1 files changed, 4124 insertions, 0 deletions

diff --git a/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
new file mode 100644
index 0000000..5b743e8
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
@@ -0,0 +1,4124 @@
+/* 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.
+ *
+ * Revised March 5th 2010 by Kitto Flora. ODEDynamics.cs
+ * Ubit 2012
+ * rolled into ODEPrim.cs
+ */
+
+using System;
+using System.IO;
+using System.Collections.Generic;
+using System.Reflection;
+using System.Runtime.InteropServices;
+using System.Threading;
+using log4net;
+using OpenMetaverse;
+using Ode.NET;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+
+namespace OpenSim.Region.Physics.OdePlugin
+{
+    /// <summary>
+    /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
+    /// </summary>
+
+    public class OdePrim : PhysicsActor
+    {
+        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+
+        public class SerialControl
+        {
+            public object alock = new object();
+            public byte[] data = new byte[0];
+        }
+        private Vector3 _position;
+        private Vector3 _velocity;
+        private Vector3 _torque;
+        private Vector3 m_lastVelocity;
+        private Vector3 m_lastposition;
+        private Quaternion m_lastorientation = new Quaternion();
+        private Vector3 m_rotationalVelocity;
+        private Vector3 _size;
+        private Vector3 _acceleration;
+        // private d.Vector3 _zeroPosition = new d.Vector3(0.0f, 0.0f, 0.0f);
+        private Quaternion _orientation;
+        private Vector3 m_taintposition;
+        private Vector3 m_taintsize;
+        private Vector3 m_taintVelocity;
+        private Vector3 m_taintTorque;
+        private Quaternion m_taintrot;
+        private Vector3 m_rotateEnable = Vector3.One;                           // Current setting
+        private Vector3 m_rotateEnableRequest = Vector3.One;                    // Request from LSL
+        private bool m_rotateEnableUpdate = false;
+        private Vector3 m_lockX;
+        private Vector3 m_lockY;
+        private Vector3 m_lockZ;
+        private IntPtr Amotor = IntPtr.Zero;
+        private IntPtr AmotorX = IntPtr.Zero;
+        private IntPtr AmotorY = IntPtr.Zero;
+        private IntPtr AmotorZ = IntPtr.Zero;
+
+        private Vector3 m_PIDTarget;
+        private float m_PIDTau;
+        private float PID_D = 35f;
+        private float PID_G = 25f;
+        private bool m_usePID = false;
+
+        private Quaternion m_APIDTarget = new Quaternion();
+        private float m_APIDStrength = 0.5f;
+        private float m_APIDDamping = 0.5f;
+        private bool m_useAPID = false;
+        private float m_APIDdamper = 1.0f;
+
+        // These next 7 params apply to llSetHoverHeight(float height, integer water, float tau),
+        // do not confuse with VEHICLE HOVER
+
+        private float m_PIDHoverHeight;
+        private float m_PIDHoverTau;
+        private bool m_useHoverPID;
+        private PIDHoverType m_PIDHoverType = PIDHoverType.Ground;
+        private float m_targetHoverHeight;
+        private float m_groundHeight;
+        private float m_waterHeight;
+        private float m_buoyancy;                               //m_buoyancy set by llSetBuoyancy() 
+
+        // private float m_tensor = 5f;
+        private int body_autodisable_frames = 20;
+
+
+        private const CollisionCategories m_default_collisionFlags = (CollisionCategories.Geom
+                                                        | CollisionCategories.Space
+                                                        | CollisionCategories.Body
+                                                        | CollisionCategories.Character
+                                                        );
+        private bool m_taintshape;
+        private bool m_taintPhysics;
+        private bool m_collidesLand = true;
+        private bool m_collidesWater;
+        //        public bool m_returnCollisions;
+
+        // Default we're a Geometry
+        private CollisionCategories m_collisionCategories = (CollisionCategories.Geom);
+
+        // Default, Collide with Other Geometries, spaces and Bodies
+        private CollisionCategories m_collisionFlags = m_default_collisionFlags;
+
+        public bool m_taintremove;
+        public bool m_taintdisable;
+        public bool m_disabled;
+        public bool m_taintadd;
+        public bool m_taintselected;
+        public bool m_taintphantom;
+        public bool m_taintCollidesWater;
+
+        public uint m_localID;
+
+        //public GCHandle gc;
+        private CollisionLocker ode;
+
+        private bool m_meshfailed = false;
+        private bool m_taintforce = false;
+        private bool m_taintaddangularforce = false;
+        private Vector3 m_force;
+        private List<Vector3> m_forcelist = new List<Vector3>();
+        private List<Vector3> m_angularforcelist = new List<Vector3>();
+
+        private IMesh _mesh;
+        private PrimitiveBaseShape _pbs;
+        private OdeScene _parent_scene;
+        public IntPtr m_targetSpace = IntPtr.Zero;
+        public IntPtr prim_geom;
+        //        public IntPtr prev_geom;
+        public IntPtr _triMeshData;
+
+        private IntPtr _linkJointGroup = IntPtr.Zero;
+        private PhysicsActor _parent;
+        private PhysicsActor m_taintparent;
+
+        private List<OdePrim> childrenPrim = new List<OdePrim>();
+
+        private bool iscolliding;
+        private bool m_isphysical;
+        private bool m_isphantom;
+        private bool m_isSelected;
+
+        private bool m_NoColide;  // for now only for internal use for bad meshs
+
+        internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively
+
+        private bool m_throttleUpdates;
+        private int throttleCounter;
+        public int m_interpenetrationcount;
+        public float m_collisionscore;
+        //        public int m_roundsUnderMotionThreshold;
+        //        private int m_crossingfailures;
+
+        public bool m_outofBounds;
+        private float m_density = 10.000006836f; // Aluminum g/cm3;
+
+        private float m_primMass = 10.000006836f; // Aluminum g/cm3;
+
+        private byte m_shapetype;
+        private byte m_taintshapetype;
+
+        public bool _zeroFlag;                                   // if body has been stopped
+        private bool m_lastUpdateSent;
+
+        public IntPtr Body = IntPtr.Zero;
+        public String m_primName;
+        private Vector3 _target_velocity;
+        public d.Mass pMass;
+
+        public int m_eventsubscription;
+        private CollisionEventUpdate CollisionEventsThisFrame;
+
+        private IntPtr m_linkJoint = IntPtr.Zero;
+
+        public volatile bool childPrim;
+
+        internal int m_material = (int)Material.Wood;
+
+        private IntPtr m_body = IntPtr.Zero;
+
+        // Vehicle properties ============================================================================================
+        private Vehicle m_type = Vehicle.TYPE_NONE;                                             // If a 'VEHICLE', and what kind
+        // private Quaternion m_referenceFrame = Quaternion.Identity;   // Axis modifier
+        private VehicleFlag m_flags = (VehicleFlag)0;                                   // Bit settings:
+        // HOVER_TERRAIN_ONLY
+        // HOVER_GLOBAL_HEIGHT
+        // NO_DEFLECTION_UP
+        // HOVER_WATER_ONLY
+        // HOVER_UP_ONLY
+        // LIMIT_MOTOR_UP
+        // LIMIT_ROLL_ONLY
+
+        // Linear properties
+        private Vector3 m_linearMotorDirection = Vector3.Zero;                  // (was m_linearMotorDirectionLASTSET) the (local) Velocity 
+        //requested by LSL
+        private float m_linearMotorTimescale = 0;                                               // Motor Attack rate set by LSL
+        private float m_linearMotorDecayTimescale = 0;                          // Motor Decay rate set by LSL
+        private Vector3 m_linearFrictionTimescale = Vector3.Zero;               // General Friction set by LSL
+
+        private Vector3 m_lLinMotorDVel = Vector3.Zero;                                 // decayed motor
+        private Vector3 m_lLinObjectVel = Vector3.Zero;                                 // local frame object velocity
+        private Vector3 m_wLinObjectVel = Vector3.Zero;                                 // world frame object velocity
+
+        //Angular properties
+        private Vector3 m_angularMotorDirection = Vector3.Zero;                 // angular velocity requested by LSL motor 
+
+        private float m_angularMotorTimescale = 0;                                              // motor angular Attack rate set by LSL
+        private float m_angularMotorDecayTimescale = 0;                                 // motor angular Decay rate set by LSL
+        private Vector3 m_angularFrictionTimescale = Vector3.Zero;              // body angular Friction set by LSL
+
+        private Vector3 m_angularMotorDVel = Vector3.Zero;                              // decayed angular motor
+        //        private Vector3 m_angObjectVel = Vector3.Zero;                                        // current body angular velocity
+        private Vector3 m_lastAngularVelocity = Vector3.Zero;                   // what was last applied to body
+
+        //Deflection properties        
+        // private float m_angularDeflectionEfficiency = 0;
+        // private float m_angularDeflectionTimescale = 0;
+        // private float m_linearDeflectionEfficiency = 0;
+        // private float m_linearDeflectionTimescale = 0;
+
+        //Banking properties
+        // private float m_bankingEfficiency = 0;
+        // private float m_bankingMix = 0;
+        // private float m_bankingTimescale = 0;
+
+        //Hover and Buoyancy properties
+        private float m_VhoverHeight = 0f;
+        //        private float m_VhoverEfficiency = 0f;
+        private float m_VhoverTimescale = 0f;
+        private float m_VhoverTargetHeight = -1.0f;     // if <0 then no hover, else its the current target height 
+        private float m_VehicleBuoyancy = 0f;                   // Set by VEHICLE_BUOYANCY, for a vehicle.
+        // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity) 
+        // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
+        // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity. 
+
+        //Attractor properties                                                                                                  
+        private float m_verticalAttractionEfficiency = 1.0f;            // damped     
+        private float m_verticalAttractionTimescale = 500f;                     // Timescale > 300  means no vert attractor.
+
+//        SerialControl m_taintserial = null;
+        object m_taintvehicledata = null;
+
+        public void DoSetVehicle()
+        {
+            VehicleData vd = (VehicleData)m_taintvehicledata;
+
+        m_type = vd.m_type;
+        m_flags = vd.m_flags;
+
+        // Linear properties
+        m_linearMotorDirection = vd.m_linearMotorDirection;
+        m_linearFrictionTimescale = vd.m_linearFrictionTimescale;
+        m_linearMotorDecayTimescale = vd.m_linearMotorDecayTimescale;
+        m_linearMotorTimescale = vd.m_linearMotorTimescale;
+//        m_linearMotorOffset = vd.m_linearMotorOffset;
+
+        //Angular properties
+        m_angularMotorDirection = vd.m_angularMotorDirection;
+        m_angularMotorTimescale = vd.m_angularMotorTimescale;
+        m_angularMotorDecayTimescale = vd.m_angularMotorDecayTimescale;
+        m_angularFrictionTimescale = vd.m_angularFrictionTimescale;
+
+        //Deflection properties
+//        m_angularDeflectionEfficiency = vd.m_angularDeflectionEfficiency;
+//        m_angularDeflectionTimescale = vd.m_angularDeflectionTimescale;
+//        m_linearDeflectionEfficiency = vd.m_linearDeflectionEfficiency;
+//        m_linearDeflectionTimescale = vd.m_linearDeflectionTimescale;
+
+        //Banking properties
+//        m_bankingEfficiency = vd.m_bankingEfficiency;
+//        m_bankingMix = vd.m_bankingMix;
+//        m_bankingTimescale = vd.m_bankingTimescale;
+
+        //Hover and Buoyancy properties
+        m_VhoverHeight = vd.m_VhoverHeight;
+//        m_VhoverEfficiency = vd.m_VhoverEfficiency;
+        m_VhoverTimescale = vd.m_VhoverTimescale;
+        m_VehicleBuoyancy = vd.m_VehicleBuoyancy;
+
+        //Attractor properties
+        m_verticalAttractionEfficiency = vd.m_verticalAttractionEfficiency;
+        m_verticalAttractionTimescale = vd.m_verticalAttractionTimescale;
+
+        // Axis
+//        m_referenceFrame = vd.m_referenceFrame;
+
+
+            m_taintvehicledata = null;
+        }
+
+        public override void SetVehicle(object vdata)
+        {
+            m_taintvehicledata = vdata;
+            _parent_scene.AddPhysicsActorTaint(this);
+        }
+
+        public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size,
+                       Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical,
+                       bool pisPhantom,byte shapetype, CollisionLocker dode, uint localid)
+        {
+            m_localID = localid;
+            ode = dode;
+            if (!pos.IsFinite())
+            {
+                pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f),
+                    parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f);
+                m_log.Warn("[PHYSICS]: Got nonFinite Object create Position");
+            }
+
+            _position = pos;
+            m_taintposition = pos;
+            PID_D = parent_scene.bodyPIDD;
+            PID_G = parent_scene.bodyPIDG;
+            m_density = parent_scene.geomDefaultDensity;
+            // m_tensor = parent_scene.bodyMotorJointMaxforceTensor;
+            body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
+
+            prim_geom = IntPtr.Zero;
+            //            prev_geom = IntPtr.Zero;
+
+            if (!pos.IsFinite())
+            {
+                size = new Vector3(0.5f, 0.5f, 0.5f);
+                m_log.Warn("[PHYSICS]: Got nonFinite Object create Size");
+            }
+
+            if (size.X <= 0) size.X = 0.01f;
+            if (size.Y <= 0) size.Y = 0.01f;
+            if (size.Z <= 0) size.Z = 0.01f;
+
+            _size = size;
+            m_taintsize = _size;
+
+            if (!QuaternionIsFinite(rotation))
+            {
+                rotation = Quaternion.Identity;
+                m_log.Warn("[PHYSICS]: Got nonFinite Object create Rotation");
+            }
+
+            _orientation = rotation;
+            m_taintrot = _orientation;
+            _mesh = mesh;
+            _pbs = pbs;
+            m_shapetype = shapetype;
+            m_taintshapetype = shapetype;
+
+            _parent_scene = parent_scene;
+            m_targetSpace = (IntPtr)0;
+
+            //            if (pos.Z < 0)
+            if (pos.Z < parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y))
+                m_isphysical = false;
+            else
+            {
+                m_isphysical = pisPhysical;
+                // If we're physical, we need to be in the master space for now.
+                // linksets *should* be in a space together..  but are not currently
+                if (m_isphysical)
+                    m_targetSpace = _parent_scene.space;
+            }
+
+            m_isphantom = pisPhantom;
+            m_taintphantom = pisPhantom;
+
+            _triMeshData = IntPtr.Zero;
+            m_NoColide = false;
+
+//            m_taintserial = null;
+            m_primName = primName;
+            m_taintadd = true;
+            _parent_scene.AddPhysicsActorTaint(this);
+            //  don't do .add() here; old geoms get recycled with the same hash
+        }
+
+        public override int PhysicsActorType
+        {
+            get { return (int)ActorTypes.Prim; }
+            set { return; }
+        }
+
+        public override bool SetAlwaysRun
+        {
+            get { return false; }
+            set { return; }
+        }
+
+        public override uint LocalID
+        {
+            set
+            {
+                //m_log.Info("[PHYSICS]: Setting TrackerID: " + value);
+                m_localID = value;
+            }
+        }
+
+        public override bool Grabbed
+        {
+            set { return; }
+        }
+
+        public override bool Selected
+        {
+            set
+            {
+                //Console.WriteLine("Sel {0}  {1}  {2}", m_primName, value,   m_isphysical);        
+                // This only makes the object not collidable if the object
+                // is physical or the object is modified somehow *IN THE FUTURE*
+                // without this, if an avatar selects prim, they can walk right
+                // through it while it's selected
+                m_collisionscore = 0;
+                if ((m_isphysical && !_zeroFlag) || !value)
+                {
+                    m_taintselected = value;
+                    _parent_scene.AddPhysicsActorTaint(this);
+                }
+                else
+                {
+                    m_taintselected = value;
+                    m_isSelected = value;
+                }
+                if (m_isSelected) disableBodySoft();
+            }
+        }
+
+        public override bool IsPhysical
+        {
+            get { return m_isphysical; }
+            set
+            {
+                m_isphysical = value;
+                if (!m_isphysical)
+                {               // Zero the remembered last velocity
+                    m_lastVelocity = Vector3.Zero;
+                    if (m_type != Vehicle.TYPE_NONE) Halt();
+                }
+            }
+        }
+
+        public override bool IsVolumeDtc
+        {
+            set { return; }
+            get { return m_isVolumeDetect; }
+
+        }
+
+        public override bool Phantom
+        {
+            get { return m_isphantom; }
+            set
+            {
+                m_isphantom = value;
+            }
+        }
+
+        public void setPrimForRemoval()
+        {
+            m_taintremove = true;
+        }
+
+        public override bool Flying
+        {
+            // no flying prims for you
+            get { return false; }
+            set { }
+        }
+
+        public override bool IsColliding
+        {
+            get { return iscolliding; }
+            set { iscolliding = value; }
+        }
+
+        public override bool CollidingGround
+        {
+            get { return false; }
+            set { return; }
+        }
+
+        public override bool CollidingObj
+        {
+            get { return false; }
+            set { return; }
+        }
+
+        public override bool ThrottleUpdates
+        {
+            get { return m_throttleUpdates; }
+            set { m_throttleUpdates = value; }
+        }
+
+        public override bool Stopped
+        {
+            get { return _zeroFlag; }
+        }
+
+        public override Vector3 Position
+        {
+            get { return _position; }
+
+            set
+            {
+                _position = value;
+                //m_log.Info("[PHYSICS]: " + _position.ToString());
+            }
+        }
+
+        public override Vector3 Size
+        {
+            get { return _size; }
+            set
+            {
+                if (value.IsFinite())
+                {
+                    _size = value;
+                }
+                else
+                {
+                    m_log.Warn("[PHYSICS]: Got NaN Size on object");
+                }
+            }
+        }
+
+        public override float Mass
+        {
+            get
+            {
+                CalculateMass();
+                return m_primMass;
+            }
+        }
+
+        public override Vector3 Force
+        {
+            //get { return Vector3.Zero; }
+            get { return m_force; }
+            set
+            {
+                if (value.IsFinite())
+                {
+                    m_force = value;
+                }
+                else
+                {
+                    m_log.Warn("[PHYSICS]: NaN in Force Applied to an Object");
+                }
+            }
+        }
+
+        public override int VehicleType
+        {
+            get { return (int)m_type; }
+            set { ProcessTypeChange((Vehicle)value); }
+        }
+
+        public override void VehicleFloatParam(int param, float value)
+        {
+            ProcessFloatVehicleParam((Vehicle)param, value);
+        }
+
+        public override void VehicleVectorParam(int param, Vector3 value)
+        {
+            ProcessVectorVehicleParam((Vehicle)param, value);
+        }
+
+        public override void VehicleRotationParam(int param, Quaternion rotation)
+        {
+            ProcessRotationVehicleParam((Vehicle)param, rotation);
+        }
+
+        public override void VehicleFlags(int param, bool remove)
+        {
+            ProcessVehicleFlags(param, remove);
+        }
+
+        public override void SetVolumeDetect(int param)
+        {
+            lock (_parent_scene.OdeLock)
+            {
+                m_isVolumeDetect = (param != 0);
+            }
+        }
+
+
+        public override Vector3 CenterOfMass
+        {
+            get { return Vector3.Zero; }
+        }
+
+        public override Vector3 GeometricCenter
+        {
+            get { return Vector3.Zero; }
+        }
+
+        public override PrimitiveBaseShape Shape
+        {
+            set
+            {
+                _pbs = value;
+                m_taintshape = true;
+            }
+        }
+
+        public override byte PhysicsShapeType
+        {
+            get
+            {
+                return m_shapetype;
+            }
+            set
+            {
+                m_taintshapetype = value;
+                _parent_scene.AddPhysicsActorTaint(this);
+            }
+        }
+
+        public override Vector3 Velocity
+        {
+            get
+            {
+                // Averate previous velocity with the new one so
+                // client object interpolation works a 'little' better
+                if (_zeroFlag)
+                    return Vector3.Zero;
+
+                Vector3 returnVelocity = Vector3.Zero;
+                returnVelocity.X = (m_lastVelocity.X + _velocity.X) / 2;
+                returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y) / 2;
+                returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z) / 2;
+                return returnVelocity;
+            }
+            set
+            {
+                if (value.IsFinite())
+                {
+                    _velocity = value;
+                    if (_velocity.ApproxEquals(Vector3.Zero, 0.001f))
+                        _acceleration = Vector3.Zero;
+
+                    m_taintVelocity = value;
+                    _parent_scene.AddPhysicsActorTaint(this);
+                }
+                else
+                {
+                    m_log.Warn("[PHYSICS]: Got NaN Velocity in Object");
+                }
+
+            }
+        }
+
+        public override Vector3 Torque
+        {
+            get
+            {
+                if (!m_isphysical || Body == IntPtr.Zero)
+                    return Vector3.Zero;
+
+                return _torque;
+            }
+
+            set
+            {
+                if (value.IsFinite())
+                {
+                    m_taintTorque = value;
+                    _parent_scene.AddPhysicsActorTaint(this);
+                }
+                else
+                {
+                    m_log.Warn("[PHYSICS]: Got NaN Torque in Object");
+                }
+            }
+        }
+
+        public override float CollisionScore
+        {
+            get { return m_collisionscore; }
+            set { m_collisionscore = value; }
+        }
+
+        public override bool Kinematic
+        {
+            get { return false; }
+            set { }
+        }
+
+        public override Quaternion Orientation
+        {
+            get { return _orientation; }
+            set
+            {
+                if (QuaternionIsFinite(value))
+                {
+                    _orientation = value;
+                }
+                else
+                    m_log.Warn("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object");
+
+            }
+        }
+
+        public override bool FloatOnWater
+        {
+            set
+            {
+                m_taintCollidesWater = value;
+                _parent_scene.AddPhysicsActorTaint(this);
+            }
+        }
+
+        public override void SetMomentum(Vector3 momentum)
+        {
+        }
+
+        public override Vector3 PIDTarget
+        {
+            set
+            {
+                if (value.IsFinite())
+                {
+                    m_PIDTarget = value;
+                }
+                else
+                    m_log.Warn("[PHYSICS]: Got NaN PIDTarget from Scene on Object");
+            }
+        }
+        public override bool PIDActive { set { m_usePID = value; } }
+        public override float PIDTau { set { m_PIDTau = value; } }
+
+        // For RotLookAt        
+        public override Quaternion APIDTarget { set { m_APIDTarget = value; } }
+        public override bool APIDActive { set { m_useAPID = value; } }
+        public override float APIDStrength { set { m_APIDStrength = value; } }
+        public override float APIDDamping { set { m_APIDDamping = value; } }
+
+        public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } }
+        public override bool PIDHoverActive { set { m_useHoverPID = value; } }
+        public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } }
+        public override float PIDHoverTau { set { m_PIDHoverTau = value; } }
+
+        internal static bool QuaternionIsFinite(Quaternion q)
+        {
+            if (Single.IsNaN(q.X) || Single.IsInfinity(q.X))
+                return false;
+            if (Single.IsNaN(q.Y) || Single.IsInfinity(q.Y))
+                return false;
+            if (Single.IsNaN(q.Z) || Single.IsInfinity(q.Z))
+                return false;
+            if (Single.IsNaN(q.W) || Single.IsInfinity(q.W))
+                return false;
+            return true;
+        }
+
+        public override Vector3 Acceleration            // client updates read data via here
+        {
+            get
+            {
+                if (_zeroFlag)
+                {
+                    return Vector3.Zero;
+                }
+                return _acceleration;
+            }
+            set { _acceleration = value; }
+        }
+
+
+        public void SetAcceleration(Vector3 accel) // No one calls this, and it would not do anything.
+        {
+            _acceleration = accel;
+        }
+
+        public override void AddForce(Vector3 force, bool pushforce)
+        {
+            if (force.IsFinite())
+            {
+                lock (m_forcelist)
+                    m_forcelist.Add(force);
+
+                m_taintforce = true;
+            }
+            else
+            {
+                m_log.Warn("[PHYSICS]: Got Invalid linear force vector from Scene in Object");
+            }
+            //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() +  " to prim at " + Position.ToString());
+        }
+
+        public override void AddAngularForce(Vector3 force, bool pushforce)
+        {
+            if (force.IsFinite())
+            {
+                m_angularforcelist.Add(force);
+                m_taintaddangularforce = true;
+            }
+            else
+            {
+                m_log.Warn("[PHYSICS]: Got Invalid Angular force vector from Scene in Object");
+            }
+        }
+
+        public override Vector3 RotationalVelocity
+        {
+            get
+            {
+                return m_rotationalVelocity;
+            }
+            set
+            {
+                if (value.IsFinite())
+                {
+                    m_rotationalVelocity = value;
+                }
+                else
+                {
+                    m_log.Warn("[PHYSICS]: Got NaN RotationalVelocity in Object");
+                }
+            }
+        }
+
+        public override void CrossingFailure()
+        {
+            if (m_outofBounds)
+            {
+                _position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f);
+                _position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f);
+                _position.Z = Util.Clip(_position.Z, -100f, 50000f);
+                d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
+
+                m_lastposition = _position;
+
+                _velocity = Vector3.Zero;
+                m_lastVelocity = _velocity;
+
+
+                if (m_type != Vehicle.TYPE_NONE)
+                    Halt();
+
+                d.BodySetLinearVel(Body, 0, 0, 0);
+                base.RequestPhysicsterseUpdate();
+                m_outofBounds = false;
+            }
+            /*
+                        int tmp = Interlocked.Increment(ref m_crossingfailures);
+                        if (tmp > _parent_scene.geomCrossingFailuresBeforeOutofbounds)
+                        {
+                            base.RaiseOutOfBounds(_position);
+                            return;
+                        }
+                        else if (tmp == _parent_scene.geomCrossingFailuresBeforeOutofbounds)
+                        {
+                            m_log.Warn("[PHYSICS]: Too many crossing failures for: " + m_primName);
+                        }
+             */
+        }
+
+        public override float Buoyancy
+        {
+            get { return m_buoyancy; }
+            set { m_buoyancy = value; }
+        }
+
+        public override void link(PhysicsActor obj)
+        {
+            m_taintparent = obj;
+        }
+
+        public override void delink()
+        {
+            m_taintparent = null;
+        }
+
+        public override void LockAngularMotion(Vector3 axis)
+        {
+            // This is actually ROTATION ENABLE, not a lock.
+            // default is <1,1,1> which is all enabled. 
+            // The lock value is updated inside Move(), no point in using the taint system.
+            // OS 'm_taintAngularLock' etc change to m_rotateEnable.
+            if (axis.IsFinite())
+            {
+                axis.X = (axis.X > 0) ? 1f : 0f;
+                axis.Y = (axis.Y > 0) ? 1f : 0f;
+                axis.Z = (axis.Z > 0) ? 1f : 0f;
+                m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z);
+                m_rotateEnableRequest = axis;
+                m_rotateEnableUpdate = true;
+            }
+            else
+            {
+                m_log.Warn("[PHYSICS]: Got NaN locking axis from Scene on Object");
+            }
+        }
+
+        public void SetGeom(IntPtr geom)
+        {
+            if (prim_geom != IntPtr.Zero)
+            {
+                // Remove any old entries
+                //string tPA;
+                //_parent_scene.geom_name_map.TryGetValue(prim_geom, out tPA);
+                //Console.WriteLine("**** Remove {0}", tPA);
+                if (_parent_scene.geom_name_map.ContainsKey(prim_geom)) _parent_scene.geom_name_map.Remove(prim_geom);
+                if (_parent_scene.actor_name_map.ContainsKey(prim_geom)) _parent_scene.actor_name_map.Remove(prim_geom);
+                d.GeomDestroy(prim_geom);
+            }
+
+            prim_geom = geom;
+            //Console.WriteLine("SetGeom to " + prim_geom + " for " + m_primName);     
+            if (prim_geom != IntPtr.Zero)
+            {
+                _parent_scene.geom_name_map[prim_geom] = this.m_primName;
+                _parent_scene.actor_name_map[prim_geom] = (PhysicsActor)this;
+                //Console.WriteLine("**** Create {2}    Dicts: actor={0}   name={1}", _parent_scene.actor_name_map.Count, _parent_scene.geom_name_map.Count, this.m_primName);
+                if (m_NoColide)
+                {
+                    d.GeomSetCategoryBits(prim_geom, 0);
+                    if (m_isphysical && !m_isVolumeDetect)
+                    {
+                        d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
+                    }
+                    else
+                    {
+                        d.GeomSetCollideBits(prim_geom, 0);
+                        d.GeomDisable(prim_geom);
+                    }
+                }
+                else
+                {
+                    d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
+                    d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+                }
+            }
+
+            if (childPrim)
+            {
+                if (_parent != null && _parent is OdePrim)
+                {
+                    OdePrim parent = (OdePrim)_parent;
+                    //Console.WriteLine("SetGeom calls ChildSetGeom");                    
+                    parent.ChildSetGeom(this);
+                }
+            }
+            //m_log.Warn("Setting Geom to: " + prim_geom);
+        }
+
+        public void enableBodySoft()
+        {
+            if (!childPrim)
+            {
+                if (m_isphysical && Body != IntPtr.Zero)
+                {
+                    d.BodyEnable(Body);
+                    if (m_type != Vehicle.TYPE_NONE)
+                        Enable(Body, _parent_scene);
+                }
+
+                m_disabled = false;
+            }
+        }
+
+        public void disableBodySoft()
+        {
+            m_disabled = true;
+
+            if (m_isphysical && Body != IntPtr.Zero)
+            {
+                d.BodyDisable(Body);
+                Halt();
+            }
+        }
+
+        public void enableBody()
+        {
+            // Don't enable this body if we're a child prim
+            // this should be taken care of in the parent function not here
+            if (!childPrim)
+            {
+                // Sets the geom to a body
+                Body = d.BodyCreate(_parent_scene.world);
+
+                setMass();
+                d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
+                d.Quaternion myrot = new d.Quaternion();
+                myrot.X = _orientation.X;
+                myrot.Y = _orientation.Y;
+                myrot.Z = _orientation.Z;
+                myrot.W = _orientation.W;
+                d.BodySetQuaternion(Body, ref myrot);
+                d.GeomSetBody(prim_geom, Body);
+
+                m_collisionCategories |= CollisionCategories.Body;
+                m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
+
+                if (m_NoColide)
+                {
+                    d.GeomSetCategoryBits(prim_geom, 0);
+                    d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
+                }
+                else
+                {
+                    d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
+                    d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+                }
+
+                d.BodySetAutoDisableFlag(Body, true);
+                d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
+
+                // disconnect from world gravity so we can apply buoyancy
+                d.BodySetGravityMode(Body, false);
+
+                m_interpenetrationcount = 0;
+                m_collisionscore = 0;
+                m_disabled = false;
+
+                if (m_type != Vehicle.TYPE_NONE)
+                {
+                    Enable(Body, _parent_scene);
+                }
+
+                _parent_scene.addActivePrim(this);
+            }
+        }
+
+        #region Mass Calculation
+
+        private float CalculateMass()
+        {
+            float volume = _size.X * _size.Y * _size.Z; // default
+            float tmp;
+
+            float returnMass = 0;
+            float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f;
+            float hollowVolume = hollowAmount * hollowAmount;
+
+            switch (_pbs.ProfileShape)
+            {
+                case ProfileShape.Square:
+                    // default box
+
+                    if (_pbs.PathCurve == (byte)Extrusion.Straight)
+                    {
+                        if (hollowAmount > 0.0)
+                        {
+                            switch (_pbs.HollowShape)
+                            {
+                                case HollowShape.Square:
+                                case HollowShape.Same:
+                                    break;
+
+                                case HollowShape.Circle:
+
+                                    hollowVolume *= 0.78539816339f;
+                                    break;
+
+                                case HollowShape.Triangle:
+
+                                    hollowVolume *= (0.5f * .5f);
+                                    break;
+
+                                default:
+                                    hollowVolume = 0;
+                                    break;
+                            }
+                            volume *= (1.0f - hollowVolume);
+                        }
+                    }
+
+                    else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
+                    {
+                        //a tube 
+
+                        volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX);
+                        tmp = 1.0f - 2.0e-2f * (float)(200 - _pbs.PathScaleY);
+                        volume -= volume * tmp * tmp;
+
+                        if (hollowAmount > 0.0)
+                        {
+                            hollowVolume *= hollowAmount;
+
+                            switch (_pbs.HollowShape)
+                            {
+                                case HollowShape.Square:
+                                case HollowShape.Same:
+                                    break;
+
+                                case HollowShape.Circle:
+                                    hollowVolume *= 0.78539816339f; ;
+                                    break;
+
+                                case HollowShape.Triangle:
+                                    hollowVolume *= 0.5f * 0.5f;
+                                    break;
+                                default:
+                                    hollowVolume = 0;
+                                    break;
+                            }
+                            volume *= (1.0f - hollowVolume);
+                        }
+                    }
+
+                    break;
+
+                case ProfileShape.Circle:
+
+                    if (_pbs.PathCurve == (byte)Extrusion.Straight)
+                    {
+                        volume *= 0.78539816339f; // elipse base
+
+                        if (hollowAmount > 0.0)
+                        {
+                            switch (_pbs.HollowShape)
+                            {
+                                case HollowShape.Same:
+                                case HollowShape.Circle:
+                                    break;
+
+                                case HollowShape.Square:
+                                    hollowVolume *= 0.5f * 2.5984480504799f;
+                                    break;
+
+                                case HollowShape.Triangle:
+                                    hollowVolume *= .5f * 1.27323954473516f;
+                                    break;
+
+                                default:
+                                    hollowVolume = 0;
+                                    break;
+                            }
+                            volume *= (1.0f - hollowVolume);
+                        }
+                    }
+
+                    else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
+                    {
+                        volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX);
+                        tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
+                        volume *= (1.0f - tmp * tmp);
+
+                        if (hollowAmount > 0.0)
+                        {
+
+                            // calculate the hollow volume by it's shape compared to the prim shape
+                            hollowVolume *= hollowAmount;
+
+                            switch (_pbs.HollowShape)
+                            {
+                                case HollowShape.Same:
+                                case HollowShape.Circle:
+                                    break;
+
+                                case HollowShape.Square:
+                                    hollowVolume *= 0.5f * 2.5984480504799f;
+                                    break;
+
+                                case HollowShape.Triangle:
+                                    hollowVolume *= .5f * 1.27323954473516f;
+                                    break;
+
+                                default:
+                                    hollowVolume = 0;
+                                    break;
+                            }
+                            volume *= (1.0f - hollowVolume);
+                        }
+                    }
+                    break;
+
+                case ProfileShape.HalfCircle:
+                    if (_pbs.PathCurve == (byte)Extrusion.Curve1)
+                    {
+                        volume *= 0.52359877559829887307710723054658f;
+                    }
+                    break;
+
+                case ProfileShape.EquilateralTriangle:
+
+                    if (_pbs.PathCurve == (byte)Extrusion.Straight)
+                    {
+                        volume *= 0.32475953f;
+
+                        if (hollowAmount > 0.0)
+                        {
+
+                            // calculate the hollow volume by it's shape compared to the prim shape
+                            switch (_pbs.HollowShape)
+                            {
+                                case HollowShape.Same:
+                                case HollowShape.Triangle:
+                                    hollowVolume *= .25f;
+                                    break;
+
+                                case HollowShape.Square:
+                                    hollowVolume *= 0.499849f * 3.07920140172638f;
+                                    break;
+
+                                case HollowShape.Circle:
+                                    // Hollow shape is a perfect cyllinder in respect to the cube's scale
+                                    // Cyllinder hollow volume calculation
+
+                                    hollowVolume *= 0.1963495f * 3.07920140172638f;
+                                    break;
+
+                                default:
+                                    hollowVolume = 0;
+                                    break;
+                            }
+                            volume *= (1.0f - hollowVolume);
+                        }
+                    }
+                    else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
+                    {
+                        volume *= 0.32475953f;
+                        volume *= 0.01f * (float)(200 - _pbs.PathScaleX);
+                        tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
+                        volume *= (1.0f - tmp * tmp);
+
+                        if (hollowAmount > 0.0)
+                        {
+
+                            hollowVolume *= hollowAmount;
+
+                            switch (_pbs.HollowShape)
+                            {
+                                case HollowShape.Same:
+                                case HollowShape.Triangle:
+                                    hollowVolume *= .25f;
+                                    break;
+
+                                case HollowShape.Square:
+                                    hollowVolume *= 0.499849f * 3.07920140172638f;
+                                    break;
+
+                                case HollowShape.Circle:
+
+                                    hollowVolume *= 0.1963495f * 3.07920140172638f;
+                                    break;
+
+                                default:
+                                    hollowVolume = 0;
+                                    break;
+                            }
+                            volume *= (1.0f - hollowVolume);
+                        }
+                    }
+                    break;
+
+                default:
+                    break;
+            }
+
+
+
+            float taperX1;
+            float taperY1;
+            float taperX;
+            float taperY;
+            float pathBegin;
+            float pathEnd;
+            float profileBegin;
+            float profileEnd;
+
+            if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible)
+            {
+                taperX1 = _pbs.PathScaleX * 0.01f;
+                if (taperX1 > 1.0f)
+                    taperX1 = 2.0f - taperX1;
+                taperX = 1.0f - taperX1;
+
+                taperY1 = _pbs.PathScaleY * 0.01f;
+                if (taperY1 > 1.0f)
+                    taperY1 = 2.0f - taperY1;
+                taperY = 1.0f - taperY1;
+            }
+            else
+            {
+                taperX = _pbs.PathTaperX * 0.01f;
+                if (taperX < 0.0f)
+                    taperX = -taperX;
+                taperX1 = 1.0f - taperX;
+
+                taperY = _pbs.PathTaperY * 0.01f;
+                if (taperY < 0.0f)
+                    taperY = -taperY;
+                taperY1 = 1.0f - taperY;
+
+            }
+
+
+            volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY);
+
+            pathBegin = (float)_pbs.PathBegin * 2.0e-5f;
+            pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f;
+            volume *= (pathEnd - pathBegin);
+
+            // this is crude aproximation
+            profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f;
+            profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f;
+            volume *= (profileEnd - profileBegin);
+
+            returnMass = m_density * volume;
+
+            if (returnMass <= 0)
+                returnMass = 0.0001f;//ckrinke: Mass must be greater then zero.
+            //            else if (returnMass > _parent_scene.maximumMassObject)
+            //                returnMass = _parent_scene.maximumMassObject;
+
+
+
+            m_primMass = returnMass;
+            if (m_primMass > _parent_scene.maximumMassObject)
+                m_primMass = _parent_scene.maximumMassObject;
+
+            // Recursively calculate mass
+            bool HasChildPrim = false;
+            lock (childrenPrim)
+            {
+                if (childrenPrim.Count > 0)
+                {
+                    HasChildPrim = true;
+                }
+
+            }
+            if (HasChildPrim)
+            {
+                OdePrim[] childPrimArr = new OdePrim[0];
+
+                lock (childrenPrim)
+                    childPrimArr = childrenPrim.ToArray();
+
+                for (int i = 0; i < childPrimArr.Length; i++)
+                {
+                    if (childPrimArr[i] != null && !childPrimArr[i].m_taintremove)
+                        returnMass += childPrimArr[i].CalculateMass();
+                    // failsafe, this shouldn't happen but with OpenSim, you never know :)
+                    if (i > 256)
+                        break;
+                }
+            }
+            if (returnMass > _parent_scene.maximumMassObject)
+                returnMass = _parent_scene.maximumMassObject;
+            return returnMass;
+        }// end CalculateMass
+
+        #endregion
+
+        public void setMass()
+        {
+            if (Body != (IntPtr)0)
+            {
+                float newmass = CalculateMass();
+
+                //m_log.Info("[PHYSICS]: New Mass: " + newmass.ToString());
+
+                d.MassSetBoxTotal(out pMass, newmass, _size.X, _size.Y, _size.Z);
+                d.BodySetMass(Body, ref pMass);
+            }
+        }
+
+
+        private void UpdateDataFromGeom()
+        {
+            if (prim_geom != IntPtr.Zero)
+            {
+                d.Quaternion qtmp;
+                d.GeomCopyQuaternion(prim_geom, out qtmp);
+                _orientation.W = qtmp.W;
+                _orientation.X = qtmp.X;
+                _orientation.Y = qtmp.Y;
+                _orientation.Z = qtmp.Z;
+
+                d.Vector3 lpos = d.GeomGetPosition(prim_geom);
+                _position.X = lpos.X;
+                _position.Y = lpos.Y;
+                _position.Z = lpos.Z;
+            }
+        }
+
+        public void disableBody()
+        {
+            //this kills the body so things like 'mesh' can re-create it.
+            lock (this)
+            {
+                if (!childPrim)
+                {
+                    if (Body != IntPtr.Zero)
+                    {
+                        _parent_scene.remActivePrim(this);
+                        m_collisionCategories &= ~CollisionCategories.Body;
+                        m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
+
+                        if (prim_geom != IntPtr.Zero)
+                        {
+                            if (m_NoColide)
+                            {
+                                d.GeomSetCategoryBits(prim_geom, 0);
+                                d.GeomSetCollideBits(prim_geom, 0);
+                                d.GeomDisable(prim_geom);
+                            }
+                            else
+                            {
+                                d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
+                                d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+                            }
+                        }
+
+                        UpdateDataFromGeom();
+
+                        lock (childrenPrim)
+                        {
+                            if (childrenPrim.Count > 0)
+                            {
+                                foreach (OdePrim prm in childrenPrim)
+                                {
+                                    if (prm.prim_geom != IntPtr.Zero)
+                                    {
+                                        if (prm.m_NoColide)
+                                        {
+                                            d.GeomSetCategoryBits(prm.prim_geom, 0);
+                                            d.GeomSetCollideBits(prm.prim_geom, 0);
+                                            d.GeomDisable(prm.prim_geom);
+
+                                        }
+                                        prm.UpdateDataFromGeom();
+                                    }
+                                    _parent_scene.remActivePrim(prm);
+                                    prm.Body = IntPtr.Zero;
+                                }
+                            }
+                        }
+                        d.BodyDestroy(Body);
+                        Body = IntPtr.Zero;
+                    }
+                }
+                else
+                {
+                    _parent_scene.remActivePrim(this);
+
+                    m_collisionCategories &= ~CollisionCategories.Body;
+                    m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
+
+                    if (prim_geom != IntPtr.Zero)
+                    {
+                        if (m_NoColide)
+                        {
+                            d.GeomSetCategoryBits(prim_geom, 0);
+                            d.GeomSetCollideBits(prim_geom, 0);
+                            d.GeomDisable(prim_geom);
+                        }
+                        else
+                        {
+                            d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
+                            d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+                        }
+                    }
+
+                    Body = IntPtr.Zero;
+                }
+            }
+            m_disabled = true;
+            m_collisionscore = 0;
+        }
+
+//        private static Dictionary<IMesh, IntPtr> m_MeshToTriMeshMap = new Dictionary<IMesh, IntPtr>();
+
+        public bool setMesh(OdeScene parent_scene, IMesh mesh)
+        {
+            //Kill Body so that mesh can re-make the geom
+            if (IsPhysical && Body != IntPtr.Zero)
+            {
+                if (childPrim)
+                {
+                    if (_parent != null)
+                    {
+                        OdePrim parent = (OdePrim)_parent;
+                        parent.ChildDelink(this);
+                    }
+                }
+                else
+                {
+                    disableBody();
+                }
+            }
+
+            IntPtr vertices, indices;
+            int vertexCount, indexCount;
+            int vertexStride, triStride;
+            mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); // Note, that vertices are fixed in unmanaged heap
+            mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); // Also fixed, needs release after usage
+
+            // warning this destroys the mesh for eventual future use. Only pinned float arrays stay valid
+            mesh.releaseSourceMeshData(); // free up the original mesh data to save memory
+
+            if (vertexCount == 0 || indexCount == 0)
+            {
+                m_log.WarnFormat("[PHYSICS]: Got invalid mesh on prim {0} at <{1},{2},{3}>. mesh UUID {4}", Name, _position.X, _position.Y, _position.Z, _pbs.SculptTexture.ToString());
+                return false;
+            }
+
+            IntPtr geo = IntPtr.Zero;
+            try
+            {
+                _triMeshData = d.GeomTriMeshDataCreate();
+                d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride);
+                d.GeomTriMeshDataPreprocess(_triMeshData);
+
+                _parent_scene.waitForSpaceUnlock(m_targetSpace);
+
+                 geo = d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null);
+            }
+            catch (Exception e)
+            {
+                m_log.ErrorFormat("[PHYSICS]: Create trimesh failed on prim {0} : {1}",Name,e.Message);
+
+                if (_triMeshData != IntPtr.Zero)
+                {
+                    d.GeomTriMeshDataDestroy(_triMeshData);
+                    _triMeshData = IntPtr.Zero;
+                }
+                return false;
+            }
+
+            SetGeom(geo);
+
+            return true;
+        }
+
+        public void ProcessTaints(float timestep) //=============================================================================
+        {
+            if (m_taintadd)
+            {
+                changeadd(timestep);
+            }
+
+            if (m_taintremove)
+                return;
+
+            if (prim_geom != IntPtr.Zero)
+            {
+                if (!_position.ApproxEquals(m_taintposition, 0f))
+                {
+                    changemove(timestep);
+                }
+                if (m_taintrot != _orientation)
+                {
+                    if (childPrim && IsPhysical)        // For physical child prim...
+                    {
+                        rotate(timestep);
+                        // KF: ODE will also rotate the parent prim!
+                        // so rotate the root back to where it was
+                        OdePrim parent = (OdePrim)_parent;
+                        parent.rotate(timestep);
+                    }
+                    else
+                    {
+                        //Just rotate the prim
+                        rotate(timestep);
+                    }
+                }
+                //
+                if (m_taintphantom != m_isphantom )
+                {
+                    changePhantomStatus();
+                }//
+
+                if (m_taintPhysics != m_isphysical && !(m_taintparent != _parent))
+                {
+                    changePhysicsStatus(timestep);
+                }//
+
+
+                if (!_size.ApproxEquals(m_taintsize, 0f))
+                    changesize(timestep);
+                //
+
+                if(m_taintshapetype != m_shapetype)
+                {
+                    m_shapetype = m_taintshapetype;
+                    changeshape(timestep);
+                }
+
+                if (m_taintshape)
+                    changeshape(timestep);
+                //
+
+                if (m_taintforce)
+                    changeAddForce(timestep);
+
+                if (m_taintaddangularforce)
+                    changeAddAngularForce(timestep);
+
+                if (!m_taintTorque.ApproxEquals(Vector3.Zero, 0.001f))
+                    changeSetTorque(timestep);
+
+                if (m_taintdisable)
+                    changedisable(timestep);
+
+                if (m_taintselected != m_isSelected)
+                    changeSelectedStatus();
+
+                if (!m_taintVelocity.ApproxEquals(Vector3.Zero, 0.001f))
+                    changevelocity(timestep);
+
+                if (m_taintparent != _parent)
+                    changelink(timestep);
+
+                if (m_taintCollidesWater != m_collidesWater)
+                    changefloatonwater(timestep);
+
+                if (m_taintvehicledata != null)
+                    DoSetVehicle();
+
+                /* obsolete                    
+                                if (!m_angularLock.ApproxEquals(m_taintAngularLock,0f))
+                                    changeAngularLock(timestep);
+                 */
+            }
+
+            else
+            {
+                m_log.Error("[PHYSICS]: prim {0} at <{1},{2},{3}> as invalid geom");
+
+                // not sure this will not flame...
+                m_taintremove = true;
+                _parent_scene.AddPhysicsActorTaint(this);
+            }
+
+        }
+
+        private void changelink(float timestep)
+        {
+            // If the newly set parent is not null
+            // create link
+            if (_parent == null && m_taintparent != null)
+            {
+                if (m_taintparent.PhysicsActorType == (int)ActorTypes.Prim)
+                {
+                    OdePrim obj = (OdePrim)m_taintparent;
+                    obj.ParentPrim(this);
+                }
+            }
+            // If the newly set parent is null
+            // destroy link
+            else if (_parent != null && m_taintparent == null)
+            {
+                if (_parent is OdePrim)
+                {
+                    OdePrim obj = (OdePrim)_parent;
+                    obj.ChildDelink(this);
+                    childPrim = false;
+                }
+            }
+
+            _parent = m_taintparent;
+            m_taintPhysics = m_isphysical;
+        }
+
+        // I'm the parent
+        // prim is the child
+        public void ParentPrim(OdePrim prim)
+        {
+            if (this.m_localID != prim.m_localID)
+            {
+                if (Body == IntPtr.Zero)
+                {
+                    Body = d.BodyCreate(_parent_scene.world);
+                    // disconnect from world gravity so we can apply buoyancy
+                    d.BodySetGravityMode(Body, false);
+
+                    setMass();
+                }
+                if (Body != IntPtr.Zero)
+                {
+                    lock (childrenPrim)
+                    {
+                        if (!childrenPrim.Contains(prim))
+                        {
+                            childrenPrim.Add(prim);
+
+                            foreach (OdePrim prm in childrenPrim)
+                            {
+                                d.Mass m2;
+                                d.MassSetZero(out m2);
+                                d.MassSetBoxTotal(out m2, prim.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z);
+
+
+                                d.Quaternion quat = new d.Quaternion();
+                                quat.W = prm._orientation.W;
+                                quat.X = prm._orientation.X;
+                                quat.Y = prm._orientation.Y;
+                                quat.Z = prm._orientation.Z;
+
+                                d.Matrix3 mat = new d.Matrix3();
+                                d.RfromQ(out mat, ref quat);
+                                d.MassRotate(ref m2, ref mat);
+                                d.MassTranslate(ref m2, Position.X - prm.Position.X, Position.Y - prm.Position.Y, Position.Z - prm.Position.Z);
+                                d.MassAdd(ref pMass, ref m2);
+                            }
+                            foreach (OdePrim prm in childrenPrim)
+                            {
+                                if (m_isphantom && !prm.m_isVolumeDetect)
+                                {
+                                    prm.m_collisionCategories = 0;
+                                    prm.m_collisionFlags = CollisionCategories.Land;
+                                }
+                                else
+                                {
+                                    prm.m_collisionCategories |= CollisionCategories.Body;
+                                    prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
+                                }
+                                if (prm.prim_geom == IntPtr.Zero)
+                                {
+                                    m_log.Warn("[PHYSICS]: Unable to link one of the linkset elements.  No geom yet");
+                                    continue;
+                                }
+
+                                if (prm.m_NoColide)
+                                {
+                                    d.GeomSetCategoryBits(prm.prim_geom, 0);
+                                    d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);
+                                }
+                                else
+                                {
+                                    d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories);
+                                    d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags);
+                                }
+
+                                d.Quaternion quat = new d.Quaternion();
+                                quat.W = prm._orientation.W;
+                                quat.X = prm._orientation.X;
+                                quat.Y = prm._orientation.Y;
+                                quat.Z = prm._orientation.Z;
+
+                                d.Matrix3 mat = new d.Matrix3();
+                                d.RfromQ(out mat, ref quat);
+                                if (Body != IntPtr.Zero)
+                                {
+                                    d.GeomSetBody(prm.prim_geom, Body);
+                                    prm.childPrim = true;
+                                    d.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X, prm.Position.Y, prm.Position.Z);
+                                    //d.GeomSetOffsetPosition(prim.prim_geom,
+                                    //    (Position.X - prm.Position.X) - pMass.c.X,
+                                    //    (Position.Y - prm.Position.Y) - pMass.c.Y,
+                                    //    (Position.Z - prm.Position.Z) - pMass.c.Z);
+                                    d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat);
+                                    //d.GeomSetOffsetRotation(prm.prim_geom, ref mat);
+                                    d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
+                                    d.BodySetMass(Body, ref pMass);
+                                }
+                                else
+                                {
+                                    m_log.Debug("[PHYSICS]:I ain't got no boooooooooddy, no body");
+                                }
+
+                                prm.m_interpenetrationcount = 0;
+                                prm.m_collisionscore = 0;
+                                prm.m_disabled = false;
+
+                                prm.Body = Body;
+
+                                    _parent_scene.addActivePrim(prm);
+                            }
+
+                            if (m_isphantom && !m_isVolumeDetect)
+                            {
+                                m_collisionCategories = 0;
+                                m_collisionFlags = CollisionCategories.Land;
+                            }
+                            else
+                            {
+                                m_collisionCategories |= CollisionCategories.Body;
+                                m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
+                            }
+
+                            if (m_NoColide)
+                            {
+                                d.GeomSetCategoryBits(prim_geom, 0);
+                                d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
+                            }
+                            else
+                            {
+                                d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
+                                d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+                            }
+
+                            d.Quaternion quat2 = new d.Quaternion();
+                            quat2.W = _orientation.W;
+                            quat2.X = _orientation.X;
+                            quat2.Y = _orientation.Y;
+                            quat2.Z = _orientation.Z;
+
+                            d.Matrix3 mat2 = new d.Matrix3();
+                            d.RfromQ(out mat2, ref quat2);
+                            d.GeomSetBody(prim_geom, Body);
+                            d.GeomSetOffsetWorldPosition(prim_geom, Position.X - pMass.c.X, Position.Y - pMass.c.Y, Position.Z - pMass.c.Z);
+                            //d.GeomSetOffsetPosition(prim.prim_geom,
+                            //    (Position.X - prm.Position.X) - pMass.c.X,
+                            //    (Position.Y - prm.Position.Y) - pMass.c.Y,
+                            //    (Position.Z - prm.Position.Z) - pMass.c.Z);
+                            //d.GeomSetOffsetRotation(prim_geom, ref mat2);
+                            d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
+                            d.BodySetMass(Body, ref pMass);
+
+                            d.BodySetAutoDisableFlag(Body, true);
+                            d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
+
+                            m_interpenetrationcount = 0;
+                            m_collisionscore = 0;
+                            m_disabled = false;
+
+                            d.BodySetPosition(Body, Position.X, Position.Y, Position.Z);
+                            if (m_type != Vehicle.TYPE_NONE) Enable(Body, _parent_scene);
+
+                            _parent_scene.addActivePrim(this);
+                        }
+                    }
+                }
+            }
+        }
+
+        private void ChildSetGeom(OdePrim odePrim)
+        {
+            lock (childrenPrim)
+            {
+                foreach (OdePrim prm in childrenPrim)
+                {
+                    prm.disableBody();
+                }
+            }
+            disableBody();
+
+            if (Body != IntPtr.Zero)
+            {
+                _parent_scene.remActivePrim(this);
+            }
+
+            lock (childrenPrim)
+            {
+                foreach (OdePrim prm in childrenPrim)
+                {
+                    ParentPrim(prm);
+                }
+            }
+        }
+
+        private void ChildDelink(OdePrim odePrim)
+        {
+            // Okay, we have a delinked child..   need to rebuild the body.
+            lock (childrenPrim)
+            {
+                foreach (OdePrim prm in childrenPrim)
+                {
+                    prm.childPrim = true;
+                    prm.disableBody();
+                }
+            }
+            disableBody();
+
+            lock (childrenPrim)
+            {
+                childrenPrim.Remove(odePrim);
+            }
+
+            if (Body != IntPtr.Zero)
+            {
+                _parent_scene.remActivePrim(this);
+            }
+
+            lock (childrenPrim)
+            {
+                foreach (OdePrim prm in childrenPrim)
+                {
+                    ParentPrim(prm);
+                }
+            }
+        }
+
+        private void changePhantomStatus()
+        {
+            m_taintphantom = m_isphantom;
+            changeSelectedStatus();
+        }
+
+/* not in use
+        private void SetCollider()
+        {
+            SetCollider(m_isSelected, m_isphysical, m_isphantom, m_isSelected);
+        }
+
+        private void SetCollider(bool sel, bool phys, bool phan, bool vdtc)
+        {
+            if (sel)
+            {
+                m_collisionCategories = CollisionCategories.Selected;
+                m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space);
+            }
+            else
+            {
+                if (phan && !vdtc)
+                {
+                    m_collisionCategories = 0;
+                    if (phys)
+                        m_collisionFlags = CollisionCategories.Land;
+                    else
+                        m_collisionFlags = 0; // this case should not happen non physical phantoms should not have physics
+                }
+                else
+                {
+                    m_collisionCategories = CollisionCategories.Geom;
+                    if (phys)
+                        m_collisionCategories |= CollisionCategories.Body;
+
+                    m_collisionFlags = m_default_collisionFlags;
+
+                    if (m_collidesLand)
+                        m_collisionFlags |= CollisionCategories.Land;
+                    if (m_collidesWater)
+                        m_collisionFlags |= CollisionCategories.Water;
+                }
+            }
+
+            if (prim_geom != IntPtr.Zero)
+            {
+                if (m_NoColide)
+                {
+                    d.GeomSetCategoryBits(prim_geom, 0);
+                    if (phys)
+                        d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
+                    else
+                    {
+                        d.GeomSetCollideBits(prim_geom, 0);
+                        d.GeomDisable(prim_geom);
+                    }
+                }
+                else
+                {
+                    d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
+                    d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+                }
+            }
+        }
+*/
+
+        private void changeSelectedStatus()
+        {
+            if (m_taintselected)
+            {
+                m_collisionCategories = CollisionCategories.Selected;
+                m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space);
+
+                // We do the body disable soft twice because 'in theory' a collision could have happened
+                // in between the disabling and the collision properties setting
+                // which would wake the physical body up from a soft disabling and potentially cause it to fall
+                // through the ground.
+
+                // NOTE FOR JOINTS: this doesn't always work for jointed assemblies because if you select
+                // just one part of the assembly, the rest of the assembly is non-selected and still simulating,
+                // so that causes the selected part to wake up and continue moving.
+
+                // even if you select all parts of a jointed assembly, it is not guaranteed that the entire
+                // assembly will stop simulating during the selection, because of the lack of atomicity
+                // of select operations (their processing could be interrupted by a thread switch, causing
+                // simulation to continue before all of the selected object notifications trickle down to
+                // the physics engine).
+
+                // e.g. we select 100 prims that are connected by joints. non-atomically, the first 50 are
+                // selected and disabled. then, due to a thread switch, the selection processing is
+                // interrupted and the physics engine continues to simulate, so the last 50 items, whose
+                // selection was not yet processed, continues to simulate. this wakes up ALL of the 
+                // first 50 again. then the last 50 are disabled. then the first 50, which were just woken
+                // up, start simulating again, which in turn wakes up the last 50.
+
+                if (m_isphysical)
+                {
+                    disableBodySoft();
+                }
+
+                if (prim_geom != IntPtr.Zero)
+                {
+                    d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
+                    d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+                    if (m_NoColide)
+                        d.GeomDisable(prim_geom);
+                }
+
+                if (m_isphysical)
+                {
+                    disableBodySoft();
+                }
+                if (Body != IntPtr.Zero)
+                {
+                    d.BodySetLinearVel(Body, 0f, 0f, 0f);
+                    d.BodySetForce(Body, 0f, 0f, 0f);
+                    d.BodySetAngularVel(Body, 0.0f, 0.0f, 0.0f);
+                    d.BodySetTorque(Body, 0.0f, 0.0f, 0.0f);
+                }
+            }
+            else
+            {
+                if (m_isphantom && !m_isVolumeDetect)
+                {
+                    m_collisionCategories = 0;
+                    if (m_isphysical)
+                        m_collisionFlags = CollisionCategories.Land;
+                    else
+                        m_collisionFlags = 0; // this case should not happen non physical phantoms should not have physics
+                }
+                else
+                {
+                    m_collisionCategories = CollisionCategories.Geom;
+                    if (m_isphysical)
+                        m_collisionCategories |= CollisionCategories.Body;
+
+                    m_collisionFlags = m_default_collisionFlags;
+
+                    if (m_collidesLand)
+                        m_collisionFlags |= CollisionCategories.Land;
+                    if (m_collidesWater)
+                        m_collisionFlags |= CollisionCategories.Water;
+                }
+
+                if (prim_geom != IntPtr.Zero)
+                {
+                    if (m_NoColide)
+                    {
+                        d.GeomSetCategoryBits(prim_geom, 0);
+                        if (m_isphysical)
+                            d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
+                        else
+                        {
+                            d.GeomSetCollideBits(prim_geom, 0);
+                            d.GeomDisable(prim_geom);
+                        }
+                    }
+                    else
+                    {
+                        d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
+                        d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+                    }
+                }
+                if (Body != IntPtr.Zero)
+                {
+                    d.BodySetLinearVel(Body, 0f, 0f, 0f);
+                    d.BodySetForce(Body, 0f, 0f, 0f);
+                    d.BodySetAngularVel(Body, 0.0f, 0.0f, 0.0f);
+                    d.BodySetTorque(Body, 0.0f, 0.0f, 0.0f);
+                }
+
+                if (m_isphysical)
+                {
+                    if (Body != IntPtr.Zero)
+                    {
+                        enableBodySoft();
+                    }
+                }
+            }
+
+            resetCollisionAccounting();
+            m_isSelected = m_taintselected;
+        }//end changeSelectedStatus
+
+        public void ResetTaints()
+        {
+            m_taintposition = _position;
+            m_taintrot = _orientation;
+            m_taintPhysics = m_isphysical;
+            m_taintselected = m_isSelected;
+            m_taintsize = _size;
+            m_taintshape = false;
+            m_taintforce = false;
+            m_taintdisable = false;
+            m_taintVelocity = Vector3.Zero;
+        }
+
+        public void CreateGeom(IntPtr m_targetSpace, IMesh _mesh)
+        {
+            bool gottrimesh = false;
+
+            m_NoColide = false; // assume all will go well
+
+            if (_triMeshData != IntPtr.Zero)
+            {
+                d.GeomTriMeshDataDestroy(_triMeshData);
+                _triMeshData = IntPtr.Zero;
+            }
+
+            if (_mesh != null)
+            {
+                gottrimesh = setMesh(_parent_scene, _mesh);
+                if (!gottrimesh)
+                {
+                    // getting a mesh failed,
+                    // lets go on having a basic box or sphere, with prim size but not coliding
+                    // physical colides with land, non with nothing
+
+                    m_NoColide = true;
+                }
+            }
+
+            if (!gottrimesh)
+            { // we will have a basic box or sphere
+                IntPtr geo = IntPtr.Zero;
+
+                if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1
+                    && _size.X == _size.Y && _size.X == _size.Z)
+                {
+                    // its a sphere
+                    _parent_scene.waitForSpaceUnlock(m_targetSpace);
+                    try
+                    {
+                        geo = d.CreateSphere(m_targetSpace, _size.X * 0.5f);
+                    }
+                    catch (Exception e)
+                    {
+                        m_log.WarnFormat("[PHYSICS]: Unable to create basic sphere for object {0}", e.Message);
+                        geo = IntPtr.Zero;
+                        ode.dunlock(_parent_scene.world);
+                    }
+                }
+                else // make it a box
+                {
+                    _parent_scene.waitForSpaceUnlock(m_targetSpace);
+                    try
+                    {
+                        geo = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
+                    }
+                    catch (Exception e)
+                    {
+                        m_log.WarnFormat("[PHYSICS]: Unable to create basic sphere for object {0}", e.Message);
+                        geo = IntPtr.Zero;
+                        ode.dunlock(_parent_scene.world);
+                    }
+                }
+
+                if (geo == IntPtr.Zero) // if this happens it must be fixed
+                {
+                    // if it does lets stop what we can
+                    // not sure this will not flame...
+
+                    m_taintremove = true;
+                    _parent_scene.AddPhysicsActorTaint(this);
+                    return;
+                }
+
+                SetGeom(geo); // this processes the m_NoColide
+            }
+        }
+
+        public void changeadd(float timestep)
+        {
+            int[] iprimspaceArrItem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
+            IntPtr targetspace = _parent_scene.calculateSpaceForGeom(_position);
+
+            if (targetspace == IntPtr.Zero)
+                targetspace = _parent_scene.createprimspace(iprimspaceArrItem[0], iprimspaceArrItem[1]);
+
+            m_targetSpace = targetspace;
+
+            if (_mesh == null) // && m_meshfailed == false)
+            {
+                if (_parent_scene.needsMeshing(_pbs))
+                {
+                    bool convex;
+                    if (m_shapetype == 2)
+                        convex = true;
+                    else
+                        convex = false;
+                    try
+                    {
+                        _mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size, (int)LevelOfDetail.High, true,convex);
+                    }
+                    catch
+                    {
+                        //Don't continuously try to mesh prims when meshing has failed
+                        m_meshfailed = true;
+                        _mesh = null;
+                        m_log.WarnFormat("[PHYSICS]: changeAdd CreateMesh fail on prim {0} at <{1},{2},{3}>", Name, _position.X, _position.Y, _position.Z);
+                    }
+                }
+            }
+
+            lock (_parent_scene.OdeLock)
+            {
+                CreateGeom(m_targetSpace, _mesh);
+
+                if (prim_geom != IntPtr.Zero)
+                {
+                    d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
+                    d.Quaternion myrot = new d.Quaternion();
+                    myrot.X = _orientation.X;
+                    myrot.Y = _orientation.Y;
+                    myrot.Z = _orientation.Z;
+                    myrot.W = _orientation.W;
+                    d.GeomSetQuaternion(prim_geom, ref myrot);
+                }
+
+                if (m_isphysical && Body == IntPtr.Zero)
+                {
+                    enableBody();
+                }
+            }
+
+            changeSelectedStatus();
+
+            m_taintadd = false;
+        }
+
+        public void changemove(float timestep)
+        {
+            if (m_isphysical)
+            {
+                //                if (!m_disabled && !m_taintremove && !childPrim)  After one edit m_disabled is sometimes set, disabling further edits!
+                if (!m_taintremove && !childPrim)
+                {
+                    if (Body == IntPtr.Zero)
+                        enableBody();
+                    //Prim auto disable after 20 frames,
+                    //if you move it, re-enable the prim manually.
+                    if (_parent != null)
+                    {
+                        if (m_linkJoint != IntPtr.Zero)
+                        {
+                            d.JointDestroy(m_linkJoint);
+                            m_linkJoint = IntPtr.Zero;
+                        }
+                    }
+                    if (Body != IntPtr.Zero)
+                    {
+                        d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
+
+                        if (_parent != null)
+                        {
+                            OdePrim odParent = (OdePrim)_parent;
+                            if (Body != (IntPtr)0 && odParent.Body != (IntPtr)0 && Body != odParent.Body)
+                            {
+                                // KF: Fixed Joints were removed? Anyway - this Console.WriteLine does not show up, so routine is not used??
+                                Console.WriteLine("ODEPrim JointCreateFixed !!!");
+                                m_linkJoint = d.JointCreateFixed(_parent_scene.world, _linkJointGroup);
+                                d.JointAttach(m_linkJoint, Body, odParent.Body);
+                                d.JointSetFixed(m_linkJoint);
+                            }
+                        }
+                        d.BodyEnable(Body);
+                        if (m_type != Vehicle.TYPE_NONE)
+                        {
+                            Enable(Body, _parent_scene);
+                        }
+                    }
+                    else
+                    {
+                        m_log.Warn("[PHYSICS]: Body Still null after enableBody().  This is a crash scenario.");
+                    }
+                }
+                //else
+                // {
+                //m_log.Debug("[BUG]: race!");
+                //}
+            }
+            else
+            {
+                // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
+                // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
+                _parent_scene.waitForSpaceUnlock(m_targetSpace);
+
+                IntPtr tempspace = _parent_scene.recalculateSpaceForGeom(prim_geom, _position, m_targetSpace);
+                m_targetSpace = tempspace;
+
+                _parent_scene.waitForSpaceUnlock(m_targetSpace);
+                if (prim_geom != IntPtr.Zero)
+                {
+                    d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
+
+                    _parent_scene.waitForSpaceUnlock(m_targetSpace);
+                    d.SpaceAdd(m_targetSpace, prim_geom);
+                }
+            }
+
+            changeSelectedStatus();
+
+            resetCollisionAccounting();
+            m_taintposition = _position;
+        }
+
+        public void rotate(float timestep)
+        {
+            d.Quaternion myrot = new d.Quaternion();
+            myrot.X = _orientation.X;
+            myrot.Y = _orientation.Y;
+            myrot.Z = _orientation.Z;
+            myrot.W = _orientation.W;
+            if (Body != IntPtr.Zero)
+            {
+                // KF: If this is a root prim do BodySet
+                d.BodySetQuaternion(Body, ref myrot);
+            }
+            else
+            {
+                // daughter prim, do Geom set
+                d.GeomSetQuaternion(prim_geom, ref myrot);
+            }
+
+            resetCollisionAccounting();
+            m_taintrot = _orientation;
+        }
+
+        private void resetCollisionAccounting()
+        {
+            m_collisionscore = 0;
+            m_interpenetrationcount = 0;
+            m_disabled = false;
+        }
+
+        public void changedisable(float timestep)
+        {
+            m_disabled = true;
+            if (Body != IntPtr.Zero)
+            {
+                d.BodyDisable(Body);
+                Body = IntPtr.Zero;
+            }
+
+            m_taintdisable = false;
+        }
+
+        public void changePhysicsStatus(float timestep)
+        {
+            if (m_isphysical == true)
+            {
+                if (Body == IntPtr.Zero)
+                {
+                    if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim)
+                    {
+                        changeshape(2f);
+                    }
+                    else
+                    {
+                        enableBody();
+                    }
+                }
+            }
+            else
+            {
+                if (Body != IntPtr.Zero)
+                {
+                    if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim)
+                    {
+                        _mesh = null;
+                        changeadd(2f);
+                    }
+                    if (childPrim)
+                    {
+                        if (_parent != null)
+                        {
+                            OdePrim parent = (OdePrim)_parent;
+                            parent.ChildDelink(this);
+                        }
+                    }
+                    else
+                    {
+                        disableBody();
+                    }
+                }
+            }
+
+            changeSelectedStatus();
+
+            resetCollisionAccounting();
+            m_taintPhysics = m_isphysical;
+        }
+
+        public void changesize(float timestamp)
+        {
+
+            string oldname = _parent_scene.geom_name_map[prim_geom];
+
+            if (_size.X <= 0) _size.X = 0.01f;
+            if (_size.Y <= 0) _size.Y = 0.01f;
+            if (_size.Z <= 0) _size.Z = 0.01f;
+
+            // Cleanup of old prim geometry
+            if (_mesh != null)
+            {
+                // Cleanup meshing here
+            }
+            //kill body to rebuild
+            if (IsPhysical && Body != IntPtr.Zero)
+            {
+                if (childPrim)
+                {
+                    if (_parent != null)
+                    {
+                        OdePrim parent = (OdePrim)_parent;
+                        parent.ChildDelink(this);
+                    }
+                }
+                else
+                {
+                    disableBody();
+                }
+            }
+            if (d.SpaceQuery(m_targetSpace, prim_geom))
+            {
+                _parent_scene.waitForSpaceUnlock(m_targetSpace);
+                d.SpaceRemove(m_targetSpace, prim_geom);
+            }
+            // we don't need to do space calculation because the client sends a position update also.
+
+            // Construction of new prim
+            if (_parent_scene.needsMeshing(_pbs))// && m_meshfailed == false)
+            {
+                float meshlod = _parent_scene.meshSculptLOD;
+
+                if (IsPhysical)
+                    meshlod = _parent_scene.MeshSculptphysicalLOD;
+                // Don't need to re-enable body..   it's done in SetMesh
+
+                IMesh mesh = null;
+
+                try
+                {
+                    if (_parent_scene.needsMeshing(_pbs))
+                        mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, (int)LevelOfDetail.High, true);
+                }
+                catch
+                {
+                    m_meshfailed = true;
+                    mesh = null;
+                    m_log.WarnFormat("[PHYSICS]: changeSize CreateMesh fail on prim {0} at <{1},{2},{3}>", Name, _position.X, _position.Y, _position.Z);
+                }
+
+                //IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical);
+                CreateGeom(m_targetSpace, mesh);
+            }
+            else
+            {
+                _mesh = null;
+                CreateGeom(m_targetSpace, _mesh);
+            }
+
+            d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
+            d.Quaternion myrot = new d.Quaternion();
+            myrot.X = _orientation.X;
+            myrot.Y = _orientation.Y;
+            myrot.Z = _orientation.Z;
+            myrot.W = _orientation.W;
+            d.GeomSetQuaternion(prim_geom, ref myrot);
+
+            //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
+            if (IsPhysical && Body == IntPtr.Zero && !childPrim)
+            {
+                // Re creates body on size.
+                // EnableBody also does setMass()
+                enableBody();
+                d.BodyEnable(Body);
+            }
+
+            _parent_scene.geom_name_map[prim_geom] = oldname;
+
+            changeSelectedStatus();
+            if (childPrim)
+            {
+                if (_parent is OdePrim)
+                {
+                    OdePrim parent = (OdePrim)_parent;
+                    parent.ChildSetGeom(this);
+                }
+            }
+            resetCollisionAccounting();
+            m_taintsize = _size;
+        }
+
+
+
+        public void changefloatonwater(float timestep)
+        {
+            m_collidesWater = m_taintCollidesWater;
+
+            if (prim_geom != IntPtr.Zero)
+            {
+                if (m_collidesWater)
+                {
+                    m_collisionFlags |= CollisionCategories.Water;
+                }
+                else
+                {
+                    m_collisionFlags &= ~CollisionCategories.Water;
+                }
+                d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+            }
+        }
+
+        public void changeshape(float timestamp)
+        {
+            string oldname = _parent_scene.geom_name_map[prim_geom];
+
+            // Cleanup of old prim geometry and Bodies
+            if (IsPhysical && Body != IntPtr.Zero)
+            {
+                if (childPrim)
+                {
+                    if (_parent != null)
+                    {
+                        OdePrim parent = (OdePrim)_parent;
+                        parent.ChildDelink(this);
+                    }
+                }
+                else
+                {
+                    disableBody();
+                }
+            }
+
+
+            // we don't need to do space calculation because the client sends a position update also.
+            if (_size.X <= 0) _size.X = 0.01f;
+            if (_size.Y <= 0) _size.Y = 0.01f;
+            if (_size.Z <= 0) _size.Z = 0.01f;
+            // Construction of new prim
+
+            if (_parent_scene.needsMeshing(_pbs))// && m_meshfailed == false)
+            {
+                // Don't need to re-enable body..   it's done in SetMesh
+                float meshlod = _parent_scene.meshSculptLOD;
+                IMesh mesh;
+
+                if (IsPhysical)
+                    meshlod = _parent_scene.MeshSculptphysicalLOD;
+
+                bool convex;
+                if (m_shapetype == 2)
+                    convex = true;
+                else
+                    convex = false;
+
+                try
+                {
+                    mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, (int)LevelOfDetail.High, true, convex);
+                }
+                catch
+                {
+                    mesh = null;
+                    m_meshfailed = true;
+                    m_log.WarnFormat("[PHYSICS]: changeAdd CreateMesh fail on prim {0} at <{1},{2},{3}>", Name, _position.X, _position.Y, _position.Z);
+                }
+
+                CreateGeom(m_targetSpace, mesh);
+
+                // createmesh returns null when it doesn't mesh.
+            }
+            else
+            {
+                _mesh = null;
+                CreateGeom(m_targetSpace, null);
+            }
+
+            d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
+            d.Quaternion myrot = new d.Quaternion();
+            //myrot.W = _orientation.w;
+            myrot.W = _orientation.W;
+            myrot.X = _orientation.X;
+            myrot.Y = _orientation.Y;
+            myrot.Z = _orientation.Z;
+            d.GeomSetQuaternion(prim_geom, ref myrot);
+
+            //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
+            if (IsPhysical && Body == IntPtr.Zero)
+            {
+                // Re creates body on size.
+                // EnableBody also does setMass()
+                enableBody();
+                if (Body != IntPtr.Zero)
+                {
+                    d.BodyEnable(Body);
+                }
+            }
+            _parent_scene.geom_name_map[prim_geom] = oldname;
+
+            changeSelectedStatus();
+            if (childPrim)
+            {
+                if (_parent is OdePrim)
+                {
+                    OdePrim parent = (OdePrim)_parent;
+                    parent.ChildSetGeom(this);
+                }
+            }
+            resetCollisionAccounting();
+            m_taintshape = false;
+        }
+
+        public void changeAddForce(float timestamp)
+        {
+            if (!m_isSelected)
+            {
+                lock (m_forcelist)
+                {
+                    //m_log.Info("[PHYSICS]: dequeing forcelist");
+                    if (IsPhysical)
+                    {
+                        Vector3 iforce = Vector3.Zero;
+                        int i = 0;
+                        try
+                        {
+                            for (i = 0; i < m_forcelist.Count; i++)
+                            {
+
+                                iforce = iforce + (m_forcelist[i] * 100);
+                            }
+                        }
+                        catch (IndexOutOfRangeException)
+                        {
+                            m_forcelist = new List<Vector3>();
+                            m_collisionscore = 0;
+                            m_interpenetrationcount = 0;
+                            m_taintforce = false;
+                            return;
+                        }
+                        catch (ArgumentOutOfRangeException)
+                        {
+                            m_forcelist = new List<Vector3>();
+                            m_collisionscore = 0;
+                            m_interpenetrationcount = 0;
+                            m_taintforce = false;
+                            return;
+                        }
+                        d.BodyEnable(Body);
+
+                        d.BodyAddForce(Body, iforce.X, iforce.Y, iforce.Z);
+                    }
+                    m_forcelist.Clear();
+                }
+
+                m_collisionscore = 0;
+                m_interpenetrationcount = 0;
+            }
+
+            m_taintforce = false;
+
+        }
+
+
+
+        public void changeSetTorque(float timestamp)
+        {
+            if (!m_isSelected)
+            {
+                if (IsPhysical && Body != IntPtr.Zero)
+                {
+                    d.BodySetTorque(Body, m_taintTorque.X, m_taintTorque.Y, m_taintTorque.Z);
+                }
+            }
+
+            m_taintTorque = Vector3.Zero;
+        }
+
+        public void changeAddAngularForce(float timestamp)
+        {
+            if (!m_isSelected)
+            {
+                lock (m_angularforcelist)
+                {
+                    //m_log.Info("[PHYSICS]: dequeing forcelist");
+                    if (IsPhysical)
+                    {
+                        Vector3 iforce = Vector3.Zero;
+                        for (int i = 0; i < m_angularforcelist.Count; i++)
+                        {
+                            iforce = iforce + (m_angularforcelist[i] * 100);
+                        }
+                        d.BodyEnable(Body);
+                        d.BodyAddTorque(Body, iforce.X, iforce.Y, iforce.Z);
+
+                    }
+                    m_angularforcelist.Clear();
+                }
+
+                m_collisionscore = 0;
+                m_interpenetrationcount = 0;
+            }
+
+            m_taintaddangularforce = false;
+        }
+
+        private void changevelocity(float timestep)
+        {
+            if (!m_isSelected)
+            {
+                Thread.Sleep(20);
+                if (IsPhysical)
+                {
+                    if (Body != IntPtr.Zero)
+                        d.BodySetLinearVel(Body, m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z);
+                }
+
+                //resetCollisionAccounting();
+            }
+            m_taintVelocity = Vector3.Zero;
+        }
+
+        public void UpdatePositionAndVelocity()
+        {
+            return;   // moved to the Move () method
+        }
+
+        public d.Mass FromMatrix4(Matrix4 pMat, ref d.Mass obj)
+        {
+            obj.I.M00 = pMat[0, 0];
+            obj.I.M01 = pMat[0, 1];
+            obj.I.M02 = pMat[0, 2];
+            obj.I.M10 = pMat[1, 0];
+            obj.I.M11 = pMat[1, 1];
+            obj.I.M12 = pMat[1, 2];
+            obj.I.M20 = pMat[2, 0];
+            obj.I.M21 = pMat[2, 1];
+            obj.I.M22 = pMat[2, 2];
+            return obj;
+        }
+
+        public override void SubscribeEvents(int ms)
+        {
+            m_eventsubscription = ms;
+            _parent_scene.addCollisionEventReporting(this);
+        }
+
+        public override void UnSubscribeEvents()
+        {
+            _parent_scene.remCollisionEventReporting(this);
+            m_eventsubscription = 0;
+        }
+
+        public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
+        {
+            if (CollisionEventsThisFrame == null)
+                CollisionEventsThisFrame = new CollisionEventUpdate();
+            CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
+        }
+
+        public void SendCollisions()
+        {
+            if (CollisionEventsThisFrame == null)
+                return;
+
+            base.SendCollisionUpdate(CollisionEventsThisFrame);
+
+            if (CollisionEventsThisFrame.m_objCollisionList.Count == 0)
+                CollisionEventsThisFrame = null;
+            else
+                CollisionEventsThisFrame = new CollisionEventUpdate();
+        }
+
+        public override bool SubscribedEvents()
+        {
+            if (m_eventsubscription > 0)
+                return true;
+            return false;
+        }
+
+        public static Matrix4 Inverse(Matrix4 pMat)
+        {
+            if (determinant3x3(pMat) == 0)
+            {
+                return Matrix4.Identity; // should probably throw an error.  singluar matrix inverse not possible
+            }
+
+
+
+            return (Adjoint(pMat) / determinant3x3(pMat));
+        }
+
+        public static Matrix4 Adjoint(Matrix4 pMat)
+        {
+            Matrix4 adjointMatrix = new Matrix4();
+            for (int i = 0; i < 4; i++)
+            {
+                for (int j = 0; j < 4; j++)
+                {
+                    Matrix4SetValue(ref adjointMatrix, i, j, (float)(Math.Pow(-1, i + j) * (determinant3x3(Minor(pMat, i, j)))));
+                }
+            }
+
+            adjointMatrix = Transpose(adjointMatrix);
+            return adjointMatrix;
+        }
+
+        public static Matrix4 Minor(Matrix4 matrix, int iRow, int iCol)
+        {
+            Matrix4 minor = new Matrix4();
+            int m = 0, n = 0;
+            for (int i = 0; i < 4; i++)
+            {
+                if (i == iRow)
+                    continue;
+                n = 0;
+                for (int j = 0; j < 4; j++)
+                {
+                    if (j == iCol)
+                        continue;
+                    Matrix4SetValue(ref minor, m, n, matrix[i, j]);
+                    n++;
+                }
+                m++;
+            }
+            return minor;
+        }
+
+        public static Matrix4 Transpose(Matrix4 pMat)
+        {
+            Matrix4 transposeMatrix = new Matrix4();
+            for (int i = 0; i < 4; i++)
+                for (int j = 0; j < 4; j++)
+                    Matrix4SetValue(ref transposeMatrix, i, j, pMat[j, i]);
+            return transposeMatrix;
+        }
+
+        public static void Matrix4SetValue(ref Matrix4 pMat, int r, int c, float val)
+        {
+            switch (r)
+            {
+                case 0:
+                    switch (c)
+                    {
+                        case 0:
+                            pMat.M11 = val;
+                            break;
+                        case 1:
+                            pMat.M12 = val;
+                            break;
+                        case 2:
+                            pMat.M13 = val;
+                            break;
+                        case 3:
+                            pMat.M14 = val;
+                            break;
+                    }
+
+                    break;
+                case 1:
+                    switch (c)
+                    {
+                        case 0:
+                            pMat.M21 = val;
+                            break;
+                        case 1:
+                            pMat.M22 = val;
+                            break;
+                        case 2:
+                            pMat.M23 = val;
+                            break;
+                        case 3:
+                            pMat.M24 = val;
+                            break;
+                    }
+
+                    break;
+                case 2:
+                    switch (c)
+                    {
+                        case 0:
+                            pMat.M31 = val;
+                            break;
+                        case 1:
+                            pMat.M32 = val;
+                            break;
+                        case 2:
+                            pMat.M33 = val;
+                            break;
+                        case 3:
+                            pMat.M34 = val;
+                            break;
+                    }
+
+                    break;
+                case 3:
+                    switch (c)
+                    {
+                        case 0:
+                            pMat.M41 = val;
+                            break;
+                        case 1:
+                            pMat.M42 = val;
+                            break;
+                        case 2:
+                            pMat.M43 = val;
+                            break;
+                        case 3:
+                            pMat.M44 = val;
+                            break;
+                    }
+
+                    break;
+            }
+        }
+        private static float determinant3x3(Matrix4 pMat)
+        {
+            float det = 0;
+            float diag1 = pMat[0, 0] * pMat[1, 1] * pMat[2, 2];
+            float diag2 = pMat[0, 1] * pMat[2, 1] * pMat[2, 0];
+            float diag3 = pMat[0, 2] * pMat[1, 0] * pMat[2, 1];
+            float diag4 = pMat[2, 0] * pMat[1, 1] * pMat[0, 2];
+            float diag5 = pMat[2, 1] * pMat[1, 2] * pMat[0, 0];
+            float diag6 = pMat[2, 2] * pMat[1, 0] * pMat[0, 1];
+
+            det = diag1 + diag2 + diag3 - (diag4 + diag5 + diag6);
+            return det;
+
+        }
+
+        private static void DMassCopy(ref d.Mass src, ref d.Mass dst)
+        {
+            dst.c.W = src.c.W;
+            dst.c.X = src.c.X;
+            dst.c.Y = src.c.Y;
+            dst.c.Z = src.c.Z;
+            dst.mass = src.mass;
+            dst.I.M00 = src.I.M00;
+            dst.I.M01 = src.I.M01;
+            dst.I.M02 = src.I.M02;
+            dst.I.M10 = src.I.M10;
+            dst.I.M11 = src.I.M11;
+            dst.I.M12 = src.I.M12;
+            dst.I.M20 = src.I.M20;
+            dst.I.M21 = src.I.M21;
+            dst.I.M22 = src.I.M22;
+        }
+
+        public override void SetMaterial(int pMaterial)
+        {
+            m_material = pMaterial;
+        }
+
+        internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
+        {
+            switch (pParam)
+            {
+                case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_angularDeflectionEfficiency = pValue;
+                    break;
+                case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
+                    if (pValue < 0.1f) pValue = 0.1f;
+                    // m_angularDeflectionTimescale = pValue;
+                    break;
+                case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
+                    if (pValue < 0.3f) pValue = 0.3f;
+                    m_angularMotorDecayTimescale = pValue;
+                    break;
+                case Vehicle.ANGULAR_MOTOR_TIMESCALE:
+                    if (pValue < 0.3f) pValue = 0.3f;
+                    m_angularMotorTimescale = pValue;
+                    break;
+                case Vehicle.BANKING_EFFICIENCY:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_bankingEfficiency = pValue;
+                    break;
+                case Vehicle.BANKING_MIX:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_bankingMix = pValue;
+                    break;
+                case Vehicle.BANKING_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_bankingTimescale = pValue;
+                    break;
+                case Vehicle.BUOYANCY:
+                    if (pValue < -1f) pValue = -1f;
+                    if (pValue > 1f) pValue = 1f;
+                    m_VehicleBuoyancy = pValue;
+                    break;
+                //                case Vehicle.HOVER_EFFICIENCY:
+                //                      if (pValue < 0f) pValue = 0f;
+                //                      if (pValue > 1f) pValue = 1f;
+                //                    m_VhoverEfficiency = pValue;
+                //                    break;
+                case Vehicle.HOVER_HEIGHT:
+                    m_VhoverHeight = pValue;
+                    break;
+                case Vehicle.HOVER_TIMESCALE:
+                    if (pValue < 0.1f) pValue = 0.1f;
+                    m_VhoverTimescale = pValue;
+                    break;
+                case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_linearDeflectionEfficiency = pValue;
+                    break;
+                case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_linearDeflectionTimescale = pValue;
+                    break;
+                case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
+                    if (pValue < 0.3f) pValue = 0.3f;
+                    m_linearMotorDecayTimescale = pValue;
+                    break;
+                case Vehicle.LINEAR_MOTOR_TIMESCALE:
+                    if (pValue < 0.1f) pValue = 0.1f;
+                    m_linearMotorTimescale = pValue;
+                    break;
+                case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
+                    if (pValue < 0.1f) pValue = 0.1f;   // Less goes unstable
+                    if (pValue > 1.0f) pValue = 1.0f;
+                    m_verticalAttractionEfficiency = pValue;
+                    break;
+                case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
+                    if (pValue < 0.1f) pValue = 0.1f;
+                    m_verticalAttractionTimescale = pValue;
+                    break;
+
+                // These are vector properties but the engine lets you use a single float value to 
+                // set all of the components to the same value
+                case Vehicle.ANGULAR_FRICTION_TIMESCALE:
+                    if (pValue > 30f) pValue = 30f;
+                    if (pValue < 0.1f) pValue = 0.1f;
+                    m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
+                    break;
+                case Vehicle.ANGULAR_MOTOR_DIRECTION:
+                    m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
+                    UpdateAngDecay();
+                    break;
+                case Vehicle.LINEAR_FRICTION_TIMESCALE:
+                    if (pValue < 0.1f) pValue = 0.1f;
+                    m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
+                    break;
+                case Vehicle.LINEAR_MOTOR_DIRECTION:
+                    m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
+                    UpdateLinDecay();
+                    break;
+                case Vehicle.LINEAR_MOTOR_OFFSET:
+                    // m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
+                    break;
+
+            }
+
+        }//end ProcessFloatVehicleParam
+
+        internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
+        {
+            switch (pParam)
+            {
+                case Vehicle.ANGULAR_FRICTION_TIMESCALE:
+                    if (pValue.X > 30f) pValue.X = 30f;
+                    if (pValue.X < 0.1f) pValue.X = 0.1f;
+                    if (pValue.Y > 30f) pValue.Y = 30f;
+                    if (pValue.Y < 0.1f) pValue.Y = 0.1f;
+                    if (pValue.Z > 30f) pValue.Z = 30f;
+                    if (pValue.Z < 0.1f) pValue.Z = 0.1f;
+                    m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    break;
+                case Vehicle.ANGULAR_MOTOR_DIRECTION:
+                    m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    // Limit requested angular speed to 2 rps= 4 pi rads/sec
+                    if (m_angularMotorDirection.X > 12.56f) m_angularMotorDirection.X = 12.56f;
+                    if (m_angularMotorDirection.X < -12.56f) m_angularMotorDirection.X = -12.56f;
+                    if (m_angularMotorDirection.Y > 12.56f) m_angularMotorDirection.Y = 12.56f;
+                    if (m_angularMotorDirection.Y < -12.56f) m_angularMotorDirection.Y = -12.56f;
+                    if (m_angularMotorDirection.Z > 12.56f) m_angularMotorDirection.Z = 12.56f;
+                    if (m_angularMotorDirection.Z < -12.56f) m_angularMotorDirection.Z = -12.56f;
+                    UpdateAngDecay();
+                    break;
+                case Vehicle.LINEAR_FRICTION_TIMESCALE:
+                    if (pValue.X < 0.1f) pValue.X = 0.1f;
+                    if (pValue.Y < 0.1f) pValue.Y = 0.1f;
+                    if (pValue.Z < 0.1f) pValue.Z = 0.1f;
+                    m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    break;
+                case Vehicle.LINEAR_MOTOR_DIRECTION:
+                    m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); // velocity requested by LSL, for max limiting
+                    UpdateLinDecay();
+                    break;
+                case Vehicle.LINEAR_MOTOR_OFFSET:
+                    // m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    break;
+            }
+
+        }//end ProcessVectorVehicleParam
+
+        internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
+        {
+            switch (pParam)
+            {
+                case Vehicle.REFERENCE_FRAME:
+                    // m_referenceFrame = pValue;
+                    break;
+            }
+
+        }//end ProcessRotationVehicleParam
+
+        internal void ProcessVehicleFlags(int pParam, bool remove)
+        {
+            if (remove)
+            {
+                m_flags &= ~((VehicleFlag)pParam);
+            }
+            else
+            {
+                m_flags |= (VehicleFlag)pParam;
+            }
+        }
+
+        internal void ProcessTypeChange(Vehicle pType)
+        {
+            // Set Defaults For Type
+            m_type = pType;
+            switch (pType)
+            {
+                case Vehicle.TYPE_SLED:
+                    m_linearFrictionTimescale = new Vector3(30, 1, 1000);
+                    m_angularFrictionTimescale = new Vector3(30, 30, 30);
+                    //                     m_lLinMotorVel = Vector3.Zero;
+                    m_linearMotorTimescale = 1000;
+                    m_linearMotorDecayTimescale = 120;
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorDVel = Vector3.Zero;
+                    m_angularMotorTimescale = 1000;
+                    m_angularMotorDecayTimescale = 120;
+                    m_VhoverHeight = 0;
+                    //                    m_VhoverEfficiency = 1;
+                    m_VhoverTimescale = 10;
+                    m_VehicleBuoyancy = 0;
+                    // m_linearDeflectionEfficiency = 1;
+                    // m_linearDeflectionTimescale = 1;
+                    // m_angularDeflectionEfficiency = 1;
+                    // m_angularDeflectionTimescale = 1000;
+                    // m_bankingEfficiency = 0;
+                    // m_bankingMix = 1;
+                    // m_bankingTimescale = 10;
+                    // m_referenceFrame = Quaternion.Identity;
+                    m_flags &=
+                        ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
+                          VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
+                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
+                    break;
+                case Vehicle.TYPE_CAR:
+                    m_linearFrictionTimescale = new Vector3(100, 2, 1000);
+                    m_angularFrictionTimescale = new Vector3(30, 30, 30);               // was 1000, but sl max frict time is 30.
+                    //                     m_lLinMotorVel = Vector3.Zero;
+                    m_linearMotorTimescale = 1;
+                    m_linearMotorDecayTimescale = 60;
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorDVel = Vector3.Zero;
+                    m_angularMotorTimescale = 1;
+                    m_angularMotorDecayTimescale = 0.8f;
+                    m_VhoverHeight = 0;
+                    //                    m_VhoverEfficiency = 0;
+                    m_VhoverTimescale = 1000;
+                    m_VehicleBuoyancy = 0;
+                    // // m_linearDeflectionEfficiency = 1;
+                    // // m_linearDeflectionTimescale = 2;
+                    // // m_angularDeflectionEfficiency = 0;
+                    // m_angularDeflectionTimescale = 10;
+                    m_verticalAttractionEfficiency = 1f;
+                    m_verticalAttractionTimescale = 10f;
+                    // m_bankingEfficiency = -0.2f;
+                    // m_bankingMix = 1;
+                    // m_bankingTimescale = 1;
+                    // m_referenceFrame = Quaternion.Identity;
+                    m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
+                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_UP_ONLY |
+                                VehicleFlag.LIMIT_MOTOR_UP);
+                    break;
+                case Vehicle.TYPE_BOAT:
+                    m_linearFrictionTimescale = new Vector3(10, 3, 2);
+                    m_angularFrictionTimescale = new Vector3(10, 10, 10);
+                    //                     m_lLinMotorVel = Vector3.Zero;
+                    m_linearMotorTimescale = 5;
+                    m_linearMotorDecayTimescale = 60;
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorDVel = Vector3.Zero;
+                    m_angularMotorTimescale = 4;
+                    m_angularMotorDecayTimescale = 4;
+                    m_VhoverHeight = 0;
+                    //                    m_VhoverEfficiency = 0.5f;
+                    m_VhoverTimescale = 2;
+                    m_VehicleBuoyancy = 1;
+                    // m_linearDeflectionEfficiency = 0.5f;
+                    // m_linearDeflectionTimescale = 3;
+                    // m_angularDeflectionEfficiency = 0.5f;
+                    // m_angularDeflectionTimescale = 5;
+                    m_verticalAttractionEfficiency = 0.5f;
+                    m_verticalAttractionTimescale = 5f;
+                    // m_bankingEfficiency = -0.3f;
+                    // m_bankingMix = 0.8f;
+                    // m_bankingTimescale = 1;
+                    // m_referenceFrame = Quaternion.Identity;
+                    m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.LIMIT_ROLL_ONLY |
+                            VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
+                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY |
+                                VehicleFlag.LIMIT_MOTOR_UP);
+                    break;
+                case Vehicle.TYPE_AIRPLANE:
+                    m_linearFrictionTimescale = new Vector3(200, 10, 5);
+                    m_angularFrictionTimescale = new Vector3(20, 20, 20);
+                    //                     m_lLinMotorVel = Vector3.Zero;
+                    m_linearMotorTimescale = 2;
+                    m_linearMotorDecayTimescale = 60;
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorDVel = Vector3.Zero;
+                    m_angularMotorTimescale = 4;
+                    m_angularMotorDecayTimescale = 4;
+                    m_VhoverHeight = 0;
+                    //                    m_VhoverEfficiency = 0.5f;
+                    m_VhoverTimescale = 1000;
+                    m_VehicleBuoyancy = 0;
+                    // m_linearDeflectionEfficiency = 0.5f;
+                    // m_linearDeflectionTimescale = 3;
+                    // m_angularDeflectionEfficiency = 1;
+                    // m_angularDeflectionTimescale = 2;
+                    m_verticalAttractionEfficiency = 0.9f;
+                    m_verticalAttractionTimescale = 2f;
+                    // m_bankingEfficiency = 1;
+                    // m_bankingMix = 0.7f;
+                    // m_bankingTimescale = 2;
+                    // m_referenceFrame = Quaternion.Identity;
+                    m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
+                        VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
+                    m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
+                    break;
+                case Vehicle.TYPE_BALLOON:
+                    m_linearFrictionTimescale = new Vector3(5, 5, 5);
+                    m_angularFrictionTimescale = new Vector3(10, 10, 10);
+                    m_linearMotorTimescale = 5;
+                    m_linearMotorDecayTimescale = 60;
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorDVel = Vector3.Zero;
+                    m_angularMotorTimescale = 6;
+                    m_angularMotorDecayTimescale = 10;
+                    m_VhoverHeight = 5;
+                    //                    m_VhoverEfficiency = 0.8f;
+                    m_VhoverTimescale = 10;
+                    m_VehicleBuoyancy = 1;
+                    // m_linearDeflectionEfficiency = 0;
+                    // m_linearDeflectionTimescale = 5;
+                    // m_angularDeflectionEfficiency = 0;
+                    // m_angularDeflectionTimescale = 5;
+                    m_verticalAttractionEfficiency = 1f;
+                    m_verticalAttractionTimescale = 100f;
+                    // m_bankingEfficiency = 0;
+                    // m_bankingMix = 0.7f;
+                    // m_bankingTimescale = 5;
+                    // m_referenceFrame = Quaternion.Identity;
+                    m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
+                        VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
+                    m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
+                    break;
+
+            }
+        }//end SetDefaultsForType
+
+        internal void Enable(IntPtr pBody, OdeScene pParentScene)
+        {
+            if (m_type == Vehicle.TYPE_NONE)
+                return;
+
+            m_body = pBody;
+        }
+
+
+        internal void Halt()
+        {       // Kill all motions, when non-physical
+            //  m_linearMotorDirection = Vector3.Zero;
+            m_lLinMotorDVel = Vector3.Zero;
+            m_lLinObjectVel = Vector3.Zero;
+            m_wLinObjectVel = Vector3.Zero;
+            m_angularMotorDirection = Vector3.Zero;
+            m_lastAngularVelocity = Vector3.Zero;
+            m_angularMotorDVel = Vector3.Zero;
+            _acceleration = Vector3.Zero;
+        }
+
+        private void UpdateLinDecay()
+        {
+            m_lLinMotorDVel.X = m_linearMotorDirection.X;
+            m_lLinMotorDVel.Y = m_linearMotorDirection.Y;
+            m_lLinMotorDVel.Z = m_linearMotorDirection.Z;
+        } // else let the motor decay on its own
+
+        private void UpdateAngDecay()
+        {
+            m_angularMotorDVel.X = m_angularMotorDirection.X;
+            m_angularMotorDVel.Y = m_angularMotorDirection.Y;
+            m_angularMotorDVel.Z = m_angularMotorDirection.Z;
+        } // else let the motor decay on its own
+
+        public void Move(float timestep)
+        {
+            float fx = 0;
+            float fy = 0;
+            float fz = 0;
+            Vector3 linvel;                             // velocity applied, including any reversal
+
+            // If geomCrossingFailuresBeforeOutofbounds is set to 0 in OpenSim.ini then phys objects bounce off region borders.
+            // This is a temp patch until proper region crossing is developed. 
+
+
+            if (IsPhysical && (Body != IntPtr.Zero) && !m_isSelected && !childPrim && !m_outofBounds)           // Only move root prims.
+            {
+                //  Old public void UpdatePositionAndVelocity(), more accuratley calculated here
+                bool lastZeroFlag = _zeroFlag;  // was it stopped
+
+                d.Vector3 vec = d.BodyGetPosition(Body);
+                Vector3 l_position = Vector3.Zero;
+                l_position.X = vec.X;
+                l_position.Y = vec.Y;
+                l_position.Z = vec.Z;
+                m_lastposition = _position;
+                _position = l_position;
+
+                d.Quaternion ori = d.BodyGetQuaternion(Body);
+                //       Quaternion l_orientation = Quaternion.Identity;
+                _orientation.X = ori.X;
+                _orientation.Y = ori.Y;
+                _orientation.Z = ori.Z;
+                _orientation.W = ori.W;
+                m_lastorientation = _orientation;
+
+                d.Vector3 vel = d.BodyGetLinearVel(Body);
+                m_lastVelocity = _velocity;
+                _velocity.X = vel.X;
+                _velocity.Y = vel.Y;
+                _velocity.Z = vel.Z;
+                _acceleration = ((_velocity - m_lastVelocity) / timestep);
+
+                d.Vector3 torque = d.BodyGetTorque(Body);
+                _torque = new Vector3(torque.X, torque.Y, torque.Z);
+
+
+                if (_position.X < 0f || _position.X > _parent_scene.WorldExtents.X
+                    || _position.Y < 0f || _position.Y > _parent_scene.WorldExtents.Y
+                    )
+                {
+                    // we are outside current region
+                    // clip position to a stop just outside region and stop it only internally
+                    // do it only once using m_crossingfailures as control
+                    _position.X = Util.Clip(l_position.X, -0.2f, _parent_scene.WorldExtents.X + .2f);
+                    _position.Y = Util.Clip(l_position.Y, -0.2f, _parent_scene.WorldExtents.Y + .2f);
+                    _position.Z = Util.Clip(l_position.Z, -100f, 50000f);
+                    d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
+                    d.BodySetLinearVel(Body, 0, 0, 0);
+                    m_outofBounds = true;
+                    base.RequestPhysicsterseUpdate();
+                    return;
+                }
+
+                base.RequestPhysicsterseUpdate();
+
+                if (l_position.Z < 0)
+                {
+                    // This is so prim that get lost underground don't fall forever and suck up
+                    //
+                    // Sim resources and memory.
+                    // Disables the prim's movement physics....
+                    // It's a hack and will generate a console message if it fails.
+
+                    //IsPhysical = false;
+                    if (_parent == null) base.RaiseOutOfBounds(_position);
+
+
+                    _acceleration.X = 0;                        // This stuff may stop client display but it has no
+                    _acceleration.Y = 0;                        // effect on the object in phys engine!
+                    _acceleration.Z = 0;
+
+                    _velocity.X = 0;
+                    _velocity.Y = 0;
+                    _velocity.Z = 0;
+                    m_lastVelocity = Vector3.Zero;
+                    m_rotationalVelocity.X = 0;
+                    m_rotationalVelocity.Y = 0;
+                    m_rotationalVelocity.Z = 0;
+
+                    if (_parent == null) base.RequestPhysicsterseUpdate();
+
+                    m_throttleUpdates = false;
+                    throttleCounter = 0;
+                    _zeroFlag = true;
+                    //outofBounds = true;
+                }  // end neg Z check
+
+                // Is it moving?
+                /*   if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02)
+                       && (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02)
+                       && (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02) */
+                if ((Vector3.Mag(_velocity) < 0.01) &&                         // moving very slowly
+                     (Vector3.Mag(_velocity) < Vector3.Mag(m_lastVelocity)) &&  // decelerating
+                     (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, _orientation)) < 0.0001))  // spinning very slowly
+                {
+                    _zeroFlag = true;
+                    m_throttleUpdates = false;
+                }
+                else
+                {
+                    //m_log.Debug(Math.Abs(m_lastposition.X - l_position.X).ToString());
+                    _zeroFlag = false;
+                    m_lastUpdateSent = false;
+                    //m_throttleUpdates = false;
+                }
+
+                if (_zeroFlag)
+                {               // Its stopped
+                    _velocity.X = 0.0f;
+                    _velocity.Y = 0.0f;
+                    //        _velocity.Z = 0.0f;
+
+                    _acceleration.X = 0;
+                    _acceleration.Y = 0;
+                    //        _acceleration.Z = 0;
+
+                    m_rotationalVelocity.X = 0;
+                    m_rotationalVelocity.Y = 0;
+                    m_rotationalVelocity.Z = 0;
+                    // Stop it in the phys engine
+                    d.BodySetLinearVel(Body, 0.0f, 0.0f, _velocity.Z);
+                    d.BodySetAngularVel(Body, 0.0f, 0.0f, 0.0f);
+                    d.BodySetForce(Body, 0f, 0f, 0f);
+
+                    if (!m_lastUpdateSent)
+                    {
+                        m_throttleUpdates = false;
+                        throttleCounter = 0;
+                        if (_parent == null)
+                        {
+                            base.RequestPhysicsterseUpdate();
+                        }
+
+                        m_lastUpdateSent = true;
+                    }
+                }
+                else
+                {                       // Its moving
+                    if (lastZeroFlag != _zeroFlag)
+                    {
+                        if (_parent == null)
+                        {
+                            base.RequestPhysicsterseUpdate();
+                        }
+                    }
+                    m_lastUpdateSent = false;
+                    if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate)
+                    {
+                        if (_parent == null)
+                        {
+                            base.RequestPhysicsterseUpdate();
+                        }
+                    }
+                    else
+                    {
+                        throttleCounter++;
+                    }
+                }
+                m_lastposition = l_position;
+
+                /// End UpdatePositionAndVelocity insert     
+
+
+                // Rotation lock  =====================================
+                if (m_rotateEnableUpdate)
+                {
+                    // Snapshot current angles, set up Amotor(s)
+                    m_rotateEnableUpdate = false;
+                    m_rotateEnable = m_rotateEnableRequest;
+                    //Console.WriteLine("RotEnable {0} = {1}",m_primName,  m_rotateEnable);
+
+                    if (Amotor != IntPtr.Zero)
+                    {
+                        d.JointDestroy(Amotor);
+                        Amotor = IntPtr.Zero;
+                        //Console.WriteLine("Old Amotor Destroyed");                        
+                    }
+
+                    if (!m_rotateEnable.ApproxEquals(Vector3.One, 0.003f))
+                    {   // not all are enabled
+                        d.Quaternion r = d.BodyGetQuaternion(Body);
+                        Quaternion locrot = new Quaternion(r.X, r.Y, r.Z, r.W);
+                        // extract the axes vectors
+                        Vector3 vX = new Vector3(1f, 0f, 0f);
+                        Vector3 vY = new Vector3(0f, 1f, 0f);
+                        Vector3 vZ = new Vector3(0f, 0f, 1f);
+                        vX = vX * locrot;
+                        vY = vY * locrot;
+                        vZ = vZ * locrot;
+                        // snapshot the current angle vectors
+                        m_lockX = vX;
+                        m_lockY = vY;
+                        m_lockZ = vZ;
+                        //           m_lockRot = locrot;
+                        Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
+                        d.JointAttach(Amotor, Body, IntPtr.Zero);
+                        d.JointSetAMotorMode(Amotor, 0);  // User mode??
+                        //Console.WriteLine("New Amotor Created for {0}", m_primName);                   
+
+                        float axisnum = 3;  // how many to lock
+                        axisnum = (axisnum - (m_rotateEnable.X + m_rotateEnable.Y + m_rotateEnable.Z));
+                        d.JointSetAMotorNumAxes(Amotor, (int)axisnum);
+                        //Console.WriteLine("AxisNum={0}",(int)axisnum);                       
+
+                        int i = 0;
+
+                        if (m_rotateEnable.X == 0)
+                        {
+                            d.JointSetAMotorAxis(Amotor, i, 0, m_lockX.X, m_lockX.Y, m_lockX.Z);
+                            //Console.WriteLine("AxisX {0} set to {1}", i,  m_lockX);                           
+                            i++;
+                        }
+
+                        if (m_rotateEnable.Y == 0)
+                        {
+                            d.JointSetAMotorAxis(Amotor, i, 0, m_lockY.X, m_lockY.Y, m_lockY.Z);
+                            //Console.WriteLine("AxisY {0} set to {1}", i,  m_lockY);                           
+                            i++;
+                        }
+
+                        if (m_rotateEnable.Z == 0)
+                        {
+                            d.JointSetAMotorAxis(Amotor, i, 0, m_lockZ.X, m_lockZ.Y, m_lockZ.Z);
+                            //Console.WriteLine("AxisZ {0} set to {1}", i,  m_lockZ);                           
+                            i++;
+                        }
+
+                        // These lowstops and high stops are effectively (no wiggle room)
+                        d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0f);
+                        d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, 0f);
+                        d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0f);
+                        d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0f);
+                        d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f);
+                        d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0f);
+                        d.JointSetAMotorParam(Amotor, (int)dParam.Vel, 0f);
+                        d.JointSetAMotorParam(Amotor, (int)dParam.Vel3, 0f);
+                        d.JointSetAMotorParam(Amotor, (int)dParam.Vel2, 0f);
+                        d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM, 0f);
+                        d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM3, 0f);
+                        d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM2, 0f);
+                    } // else none are locked
+                } // end Rotation Update  
+
+
+                // VEHICLE processing ==========================================            
+                if (m_type != Vehicle.TYPE_NONE)
+                {
+                    // get body attitude
+                    d.Quaternion rot = d.BodyGetQuaternion(Body);
+                    Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);       // rotq = rotation of object
+                    Quaternion irotq = Quaternion.Inverse(rotq);
+
+                    // VEHICLE Linear Motion
+                    d.Vector3 velnow = d.BodyGetLinearVel(Body);                                        // this is in world frame
+                    Vector3 vel_now = new Vector3(velnow.X, velnow.Y, velnow.Z);
+                    m_lLinObjectVel = vel_now * irotq;
+                    if (m_linearMotorDecayTimescale < 300.0f) //setting of 300 or more disables decay rate
+                    {
+                        if (Vector3.Mag(m_lLinMotorDVel) < 1.0f)
+                        {
+                            float decayfactor = m_linearMotorDecayTimescale / timestep;
+                            Vector3 decayAmount = (m_lLinMotorDVel / decayfactor);
+                            m_lLinMotorDVel -= decayAmount;
+                        }
+                        else
+                        {
+                            float decayfactor = 3.0f - (0.57f * (float)Math.Log((double)(m_linearMotorDecayTimescale)));
+                            Vector3 decel = Vector3.Normalize(m_lLinMotorDVel) * decayfactor * timestep;
+                            m_lLinMotorDVel -= decel;
+                        }
+                        if (m_lLinMotorDVel.ApproxEquals(Vector3.Zero, 0.01f))
+                        {
+                            m_lLinMotorDVel = Vector3.Zero;
+                        }
+
+                        /*      else
+                            {
+                                if (Math.Abs(m_lLinMotorDVel.X) <  Math.Abs(m_lLinObjectVel.X)) m_lLinObjectVel.X = m_lLinMotorDVel.X;
+                                if (Math.Abs(m_lLinMotorDVel.Y) <  Math.Abs(m_lLinObjectVel.Y)) m_lLinObjectVel.Y = m_lLinMotorDVel.Y;
+                                if (Math.Abs(m_lLinMotorDVel.Z) <  Math.Abs(m_lLinObjectVel.Z)) m_lLinObjectVel.Z = m_lLinMotorDVel.Z;  
+                            } */
+                    }  // end linear motor decay
+
+                    if ((!m_lLinMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) || (!m_lLinObjectVel.ApproxEquals(Vector3.Zero, 0.01f)))
+                    {
+                        if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body);
+                        if (m_linearMotorTimescale < 300.0f)
+                        {
+                            Vector3 attack_error = m_lLinMotorDVel - m_lLinObjectVel;
+                            float linfactor = m_linearMotorTimescale / timestep;
+                            Vector3 attackAmount = (attack_error / linfactor) * 1.3f;
+                            m_lLinObjectVel += attackAmount;
+                        }
+                        if (m_linearFrictionTimescale.X < 300.0f)
+                        {
+                            float fricfactor = m_linearFrictionTimescale.X / timestep;
+                            float fricX = m_lLinObjectVel.X / fricfactor;
+                            m_lLinObjectVel.X -= fricX;
+                        }
+                        if (m_linearFrictionTimescale.Y < 300.0f)
+                        {
+                            float fricfactor = m_linearFrictionTimescale.Y / timestep;
+                            float fricY = m_lLinObjectVel.Y / fricfactor;
+                            m_lLinObjectVel.Y -= fricY;
+                        }
+                        if (m_linearFrictionTimescale.Z < 300.0f)
+                        {
+                            float fricfactor = m_linearFrictionTimescale.Z / timestep;
+                            float fricZ = m_lLinObjectVel.Z / fricfactor;
+                            m_lLinObjectVel.Z -= fricZ;
+                        }
+                    }
+                    m_wLinObjectVel = m_lLinObjectVel * rotq;
+
+                    // Gravity and Buoyancy
+                    Vector3 grav = Vector3.Zero;
+                    if (m_VehicleBuoyancy < 1.0f)
+                    {
+                        // There is some gravity, make a gravity force vector
+                        // that is applied after object velocity.     
+                        d.Mass objMass;
+                        d.BodyGetMass(Body, out objMass);
+                        // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; 
+                        grav.Z = _parent_scene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy); // Applied later as a force
+                    } // else its 1.0, no gravity.
+
+                    // Hovering
+                    if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
+                    {
+                        // We should hover, get the target height
+                        d.Vector3 pos = d.BodyGetPosition(Body);
+                        if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) == VehicleFlag.HOVER_WATER_ONLY)
+                        {
+                            m_VhoverTargetHeight = _parent_scene.GetWaterLevel() + m_VhoverHeight;
+                        }
+                        else if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) == VehicleFlag.HOVER_TERRAIN_ONLY)
+                        {
+                            m_VhoverTargetHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
+                        }
+                        else if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == VehicleFlag.HOVER_GLOBAL_HEIGHT)
+                        {
+                            m_VhoverTargetHeight = m_VhoverHeight;
+                        }
+
+                        if ((m_flags & VehicleFlag.HOVER_UP_ONLY) == VehicleFlag.HOVER_UP_ONLY)
+                        {
+                            // If body is aready heigher, use its height as target height
+                            if (pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z;
+                        }
+
+                        //                  m_VhoverEfficiency = 0f;    // 0=boucy, 1=Crit.damped
+                        //                              m_VhoverTimescale = 0f;         // time to acheive height
+                        //                              timestep  is time since last frame,in secs 
+                        float herr0 = pos.Z - m_VhoverTargetHeight;
+                        // Replace Vertical speed with correction figure if significant
+                        if (Math.Abs(herr0) > 0.01f)
+                        {
+                            //?          d.Mass objMass;
+                            //?          d.BodyGetMass(Body, out objMass);
+                            m_wLinObjectVel.Z = -((herr0 * timestep * 50.0f) / m_VhoverTimescale);
+                            //KF: m_VhoverEfficiency is not yet implemented
+                        }
+                        else
+                        {
+                            m_wLinObjectVel.Z = 0f;
+                        }
+                    }
+                    else
+                    {   // not hovering
+                        if (m_wLinObjectVel.Z == 0f)
+                        {               // Gravity rules
+                            m_wLinObjectVel.Z = vel_now.Z;
+                        }  // else the motor has it
+                    }
+                    linvel = m_wLinObjectVel;
+
+                    // Vehicle Linear  Motion done =======================================
+                    // Apply velocity
+                    d.BodySetLinearVel(Body, linvel.X, linvel.Y, linvel.Z);
+                    // apply gravity force
+                    d.BodyAddForce(Body, grav.X, grav.Y, grav.Z);
+                    //if(frcount == 0) Console.WriteLine("Vel={0}    Force={1}",linvel ,  grav);
+                    // end MoveLinear()
+
+
+                    // MoveAngular
+                    /*
+                    private Vector3 m_angularMotorDirection = Vector3.Zero;                     // angular velocity requested by LSL motor 
+        
+                    private float m_angularMotorTimescale = 0;                                          // motor angular Attack rate set by LSL
+                    private float m_angularMotorDecayTimescale = 0;                                     // motor angular Decay rate set by LSL
+                    private Vector3 m_angularFrictionTimescale = Vector3.Zero;          // body angular Friction set by LSL
+
+                    private Vector3 m_angularMotorDVel = Vector3.Zero;                          // decayed angular motor
+                    private Vector3 m_angObjectVel = Vector3.Zero;                                      // what was last applied to body
+                    */
+                    //if(frcount == 0) Console.WriteLine("MoveAngular ");       
+
+                    d.Vector3 angularObjectVel = d.BodyGetAngularVel(Body);
+                    Vector3 angObjectVel = new Vector3(angularObjectVel.X, angularObjectVel.Y, angularObjectVel.Z);
+                    angObjectVel = angObjectVel * irotq;        // ============ Converts to LOCAL rotation
+
+                    //if(frcount == 0) Console.WriteLine("V0 = {0}", angObjectVel);             
+
+                    // Decay Angular Motor 1. In SL this also depends on attack rate! decay ~= 23/Attack.
+                    float atk_decayfactor = 23.0f / (m_angularMotorTimescale * timestep);
+                    m_angularMotorDVel -= m_angularMotorDVel / atk_decayfactor;
+                    // Decay Angular Motor 2.
+                    if (m_angularMotorDecayTimescale < 300.0f)
+                    {
+                        if (Vector3.Mag(m_angularMotorDVel) < 1.0f)
+                        {
+                            float decayfactor = (m_angularMotorDecayTimescale) / timestep;
+                            Vector3 decayAmount = (m_angularMotorDVel / decayfactor);
+                            m_angularMotorDVel -= decayAmount;
+                        }
+                        else
+                        {
+                            Vector3 decel = Vector3.Normalize(m_angularMotorDVel) * timestep / m_angularMotorDecayTimescale;
+                            m_angularMotorDVel -= decel;
+                        }
+
+                        if (m_angularMotorDVel.ApproxEquals(Vector3.Zero, 0.01f))
+                        {
+                            m_angularMotorDVel = Vector3.Zero;
+                        }
+                        else
+                        {
+                            if (Math.Abs(m_angularMotorDVel.X) < Math.Abs(angObjectVel.X)) angObjectVel.X = m_angularMotorDVel.X;
+                            if (Math.Abs(m_angularMotorDVel.Y) < Math.Abs(angObjectVel.Y)) angObjectVel.Y = m_angularMotorDVel.Y;
+                            if (Math.Abs(m_angularMotorDVel.Z) < Math.Abs(angObjectVel.Z)) angObjectVel.Z = m_angularMotorDVel.Z;
+                        }
+                    } // end decay angular motor
+                    //if(frcount == 0) Console.WriteLine("MotorDvel {0}    Obj {1}", m_angularMotorDVel, angObjectVel);
+
+                    //if(frcount == 0) Console.WriteLine("VA = {0}", angObjectVel);   
+
+                    if ((!m_angularMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) || (!angObjectVel.ApproxEquals(Vector3.Zero, 0.01f)))
+                    {  // if motor or object have motion
+                        if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body);
+
+                        if (m_angularMotorTimescale < 300.0f)
+                        {
+                            Vector3 attack_error = m_angularMotorDVel - angObjectVel;
+                            float angfactor = m_angularMotorTimescale / timestep;
+                            Vector3 attackAmount = (attack_error / angfactor);
+                            angObjectVel += attackAmount;
+                            //if(frcount == 0) Console.WriteLine("Accel {0}      Attk {1}",FrAaccel, attackAmount);                     
+                            //if(frcount == 0) Console.WriteLine("V2+= {0}", angObjectVel);             
+                        }
+
+                        angObjectVel.X -= angObjectVel.X / (m_angularFrictionTimescale.X * 0.7f / timestep);
+                        angObjectVel.Y -= angObjectVel.Y / (m_angularFrictionTimescale.Y * 0.7f / timestep);
+                        angObjectVel.Z -= angObjectVel.Z / (m_angularFrictionTimescale.Z * 0.7f / timestep);
+                    } // else no signif. motion
+
+                    //if(frcount == 0) Console.WriteLine("Dmotor {0}      Obj {1}", m_angularMotorDVel, angObjectVel);
+                    // Bank section tba
+                    // Deflection section tba
+                    //if(frcount == 0) Console.WriteLine("V3 = {0}", angObjectVel);             
+
+
+                    /*                  // Rotation Axis Disables:
+                                if (!m_angularEnable.ApproxEquals(Vector3.One, 0.003f))
+                                {
+                                    if (m_angularEnable.X == 0)
+                                        angObjectVel.X = 0f;
+                                    if (m_angularEnable.Y == 0)
+                                        angObjectVel.Y = 0f;
+                                    if (m_angularEnable.Z == 0)
+                                        angObjectVel.Z = 0f;
+                                }        
+                        */
+                    angObjectVel = angObjectVel * rotq; // ================ Converts to WORLD rotation
+
+                    // Vertical attractor section
+                    Vector3 vertattr = Vector3.Zero;
+
+                    if (m_verticalAttractionTimescale < 300)
+                    {
+                        float VAservo = 1.0f / (m_verticalAttractionTimescale * timestep);
+                        // make a vector pointing up
+                        Vector3 verterr = Vector3.Zero;
+                        verterr.Z = 1.0f;
+                        // rotate it to Body Angle
+                        verterr = verterr * rotq;
+                        // verterr.X and .Y are the World error ammounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1.
+                        // As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go
+                        // negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body.
+
+                        if (verterr.Z < 0.0f)
+                        {       // Deflection from vertical exceeds 90-degrees. This method will ensure stable return to
+                            // vertical, BUT for some reason a z-rotation is imparted to the object. TBI.
+                            //Console.WriteLine("InvertFlip");  
+                            verterr.X = 2.0f - verterr.X;
+                            verterr.Y = 2.0f - verterr.Y;
+                        }
+                        verterr *= 0.5f;
+                        // verterror is 0 (no error) to +/- 1 (max error at 180-deg tilt)
+                        Vector3 xyav = angObjectVel;
+                        xyav.Z = 0.0f;
+                        if ((!xyav.ApproxEquals(Vector3.Zero, 0.001f)) || (verterr.Z < 0.49f))
+                        {
+                            // As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so 
+                            // Change  Body angular velocity  X based on Y, and Y based on X. Z is not changed.
+                            vertattr.X = verterr.Y;
+                            vertattr.Y = -verterr.X;
+                            vertattr.Z = 0f;
+                            //if(frcount == 0) Console.WriteLine("VAerr=" + verterr);   
+
+                            // scaling appears better usingsquare-law
+                            float damped = m_verticalAttractionEfficiency * m_verticalAttractionEfficiency;
+                            float bounce = 1.0f - damped;
+                            // 0 = crit damp, 1 = bouncy
+                            float oavz = angObjectVel.Z;   // retain z velocity
+                            // time-scaled correction, which sums, therefore is bouncy:
+                            angObjectVel = (angObjectVel + (vertattr * VAservo * 0.0333f)) * bounce;
+                            // damped, good @ < 90:
+                            angObjectVel = angObjectVel + (vertattr * VAservo * 0.0667f * damped);
+                            angObjectVel.Z = oavz;
+                            //if(frcount == 0) Console.WriteLine("VA+");                                        
+                            //Console.WriteLine("VAttr {0}         OAvel {1}", vertattr, angObjectVel);
+                        }
+                        else
+                        {
+                            // else error is very small
+                            angObjectVel.X = 0f;
+                            angObjectVel.Y = 0f;
+                            //if(frcount == 0) Console.WriteLine("VA0");                                        
+                        }
+                    } // else vertical attractor is off
+                    //if(frcount == 0) Console.WriteLine("V1 = {0}", angObjectVel);             
+
+
+                    m_lastAngularVelocity = angObjectVel;
+                    // apply Angular Velocity to body
+                    d.BodySetAngularVel(Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z);
+                    //if(frcount == 0) Console.WriteLine("V4 = {0}", m_lastAngularVelocity);            
+
+                }  // end VEHICLES
+                else
+                {
+                    // Dyamics (NON-'VEHICLES') are dealt with here ================================================================                    
+
+                    if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body); // KF add 161009
+
+                    /// Dynamics Buoyancy
+                    //KF: m_buoyancy is set by llSetBuoyancy() and is for non-vehicle.
+                    // m_buoyancy: (unlimited value) <0=Falls fast; 0=1g; 1=0g; >1 = floats up 
+                    // NB Prims in ODE are no subject to global gravity
+                    // This should only affect gravity operations 
+
+                    float m_mass = CalculateMass();
+                    // calculate z-force due togravity on object.
+                    fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass; // force = acceleration * mass
+                    if ((m_usePID) && (m_PIDTau > 0.0f))  // Dynamics  llMoveToTarget.
+                    {
+                        fz = 0;     // llMoveToTarget ignores gravity.
+                        // it also ignores mass of object, and any physical resting on it.
+                        // Vector3 m_PIDTarget is where we are going
+                        // float m_PIDTau is time to get there
+                        fx = 0;
+                        fy = 0;
+                        d.Vector3 pos = d.BodyGetPosition(Body);
+                        Vector3 error = new Vector3(
+                                (m_PIDTarget.X - pos.X),
+                                (m_PIDTarget.Y - pos.Y),
+                                (m_PIDTarget.Z - pos.Z));
+                        if (error.ApproxEquals(Vector3.Zero, 0.01f))
+                        {   // Very close, Jump there and quit move
+
+                            d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
+                            _target_velocity = Vector3.Zero;
+                            d.BodySetLinearVel(Body, _target_velocity.X, _target_velocity.Y, _target_velocity.Z);
+                            d.BodySetForce(Body, 0f, 0f, 0f);
+                        }
+                        else
+                        {
+                            float scale = 50.0f * timestep / m_PIDTau;
+                            if ((error.ApproxEquals(Vector3.Zero, 0.5f)) && (_target_velocity != Vector3.Zero))
+                            {
+                                // Nearby, quit update of velocity
+                            }
+                            else
+                            {  // Far, calc damped velocity
+                                _target_velocity = error * scale;
+                            }
+                            d.BodySetLinearVel(Body, _target_velocity.X, _target_velocity.Y, _target_velocity.Z);
+                        }
+                    } // end PID MoveToTarget
+
+
+                    /// Dynamics Hover ===================================================================================
+                    // Hover PID Controller can only run if the PIDcontroller is not in use.
+                    if (m_useHoverPID && !m_usePID)
+                    {
+                        //Console.WriteLine("Hover " +  m_primName);            
+
+                        // If we're using the PID controller, then we have no gravity
+                        fz = (-1 * _parent_scene.gravityz) * m_mass;
+
+                        //  no lock; for now it's only called from within Simulate()
+
+                        // If the PID Controller isn't active then we set our force
+                        // calculating base velocity to the current position
+
+                        if ((m_PIDTau < 1))
+                        {
+                            PID_G = PID_G / m_PIDTau;
+                        }
+
+                        if ((PID_G - m_PIDTau) <= 0)
+                        {
+                            PID_G = m_PIDTau + 1;
+                        }
+
+
+                        // Where are we, and where are we headed?
+                        d.Vector3 pos = d.BodyGetPosition(Body);
+                        //                          d.Vector3 vel = d.BodyGetLinearVel(Body);
+
+
+                        //    Non-Vehicles have a limited set of Hover options.
+                        // determine what our target height really is based on HoverType
+                        switch (m_PIDHoverType)
+                        {
+                            case PIDHoverType.Ground:
+                                m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
+                                m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
+                                break;
+                            case PIDHoverType.GroundAndWater:
+                                m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
+                                m_waterHeight = _parent_scene.GetWaterLevel();
+                                if (m_groundHeight > m_waterHeight)
+                                {
+                                    m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
+                                }
+                                else
+                                {
+                                    m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight;
+                                }
+                                break;
+
+                        }       // end switch (m_PIDHoverType)
+
+
+                        _target_velocity =
+                            new Vector3(0.0f, 0.0f,
+                                (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep)
+                                );
+
+                        //  if velocity is zero, use position control; otherwise, velocity control
+
+                        if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
+                        {
+                            //  keep track of where we stopped.  No more slippin' & slidin'
+
+                            // We only want to deactivate the PID Controller if we think we want to have our surrogate
+                            // react to the physics scene by moving it's position.
+                            // Avatar to Avatar collisions
+                            // Prim to avatar collisions
+                            d.Vector3 dlinvel = vel;
+                            d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);
+                            d.BodySetLinearVel(Body, dlinvel.X, dlinvel.Y, dlinvel.Z);
+                            d.BodyAddForce(Body, 0, 0, fz);
+                            //KF this prevents furthur motions         return;
+                        }
+                        else
+                        {
+                            _zeroFlag = false;
+
+                            // We're flying and colliding with something
+                            fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass);
+                        }
+                    } // end m_useHoverPID && !m_usePID
+
+
+                    /// Dynamics Apply Forces ===================================================================================
+                    fx *= m_mass;
+                    fy *= m_mass;
+                    //fz *= m_mass;
+                    fx += m_force.X;
+                    fy += m_force.Y;
+                    fz += m_force.Z;
+
+                    //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString());
+                    if (fx != 0 || fy != 0 || fz != 0)
+                    {
+                        //m_taintdisable = true;
+                        //base.RaiseOutOfBounds(Position);
+                        //d.BodySetLinearVel(Body, fx, fy, 0f);
+                        if (!d.BodyIsEnabled(Body))
+                        {
+                            // A physical body at rest on a surface will auto-disable after a while,
+                            // this appears to re-enable it incase the surface it is upon vanishes,
+                            // and the body should fall again. 
+                            d.BodySetLinearVel(Body, 0f, 0f, 0f);
+                            d.BodySetForce(Body, 0f, 0f, 0f);
+                            enableBodySoft();
+                        }
+
+                        // 35x10 = 350n times the mass per second applied maximum.
+                        float nmax = 35f * m_mass;
+                        float nmin = -35f * m_mass;
+
+
+                        if (fx > nmax)
+                            fx = nmax;
+                        if (fx < nmin)
+                            fx = nmin;
+                        if (fy > nmax)
+                            fy = nmax;
+                        if (fy < nmin)
+                            fy = nmin;
+                        d.BodyAddForce(Body, fx, fy, fz);
+                    }  // end apply forces
+                } // end Vehicle/Dynamics
+
+                /// RotLookAt / LookAt =================================================================================
+                if (m_useAPID)
+                {
+                    // RotLookAt, apparently overrides all other rotation sources. Inputs:
+                    // Quaternion m_APIDTarget
+                    // float m_APIDStrength             // From SL experiments, this is the time to get there
+                    // float m_APIDDamping              // From SL experiments, this is damping, 1.0 = damped, 0.1 = wobbly
+                    // Also in SL the mass of the object has no effect on time to get there.
+                    // Factors:
+                    // get present body rotation
+                    float limit = 1.0f;
+                    float rscaler = 50f;                // adjusts rotation damping time
+                    float lscaler = 10f;                // adjusts linear damping time in llLookAt
+                    float RLAservo = 0f;
+                    Vector3 diff_axis;
+                    float diff_angle;
+                    d.Quaternion rot = d.BodyGetQuaternion(Body);                                               // prim present rotation
+                    Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
+                    Quaternion rtarget = new Quaternion();
+
+                    if (m_APIDTarget.W == -99.9f)
+                    {
+                        // this is really a llLookAt(), x,y,z is the target vector
+                        Vector3 target = new Vector3(m_APIDTarget.X, m_APIDTarget.Y, m_APIDTarget.Z);
+                        Vector3 ospin = new Vector3(1.0f, 0.0f, 0.0f) * rotq;
+                        Vector3 error = new Vector3(0.0f, 0.0f, 0.0f);
+                        float twopi = 2.0f * (float)Math.PI;
+                        Vector3 dir = target - _position;
+                        dir.Normalize();
+                        float tzrot = (float)Math.Atan2(dir.Y, dir.X);
+                        float txy = (float)Math.Sqrt((dir.X * dir.X) + (dir.Y * dir.Y));
+                        float terot = (float)Math.Atan2(dir.Z, txy);
+                        float ozrot = (float)Math.Atan2(ospin.Y, ospin.X);
+                        float oxy = (float)Math.Sqrt((ospin.X * ospin.X) + (ospin.Y * ospin.Y));
+                        float oerot = (float)Math.Atan2(ospin.Z, oxy);
+                        float ra = 2.0f * ((rotq.W * rotq.X) + (rotq.Y * rotq.Z));
+                        float rb = 1.0f - 2.0f * ((rotq.Y * rotq.Y) + (rotq.X * rotq.X));
+                        float roll = (float)Math.Atan2(ra, rb);
+                        float errorz = tzrot - ozrot;
+                        if (errorz > (float)Math.PI) errorz -= twopi;
+                        else if (errorz < -(float)Math.PI) errorz += twopi;
+                        float errory = oerot - terot;
+                        if (errory > (float)Math.PI) errory -= twopi;
+                        else if (errory < -(float)Math.PI) errory += twopi;
+                        diff_angle = Math.Abs(errorz) + Math.Abs(errory) + Math.Abs(roll);
+                        if (diff_angle > 0.01f * m_APIDdamper)
+                        {
+                            m_APIDdamper = 1.0f;
+                            RLAservo = timestep / m_APIDStrength * rscaler;
+                            errorz *= RLAservo;
+                            errory *= RLAservo;
+                            error.X = -roll * 8.0f;
+                            error.Y = errory;
+                            error.Z = errorz;
+                            error *= rotq;
+                            d.BodySetAngularVel(Body, error.X, error.Y, error.Z);
+                        }
+                        else
+                        {
+                            d.BodySetAngularVel(Body, 0.0f, 0.0f, 0.0f);
+                            m_APIDdamper = 2.0f;
+                        }
+                    }
+                    else
+                    {
+                        // this is a llRotLookAt()
+                        rtarget = m_APIDTarget;
+
+                        Quaternion rot_diff = Quaternion.Inverse(rotq) * rtarget;               // difference to desired rot
+                        rot_diff.GetAxisAngle(out diff_axis, out diff_angle);                           // convert to axis to point at & error angle
+                        //if(frcount == 0) Console.WriteLine("axis {0}   angle {1}",diff_axis * 57.3f, diff_angle);
+
+                        //   diff_axis.Normalize(); it already is!
+                        if (diff_angle > 0.01f * m_APIDdamper)                  // diff_angle is always +ve                     // if there is enough error
+                        {
+                            m_APIDdamper = 1.0f;
+                            Vector3 rotforce = new Vector3(diff_axis.X, diff_axis.Y, diff_axis.Z);
+                            rotforce = rotforce * rotq;
+                            if (diff_angle > limit) diff_angle = limit;         // cap the rotate rate
+                            RLAservo = timestep / m_APIDStrength * lscaler;
+                            rotforce = rotforce * RLAservo * diff_angle;
+                            d.BodySetAngularVel(Body, rotforce.X, rotforce.Y, rotforce.Z);
+                            //Console.WriteLine("axis= " + diff_axis + "    angle= " + diff_angle + "servo= " + RLAservo);                                                      
+                        }
+                        else
+                        {       // close enough
+                            d.BodySetAngularVel(Body, 0.0f, 0.0f, 0.0f);
+                            m_APIDdamper = 2.0f;
+                        }
+                    } // end llLookAt/llRotLookAt
+                    //if(frcount == 0) Console.WriteLine("mass= " + m_mass + "  servo= " + RLAservo + "   angle= " + diff_angle);
+                } // end m_useAPID
+            } // end root prims
+        }  // end Move()
+    } // end class
+}