13 files changed, 153 insertions, 74 deletions

diff --git a/OpenSim/Data/SQLite/Resources/RegionStore.migrations b/OpenSim/Data/SQLite/Resources/RegionStore.migrations
index c6f4b48..bff039d 100644
--- a/OpenSim/Data/SQLite/Resources/RegionStore.migrations
+++ b/OpenSim/Data/SQLite/Resources/RegionStore.migrations
@@ -592,3 +592,11 @@ ALTER TABLE prims ADD COLUMN `Friction` double NOT NULL default '0.6';
 ALTER TABLE prims ADD COLUMN `Restitution` double NOT NULL default '0.5';
 
 COMMIT;
+
+:VERSION 29       #---------------- Keyframes
+
+BEGIN;
+
+ALTER TABLE prims ADD COLUMN `KeyframeMotion` blob;
+
+COMMIT;
diff --git a/OpenSim/Data/SQLite/SQLiteSimulationData.cs b/OpenSim/Data/SQLite/SQLiteSimulationData.cs
index d4734a6..70b76c9 100644
--- a/OpenSim/Data/SQLite/SQLiteSimulationData.cs
+++ b/OpenSim/Data/SQLite/SQLiteSimulationData.cs
@@ -732,6 +732,8 @@ namespace OpenSim.Data.SQLite
                             }
 
                             SceneObjectGroup group = new SceneObjectGroup(prim);
+                            if (prim.KeyframeMotion != null)
+                                prim.KeyframeMotion.UpdateSceneObject(group);
                             createdObjects.Add(group.UUID, group);
                             retvals.Add(group);
                             LoadItems(prim);
@@ -1241,6 +1243,7 @@ namespace OpenSim.Data.SQLite
             createCol(prims, "Friction", typeof(Double));
             createCol(prims, "Restitution", typeof(Double));
 
+            createCol(prims, "KeyframeMotion", typeof(Byte[]));
             // Add in contraints
             prims.PrimaryKey = new DataColumn[] { prims.Columns["UUID"] };
 
@@ -1736,6 +1739,20 @@ namespace OpenSim.Data.SQLite
             prim.Friction = Convert.ToSingle(row["Friction"]);
             prim.Restitution = Convert.ToSingle(row["Restitution"]);
 
+            
+            if (!(row["KeyframeMotion"] is DBNull))
+            {
+                Byte[] data = (byte[])row["KeyframeMotion"];
+                if (data.Length > 0)
+                    prim.KeyframeMotion = KeyframeMotion.FromData(null, data);
+                else
+                    prim.KeyframeMotion = null;
+            }
+            else
+            {
+                prim.KeyframeMotion = null;
+            }
+            
             return prim;
         }
 
@@ -2168,6 +2185,13 @@ namespace OpenSim.Data.SQLite
             row["GravityModifier"] = (double)prim.GravityModifier;
             row["Friction"] = (double)prim.Friction;
             row["Restitution"] = (double)prim.Restitution;
+
+            if (prim.KeyframeMotion != null)
+                row["KeyframeMotion"] = prim.KeyframeMotion.Serialize();
+            else
+                row["KeyframeMotion"] = new Byte[0];
+            
+            
         }
 
         /// <summary>
diff --git a/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs b/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs
index eb7c578..96a030b 100644
--- a/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs
+++ b/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs
@@ -1805,6 +1805,7 @@ namespace OpenSim.Framework.Servers.HttpServer
 
                 // Long Poll Service Manager with 3 worker threads a 25 second timeout for no events
                 m_PollServiceManager = new PollServiceRequestManager(this, 3, 25000);
+                m_PollServiceManager.Start();
                 HTTPDRunning = true;
 
                 //HttpListenerContext context;
@@ -1855,7 +1856,7 @@ namespace OpenSim.Framework.Servers.HttpServer
             HTTPDRunning = false;
             try
             {
-//                m_PollServiceManager.Stop();
+                m_PollServiceManager.Stop();
 
                 m_httpListener2.ExceptionThrown -= httpServerException;
                 //m_httpListener2.DisconnectHandler = null;
diff --git a/OpenSim/Framework/Servers/HttpServer/PollServiceRequestManager.cs b/OpenSim/Framework/Servers/HttpServer/PollServiceRequestManager.cs
index a5380c1..aee3e3c 100644
--- a/OpenSim/Framework/Servers/HttpServer/PollServiceRequestManager.cs
+++ b/OpenSim/Framework/Servers/HttpServer/PollServiceRequestManager.cs
@@ -66,14 +66,17 @@ namespace OpenSim.Framework.Servers.HttpServer
             m_server = pSrv;
             m_WorkerThreadCount = pWorkerThreadCount;
             m_workerThreads = new Thread[m_WorkerThreadCount];
+        }
 
+        public void Start()
+        {
             //startup worker threads
             for (uint i = 0; i < m_WorkerThreadCount; i++)
             {
                 m_workerThreads[i]
                     = Watchdog.StartThread(
                         PoolWorkerJob,
-                        String.Format("PollServiceWorkerThread{0}", i),
+                        string.Format("PollServiceWorkerThread{0}:{1}", i, m_server.Port),
                         ThreadPriority.Normal,
                         false,
                         false,
@@ -83,7 +86,7 @@ namespace OpenSim.Framework.Servers.HttpServer
 
             m_retrysThread = Watchdog.StartThread(
                 this.CheckRetries,
-                "PollServiceWatcherThread",
+                string.Format("PollServiceWatcherThread:{0}", m_server.Port),
                 ThreadPriority.Normal,
                 false,
                 true,
@@ -91,7 +94,6 @@ namespace OpenSim.Framework.Servers.HttpServer
                 1000 * 60 * 10);
         }
 
-
         private void ReQueueEvent(PollServiceHttpRequest req)
         {
             if (m_running)
@@ -142,14 +144,14 @@ namespace OpenSim.Framework.Servers.HttpServer
             }
         }
 
-        ~PollServiceRequestManager()
+        public void Stop()
         {
             m_running = false;
 //            m_timeout = -10000; // cause all to expire
             Thread.Sleep(1000); // let the world move
 
             foreach (Thread t in m_workerThreads)
-                    Watchdog.AbortThread(t.ManagedThreadId);
+                Watchdog.AbortThread(t.ManagedThreadId);
 
             try
             {
diff --git a/OpenSim/Region/CoreModules/Framework/InventoryAccess/InventoryAccessModule.cs b/OpenSim/Region/CoreModules/Framework/InventoryAccess/InventoryAccessModule.cs
index 880205a..1203192 100644
--- a/OpenSim/Region/CoreModules/Framework/InventoryAccess/InventoryAccessModule.cs
+++ b/OpenSim/Region/CoreModules/Framework/InventoryAccess/InventoryAccessModule.cs
@@ -260,7 +260,7 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
                         return UUID.Zero;
                     }
 
-                    remoteClient.SendAgentAlertMessage("Notecard saved", false);
+                    remoteClient.SendAlertMessage("Notecard saved");
                 }
                 else if ((InventoryType)item.InvType == InventoryType.LSL)
                 {
@@ -270,7 +270,7 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
                         return UUID.Zero;
                     }
 
-                    remoteClient.SendAgentAlertMessage("Script saved", false);
+                    remoteClient.SendAlertMessage("Script saved");
                 }
 
                 AssetBase asset =
diff --git a/OpenSim/Region/CoreModules/ServiceConnectorsOut/Asset/Tests/AssetConnectorTests.cs b/OpenSim/Region/CoreModules/ServiceConnectorsOut/Asset/Tests/AssetConnectorTests.cs
index 1982473..7073433 100644
--- a/OpenSim/Region/CoreModules/ServiceConnectorsOut/Asset/Tests/AssetConnectorTests.cs
+++ b/OpenSim/Region/CoreModules/ServiceConnectorsOut/Asset/Tests/AssetConnectorTests.cs
@@ -93,7 +93,9 @@ namespace OpenSim.Region.CoreModules.ServiceConnectorsOut.Asset.Tests
             LocalAssetServicesConnector lasc = new LocalAssetServicesConnector();
             lasc.Initialise(config);
 
+            // If it is local, it should not be stored
             AssetBase a1 = AssetHelpers.CreateNotecardAsset();
+            a1.Local = true;
             a1.Temporary = true;
 
             lasc.Store(a1);
@@ -102,6 +104,24 @@ namespace OpenSim.Region.CoreModules.ServiceConnectorsOut.Asset.Tests
             Assert.That(lasc.GetData(a1.ID), Is.Null);
             Assert.That(lasc.GetMetadata(a1.ID), Is.Null);
 
+            // If it is remote, it should be stored
+            // AssetBase a2 = AssetHelpers.CreateNotecardAsset();
+            // a2.Local = false;
+            // a2.Temporary = true;
+
+            // lasc.Store(a2);
+
+            // AssetBase retreivedA2 = lasc.Get(a2.ID);
+            // Assert.That(retreivedA2.ID, Is.EqualTo(a2.ID));
+            // Assert.That(retreivedA2.Metadata.ID, Is.EqualTo(a2.Metadata.ID));
+            // Assert.That(retreivedA2.Data.Length, Is.EqualTo(a2.Data.Length));
+
+            // AssetMetadata retrievedA2Metadata = lasc.GetMetadata(a2.ID);
+            // Assert.That(retrievedA2Metadata.ID, Is.EqualTo(a2.ID));
+
+            // byte[] retrievedA2Data = lasc.GetData(a2.ID);
+            // Assert.That(retrievedA2Data.Length, Is.EqualTo(a2.Data.Length));
+
             // TODO: Add cache and check that this does receive a copy of the asset
         }
 
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
index ff3f738..482d958 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
@@ -779,7 +779,8 @@ namespace OpenSim.Region.Framework.Scenes
                         }
 
                         // Tell the physics engines that this prim changed.
-                        ParentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(actor);
+                        if (ParentGroup != null && ParentGroup.Scene != null && ParentGroup.Scene.PhysicsScene != null)
+                            ParentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(actor);
                     }
                     catch (Exception e)
                     {
@@ -892,7 +893,7 @@ namespace OpenSim.Region.Framework.Scenes
                             //m_log.Info("[PART]: RO2:" + actor.Orientation.ToString());
                         }
 
-                        if (ParentGroup != null)
+                        if (ParentGroup != null && ParentGroup.Scene != null && ParentGroup.Scene.PhysicsScene != null)
                             ParentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(actor);
                         //}
                     }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index cca887a..a4c5e08 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -148,7 +148,7 @@ public abstract class BSPhysObject : PhysicsActor
     // The asset state is first 'Unknown' then 'Waiting' then either 'Failed' or 'Fetched'.
     public enum PrimAssetCondition
     {
-        Unknown, Waiting, Failed, Fetched
+        Unknown, Waiting, FailedAssetFetch, FailedMeshing, Fetched
     }
     public PrimAssetCondition PrimAssetState { get; set; }
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 423c389..dec6b6f 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -249,7 +249,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         TerrainManager.CreateInitialGroundPlaneAndTerrain();
 
         // Put some informational messages into the log file.
-        m_log.WarnFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation);
+        m_log.InfoFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation);
 
         InTaintTime = false;
         m_initialized = true;
@@ -374,7 +374,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         }
         else
         {
-            m_log.WarnFormat("{0} Selected bullet engine {1} -> {2}/{3}", LogHeader, engineName, ret.BulletEngineName, ret.BulletEngineVersion);
+            m_log.InfoFormat("{0} Selected bullet engine {1} -> {2}/{3}", LogHeader, engineName, ret.BulletEngineName, ret.BulletEngineVersion);
         }
 
         return ret;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
index 867d2ab..202a4ce 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
@@ -167,7 +167,7 @@ public abstract class BSShape
         // Prevent trying to keep fetching the mesh by declaring failure.
         if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched)
         {
-            prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed;
+            prim.PrimAssetState = BSPhysObject.PrimAssetCondition.FailedMeshing;
             physicsScene.Logger.WarnFormat("{0} Fetched asset would not mesh. {1}, texture={2}",
                                             LogHeader, prim.PhysObjectName, prim.BaseShape.SculptTexture);
             physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,setFailed,objNam={1},tex={2}",
@@ -177,7 +177,8 @@ public abstract class BSShape
         {
             // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset
             if (prim.BaseShape.SculptEntry
-                && prim.PrimAssetState != BSPhysObject.PrimAssetCondition.Failed
+                && prim.PrimAssetState != BSPhysObject.PrimAssetCondition.FailedAssetFetch
+                && prim.PrimAssetState != BSPhysObject.PrimAssetCondition.FailedMeshing
                 && prim.PrimAssetState != BSPhysObject.PrimAssetCondition.Waiting
                 && prim.BaseShape.SculptTexture != OMV.UUID.Zero
                 )
@@ -219,7 +220,7 @@ public abstract class BSShape
                                 }
                                 if (!assetFound)
                                 {
-                                    yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed;
+                                    yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.FailedAssetFetch;
                                 }
                                 physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,fetchAssetCallback,found={1},isSculpt={2},ids={3}",
                                             yprim.LocalID, assetFound, yprim.BaseShape.SculptEntry, mismatchIDs );
@@ -227,7 +228,7 @@ public abstract class BSShape
                         }
                         else
                         {
-                            xprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed;
+                            xprim.PrimAssetState = BSPhysObject.PrimAssetCondition.FailedAssetFetch;
                             physicsScene.Logger.ErrorFormat("{0} Physical object requires asset but no asset provider. Name={1}",
                                                         LogHeader, physicsScene.Name);
                         }
@@ -235,13 +236,20 @@ public abstract class BSShape
             }
             else
             {
-                if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Failed)
+                if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedAssetFetch)
                 {
                     physicsScene.Logger.WarnFormat("{0} Mesh failed to fetch asset. obj={1}, texture={2}",
                                                 LogHeader, prim.PhysObjectName, prim.BaseShape.SculptTexture);
                     physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,wasFailed,objNam={1},tex={2}",
                                                 prim.LocalID, prim.PhysObjectName, prim.BaseShape.SculptTexture);
                 }
+                if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedMeshing)
+                {
+                    physicsScene.Logger.WarnFormat("{0} Mesh asset would not mesh. obj={1}, texture={2}",
+                                                LogHeader, prim.PhysObjectName, prim.BaseShape.SculptTexture);
+                    physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,wasFailedMeshing,objNam={1},tex={2}",
+                                                prim.LocalID, prim.PhysObjectName, prim.BaseShape.SculptTexture);
+                }
             }
          }
 
@@ -374,7 +382,9 @@ public class BSShapeMesh : BSShape
 
                 // Check to see if mesh was created (might require an asset).
                 newShape = VerifyMeshCreated(physicsScene, newShape, prim);
-                if (!newShape.isNativeShape || prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Failed)
+                if (!newShape.isNativeShape
+                            || prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedMeshing
+                            || prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedAssetFetch)
                 {
                     // If a mesh was what was created, remember the built shape for later sharing.
                     // Also note that if meshing failed we put it in the mesh list as there is nothing else to do about the mesh.
@@ -517,7 +527,7 @@ public class BSShapeMesh : BSShape
             else
             {
                 // Force the asset condition to 'failed' so we won't try to keep fetching and processing this mesh.
-                prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed;
+                prim.PrimAssetState = BSPhysObject.PrimAssetCondition.FailedMeshing;
                 physicsScene.Logger.DebugFormat("{0} All mesh triangles degenerate. Prim {1} at {2} in {3}",
                                     LogHeader, prim.PhysObjectName, prim.RawPosition, physicsScene.Name);
                 physicsScene.DetailLog("{0},BSShapeMesh.CreatePhysicalMesh,allDegenerate,key={1}", prim.LocalID, newMeshKey);
@@ -559,7 +569,9 @@ public class BSShapeHull : BSShape
 
                 // Check to see if hull was created (might require an asset).
                 newShape = VerifyMeshCreated(physicsScene, newShape, prim);
-                if (!newShape.isNativeShape || prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Failed)
+                if (!newShape.isNativeShape
+                            || prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedMeshing
+                            || prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedAssetFetch)
                 {
                     // If a mesh was what was created, remember the built shape for later sharing.
                     Hulls.Add(newHullKey, retHull);
@@ -1079,10 +1091,13 @@ public class BSShapeGImpact : BSShape
                 // Check to see if mesh was created (might require an asset).
                 newShape = VerifyMeshCreated(physicsScene, newShape, prim);
                 newShape.shapeKey = newMeshKey;
-                if (!newShape.isNativeShape || prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Failed)
+                if (!newShape.isNativeShape 
+                            || prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedMeshing
+                            || prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedAssetFetch)
                 {
                     // If a mesh was what was created, remember the built shape for later sharing.
-                    // Also note that if meshing failed we put it in the mesh list as there is nothing else to do about the mesh.
+                    // Also note that if meshing failed we put it in the mesh list as there is nothing
+                    //         else to do about the mesh.
                     GImpacts.Add(newMeshKey, retGImpact);
                 }
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
index df1da63..1e01526 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -2,11 +2,6 @@ CURRENT PROBLEMS TO FIX AND/OR LOOK AT
 =================================================
 Script changing rotation of child prim while vehicle moving (eg turning wheel) causes
         the wheel to appear to jump back. Looks like sending position from previous update.
-Vehicle ride, get up, ride again. Second time vehicle does not act correctly.
-        Have to rez new vehicle and delete the old to fix situation.
-Hitting RESET on Nebadon's vehicle while riding causes vehicle to get into odd
-        position state where it will not settle onto ground properly, etc
-Two of Nebadon vehicles in a sim max the CPU. This is new.
 Enable vehicle border crossings (at least as poorly as ODE)
         Terrain skirts
         Avatar created in previous region and not new region when crossing border
@@ -23,24 +18,17 @@ vehicle angular banking
 Center-of-gravity
 Vehicle angular deflection
         Preferred orientation angular correction fix
-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)
 limitMotorUp calibration (more down?)
 llRotLookAt
 llLookAt
-Avatars walking up stairs (HALF DONE)
-Avatar movement
-        flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE)
-        walking up stairs is not calibrated correctly (stairs out of Kepler cabin) (DONE)
-        avatar capsule rotation completed (NOT DONE - Bullet's capsule shape is not the solution)
+Convert to avatar mesh capsule. Include rotation of capsule.
 Vehicle script tuning/debugging
         Avanti speed script
         Weapon shooter script
 Move material definitions (friction, ...) into simulator.
-Add material densities to the material types.
 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.
@@ -53,12 +41,8 @@ LINEAR_MOTOR_DIRECTION values should be clamped to reasonable numbers.
         Same for other velocity settings.
 UBit improvements to remove rubber-banding of avatars sitting on vehicle child prims:
         https://github.com/UbitUmarov/Ubit-opensim
-Border crossing with linked vehicle causes crash
-        20121129.1411: editting/moving phys object across region boundries causes crash
-            getPos-> btRigidBody::upcast -> getBodyType -> BOOM
 Vehicles (Move smoothly)
 Some vehicles should not be able to turn if no speed or off ground.
-What to do if vehicle and prim buoyancy differ?
 Cannot edit/move a vehicle being ridden: it jumps back to the origional position.
 Neb car jiggling left and right
         Happens on terrain and any other mesh object. Flat cubes are much smoother.
@@ -68,8 +52,6 @@ For limitMotorUp, use raycast down to find if vehicle is in the air.
 Verify llGetVel() is returning a smooth and good value for vehicle movement.
 llGetVel() should return the root's velocity if requested in a child prim.
 Implement function efficiency for lineaar and angular motion.
-After getting off a vehicle, the root prim is phantom (can be walked through)
-    Need to force a position update for the root prim after compound shape destruction
 Linkset explosion after three "rides" on Nebadon lite vehicle (LinksetConstraint)
 Remove vehicle angular velocity zeroing in BSPrim.UpdateProperties().
         A kludge that isn't fixing the real problem of Bullet adding extra motion.
@@ -78,11 +60,10 @@ Incorporate inter-relationship of angular corrections. For instance, angularDefl
         creates over-correction and over-shoot and wabbling.
 Vehicle attributes are not restored when a vehicle is rezzed on region creation
         Create vehicle, setup vehicle properties, restart region, vehicle is not reinitialized.
+What to do if vehicle and prim buoyancy differ?
 
 GENERAL TODO LIST:
 =================================================
-Explore btGImpactMeshShape as alternative to convex hulls for simplified physical objects.
-        Regular triangle meshes don't do physical collisions.
 Resitution of a prim works on another prim but not on terrain.
         The dropped prim doesn't bounce properly on the terrain.
 Add a sanity check for PIDTarget location.
@@ -359,4 +340,25 @@ Lock axis (DONE 20130401)
 Terrain detail: double terrain mesh detail (DONE)
 Use the HACD convex hull routine in Bullet rather than the C# version.  
         Speed up hullifying large meshes. (DONE)
+Vehicle ride, get up, ride again. Second time vehicle does not act correctly.
+        Have to rez new vehicle and delete the old to fix situation.
+        (DONE 20130520: normalize rotations)
+Hitting RESET on Nebadon's vehicle while riding causes vehicle to get into odd
+        position state where it will not settle onto ground properly, etc
+        (DONE 20130520: normalize rotations)
+Two of Nebadon vehicles in a sim max the CPU. This is new.
+        (DONE 20130520: two problems: if asset failed to mesh, constantly refetched
+        asset; vehicle was sending too many messages to all linkset members)
+Add material densities to the material types. (WILL NOT BE DONE: not how it is done)
+Avatars walking up stairs (DONE)
+Avatar movement
+        flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE)
+        walking up stairs is not calibrated correctly (stairs out of Kepler cabin) (DONE)
+        avatar capsule rotation completed (NOT DONE - Bullet's capsule shape is not the solution)
+After getting off a vehicle, the root prim is phantom (can be walked through)
+    Need to force a position update for the root prim after compound shape destruction
+        (DONE)
+Explore btGImpactMeshShape as alternative to convex hulls for simplified physical objects.
+        Regular triangle meshes don't do physical collisions.
+        (DONE: discovered GImpact is VERY CPU intensive)
 
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
index ec5aa49..e1630b3 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
@@ -4665,35 +4665,22 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         public LSL_Vector llRot2Axis(LSL_Rotation rot)
         {
             m_host.AddScriptLPS(1);
-            double x,y,z;
+            double x, y, z;
 
-            if (rot.s > 1) // normalization needed
-            {
-                double length = Math.Sqrt(rot.x * rot.x + rot.y * rot.y +
-                        rot.z * rot.z + rot.s * rot.s);
-
-                rot.x /= length;
-                rot.y /= length;
-                rot.z /= length;
-                rot.s /= length;
-
-            }
+            if (Math.Abs(rot.s) > 1) // normalization needed
+                rot.Normalize();
 
-            // double angle = 2 * Math.Acos(rot.s);
             double s = Math.Sqrt(1 - rot.s * rot.s);
             if (s < 0.001)
             {
-                x = 1;
-                y = z = 0;
+                return new LSL_Vector(1, 0, 0);
             }
             else
             {
-                x = rot.x / s; // normalise axis
-                y = rot.y / s;
-                z = rot.z / s;
+                double invS = 1.0 / s;
+                if (rot.s < 0) invS = -invS;
+                return new LSL_Vector(rot.x * invS, rot.y * invS, rot.z * invS);
             }
-
-            return new LSL_Vector(x,y,z);
         }
 
 
@@ -4702,18 +4689,12 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         {
             m_host.AddScriptLPS(1);
 
-            if (rot.s > 1) // normalization needed
-            {
-                double length = Math.Sqrt(rot.x * rot.x + rot.y * rot.y +
-                        rot.z * rot.z + rot.s * rot.s);
-
-                rot.x /= length;
-                rot.y /= length;
-                rot.z /= length;
-                rot.s /= length;
-            }
+            if (Math.Abs(rot.s) > 1) // normalization needed
+                rot.Normalize();
 
             double angle = 2 * Math.Acos(rot.s);
+            if (angle > Math.PI) 
+                angle = 2 * Math.PI - angle;
 
             return angle;
         }
diff --git a/OpenSim/Region/ScriptEngine/Shared/LSL_Types.cs b/OpenSim/Region/ScriptEngine/Shared/LSL_Types.cs
index 9ca5ca9..50f9377 100644
--- a/OpenSim/Region/ScriptEngine/Shared/LSL_Types.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/LSL_Types.cs
@@ -371,6 +371,31 @@ namespace OpenSim.Region.ScriptEngine.Shared
 
             #endregion
 
+            #region Methods
+            public Quaternion Normalize()
+            {
+                double length = Math.Sqrt(x * x + y * y + z * z + s * s);
+                if (length < float.Epsilon)
+                {
+                    x = 0;
+                    y = 0;
+                    z = 0;
+                    s = 1;
+                }
+                else
+                {
+
+                    double invLength = 1.0 / length;
+                    x *= invLength;
+                    y *= invLength;
+                    z *= invLength;
+                    s *= invLength;
+                }
+
+                return this;
+            }
+            #endregion
+
             #region Overriders
 
             public override int GetHashCode()