28 files changed, 1008 insertions, 166 deletions
diff --git a/OpenSim/Region/ClientStack/Linden/UDP/LLClientView.cs b/OpenSim/Region/ClientStack/Linden/UDP/LLClientView.cs
index bae41fb..0a39ded 100644
--- a/OpenSim/Region/ClientStack/Linden/UDP/LLClientView.cs
+++ b/OpenSim/Region/ClientStack/Linden/UDP/LLClientView.cs
@@ -4963,8 +4963,9 @@ namespace OpenSim.Region.ClientStack.LindenUDP
                // in that direction, even though we don't model this on the server.  Implementing this in the future
                // may improve movement smoothness.
 //                acceleration = new Vector3(1, 0, 0);
+                
-                angularVelocity = Vector3.Zero;
+                angularVelocity = presence.AngularVelocity;
+                rotation = presence.Rotation;
                if (sendTexture)
                    textureEntry = presence.Appearance.Texture.GetBytes();
diff --git a/OpenSim/Region/CoreModules/Agent/AssetTransaction/AssetTransactionModule.cs b/OpenSim/Region/CoreModules/Agent/AssetTransaction/AssetTransactionModule.cs
index 7332415..faee189 100644
--- a/OpenSim/Region/CoreModules/Agent/AssetTransaction/AssetTransactionModule.cs
+++ b/OpenSim/Region/CoreModules/Agent/AssetTransaction/AssetTransactionModule.cs
@@ -214,9 +214,9 @@ namespace OpenSim.Region.CoreModules.Agent.AssetTransaction
        public void HandleTaskItemUpdateFromTransaction(
            IClientAPI remoteClient, SceneObjectPart part, UUID transactionID, TaskInventoryItem item)
        {
-            m_log.DebugFormat(
+//            m_log.DebugFormat(
-                "[ASSET TRANSACTION MODULE] Called HandleTaskItemUpdateFromTransaction with item {0} in {1} for {2} in {3}",
+//                "[ASSET TRANSACTION MODULE]: Called HandleTaskItemUpdateFromTransaction with item {0} in {1} for {2} in {3}",
-                item.Name, part.Name, remoteClient.Name, m_Scene.RegionInfo.RegionName);
+//                item.Name, part.Name, remoteClient.Name, m_Scene.RegionInfo.RegionName);
            AgentAssetTransactions transactions =
                    GetUserTransactions(remoteClient.AgentId);
@@ -230,15 +230,17 @@ namespace OpenSim.Region.CoreModules.Agent.AssetTransaction
        /// </summary>
        /// <param name="remoteClient"></param>
        /// <param name="assetID"></param>
-        /// <param name="transaction"></param>
+        /// <param name="transactionID"></param>
        /// <param name="type"></param>
        /// <param name="data"></param></param>
        /// <param name="tempFile"></param>
        public void HandleUDPUploadRequest(IClientAPI remoteClient,
-                UUID assetID, UUID transaction, sbyte type, byte[] data,
+                UUID assetID, UUID transactionID, sbyte type, byte[] data,
                bool storeLocal, bool tempFile)
        {
-//            m_log.Debug("HandleUDPUploadRequest - assetID: " + assetID.ToString() + " transaction: " + transaction.ToString() + " type: " + type.ToString() + " storelocal: " + storeLocal + " tempFile: " + tempFile);
+//            m_log.DebugFormat(
+//                "[ASSET TRANSACTION MODULE]: HandleUDPUploadRequest - assetID: {0}, transaction {1}, type {2}, storeLocal {3}, tempFile {4}, data.Length {5}",
+//                assetID, transactionID, type, storeLocal, tempFile, data.Length);
            
            if (((AssetType)type == AssetType.Texture ||
                (AssetType)type == AssetType.Sound ||
@@ -274,8 +276,8 @@ namespace OpenSim.Region.CoreModules.Agent.AssetTransaction
            }
            AgentAssetTransactions transactions = GetUserTransactions(remoteClient.AgentId);
-            AssetXferUploader uploader = transactions.RequestXferUploader(transaction);
+            AssetXferUploader uploader = transactions.RequestXferUploader(transactionID);
-            uploader.StartUpload(remoteClient, assetID, transaction, type, data, storeLocal, tempFile);
+            uploader.StartUpload(remoteClient, assetID, transactionID, type, data, storeLocal, tempFile);
        }
        /// <summary>
diff --git a/OpenSim/Region/Framework/Interfaces/IJsonStoreModule.cs b/OpenSim/Region/Framework/Interfaces/IJsonStoreModule.cs
index da39e95..0bb4567 100644
--- a/OpenSim/Region/Framework/Interfaces/IJsonStoreModule.cs
+++ b/OpenSim/Region/Framework/Interfaces/IJsonStoreModule.cs
@@ -37,6 +37,7 @@ namespace OpenSim.Region.Framework.Interfaces
    {
        bool CreateStore(string value, ref UUID result);
        bool DestroyStore(UUID storeID);
+        bool TestStore(UUID storeID);
        bool TestPath(UUID storeID, string path, bool useJson);
        bool SetValue(UUID storeID, string path, string value, bool useJson);
        bool RemoveValue(UUID storeID, string path);
diff --git a/OpenSim/Region/Framework/Scenes/ScenePresence.cs b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
index f024f52..6005f07 100644
--- a/OpenSim/Region/Framework/Scenes/ScenePresence.cs
+++ b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
@@ -204,6 +204,11 @@ namespace OpenSim.Region.Framework.Scenes
        private const int LAND_VELOCITYMAG_MAX = 12;
+        private const float FLY_ROLL_MAX_RADIANS = 1.1f;
+        private const float FLY_ROLL_RADIANS_PER_UPDATE = 0.06f;
+        private const float FLY_ROLL_RESET_RADIANS_PER_UPDATE = 0.02f;
        private float m_health = 100f;
        protected ulong crossingFromRegion;
@@ -604,6 +609,14 @@ namespace OpenSim.Region.Framework.Scenes
            }
        }
+        // Used for limited viewer 'fake' user rotations.
+        private Vector3 m_AngularVelocity = Vector3.Zero;
+        public Vector3 AngularVelocity
+        {
+            get { return m_AngularVelocity; }
+        }
        public bool IsChildAgent { get; set; }
        public bool IsLoggingIn { get; set; }
@@ -734,6 +747,8 @@ namespace OpenSim.Region.Framework.Scenes
        #endregion
        #region Constructor(s)
        public ScenePresence(
@@ -1223,6 +1238,85 @@ namespace OpenSim.Region.Framework.Scenes
            ControllingClient.StopFlying(this);
        }
+        /// <summary>
+        /// Applies a roll accumulator to the avatar's angular velocity for the avatar fly roll effect.
+        /// </summary>
+        /// <param name="amount">Postive or negative roll amount in radians</param>
+        private void ApplyFlyingRoll(float amount, bool PressingUp, bool PressingDown)
+        {
+            
+            float rollAmount = Util.Clamp(m_AngularVelocity.Z + amount, -FLY_ROLL_MAX_RADIANS, FLY_ROLL_MAX_RADIANS);
+            m_AngularVelocity.Z = rollAmount;
+            // APPLY EXTRA consideration for flying up and flying down during this time.
+            // if we're turning left
+            if (amount > 0)
+            {
+                // If we're at the max roll and pressing up, we want to swing BACK a bit
+                // Automatically adds noise
+                if (PressingUp)
+                {
+                    if (m_AngularVelocity.Z >= FLY_ROLL_MAX_RADIANS - 0.04f)
+                        m_AngularVelocity.Z -= 0.9f;
+                }
+                // If we're at the max roll and pressing down, we want to swing MORE a bit
+                if (PressingDown)
+                {
+                    if (m_AngularVelocity.Z >= FLY_ROLL_MAX_RADIANS && m_AngularVelocity.Z < FLY_ROLL_MAX_RADIANS + 0.6f)
+                        m_AngularVelocity.Z += 0.6f;
+                }
+            }
+            else  // we're turning right.
+            {
+                // If we're at the max roll and pressing up, we want to swing BACK a bit
+                // Automatically adds noise
+                if (PressingUp)
+                {
+                    if (m_AngularVelocity.Z <= (-FLY_ROLL_MAX_RADIANS))
+                        m_AngularVelocity.Z += 0.6f;
+                }
+                // If we're at the max roll and pressing down, we want to swing MORE a bit
+                if (PressingDown)
+                {
+                    if (m_AngularVelocity.Z >= -FLY_ROLL_MAX_RADIANS - 0.6f)
+                        m_AngularVelocity.Z -= 0.6f;
+                }
+            }
+        }
+        /// <summary>
+        /// incrementally sets roll amount to zero
+        /// </summary>
+        /// <param name="amount">Positive roll amount in radians</param>
+        /// <returns></returns>
+        private float CalculateFlyingRollResetToZero(float amount)
+        {
+            const float rollMinRadians = 0f;
+            if (m_AngularVelocity.Z > 0)
+            {
+                
+                float leftOverToMin = m_AngularVelocity.Z - rollMinRadians;
+                if (amount > leftOverToMin)
+                    return -leftOverToMin;
+                else
+                    return -amount;
+            }
+            else
+            {
+                
+                float leftOverToMin = -m_AngularVelocity.Z - rollMinRadians;
+                if (amount > leftOverToMin)
+                    return leftOverToMin;
+                else
+                    return amount;
+            }
+        }
+        
        // neighbouring regions we have enabled a child agent in
        // holds the seed cap for the child agent in that region
        private Dictionary<ulong, string> m_knownChildRegions = new Dictionary<ulong, string>();
@@ -1739,6 +1833,33 @@ namespace OpenSim.Region.Framework.Scenes
                    bool controlland = (((flags & AgentManager.ControlFlags.AGENT_CONTROL_UP_NEG) != 0) ||
                                        ((flags & AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_UP_NEG) != 0));
+                   //m_log.Debug("[CONTROL]: " +flags);
+                    // Applies a satisfying roll effect to the avatar when flying.
+                    if (((flags & AgentManager.ControlFlags.AGENT_CONTROL_TURN_LEFT) != 0) && ((flags & AgentManager.ControlFlags.AGENT_CONTROL_YAW_POS) != 0))
+                    {
+                        ApplyFlyingRoll(FLY_ROLL_RADIANS_PER_UPDATE, ((flags & AgentManager.ControlFlags.AGENT_CONTROL_UP_POS) != 0), ((flags & AgentManager.ControlFlags.AGENT_CONTROL_UP_NEG) != 0));
+                        
+                        
+                    } 
+                    else if (((flags & AgentManager.ControlFlags.AGENT_CONTROL_TURN_RIGHT) != 0) &&
+                             ((flags & AgentManager.ControlFlags.AGENT_CONTROL_YAW_NEG) != 0))
+                    {
+                        ApplyFlyingRoll(-FLY_ROLL_RADIANS_PER_UPDATE, ((flags & AgentManager.ControlFlags.AGENT_CONTROL_UP_POS) != 0), ((flags & AgentManager.ControlFlags.AGENT_CONTROL_UP_NEG) != 0));
+                       
+                    }
+                    else
+                    {
+                        if (m_AngularVelocity.Z != 0)
+                            m_AngularVelocity.Z += CalculateFlyingRollResetToZero(FLY_ROLL_RESET_RADIANS_PER_UPDATE);
+                        
+                    }
+                   
                    if (Flying && IsColliding && controlland)
                    {
                        // nesting this check because LengthSquared() is expensive and we don't 
diff --git a/OpenSim/Region/OptionalModules/Scripting/JsonStore/JsonStoreModule.cs b/OpenSim/Region/OptionalModules/Scripting/JsonStore/JsonStoreModule.cs
index e68764a..b9b3ebc 100644
--- a/OpenSim/Region/OptionalModules/Scripting/JsonStore/JsonStoreModule.cs
+++ b/OpenSim/Region/OptionalModules/Scripting/JsonStore/JsonStoreModule.cs
@@ -221,6 +221,19 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
        /// 
        /// </summary>
        // -----------------------------------------------------------------
+        public bool TestStore(UUID storeID)
+        {
+            if (! m_enabled) return false;
+            lock (m_JsonValueStore)
+                return m_JsonValueStore.ContainsKey(storeID);
+        }
+        // -----------------------------------------------------------------
+        /// <summary>
+        /// 
+        /// </summary>
+        // -----------------------------------------------------------------
        public bool TestPath(UUID storeID, string path, bool useJson)
        {
            if (! m_enabled) return false;
diff --git a/OpenSim/Region/OptionalModules/Scripting/JsonStore/JsonStoreScriptModule.cs b/OpenSim/Region/OptionalModules/Scripting/JsonStore/JsonStoreScriptModule.cs
index b9dcfea..29955af 100644
--- a/OpenSim/Region/OptionalModules/Scripting/JsonStore/JsonStoreScriptModule.cs
+++ b/OpenSim/Region/OptionalModules/Scripting/JsonStore/JsonStoreScriptModule.cs
@@ -167,6 +167,7 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
                {
                    m_comms.RegisterScriptInvocation(this, "JsonCreateStore");
                    m_comms.RegisterScriptInvocation(this, "JsonDestroyStore");
+                    m_comms.RegisterScriptInvocation(this, "JsonTestStore");
                    m_comms.RegisterScriptInvocation(this, "JsonReadNotecard");
                    m_comms.RegisterScriptInvocation(this, "JsonWriteNotecard");
@@ -248,6 +249,16 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
        /// 
        /// </summary>
        // -----------------------------------------------------------------
+        protected int JsonTestStore(UUID hostID, UUID scriptID, UUID storeID)
+        {
+            return m_store.TestStore(storeID) ? 1 : 0;
+        }
+        // -----------------------------------------------------------------
+        /// <summary>
+        /// 
+        /// </summary>
+        // -----------------------------------------------------------------
        protected UUID JsonReadNotecard(UUID hostID, UUID scriptID, UUID storeID, string path, UUID assetID)
        {
            UUID reqID = UUID.Random();
diff --git a/OpenSim/Region/OptionalModules/Scripting/JsonStore/Tests/JsonStoreScriptModuleTests.cs b/OpenSim/Region/OptionalModules/Scripting/JsonStore/Tests/JsonStoreScriptModuleTests.cs
index 397dd93..8042a93 100644
--- a/OpenSim/Region/OptionalModules/Scripting/JsonStore/Tests/JsonStoreScriptModuleTests.cs
+++ b/OpenSim/Region/OptionalModules/Scripting/JsonStore/Tests/JsonStoreScriptModuleTests.cs
@@ -48,7 +48,7 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore.Tests
    /// Tests for inventory functions in LSL
    /// </summary>
    [TestFixture]
-    public class LSL_ApiInventoryTests : OpenSimTestCase
+    public class JsonStoreScriptModuleTests : OpenSimTestCase
    {
        private Scene m_scene;
        private MockScriptEngine m_engine;
@@ -59,8 +59,6 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore.Tests
        {
            base.SetUp();
-            TestHelpers.EnableLogging();
            IConfigSource configSource = new IniConfigSource();
            IConfig jsonStoreConfig = configSource.AddConfig("JsonStore");
            jsonStoreConfig.Set("Enabled", "true");
@@ -72,74 +70,129 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore.Tests
            m_scene = new SceneHelpers().SetupScene();
            SceneHelpers.SetupSceneModules(m_scene, configSource, m_engine, m_smcm, jsm, jssm);
+            try
+            {
+                m_smcm.RegisterScriptInvocation(this, "DummyTestMethod");
+            }
+            catch (ArgumentException)
+            {
+                Assert.Ignore("Ignoring test since running on .NET 3.5 or earlier.");
+            }
+            // XXX: Unfortunately, ICommsModule currently has no way of deregistering methods.
        }
-//        [Test]
+        private object InvokeOp(string name, params object[] args)
+        {
+            return m_smcm.InvokeOperation(UUID.Zero, UUID.Zero, name, args);
+        }
+        [Test]
        public void TestJsonCreateStore()
        {
            TestHelpers.InMethod();
 //            TestHelpers.EnableLogging();
-            UUID storeId = (UUID)m_smcm.InvokeOperation(UUID.Zero, UUID.Zero, "JsonCreateStore", new object[] { "{}" }); 
+            UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{}");
            Assert.That(storeId, Is.Not.EqualTo(UUID.Zero));
        }
-//        [Test]
+        [Test]
-        public void TestJsonGetValue()
+        public void TestJsonDestroyStore()
        {
            TestHelpers.InMethod();
 //            TestHelpers.EnableLogging();
-            UUID storeId 
+            UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{ 'Hello' : 'World' }");
-                = (UUID)m_smcm.InvokeOperation(
+            int dsrv = (int)InvokeOp("JsonDestroyStore", storeId);
-                    UUID.Zero, UUID.Zero, "JsonCreateStore", new object[] { "{ 'Hello' : 'World' }" }); 
+            Assert.That(dsrv, Is.EqualTo(1));
+            int tprv = (int)InvokeOp("JsonTestPath", storeId, "Hello");
+            Assert.That(tprv, Is.EqualTo(0));
+        }
+        [Test]
+        public void TestJsonGetValue()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
-            string value 
+            UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{ 'Hello' : 'World' }"); 
-                = (string)m_smcm.InvokeOperation(
-                    UUID.Zero, UUID.Zero, "JsonGetValue", new object[] { storeId, "Hello" });
+            string value = (string)InvokeOp("JsonGetValue", storeId, "Hello");
            Assert.That(value, Is.EqualTo("World"));
        }
 //        [Test]
-        public void TestJsonTestPath()
+//        public void TestJsonTakeValue()
+//        {
+//            TestHelpers.InMethod();
+////            TestHelpers.EnableLogging();
+//
+//            UUID storeId 
+//                = (UUID)m_smcm.InvokeOperation(
+//                    UUID.Zero, UUID.Zero, "JsonCreateStore", new object[] { "{ 'Hello' : 'World' }" }); 
+//
+//            string value 
+//                = (string)m_smcm.InvokeOperation(
+//                    UUID.Zero, UUID.Zero, "JsonTakeValue", new object[] { storeId, "Hello" });
+//
+//            Assert.That(value, Is.EqualTo("World"));
+//
+//            string value2
+//                = (string)m_smcm.InvokeOperation(
+//                    UUID.Zero, UUID.Zero, "JsonGetValue", new object[] { storeId, "Hello" });
+//
+//            Assert.That(value, Is.Null);
+//        }
+        [Test]
+        public void TestJsonRemoveValue()
        {
            TestHelpers.InMethod();
 //            TestHelpers.EnableLogging();
-            UUID storeId 
+            UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{ 'Hello' : 'World' }"); 
-                = (UUID)m_smcm.InvokeOperation(
-                    UUID.Zero, UUID.Zero, "JsonCreateStore", new object[] { "{ 'Hello' : 'World' }" }); 
+            int returnValue = (int)InvokeOp( "JsonRemoveValue", storeId, "Hello");
+            Assert.That(returnValue, Is.EqualTo(1));
+            int result = (int)InvokeOp("JsonTestPath", storeId, "Hello");
+            Assert.That(result, Is.EqualTo(0));
+            string returnValue2 = (string)InvokeOp("JsonGetValue", storeId, "Hello");
+            Assert.That(returnValue2, Is.EqualTo(""));
+        }
+        [Test]
+        public void TestJsonTestPath()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
-            int result 
+            UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{ 'Hello' : 'World' }"); 
-                = (int)m_smcm.InvokeOperation(
-                    UUID.Zero, UUID.Zero, "JsonTestPath", new object[] { storeId, "Hello" });
+            int result = (int)InvokeOp("JsonTestPath", storeId, "Hello");
            Assert.That(result, Is.EqualTo(1));
        }
-//        [Test]
+        [Test]
        public void TestJsonSetValue()
        {
            TestHelpers.InMethod();
 //            TestHelpers.EnableLogging();
-            UUID storeId 
+            UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{}"); 
-                = (UUID)m_smcm.InvokeOperation(
-                    UUID.Zero, UUID.Zero, "JsonCreateStore", new object[] { "{ }" }); 
-            int result 
-                = (int)m_smcm.InvokeOperation(
-                    UUID.Zero, UUID.Zero, "JsonSetValue", new object[] { storeId, "Hello", "World" });
+            int result = (int)InvokeOp("JsonSetValue", storeId, "Hello", "World");
            Assert.That(result, Is.EqualTo(1));
-            string value 
+            string value = (string)InvokeOp("JsonGetValue", storeId, "Hello");
-                = (string)m_smcm.InvokeOperation(
-                    UUID.Zero, UUID.Zero, "JsonGetValue", new object[] { storeId, "Hello" });
            Assert.That(value, Is.EqualTo("World"));
        }
+        public object DummyTestMethod(object o1, object o2, object o3, object o4, object o5) { return null; }
    }
 }
 \ No newline at end of file
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
index f25b447..abbd22c 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
@@ -87,7 +87,7 @@ public enum FixedShapeKey : ulong
 [StructLayout(LayoutKind.Sequential)]
 public struct ShapeData
 {
-    public uint ID;
+    public UInt32 ID;
    public BSPhysicsShapeType Type;
    public Vector3 Position;
    public Quaternion Rotation;
@@ -111,7 +111,7 @@ public struct ShapeData
 [StructLayout(LayoutKind.Sequential)]
 public struct SweepHit
 {
-    public uint ID;
+    public UInt32 ID;
    public float Fraction;
    public Vector3 Normal;
    public Vector3 Point;
@@ -119,15 +119,15 @@ public struct SweepHit
 [StructLayout(LayoutKind.Sequential)]
 public struct RaycastHit
 {
-    public uint ID;
+    public UInt32 ID;
    public float Fraction;
    public Vector3 Normal;
 }
 [StructLayout(LayoutKind.Sequential)]
 public struct CollisionDesc
 {
-    public uint aID;
+    public UInt32 aID;
-    public uint bID;
+    public UInt32 bID;
    public Vector3 point;
    public Vector3 normal;
    public float penetration;
@@ -135,7 +135,7 @@ public struct CollisionDesc
 [StructLayout(LayoutKind.Sequential)]
 public struct EntityProperties
 {
-    public uint ID;
+    public UInt32 ID;
    public Vector3 Position;
    public Quaternion Rotation;
    public Vector3 Velocity;
@@ -325,7 +325,7 @@ public abstract BulletWorld Initialize(Vector3 maxPosition, ConfigurationParamet
 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 bool UpdateParameter(BulletWorld world, UInt32 localID, String parm, float value);
 public abstract void Shutdown(BulletWorld sim);
@@ -366,24 +366,24 @@ public abstract void UpdateChildTransform(BulletShape pShape, int childIndex, Ve
 public abstract void RecalculateCompoundShapeLocalAabb(BulletShape cShape);
-public abstract BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id);
+public abstract BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, UInt32 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 CreateBodyFromShape(BulletWorld sim, BulletShape shape, UInt32 id, Vector3 pos, Quaternion rot);
-public abstract BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, uint id, Vector3 pos, Quaternion rot);
+public abstract BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, UInt32 id, Vector3 pos, Quaternion rot);
-public abstract BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot);
+public abstract BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, UInt32 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 CreateGroundPlaneShape(UInt32 id, float height, float collisionMargin);
-public abstract BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, 
+public abstract BulletShape CreateTerrainShape(UInt32 id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, 
                                                                float scaleFactor, float collisionMargin);
 // =====================================================================================
@@ -629,7 +629,7 @@ public abstract BulletConstraint GetConstraintRef(BulletBody obj, int index);
 public abstract int GetNumConstraintRefs(BulletBody obj);
-public abstract bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask);
+public abstract bool SetCollisionGroupMask(BulletBody body, UInt32 filter, UInt32 mask);
 // =====================================================================================
 // btCollisionShape entries
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 7603254..3884a5d 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -56,7 +56,6 @@ public sealed class BSCharacter : BSPhysObject
    private int _physicsActorType;
    private bool _isPhysical;
    private bool _flying;
-    private bool _wasWalking;   // 'true' if the avatar was walking/moving last frame
    private bool _setAlwaysRun;
    private bool _throttleUpdates;
    private bool _floatOnWater;
@@ -84,7 +83,6 @@ public sealed class BSCharacter : BSPhysObject
        _position = pos;
        _flying = isFlying;
-        _wasWalking = true;     // causes first step to initialize standing
        _orientation = OMV.Quaternion.Identity;
        _velocity = OMV.Vector3.Zero;
        _buoyancy = ComputeBuoyancyFromFlying(isFlying);
@@ -220,7 +218,13 @@ public sealed class BSCharacter : BSPhysObject
            {
                // The avatar shouldn't be moving
                _velocityMotor.Zero();
-                ZeroMotion(true /* inTaintTime */);
+                // If we are colliding with a stationary object, presume we're standing and don't move around
+                if (!ColliderIsMoving)
+                {
+                    DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,zeroingMotion", LocalID);
+                    ZeroMotion(true /* inTaintTime */);
+                }
                // Standing has more friction on the ground
                if (_currentFriction != BSParam.AvatarStandingFriction)
@@ -229,8 +233,6 @@ public sealed class BSCharacter : BSPhysObject
                    PhysicsScene.PE.SetFriction(PhysBody, _currentFriction);
                }
                DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1}", LocalID, _velocityMotor.TargetValue);
-                _wasWalking = false;
            }
            else
            {
@@ -260,7 +262,6 @@ public sealed class BSCharacter : BSPhysObject
                DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce);
                PhysicsScene.PE.ApplyCentralImpulse(PhysBody, moveForce);
-                _wasWalking = true;
            }
        });
    }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 7ad7c89..05ab180 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -125,9 +125,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
        static readonly float PIOverTwo = ((float)Math.PI) / 2f;
        // For debugging, flags to turn on and off individual corrections.
-        private bool enableAngularVerticalAttraction;
+        public bool enableAngularVerticalAttraction;
-        private bool enableAngularDeflection;
+        public bool enableAngularDeflection;
-        private bool enableAngularBanking;
+        public bool enableAngularBanking;
        public BSDynamics(BSScene myScene, BSPrim myPrim)
        {
@@ -146,7 +146,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
            enableAngularBanking = false;
            if (BSParam.VehicleDebuggingEnabled != ConfigurationParameters.numericFalse)
            {
-                enableAngularVerticalAttraction = false;
+                enableAngularVerticalAttraction = true;
                enableAngularDeflection = false;
                enableAngularBanking = false;
            }
@@ -165,7 +165,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
        }
        #region Vehicle parameter setting
-        internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
+        public void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
        {
            VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
            switch (pParam)
@@ -591,14 +591,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                m_vehicleMass = Prim.Linkset.LinksetMass;
                // Friction affects are handled by this vehicle code
-                float friction = 0f;
+                PhysicsScene.PE.SetFriction(Prim.PhysBody, BSParam.VehicleFriction);
-                PhysicsScene.PE.SetFriction(Prim.PhysBody, friction);
+                PhysicsScene.PE.SetRestitution(Prim.PhysBody, BSParam.VehicleRestitution);
                // 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, BSParam.VehicleAngularDamping);
-                PhysicsScene.PE.SetAngularDamping(Prim.PhysBody, angularDamping);
+                PhysicsScene.PE.SetLinearFactor(Prim.PhysBody, BSParam.VehicleLinearFactorV);
+                PhysicsScene.PE.SetAngularFactorV(Prim.PhysBody, BSParam.VehicleAngularFactorV);
                // Vehicles report collision events so we know when it's on the ground
                PhysicsScene.PE.AddToCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
@@ -613,8 +614,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                // 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}",
+                VDetailLog("{0},BSDynamics.Refresh,mass={1},inert={2},grav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}",
-                        Prim.LocalID, m_vehicleMass, friction, Prim.Inertia, angularDamping, m_VehicleGravity);
+                        Prim.LocalID, m_vehicleMass, Prim.Inertia, m_VehicleGravity,
+                        BSParam.VehicleAngularDamping, BSParam.VehicleFriction, BSParam.VehicleRestitution,
+                        BSParam.VehicleLinearFactor, BSParam.VehicleAngularFactor
+                        );
            }
            else
            {
@@ -673,13 +677,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
        private const int m_knownChangedWaterLevel         = 1 << 9;
        private const int m_knownChangedForwardVelocity    = 1 <<10;
-        private void ForgetKnownVehicleProperties()
+        public void ForgetKnownVehicleProperties()
        {
            m_knownHas = 0;
            m_knownChanged = 0;
        }
        // Push all the changed values back into the physics engine
-        private void PushKnownChanged()
+        public void PushKnownChanged()
        {
            if (m_knownChanged != 0)
            {
@@ -799,7 +803,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                    m_knownVelocity = Prim.ForceVelocity;
                    m_knownHas |= m_knownChangedVelocity;
                }
-                return (Vector3)m_knownVelocity;
+                return m_knownVelocity;
            }
            set
            {
@@ -898,9 +902,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
        {
            if (!IsActive) return;
-            if (PhysicsScene.VehiclePhysicalLoggingEnabled)
-                PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody);
            ForgetKnownVehicleProperties();
            MoveLinear(pTimestep);
@@ -922,6 +923,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                    Prim.LocalID, VehiclePosition, m_knownForce, VehicleVelocity, VehicleRotationalVelocity);
        }
+        // Called after the simulation step
+        internal void PostStep(float pTimestep)
+        {
+            if (!IsActive) return;
+            if (PhysicsScene.VehiclePhysicalLoggingEnabled)
+                PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody);
+        }
        // Apply the effect of the linear motor and other linear motions (like hover and float).
        private void MoveLinear(float pTimestep)
        {
@@ -953,10 +963,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
            // ==================================================================
            // Clamp high or low velocities
            float newVelocityLengthSq = VehicleVelocity.LengthSquared();
-            if (newVelocityLengthSq > BSParam.VehicleMaxLinearVelocity)
+            if (newVelocityLengthSq > BSParam.VehicleMaxLinearVelocitySq)
            {
+                Vector3 origVelW = VehicleVelocity;         // DEBUG DEBUG
                VehicleVelocity /= VehicleVelocity.Length();
                VehicleVelocity *= BSParam.VehicleMaxLinearVelocity;
+                VDetailLog("{0},  MoveLinear,clampMax,origVelW={1},lenSq={2},maxVelSq={3},,newVelW={4}", 
+                            Prim.LocalID, origVelW, newVelocityLengthSq, BSParam.VehicleMaxLinearVelocitySq, VehicleVelocity);
            }
            else if (newVelocityLengthSq < 0.001f)
                VehicleVelocity = Vector3.Zero;
@@ -968,8 +981,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
        public void ComputeLinearVelocity(float pTimestep)
        {
            // Step the motor from the current value. Get the correction needed this step.
-            Vector3 currentVel = VehicleVelocity * Quaternion.Inverse(VehicleOrientation);
+            Vector3 origVelW = VehicleVelocity;             // DEBUG
-            Vector3 linearMotorCorrectionV = m_linearMotor.Step(pTimestep, currentVel);
+            Vector3 currentVelV = VehicleVelocity * Quaternion.Inverse(VehicleOrientation);
+            Vector3 linearMotorCorrectionV = m_linearMotor.Step(pTimestep, currentVelV);
            // Motor is vehicle coordinates. Rotate it to world coordinates
            Vector3 linearMotorVelocityW = linearMotorCorrectionV * VehicleOrientation;
@@ -984,8 +998,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
            // Add this correction to the velocity to make it faster/slower.
            VehicleVelocity += linearMotorVelocityW;
-            VDetailLog("{0},  MoveLinear,velocity,vehVel={1},correction={2},force={3}",
+            VDetailLog("{0},  MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5}",
-                        Prim.LocalID, VehicleVelocity, linearMotorCorrectionV, linearMotorVelocityW);
+                        Prim.LocalID, origVelW, currentVelV, linearMotorCorrectionV, linearMotorVelocityW, VehicleVelocity);
        }
        public void ComputeLinearTerrainHeightCorrection(float pTimestep)
@@ -1185,12 +1199,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
            // Hack to reduce downward force if the vehicle is probably sitting on the ground
            if (Prim.IsColliding && IsGroundVehicle)
-                appliedGravity *= 0.2f;
+                appliedGravity *= BSParam.VehicleGroundGravityFudge;
            VehicleAddForce(appliedGravity);
-            VDetailLog("{0},  MoveLinear,applyGravity,vehGrav={1},appliedForce-{2}", 
+            VDetailLog("{0},  MoveLinear,applyGravity,vehGrav={1},collid={2},appliedForce={3}", 
-                            Prim.LocalID, m_VehicleGravity, appliedGravity);
+                            Prim.LocalID, m_VehicleGravity, Prim.IsColliding, appliedGravity);
        }
        // =======================================================================
@@ -1292,6 +1306,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
            if (enableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
            {
                Vector3 vertContributionV = Vector3.Zero;
+                Vector3 origRotVelW = VehicleRotationalVelocity;        // DEBUG DEBUG
                // Take a vector pointing up and convert it from world to vehicle relative coords.
                Vector3 verticalError = Vector3.UnitZ * VehicleOrientation;
@@ -1319,13 +1334,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                // 'vertContrbution' is now the necessary angular correction to correct tilt in one second.
                //     Correction happens over a number of seconds.
-                Vector3 unscaledContrib = vertContributionV;     // DEBUG DEBUG
+                Vector3 unscaledContribVerticalErrorV = vertContributionV;     // DEBUG DEBUG
                vertContributionV /= m_verticalAttractionTimescale;
                VehicleRotationalVelocity += vertContributionV * VehicleOrientation;
-                VDetailLog("{0},  MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},ts={4},vertAttr={5}",
+                VDetailLog("{0},  MoveAngular,verticalAttraction,,origRotVW={1},vertError={2},unscaledV={3},eff={4},ts={5},vertContribV={6}",
-                                Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContributionV);
+                                Prim.LocalID, origRotVelW, verticalError, unscaledContribVerticalErrorV, 
+                                m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContributionV);
            }
        }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 2c8dd23..54dc458 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -232,7 +232,7 @@ public sealed class BSLinksetCompound : BSLinkset
                                                                        newLsi.OffsetFromCenterOfMass,
                                                                        newLsi.OffsetRot,
                                                                        true /* shouldRecalculateLocalAabb */);
-                            DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1}newLsi={2}",
+                            DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1},newLsi={2}",
                                                                        updated.LocalID, whichUpdated, newLsi);
                            updated.LinksetInfo = newLsi;
                            updatedChild = true;
@@ -377,7 +377,7 @@ 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 = false;     // disable until we get this debugged
+    private bool disableCOM = true;     // disable until we get this debugged
    private void RecomputeLinksetCompound()
    {
        try
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index 06186b0..8c098b2 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -82,9 +82,19 @@ public static class BSParam
        public static float AvatarStepApproachFactor { get; private set; }
        public static float AvatarStepForceFactor { get; private set; }
+    // Vehicle parameters
    public static float VehicleMaxLinearVelocity { get; private set; }
+    public static float VehicleMaxLinearVelocitySq { get; private set; }
    public static float VehicleMaxAngularVelocity { get; private set; }
+    public static float VehicleMaxAngularVelocitySq { get; private set; }
    public static float VehicleAngularDamping { get; private set; }
+    public static float VehicleFriction { get; private set; }
+    public static float VehicleRestitution { get; private set; }
+    public static float VehicleLinearFactor { get; private set; }
+    public static Vector3 VehicleLinearFactorV { get; private set; }
+    public static float VehicleAngularFactor { get; private set; }
+    public static Vector3 VehicleAngularFactorV { get; private set; }
+    public static float VehicleGroundGravityFudge { get; private set; }
    public static float VehicleDebuggingEnabled { get; private set; }
    public static float LinksetImplementation { get; private set; }
@@ -373,7 +383,7 @@ public static class BSParam
            (s) => { return TerrainRestitution; },
            (s,p,l,v) => { TerrainRestitution = v;  /* TODO: set on real terrain */ } ),
        new ParameterDefn("TerrainCollisionMargin", "Margin where collision checking starts" ,
-            0.04f,
+            0.08f,
            (s,cf,p,v) => { TerrainCollisionMargin = cf.GetFloat(p, v); },
            (s) => { return TerrainCollisionMargin; },
            (s,p,l,v) => { TerrainCollisionMargin = v;  /* TODO: set on real terrain */ } ),
@@ -443,17 +453,42 @@ public static class BSParam
            1000.0f,
            (s,cf,p,v) => { VehicleMaxLinearVelocity = cf.GetFloat(p, v); },
            (s) => { return (float)VehicleMaxLinearVelocity; },
-            (s,p,l,v) => { VehicleMaxLinearVelocity = v; } ),
+            (s,p,l,v) => { VehicleMaxLinearVelocity = v; VehicleMaxLinearVelocitySq = v * v; } ),
        new ParameterDefn("VehicleMaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to a vehicle",
            12.0f,
            (s,cf,p,v) => { VehicleMaxAngularVelocity = cf.GetFloat(p, v); },
            (s) => { return (float)VehicleMaxAngularVelocity; },
-            (s,p,l,v) => { VehicleMaxAngularVelocity = v; } ),
+            (s,p,l,v) => { VehicleMaxAngularVelocity = v; VehicleMaxAngularVelocitySq = v * v; } ),
        new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)",
            0.0f,
            (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); },
            (s) => { return VehicleAngularDamping; },
            (s,p,l,v) => { VehicleAngularDamping = v; } ),
+        new ParameterDefn("VehicleLinearFactor", "Fraction of physical linear changes applied to vehicle (0.0 - 1.0)",
+            1.0f,
+            (s,cf,p,v) => { VehicleLinearFactor = cf.GetFloat(p, v); },
+            (s) => { return VehicleLinearFactor; },
+            (s,p,l,v) => { VehicleLinearFactor = v; VehicleLinearFactorV = new Vector3(v, v, v); } ),
+        new ParameterDefn("VehicleAngularFactor", "Fraction of physical angular changes applied to vehicle (0.0 - 1.0)",
+            1.0f,
+            (s,cf,p,v) => { VehicleAngularFactor = cf.GetFloat(p, v); },
+            (s) => { return VehicleAngularFactor; },
+            (s,p,l,v) => { VehicleAngularFactor = v; VehicleAngularFactorV = new Vector3(v, v, v); } ),
+        new ParameterDefn("VehicleFriction", "Friction of vehicle on the ground (0.0 - 1.0)",
+            0.0f,
+            (s,cf,p,v) => { VehicleFriction = cf.GetFloat(p, v); },
+            (s) => { return VehicleFriction; },
+            (s,p,l,v) => { VehicleFriction = v; } ),
+        new ParameterDefn("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)",
+            0.0f,
+            (s,cf,p,v) => { VehicleRestitution = cf.GetFloat(p, v); },
+            (s) => { return VehicleRestitution; },
+            (s,p,l,v) => { VehicleRestitution = v; } ),
+        new ParameterDefn("VehicleGroundGravityFudge", "Factor to multiple gravity if a ground vehicle is probably on the ground (0.0 - 1.0)",
+            0.2f,
+            (s,cf,p,v) => { VehicleGroundGravityFudge = cf.GetFloat(p, v); },
+            (s) => { return VehicleGroundGravityFudge; },
+            (s,p,l,v) => { VehicleGroundGravityFudge = v; } ),
        new ParameterDefn("VehicleDebuggingEnable", "Turn on/off vehicle debugging",
            ConfigurationParameters.numericFalse,
            (s,cf,p,v) => { VehicleDebuggingEnabled = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 027c786..a113530 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -95,12 +95,16 @@ public abstract class BSPhysObject : PhysicsActor
        SubscribedEventsMs = 0;
        CollidingStep = 0;
        CollidingGroundStep = 0;
+        CollisionAccumulation = 0;
+        ColliderIsMoving = false;
+        CollisionScore = 0;
    }
    // Tell the object to clean up.
    public virtual void Destroy()
    {
        UnRegisterAllPreStepActions();
+        UnRegisterAllPostStepActions();
    }
    public BSScene PhysicsScene { get; protected set; }
@@ -174,13 +178,14 @@ public abstract class BSPhysObject : PhysicsActor
    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.
+    // 'Position' and 'Orientation' 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. 
+    //     engine. Similar to OrientationDisplacement.
    public virtual OMV.Vector3 PositionDisplacement { get; set; }
+    public virtual OMV.Quaternion OrientationDisplacement { get; set; }
    public abstract OMV.Quaternion RawOrientation { get; set; }
    public abstract OMV.Quaternion ForceOrientation { get; set; }
@@ -237,6 +242,12 @@ public abstract class BSPhysObject : PhysicsActor
    protected long CollidingObjectStep { get; set; }
    // The collision flags we think are set in Bullet
    protected CollisionFlags CurrentCollisionFlags { get; set; }
+    // On a collision, check the collider and remember if the last collider was moving
+    //    Used to modify the standing of avatars (avatars on stationary things stand still)
+    protected bool ColliderIsMoving;
+    // Count of collisions for this object
+    protected long CollisionAccumulation { get; set; }
    public override bool IsColliding {
        get { return (CollidingStep == PhysicsScene.SimulationStep); }
@@ -299,7 +310,12 @@ public abstract class BSPhysObject : PhysicsActor
            return ret;
        }
-        // if someone has subscribed for collision events....
+        CollisionAccumulation++;
+        // For movement tests, remember if we are colliding with an object that is moving.
+        ColliderIsMoving = collidee != null ? collidee.RawVelocity != OMV.Vector3.Zero : false;
+        // If someone has subscribed for collision events log the collision so it will be reported up
        if (SubscribedEvents()) {
            CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
            DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
@@ -385,6 +401,17 @@ public abstract class BSPhysObject : PhysicsActor
    public override bool SubscribedEvents() {
        return (SubscribedEventsMs > 0);
    }
+    // Because 'CollisionScore' is called many times while sorting, it should not be recomputed
+    //    each time called. So this is built to be light weight for each collision and to do
+    //    all the processing when the user asks for the info.
+    public void ComputeCollisionScore()
+    {
+        // Scale the collision count by the time since the last collision.
+        // The "+1" prevents dividing by zero.
+        long timeAgo = PhysicsScene.SimulationStep - CollidingStep + 1;
+        CollisionScore = CollisionAccumulation / timeAgo;
+    }
+    public override float CollisionScore { get; set; }
    #endregion // Collisions
@@ -393,52 +420,103 @@ public abstract class BSPhysObject : PhysicsActor
    // 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>();
+    private Dictionary<string, BSScene.PreStepAction> RegisteredPrestepActions = new Dictionary<string, BSScene.PreStepAction>();
+    private Dictionary<string, BSScene.PostStepAction> RegisteredPoststepActions = new Dictionary<string, BSScene.PostStepAction>();
    protected void RegisterPreStepAction(string op, uint id, BSScene.PreStepAction actn)
    {
        string identifier = op + "-" + id.ToString();
-        lock (RegisteredActions)
+        lock (RegisteredPrestepActions)
        {
            // Clean out any existing action
            UnRegisterPreStepAction(op, id);
-            RegisteredActions[identifier] = actn;
+            RegisteredPrestepActions[identifier] = actn;
+            PhysicsScene.BeforeStep += 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)
+    // Returns 'true' if an action was actually removed
+    protected bool UnRegisterPreStepAction(string op, uint id)
    {
        string identifier = op + "-" + id.ToString();
        bool removed = false;
-        lock (RegisteredActions)
+        lock (RegisteredPrestepActions)
        {
-            if (RegisteredActions.ContainsKey(identifier))
+            if (RegisteredPrestepActions.ContainsKey(identifier))
            {
-                PhysicsScene.BeforeStep -= RegisteredActions[identifier];
+                PhysicsScene.BeforeStep -= RegisteredPrestepActions[identifier];
-                RegisteredActions.Remove(identifier);
+                RegisteredPrestepActions.Remove(identifier);
                removed = true;
            }
        }
        DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed);
+        return removed;
    }
    protected void UnRegisterAllPreStepActions()
    {
-        lock (RegisteredActions)
+        lock (RegisteredPrestepActions)
        {
-            foreach (KeyValuePair<string, BSScene.PreStepAction> kvp in RegisteredActions)
+            foreach (KeyValuePair<string, BSScene.PreStepAction> kvp in RegisteredPrestepActions)
            {
                PhysicsScene.BeforeStep -= kvp.Value;
            }
-            RegisteredActions.Clear();
+            RegisteredPrestepActions.Clear();
        }
        DetailLog("{0},BSPhysObject.UnRegisterAllPreStepActions,", LocalID);
    }
+    
+    protected void RegisterPostStepAction(string op, uint id, BSScene.PostStepAction actn)
+    {
+        string identifier = op + "-" + id.ToString();
+        lock (RegisteredPoststepActions)
+        {
+            // Clean out any existing action
+            UnRegisterPostStepAction(op, id);
+            RegisteredPoststepActions[identifier] = actn;
+            PhysicsScene.AfterStep += actn;
+        }
+        DetailLog("{0},BSPhysObject.RegisterPostStepAction,id={1}", LocalID, identifier);
+    }
+    // Unregister a pre step action. Safe to call if the action has not been registered.
+    // Returns 'true' if an action was actually removed.
+    protected bool UnRegisterPostStepAction(string op, uint id)
+    {
+        string identifier = op + "-" + id.ToString();
+        bool removed = false;
+        lock (RegisteredPoststepActions)
+        {
+            if (RegisteredPoststepActions.ContainsKey(identifier))
+            {
+                PhysicsScene.AfterStep -= RegisteredPoststepActions[identifier];
+                RegisteredPoststepActions.Remove(identifier);
+                removed = true;
+            }
+        }
+        DetailLog("{0},BSPhysObject.UnRegisterPostStepAction,id={1},removed={2}", LocalID, identifier, removed);
+        return removed;
+    }
+    protected void UnRegisterAllPostStepActions()
+    {
+        lock (RegisteredPoststepActions)
+        {
+            foreach (KeyValuePair<string, BSScene.PostStepAction> kvp in RegisteredPoststepActions)
+            {
+                PhysicsScene.AfterStep -= kvp.Value;
+            }
+            RegisteredPoststepActions.Clear();
+        }
+        DetailLog("{0},BSPhysObject.UnRegisterAllPostStepActions,", LocalID);
+    }
    
    #endregion // Per Simulation Step actions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 8b00a33..b5dd131 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -59,7 +59,6 @@ public sealed class BSPrim : BSPhysObject
    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;
@@ -74,7 +73,7 @@ public sealed class BSPrim : BSPhysObject
    private bool _kinematic;
    private float _buoyancy;
-    private BSDynamics _vehicle;
+    public BSDynamics VehicleController { get; private set; }
    private BSVMotor _targetMotor;
    private OMV.Vector3 _PIDTarget;
@@ -108,7 +107,7 @@ public sealed class BSPrim : BSPhysObject
        _friction = PhysicsScene.Params.defaultFriction;
        _restitution = PhysicsScene.Params.defaultRestitution;
-        _vehicle = new BSDynamics(PhysicsScene, this);            // add vehicleness
+        VehicleController = new BSDynamics(PhysicsScene, this);            // add vehicleness
        _mass = CalculateMass();
@@ -345,6 +344,10 @@ public sealed class BSPrim : BSPhysObject
    {
        bool ret = false;
+        // We don't care where non-physical items are placed
+        if (!IsPhysicallyActive)
+            return ret;
        if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(RawPosition))
        {
            // The physical object is out of the known/simulated area.
@@ -513,7 +516,7 @@ public sealed class BSPrim : BSPhysObject
    public override int VehicleType {
        get {
-            return (int)_vehicle.Type;   // if we are a vehicle, return that type
+            return (int)VehicleController.Type;   // if we are a vehicle, return that type
        }
        set {
            Vehicle type = (Vehicle)value;
@@ -522,14 +525,20 @@ public sealed class BSPrim : BSPhysObject
            {
                // 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);
+                VehicleController.ProcessTypeChange(type);
                ActivateIfPhysical(false);
                // If an active vehicle, register the vehicle code to be called before each step
-                if (_vehicle.Type == Vehicle.TYPE_NONE)
+                if (VehicleController.Type == Vehicle.TYPE_NONE)
+                {
                    UnRegisterPreStepAction("BSPrim.Vehicle", LocalID);
+                    PhysicsScene.AfterStep -= VehicleController.PostStep;
+                }
                else
-                    RegisterPreStepAction("BSPrim.Vehicle", LocalID, _vehicle.Step);
+                {
+                    RegisterPreStepAction("BSPrim.Vehicle", LocalID, VehicleController.Step);
+                    PhysicsScene.AfterStep += VehicleController.PostStep;
+                }
            });
        }
    }
@@ -537,7 +546,7 @@ public sealed class BSPrim : BSPhysObject
    {
        PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
        {
-            _vehicle.ProcessFloatVehicleParam((Vehicle)param, value);
+            VehicleController.ProcessFloatVehicleParam((Vehicle)param, value);
            ActivateIfPhysical(false);
        });
    }
@@ -545,7 +554,7 @@ public sealed class BSPrim : BSPhysObject
    {
        PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
        {
-            _vehicle.ProcessVectorVehicleParam((Vehicle)param, value);
+            VehicleController.ProcessVectorVehicleParam((Vehicle)param, value);
            ActivateIfPhysical(false);
        });
    }
@@ -553,7 +562,7 @@ public sealed class BSPrim : BSPhysObject
    {
        PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate()
        {
-            _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation);
+            VehicleController.ProcessRotationVehicleParam((Vehicle)param, rotation);
            ActivateIfPhysical(false);
        });
    }
@@ -561,7 +570,7 @@ public sealed class BSPrim : BSPhysObject
    {
        PhysicsScene.TaintedObject("BSPrim.VehicleFlags", delegate()
        {
-            _vehicle.ProcessVehicleFlags(param, remove);
+            VehicleController.ProcessVehicleFlags(param, remove);
        });
    }
@@ -638,11 +647,6 @@ public sealed class BSPrim : BSPhysObject
            // 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; }
@@ -747,7 +751,7 @@ public sealed class BSPrim : BSPhysObject
    //     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()
+    public void UpdatePhysicalParameters()
    {
        // DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape);
@@ -759,7 +763,7 @@ public sealed class BSPrim : BSPhysObject
        MakeDynamic(IsStatic);
        // Update vehicle specific parameters (after MakeDynamic() so can change physical parameters)
-        _vehicle.Refresh();
+        VehicleController.Refresh();
        // Arrange for collision events if the simulator wants them
        EnableCollisions(SubscribedEvents());
@@ -1601,7 +1605,7 @@ public sealed class BSPrim : BSPhysObject
            // Remove all the physical dependencies on the old body.
            // (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...)
            Linkset.RemoveBodyDependencies(this);
-            _vehicle.RemoveBodyDependencies(this);
+            VehicleController.RemoveBodyDependencies(this);
        });
        // Make sure the properties are set on the new object
@@ -1618,9 +1622,9 @@ public sealed class BSPrim : BSPhysObject
        {
            // 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)
+            if (VehicleController.IsActive)
            {
-                // entprop.RotationalVelocity = OMV.Vector3.Zero;
+                entprop.RotationalVelocity = OMV.Vector3.Zero;
            }
            // DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop);   // DEBUG DEBUG
@@ -1643,7 +1647,7 @@ public sealed class BSPrim : BSPhysObject
            // DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop);   // DEBUG DEBUG
            // The sanity check can change the velocity and/or position.
-            if (IsPhysical && PositionSanityCheck(true /* inTaintTime */ ))
+            if (PositionSanityCheck(true /* inTaintTime */ ))
            {
                entprop.Position = _position;
                entprop.Velocity = _velocity;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index cb304b6..a4690ba 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.Linq;
 using System.Reflection;
 using System.Runtime.InteropServices;
 using System.Text;
@@ -87,7 +88,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
    public delegate void PreStepAction(float timeStep);
    public delegate void PostStepAction(float timeStep);
    public event PreStepAction BeforeStep;
-    public event PreStepAction AfterStep;
+    public event PostStepAction 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
@@ -697,7 +698,21 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
    public override Dictionary<uint, float> GetTopColliders()
    {
-        return new Dictionary<uint, float>();
+        Dictionary<uint, float> topColliders;
+        lock (PhysObjects)
+        {
+            foreach (KeyValuePair<uint, BSPhysObject> kvp in PhysObjects)
+            {
+                kvp.Value.ComputeCollisionScore();
+            }
+            List<BSPhysObject> orderedPrims = new List<BSPhysObject>(PhysObjects.Values);
+            orderedPrims.OrderByDescending(p => p.CollisionScore);
+            topColliders = orderedPrims.Take(25).ToDictionary(p => p.LocalID, p => p.CollisionScore);
+        }
+        return topColliders;
    }
    public override bool IsThreaded { get { return false;  } }
@@ -748,7 +763,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
    private void TriggerPostStepEvent(float timeStep)
    {
-        PreStepAction actions = AfterStep;
+        PostStepAction actions = AfterStep;
        if (actions != null)
            actions(timeStep);
@@ -840,7 +855,7 @@ 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(DetailLog);
+            // Util.PrintCallStack(DetailLog);
        }
        return InTaintTime;
    }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
index 801f690..a95e169 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -1,8 +1,11 @@
 CURRENT PRIORITIES
 =================================================
+One sided meshes? Should terrain be built into a closed shape?
+        When meshes get partially wedged into the terrain, they cannot push themselves out.
+        It is possible that Bullet processes collisions whether entering or leaving a mesh.
+        Ref: http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4869
 Deleting a linkset while standing on the root will leave the physical shape of the root behind.
        Not sure if it is because standing on it. Done with large prim linksets.
-Child movement in linkset (don't rebuild linkset)
 Vehicle angular vertical attraction
 vehicle angular banking
 Center-of-gravity
@@ -12,6 +15,7 @@ when should angular and linear motor targets be zeroed? when selected?
        Need a vehicle.clear()? Or an 'else' in prestep if not physical.
 Teravus llMoveToTarget script debug
        Mixing of hover, buoyancy/gravity, moveToTarget, into one force
+        Setting hover height to zero disables hover even if hover flags are on (from SL wiki)
 Nebadon vehicles turning funny in arena
 limitMotorUp calibration (more down?)
 llRotLookAt
@@ -72,7 +76,11 @@ Incorporate inter-relationship of angular corrections. For instance, angularDefl
 GENERAL TODO LIST:
 =================================================
+Avatar standing on a moving object should start to move with the object.
 llMoveToTarget objects are not effected by gravity until target is removed.
+Compute CCD parameters based on body size
+Can solver iterations be changed per body/shape? Can be for constraints but what
+        about regular vehicles?
 Implement llSetPhysicalMaterial.
        extend it with Center-of-mass, rolling friction, density
 Implement llSetForceAndTorque.
@@ -321,4 +329,5 @@ Mantis 6040 script http://opensimulator.org/mantis/view.php?id=6040 (DONE)
 Boats float low in the water (DONE)
 Boats floating at proper level (DONE)
 When is force introduced by SetForce removed? The prestep action could go forever. (DONE)
-        (Resolution: setForce registers a prestep action which keeps applying the force)
-\ No newline at end of file
+        (Resolution: setForce registers a prestep action which keeps applying the force)
+Child movement in linkset (don't rebuild linkset) (DONE 20130122))
+\ No newline at end of file
diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs
new file mode 100755
index 0000000..33232bd
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.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.Collections.Generic;
+using System.Linq;
+using System.Text;
+using NUnit.Framework;
+using log4net;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.BulletSPlugin;
+using OpenSim.Region.Physics.Manager;
+using OpenSim.Tests.Common;
+using OpenMetaverse;
+namespace OpenSim.Region.Physics.BulletSPlugin.Tests
+{
+[TestFixture]
+public class BasicVehicles : OpenSimTestCase
+{
+    // Documentation on attributes: http://www.nunit.org/index.php?p=attributes&r=2.6.1
+    // Documentation on assertions: http://www.nunit.org/index.php?p=assertions&r=2.6.1
+    BSScene PhysicsScene { get; set; }
+    BSPrim TestVehicle { get; set; }
+    Vector3 TestVehicleInitPosition { get; set; }
+    float simulationTimeStep = 0.089f;
+    [TestFixtureSetUp]
+    public void Init()
+    {
+        Dictionary<string, string> engineParams = new Dictionary<string, string>();
+        PhysicsScene = BulletSimTestsUtil.CreateBasicPhysicsEngine(engineParams);
+        PrimitiveBaseShape pbs = PrimitiveBaseShape.CreateSphere();
+        Vector3 pos = new Vector3(100.0f, 100.0f, 0f);
+        pos.Z = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 2f;
+        TestVehicleInitPosition = pos;
+        Vector3 size = new Vector3(1f, 1f, 1f);
+        pbs.Scale = size;
+        Quaternion rot = Quaternion.Identity;
+        bool isPhys = false;
+        uint localID = 123;
+        PhysicsScene.AddPrimShape("testPrim", pbs, pos, size, rot, isPhys, localID);
+        TestVehicle = (BSPrim)PhysicsScene.PhysObjects[localID];
+        // The actual prim shape creation happens at taint time
+        PhysicsScene.ProcessTaints();
+    }
+    [TestFixtureTearDown]
+    public void TearDown()
+    {
+        if (PhysicsScene != null)
+        {
+            // The Dispose() will also free any physical objects in the scene
+            PhysicsScene.Dispose();
+            PhysicsScene = null;
+        }
+    }
+    [TestCase(2f, 0.2f,  0.25f,  0.25f,  0.25f)]
+    [TestCase(2f, 0.2f, -0.25f,  0.25f,  0.25f)]
+    [TestCase(2f, 0.2f,  0.25f, -0.25f,  0.25f)]
+    [TestCase(2f, 0.2f, -0.25f, -0.25f,  0.25f)]
+    // [TestCase(2f, 0.2f, 0.785f,   0.0f,  0.25f) /*, "Leaning 45 degrees to the side" */]
+    // [TestCase(2f, 0.2f, 1.650f,   0.0f,  0.25f) /*, "Leaning more than 90 degrees to the side" */]
+    // [TestCase(2f, 0.2f, 2.750f,   0.0f,  0.25f) /*, "Almost upside down, tipped right" */]
+    // [TestCase(2f, 0.2f,-2.750f,   0.0f,  0.25f) /*, "Almost upside down, tipped left" */]
+    // [TestCase(2f, 0.2f,   0.0f, 0.785f,  0.25f) /*, "Tipped back 45 degrees" */]
+    // [TestCase(2f, 0.2f,   0.0f, 1.650f,  0.25f) /*, "Tipped back more than 90 degrees" */]
+    // [TestCase(2f, 0.2f,   0.0f, 2.750f,  0.25f) /*, "Almost upside down, tipped back" */]
+    // [TestCase(2f, 0.2f,   0.0f,-2.750f,  0.25f) /*, "Almost upside down, tipped forward" */]
+    public void AngularVerticalAttraction(float timeScale, float efficiency, float initRoll, float initPitch, float initYaw)
+    {
+        // Enough simulation steps to cover the timescale the operation should take
+        int simSteps = (int)(timeScale / simulationTimeStep) + 1;
+        // Tip the vehicle
+        Quaternion initOrientation = Quaternion.CreateFromEulers(initRoll, initPitch, initYaw);
+        TestVehicle.Orientation = initOrientation;
+        TestVehicle.Position = TestVehicleInitPosition;
+        // The vehicle controller is not enabled directly (by setting a vehicle type).
+        //    Instead the appropriate values are set and calls are made just the parts of the
+        //    controller we want to exercise. Stepping the physics engine then applies
+        //    the actions of that one feature.
+        TestVehicle.VehicleController.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, efficiency);
+        TestVehicle.VehicleController.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_TIMESCALE, timeScale);
+        TestVehicle.VehicleController.enableAngularVerticalAttraction = true;
+        TestVehicle.IsPhysical = true;
+        PhysicsScene.ProcessTaints();
+        // Step the simulator a bunch of times and vertical attraction should orient the vehicle up
+        for (int ii = 0; ii < simSteps; ii++)
+        {
+            TestVehicle.VehicleController.ForgetKnownVehicleProperties();
+            TestVehicle.VehicleController.ComputeAngularVerticalAttraction();
+            TestVehicle.VehicleController.PushKnownChanged();
+            PhysicsScene.Simulate(simulationTimeStep);
+        }
+        TestVehicle.IsPhysical = false;
+        PhysicsScene.ProcessTaints();
+        // After these steps, the vehicle should be upright
+        /*
+        float finalRoll, finalPitch, finalYaw;
+        TestVehicle.Orientation.GetEulerAngles(out finalRoll, out finalPitch, out finalYaw);
+        Assert.That(finalRoll, Is.InRange(-0.01f, 0.01f));
+        Assert.That(finalPitch, Is.InRange(-0.01f, 0.01f));
+        Assert.That(finalYaw, Is.InRange(initYaw - 0.1f, initYaw + 0.1f));
+         */
+        Vector3 upPointer = Vector3.UnitZ * TestVehicle.Orientation;
+        Assert.That(upPointer.Z, Is.GreaterThan(0.99f));
+    }
+}
+}
+\ No newline at end of file
diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTests.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTests.cs
new file mode 100755
index 0000000..35cbc1d
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTests.cs
@@ -0,0 +1,56 @@
+/*
+ * 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.Text;
+using NUnit.Framework;
+using log4net;
+using OpenSim.Tests.Common;
+namespace OpenSim.Region.Physics.BulletSPlugin.Tests
+{
+[TestFixture]
+public class BulletSimTests : OpenSimTestCase
+{
+    // Documentation on attributes: http://www.nunit.org/index.php?p=attributes&r=2.6.1
+    // Documentation on assertions: http://www.nunit.org/index.php?p=assertions&r=2.6.1
+    [TestFixtureSetUp]
+    public void Init()
+    {
+    }
+    [TestFixtureTearDown]
+    public void TearDown()
+    {
+    }
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs
new file mode 100755
index 0000000..28207a4
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs
@@ -0,0 +1,95 @@
+/*
+ * 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.IO;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using Nini.Config;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.BulletSPlugin;
+using OpenSim.Region.Physics.Meshing;
+namespace OpenSim.Region.Physics.BulletSPlugin.Tests
+{
+// Utility functions for building up and tearing down the sample physics environments
+public static class BulletSimTestsUtil
+{
+    // 'engineName' is the Bullet engine to use. Either null (for unmanaged), "BulletUnmanaged" or "BulletXNA"
+    // 'params' is a set of keyValue pairs to set in the engine's configuration file (override defaults)
+    //      May be 'null' if there are no overrides.
+    public static BSScene CreateBasicPhysicsEngine(Dictionary<string,string> paramOverrides)
+    {
+        IConfigSource openSimINI = new IniConfigSource();
+        IConfig startupConfig = openSimINI.AddConfig("Startup");
+        startupConfig.Set("physics", "BulletSim");
+        startupConfig.Set("meshing", "Meshmerizer");
+        startupConfig.Set("cacheSculptMaps", "false");  // meshmerizer shouldn't save maps
+        IConfig bulletSimConfig = openSimINI.AddConfig("BulletSim");
+        // If the caller cares, specify the bullet engine otherwise it will default to "BulletUnmanaged".
+        // bulletSimConfig.Set("BulletEngine", "BulletUnmanaged");
+        // bulletSimConfig.Set("BulletEngine", "BulletXNA");
+        bulletSimConfig.Set("MeshSculptedPrim", "false");
+        bulletSimConfig.Set("ForceSimplePrimMeshing", "true");
+        if (paramOverrides != null)
+        {
+            foreach (KeyValuePair<string, string> kvp in paramOverrides)
+            {
+                bulletSimConfig.Set(kvp.Key, kvp.Value);
+            }
+        }
+        // If a special directory exists, put detailed logging therein.
+        // This allows local testing/debugging without having to worry that the build engine will output logs.
+        if (Directory.Exists("physlogs"))
+        {
+            bulletSimConfig.Set("PhysicsLoggingDir","./physlogs");
+            bulletSimConfig.Set("PhysicsLoggingEnabled","True");
+            bulletSimConfig.Set("PhysicsLoggingDoFlush","True");
+            bulletSimConfig.Set("VehicleLoggingEnabled","True");
+        }
+        BSPlugin bsPlugin = new BSPlugin();
+        BSScene bsScene = (BSScene)bsPlugin.GetScene("BSTestRegion");
+        // Since the asset requestor is not initialized, any mesh or sculptie will be a cube.
+        // In the future, add a fake asset fetcher to get meshes and sculpts.
+        // bsScene.RequestAssetMethod = ???;
+        Meshing.Meshmerizer mesher = new Meshmerizer(openSimINI);
+        bsScene.Initialise(mesher, openSimINI);
+        return bsScene;
+    }
+}
+}
diff --git a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs b/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
index 02a0b15..6d7f079 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
@@ -4096,8 +4096,8 @@ namespace OpenSim.Region.Physics.OdePlugin
            lock (_prims)
            {
                List<OdePrim> orderedPrims = new List<OdePrim>(_prims);
-                orderedPrims.OrderByDescending(p => p.CollisionScore).Take(25);
+                orderedPrims.OrderByDescending(p => p.CollisionScore);
-                topColliders = orderedPrims.ToDictionary(p => p.LocalID, p => p.CollisionScore);
+                topColliders = orderedPrims.Take(25).ToDictionary(p => p.LocalID, p => p.CollisionScore);
                foreach (OdePrim p in _prims)
                    p.CollisionScore = 0;
diff --git a/OpenSim/Region/ScriptEngine/Shared/CodeTools/CSCodeGenerator.cs b/OpenSim/Region/ScriptEngine/Shared/CodeTools/CSCodeGenerator.cs
index 985e598..9e32f40 100644
--- a/OpenSim/Region/ScriptEngine/Shared/CodeTools/CSCodeGenerator.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/CodeTools/CSCodeGenerator.cs
@@ -31,7 +31,6 @@ using System.Collections.Generic;
 using System.Reflection;
 using log4net;
 using Tools;
 using OpenSim.Region.Framework.Interfaces;
 namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
@@ -479,20 +478,27 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
        {
            string retstr = String.Empty;
            bool printSemicolon = true;
+            bool transformToBlock = false;
-            retstr += Indent();
            if (m_insertCoopTerminationChecks)
            {
-                // We have to check in event functions as well because the user can manually call these.
+                // A non-braced single line do while structure cannot contain multiple statements.
-                if (previousSymbol is GlobalFunctionDefinition 
+                // So to insert the termination check we change this to a braced control structure instead.
-                    || previousSymbol is WhileStatement 
+                if (previousSymbol is WhileStatement 
                    || previousSymbol is DoWhileStatement 
-                    || previousSymbol is ForLoop
+                    || previousSymbol is ForLoop)
-                    || previousSymbol is StateEvent)
+                {
-                retstr += Generate(m_coopTerminationCheck);
+                    transformToBlock = true;
+                    // FIXME: This will be wrongly indented because the previous for/while/dowhile will have already indented.
+                    retstr += GenerateIndentedLine("{");
+                    retstr += GenerateIndentedLine(m_coopTerminationCheck);
+                }
            }
+            retstr += Indent();
            if (0 < s.kids.Count)
            {
                // Jump label prints its own colon, we don't need a semicolon.
@@ -508,6 +514,12 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
            if (printSemicolon)
                retstr += GenerateLine(";");
+            if (transformToBlock)
+            {
+                // FIXME: This will be wrongly indented because the for/while/dowhile is currently handling the unindent
+                retstr += GenerateIndentedLine("}");
+            }
            return retstr;
        }
diff --git a/OpenSim/Region/ScriptEngine/Shared/Instance/Tests/CoopTerminationTests.cs b/OpenSim/Region/ScriptEngine/Shared/Instance/Tests/CoopTerminationTests.cs
index 3b13386..7ea30bf1 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Instance/Tests/CoopTerminationTests.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Instance/Tests/CoopTerminationTests.cs
@@ -55,10 +55,22 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance.Tests
        private OSChatMessage m_osChatMessageReceived;
+        /// <summary>
+        /// Number of chat messages received so far.  Reset before each test.
+        /// </summary>
+        private int m_chatMessagesReceived;
+        /// <summary>
+        /// Number of chat messages expected.  m_chatEvent is not fired until this number is reached or exceeded.
+        /// </summary>
+        private int m_chatMessagesThreshold;
        [SetUp]
        public void Init()
        {
            m_osChatMessageReceived = null;
+            m_chatMessagesReceived = 0;
+            m_chatMessagesThreshold = 0;
            m_chatEvent = new AutoResetEvent(false);
            m_stoppedEvent = new AutoResetEvent(false);
@@ -126,6 +138,25 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance.Tests
        }
        [Test]
+        public void TestNoStopOnSingleStatementForLoop()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
+            string script = 
+@"default
+{    
+    state_entry()
+    {
+        integer i = 0;        
+        for (i = 0; i <= 1; i++) llSay(0, ""Iter "" + (string)i);
+    }
+}";
+            TestSingleStatementNoStop(script);
+        }
+        [Test]
        public void TestStopOnLongSingleStatementForLoop()
        {
            TestHelpers.InMethod();
@@ -139,8 +170,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance.Tests
        integer i = 0;
        llSay(0, ""Thin Lizzy"");
        
-        for (i = 0; i < 2147483647; i++)        
+        for (i = 0; i < 2147483647; i++) llSay(0, ""Iter "" + (string)i);
-            llSay(0, ""Iter "" + (string)i);
    }
 }";
@@ -172,6 +202,25 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance.Tests
        }
        [Test]
+        public void TestNoStopOnSingleStatementWhileLoop()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
+            string script = 
+@"default
+{    
+    state_entry()
+    {
+        integer i = 0;        
+        while (i < 2) llSay(0, ""Iter "" + (string)i++);
+    }
+}";
+            TestSingleStatementNoStop(script);
+        }
+        [Test]
        public void TestStopOnLongSingleStatementWhileLoop()
        {
            TestHelpers.InMethod();
@@ -218,7 +267,50 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance.Tests
        }
        [Test]
-        public void TestStopOnLongDoWhileLoop()
+        public void TestNoStopOnSingleStatementDoWhileLoop()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
+            string script = 
+@"default
+{    
+    state_entry()
+    {
+        integer i = 0;
+        do llSay(0, ""Iter "" + (string)i++);
+        while (i < 2);
+    }
+}";
+            TestSingleStatementNoStop(script);
+        }
+        [Test]
+        public void TestStopOnLongSingleStatementDoWhileLoop()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
+            string script = 
+@"default
+{    
+    state_entry()
+    {
+        integer i = 0;
+        llSay(0, ""Thin Lizzy"");
+        do llSay(0, ""Iter "" + (string)i++);
+        while (1 == 1);
+    }
+}";
+            TestStop(script);
+        }
+        [Test]
+        public void TestStopOnLongCompoundStatementDoWhileLoop()
        {
            TestHelpers.InMethod();
 //            TestHelpers.EnableLogging();
@@ -234,7 +326,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance.Tests
        do 
        {
            llSay(0, ""Iter "" + (string)i++);
-} while (1 == 1);
+        } while (1 == 1);
    }
 }";
@@ -245,7 +337,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance.Tests
        public void TestStopOnInfiniteJumpLoop()
        {
            TestHelpers.InMethod();
-            TestHelpers.EnableLogging();
+//            TestHelpers.EnableLogging();
            string script = 
 @"default
@@ -320,14 +412,13 @@ default
            TestStop(script);
        }
-        private void TestStop(string script)
+        private SceneObjectPart CreateScript(string script, string itemName, UUID userId)
        {
-            UUID userId = TestHelpers.ParseTail(0x1);
 //            UUID objectId = TestHelpers.ParseTail(0x100);
 //            UUID itemId = TestHelpers.ParseTail(0x3);
-            string itemName = "TestStop() Item";
-            SceneObjectGroup so = SceneHelpers.CreateSceneObject(1, userId, "TestStop", 0x100);
+            SceneObjectGroup so 
+                = SceneHelpers.CreateSceneObject(1, userId, string.Format("Object for {0}", itemName), 0x100);
            m_scene.AddNewSceneObject(so, true);
            InventoryItemBase itemTemplate = new InventoryItemBase();
@@ -338,14 +429,57 @@ default
            m_scene.EventManager.OnChatFromWorld += OnChatFromWorld;
-            SceneObjectPart partWhereRezzed = m_scene.RezNewScript(userId, itemTemplate, script);
+            return m_scene.RezNewScript(userId, itemTemplate, script);
+        }
+        private void TestSingleStatementNoStop(string script)
+        {
+            // In these tests we expect to see at least 2 chat messages to confirm that the loop is working properly.
+            m_chatMessagesThreshold = 2;
+            UUID userId = TestHelpers.ParseTail(0x1);
+//            UUID objectId = TestHelpers.ParseTail(0x100);
+//            UUID itemId = TestHelpers.ParseTail(0x3);
+            string itemName = "TestNoStop";
+            SceneObjectPart partWhereRezzed = CreateScript(script, itemName, userId);
+            TaskInventoryItem rezzedItem = partWhereRezzed.Inventory.GetInventoryItem(itemName);
+            // Wait for the script to start the event before we try stopping it.
+            m_chatEvent.WaitOne(60000);
+            if (m_osChatMessageReceived == null)
+                Assert.Fail("Script did not start");
+            else
+                Assert.That(m_chatMessagesReceived, Is.EqualTo(2));
+            bool running;
+            TaskInventoryItem scriptItem = partWhereRezzed.Inventory.GetInventoryItem(itemName);
+            Assert.That(
+                SceneObjectPartInventory.TryGetScriptInstanceRunning(m_scene, scriptItem, out running), Is.True);
+            Assert.That(running, Is.True);
+        }
+        private void TestStop(string script)
+        {
+            // In these tests we're only interested in the first message to confirm that the script has started.
+            m_chatMessagesThreshold = 1;
+            UUID userId = TestHelpers.ParseTail(0x1);
+//            UUID objectId = TestHelpers.ParseTail(0x100);
+//            UUID itemId = TestHelpers.ParseTail(0x3);
+            string itemName = "TestStop";
+            SceneObjectPart partWhereRezzed = CreateScript(script, itemName, userId);
            TaskInventoryItem rezzedItem = partWhereRezzed.Inventory.GetInventoryItem(itemName);
            // Wait for the script to start the event before we try stopping it.
            m_chatEvent.WaitOne(60000);
-            Console.WriteLine("Script started with message [{0}]", m_osChatMessageReceived.Message);
+            if (m_osChatMessageReceived != null)
+                Console.WriteLine("Script started with message [{0}]", m_osChatMessageReceived.Message);
+            else
+                Assert.Fail("Script did not start");
            // FIXME: This is a very poor way of trying to avoid a low-probability race condition where the script
            // executes llSay() but has not started the next statement before we try to stop it.
@@ -367,11 +501,14 @@ default
        private void OnChatFromWorld(object sender, OSChatMessage oscm)
        {
-            m_scene.EventManager.OnChatFromWorld -= OnChatFromWorld;
            Console.WriteLine("Got chat [{0}]", oscm.Message);
            m_osChatMessageReceived = oscm;
-            m_chatEvent.Set();
+            if (++m_chatMessagesReceived >= m_chatMessagesThreshold)
+            {
+                m_scene.EventManager.OnChatFromWorld -= OnChatFromWorld;            
+                m_chatEvent.Set();
+            }
        }
    }
 }
 \ No newline at end of file
diff --git a/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs b/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs
index 6e04e79..17243ab 100644
--- a/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs
+++ b/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs
@@ -49,7 +49,6 @@ using OpenSim.Region.Framework.Scenes;
 using OpenSim.Region.Framework.Interfaces;
 using OpenSim.Region.ScriptEngine.Interfaces;
 using OpenSim.Region.ScriptEngine.Shared;
-using OpenSim.Region.ScriptEngine.Shared.ScriptBase;
 using OpenSim.Region.ScriptEngine.Shared.CodeTools;
 using OpenSim.Region.ScriptEngine.Shared.Instance;
 using OpenSim.Region.ScriptEngine.Shared.Api;
@@ -698,7 +697,6 @@ namespace OpenSim.Region.ScriptEngine.XEngine
            }
            StringBuilder sb = new StringBuilder();
-            Queue eq = instance.EventQueue;
            sb.AppendFormat("Script name         : {0}\n", instance.ScriptName);
            sb.AppendFormat("Status              : {0}\n", status);
diff --git a/bin/lib32/BulletSim.dll b/bin/lib32/BulletSim.dll
index b46837f..24dffac 100755
--- a/bin/lib32/BulletSim.dll
+++ b/bin/lib32/BulletSim.dll
Binary files differ
diff --git a/bin/lib32/libBulletSim.so b/bin/lib32/libBulletSim.so
index a2e6f3c..7e3ed20 100755
--- a/bin/lib32/libBulletSim.so
+++ b/bin/lib32/libBulletSim.so
Binary files differ
diff --git a/bin/lib64/BulletSim.dll b/bin/lib64/BulletSim.dll
index 0a1faf3..808f433 100755
--- a/bin/lib64/BulletSim.dll
+++ b/bin/lib64/BulletSim.dll
Binary files differ
diff --git a/bin/lib64/libBulletSim.so b/bin/lib64/libBulletSim.so
index 36674f0..9382751 100755
--- a/bin/lib64/libBulletSim.so
+++ b/bin/lib64/libBulletSim.so
Binary files differ
diff --git a/prebuild.xml b/prebuild.xml
index 4caa1a6..77c91f7 100644
--- a/prebuild.xml
+++ b/prebuild.xml
@@ -3484,6 +3484,40 @@
      </Files>
    </Project>
+    <Project frameworkVersion="v3_5" name="OpenSim.Region.Physics.BulletSPlugin.Tests" path="OpenSim/Region/Physics/BulletSPlugin/Tests" type="Library">
+      <Configuration name="Debug">
+        <Options>
+          <OutputPath>../../../../../bin/</OutputPath>
+        </Options>
+      </Configuration>
+      <Configuration name="Release">
+        <Options>
+          <OutputPath>../../../../../bin/</OutputPath>
+        </Options>
+      </Configuration>
+      <ReferencePath>../../../../../bin/</ReferencePath>
+      <Reference name="System"/>
+      <Reference name="System.Core"/>
+      <Reference name="System.Data"/>
+      <Reference name="Nini" path="../../../../../bin/"/>
+      <Reference name="log4net" path="../../../../../bin/"/>
+      <Reference name="nunit.framework" path="../../../../../bin/"/>
+      <Reference name="OpenMetaverse" path="../../../../../bin/"/>
+      <Reference name="OpenMetaverseTypes" path="../../../../../bin/"/>
+      <Reference name="OpenSim.Framework"/>
+      <Reference name="OpenSim.Tests.Common"/>
+      <Reference name="OpenSim.Region.CoreModules"/>
+      <Reference name="OpenSim.Region.Physics.Meshing" path="../../../../../bin/Physics/"/>
+      <Reference name="OpenSim.Region.Physics.Manager"/>
+      <Reference name="OpenSim.Region.Physics.BulletSPlugin" path="../../../../../bin/Physics/"/>
+      <Files>
+        <Match pattern="*.cs" recurse="false"/>
+      </Files>
+    </Project>
    <Project frameworkVersion="v3_5" name="OpenSim.Server.Handlers.Tests" path="OpenSim/Server/Handlers" type="Library">
      <Configuration name="Debug">
        <Options>