1 files changed, 123 insertions, 109 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index ebfd85b..9c20004 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -42,7 +42,7 @@ public sealed class BSPrim : PhysicsActor
     private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
     private static readonly string LogHeader = "[BULLETS PRIM]";
 
-    private void DebugLog(string mm, params Object[] xx) { if (_scene.shouldDebugLog) m_log.DebugFormat(mm, xx); }
+    private void DebugLog(string mm, params Object[] xx) { if (_scene.ShouldDebugLog) m_log.DebugFormat(mm, xx); }
 
     private IMesh _mesh;
     private PrimitiveBaseShape _pbs;
@@ -138,14 +138,15 @@ public sealed class BSPrim : PhysicsActor
         _isPhysical = pisPhysical;
         _isVolumeDetect = false;
         _subscribedEventsMs = 0;
-        _friction = _scene.Params.defaultFriction; // TODO: compute based on object material
-        _density = _scene.Params.defaultDensity; // TODO: compute based on object material
+        _friction = _scene.Params.defaultFriction;  // TODO: compute based on object material
+        _density = _scene.Params.defaultDensity;    // TODO: compute based on object material
         _restitution = _scene.Params.defaultRestitution;
         _linkset = new BSLinkset(_scene, this);     // a linkset of one
-        _vehicle = new BSDynamics(this);    // add vehicleness
+        _vehicle = new BSDynamics(this);            // add vehicleness
         _mass = CalculateMass();
         // do the actual object creation at taint time
-        _scene.TaintedObject(delegate()
+        DetailLog("{0},BSPrim.constructor,call", LocalID);
+        _scene.TaintedObject("BSPrim.create", delegate()
         {
             RecreateGeomAndObject();
 
@@ -160,17 +161,22 @@ public sealed class BSPrim : PhysicsActor
     public void Destroy()
     {
         // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID);
-        // DetailLog("{0},Destroy", LocalID);
+
+        // Undo any links between me and any other object
+        BSPrim parentBefore = _linkset.LinksetRoot;
+        int childrenBefore = _linkset.NumberOfChildren;
+
+        _linkset = _linkset.RemoveMeFromLinkset(this);
+
+        DetailLog("{0},BSPrim.Destroy,call,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}",
+            LocalID, parentBefore.LocalID, childrenBefore, _linkset.LinksetRoot.LocalID, _linkset.NumberOfChildren);
 
         // Undo any vehicle properties
-        _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE);
-        _scene.RemoveVehiclePrim(this);     // just to make sure
+        this.VehicleType = (int)Vehicle.TYPE_NONE;
 
-        _scene.TaintedObject(delegate()
+        _scene.TaintedObject("BSPrim.destroy", delegate()
         {
-            // Undo any links between me and any other object
-            _linkset = _linkset.RemoveMeFromLinkset(this);
-
+            DetailLog("{0},BSPrim.Destroy,taint,", LocalID);
             // everything in the C# world will get garbage collected. Tell the C++ world to free stuff.
             BulletSimAPI.DestroyObject(_scene.WorldID, LocalID);
         });
@@ -183,11 +189,11 @@ public sealed class BSPrim : PhysicsActor
         get { return _size; } 
         set {
             _size = value;
-            _scene.TaintedObject(delegate()
+            _scene.TaintedObject("BSPrim.setSize", delegate()
             {
                 _mass = CalculateMass();   // changing size changes the mass
                 BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, (IsPhysical ? _mass : 0f), IsPhysical);
-                DetailLog("{0}: setSize: size={1}, mass={2}, physical={3}", LocalID, _size, _mass, IsPhysical);
+                // DetailLog("{0}: BSPrim.setSize: size={1}, mass={2}, physical={3}", LocalID, _size, _mass, IsPhysical);
                 RecreateGeomAndObject();
             });
         } 
@@ -195,7 +201,7 @@ public sealed class BSPrim : PhysicsActor
     public override PrimitiveBaseShape Shape { 
         set {
             _pbs = value;
-            _scene.TaintedObject(delegate()
+            _scene.TaintedObject("BSPrim.setShape", delegate()
             {
                 _mass = CalculateMass();   // changing the shape changes the mass
                 RecreateGeomAndObject();
@@ -213,7 +219,7 @@ public sealed class BSPrim : PhysicsActor
     public override bool Selected { 
         set {
             _isSelected = value;
-            _scene.TaintedObject(delegate()
+            _scene.TaintedObject("BSPrim.setSelected", delegate()
             {
                 SetObjectDynamic();
             });
@@ -224,10 +230,17 @@ public sealed class BSPrim : PhysicsActor
     // link me to the specified parent
     public override void link(PhysicsActor obj) {
         BSPrim parent = obj as BSPrim;
-        DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID);
-        DetailLog("{0},link,parent={1}", LocalID, obj.LocalID);
+        if (parent != null)
+        {
+            DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, parent.LocalID);
+            BSPrim parentBefore = _linkset.LinksetRoot;
+            int childrenBefore = _linkset.NumberOfChildren;
 
-        _linkset = _linkset.AddMeToLinkset(this, parent);
+            _linkset = parent.Linkset.AddMeToLinkset(this);
+
+            DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}", 
+                LocalID, parentBefore.LocalID, childrenBefore, _linkset.LinksetRoot.LocalID, _linkset.NumberOfChildren);
+        }
         return; 
     }
 
@@ -236,10 +249,15 @@ public sealed class BSPrim : PhysicsActor
         // TODO: decide if this parent checking needs to happen at taint time
         // Race condition here: if link() and delink() in same simulation tick, the delink will not happen
         DebugLog("{0}: delink {1}/{2}. Parent={3}", LogHeader, _avName, _localID, 
-                            _linkset.Root._avName+"/"+_linkset.Root.LocalID.ToString());
-        DetailLog("{0},delink,parent={1}", LocalID, _linkset.Root.LocalID.ToString());
+                            _linkset.LinksetRoot._avName+"/"+_linkset.LinksetRoot.LocalID.ToString());
+
+        BSPrim parentBefore = _linkset.LinksetRoot;
+        int childrenBefore = _linkset.NumberOfChildren;
+        
+        _linkset = _linkset.RemoveMeFromLinkset(this);
 
-        _linkset.RemoveMeFromLinkset(this);
+        DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ", 
+            LocalID, parentBefore.LocalID, childrenBefore, _linkset.LinksetRoot.LocalID, _linkset.NumberOfChildren);
         return; 
     }
 
@@ -262,7 +280,7 @@ public sealed class BSPrim : PhysicsActor
 
     public override void LockAngularMotion(OMV.Vector3 axis)
     { 
-        DetailLog("{0},LockAngularMotion,call,axis={1}", LocalID, axis);
+        // DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis);
         return;
     }
 
@@ -279,9 +297,9 @@ public sealed class BSPrim : PhysicsActor
         set {
             _position = value;
             // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint?
-            _scene.TaintedObject(delegate()
+            _scene.TaintedObject("BSPrim.setPosition", delegate()
             {
-                DetailLog("{0},SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
+                // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
             });
         } 
@@ -316,9 +334,9 @@ public sealed class BSPrim : PhysicsActor
         get { return _force; } 
         set {
             _force = value;
-            _scene.TaintedObject(delegate()
+            _scene.TaintedObject("BSPrim.setForce", delegate()
             {
-                DetailLog("{0},SetForce,taint,force={1}", LocalID, _force);
+                // DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
                 // BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
                 BulletSimAPI.SetObjectForce2(Body.Ptr, _force);
             });
@@ -331,53 +349,41 @@ public sealed class BSPrim : PhysicsActor
         } 
         set {
             Vehicle type = (Vehicle)value;
-            _scene.TaintedObject(delegate()
+            BSPrim vehiclePrim = this;
+            _scene.TaintedObject("setVehicleType", delegate()
             {
-                DetailLog("{0},SetVehicleType,taint,type={1}", LocalID, type);
+                // 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);
-                if (type == Vehicle.TYPE_NONE)
-                {
-                    _scene.RemoveVehiclePrim(this);
-                }
-                else
-                {
-                    _scene.TaintedObject(delegate()
-                    {
-                        // Tell the physics engine to clear state
-                        BulletSimAPI.ClearForces2(this.Body.Ptr);
-                    });
-
-                    // make it so the scene will call us each tick to do vehicle things
-                    _scene.AddVehiclePrim(this);
-                }
-                return;
+                // Tell the scene about the vehicle so it will get processing each frame.
+                _scene.VehicleInSceneTypeChanged(this, type);
             });
         } 
     }
     public override void VehicleFloatParam(int param, float value) 
     {
-        _scene.TaintedObject(delegate()
+        _scene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
         {
             _vehicle.ProcessFloatVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep);
         });
     }
     public override void VehicleVectorParam(int param, OMV.Vector3 value) 
     {
-        _scene.TaintedObject(delegate()
+        _scene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
         {
             _vehicle.ProcessVectorVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep);
         });
     }
     public override void VehicleRotationParam(int param, OMV.Quaternion rotation) 
     {
-        _scene.TaintedObject(delegate()
+        _scene.TaintedObject("BSPrim.VehicleRotationParam", delegate()
         {
             _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation);
         });
     }
     public override void VehicleFlags(int param, bool remove) 
     {
-        _scene.TaintedObject(delegate()
+        _scene.TaintedObject("BSPrim.VehicleFlags", delegate()
         {
             _vehicle.ProcessVehicleFlags(param, remove);
         });
@@ -395,7 +401,7 @@ public sealed class BSPrim : PhysicsActor
     public override void SetVolumeDetect(int param) {
         bool newValue = (param != 0);
         _isVolumeDetect = newValue;
-        _scene.TaintedObject(delegate()
+        _scene.TaintedObject("BSPrim.SetVolumeDetect", delegate()
         {
             SetObjectDynamic();
         });
@@ -406,9 +412,9 @@ public sealed class BSPrim : PhysicsActor
         get { return _velocity; } 
         set {
             _velocity = value;
-            _scene.TaintedObject(delegate()
+            _scene.TaintedObject("BSPrim.setVelocity", delegate()
             {
-                DetailLog("{0},SetVelocity,taint,vel={1}", LocalID, _velocity);
+                // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
                 BulletSimAPI.SetObjectVelocity(_scene.WorldID, LocalID, _velocity);
             });
         } 
@@ -416,7 +422,7 @@ public sealed class BSPrim : PhysicsActor
     public override OMV.Vector3 Torque { 
         get { return _torque; } 
         set { _torque = value; 
-            DetailLog("{0},SetTorque,call,torque={1}", LocalID, _torque);
+            // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
         } 
     }
     public override float CollisionScore { 
@@ -440,10 +446,10 @@ public sealed class BSPrim : PhysicsActor
         set {
             _orientation = value;
             // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint?
-            _scene.TaintedObject(delegate()
+            _scene.TaintedObject("BSPrim.setOrientation", delegate()
             {
                 // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
-                DetailLog("{0},SetOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
+                // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
             });
         } 
@@ -457,7 +463,7 @@ public sealed class BSPrim : PhysicsActor
         get { return _isPhysical; } 
         set {
             _isPhysical = value;
-            _scene.TaintedObject(delegate()
+            _scene.TaintedObject("BSPrim.setIsPhysical", delegate()
             {
                 SetObjectDynamic();
             });
@@ -478,7 +484,6 @@ public sealed class BSPrim : PhysicsActor
 
     // Make gravity work if the object is physical and not selected
     // No locking here because only called when it is safe
-    // Only called at taint time so it is save to call into Bullet.
     private void SetObjectDynamic()
     {
         // RA: remove this for the moment.
@@ -487,13 +492,16 @@ public sealed class BSPrim : PhysicsActor
         //    Maybe a VerifyCorrectPhysicalShape() routine?
         // RecreateGeomAndObject();
 
-        float mass = _mass;
-        // Bullet wants static objects have a mass of zero
-        if (IsStatic) 
-            mass = 0f;
+        // Bullet wants static objects to have a mass of zero
+        float mass = IsStatic ? 0f : _mass;
 
-        DetailLog("{0},SetObjectDynamic,taint,static={1},solid={2},mass={3}", LocalID, IsStatic, IsSolid, mass);
         BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass);
+
+        // recompute any linkset parameters
+        _linkset.Refresh(this);
+
+        CollisionFlags cf = BulletSimAPI.GetCollisionFlags2(Body.Ptr);
+        // DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, cf);
     }
 
     // prims don't fly
@@ -548,9 +556,9 @@ public sealed class BSPrim : PhysicsActor
         set {
             _rotationalVelocity = value;
             // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
-            _scene.TaintedObject(delegate()
+            _scene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
             {
-                DetailLog("{0},SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
+                // DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
                 BulletSimAPI.SetObjectAngularVelocity(_scene.WorldID, LocalID, _rotationalVelocity);
             });
         } 
@@ -565,9 +573,9 @@ public sealed class BSPrim : PhysicsActor
         get { return _buoyancy; } 
         set {
             _buoyancy = value;
-            _scene.TaintedObject(delegate()
+            _scene.TaintedObject("BSPrim.setBuoyancy", delegate()
             {
-                DetailLog("{0},SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
+                // DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
                 BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy);
             });
         } 
@@ -607,6 +615,7 @@ public sealed class BSPrim : PhysicsActor
 
     private List<OMV.Vector3> m_accumulatedForces = new List<OMV.Vector3>();
     public override void AddForce(OMV.Vector3 force, bool pushforce) {
+        // for an object, doesn't matter if force is a pushforce or not
         if (force.IsFinite())
         {
             // _force += force;
@@ -618,40 +627,48 @@ public sealed class BSPrim : PhysicsActor
             m_log.WarnFormat("{0}: Got a NaN force applied to a Character", LogHeader);
             return;
         }
-        _scene.TaintedObject(delegate()
+        _scene.TaintedObject("BSPrim.AddForce", delegate()
         {
+            OMV.Vector3 fSum = OMV.Vector3.Zero;
             lock (m_accumulatedForces)
             {
-                if (m_accumulatedForces.Count > 0)
+                foreach (OMV.Vector3 v in m_accumulatedForces)
                 {
-                    OMV.Vector3 fSum = OMV.Vector3.Zero;
-                    foreach (OMV.Vector3 v in m_accumulatedForces)
-                    {
-                        fSum += v;
-                    }
-                    m_accumulatedForces.Clear();
-
-                    DetailLog("{0},SetObjectForce,taint,force={1}", LocalID, fSum);
-                    BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, fSum);
+                    fSum += v;
                 }
+                m_accumulatedForces.Clear();
             }
+            // DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, _force);
+            BulletSimAPI.AddObjectForce2(Body.Ptr, fSum);
         });
     }
 
     public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { 
-        DetailLog("{0},AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce);
+        // DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce);
         // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce);
     }
     public override void SetMomentum(OMV.Vector3 momentum) { 
-        DetailLog("{0},SetMomentum,call,mom={1}", LocalID, momentum);
+        // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
     }
     public override void SubscribeEvents(int ms) { 
         _subscribedEventsMs = ms;
-        // make sure first collision happens
-        _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs;
+        if (ms > 0)
+        {
+            // make sure first collision happens
+            _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs;
+
+            Scene.TaintedObject("BSPrim.SubscribeEvents", delegate()
+            {
+                BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            });
+        }
     }
     public override void UnSubscribeEvents() { 
         _subscribedEventsMs = 0;
+        Scene.TaintedObject("BSPrim.UnSubscribeEvents", delegate()
+        {
+            BulletSimAPI.RemoveFromCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+        });
     }
     public override bool SubscribedEvents() { 
         return (_subscribedEventsMs > 0);
@@ -970,26 +987,26 @@ public sealed class BSPrim : PhysicsActor
         {
             if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1)
             {
-                if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z)
-                {
+                // if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z)
+                // {
                     // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size);
                     if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE))
                     {
-                        DetailLog("{0},CreateGeom,sphere", LocalID);
+                        // DetailLog("{0},BSPrim.CreateGeom,sphere (force={1}", LocalID, forceRebuild);
                         _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE;
                         // Bullet native objects are scaled by the Bullet engine so pass the size in
                         _scale = _size;
                         // TODO: do we need to check for and destroy a mesh or hull that might have been left from before?
                         ret = true;
                     }
-                }
+                // }
             }
             else
             {
                 // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, type={2}, size={3}", LogHeader, LocalID, _shapeType, _size);
                 if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX))
                 {
-                    DetailLog("{0},CreateGeom,box", LocalID);
+                    // DetailLog("{0},BSPrim.CreateGeom,box (force={1})", LocalID, forceRebuild);
                     _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX;
                     _scale = _size;
                     // TODO: do we need to check for and destroy a mesh or hull that might have been left from before?
@@ -1032,12 +1049,12 @@ public sealed class BSPrim : PhysicsActor
         // if this new shape is the same as last time, don't recreate the mesh
         if (_meshKey == newMeshKey) return;
 
-        DetailLog("{0},CreateGeomMesh,create,key={1}", LocalID, _meshKey);
+        // DetailLog("{0},BSPrim.CreateGeomMesh,create,key={1}", LocalID, newMeshKey);
         // Since we're recreating new, get rid of any previously generated shape
         if (_meshKey != 0)
         {
             // m_log.DebugFormat("{0}: CreateGeom: deleting old mesh. lID={1}, Key={2}", LogHeader, _localID, _meshKey);
-            DetailLog("{0},CreateGeomMesh,deleteOld,key={1}", LocalID, _meshKey);
+            // DetailLog("{0},BSPrim.CreateGeomMesh,deleteOld,key={1}", LocalID, _meshKey);
             BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey);
             _mesh = null;
             _meshKey = 0;
@@ -1067,7 +1084,7 @@ public sealed class BSPrim : PhysicsActor
         _shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH;
         // meshes are already scaled by the meshmerizer
         _scale = new OMV.Vector3(1f, 1f, 1f);
-        DetailLog("{0},CreateGeomMesh,done", LocalID);
+        // DetailLog("{0},BSPrim.CreateGeomMesh,done", LocalID);
         return;
     }
 
@@ -1081,28 +1098,21 @@ public sealed class BSPrim : PhysicsActor
         // if the hull hasn't changed, don't rebuild it
         if (newHullKey == _hullKey) return;
 
-        DetailLog("{0},CreateGeomHull,create,key={1}", LocalID, _meshKey);
+        // DetailLog("{0},BSPrim.CreateGeomHull,create,oldKey={1},newKey={2}", LocalID, _hullKey, newHullKey);
         
         // Since we're recreating new, get rid of any previously generated shape
         if (_hullKey != 0)
         {
             // m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey);
-            DetailLog("{0},CreateGeomHull,deleteOldHull,key={1}", LocalID, _meshKey);
+            // DetailLog("{0},BSPrim.CreateGeomHull,deleteOldHull,key={1}", LocalID, _hullKey);
             BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey);
             _hullKey = 0;
-            _hulls.Clear();
-            DetailLog("{0},CreateGeomHull,deleteOldMesh,key={1}", LocalID, _meshKey);
-            BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey);
-            _mesh = null;   // the mesh cannot match either
-            _meshKey = 0;
         }
 
         _hullKey = newHullKey;
-        if (_meshKey != _hullKey)
-        {
-            // if the underlying mesh has changed, rebuild it
-            CreateGeomMesh();
-        }
+
+        // Make sure the underlying mesh exists and is correct
+        CreateGeomMesh();
 
         int[] indices = _mesh.getIndexListAsInt();
         List<OMV.Vector3> vertices = _mesh.getVertexList();
@@ -1128,7 +1138,7 @@ public sealed class BSPrim : PhysicsActor
         // create the hull into the _hulls variable
         convexBuilder.process(dcomp);
 
-        // Convert the vertices and indices for passing to unmanaged
+        // Convert the vertices and indices for passing to unmanaged.
         // The hull information is passed as a large floating point array. 
         // The format is:
         //  convHulls[0] = number of hulls
@@ -1188,7 +1198,7 @@ public sealed class BSPrim : PhysicsActor
         _shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL;
         // meshes are already scaled by the meshmerizer
         _scale = new OMV.Vector3(1f, 1f, 1f);
-        DetailLog("{0},CreateGeomHull,done", LocalID);
+        // DetailLog("{0},BSPrim.CreateGeomHull,done", LocalID);
         return;
     }
 
@@ -1214,7 +1224,7 @@ public sealed class BSPrim : PhysicsActor
         bool ret = BulletSimAPI.CreateObject(_scene.WorldID, shape);
 
         // the CreateObject() may have recreated the rigid body. Make sure we have the latest.
-        m_body.Ptr = BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID);
+        Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID));
 
         return ret;
     }
@@ -1326,8 +1336,8 @@ public sealed class BSPrim : PhysicsActor
 
             // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}, vel={5}, acc={6}, rvel={7}", 
             //         LogHeader, LocalID, changed, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
-            DetailLog("{0},UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
-                    LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
+            // DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
+            //         LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
 
             base.RequestPhysicsterseUpdate();
         }
@@ -1335,7 +1345,7 @@ public sealed class BSPrim : PhysicsActor
         else
         {
             // For debugging, we also report the movement of children
-            DetailLog("{0},UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
+            DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
                     LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, 
                     entprop.Acceleration, entprop.RotationalVelocity);
         }
@@ -1343,7 +1353,7 @@ public sealed class BSPrim : PhysicsActor
     }
 
     // I've collided with something
-    CollisionEventUpdate collisionCollection = null;
+    CollisionEventUpdate collisionCollection;
     public void Collide(uint collidingWith, ActorTypes type, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
     {
         // m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith);
@@ -1355,6 +1365,8 @@ public sealed class BSPrim : PhysicsActor
             _collidingGroundStep = _scene.SimulationStep;
         }
 
+        // DetailLog("{0},BSPrim.Collison,call,with={1}", LocalID, collidingWith);
+
         // if someone is subscribed to collision events....
         if (_subscribedEventsMs != 0) {
             // throttle the collisions to the number of milliseconds specified in the subscription
@@ -1375,7 +1387,9 @@ public sealed class BSPrim : PhysicsActor
         if (collisionCollection != null && collisionCollection.Count > 0)
         {
             base.SendCollisionUpdate(collisionCollection);
-            collisionCollection.Clear();
+            // The collisionCollection structure is passed around in the simulator.
+            // Make sure we don't have a handle to that one and that a new one is used next time.
+            collisionCollection = null;
         }
     }