5 files changed, 113 insertions, 117 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 57d5726..19eb1e6 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -39,18 +39,16 @@ public class BSCharacter : BSPhysObject
     private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
     private static readonly string LogHeader = "[BULLETS CHAR]";
 
-    private String _avName;
     // private bool _stopped;
     private OMV.Vector3 _size;
     private OMV.Vector3 _scale;
     private PrimitiveBaseShape _pbs;
-    private uint _localID = 0;
     private bool _grabbed;
     private bool _selected;
     private OMV.Vector3 _position;
     private float _mass;
-    public float _density;
-    public float _avatarVolume;
+    private float _avatarDensity;
+    private float _avatarVolume;
     private OMV.Vector3 _force;
     private OMV.Vector3 _velocity;
     private OMV.Vector3 _torque;
@@ -63,18 +61,12 @@ public class BSCharacter : BSPhysObject
     private bool _setAlwaysRun;
     private bool _throttleUpdates;
     private bool _isColliding;
-    private long _collidingStep;
-    private bool _collidingGround;
-    private long _collidingGroundStep;
     private bool _collidingObj;
     private bool _floatOnWater;
     private OMV.Vector3 _rotationalVelocity;
     private bool _kinematic;
     private float _buoyancy;
 
-    private int _subscribedEventsMs = 0;
-    private int _nextCollisionOkTime = 0;
-
     private OMV.Vector3 _PIDTarget;
     private bool _usePID;
     private float _PIDTau;
@@ -85,9 +77,7 @@ public class BSCharacter : BSPhysObject
 
     public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying)
     {
-        base.BaseInitialize(parent_scene);
-        _localID = localID;
-        _avName = avName;
+        base.BaseInitialize(parent_scene, localID, avName);
         _physicsActorType = (int)ActorTypes.Agent;
         _position = pos;
         _size = size;
@@ -95,14 +85,15 @@ public class BSCharacter : BSPhysObject
         _orientation = OMV.Quaternion.Identity;
         _velocity = OMV.Vector3.Zero;
         _buoyancy = ComputeBuoyancyFromFlying(isFlying);
+
         // The dimensions of the avatar capsule are kept in the scale.
         // Physics creates a unit capsule which is scaled by the physics engine.
-        _scale = new OMV.Vector3(PhysicsScene.Params.avatarCapsuleRadius, PhysicsScene.Params.avatarCapsuleRadius, size.Z);
-        _density = PhysicsScene.Params.avatarDensity;
+        ComputeAvatarScale(_size);
+        _avatarDensity = PhysicsScene.Params.avatarDensity;
         ComputeAvatarVolumeAndMass();   // set _avatarVolume and _mass based on capsule size, _density and _scale
 
         ShapeData shapeData = new ShapeData();
-        shapeData.ID = _localID;
+        shapeData.ID = LocalID;
         shapeData.Type = ShapeData.PhysicsShapeType.SHAPE_AVATAR;
         shapeData.Position = _position;
         shapeData.Rotation = _orientation;
@@ -117,7 +108,7 @@ public class BSCharacter : BSPhysObject
         // do actual create at taint time
         PhysicsScene.TaintedObject("BSCharacter.create", delegate()
         {
-            DetailLog("{0},BSCharacter.create", _localID);
+            DetailLog("{0},BSCharacter.create,taint", LocalID);
             BulletSimAPI.CreateObject(PhysicsScene.WorldID, shapeData);
 
             // Set the buoyancy for flying. This will be refactored when all the settings happen in C#
@@ -135,7 +126,7 @@ public class BSCharacter : BSPhysObject
         DetailLog("{0},BSCharacter.Destroy", LocalID);
         PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
         {
-            BulletSimAPI.DestroyObject(PhysicsScene.WorldID, _localID);
+            BulletSimAPI.DestroyObject(PhysicsScene.WorldID, LocalID);
         });
     }
 
@@ -158,7 +149,7 @@ public class BSCharacter : BSPhysObject
             // When an avatar's size is set, only the height is changed
             //    and that really only depends on the radius.
             _size = value;
-            _scale.Z = (_size.Z * 1.15f) - (_scale.X + _scale.Y);
+            ComputeAvatarScale(_size);
 
             // TODO: something has to be done with the avatar's vertical position
 
@@ -175,11 +166,6 @@ public class BSCharacter : BSPhysObject
         set { _pbs = value; 
         } 
     }
-    public override uint LocalID { 
-        set { _localID = value; 
-        }
-        get { return _localID; }
-    }
     public override bool Grabbed { 
         set { _grabbed = value; 
         } 
@@ -223,7 +209,7 @@ public class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate()
             {
                 DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, _localID, _position, _orientation);
+                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
             });
         } 
     }
@@ -261,7 +247,7 @@ public class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject("BSCharacter.PositionSanityCheck", delegate()
             {
                 DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, _localID, _position, _orientation);
+                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
             });
             ret = true;
         }
@@ -312,7 +298,7 @@ public class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate()
             {
                 DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
-                BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, _localID, _velocity);
+                BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, LocalID, _velocity);
             });
         } 
     }
@@ -338,7 +324,7 @@ public class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate()
             {
                 // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID);
-                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, _localID, _position, _orientation);
+                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
             });
         } 
     }
@@ -375,12 +361,12 @@ public class BSCharacter : BSPhysObject
         set { _throttleUpdates = value; } 
     }
     public override bool IsColliding {
-        get { return (_collidingStep == PhysicsScene.SimulationStep); } 
+        get { return (CollidingStep == PhysicsScene.SimulationStep); } 
         set { _isColliding = value; } 
     }
     public override bool CollidingGround {
-        get { return (_collidingGroundStep == PhysicsScene.SimulationStep); } 
-        set { _collidingGround = value; } 
+        get { return (CollidingGroundStep == PhysicsScene.SimulationStep); } 
+        set { CollidingGround = value; } 
     }
     public override bool CollidingObj { 
         get { return _collidingObj; } 
@@ -466,6 +452,16 @@ public class BSCharacter : BSPhysObject
     public override void SetMomentum(OMV.Vector3 momentum) { 
     }
 
+    private void ComputeAvatarScale(OMV.Vector3 size)
+    {
+        _scale.X = PhysicsScene.Params.avatarCapsuleRadius;
+        _scale.Y = PhysicsScene.Params.avatarCapsuleRadius;
+
+        // The 1.15 came from ODE but it seems to cause the avatar to float off the ground
+        // _scale.Z = (_size.Z * 1.15f) - (_scale.X + _scale.Y);
+        _scale.Z = (_size.Z) - (_scale.X + _scale.Y);
+    }
+
     // set _avatarVolume and _mass based on capsule size, _density and _scale
     private void ComputeAvatarVolumeAndMass()
     {
@@ -480,7 +476,7 @@ public class BSCharacter : BSPhysObject
                         * Math.Min(_scale.X, _scale.Y)
                         * _scale.Y  // plus the volume of the capsule end caps
                         );
-        _mass = _density * _avatarVolume;
+        _mass = _avatarDensity * _avatarVolume;
     }
 
     // The physics engine says that properties have updated. Update same and inform
@@ -502,11 +498,5 @@ public class BSCharacter : BSPhysObject
         DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5},terrain={6}",
                 LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity, heightHere);
     }
-
-    // Invoke the detailed logger and output something if it's enabled.
-    private void DetailLog(string msg, params Object[] args)
-    {
-        PhysicsScene.PhysicsLogging.Write(msg, args);
-    }
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 005a758..1e8fe52 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -77,7 +77,7 @@ public class BSLinkset
         // A simple linkset of one (no children)
         LinksetID = m_nextLinksetID++;
         // We create LOTS of linksets.
-        if (m_nextLinksetID < 0) 
+        if (m_nextLinksetID <= 0) 
             m_nextLinksetID = 1;
         PhysicsScene = scene;
         LinksetRoot = parent;
@@ -157,21 +157,26 @@ public class BSLinkset
 
     private float ComputeLinksetMass()
     {
-        float mass = LinksetRoot.MassRaw;
-        foreach (BSPhysObject bp in m_children)
+        float mass;
+        lock (m_linksetActivityLock)
         {
-            mass += bp.MassRaw;
+            mass = LinksetRoot.MassRaw;
+            foreach (BSPhysObject bp in m_children)
+            {
+                mass += bp.MassRaw;
+            }
         }
         return mass;
     }
 
     private OMV.Vector3 ComputeLinksetCenterOfMass()
     {
-        OMV.Vector3 com = LinksetRoot.Position * LinksetRoot.MassRaw;
-        float totalMass = LinksetRoot.MassRaw;
-
+        OMV.Vector3 com;
         lock (m_linksetActivityLock)
         {
+            com = LinksetRoot.Position * LinksetRoot.MassRaw;
+            float totalMass = LinksetRoot.MassRaw;
+
             foreach (BSPhysObject bp in m_children)
             {
                 com += bp.Position * bp.MassRaw;
@@ -186,10 +191,11 @@ public class BSLinkset
 
     private OMV.Vector3 ComputeLinksetGeometricCenter()
     {
-        OMV.Vector3 com = LinksetRoot.Position;
-
+        OMV.Vector3 com;
         lock (m_linksetActivityLock)
         {
+            com = LinksetRoot.Position;
+
             foreach (BSPhysObject bp in m_children)
             {
                 com += bp.Position * bp.MassRaw;
@@ -208,8 +214,8 @@ public class BSLinkset
     // Called at taint-time!
     public bool MakeDynamic(BSPhysObject child)
     {
-        bool ret = false;
-        return ret;
+        // 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
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 242aa80..b575e37 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -39,9 +39,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 // unless the difference is significant.
 public abstract class BSPhysObject : PhysicsActor
 {
-    protected void BaseInitialize(BSScene parentScene)
+    protected void BaseInitialize(BSScene parentScene, uint localID, string name)
     {
         PhysicsScene = parentScene;
+        LocalID = localID;
+        PhysObjectName = name;
+
         Linkset = new BSLinkset(PhysicsScene, this);
 
         CollisionCollection = new CollisionEventUpdate();
@@ -51,6 +54,8 @@ public abstract class BSPhysObject : PhysicsActor
     }
 
     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 BSLinkset Linkset { get; set; }
 
@@ -111,13 +116,13 @@ public abstract class BSPhysObject : PhysicsActor
             return ret;
         }
 
-        PhysicsScene.PhysicsLogging.Write("{0},BSPhysObject.Collison,call,with={1}", LocalID, collidingWith);
+        DetailLog("{0},BSPhysObject.Collison,call,with={1}", LocalID, collidingWith);
 
         // if someone has subscribed for collision events....
         if (SubscribedEvents()) {
             CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
-            PhysicsScene.PhysicsLogging.Write("{0},BSPhysObject.Collison.AddCollider,call,with={1},point={2},normal={3},depth={4},next={5}", 
-                    LocalID, collidingWith, contactPoint, contactNormal, pentrationDepth, NextCollisionOkTime.ToString("yyyyMMddHHmmssfff"));
+            DetailLog("{0},BSPhysObject.Collison.AddCollider,call,with={1},point={2},normal={3},depth={4}",
+                            LocalID, collidingWith, contactPoint, contactNormal, pentrationDepth);
             ret = true;
         }
         return ret;
@@ -127,6 +132,8 @@ public abstract class BSPhysObject : PhysicsActor
     // Also handles removal of this from the collection of objects with collisions if
     //      there are no collisions from this object. Mechanism is create one last
     //      collision event to make collision_end work.
+    // Called at taint time from within the Step() function thus no locking problems
+    //      with CollisionCollection and ObjectsWithNoMoreCollisions.
     public virtual void SendCollisions()
     {
         // throttle the collisions to the number of milliseconds specified in the subscription
@@ -140,10 +147,11 @@ public abstract class BSPhysObject : PhysicsActor
             if (CollisionCollection.Count == 0)
                 PhysicsScene.ObjectsWithNoMoreCollisions.Add(this);
 
+            DetailLog("{0},SendCollisions.SendCollisionUpdate,call,numCollisions={1}", LocalID, CollisionCollection.Count);
             base.SendCollisionUpdate(CollisionCollection);
 
             // The collisionCollection structure is passed around in the simulator.
-            // Make sure we don't have a handle to that one and that a new one is used next time.
+            // Make sure we don't have a handle to that one and that a new one is used for next time.
             CollisionCollection = new CollisionEventUpdate();
         }
     }
@@ -156,8 +164,7 @@ public abstract class BSPhysObject : PhysicsActor
         {
             // make sure first collision happens
             NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs);
-            PhysicsScene.PhysicsLogging.Write("{0},SubscribeEvents,call,ms={1},nextOKTime={2}", 
-                    LocalID, SubscribedEventsMs, NextCollisionOkTime.ToString("yyyyMMddHHmmssfff"));
+            DetailLog("{0},SubscribeEvents,call,ms={1}", LocalID, SubscribedEventsMs);
 
             PhysicsScene.TaintedObject("BSPhysObject.SubscribeEvents", delegate()
             {
@@ -172,7 +179,7 @@ public abstract class BSPhysObject : PhysicsActor
     }
     public override void UnSubscribeEvents() { 
         SubscribedEventsMs = 0;
-        PhysicsScene.PhysicsLogging.Write("{0},UnSubscribeEvents,call", LocalID);
+        DetailLog("{0},UnSubscribeEvents,call", LocalID);
         PhysicsScene.TaintedObject("BSPhysObject.UnSubscribeEvents", delegate()
         {
             CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
@@ -184,5 +191,11 @@ public abstract class BSPhysObject : PhysicsActor
     }
 
     #endregion // Collisions
+
+    // High performance detailed logging routine used by the physical objects.
+    protected void DetailLog(string msg, params Object[] args)
+    {
+        PhysicsScene.PhysicsLogging.Write(msg, args);
+    }
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 29f27e8..4f10d46 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -49,9 +49,6 @@ public sealed class BSPrim : BSPhysObject
     private ulong _hullKey;
     private List<ConvexResult> _hulls;
 
-    private String _avName;
-    private uint _localID = 0;
-
     // _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
@@ -99,9 +96,7 @@ public sealed class BSPrim : BSPhysObject
                        OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
     {
         // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID);
-        base.BaseInitialize(parent_scene);
-        _localID = localID;
-        _avName = primName;
+        base.BaseInitialize(parent_scene, localID, primName);
         _physicsActorType = (int)ActorTypes.Prim;
         _position = pos;
         _size = size;
@@ -187,10 +182,6 @@ public sealed class BSPrim : BSPhysObject
             });
         } 
     }
-    public override uint LocalID { 
-        set { _localID = value; }
-        get { return _localID; }
-    }
     public override bool Grabbed { 
         set { _grabbed = value; 
         } 
@@ -267,7 +258,7 @@ public sealed class BSPrim : BSPhysObject
                 _position = BulletSimAPI.GetPosition2(BSBody.Ptr);
 
             // don't do the GetObjectPosition for root elements because this function is called a zillion times
-            // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID);
+            // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, LocalID);
             return _position; 
         } 
         set {
@@ -425,7 +416,7 @@ public sealed class BSPrim : BSPhysObject
             // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint?
             PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
             {
-                // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID);
+                // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, LocalID);
                 DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 BulletSimAPI.SetTranslation2(BSBody.Ptr, _position, _orientation);
             });
@@ -666,7 +657,7 @@ public sealed class BSPrim : BSPhysObject
                 // Buoyancy is faked by changing the gravity applied to the object
                 float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
                 BulletSimAPI.SetGravity2(BSBody.Ptr, new OMV.Vector3(0f, 0f, grav));
-                // BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, _localID, _buoyancy);
+                // BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, LocalID, _buoyancy);
             });
         } 
     }
@@ -1127,7 +1118,7 @@ public sealed class BSPrim : BSPhysObject
             lod = PhysicsScene.MeshMegaPrimLOD;
 
         ulong newMeshKey = (ulong)_pbs.GetMeshKey(_size, lod);
-        // m_log.DebugFormat("{0}: CreateGeomMesh: lID={1}, oldKey={2}, newKey={3}", LogHeader, _localID, _meshKey, newMeshKey);
+        // m_log.DebugFormat("{0}: CreateGeomMesh: lID={1}, oldKey={2}, newKey={3}", LogHeader, LocalID, _meshKey, newMeshKey);
 
         // if this new shape is the same as last time, don't recreate the mesh
         if (_meshKey == newMeshKey) return false;
@@ -1136,7 +1127,7 @@ public sealed class BSPrim : BSPhysObject
         // Since we're recreating new, get rid of any previously generated shape
         if (_meshKey != 0)
         {
-            // m_log.DebugFormat("{0}: CreateGeom: deleting old mesh. lID={1}, Key={2}", LogHeader, _localID, _meshKey);
+            // m_log.DebugFormat("{0}: CreateGeom: deleting old mesh. lID={1}, Key={2}", LogHeader, LocalID, _meshKey);
             DetailLog("{0},BSPrim.CreateGeomMesh,deleteOld,key={1}", LocalID, _meshKey);
             BulletSimAPI.DestroyMesh(PhysicsScene.WorldID, _meshKey);
             _mesh = null;
@@ -1145,7 +1136,7 @@ public sealed class BSPrim : BSPhysObject
 
         _meshKey = newMeshKey;
         // always pass false for physicalness as this creates some sort of bounding box which we don't need
-        _mesh = PhysicsScene.mesher.CreateMesh(_avName, _pbs, _size, lod, false);
+        _mesh = PhysicsScene.mesher.CreateMesh(PhysObjectName, _pbs, _size, lod, false);
 
         int[] indices = _mesh.getIndexListAsInt();
         List<OMV.Vector3> vertices = _mesh.getVertexList();
@@ -1160,7 +1151,7 @@ public sealed class BSPrim : BSPhysObject
         }
 
         // m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}", 
-        //                  LogHeader, _localID, _meshKey, indices.Length, vertices.Count);
+        //                  LogHeader, LocalID, _meshKey, indices.Length, vertices.Count);
         BulletSimAPI.CreateMesh(PhysicsScene.WorldID, _meshKey, indices.GetLength(0), indices, 
                                                         vertices.Count, verticesAsFloats);
 
@@ -1176,7 +1167,7 @@ public sealed class BSPrim : BSPhysObject
     {
         float lod = _pbs.SculptEntry ? PhysicsScene.SculptLOD : PhysicsScene.MeshLOD;
         ulong newHullKey = (ulong)_pbs.GetMeshKey(_size, lod);
-        // m_log.DebugFormat("{0}: CreateGeomHull: lID={1}, oldKey={2}, newKey={3}", LogHeader, _localID, _hullKey, newHullKey);
+        // m_log.DebugFormat("{0}: CreateGeomHull: lID={1}, oldKey={2}, newKey={3}", LogHeader, LocalID, _hullKey, newHullKey);
 
         // if the hull hasn't changed, don't rebuild it
         if (newHullKey == _hullKey) return false;
@@ -1276,7 +1267,7 @@ public sealed class BSPrim : BSPhysObject
         }
 
         // create the hull definition in Bullet
-        // m_log.DebugFormat("{0}: CreateGeom: calling CreateHull. lid={1}, key={2}, hulls={3}", LogHeader, _localID, _hullKey, hullCount);
+        // m_log.DebugFormat("{0}: CreateGeom: calling CreateHull. lid={1}, key={2}, hulls={3}", LogHeader, LocalID, _hullKey, hullCount);
         BulletSimAPI.CreateHull(PhysicsScene.WorldID, _hullKey, hullCount, convHulls);
         _shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL;
         // meshes are already scaled by the meshmerizer
@@ -1316,7 +1307,7 @@ public sealed class BSPrim : BSPhysObject
         // the mesh or hull must have already been created in Bullet
         ShapeData shape;
         FillShapeInfo(out shape);
-        // m_log.DebugFormat("{0}: CreateObject: lID={1}, shape={2}", LogHeader, _localID, shape.Type);
+        // m_log.DebugFormat("{0}: CreateObject: lID={1}, shape={2}", LogHeader, LocalID, shape.Type);
         bool ret = BulletSimAPI.CreateObject(PhysicsScene.WorldID, shape);
 
         // the CreateObject() may have recreated the rigid body. Make sure we have the latest address.
@@ -1329,7 +1320,7 @@ public sealed class BSPrim : BSPhysObject
     // Copy prim's info into the BulletSim shape description structure
     public void FillShapeInfo(out ShapeData shape)
     {
-        shape.ID = _localID;
+        shape.ID = LocalID;
         shape.Type = _shapeType;
         shape.Position = _position;
         shape.Rotation = _orientation;
@@ -1350,7 +1341,7 @@ public sealed class BSPrim : BSPhysObject
     // No locking here because this is done when the physics engine is not simulating
     private void CreateGeomAndObject(bool forceRebuild)
     {
-        // m_log.DebugFormat("{0}: CreateGeomAndObject. lID={1}, force={2}", LogHeader, _localID, forceRebuild);
+        // m_log.DebugFormat("{0}: CreateGeomAndObject. lID={1}, force={2}", LogHeader, LocalID, forceRebuild);
         // Create the geometry that will make up the object
         if (CreateGeom(forceRebuild))
         {
@@ -1453,10 +1444,5 @@ public sealed class BSPrim : BSPhysObject
         }
              */
     }
-    // Invoke the detailed logger and output something if it's enabled.
-    private void DetailLog(string msg, params Object[] args)
-    {
-        PhysicsScene.PhysicsLogging.Write(msg, args);
-    }
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
index d48462e..c113db1 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
@@ -57,10 +57,10 @@ public class BSTerrainManager
     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, 0f);
+    public Vector3 DefaultRegionSize = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
 
     // The scene that I am part of
-    private BSScene m_physicsScene;
+    private BSScene PhysicsScene { get; set; }
 
     // The ground plane created to keep thing from falling to infinity.
     private BulletBody m_groundPlane;
@@ -84,18 +84,18 @@ public class BSTerrainManager
     // 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 m_parentScene;
+    private PhysicsScene MegaRegionParentPhysicsScene { get; set; }
 
     public BSTerrainManager(BSScene physicsScene)
     {
-        m_physicsScene = physicsScene;
+        PhysicsScene = physicsScene;
         m_heightMaps = new Dictionary<Vector2,BulletHeightMapInfo>();
         m_terrainModified = false;
 
         // Assume one region of default size
         m_worldOffset = Vector3.Zero;
-        m_worldMax = new Vector3(DefaultRegionSize.X, DefaultRegionSize.Y, 4096f);
-        m_parentScene = null;
+        m_worldMax = new Vector3(DefaultRegionSize);
+        MegaRegionParentPhysicsScene = null;
     }
 
     // Create the initial instance of terrain and the underlying ground plane.
@@ -110,7 +110,7 @@ public class BSTerrainManager
         BulletShape groundPlaneShape = new BulletShape(BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, TERRAIN_COLLISION_MARGIN));
         m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID, 
                         BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.Ptr, Vector3.Zero, Quaternion.Identity));
-        BulletSimAPI.AddObjectToWorld2(m_physicsScene.World.Ptr, m_groundPlane.Ptr);
+        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.Ptr, m_groundPlane.Ptr);
 
         Vector3 minTerrainCoords = new Vector3(0f, 0f, HEIGHT_INITIALIZATION - HEIGHT_EQUAL_FUDGE);
         Vector3 maxTerrainCoords = new Vector3(DefaultRegionSize.X, DefaultRegionSize.Y, HEIGHT_INITIALIZATION);
@@ -128,9 +128,9 @@ public class BSTerrainManager
     {
         if (m_groundPlane.Ptr != IntPtr.Zero)
         {
-            if (BulletSimAPI.RemoveObjectFromWorld2(m_physicsScene.World.Ptr, m_groundPlane.Ptr))
+            if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, m_groundPlane.Ptr))
             {
-                BulletSimAPI.DestroyObject2(m_physicsScene.World.Ptr, m_groundPlane.Ptr);
+                BulletSimAPI.DestroyObject2(PhysicsScene.World.Ptr, m_groundPlane.Ptr);
             }
             m_groundPlane.Ptr = IntPtr.Zero;
         }
@@ -143,9 +143,9 @@ public class BSTerrainManager
     {
         foreach (KeyValuePair<Vector2, BulletHeightMapInfo> kvp in m_heightMaps)
         {
-            if (BulletSimAPI.RemoveObjectFromWorld2(m_physicsScene.World.Ptr, kvp.Value.terrainBody.Ptr))
+            if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, kvp.Value.terrainBody.Ptr))
             {
-                BulletSimAPI.DestroyObject2(m_physicsScene.World.Ptr, kvp.Value.terrainBody.Ptr);
+                BulletSimAPI.DestroyObject2(PhysicsScene.World.Ptr, kvp.Value.terrainBody.Ptr);
                 BulletSimAPI.ReleaseHeightMapInfo2(kvp.Value.Ptr);
             }
         }
@@ -155,19 +155,19 @@ public class BSTerrainManager
     // The simulator wants to set a new heightmap for the terrain.
     public void SetTerrain(float[] heightMap) {
         float[] localHeightMap = heightMap;
-        m_physicsScene.TaintedObject("TerrainManager.SetTerrain", delegate()
+        PhysicsScene.TaintedObject("TerrainManager.SetTerrain", delegate()
         {
-            if (m_worldOffset != Vector3.Zero && m_parentScene != null)
+            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 (m_parentScene is BSScene)
+                if (MegaRegionParentPhysicsScene is BSScene)
                 {
                     DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}",
                                     BSScene.DetailLogZero, m_worldOffset, m_worldMax);
-                    ((BSScene)m_parentScene).TerrainManager.UpdateOrCreateTerrain(BSScene.CHILDTERRAIN_ID,
+                    ((BSScene)MegaRegionParentPhysicsScene).TerrainManager.UpdateOrCreateTerrain(BSScene.CHILDTERRAIN_ID,
                                     localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize, true);
                 }
             }
@@ -176,7 +176,8 @@ public class BSTerrainManager
                 // If not doing the mega-prim thing, just change the terrain
                 DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero);
 
-                UpdateOrCreateTerrain(BSScene.TERRAIN_ID, localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize, true);
+                UpdateOrCreateTerrain(BSScene.TERRAIN_ID, localHeightMap, 
+                                    m_worldOffset, m_worldOffset + DefaultRegionSize, true);
             }
         });
     }
@@ -232,7 +233,7 @@ public class BSTerrainManager
 
             BSScene.TaintCallback rebuildOperation = delegate()
             {
-                if (m_parentScene != null)
+                if (MegaRegionParentPhysicsScene != null)
                 {
                     // 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.
@@ -252,10 +253,10 @@ public class BSTerrainManager
                                     BSScene.DetailLogZero, terrainRegionBase, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.sizeX, mapInfo.sizeY);
 
                     // Remove from the dynamics world because we're going to mangle this object
-                    BulletSimAPI.RemoveObjectFromWorld2(m_physicsScene.World.Ptr, mapInfo.terrainBody.Ptr);
+                    BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, mapInfo.terrainBody.Ptr);
 
                     // Get rid of the old terrain
-                    BulletSimAPI.DestroyObject2(m_physicsScene.World.Ptr, mapInfo.terrainBody.Ptr);
+                    BulletSimAPI.DestroyObject2(PhysicsScene.World.Ptr, mapInfo.terrainBody.Ptr);
                     BulletSimAPI.ReleaseHeightMapInfo2(mapInfo.Ptr);
                     mapInfo.Ptr = IntPtr.Zero;
 
@@ -286,7 +287,7 @@ public class BSTerrainManager
                                     BSScene.DetailLogZero, mapInfo.minCoords.X, mapInfo.minCoords.Y, minZ, maxZ);
 
                     mapInfo.ID = id;
-                    mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(m_physicsScene.World.Ptr, mapInfo.ID,
+                    mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.Ptr, mapInfo.ID,
                         mapInfo.minCoords, mapInfo.maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN);
 
                     // The terrain object initial position is at the center of the object
@@ -307,19 +308,19 @@ public class BSTerrainManager
                 m_heightMaps[terrainRegionBase] = mapInfo;
 
                 // Set current terrain attributes
-                BulletSimAPI.SetFriction2(mapInfo.terrainBody.Ptr, m_physicsScene.Params.terrainFriction);
-                BulletSimAPI.SetHitFraction2(mapInfo.terrainBody.Ptr, m_physicsScene.Params.terrainHitFraction);
-                BulletSimAPI.SetRestitution2(mapInfo.terrainBody.Ptr, m_physicsScene.Params.terrainRestitution);
+                BulletSimAPI.SetFriction2(mapInfo.terrainBody.Ptr, PhysicsScene.Params.terrainFriction);
+                BulletSimAPI.SetHitFraction2(mapInfo.terrainBody.Ptr, PhysicsScene.Params.terrainHitFraction);
+                BulletSimAPI.SetRestitution2(mapInfo.terrainBody.Ptr, PhysicsScene.Params.terrainRestitution);
                 BulletSimAPI.SetCollisionFlags2(mapInfo.terrainBody.Ptr, CollisionFlags.CF_STATIC_OBJECT);
 
                 BulletSimAPI.SetMassProps2(mapInfo.terrainBody.Ptr, 0f, Vector3.Zero);
                 BulletSimAPI.UpdateInertiaTensor2(mapInfo.terrainBody.Ptr);
 
                 // Return the new terrain to the world of physical objects
-                BulletSimAPI.AddObjectToWorld2(m_physicsScene.World.Ptr, mapInfo.terrainBody.Ptr);
+                BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.Ptr, mapInfo.terrainBody.Ptr);
 
                 // redo its bounding box now that it is in the world
-                BulletSimAPI.UpdateSingleAabb2(m_physicsScene.World.Ptr, mapInfo.terrainBody.Ptr);
+                BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.Ptr, mapInfo.terrainBody.Ptr);
 
                 // Make sure the new shape is processed.
                 BulletSimAPI.Activate2(mapInfo.terrainBody.Ptr, true);
@@ -332,7 +333,7 @@ public class BSTerrainManager
             if (doNow)
                 rebuildOperation();
             else
-                m_physicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:UpdateExisting", rebuildOperation);
+                PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:UpdateExisting", rebuildOperation);
         }
         else
         {
@@ -357,7 +358,7 @@ public class BSTerrainManager
                 DetailLog("{0},UpdateOrCreateTerrain:NewTerrain,taint,baseX={1},baseY={2}", BSScene.DetailLogZero, minCoords.X, minCoords.Y);
                 // Create a new mapInfo that will be filled with the new info
                 mapInfo = new BulletHeightMapInfo(id, heightMapX,
-                        BulletSimAPI.CreateHeightMapInfo2(m_physicsScene.World.Ptr, newTerrainID, 
+                        BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.Ptr, newTerrainID, 
                                     minCoordsX, maxCoordsX, heightMapX, TERRAIN_COLLISION_MARGIN));
                 // Put the unfilled heightmap info into the collection of same
                 m_heightMaps.Add(terrainRegionBase, mapInfo);
@@ -371,7 +372,7 @@ public class BSTerrainManager
             if (doNow)
                 createOperation();
             else
-                m_physicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:NewTerrain", createOperation);
+                PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:NewTerrain", createOperation);
         }
     }
 
@@ -419,7 +420,7 @@ public class BSTerrainManager
             catch
             {
                 // Sometimes they give us wonky values of X and Y. Give a warning and return something.
-                m_physicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, x={2}, y={3}",
+                PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, x={2}, y={3}",
                                     LogHeader, terrainBaseXY, regionX, regionY);
                 ret = HEIGHT_GETHEIGHT_RET;
             }
@@ -428,8 +429,8 @@ public class BSTerrainManager
         }
         else
         {
-            m_physicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}",
-                    LogHeader, m_physicsScene.RegionName, tX, tY);
+            PhysicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}",
+                    LogHeader, PhysicsScene.RegionName, tX, tY);
         }
         m_terrainModified = false;
         lastHeight = ret;
@@ -453,7 +454,7 @@ public class BSTerrainManager
     {
         m_worldOffset = offset;
         m_worldMax = extents;
-        m_parentScene = pScene;
+        MegaRegionParentPhysicsScene = pScene;
         if (pScene != null)
         {
             // We are a child. 
@@ -474,7 +475,7 @@ public class BSTerrainManager
 
     private void DetailLog(string msg, params Object[] args)
     {
-        m_physicsScene.PhysicsLogging.Write(msg, args);
+        PhysicsScene.PhysicsLogging.Write(msg, args);
     }
 }
 }