feature.
-
 GENERATE_TREEVIEW      = NO
-
-# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be 
-# used to set the initial width (in pixels) of the frame in which the tree 
-# is shown.
-
+ENUM_VALUES_PER_LINE   = 4
 TREEVIEW_WIDTH         = 250
-
+EXT_LINKS_IN_WINDOW    = NO
+FORMULA_FONTSIZE       = 10
+FORMULA_TRANSPARENT    = YES
+USE_MATHJAX            = NO
+MATHJAX_RELPATH        = http://cdn.mathjax.org/mathjax/latest
+MATHJAX_EXTENSIONS     =
+SEARCHENGINE           = YES
+SERVER_BASED_SEARCH    = NO
 #---------------------------------------------------------------------------
 # configuration options related to the LaTeX output
 #---------------------------------------------------------------------------
-
-# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will 
-# generate Latex output.
-
 GENERATE_LATEX         = NO
-
-# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. 
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be 
-# put in front of it. If left blank `latex' will be used as the default path.
-
 LATEX_OUTPUT           = latex
-
-# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be 
-# invoked. If left blank `latex' will be used as the default command name.
-
 LATEX_CMD_NAME         = latex
-
-# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to 
-# generate index for LaTeX. If left blank `makeindex' will be used as the 
-# default command name.
-
 MAKEINDEX_CMD_NAME     = makeindex
-
-# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact 
-# LaTeX documents. This may be useful for small projects and may help to 
-# save some trees in general.
-
 COMPACT_LATEX          = NO
-
-# The PAPER_TYPE tag can be used to set the paper type that is used 
-# by the printer. Possible values are: a4, a4wide, letter, legal and 
-# executive. If left blank a4wide will be used.
-
 PAPER_TYPE             = a4wide
-
-# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX 
-# packages that should be included in the LaTeX output.
-
-EXTRA_PACKAGES         = 
-
-# The LATEX_HEADER tag can be used to specify a personal LaTeX header for 
-# the generated latex document. The header should contain everything until 
-# the first chapter. If it is left blank doxygen will generate a 
-# standard header. Notice: only use this tag if you know what you are doing!
-
-LATEX_HEADER           = 
-
-# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated 
-# is prepared for conversion to pdf (using ps2pdf). The pdf file will 
-# contain links (just like the HTML output) instead of page references 
-# This makes the output suitable for online browsing using a pdf viewer.
-
+EXTRA_PACKAGES         =
+LATEX_HEADER           =
+LATEX_FOOTER           =
 PDF_HYPERLINKS         = YES
-
-# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of 
-# plain latex in the generated Makefile. Set this option to YES to get a 
-# higher quality PDF documentation.
-
 USE_PDFLATEX           = YES
-
-# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. 
-# command to the generated LaTeX files. This will instruct LaTeX to keep 
-# running if errors occur, instead of asking the user for help. 
-# This option is also used when generating formulas in HTML.
-
 LATEX_BATCHMODE        = NO
-
-# If LATEX_HIDE_INDICES is set to YES then doxygen will not 
-# include the index chapters (such as File Index, Compound Index, etc.) 
-# in the output.
-
 LATEX_HIDE_INDICES     = NO
-
+LATEX_SOURCE_CODE      = NO
+LATEX_BIB_STYLE        = plain
 #---------------------------------------------------------------------------
 # configuration options related to the RTF output
 #---------------------------------------------------------------------------
-
-# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output 
-# The RTF output is optimized for Word 97 and may not look very pretty with 
-# other RTF readers or editors.
-
 GENERATE_RTF           = NO
-
-# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. 
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be 
-# put in front of it. If left blank `rtf' will be used as the default path.
-
 RTF_OUTPUT             = rtf
-
-# If the COMPACT_RTF tag is set to YES Doxygen generates more compact 
-# RTF documents. This may be useful for small projects and may help to 
-# save some trees in general.
-
 COMPACT_RTF            = NO
-
-# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated 
-# will contain hyperlink fields. The RTF file will 
-# contain links (just like the HTML output) instead of page references. 
-# This makes the output suitable for online browsing using WORD or other 
-# programs which support those fields. 
-# Note: wordpad (write) and others do not support links.
-
 RTF_HYPERLINKS         = NO
-
-# Load stylesheet definitions from file. Syntax is similar to doxygen's 
-# config file, i.e. a series of assignments. You only have to provide 
-# replacements, missing definitions are set to their default value.
-
-RTF_STYLESHEET_FILE    = 
-
-# Set optional variables used in the generation of an rtf document. 
-# Syntax is similar to doxygen's config file.
-
-RTF_EXTENSIONS_FILE    = 
-
+RTF_STYLESHEET_FILE    =
+RTF_EXTENSIONS_FILE    =
 #---------------------------------------------------------------------------
 # configuration options related to the man page output
 #---------------------------------------------------------------------------
-
-# If the GENERATE_MAN tag is set to YES (the default) Doxygen will 
-# generate man pages
-
 GENERATE_MAN           = NO
-
-# The MAN_OUTPUT tag is used to specify where the man pages will be put. 
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be 
-# put in front of it. If left blank `man' will be used as the default path.
-
 MAN_OUTPUT             = man
-
-# The MAN_EXTENSION tag determines the extension that is added to 
-# the generated man pages (default is the subroutine's section .3)
-
 MAN_EXTENSION          = .3
-
-# If the MAN_LINKS tag is set to YES and Doxygen generates man output, 
-# then it will generate one additional man file for each entity 
-# documented in the real man page(s). These additional files 
-# only source the real man page, but without them the man command 
-# would be unable to find the correct page. The default is NO.
-
 MAN_LINKS              = NO
-
 #---------------------------------------------------------------------------
 # configuration options related to the XML output
 #---------------------------------------------------------------------------
-
-# If the GENERATE_XML tag is set to YES Doxygen will 
-# generate an XML file that captures the structure of 
-# the code including all documentation.
-
 GENERATE_XML           = NO
-
-# The XML_OUTPUT tag is used to specify where the XML pages will be put. 
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be 
-# put in front of it. If left blank `xml' will be used as the default path.
-
 XML_OUTPUT             = xml
-
-# The XML_SCHEMA tag can be used to specify an XML schema, 
-# which can be used by a validating XML parser to check the 
-# syntax of the XML files.
-
-XML_SCHEMA             = 
-
-# The XML_DTD tag can be used to specify an XML DTD, 
-# which can be used by a validating XML parser to check the 
-# syntax of the XML files.
-
-XML_DTD                = 
-
-# If the XML_PROGRAMLISTING tag is set to YES Doxygen will 
-# dump the program listings (including syntax highlighting 
-# and cross-referencing information) to the XML output. Note that 
-# enabling this will significantly increase the size of the XML output.
-
+XML_SCHEMA             =
+XML_DTD                =
 XML_PROGRAMLISTING     = YES
-
 #---------------------------------------------------------------------------
 # configuration options for the AutoGen Definitions output
 #---------------------------------------------------------------------------
-
-# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will 
-# generate an AutoGen Definitions (see autogen.sf.net) file 
-# that captures the structure of the code including all 
-# documentation. Note that this feature is still experimental 
-# and incomplete at the moment.
-
 GENERATE_AUTOGEN_DEF   = NO
-
 #---------------------------------------------------------------------------
 # configuration options related to the Perl module output
 #---------------------------------------------------------------------------
-
-# If the GENERATE_PERLMOD tag is set to YES Doxygen will 
-# generate a Perl module file that captures the structure of 
-# the code including all documentation. Note that this 
-# feature is still experimental and incomplete at the 
-# moment.
-
 GENERATE_PERLMOD       = NO
-
-# If the PERLMOD_LATEX tag is set to YES Doxygen will generate 
-# the necessary Makefile rules, Perl scripts and LaTeX code to be able 
-# to generate PDF and DVI output from the Perl module output.
-
 PERLMOD_LATEX          = NO
-
-# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be 
-# nicely formatted so it can be parsed by a human reader.  This is useful 
-# if you want to understand what is going on.  On the other hand, if this 
-# tag is set to NO the size of the Perl module output will be much smaller 
-# and Perl will parse it just the same.
-
 PERLMOD_PRETTY         = YES
-
-# The names of the make variables in the generated doxyrules.make file 
-# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. 
-# This is useful so different doxyrules.make files included by the same 
-# Makefile don't overwrite each other's variables.
-
-PERLMOD_MAKEVAR_PREFIX = 
-
+PERLMOD_MAKEVAR_PREFIX =
 #---------------------------------------------------------------------------
-# Configuration options related to the preprocessor   
+# Configuration options related to the preprocessor
 #---------------------------------------------------------------------------
-
-# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will 
-# evaluate all C-preprocessor directives found in the sources and include 
-# files.
-
 ENABLE_PREPROCESSING   = YES
-
-# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro 
-# names in the source code. If set to NO (the default) only conditional 
-# compilation will be performed. Macro expansion can be done in a controlled 
-# way by setting EXPAND_ONLY_PREDEF to YES.
-
 MACRO_EXPANSION        = NO
-
-# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES 
-# then the macro expansion is limited to the macros specified with the 
-# PREDEFINED and EXPAND_AS_DEFINED tags.
-
 EXPAND_ONLY_PREDEF     = NO
-
-# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files 
-# in the INCLUDE_PATH (see below) will be search if a #include is found.
-
 SEARCH_INCLUDES        = YES
-
-# The INCLUDE_PATH tag can be used to specify one or more directories that 
-# contain include files that are not input files but should be processed by 
-# the preprocessor.
-
-INCLUDE_PATH           = 
-
-# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard 
-# patterns (like *.h and *.hpp) to filter out the header-files in the 
-# directories. If left blank, the patterns specified with FILE_PATTERNS will 
-# be used.
-
-INCLUDE_FILE_PATTERNS  = 
-
-# The PREDEFINED tag can be used to specify one or more macro names that 
-# are defined before the preprocessor is started (similar to the -D option of 
-# gcc). The argument of the tag is a list of macros of the form: name 
-# or name=definition (no spaces). If the definition and the = are 
-# omitted =1 is assumed. To prevent a macro definition from being 
-# undefined via #undef or recursively expanded use the := operator 
-# instead of the = operator.
-
-PREDEFINED             = 
-
-# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then 
-# this tag can be used to specify a list of macro names that should be expanded. 
-# The macro definition that is found in the sources will be used. 
-# Use the PREDEFINED tag if you want to use a different macro definition.
-
-EXPAND_AS_DEFINED      = 
-
-# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then 
-# doxygen's preprocessor will remove all function-like macros that are alone 
-# on a line, have an all uppercase name, and do not end with a semicolon. Such 
-# function macros are typically used for boiler-plate code, and will confuse 
-# the parser if not removed.
-
+INCLUDE_PATH           =
+INCLUDE_FILE_PATTERNS  =
+PREDEFINED             =
+EXPAND_AS_DEFINED      =
 SKIP_FUNCTION_MACROS   = YES
-
 #---------------------------------------------------------------------------
-# Configuration::additions related to external references   
+# Configuration::additions related to external references
 #---------------------------------------------------------------------------
-
-# The TAGFILES option can be used to specify one or more tagfiles. 
-# Optionally an initial location of the external documentation 
-# can be added for each tagfile. The format of a tag file without 
-# this location is as follows: 
-#   TAGFILES = file1 file2 ... 
-# Adding location for the tag files is done as follows: 
-#   TAGFILES = file1=loc1 "file2 = loc2" ... 
-# where "loc1" and "loc2" can be relative or absolute paths or 
-# URLs. If a location is present for each tag, the installdox tool 
-# does not have to be run to correct the links.
-# Note that each tag file must have a unique name
-# (where the name does NOT include the path)
-# If a tag file is not located in the directory in which doxygen 
-# is run, you must also specify the path to the tagfile here.
-
-TAGFILES               = 
-
-# When a file name is specified after GENERATE_TAGFILE, doxygen will create 
-# a tag file that is based on the input files it reads.
-
-GENERATE_TAGFILE       = 
-
-# If the ALLEXTERNALS tag is set to YES all external classes will be listed 
-# in the class index. If set to NO only the inherited external classes 
-# will be listed.
-
+TAGFILES               =
+GENERATE_TAGFILE       =
 ALLEXTERNALS           = NO
-
-# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed 
-# in the modules index. If set to NO, only the current project's groups will 
-# be listed.
-
 EXTERNAL_GROUPS        = YES
-
-# The PERL_PATH should be the absolute path and name of the perl script 
-# interpreter (i.e. the result of `which perl').
-
 PERL_PATH              = /usr/bin/perl
-
 #---------------------------------------------------------------------------
-# Configuration options related to the dot tool   
+# Configuration options related to the dot tool
 #---------------------------------------------------------------------------
-
-# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will 
-# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base 
-# or super classes. Setting the tag to NO turns the diagrams off. Note that 
-# this option is superseded by the HAVE_DOT option below. This is only a 
-# fallback. It is recommended to install and use dot, since it yields more 
-# powerful graphs.
-
 CLASS_DIAGRAMS         = YES
-
-# You can define message sequence charts within doxygen comments using the \msc 
-# command. Doxygen will then run the mscgen tool (see 
-# http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the 
-# documentation. The MSCGEN_PATH tag allows you to specify the directory where 
-# the mscgen tool resides. If left empty the tool is assumed to be found in the 
-# default search path.
-
-MSCGEN_PATH            = 
-
-# If set to YES, the inheritance and collaboration graphs will hide 
-# inheritance and usage relations if the target is undocumented 
-# or is not a class.
-
+MSCGEN_PATH            =
 HIDE_UNDOC_RELATIONS   = YES
-
-# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is 
-# available from the path. This tool is part of Graphviz, a graph visualization 
-# toolkit from AT&T and Lucent Bell Labs. The other options in this section 
-# have no effect if this option is set to NO (the default)
-
 HAVE_DOT               = NO
-
-# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen 
-# will generate a graph for each documented class showing the direct and 
-# indirect inheritance relations. Setting this tag to YES will force the 
-# the CLASS_DIAGRAMS tag to NO.
-
+DOT_NUM_THREADS        = 0
+DOT_FONTNAME           = Helvetica
+DOT_FONTSIZE           = 10
+DOT_FONTPATH           =
 CLASS_GRAPH            = YES
-
-# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen 
-# will generate a graph for each documented class showing the direct and 
-# indirect implementation dependencies (inheritance, containment, and 
-# class references variables) of the class with other documented classes.
-
 COLLABORATION_GRAPH    = YES
-
-# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen 
-# will generate a graph for groups, showing the direct groups dependencies
-
 GROUP_GRAPHS           = YES
-
-# If the UML_LOOK tag is set to YES doxygen will generate inheritance and 
-# collaboration diagrams in a style similar to the OMG's Unified Modeling 
-# Language.
-
 UML_LOOK               = NO
-
-# If set to YES, the inheritance and collaboration graphs will show the 
-# relations between templates and their instances.
-
+UML_LIMIT_NUM_FIELDS   = 10
 TEMPLATE_RELATIONS     = NO
-
-# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT 
-# tags are set to YES then doxygen will generate a graph for each documented 
-# file showing the direct and indirect include dependencies of the file with 
-# other documented files.
-
 INCLUDE_GRAPH          = YES
-
-# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and 
-# HAVE_DOT tags are set to YES then doxygen will generate a graph for each 
-# documented header file showing the documented files that directly or 
-# indirectly include this file.
-
 INCLUDED_BY_GRAPH      = YES
-
-# If the CALL_GRAPH and HAVE_DOT options are set to YES then 
-# doxygen will generate a call dependency graph for every global function 
-# or class method. Note that enabling this option will significantly increase 
-# the time of a run. So in most cases it will be better to enable call graphs 
-# for selected functions only using the \callgraph command.
-
 CALL_GRAPH             = NO
-
-# If the CALLER_GRAPH and HAVE_DOT tags are set to YES then 
-# doxygen will generate a caller dependency graph for every global function 
-# or class method. Note that enabling this option will significantly increase 
-# the time of a run. So in most cases it will be better to enable caller 
-# graphs for selected functions only using the \callergraph command.
-
 CALLER_GRAPH           = NO
-
-# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen 
-# will graphical hierarchy of all classes instead of a textual one.
-
 GRAPHICAL_HIERARCHY    = YES
-
-# If the DIRECTORY_GRAPH, SHOW_DIRECTORIES and HAVE_DOT tags are set to YES 
-# then doxygen will show the dependencies a directory has on other directories 
-# in a graphical way. The dependency relations are determined by the #include
-# relations between the files in the directories.
-
 DIRECTORY_GRAPH        = YES
-
-# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images 
-# generated by dot. Possible values are png, jpg, or gif
-# If left blank png will be used.
-
 DOT_IMAGE_FORMAT       = png
-
-# The tag DOT_PATH can be used to specify the path where the dot tool can be 
-# found. If left blank, it is assumed the dot tool can be found in the path.
-
-DOT_PATH               = 
-
-# The DOTFILE_DIRS tag can be used to specify one or more directories that 
-# contain dot files that are included in the documentation (see the 
-# \dotfile command).
-
-DOTFILE_DIRS           = 
-
-# The MAX_DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of 
-# nodes that will be shown in the graph. If the number of nodes in a graph 
-# becomes larger than this value, doxygen will truncate the graph, which is 
-# visualized by representing a node as a red box. Note that doxygen if the 
-# number of direct children of the root node in a graph is already larger than 
-# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note 
-# that the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH.
-
+INTERACTIVE_SVG        = NO
+DOT_PATH               =
+DOTFILE_DIRS           =
+MSCFILE_DIRS           =
 DOT_GRAPH_MAX_NODES    = 50
-
-# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the 
-# graphs generated by dot. A depth value of 3 means that only nodes reachable 
-# from the root by following a path via at most 3 edges will be shown. Nodes 
-# that lay further from the root node will be omitted. Note that setting this 
-# option to 1 or 2 may greatly reduce the computation time needed for large 
-# code bases. Also note that the size of a graph can be further restricted by 
-# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction.
-
 MAX_DOT_GRAPH_DEPTH    = 0
-
-# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent 
-# background. This is enabled by default, which results in a transparent 
-# background. Warning: Depending on the platform used, enabling this option 
-# may lead to badly anti-aliased labels on the edges of a graph (i.e. they 
-# become hard to read).
-
 DOT_TRANSPARENT        = YES
-
-# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output 
-# files in one run (i.e. multiple -o and -T options on the command line). This 
-# makes dot run faster, but since only newer versions of dot (>1.8.10) 
-# support this, this feature is disabled by default.
-
 DOT_MULTI_TARGETS      = NO
-
-# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will 
-# generate a legend page explaining the meaning of the various boxes and 
-# arrows in the dot generated graphs.
-
 GENERATE_LEGEND        = YES
-
-# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will 
-# remove the intermediate dot files that are used to generate 
-# the various graphs.
-
 DOT_CLEANUP            = YES
-
-#---------------------------------------------------------------------------
-# Configuration::additions related to the search engine   
-#---------------------------------------------------------------------------
-
-# The SEARCHENGINE tag specifies whether or not a search engine should be 
-# used. If set to NO the values of all tags below this one will be ignored.
-
-SEARCHENGINE           = YES
diff --git a/prebuild.xml b/prebuild.xml
index 7fff2e0..f1964f3 100644
--- a/prebuild.xml
+++ b/prebuild.xml
@@ -105,6 +105,7 @@
       <Reference name="Nini" path="../../bin/"/>
       <Reference name="log4net" path="../../bin/"/>
       <Reference name="Mono.Addins" path="../../bin/"/>
+      <Reference name="Mono.Addins.Setup" path="../../bin/"/>
       <Reference name="SmartThreadPool"/>
       <Files>
         <Match pattern="*.cs" recurse="false"/>
@@ -851,10 +852,14 @@
 
       <ReferencePath>../../../bin/</ReferencePath>
       <Reference name="System"/>
+      <Reference name="System.Core"/>
       <Reference name="System.Xml"/>
       <Reference name="System.Web"/>
       <Reference name="OpenMetaverseTypes" path="../../../bin/"/>
+      <Reference name="OpenMetaverse.StructuredData" path="../../../bin/"/>
       <Reference name="OpenMetaverse" path="../../../bin/"/>
+      <Reference name="Mono.Addins" path="../../../bin/"/>
+      <Reference name="Mono.Addins.Setup" path="../../../bin/"/>
       <Reference name="OpenSim.Framework"/>
       <Reference name="OpenSim.Framework.Console"/>
       <Reference name="OpenSim.Framework.Servers"/>
@@ -977,6 +982,7 @@
       <Reference name="OpenMetaverseTypes" path="../../../bin/"/>
       <Reference name="OpenMetaverse" path="../../../bin/"/>
       <Reference name="OpenMetaverse.StructuredData" path="../../../bin/"/>
+      <Reference name="Mono.Addins" path="../../../bin/"/>
       <Reference name="OpenSim.Data"/>
       <Reference name="OpenSim.Framework"/>
       <Reference name="OpenSim.Framework.Communications"/>
@@ -985,7 +991,6 @@
       <Reference name="OpenSim.Server.Base"/>
       <Reference name="OpenSim.Services.Base"/>
       <Reference name="OpenSim.Services.Interfaces"/>
-      <Reference name="Mono.Addins" path="../../../bin/"/>
       <Reference name="Nini" path="../../../bin/"/>
       <Reference name="log4net" path="../../../bin/"/>
       <Reference name="XMLRPC" path="../../../bin/"/>
@@ -1384,6 +1389,7 @@
       <Reference name="Nini" path="../../../bin/"/>
       <Reference name="log4net" path="../../../bin/"/>
       <Reference name="DotNetOpenId" path="../../../bin/"/>
+      <Reference name="Mono.Addins" path="../../../bin/"/>
 
       <Files>
         <Match pattern="*.cs" recurse="true">
@@ -1460,6 +1466,8 @@
       <Reference name="OpenSim.Server.Handlers"/>
       <Reference name="Nini" path="../../bin/"/>
       <Reference name="log4net" path="../../bin/"/>
+      <Reference name="Mono.Addins" path="../../bin/"/>
+      <Reference name="Mono.Addins.Setup" path="../../bin/"/>
 
       <Files>
         <Match pattern="*.cs" recurse="false">
@@ -1799,6 +1807,7 @@
 
       <ReferencePath>../../../bin/</ReferencePath>
       <Reference name="System"/>
+      <Reference name="System.Core"/>
       <Reference name="System.Xml"/>
       <Reference name="OpenSim.Data"/>
       <Reference name="OpenMetaverseTypes" path="../../../bin/"/>
@@ -1861,6 +1870,41 @@
       <Reference name="OpenSim.Framework.Console"/>
       <Reference name="OpenSim.Region.Physics.Manager"/>
       <Reference name="OpenSim.Region.Physics.ConvexDecompositionDotNet"/>
+      <Reference name="BulletXNA.dll" path="../../../../bin/"/>
+      <Reference name="log4net.dll" path="../../../../bin/"/>
+
+      <Files>
+        <Match pattern="*.cs" recurse="true">
+          <Exclude name="Tests" pattern="Tests"/>
+        </Match>
+      </Files>
+    </Project>
+
+    <Project frameworkVersion="v3_5" name="OpenSim.Region.Physics.BulletSNPlugin" path="OpenSim/Region/Physics/BulletSNPlugin" type="Library">
+      <Configuration name="Debug">
+        <Options>
+          <OutputPath>../../../../bin/Physics/</OutputPath>
+        </Options>
+      </Configuration>
+      <Configuration name="Release">
+        <Options>
+          <OutputPath>../../../../bin/Physics/</OutputPath>
+        </Options>
+      </Configuration>
+
+      <ReferencePath>../../../../bin/</ReferencePath>
+      <Reference name="System"/>
+      <Reference name="System.Core"/>
+      <Reference name="System.Xml"/>
+      <Reference name="OpenMetaverseTypes" path="../../../../bin/"/>
+      <Reference name="Nini.dll"  path="../../../../bin/"/>
+      <Reference name="OpenSim.Framework"/>
+      <Reference name="OpenSim.Region.Framework"/>
+      <Reference name="OpenSim.Region.CoreModules"/>
+      <Reference name="OpenSim.Framework.Console"/>
+      <Reference name="OpenSim.Region.Physics.Manager"/>
+      <Reference name="OpenSim.Region.Physics.ConvexDecompositionDotNet"/>
+      <Reference name="BulletXNA.dll" path="../../../../bin/"/>
       <Reference name="log4net.dll" path="../../../../bin/"/>
 
       <Files>
@@ -2167,7 +2211,7 @@
       <Reference name="OpenMetaverseTypes" path="../../../bin/"/>
       <Reference name="OpenMetaverse" path="../../../bin/"/>
       <Reference name="Nini" path="../../../bin/"/>
-      <Reference name="Mono.Addins"/>
+      <Reference name="Mono.Addins" path="../../../bin/"/>
       <Reference name="log4net" path="../../../bin/"/>
       <Files>
         <Match pattern="*.cs" recurse="true"/>
@@ -2497,7 +2541,9 @@
       <Reference name="log4net" path="../../../../../bin/"/>
 
       <Files>
-        <Match pattern="*.cs" recurse="true"/>
+        <Match pattern="*.cs" recurse="true">
+          <Exclude name="Tests" pattern="Tests"/>
+        </Match>
       </Files>
     </Project>
 
@@ -2576,7 +2622,7 @@
       <Reference name="OpenSim.Framework.Servers.HttpServer"/>
       <Reference name="OpenSim.Region.Physics.Manager"/>
       <Reference name="Mono.Data.SqliteClient" path="../../../bin/"/>
-      <Reference name="Mono.Addins"/>
+      <Reference name="Mono.Addins" path="../../../bin/"/>
 
       <!-- For scripting in funny languages by default -->
       <Reference name="XMLRPC" path="../../../bin/"/>
@@ -2807,12 +2853,13 @@
       <Reference name="nunit.framework" path="../../../bin/"/>
       <Reference name="OpenMetaverse" path="../../../bin/"/>
       <Reference name="OpenMetaverseTypes" path="../../../bin/"/>
+      <Reference name="OpenSim.Data"/>
+      <Reference name="OpenSim.Data.Null"/>
       <Reference name="OpenSim.Framework"/>
       <Reference name="OpenSim.Framework.Communications"/>
       <Reference name="OpenSim.Framework.Console"/>
       <Reference name="OpenSim.Framework.Servers"/>
       <Reference name="OpenSim.Framework.Servers.HttpServer"/>
-      <Reference name="OpenSim.Data"/>
       <Reference name="OpenSim.Services.Interfaces"/>
       <Reference name="OpenSim.Server.Base"/>
       <Reference name="OpenSim.Region.Framework"/>
@@ -2838,10 +2885,11 @@
       </Configuration>
 
       <ReferencePath>../../bin/</ReferencePath>
-      <Reference name="OpenSim.Framework"/>
       <Reference name="Nini" path="../../bin/"/>
       <Reference name="nunit.framework" path="../../bin/"/>
       <Reference name="OpenSim"/>
+      <Reference name="OpenSim.Framework"/>
+      <Reference name="OpenSim.Tests.Common"/>
       <Files>
         <Match pattern="*.cs" recurse="false"/>
       </Files>
@@ -3104,6 +3152,7 @@
       <Reference name="OpenSim.Framework.Servers.HttpServer"/>
       <Reference name="OpenSim.Region.Framework"/>
       <Reference name="OpenSim.Region.CoreModules"/>
+      <Reference name="OpenSim.Region.OptionalModules"/>
       <Reference name="OpenSim.Region.Physics.Manager"/>
       <Reference name="OpenSim.Region.ScriptEngine.Shared"/>
       <Reference name="OpenSim.Region.ScriptEngine.XEngine"/>
@@ -3362,6 +3411,7 @@
       <Reference name="OpenSim.Region.ScriptEngine.Shared"/>
       <Reference name="OpenSim.Region.ScriptEngine.Shared.Api"/>
       <Reference name="OpenSim.Region.ScriptEngine.Shared.Api.Runtime"/>
+      <Reference name="OpenSim.Region.ScriptEngine.Shared.Instance"/>
       <Reference name="OpenSim.Region.ScriptEngine.XEngine"/>
       <Reference name="OpenSim.Services.Interfaces"/>
       <Reference name="OpenSim.Tests.Common"/>
@@ -3385,6 +3435,7 @@
         <!-- SADLY the way this works means you need to keep adding these paths -->
         <Match path="Shared/Tests" pattern="*.cs" recurse="true"/>
         <Match path="Shared/CodeTools/Tests" pattern="*.cs" recurse="true"/>
+        <Match path="Shared/Instance/Tests" pattern="*.cs" recurse="true"/>
         <Match path="XEngine/Tests" pattern="*.cs" recurse="true"/>
       </Files>
     </Project>
@@ -3414,6 +3465,7 @@
       <Reference name="OpenSim.Framework.Console"/>
       <Reference name="OpenSim.Region.Physics.Manager"/>
       <Reference name="OpenSim.Region.Physics.OdePlugin" path="../../../../../bin/Physics/"/>
+      <Reference name="OpenSim.Tests.Common"/>
       <Reference name="Ode.NET" path="../../../../../bin/"/>
       <Reference name="nunit.framework" path="../../../../../bin/"/>
       <Reference name="log4net" path="../../../../../bin/"/>
diff --git a/share/Schemas/SceneObjectPart0.xsd b/share/Schemas/SceneObjectPart0.xsd
deleted file mode 100644
index 0da7618..0000000
--- a/share/Schemas/SceneObjectPart0.xsd
+++ /dev/null
@@ -1,166 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<xs:schema elementFormDefault="qualified" xmlns:xs="http://www.w3.org/2001/XMLSchema">
-  <xs:import namespace="http://microsoft.com/wsdl/types/" />
-  <xs:import namespace="http://www.w3.org/2001/XMLSchema" />
-  <xs:element name="SceneObjectPart" nillable="true" type="SceneObjectPart" />
-  <xs:complexType name="SceneObjectPart">
-    <xs:sequence>
-      <xs:element minOccurs="1" maxOccurs="1" name="LastOwnerID" type="LLUUID" />
-      <xs:element minOccurs="1" maxOccurs="1" name="OwnerID" type="LLUUID" />
-      <xs:element minOccurs="1" maxOccurs="1" name="GroupID" type="LLUUID" />
-      <xs:element minOccurs="1" maxOccurs="1" name="OwnershipCost" type="xs:int" />
-      <xs:element minOccurs="1" maxOccurs="1" name="ObjectSaleType" type="xs:unsignedByte" />
-      <xs:element minOccurs="1" maxOccurs="1" name="SalePrice" type="xs:int" />
-      <xs:element minOccurs="1" maxOccurs="1" name="Category" type="xs:unsignedInt" />
-      <xs:element minOccurs="1" maxOccurs="1" name="CreationDate" type="xs:int" />
-      <xs:element minOccurs="1" maxOccurs="1" name="ParentID" type="xs:unsignedInt" />
-      <xs:element minOccurs="1" maxOccurs="1" name="m_sitTargetAvatar" type="LLUUID" />
-      <xs:element minOccurs="1" maxOccurs="1" name="BaseMask" type="xs:unsignedInt" />
-      <xs:element minOccurs="1" maxOccurs="1" name="OwnerMask" type="xs:unsignedInt" />
-      <xs:element minOccurs="1" maxOccurs="1" name="GroupMask" type="xs:unsignedInt" />
-      <xs:element minOccurs="1" maxOccurs="1" name="EveryoneMask" type="xs:unsignedInt" />
-      <xs:element minOccurs="1" maxOccurs="1" name="NextOwnerMask" type="xs:unsignedInt" />
-      <xs:element minOccurs="1" maxOccurs="1" name="Flags" type="ObjectFlags" />
-      <xs:element minOccurs="1" maxOccurs="1" name="CreatorID" type="LLUUID" />
-      <xs:element minOccurs="1" maxOccurs="1" name="FolderID" type="LLUUID" />
-      <xs:element minOccurs="1" maxOccurs="1" name="InventorySerial" type="xs:unsignedInt" />
-      <xs:element minOccurs="0" maxOccurs="1" name="TaskInventory">
-        <xs:complexType>
-          <xs:sequence>
-            <xs:element ref="xs:schema" />
-            <xs:any />
-          </xs:sequence>
-        </xs:complexType>
-      </xs:element>
-      <xs:element minOccurs="1" maxOccurs="1" name="ObjectFlags" type="xs:unsignedInt" />
-      <xs:element minOccurs="1" maxOccurs="1" name="UUID" type="LLUUID" />
-      <xs:element minOccurs="1" maxOccurs="1" name="LocalId" type="xs:unsignedInt" />
-      <xs:element minOccurs="0" maxOccurs="1" name="Name" type="xs:string" />
-      <xs:element minOccurs="1" maxOccurs="1" name="Material" type="xs:unsignedByte" />
-      <xs:element minOccurs="1" maxOccurs="1" name="RegionHandle" type="xs:unsignedLong" />
-      <xs:element minOccurs="1" maxOccurs="1" name="ScriptAccessPin" type="xs:int" />
-      <xs:element minOccurs="1" maxOccurs="1" name="GroupPosition" type="LLVector3" />
-      <xs:element minOccurs="1" maxOccurs="1" name="OffsetPosition" type="LLVector3" />
-      <xs:element minOccurs="1" maxOccurs="1" name="RotationOffset" type="LLQuaternion" />
-      <xs:element minOccurs="1" maxOccurs="1" name="Velocity" type="LLVector3" />
-      <xs:element minOccurs="1" maxOccurs="1" name="RotationalVelocity" type="LLVector3" />
-      <xs:element minOccurs="1" maxOccurs="1" name="AngularVelocity" type="LLVector3" />
-      <xs:element minOccurs="1" maxOccurs="1" name="Acceleration" type="LLVector3" />
-      <xs:element minOccurs="0" maxOccurs="1" name="Description" type="xs:string" />
-      <xs:element minOccurs="1" maxOccurs="1" name="Color" type="Color" />
-      <xs:element minOccurs="0" maxOccurs="1" name="Text" type="xs:string" />
-      <xs:element minOccurs="0" maxOccurs="1" name="SitName" type="xs:string" />
-      <xs:element minOccurs="0" maxOccurs="1" name="TouchName" type="xs:string" />
-      <xs:element minOccurs="1" maxOccurs="1" name="LinkNum" type="xs:int" />
-      <xs:element minOccurs="1" maxOccurs="1" name="ClickAction" type="xs:unsignedByte" />
-      <xs:element minOccurs="0" maxOccurs="1" name="Shape" type="PrimitiveBaseShape" />
-      <xs:element minOccurs="1" maxOccurs="1" name="Scale" type="LLVector3" />
-      <xs:element minOccurs="1" maxOccurs="1" name="UpdateFlag" type="xs:unsignedByte" />
-    </xs:sequence>
-  </xs:complexType>
-  <xs:complexType name="LLUUID">
-    <xs:sequence>
-      <xs:element minOccurs="1" maxOccurs="1" name="UUID" xmlns:q1="http://microsoft.com/wsdl/types/" type="q1:guid" />
-    </xs:sequence>
-  </xs:complexType>
-  <xs:simpleType name="ObjectFlags">
-    <xs:list>
-      <xs:simpleType>
-        <xs:restriction base="xs:string">
-          <xs:enumeration value="None" />
-          <xs:enumeration value="Physics" />
-          <xs:enumeration value="CreateSelected" />
-          <xs:enumeration value="ObjectModify" />
-          <xs:enumeration value="ObjectCopy" />
-          <xs:enumeration value="ObjectAnyOwner" />
-          <xs:enumeration value="ObjectYouOwner" />
-          <xs:enumeration value="Scripted" />
-          <xs:enumeration value="Touch" />
-          <xs:enumeration value="ObjectMove" />
-          <xs:enumeration value="Money" />
-          <xs:enumeration value="Phantom" />
-          <xs:enumeration value="InventoryEmpty" />
-          <xs:enumeration value="JointHinge" />
-          <xs:enumeration value="JointP2P" />
-          <xs:enumeration value="JointLP2P" />
-          <xs:enumeration value="JointWheel" />
-          <xs:enumeration value="AllowInventoryDrop" />
-          <xs:enumeration value="ObjectTransfer" />
-          <xs:enumeration value="ObjectGroupOwned" />
-          <xs:enumeration value="ObjectYouOfficer" />
-          <xs:enumeration value="CameraDecoupled" />
-          <xs:enumeration value="AnimSource" />
-          <xs:enumeration value="CameraSource" />
-          <xs:enumeration value="CastShadows" />
-          <xs:enumeration value="ObjectOwnerModify" />
-          <xs:enumeration value="TemporaryOnRez" />
-          <xs:enumeration value="Temporary" />
-          <xs:enumeration value="ZlibCompressed" />
-        </xs:restriction>
-      </xs:simpleType>
-    </xs:list>
-  </xs:simpleType>
-  <xs:complexType name="LLVector3">
-    <xs:sequence>
-      <xs:element minOccurs="1" maxOccurs="1" name="X" type="xs:float" />
-      <xs:element minOccurs="1" maxOccurs="1" name="Y" type="xs:float" />
-      <xs:element minOccurs="1" maxOccurs="1" name="Z" type="xs:float" />
-    </xs:sequence>
-  </xs:complexType>
-  <xs:complexType name="LLQuaternion">
-    <xs:sequence>
-      <xs:element minOccurs="1" maxOccurs="1" name="X" type="xs:float" />
-      <xs:element minOccurs="1" maxOccurs="1" name="Y" type="xs:float" />
-      <xs:element minOccurs="1" maxOccurs="1" name="Z" type="xs:float" />
-      <xs:element minOccurs="1" maxOccurs="1" name="W" type="xs:float" />
-    </xs:sequence>
-  </xs:complexType>
-  <xs:complexType name="Color" />
-  <xs:complexType name="PrimitiveBaseShape">
-    <xs:sequence>
-      <xs:element minOccurs="1" maxOccurs="1" name="PathBegin" type="xs:unsignedShort" />
-      <xs:element minOccurs="1" maxOccurs="1" name="PathCurve" type="xs:unsignedByte" />
-      <xs:element minOccurs="1" maxOccurs="1" name="PathEnd" type="xs:unsignedShort" />
-      <xs:element minOccurs="1" maxOccurs="1" name="PathRadiusOffset" type="xs:byte" />
-      <xs:element minOccurs="1" maxOccurs="1" name="PathRevolutions" type="xs:unsignedByte" />
-      <xs:element minOccurs="1" maxOccurs="1" name="PathScaleX" type="xs:unsignedByte" />
-      <xs:element minOccurs="1" maxOccurs="1" name="PathScaleY" type="xs:unsignedByte" />
-      <xs:element minOccurs="1" maxOccurs="1" name="PathShearX" type="xs:unsignedByte" />
-      <xs:element minOccurs="1" maxOccurs="1" name="PathShearY" type="xs:unsignedByte" />
-      <xs:element minOccurs="1" maxOccurs="1" name="PathSkew" type="xs:byte" />
-      <xs:element minOccurs="1" maxOccurs="1" name="PathTaperX" type="xs:byte" />
-      <xs:element minOccurs="1" maxOccurs="1" name="PathTaperY" type="xs:byte" />
-      <xs:element 
-      <xs:element minOccurs="1" maxOccurs="1" name="PathTwistBegin" type="xs:byte" />
-      <xs:element minOccurs="1" maxOccurs="1" name="PCode" type="xs:unsignedByte" />
-      <xs:element minOccurs="1" maxOccurs="1" name="ProfileBegin" type="xs:unsignedShort" />
-      <xs:element minOccurs="1" maxOccurs="1" name="ProfileEnd" type="xs:unsignedShort" />
-      <xs:element minOccurs="1" maxOccurs="1" name="ProfileHollow" type="xs:unsignedShort" />
-      <xs:element minOccurs="1" maxOccurs="1" name="Scale" type="LLVector3" />
-      <xs:element minOccurs="1" maxOccurs="1" name="State" type="xs:unsignedByte" />
-      <xs:element minOccurs="1" maxOccurs="1" name="ProfileShape" type="ProfileShape" />
-      <xs:element minOccurs="1" maxOccurs="1" name="HollowShape" type="HollowShape" />
-      <xs:element minOccurs="1" maxOccurs="1" name="ProfileCurve" type="xs:unsignedByte" />
-      <xs:element minOccurs="0" maxOccurs="1" name="TextureEntry" type="xs:base64Binary" />
-      <xs:element minOccurs="0" maxOccurs="1" name="ExtraParams" type="xs:base64Binary" />
-    </xs:sequence>
-  </xs:complexType>
-  <xs:simpleType name="ProfileShape">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="Circle" />
-      <xs:enumeration value="Square" />
-      <xs:enumeration value="IsometricTriangle" />
-      <xs:enumeration value="EquilateralTriangle" />
-      <xs:enumeration value="RightTriangle" />
-      <xs:enumeration value="HalfCircle" />
-    </xs:restriction>
-  </xs:simpleType>
-  <xs:simpleType name="HollowShape">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="Same" />
-      <xs:enumeration value="Circle" />
-      <xs:enumeration value="Square" />
-      <xs:enumeration value="Triangle" />
-    </xs:restriction>
-  </xs:simpleType>
-</xs:schema>
diff --git a/share/Schemas/SceneObjectPart1.xsd b/share/Schemas/SceneObjectPart1.xsd
deleted file mode 100644
index 2f38087..0000000
--- a/share/Schemas/SceneObjectPart1.xsd
+++ /dev/null
@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<xs:schema xmlns:tns="http://microsoft.com/wsdl/types/" elementFormDefault="qualified" targetNamespace="http://microsoft.com/wsdl/types/" xmlns:xs="http://www.w3.org/2001/XMLSchema">
-  <xs:simpleType name="guid">
-    <xs:restriction base="xs:string">
-      <xs:pattern value="[0-9a-fA-F]{8}-[0-9a-fA-F]{4}-[0-9a-fA-F]{4}-[0-9a-fA-F]{4}-[0-9a-fA-F]{12}" />
-    </xs:restriction>
-  </xs:simpleType>
-</xs:schema>
diff --git a/share/php/generateUserFunction.php b/share/php/generateUserFunction.php
deleted file mode 100755
index a262bf5..0000000
--- a/share/php/generateUserFunction.php
+++ /dev/null
@@ -1,46 +0,0 @@
-<?php
-        // GenerateUser (v1.0)
-        // Creates a new user account, and returns it into an associative array.
-        // --
-        // $firstname - The users firstname
-        // $lastname - The users lastname
-        // $password - the users password
-        // $home - the regionhandle of the users home location
-        // --
-        function generateUser($firstname,$lastname,$password,$home) {
-                $user = array();
-                $user['UUID'] = sprintf( '%04x%04x-%04x-%04x-%04x-%04x%04x%04x',
-                        mt_rand( 0, 0xffff ), mt_rand( 0, 0xffff ), mt_rand( 0, 0xffff ),
-                        mt_rand( 0, 0x0fff ) | 0x4000,
-                        mt_rand( 0, 0x3fff ) | 0x8000,
-                        mt_rand( 0, 0xffff ), mt_rand( 0, 0xffff ), mt_rand( 0, 0xffff ) );
-                $user['username'] = $firstname;
-                $user['lastname'] = $lastname;
-                
-                $user['passwordSalt'] = md5(microtime() . mt_rand(0,0xffff));
-                $user['passwordHash'] = md5(md5($password) . ":" . $user['passwordSalt']);
-                
-                $user['homeRegion'] = $home;
-                $user['homeLocationX'] = 128;
-                $user['homeLocationY'] = 128;
-                $user['homeLocationZ'] = 128;
-                $user['homeLookAtX'] = 15;
-                $user['homeLookAtY'] = 15;
-                $user['homeLookAtZ'] = 15;
-                
-                $user['created'] = time();
-                $user['lastLogin'] = 0;
-                
-                $user['userInventoryURI'] = "http://inventory.server.tld:8004/";
-                $user['userAssetURI'] = "http://asset.server.tld:8003/";
-                
-                $user['profileCanDoMask'] = 0;
-                $user['profileWantDoMask'] = 0;
-                $user['profileAboutText'] = "I am a user.";
-                $user['profileFirstText'] = "Stuff.";
-                $user['profileImage'] = sprintf( '%04x%04x-%04x-%04x-%04x-%04x%04x%04x', 0, 0, 0, 0, 0, 0, 0, 0 );
-                $user['profileFirstImage'] = sprintf( '%04x%04x-%04x-%04x-%04x-%04x%04x%04x', 0, 0, 0, 0, 0, 0, 0, 0 );
-                
-                return $user;
-        }
-?>
\ No newline at end of file