6 files changed, 924 insertions, 821 deletions

diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs
index 6c9d9ab..1ceed1a 100644
--- a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs
+++ b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs
@@ -123,11 +123,15 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
                     actorPosition.X = ((int)Constants.RegionSize - 0.1f);
                 }
 
-                float height = _heightMap[(int)actor.Position.Y * Constants.RegionSize + (int)actor.Position.X] + actor.Size.Z;
+                float terrainHeight = 0;
+                if (_heightMap != null)
+                    terrainHeight = _heightMap[(int)actor.Position.Y * Constants.RegionSize + (int)actor.Position.X];
+
+                float height = terrainHeight + actor.Size.Z;
+
                 if (actor.Flying)
                 {
-                    if (actor.Position.Z + (actor.Velocity.Z*timeStep) <
-                        _heightMap[(int)actor.Position.Y * Constants.RegionSize + (int)actor.Position.X] + 2)
+                    if (actor.Position.Z + (actor.Velocity.Z * timeStep) < terrainHeight + 2)
                     {
                         actorPosition.Z = height;
                         actorVelocity.Z = 0;
@@ -135,7 +139,7 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
                     }
                     else
                     {
-                        actorPosition.Z += actor.Velocity.Z*timeStep;
+                        actorPosition.Z += actor.Velocity.Z * timeStep;
                         actor.IsColliding = false;
                     }
                 }
diff --git a/OpenSim/Region/Physics/Manager/PhysicsScene.cs b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
index 3870411..04efc1d 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsScene.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
@@ -86,6 +86,10 @@ namespace OpenSim.Region.Physics.Manager
 
         public abstract void RemoveAvatar(PhysicsActor actor);
 
+        /// <summary>
+        /// Remove a prim from the physics scene.
+        /// </summary>
+        /// <param name="prim"></param>
         public abstract void RemovePrim(PhysicsActor prim);
 
         public abstract PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
diff --git a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
index 5413aa8..e81b982 100644
--- a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
+++ b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
@@ -301,20 +301,22 @@ namespace OpenSim.Region.Physics.Meshing
             }
         }
 
+        /// <summary>
+        /// Create a physics mesh from data that comes with the prim.  The actual data used depends on the prim type.
+        /// </summary>
+        /// <param name="primName"></param>
+        /// <param name="primShape"></param>
+        /// <param name="size"></param>
+        /// <param name="lod"></param>
+        /// <returns></returns>
         private Mesh CreateMeshFromPrimMesher(string primName, PrimitiveBaseShape primShape, Vector3 size, float lod)
         {
 //            m_log.DebugFormat(
 //                "[MESH]: Creating physics proxy for {0}, shape {1}",
 //                primName, (OpenMetaverse.SculptType)primShape.SculptType);
 
-            PrimMesh primMesh;
-            PrimMesher.SculptMesh sculptMesh;
-
-            List<Coord> coords = new List<Coord>();
-            List<Face> faces = new List<Face>();
-
-            Image idata = null;
-            string decodedSculptFileName = "";
+            List<Coord> coords;
+            List<Face> faces;
 
             if (primShape.SculptEntry)
             {
@@ -323,337 +325,414 @@ namespace OpenSim.Region.Physics.Meshing
                     if (!useMeshiesPhysicsMesh)
                         return null;
 
-                    m_log.DebugFormat("[MESH]: experimental mesh proxy generation for {0}", primName);
+                    if (!GenerateCoordsAndFacesFromPrimMeshData(primName, primShape, size, out coords, out faces))
+                        return null;
+                }
+                else
+                {
+                    if (!GenerateCoordsAndFacesFromPrimSculptData(primName, primShape, size, lod, out coords, out faces))
+                        return null;
+                }
+            }
+            else
+            {
+                if (!GenerateCoordsAndFacesFromPrimShapeData(primName, primShape, size, out coords, out faces))
+                    return null;
+            }
 
-                    OSD meshOsd = null;
+            // Remove the reference to any JPEG2000 sculpt data so it can be GCed
+            primShape.SculptData = Utils.EmptyBytes;
 
-                    if (primShape.SculptData.Length <= 0)
-                    {
-                        m_log.Error("[MESH]: asset data is zero length");
-                        return null;
-                    }
+            int numCoords = coords.Count;
+            int numFaces = faces.Count;
 
-                    long start = 0;
-                    using (MemoryStream data = new MemoryStream(primShape.SculptData))
-                    {
-                        try
-                        {
-                            OSD osd = OSDParser.DeserializeLLSDBinary(data);
-                            if (osd is OSDMap)
-                                meshOsd = (OSDMap)osd;
-                            else
-                            {
-                                m_log.Warn("[Mesh}: unable to cast mesh asset to OSDMap");
-                                return null;
-                            }
-                        }
-                        catch (Exception e)
-                        {
-                            m_log.Error("[MESH]: Exception deserializing mesh asset header:" + e.ToString());
-                        }
+            // Create the list of vertices
+            List<Vertex> vertices = new List<Vertex>();
+            for (int i = 0; i < numCoords; i++)
+            {
+                Coord c = coords[i];
+                vertices.Add(new Vertex(c.X, c.Y, c.Z));
+            }
 
-                        start = data.Position;
-                    }
+            Mesh mesh = new Mesh();
+            // Add the corresponding triangles to the mesh
+            for (int i = 0; i < numFaces; i++)
+            {
+                Face f = faces[i];
+                mesh.Add(new Triangle(vertices[f.v1], vertices[f.v2], vertices[f.v3]));
+            }
+
+            return mesh;
+        }
 
-                    if (meshOsd is OSDMap)
+        /// <summary>
+        /// Generate the co-ords and faces necessary to construct a mesh from the mesh data the accompanies a prim.
+        /// </summary>
+        /// <param name="primName"></param>
+        /// <param name="primShape"></param>
+        /// <param name="size"></param>
+        /// <param name="coords">Coords are added to this list by the method.</param>
+        /// <param name="faces">Faces are added to this list by the method.</param>
+        /// <returns>true if coords and faces were successfully generated, false if not</returns>
+        private bool GenerateCoordsAndFacesFromPrimMeshData(
+            string primName, PrimitiveBaseShape primShape, Vector3 size, out List<Coord> coords, out List<Face> faces)
+        {
+            m_log.DebugFormat("[MESH]: experimental mesh proxy generation for {0}", primName);
+
+            coords = new List<Coord>();
+            faces = new List<Face>();
+            OSD meshOsd = null;
+
+            if (primShape.SculptData.Length <= 0)
+            {
+                m_log.Error("[MESH]: asset data is zero length");
+                return false;
+            }
+
+            long start = 0;
+            using (MemoryStream data = new MemoryStream(primShape.SculptData))
+            {
+                try
+                {
+                    OSD osd = OSDParser.DeserializeLLSDBinary(data);
+                    if (osd is OSDMap)
+                        meshOsd = (OSDMap)osd;
+                    else
                     {
-                        OSDMap physicsParms = null;
-                        OSDMap map = (OSDMap)meshOsd;
-                        if (map.ContainsKey("physics_shape"))
-                            physicsParms = (OSDMap)map["physics_shape"]; // old asset format
-                        else if (map.ContainsKey("physics_mesh"))
-                            physicsParms = (OSDMap)map["physics_mesh"]; // new asset format
-
-                        if (physicsParms == null)
-                        {
-                            m_log.Warn("[MESH]: no recognized physics mesh found in mesh asset");
-                            return null;
-                        }
+                        m_log.Warn("[Mesh}: unable to cast mesh asset to OSDMap");
+                        return false;
+                    }
+                }
+                catch (Exception e)
+                {
+                    m_log.Error("[MESH]: Exception deserializing mesh asset header:" + e.ToString());
+                }
+
+                start = data.Position;
+            }
 
-                        int physOffset = physicsParms["offset"].AsInteger() + (int)start;
-                        int physSize = physicsParms["size"].AsInteger();
+            if (meshOsd is OSDMap)
+            {
+                OSDMap physicsParms = null;
+                OSDMap map = (OSDMap)meshOsd;
+                if (map.ContainsKey("physics_shape"))
+                    physicsParms = (OSDMap)map["physics_shape"]; // old asset format
+                else if (map.ContainsKey("physics_mesh"))
+                    physicsParms = (OSDMap)map["physics_mesh"]; // new asset format
+
+                if (physicsParms == null)
+                {
+                    m_log.Warn("[MESH]: no recognized physics mesh found in mesh asset");
+                    return false;
+                }
 
-                        if (physOffset < 0 || physSize == 0)
-                            return null; // no mesh data in asset
+                int physOffset = physicsParms["offset"].AsInteger() + (int)start;
+                int physSize = physicsParms["size"].AsInteger();
 
-                        OSD decodedMeshOsd = new OSD();
-                        byte[] meshBytes = new byte[physSize];
-                        System.Buffer.BlockCopy(primShape.SculptData, physOffset, meshBytes, 0, physSize);
+                if (physOffset < 0 || physSize == 0)
+                    return false; // no mesh data in asset
+
+                OSD decodedMeshOsd = new OSD();
+                byte[] meshBytes = new byte[physSize];
+                System.Buffer.BlockCopy(primShape.SculptData, physOffset, meshBytes, 0, physSize);
 //                        byte[] decompressed = new byte[physSize * 5];
-                        try
+                try
+                {
+                    using (MemoryStream inMs = new MemoryStream(meshBytes))
+                    {
+                        using (MemoryStream outMs = new MemoryStream())
                         {
-                            using (MemoryStream inMs = new MemoryStream(meshBytes))
+                            using (ZOutputStream zOut = new ZOutputStream(outMs))
                             {
-                                using (MemoryStream outMs = new MemoryStream())
+                                byte[] readBuffer = new byte[2048];
+                                int readLen = 0;
+                                while ((readLen = inMs.Read(readBuffer, 0, readBuffer.Length)) > 0)
                                 {
-                                    using (ZOutputStream zOut = new ZOutputStream(outMs))
-                                    {
-                                        byte[] readBuffer = new byte[2048];
-                                        int readLen = 0;
-                                        while ((readLen = inMs.Read(readBuffer, 0, readBuffer.Length)) > 0)
-                                        {
-                                            zOut.Write(readBuffer, 0, readLen);
-                                        }
-                                        zOut.Flush();
-                                        outMs.Seek(0, SeekOrigin.Begin);
-
-                                        byte[] decompressedBuf = outMs.GetBuffer();
-
-                                        decodedMeshOsd = OSDParser.DeserializeLLSDBinary(decompressedBuf);
-                                    }
+                                    zOut.Write(readBuffer, 0, readLen);
                                 }
+                                zOut.Flush();
+                                outMs.Seek(0, SeekOrigin.Begin);
+
+                                byte[] decompressedBuf = outMs.GetBuffer();
+
+                                decodedMeshOsd = OSDParser.DeserializeLLSDBinary(decompressedBuf);
                             }
                         }
-                        catch (Exception e)
-                        {
-                            m_log.Error("[MESH]: exception decoding physical mesh: " + e.ToString());
-                            return null;
-                        }
+                    }
+                }
+                catch (Exception e)
+                {
+                    m_log.Error("[MESH]: exception decoding physical mesh: " + e.ToString());
+                    return false;
+                }
 
-                        OSDArray decodedMeshOsdArray = null;
+                OSDArray decodedMeshOsdArray = null;
 
-                        // physics_shape is an array of OSDMaps, one for each submesh
-                        if (decodedMeshOsd is OSDArray)
-                        {
+                // physics_shape is an array of OSDMaps, one for each submesh
+                if (decodedMeshOsd is OSDArray)
+                {
 //                            Console.WriteLine("decodedMeshOsd for {0} - {1}", primName, Util.GetFormattedXml(decodedMeshOsd));
 
-                            decodedMeshOsdArray = (OSDArray)decodedMeshOsd;
-                            foreach (OSD subMeshOsd in decodedMeshOsdArray)
-                            {
-                                if (subMeshOsd is OSDMap)
-                                    AddSubMesh(subMeshOsd as OSDMap, size, coords, faces);
-                            }
-                        }
+                    decodedMeshOsdArray = (OSDArray)decodedMeshOsd;
+                    foreach (OSD subMeshOsd in decodedMeshOsdArray)
+                    {
+                        if (subMeshOsd is OSDMap)
+                            AddSubMesh(subMeshOsd as OSDMap, size, coords, faces);
                     }
                 }
-                else
+            }
+
+            return true;
+        }
+
+        /// <summary>
+        /// Generate the co-ords and faces necessary to construct a mesh from the sculpt data the accompanies a prim.
+        /// </summary>
+        /// <param name="primName"></param>
+        /// <param name="primShape"></param>
+        /// <param name="size"></param>
+        /// <param name="lod"></param>
+        /// <param name="coords">Coords are added to this list by the method.</param>
+        /// <param name="faces">Faces are added to this list by the method.</param>
+        /// <returns>true if coords and faces were successfully generated, false if not</returns>
+        private bool GenerateCoordsAndFacesFromPrimSculptData(
+            string primName, PrimitiveBaseShape primShape, Vector3 size, float lod, out List<Coord> coords, out List<Face> faces)
+        {
+            coords = new List<Coord>();
+            faces = new List<Face>();
+            PrimMesher.SculptMesh sculptMesh;
+            Image idata = null;
+            string decodedSculptFileName = "";
+
+            if (cacheSculptMaps && primShape.SculptTexture != UUID.Zero)
+            {
+                decodedSculptFileName = System.IO.Path.Combine(decodedSculptMapPath, "smap_" + primShape.SculptTexture.ToString());
+                try
                 {
-                    if (cacheSculptMaps && primShape.SculptTexture != UUID.Zero)
+                    if (File.Exists(decodedSculptFileName))
                     {
-                        decodedSculptFileName = System.IO.Path.Combine(decodedSculptMapPath, "smap_" + primShape.SculptTexture.ToString());
-                        try
-                        {
-                            if (File.Exists(decodedSculptFileName))
-                            {
-                                idata = Image.FromFile(decodedSculptFileName);
-                            }
-                        }
-                        catch (Exception e)
-                        {
-                            m_log.Error("[SCULPT]: unable to load cached sculpt map " + decodedSculptFileName + " " + e.Message);
-
-                        }
-                        //if (idata != null)
-                        //    m_log.Debug("[SCULPT]: loaded cached map asset for map ID: " + primShape.SculptTexture.ToString());
+                        idata = Image.FromFile(decodedSculptFileName);
                     }
+                }
+                catch (Exception e)
+                {
+                    m_log.Error("[SCULPT]: unable to load cached sculpt map " + decodedSculptFileName + " " + e.Message);
+
+                }
+                //if (idata != null)
+                //    m_log.Debug("[SCULPT]: loaded cached map asset for map ID: " + primShape.SculptTexture.ToString());
+            }
+
+            if (idata == null)
+            {
+                if (primShape.SculptData == null || primShape.SculptData.Length == 0)
+                    return false;
+
+                try
+                {
+                    OpenMetaverse.Imaging.ManagedImage unusedData;
+                    OpenMetaverse.Imaging.OpenJPEG.DecodeToImage(primShape.SculptData, out unusedData, out idata);
 
                     if (idata == null)
                     {
-                        if (primShape.SculptData == null || primShape.SculptData.Length == 0)
-                            return null;
+                        // In some cases it seems that the decode can return a null bitmap without throwing
+                        // an exception
+                        m_log.WarnFormat("[PHYSICS]: OpenJPEG decoded sculpt data for {0} to a null bitmap.  Ignoring.", primName);
 
-                        try
-                        {
-                            OpenMetaverse.Imaging.ManagedImage unusedData;
-                            OpenMetaverse.Imaging.OpenJPEG.DecodeToImage(primShape.SculptData, out unusedData, out idata);
-                            unusedData = null;
+                        return false;
+                    }
 
-                            //idata = CSJ2K.J2kImage.FromBytes(primShape.SculptData);
+                    unusedData = null;
 
-                            if (cacheSculptMaps && idata != null)
-                            {
-                                try { idata.Save(decodedSculptFileName, ImageFormat.MemoryBmp); }
-                                catch (Exception e) { m_log.Error("[SCULPT]: unable to cache sculpt map " + decodedSculptFileName + " " + e.Message); }
-                            }
-                        }
-                        catch (DllNotFoundException)
-                        {
-                            m_log.Error("[PHYSICS]: OpenJpeg is not installed correctly on this system. Physics Proxy generation failed.  Often times this is because of an old version of GLIBC.  You must have version 2.4 or above!");
-                            return null;
-                        }
-                        catch (IndexOutOfRangeException)
-                        {
-                            m_log.Error("[PHYSICS]: OpenJpeg was unable to decode this. Physics Proxy generation failed");
-                            return null;
-                        }
-                        catch (Exception ex)
-                        {
-                            m_log.Error("[PHYSICS]: Unable to generate a Sculpty physics proxy. Sculpty texture decode failed: " + ex.Message);
-                            return null;
-                        }
-                    }
+                    //idata = CSJ2K.J2kImage.FromBytes(primShape.SculptData);
 
-                    PrimMesher.SculptMesh.SculptType sculptType;
-                    switch ((OpenMetaverse.SculptType)primShape.SculptType)
+                    if (cacheSculptMaps)
                     {
-                        case OpenMetaverse.SculptType.Cylinder:
-                            sculptType = PrimMesher.SculptMesh.SculptType.cylinder;
-                            break;
-                        case OpenMetaverse.SculptType.Plane:
-                            sculptType = PrimMesher.SculptMesh.SculptType.plane;
-                            break;
-                        case OpenMetaverse.SculptType.Torus:
-                            sculptType = PrimMesher.SculptMesh.SculptType.torus;
-                            break;
-                        case OpenMetaverse.SculptType.Sphere:
-                            sculptType = PrimMesher.SculptMesh.SculptType.sphere;
-                            break;
-                        default:
-                            sculptType = PrimMesher.SculptMesh.SculptType.plane;
-                            break;
+                        try { idata.Save(decodedSculptFileName, ImageFormat.MemoryBmp); }
+                        catch (Exception e) { m_log.Error("[SCULPT]: unable to cache sculpt map " + decodedSculptFileName + " " + e.Message); }
                     }
+                }
+                catch (DllNotFoundException)
+                {
+                    m_log.Error("[PHYSICS]: OpenJpeg is not installed correctly on this system. Physics Proxy generation failed.  Often times this is because of an old version of GLIBC.  You must have version 2.4 or above!");
+                    return false;
+                }
+                catch (IndexOutOfRangeException)
+                {
+                    m_log.Error("[PHYSICS]: OpenJpeg was unable to decode this. Physics Proxy generation failed");
+                    return false;
+                }
+                catch (Exception ex)
+                {
+                    m_log.Error("[PHYSICS]: Unable to generate a Sculpty physics proxy. Sculpty texture decode failed: " + ex.Message);
+                    return false;
+                }
+            }
+
+            PrimMesher.SculptMesh.SculptType sculptType;
+            switch ((OpenMetaverse.SculptType)primShape.SculptType)
+            {
+                case OpenMetaverse.SculptType.Cylinder:
+                    sculptType = PrimMesher.SculptMesh.SculptType.cylinder;
+                    break;
+                case OpenMetaverse.SculptType.Plane:
+                    sculptType = PrimMesher.SculptMesh.SculptType.plane;
+                    break;
+                case OpenMetaverse.SculptType.Torus:
+                    sculptType = PrimMesher.SculptMesh.SculptType.torus;
+                    break;
+                case OpenMetaverse.SculptType.Sphere:
+                    sculptType = PrimMesher.SculptMesh.SculptType.sphere;
+                    break;
+                default:
+                    sculptType = PrimMesher.SculptMesh.SculptType.plane;
+                    break;
+            }
 
-                    bool mirror = ((primShape.SculptType & 128) != 0);
-                    bool invert = ((primShape.SculptType & 64) != 0);
+            bool mirror = ((primShape.SculptType & 128) != 0);
+            bool invert = ((primShape.SculptType & 64) != 0);
 
-                    sculptMesh = new PrimMesher.SculptMesh((Bitmap)idata, sculptType, (int)lod, false, mirror, invert);
-                    
-                    idata.Dispose();
+            sculptMesh = new PrimMesher.SculptMesh((Bitmap)idata, sculptType, (int)lod, false, mirror, invert);
 
-                    sculptMesh.DumpRaw(baseDir, primName, "primMesh");
+            idata.Dispose();
 
-                    sculptMesh.Scale(size.X, size.Y, size.Z);
+            sculptMesh.DumpRaw(baseDir, primName, "primMesh");
 
-                    coords = sculptMesh.coords;
-                    faces = sculptMesh.faces;
-                }
+            sculptMesh.Scale(size.X, size.Y, size.Z);
+
+            coords = sculptMesh.coords;
+            faces = sculptMesh.faces;
+
+            return true;
+        }
+
+        /// <summary>
+        /// Generate the co-ords and faces necessary to construct a mesh from the shape data the accompanies a prim.
+        /// </summary>
+        /// <param name="primName"></param>
+        /// <param name="primShape"></param>
+        /// <param name="size"></param>
+        /// <param name="coords">Coords are added to this list by the method.</param>
+        /// <param name="faces">Faces are added to this list by the method.</param>
+        /// <returns>true if coords and faces were successfully generated, false if not</returns>
+        private bool GenerateCoordsAndFacesFromPrimShapeData(
+            string primName, PrimitiveBaseShape primShape, Vector3 size, out List<Coord> coords, out List<Face> faces)
+        {
+            PrimMesh primMesh;
+            coords = new List<Coord>();
+            faces = new List<Face>();            
+
+            float pathShearX = primShape.PathShearX < 128 ? (float)primShape.PathShearX * 0.01f : (float)(primShape.PathShearX - 256) * 0.01f;
+            float pathShearY = primShape.PathShearY < 128 ? (float)primShape.PathShearY * 0.01f : (float)(primShape.PathShearY - 256) * 0.01f;
+            float pathBegin = (float)primShape.PathBegin * 2.0e-5f;
+            float pathEnd = 1.0f - (float)primShape.PathEnd * 2.0e-5f;
+            float pathScaleX = (float)(primShape.PathScaleX - 100) * 0.01f;
+            float pathScaleY = (float)(primShape.PathScaleY - 100) * 0.01f;
+
+            float profileBegin = (float)primShape.ProfileBegin * 2.0e-5f;
+            float profileEnd = 1.0f - (float)primShape.ProfileEnd * 2.0e-5f;
+            float profileHollow = (float)primShape.ProfileHollow * 2.0e-5f;
+            if (profileHollow > 0.95f)
+                profileHollow = 0.95f;
+
+            int sides = 4;
+            if ((primShape.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle)
+                sides = 3;
+            else if ((primShape.ProfileCurve & 0x07) == (byte)ProfileShape.Circle)
+                sides = 24;
+            else if ((primShape.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle)
+            { // half circle, prim is a sphere
+                sides = 24;
+
+                profileBegin = 0.5f * profileBegin + 0.5f;
+                profileEnd = 0.5f * profileEnd + 0.5f;
             }
-            else
-            {
-                float pathShearX = primShape.PathShearX < 128 ? (float)primShape.PathShearX * 0.01f : (float)(primShape.PathShearX - 256) * 0.01f;
-                float pathShearY = primShape.PathShearY < 128 ? (float)primShape.PathShearY * 0.01f : (float)(primShape.PathShearY - 256) * 0.01f;
-                float pathBegin = (float)primShape.PathBegin * 2.0e-5f;
-                float pathEnd = 1.0f - (float)primShape.PathEnd * 2.0e-5f;
-                float pathScaleX = (float)(primShape.PathScaleX - 100) * 0.01f;
-                float pathScaleY = (float)(primShape.PathScaleY - 100) * 0.01f;
-
-                float profileBegin = (float)primShape.ProfileBegin * 2.0e-5f;
-                float profileEnd = 1.0f - (float)primShape.ProfileEnd * 2.0e-5f;
-                float profileHollow = (float)primShape.ProfileHollow * 2.0e-5f;
-                if (profileHollow > 0.95f)
-                    profileHollow = 0.95f;
-
-                int sides = 4;
-                if ((primShape.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle)
-                    sides = 3;
-                else if ((primShape.ProfileCurve & 0x07) == (byte)ProfileShape.Circle)
-                    sides = 24;
-                else if ((primShape.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle)
-                { // half circle, prim is a sphere
-                    sides = 24;
-
-                    profileBegin = 0.5f * profileBegin + 0.5f;
-                    profileEnd = 0.5f * profileEnd + 0.5f;
-                }
 
-                int hollowSides = sides;
-                if (primShape.HollowShape == HollowShape.Circle)
-                    hollowSides = 24;
-                else if (primShape.HollowShape == HollowShape.Square)
-                    hollowSides = 4;
-                else if (primShape.HollowShape == HollowShape.Triangle)
-                    hollowSides = 3;
+            int hollowSides = sides;
+            if (primShape.HollowShape == HollowShape.Circle)
+                hollowSides = 24;
+            else if (primShape.HollowShape == HollowShape.Square)
+                hollowSides = 4;
+            else if (primShape.HollowShape == HollowShape.Triangle)
+                hollowSides = 3;
 
-                primMesh = new PrimMesh(sides, profileBegin, profileEnd, profileHollow, hollowSides);
+            primMesh = new PrimMesh(sides, profileBegin, profileEnd, profileHollow, hollowSides);
 
-                if (primMesh.errorMessage != null)
-                    if (primMesh.errorMessage.Length > 0)
-                        m_log.Error("[ERROR] " + primMesh.errorMessage);
+            if (primMesh.errorMessage != null)
+                if (primMesh.errorMessage.Length > 0)
+                    m_log.Error("[ERROR] " + primMesh.errorMessage);
 
-                primMesh.topShearX = pathShearX;
-                primMesh.topShearY = pathShearY;
-                primMesh.pathCutBegin = pathBegin;
-                primMesh.pathCutEnd = pathEnd;
+            primMesh.topShearX = pathShearX;
+            primMesh.topShearY = pathShearY;
+            primMesh.pathCutBegin = pathBegin;
+            primMesh.pathCutEnd = pathEnd;
 
-                if (primShape.PathCurve == (byte)Extrusion.Straight || primShape.PathCurve == (byte) Extrusion.Flexible)
-                {
-                    primMesh.twistBegin = primShape.PathTwistBegin * 18 / 10;
-                    primMesh.twistEnd = primShape.PathTwist * 18 / 10;
-                    primMesh.taperX = pathScaleX;
-                    primMesh.taperY = pathScaleY;
+            if (primShape.PathCurve == (byte)Extrusion.Straight || primShape.PathCurve == (byte) Extrusion.Flexible)
+            {
+                primMesh.twistBegin = primShape.PathTwistBegin * 18 / 10;
+                primMesh.twistEnd = primShape.PathTwist * 18 / 10;
+                primMesh.taperX = pathScaleX;
+                primMesh.taperY = pathScaleY;
 
-                    if (profileBegin < 0.0f || profileBegin >= profileEnd || profileEnd > 1.0f)
-                    {
-                        ReportPrimError("*** CORRUPT PRIM!! ***", primName, primMesh);
-                        if (profileBegin < 0.0f) profileBegin = 0.0f;
-                        if (profileEnd > 1.0f) profileEnd = 1.0f;
-                    }
+                if (profileBegin < 0.0f || profileBegin >= profileEnd || profileEnd > 1.0f)
+                {
+                    ReportPrimError("*** CORRUPT PRIM!! ***", primName, primMesh);
+                    if (profileBegin < 0.0f) profileBegin = 0.0f;
+                    if (profileEnd > 1.0f) profileEnd = 1.0f;
+                }
 #if SPAM
-                m_log.Debug("****** PrimMesh Parameters (Linear) ******\n" + primMesh.ParamsToDisplayString());
+            m_log.Debug("****** PrimMesh Parameters (Linear) ******\n" + primMesh.ParamsToDisplayString());
 #endif
-                    try
-                    {
-                        primMesh.ExtrudeLinear();
-                    }
-                    catch (Exception ex)
-                    {
-                        ReportPrimError("Extrusion failure: exception: " + ex.ToString(), primName, primMesh);
-                        return null;
-                    }
+                try
+                {
+                    primMesh.ExtrudeLinear();
                 }
-                else
+                catch (Exception ex)
                 {
-                    primMesh.holeSizeX = (200 - primShape.PathScaleX) * 0.01f;
-                    primMesh.holeSizeY = (200 - primShape.PathScaleY) * 0.01f;
-                    primMesh.radius = 0.01f * primShape.PathRadiusOffset;
-                    primMesh.revolutions = 1.0f + 0.015f * primShape.PathRevolutions;
-                    primMesh.skew = 0.01f * primShape.PathSkew;
-                    primMesh.twistBegin = primShape.PathTwistBegin * 36 / 10;
-                    primMesh.twistEnd = primShape.PathTwist * 36 / 10;
-                    primMesh.taperX = primShape.PathTaperX * 0.01f;
-                    primMesh.taperY = primShape.PathTaperY * 0.01f;
-
-                    if (profileBegin < 0.0f || profileBegin >= profileEnd || profileEnd > 1.0f)
-                    {
-                        ReportPrimError("*** CORRUPT PRIM!! ***", primName, primMesh);
-                        if (profileBegin < 0.0f) profileBegin = 0.0f;
-                        if (profileEnd > 1.0f) profileEnd = 1.0f;
-                    }
+                    ReportPrimError("Extrusion failure: exception: " + ex.ToString(), primName, primMesh);
+                    return false;
+                }
+            }
+            else
+            {
+                primMesh.holeSizeX = (200 - primShape.PathScaleX) * 0.01f;
+                primMesh.holeSizeY = (200 - primShape.PathScaleY) * 0.01f;
+                primMesh.radius = 0.01f * primShape.PathRadiusOffset;
+                primMesh.revolutions = 1.0f + 0.015f * primShape.PathRevolutions;
+                primMesh.skew = 0.01f * primShape.PathSkew;
+                primMesh.twistBegin = primShape.PathTwistBegin * 36 / 10;
+                primMesh.twistEnd = primShape.PathTwist * 36 / 10;
+                primMesh.taperX = primShape.PathTaperX * 0.01f;
+                primMesh.taperY = primShape.PathTaperY * 0.01f;
+
+                if (profileBegin < 0.0f || profileBegin >= profileEnd || profileEnd > 1.0f)
+                {
+                    ReportPrimError("*** CORRUPT PRIM!! ***", primName, primMesh);
+                    if (profileBegin < 0.0f) profileBegin = 0.0f;
+                    if (profileEnd > 1.0f) profileEnd = 1.0f;
+                }
 #if SPAM
-                m_log.Debug("****** PrimMesh Parameters (Circular) ******\n" + primMesh.ParamsToDisplayString());
+            m_log.Debug("****** PrimMesh Parameters (Circular) ******\n" + primMesh.ParamsToDisplayString());
 #endif
-                    try
-                    {
-                        primMesh.ExtrudeCircular();
-                    }
-                    catch (Exception ex)
-                    {
-                        ReportPrimError("Extrusion failure: exception: " + ex.ToString(), primName, primMesh);
-                        return null;
-                    }
+                try
+                {
+                    primMesh.ExtrudeCircular();
+                }
+                catch (Exception ex)
+                {
+                    ReportPrimError("Extrusion failure: exception: " + ex.ToString(), primName, primMesh);
+                    return false;
                 }
-
-                primMesh.DumpRaw(baseDir, primName, "primMesh");
-
-                primMesh.Scale(size.X, size.Y, size.Z);
-
-                coords = primMesh.coords;
-                faces = primMesh.faces;
             }
 
-            // Remove the reference to any JPEG2000 sculpt data so it can be GCed
-            primShape.SculptData = Utils.EmptyBytes;
+            primMesh.DumpRaw(baseDir, primName, "primMesh");
 
-            int numCoords = coords.Count;
-            int numFaces = faces.Count;
+            primMesh.Scale(size.X, size.Y, size.Z);
 
-            // Create the list of vertices
-            List<Vertex> vertices = new List<Vertex>();
-            for (int i = 0; i < numCoords; i++)
-            {
-                Coord c = coords[i];
-                vertices.Add(new Vertex(c.X, c.Y, c.Z));
-            }
-
-            Mesh mesh = new Mesh();
-            // Add the corresponding triangles to the mesh
-            for (int i = 0; i < numFaces; i++)
-            {
-                Face f = faces[i];
-                mesh.Add(new Triangle(vertices[f.v1], vertices[f.v2], vertices[f.v3]));
-            }
+            coords = primMesh.coords;
+            faces = primMesh.faces;
 
-            return mesh;
+            return true;
         }
 
         public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod)
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
index 6b74e74..4f461ad 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
@@ -1220,18 +1220,23 @@ namespace OpenSim.Region.Physics.OdePlugin
         {
             m_requestedUpdateFrequency = ms;
             m_eventsubscription = ms;
-            _parent_scene.addCollisionEventReporting(this);
+            _parent_scene.AddCollisionEventReporting(this);
         }
+
         public override void UnSubscribeEvents()
         {
-            _parent_scene.remCollisionEventReporting(this);
+            _parent_scene.RemoveCollisionEventReporting(this);
             m_requestedUpdateFrequency = 0;
             m_eventsubscription = 0;
         }
+
         public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
         {
             if (m_eventsubscription > 0)
             {
+//                m_log.DebugFormat(
+//                    "[PHYSICS]: Adding collision event for {0}, collidedWith {1}, contact {2}", "", CollidedWith, contact);
+
                 CollisionEventsThisFrame.addCollider(CollidedWith, contact);
             }
         }
@@ -1248,6 +1253,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 m_eventsubscription = 0;
             }
         }
+
         public override bool SubscribedEvents()
         {
             if (m_eventsubscription > 0)
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
index b3045bd..924d7c2 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
@@ -61,6 +61,22 @@ namespace OpenSim.Region.Physics.OdePlugin
     {
         private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
+        private bool m_isphysical;
+
+        /// <summary>
+        /// Is this prim subject to physics?  Even if not, it's still solid for collision purposes.
+        /// </summary>
+        public override bool IsPhysical
+        {
+            get { return m_isphysical; }
+            set
+            {
+                m_isphysical = value;
+                if (!m_isphysical) // Zero the remembered last velocity
+                    m_lastVelocity = Vector3.Zero;
+            }
+        }
+
         private Vector3 _position;
         private Vector3 _velocity;
         private Vector3 _torque;
@@ -138,12 +154,15 @@ namespace OpenSim.Region.Physics.OdePlugin
         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;
+
+        /// <summary>
+        /// The physics space which contains prim geometries
+        /// </summary>
         public IntPtr m_targetSpace = IntPtr.Zero;
+
         public IntPtr prim_geom;
-        public IntPtr prev_geom;
         public IntPtr _triMeshData;
 
         private IntPtr _linkJointGroup = IntPtr.Zero;
@@ -153,7 +172,6 @@ namespace OpenSim.Region.Physics.OdePlugin
         private List<OdePrim> childrenPrim = new List<OdePrim>();
 
         private bool iscolliding;
-        private bool m_isphysical;
         private bool m_isSelected;
 
         internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively
@@ -188,7 +206,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         internal int m_material = (int)Material.Wood;
 
         public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size,
-                       Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode)
+                       Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode)
         {
             Name = primName;
             m_vehicle = new ODEDynamics();
@@ -208,9 +226,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             // m_tensor = parent_scene.bodyMotorJointMaxforceTensor;
             body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
 
-
             prim_geom = IntPtr.Zero;
-            prev_geom = IntPtr.Zero;
 
             if (!pos.IsFinite())
             {
@@ -233,20 +249,21 @@ namespace OpenSim.Region.Physics.OdePlugin
 
             _orientation = rotation;
             m_taintrot = _orientation;
-            _mesh = mesh;
             _pbs = pbs;
 
             _parent_scene = parent_scene;
             m_targetSpace = (IntPtr)0;
 
             if (pos.Z < 0)
-                m_isphysical = false;
+            {
+                IsPhysical = false;
+            }
             else
             {
-                m_isphysical = pisPhysical;
+                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)
+                if (IsPhysical)
                     m_targetSpace = _parent_scene.space;
             }
 
@@ -289,7 +306,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 // through it while it's selected
                 m_collisionscore = 0;
 
-                if ((m_isphysical && !_zeroFlag) || !value)
+                if ((IsPhysical && !_zeroFlag) || !value)
                 {
                     m_taintselected = value;
                     _parent_scene.AddPhysicsActorTaint(this);
@@ -305,15 +322,21 @@ namespace OpenSim.Region.Physics.OdePlugin
             }
         }
 
+        /// <summary>
+        /// Set a new geometry for this prim.
+        /// </summary>
+        /// <param name="geom"></param>
         public void SetGeom(IntPtr geom)
         {
-            prev_geom = prim_geom;
             prim_geom = geom;
 //Console.WriteLine("SetGeom to " + prim_geom + " for " + Name);
             if (prim_geom != IntPtr.Zero)
             {
                 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
                 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+
+                _parent_scene.geom_name_map[prim_geom] = Name;
+                _parent_scene.actor_name_map[prim_geom] = this;
             }
 
             if (childPrim)
@@ -332,7 +355,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         {
             if (!childPrim)
             {
-                if (m_isphysical && Body != IntPtr.Zero)
+                if (IsPhysical && Body != IntPtr.Zero)
                 {
                     d.BodyEnable(Body);
                     if (m_vehicle.Type != Vehicle.TYPE_NONE)
@@ -347,12 +370,15 @@ namespace OpenSim.Region.Physics.OdePlugin
         {
             m_disabled = true;
 
-            if (m_isphysical && Body != IntPtr.Zero)
+            if (IsPhysical && Body != IntPtr.Zero)
             {
                 d.BodyDisable(Body);
             }
         }
 
+        /// <summary>
+        /// Make a prim subject to physics.
+        /// </summary>
         public void enableBody()
         {
             // Don't enable this body if we're a child prim
@@ -728,6 +754,9 @@ namespace OpenSim.Region.Physics.OdePlugin
             }
         }
 
+        /// <summary>
+        /// Stop a prim from being subject to physics.
+        /// </summary>
         public void disableBody()
         {
             //this kills the body so things like 'mesh' can re-create it.
@@ -778,6 +807,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                     Body = IntPtr.Zero;
                 }
             }
+
             m_disabled = true;
             m_collisionscore = 0;
         }
@@ -886,7 +916,7 @@ Console.WriteLine("ZProcessTaints for " + Name);
                     }
                 }
             
-                if (m_taintPhysics != m_isphysical && !(m_taintparent != _parent))
+                if (m_taintPhysics != IsPhysical && !(m_taintparent != _parent))
                     changePhysicsStatus(timestep);
 
                 if (!_size.ApproxEquals(m_taintsize, 0f))
@@ -968,7 +998,7 @@ Console.WriteLine("ZProcessTaints for " + Name);
                     OdePrim obj = (OdePrim)m_taintparent;
                     //obj.disableBody();
 //Console.WriteLine("changelink calls ParentPrim");
-                    obj.ParentPrim(this);
+                    obj.AddChildPrim(this);
 
                     /*
                     if (obj.Body != (IntPtr)0 && Body != (IntPtr)0 && obj.Body != Body)
@@ -1005,14 +1035,16 @@ Console.WriteLine("ZProcessTaints for " + Name);
             }
  
             _parent = m_taintparent;
-            m_taintPhysics = m_isphysical;
+            m_taintPhysics = IsPhysical;
         }
 
-        // I'm the parent
-        // prim is the child
-        public void ParentPrim(OdePrim prim)
+        /// <summary>
+        /// Add a child prim to this parent prim.
+        /// </summary>
+        /// <param name="prim">Child prim</param>
+        public void AddChildPrim(OdePrim prim)
         {
-//Console.WriteLine("ParentPrim  " + Name);
+//Console.WriteLine("AddChildPrim  " + Name);
             if (this.m_localID != prim.m_localID)
             {
                 if (Body == IntPtr.Zero)
@@ -1035,7 +1067,6 @@ Console.WriteLine("ZProcessTaints for " + Name);
                                 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;
@@ -1105,6 +1136,7 @@ Console.WriteLine("ZProcessTaints for " + Name);
                                 prm.Body = Body;
                                 _parent_scene.addActivePrim(prm);
                             }
+
                             m_collisionCategories |= CollisionCategories.Body;
                             m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
 
@@ -1113,7 +1145,6 @@ Console.WriteLine("ZProcessTaints for " + Name);
 //Console.WriteLine(" Post GeomSetCategoryBits 2");
                             d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
 
-
                             d.Quaternion quat2 = new d.Quaternion();
                             quat2.W = _orientation.W;
                             quat2.X = _orientation.X;
@@ -1135,7 +1166,6 @@ Console.WriteLine("ZProcessTaints for " + Name);
                             d.BodySetAutoDisableFlag(Body, true);
                             d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
 
-
                             m_interpenetrationcount = 0;
                             m_collisionscore = 0;
                             m_disabled = false;
@@ -1146,7 +1176,9 @@ Console.WriteLine("ZProcessTaints for " + Name);
                                 createAMotor(m_angularlock);
                             }
                             d.BodySetPosition(Body, Position.X, Position.Y, Position.Z);
-                            if (m_vehicle.Type != Vehicle.TYPE_NONE) m_vehicle.Enable(Body, _parent_scene);
+                            if (m_vehicle.Type != Vehicle.TYPE_NONE)
+                                m_vehicle.Enable(Body, _parent_scene);
+
                             _parent_scene.addActivePrim(this);
                         }
                     }
@@ -1156,7 +1188,7 @@ Console.WriteLine("ZProcessTaints for " + Name);
 
         private void ChildSetGeom(OdePrim odePrim)
         {
-            //if (m_isphysical && Body != IntPtr.Zero)
+            //if (IsPhysical && Body != IntPtr.Zero)
             lock (childrenPrim)
             {
                 foreach (OdePrim prm in childrenPrim)
@@ -1172,7 +1204,6 @@ Console.WriteLine("ZProcessTaints for " + Name);
             }
             disableBody();
 
-
             if (Body != IntPtr.Zero)
             {
                 _parent_scene.remActivePrim(this);
@@ -1183,10 +1214,9 @@ Console.WriteLine("ZProcessTaints for " + Name);
                 foreach (OdePrim prm in childrenPrim)
                 {
 //Console.WriteLine("ChildSetGeom calls ParentPrim");
-                    ParentPrim(prm);
+                    AddChildPrim(prm);
                 }
             }
-            
         }
 
         private void ChildDelink(OdePrim odePrim)
@@ -1223,7 +1253,7 @@ Console.WriteLine("ZProcessTaints for " + Name);
                 foreach (OdePrim prm in childrenPrim)
                 {
 //Console.WriteLine("ChildDelink calls ParentPrim");
-                    ParentPrim(prm);
+                    AddChildPrim(prm);
                 }
             }
         }
@@ -1257,7 +1287,7 @@ Console.WriteLine("ZProcessTaints for " + Name);
                 // 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)
+                if (IsPhysical)
                 {
                     disableBodySoft();
                 }
@@ -1268,7 +1298,7 @@ Console.WriteLine("ZProcessTaints for " + Name);
                     d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
                 }
 
-                if (m_isphysical)
+                if (IsPhysical)
                 {
                     disableBodySoft();
                 }
@@ -1277,7 +1307,7 @@ Console.WriteLine("ZProcessTaints for " + Name);
             {
                 m_collisionCategories = CollisionCategories.Geom;
 
-                if (m_isphysical)
+                if (IsPhysical)
                     m_collisionCategories |= CollisionCategories.Body;
 
                 m_collisionFlags = m_default_collisionFlags;
@@ -1292,7 +1322,8 @@ Console.WriteLine("ZProcessTaints for " + Name);
                     d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
                     d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
                 }
-                if (m_isphysical)
+
+                if (IsPhysical)
                 {
                     if (Body != IntPtr.Zero)
                     {
@@ -1311,7 +1342,7 @@ Console.WriteLine("ZProcessTaints for " + Name);
         {
             m_taintposition = _position;
             m_taintrot = _orientation;
-            m_taintPhysics = m_isphysical;
+            m_taintPhysics = IsPhysical;
             m_taintselected = m_isSelected;
             m_taintsize = _size;
             m_taintshape = false;
@@ -1320,14 +1351,19 @@ Console.WriteLine("ZProcessTaints for " + Name);
             m_taintVelocity = Vector3.Zero;
         }
 
-        public void CreateGeom(IntPtr m_targetSpace, IMesh _mesh)
+        /// <summary>
+        /// Create a geometry for the given mesh in the given target space.
+        /// </summary>
+        /// <param name="m_targetSpace"></param>
+        /// <param name="mesh">If null, then a mesh is used that is based on the profile shape data.</param>
+        public void CreateGeom(IntPtr m_targetSpace, IMesh mesh)
         {
 #if SPAM
 Console.WriteLine("CreateGeom:");
 #endif
-            if (_mesh != null)
+            if (mesh != null)
             {
-                setMesh(_parent_scene, _mesh);
+                setMesh(_parent_scene, mesh);
             }
             else
             {
@@ -1400,6 +1436,39 @@ Console.WriteLine("CreateGeom:");
             }
         }
 
+        /// <summary>
+        /// Remove the existing geom from this prim.
+        /// </summary>
+        /// <param name="m_targetSpace"></param>
+        /// <param name="mesh">If null, then a mesh is used that is based on the profile shape data.</param>
+        /// <returns>true if the geom was successfully removed, false if it was already gone or the remove failed.</returns>
+        public bool RemoveGeom()
+        {
+            if (prim_geom != IntPtr.Zero)
+            {
+                try
+                {
+                    _parent_scene.geom_name_map.Remove(prim_geom);
+                    _parent_scene.actor_name_map.Remove(prim_geom);
+                    d.GeomDestroy(prim_geom);
+                    prim_geom = IntPtr.Zero;
+                }
+                catch (System.AccessViolationException)
+                {
+                    prim_geom = IntPtr.Zero;
+                    m_log.ErrorFormat("[PHYSICS]: PrimGeom dead for {0}", Name);
+
+                    return false;
+                }
+
+                return true;
+            }
+            else
+            {
+                return false;
+            }
+        }
+
         public void changeadd(float timestep)
         {
             int[] iprimspaceArrItem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
@@ -1410,15 +1479,14 @@ Console.WriteLine("CreateGeom:");
 
             m_targetSpace = targetspace;
 
-            if (_mesh == null)
+            IMesh mesh = null;
+
+            if (_parent_scene.needsMeshing(_pbs))
             {
-                if (_parent_scene.needsMeshing(_pbs))
-                {
-                    // Don't need to re-enable body..   it's done in SetMesh
-                    _mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, _parent_scene.meshSculptLOD, IsPhysical);
-                    // createmesh returns null when it's a shape that isn't a cube.
-                   // m_log.Debug(m_localID);
-                }
+                // Don't need to re-enable body..   it's done in SetMesh
+                mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, _parent_scene.meshSculptLOD, IsPhysical);
+                // createmesh returns null when it's a shape that isn't a cube.
+               // m_log.Debug(m_localID);
             }
 
             lock (_parent_scene.OdeLock)
@@ -1426,7 +1494,7 @@ Console.WriteLine("CreateGeom:");
 #if SPAM
 Console.WriteLine("changeadd 1");
 #endif
-                CreateGeom(m_targetSpace, _mesh);
+                CreateGeom(m_targetSpace, mesh);
 
                 if (prim_geom != IntPtr.Zero)
                 {
@@ -1439,15 +1507,12 @@ Console.WriteLine("changeadd 1");
                     d.GeomSetQuaternion(prim_geom, ref myrot);
                 }
 
-                if (m_isphysical && Body == IntPtr.Zero)
+                if (IsPhysical && Body == IntPtr.Zero)
                 {
                     enableBody();
                 }
             }
 
-            _parent_scene.geom_name_map[prim_geom] = this.Name;
-            _parent_scene.actor_name_map[prim_geom] = (PhysicsActor)this;
-
             changeSelectedStatus(timestep);
 
             m_taintadd = false;
@@ -1455,9 +1520,8 @@ Console.WriteLine("changeadd 1");
 
         public void changemove(float timestep)
         {
-            if (m_isphysical)
+            if (IsPhysical)
             {
-                
                 if (!m_disabled && !m_taintremove && !childPrim)
                 {
                     if (Body == IntPtr.Zero)
@@ -1789,7 +1853,7 @@ Console.WriteLine(" JointCreateFixed");
             {
                 // KF: If this is a root prim do BodySet
                 d.BodySetQuaternion(Body, ref myrot);
-                if (m_isphysical)
+                if (IsPhysical)
                 {
                     if (!m_angularlock.ApproxEquals(Vector3.One, 0f))
                         createAMotor(m_angularlock);
@@ -1826,7 +1890,7 @@ Console.WriteLine(" JointCreateFixed");
 
         public void changePhysicsStatus(float timestep)
         {
-            if (m_isphysical == true)
+            if (IsPhysical)
             {
                 if (Body == IntPtr.Zero)
                 {
@@ -1846,25 +1910,12 @@ Console.WriteLine(" JointCreateFixed");
                 {
                     if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim)
                     {
-                        
+                        RemoveGeom();
 
-                        if (prim_geom != IntPtr.Zero)
-                        {
-                            try
-                            {
-                                d.GeomDestroy(prim_geom);
-                                prim_geom = IntPtr.Zero;
-                                _mesh = null;
-                            }
-                            catch (System.AccessViolationException)
-                            {
-                                prim_geom = IntPtr.Zero;
-                                m_log.ErrorFormat("[PHYSICS]: PrimGeom dead for {0}", Name);
-                            }
-                        }
 //Console.WriteLine("changePhysicsStatus for " + Name);
                         changeadd(2f);
                     }
+
                     if (childPrim)
                     {
                         if (_parent != null)
@@ -1883,7 +1934,7 @@ Console.WriteLine(" JointCreateFixed");
             changeSelectedStatus(timestep);
 
             resetCollisionAccounting();
-            m_taintPhysics = m_isphysical;
+            m_taintPhysics = IsPhysical;
         }
 
         public void changesize(float timestamp)
@@ -1892,18 +1943,10 @@ Console.WriteLine(" JointCreateFixed");
             m_log.DebugFormat("[ODE PRIM]: Called changesize");
 #endif
 
-            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)
-            {
-                // TODO: Cleanup meshing here
-            }
-
             //kill body to rebuild
             if (IsPhysical && Body != IntPtr.Zero)
             {
@@ -1927,10 +1970,12 @@ Console.WriteLine(" JointCreateFixed");
                 d.SpaceRemove(m_targetSpace, prim_geom);
             }
 
-            d.GeomDestroy(prim_geom);
-            prim_geom = IntPtr.Zero;
+            RemoveGeom();
+
             // we don't need to do space calculation because the client sends a position update also.
 
+            IMesh mesh = null;
+
             // Construction of new prim
             if (_parent_scene.needsMeshing(_pbs))
             {
@@ -1940,27 +1985,11 @@ Console.WriteLine(" JointCreateFixed");
                     meshlod = _parent_scene.MeshSculptphysicalLOD;
                 // Don't need to re-enable body..   it's done in SetMesh
 
-                IMesh mesh = null;
-
                 if (_parent_scene.needsMeshing(_pbs))
-                    mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical);
-
-#if SPAM
-Console.WriteLine("changesize 1");
-#endif
-                CreateGeom(m_targetSpace, mesh);
-            }
-            else
-            {
-                _mesh = null;
-
-#if SPAM
-Console.WriteLine("changesize 2");
-#endif
-
-                CreateGeom(m_targetSpace, _mesh);
+                    mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, meshlod, IsPhysical);
             }
 
+            CreateGeom(m_targetSpace, mesh);
             d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
             d.Quaternion myrot = new d.Quaternion();
             myrot.X = _orientation.X;
@@ -1978,8 +2007,6 @@ Console.WriteLine("changesize 2");
                 d.BodyEnable(Body);
             }
 
-            _parent_scene.geom_name_map[prim_geom] = oldname;
-
             changeSelectedStatus(timestamp);
             if (childPrim)
             {
@@ -2013,8 +2040,6 @@ Console.WriteLine("changesize 2");
 
         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)
             {
@@ -2031,23 +2056,17 @@ Console.WriteLine("changesize 2");
                     disableBody();
                 }
             }
-            try
-            {
-                d.GeomDestroy(prim_geom);
-            }
-            catch (System.AccessViolationException)
-            {
-                prim_geom = IntPtr.Zero;
-                m_log.ErrorFormat("[PHYSICS]: PrimGeom dead for {0}", Name);
-            }
 
-            prim_geom = IntPtr.Zero;
+            RemoveGeom();
+
             // 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
 
+            IMesh mesh = null;
+
             if (_parent_scene.needsMeshing(_pbs))
             {
                 // Don't need to re-enable body..   it's done in CreateMesh
@@ -2057,22 +2076,10 @@ Console.WriteLine("changesize 2");
                     meshlod = _parent_scene.MeshSculptphysicalLOD;
 
                 // createmesh returns null when it doesn't mesh.
-                IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical);
-#if SPAM
-Console.WriteLine("changeshape needed meshing");
-#endif
-                CreateGeom(m_targetSpace, mesh);
-            }
-            else
-            {
-                _mesh = null;
-
-#if SPAM
-Console.WriteLine("changeshape not need meshing");
-#endif
-                CreateGeom(m_targetSpace, null);
+                mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, meshlod, IsPhysical);
             }
 
+            CreateGeom(m_targetSpace, mesh);
             d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
             d.Quaternion myrot = new d.Quaternion();
             //myrot.W = _orientation.w;
@@ -2093,7 +2100,6 @@ Console.WriteLine("changeshape not need meshing");
                     d.BodyEnable(Body);
                 }
             }
-            _parent_scene.geom_name_map[prim_geom] = oldname;
 
             changeSelectedStatus(timestamp);
             if (childPrim)
@@ -2216,16 +2222,6 @@ Console.WriteLine("changeshape not need meshing");
             m_taintVelocity = Vector3.Zero;
         }
 
-        public override bool IsPhysical
-        {
-            get { return m_isphysical; }
-            set { 
-                  m_isphysical = value;
-                  if (!m_isphysical) // Zero the remembered last velocity
-                      m_lastVelocity = Vector3.Zero;
-                }
-        }
-
         public void setPrimForRemoval()
         {
             m_taintremove = true;
@@ -2404,7 +2400,7 @@ Console.WriteLine("changeshape not need meshing");
         {
             get
             {
-                if (!m_isphysical || Body == IntPtr.Zero)
+                if (!IsPhysical || Body == IntPtr.Zero)
                     return Vector3.Zero;
 
                 return _torque;
@@ -2986,12 +2982,12 @@ Console.WriteLine("changeshape not need meshing");
         public override void SubscribeEvents(int ms)
         {
             m_eventsubscription = ms;
-            _parent_scene.addCollisionEventReporting(this);
+            _parent_scene.AddCollisionEventReporting(this);
         }
 
         public override void UnSubscribeEvents()
         {
-            _parent_scene.remCollisionEventReporting(this);
+            _parent_scene.RemoveCollisionEventReporting(this);
             m_eventsubscription = 0;
         }
 
@@ -2999,6 +2995,7 @@ Console.WriteLine("changeshape not need meshing");
         {
             if (CollisionEventsThisFrame == null)
                 CollisionEventsThisFrame = new CollisionEventUpdate();
+
             CollisionEventsThisFrame.addCollider(CollidedWith, contact);
         }
 
diff --git a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs b/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
index a307469..6e603e8 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
@@ -100,7 +100,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         Rubber = 6
     }
 
-    public sealed class OdeScene : PhysicsScene
+    public class OdeScene : PhysicsScene
     {
         private readonly ILog m_log;
         // private Dictionary<string, sCollisionData> m_storedCollisions = new Dictionary<string, sCollisionData>();
@@ -198,7 +198,12 @@ namespace OpenSim.Region.Physics.OdePlugin
         private readonly List<OdePrim> _taintedPrimL = new List<OdePrim>();
         private readonly HashSet<OdeCharacter> _taintedActors = new HashSet<OdeCharacter>();
         private readonly List<d.ContactGeom> _perloopContact = new List<d.ContactGeom>();
+
+        /// <summary>
+        /// A list of actors that should receive collision events.
+        /// </summary>
         private readonly List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>();
+        
         private readonly HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>();
         public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
         public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
@@ -299,7 +304,6 @@ namespace OpenSim.Region.Physics.OdePlugin
                 // Create the world and the first space
                 world = d.WorldCreate();
                 space = d.HashSpaceCreate(IntPtr.Zero);
-                
 
                 contactgroup = d.JointGroupCreate(0);
                 //contactgroup
@@ -952,7 +956,6 @@ namespace OpenSim.Region.Physics.OdePlugin
                                     character.SetPidStatus(true);
                                 }
                             }
-                            
 
                             if (p1.PhysicsActorType == (int) ActorTypes.Agent)
                             {
@@ -1053,9 +1056,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                                     {
                                         joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
                                         m_global_contactcount++;
-
                                     }
-                                    
                                 }
                                 else
                                 {
@@ -1078,7 +1079,6 @@ namespace OpenSim.Region.Physics.OdePlugin
                                     {
                                         joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
                                         m_global_contactcount++;
-
                                     }
                                 }
                             }
@@ -1290,6 +1290,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 
                             //returncollisions = true;
                             break;
+
                         case ActorTypes.Prim:
                             if (p1 is OdePrim)
                             {
@@ -1317,6 +1318,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 
                     cc2.AddCollisionEvent(obj2LocalID, contact);
                     break;
+
                 case ActorTypes.Prim:
 
                     if (p2 is OdePrim)
@@ -1421,18 +1423,18 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         public int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex)
         {
-            String name1 = null;
-            String name2 = null;
-
-            if (!geom_name_map.TryGetValue(trimesh, out name1))
-            {
-                name1 = "null";
-            }
-
-            if (!geom_name_map.TryGetValue(refObject, out name2))
-            {
-                name2 = "null";
-            }
+//            String name1 = null;
+//            String name2 = null;
+//
+//            if (!geom_name_map.TryGetValue(trimesh, out name1))
+//            {
+//                name1 = "null";
+//            }
+//
+//            if (!geom_name_map.TryGetValue(refObject, out name2))
+//            {
+//                name2 = "null";
+//            }
 
             //            m_log.InfoFormat("TriCallback: A collision was detected between {1} and {2}. Index was {3}", 0, name1, name2, triangleIndex);
 
@@ -1604,7 +1606,11 @@ namespace OpenSim.Region.Physics.OdePlugin
         } 
 // End recovered. Kitto Flora
 
-        public void addCollisionEventReporting(PhysicsActor obj)
+        /// <summary>
+        /// Add actor to the list that should receive collision events in the simulate loop.
+        /// </summary>
+        /// <param name="obj"></param>
+        public void AddCollisionEventReporting(PhysicsActor obj)
         {
             lock (_collisionEventPrim)
             {
@@ -1613,7 +1619,11 @@ namespace OpenSim.Region.Physics.OdePlugin
             }
         }
 
-        public void remCollisionEventReporting(PhysicsActor obj)
+        /// <summary>
+        /// Remove actor from the list that should receive collision events in the simulate loop.
+        /// </summary>
+        /// <param name="obj"></param>
+        public void RemoveCollisionEventReporting(PhysicsActor obj)
         {
             lock (_collisionEventPrim)
             {
@@ -1677,7 +1687,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         }
 
         private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
-                                     IMesh mesh, PrimitiveBaseShape pbs, bool isphysical, uint localID)
+                                     PrimitiveBaseShape pbs, bool isphysical, uint localID)
         {
             Vector3 pos = position;
             Vector3 siz = size;
@@ -1686,7 +1696,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             OdePrim newPrim;
             lock (OdeLock)
             {
-                newPrim = new OdePrim(name, this, pos, siz, rot, mesh, pbs, isphysical, ode);
+                newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical, ode);
 
                 lock (_prims)
                     _prims.Add(newPrim);
@@ -1714,28 +1724,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             m_log.DebugFormat("[PHYSICS]: Adding physics actor to {0}", primName);
 #endif
 
-            PhysicsActor result;
-            IMesh mesh = null;
-
-            // Don't create the mesh here - wait until the mesh data is loaded from the asset store.
-//            if (needsMeshing(pbs))
-//            {
-//                try
-//                {
-//                    mesh = mesher.CreateMesh(primName, pbs, size, 32f, isPhysical);
-//                }
-//                catch(Exception e)
-//                {
-//                    m_log.ErrorFormat("[PHYSICS]: Exception while meshing prim {0}.", primName);
-//                    m_log.Debug(e.ToString());
-//                    mesh = null;
-//                    return null;
-//                }
-//            }
-
-            result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical, localid);
-
-            return result;
+            return AddPrim(primName, position, size, rotation, pbs, isPhysical, localid);
         }
 
         public override float TimeDilation
@@ -2105,6 +2094,8 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         public override void RemovePrim(PhysicsActor prim)
         {
+            // As with all ODE physics operations, we don't remove the prim immediately but signal that it should be
+            // removed in the next physics simulate pass.
             if (prim is OdePrim)
             {
                 lock (OdeLock)
@@ -2121,6 +2112,9 @@ namespace OpenSim.Region.Physics.OdePlugin
         /// <summary>
         /// This is called from within simulate but outside the locked portion
         /// We need to do our own locking here
+        /// (Note: As of 20110801 this no longer appears to be true - this is being called within lock (odeLock) in
+        /// Simulate() -- justincc).
+        ///
         /// Essentially, we need to remove the prim from our space segment, whatever segment it's in.
         ///
         /// If there are no more prim in the segment, we need to empty (spacedestroy)the segment and reclaim memory
@@ -2132,7 +2126,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 //Console.WriteLine("RemovePrimThreadLocked " +  prim.m_primName);
             lock (prim)
             {
-                remCollisionEventReporting(prim);
+                RemoveCollisionEventReporting(prim);
                 lock (ode)
                 {
                     if (prim.prim_geom != IntPtr.Zero)
@@ -2177,24 +2171,12 @@ namespace OpenSim.Region.Physics.OdePlugin
                         //}
                         //}
                         //m_log.Warn(prim.prim_geom);
-                        try
-                        {
-                            if (prim.prim_geom != IntPtr.Zero)
-                            {
-                                d.GeomDestroy(prim.prim_geom);
-                                prim.prim_geom = IntPtr.Zero;
-                            }
-                            else
-                            {
-                                m_log.Warn("[PHYSICS]: Unable to remove prim from physics scene");
-                            }
-                        }
-                        catch (AccessViolationException)
-                        {
-                            m_log.Info("[PHYSICS]: Couldn't remove prim from physics scene, it was already be removed.");
-                        }
+
+                        if (!prim.RemoveGeom())
+                            m_log.Warn("[PHYSICS]: Unable to remove prim from physics scene");
+
                         lock (_prims)
-                        _prims.Remove(prim);
+                            _prims.Remove(prim);
 
                         //If there are no more geometries in the sub-space, we don't need it in the main space anymore
                         //if (d.SpaceGetNumGeoms(prim.m_targetSpace) == 0)
@@ -2687,320 +2669,148 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
                         //if (!ode.lockquery())
                         //{
                            // ode.dlock(world);
-                            try
-                            { 
-                                // Insert, remove Characters
-                                bool processedtaints = false;
 
-                                lock (_taintedActors)
-                                {
-                                    if (_taintedActors.Count > 0)
-                                    {
-                                        foreach (OdeCharacter character in _taintedActors)
-                                        {
-                                            character.ProcessTaints(timeStep);
+                    try
+                    {
+                        // Insert, remove Characters
+                        bool processedtaints = false;
 
-                                            processedtaints = true;
-                                            //character.m_collisionscore = 0;
-                                        }
+                        lock (_taintedActors)
+                        {
+                            if (_taintedActors.Count > 0)
+                            {
+                                foreach (OdeCharacter character in _taintedActors)
+                                {
+                                    character.ProcessTaints(timeStep);
 
-                                        if (processedtaints)
-                                            _taintedActors.Clear();
-                                    }
+                                    processedtaints = true;
+                                    //character.m_collisionscore = 0;
                                 }
 
-                                // Modify other objects in the scene.
-                                processedtaints = false;
+                                if (processedtaints)
+                                    _taintedActors.Clear();
+                            }
+                        }
+
+                        // Modify other objects in the scene.
+                        processedtaints = false;
 
-                                lock (_taintedPrimLock)
+                        lock (_taintedPrimLock)
+                        {
+                            foreach (OdePrim prim in _taintedPrimL)
+                            {
+                                if (prim.m_taintremove)
                                 {
-                                    foreach (OdePrim prim in _taintedPrimL)
-                                    {
-                                        if (prim.m_taintremove)
-                                        {
-                                            //Console.WriteLine("Simulate calls RemovePrimThreadLocked");
-                                            RemovePrimThreadLocked(prim);
-                                        }
-                                        else
-                                        {
-                                            //Console.WriteLine("Simulate calls ProcessTaints");
-                                            prim.ProcessTaints(timeStep);
-                                        }
-                                        processedtaints = true;
-                                        prim.m_collisionscore = 0;
-
-                                        // This loop can block up the Heartbeat for a very long time on large regions.
-                                        // We need to let the Watchdog know that the Heartbeat is not dead
-                                        // NOTE: This is currently commented out, but if things like OAR loading are 
-                                        // timing the heartbeat out we will need to uncomment it
-                                        //Watchdog.UpdateThread();
-                                    }
+//                                    Console.WriteLine("Simulate calls RemovePrimThreadLocked for {0}", prim.Name);
+                                    RemovePrimThreadLocked(prim);
+                                }
+                                else
+                                {
+//                                    Console.WriteLine("Simulate calls ProcessTaints for {0}", prim.Name);
+                                    prim.ProcessTaints(timeStep);
+                                }
 
-                                    if (SupportsNINJAJoints)
-                                    {
-                                        // Create pending joints, if possible
+                                processedtaints = true;
+                                prim.m_collisionscore = 0;
 
-                                        // joints can only be processed after ALL bodies are processed (and exist in ODE), since creating
-                                        // a joint requires specifying the body id of both involved bodies
-                                        if (pendingJoints.Count > 0)
-                                        {
-                                            List<PhysicsJoint> successfullyProcessedPendingJoints = new List<PhysicsJoint>();
-                                            //DoJointErrorMessage(joints_connecting_actor, "taint: " + pendingJoints.Count + " pending joints");
-                                            foreach (PhysicsJoint joint in pendingJoints)
-                                            {
-                                                //DoJointErrorMessage(joint, "taint: time to create joint with parms: " + joint.RawParams);
-                                                string[] jointParams = joint.RawParams.Split(" ".ToCharArray(), System.StringSplitOptions.RemoveEmptyEntries);
-                                                List<IntPtr> jointBodies = new List<IntPtr>();
-                                                bool allJointBodiesAreReady = true;
-                                                foreach (string jointParam in jointParams)
-                                                {
-                                                    if (jointParam == "NULL")
-                                                    {
-                                                        //DoJointErrorMessage(joint, "attaching NULL joint to world");
-                                                        jointBodies.Add(IntPtr.Zero);
-                                                    }
-                                                    else
-                                                    {
-                                                        //DoJointErrorMessage(joint, "looking for prim name: " + jointParam);
-                                                        bool foundPrim = false;
-                                                        lock (_prims)
-                                                        {
-                                                            foreach (OdePrim prim in _prims) // FIXME: inefficient
-                                                            {
-                                                                if (prim.SOPName == jointParam)
-                                                                {
-                                                                    //DoJointErrorMessage(joint, "found for prim name: " + jointParam);
-                                                                    if (prim.IsPhysical && prim.Body != IntPtr.Zero)
-                                                                    {
-                                                                        jointBodies.Add(prim.Body);
-                                                                        foundPrim = true;
-                                                                        break;
-                                                                    }
-                                                                    else
-                                                                    {
-                                                                        DoJointErrorMessage(joint, "prim name " + jointParam +
-                                                                            " exists but is not (yet) physical; deferring joint creation. " +
-                                                                            "IsPhysical property is " + prim.IsPhysical +
-                                                                            " and body is " + prim.Body);
-                                                                        foundPrim = false;
-                                                                        break;
-                                                                    }
-                                                                }
-                                                            }
-                                                        }
-                                                        if (foundPrim)
-                                                        {
-                                                            // all is fine
-                                                        }
-                                                        else
-                                                        {
-                                                            allJointBodiesAreReady = false;
-                                                            break;
-                                                        }
-                                                    }
-                                                }
-                                                if (allJointBodiesAreReady)
-                                                {
-                                                    //DoJointErrorMessage(joint, "allJointBodiesAreReady for " + joint.ObjectNameInScene + " with parms " + joint.RawParams);
-                                                    if (jointBodies[0] == jointBodies[1])
-                                                    {
-                                                        DoJointErrorMessage(joint, "ERROR: joint cannot be created; the joint bodies are the same, body1==body2. Raw body is " + jointBodies[0] + ". raw parms: " + joint.RawParams);
-                                                    }
-                                                    else
-                                                    {
-                                                        switch (joint.Type)
-                                                        {
-                                                            case PhysicsJointType.Ball:
-                                                                {
-                                                                    IntPtr odeJoint;
-                                                                    //DoJointErrorMessage(joint, "ODE creating ball joint ");
-                                                                    odeJoint = d.JointCreateBall(world, IntPtr.Zero);
-                                                                    //DoJointErrorMessage(joint, "ODE attaching ball joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
-                                                                    d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
-                                                                    //DoJointErrorMessage(joint, "ODE setting ball anchor: " + odeJoint + " to vec:" + joint.Position);
-                                                                    d.JointSetBallAnchor(odeJoint,
-                                                                                        joint.Position.X,
-                                                                                        joint.Position.Y,
-                                                                                        joint.Position.Z);
-                                                                    //DoJointErrorMessage(joint, "ODE joint setting OK");
-                                                                    //DoJointErrorMessage(joint, "The ball joint's bodies are here: b0: ");
-                                                                    //DoJointErrorMessage(joint, "" + (jointBodies[0] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[0]) : "fixed environment"));
-                                                                    //DoJointErrorMessage(joint, "The ball joint's bodies are here: b1: ");
-                                                                    //DoJointErrorMessage(joint, "" + (jointBodies[1] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[1]) : "fixed environment"));
-
-                                                                    if (joint is OdePhysicsJoint)
-                                                                    {
-                                                                        ((OdePhysicsJoint)joint).jointID = odeJoint;
-                                                                    }
-                                                                    else
-                                                                    {
-                                                                        DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
-                                                                    }
-                                                                }
-                                                                break;
-                                                            case PhysicsJointType.Hinge:
-                                                                {
-                                                                    IntPtr odeJoint;
-                                                                    //DoJointErrorMessage(joint, "ODE creating hinge joint ");
-                                                                    odeJoint = d.JointCreateHinge(world, IntPtr.Zero);
-                                                                    //DoJointErrorMessage(joint, "ODE attaching hinge joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
-                                                                    d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
-                                                                    //DoJointErrorMessage(joint, "ODE setting hinge anchor: " + odeJoint + " to vec:" + joint.Position);
-                                                                    d.JointSetHingeAnchor(odeJoint,
-                                                                                          joint.Position.X,
-                                                                                          joint.Position.Y,
-                                                                                          joint.Position.Z);
-                                                                    // We use the orientation of the x-axis of the joint's coordinate frame
-                                                                    // as the axis for the hinge. 
-
-                                                                    // Therefore, we must get the joint's coordinate frame based on the
-                                                                    // joint.Rotation field, which originates from the orientation of the 
-                                                                    // joint's proxy object in the scene.
-
-                                                                    // The joint's coordinate frame is defined as the transformation matrix
-                                                                    // that converts a vector from joint-local coordinates into world coordinates.
-                                                                    // World coordinates are defined as the XYZ coordinate system of the sim,
-                                                                    // as shown in the top status-bar of the viewer.
-
-                                                                    // Once we have the joint's coordinate frame, we extract its X axis (AtAxis)
-                                                                    // and use that as the hinge axis.
-
-                                                                    //joint.Rotation.Normalize();
-                                                                    Matrix4 proxyFrame = Matrix4.CreateFromQuaternion(joint.Rotation);
-
-                                                                    // Now extract the X axis of the joint's coordinate frame.
-
-                                                                    // Do not try to use proxyFrame.AtAxis or you will become mired in the
-                                                                    // tar pit of transposed, inverted, and generally messed-up orientations.
-                                                                    // (In other words, Matrix4.AtAxis() is borked.)
-                                                                    // Vector3 jointAxis = proxyFrame.AtAxis; <--- this path leadeth to madness
-
-                                                                    // Instead, compute the X axis of the coordinate frame by transforming
-                                                                    // the (1,0,0) vector. At least that works.
-
-                                                                    //m_log.Debug("PHY: making axis: complete matrix is " + proxyFrame);
-                                                                    Vector3 jointAxis = Vector3.Transform(Vector3.UnitX, proxyFrame);
-                                                                    //m_log.Debug("PHY: making axis: hinge joint axis is " + jointAxis); 
-                                                                    //DoJointErrorMessage(joint, "ODE setting hinge axis: " + odeJoint + " to vec:" + jointAxis);
-                                                                    d.JointSetHingeAxis(odeJoint,
-                                                                                        jointAxis.X,
-                                                                                        jointAxis.Y,
-                                                                                        jointAxis.Z);
-                                                                    //d.JointSetHingeParam(odeJoint, (int)dParam.CFM, 0.1f);
-                                                                    if (joint is OdePhysicsJoint)
-                                                                    {
-                                                                        ((OdePhysicsJoint)joint).jointID = odeJoint;
-                                                                    }
-                                                                    else
-                                                                    {
-                                                                        DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
-                                                                    }
-                                                                }
-                                                                break;
-                                                        }
-                                                        successfullyProcessedPendingJoints.Add(joint);
-                                                    }
-                                                }
-                                                else
-                                                {
-                                                    DoJointErrorMessage(joint, "joint could not yet be created; still pending");
-                                                }
-                                            }
-                                            foreach (PhysicsJoint successfullyProcessedJoint in successfullyProcessedPendingJoints)
-                                            {
-                                                //DoJointErrorMessage(successfullyProcessedJoint, "finalizing succesfully procsssed joint " + successfullyProcessedJoint.ObjectNameInScene + " parms " + successfullyProcessedJoint.RawParams);
-                                                //DoJointErrorMessage(successfullyProcessedJoint, "removing from pending");
-                                                InternalRemovePendingJoint(successfullyProcessedJoint);
-                                                //DoJointErrorMessage(successfullyProcessedJoint, "adding to active");
-                                                InternalAddActiveJoint(successfullyProcessedJoint);
-                                                //DoJointErrorMessage(successfullyProcessedJoint, "done");
-                                            }
-                                        }
-                                    }
+                                // This loop can block up the Heartbeat for a very long time on large regions.
+                                // We need to let the Watchdog know that the Heartbeat is not dead
+                                // NOTE: This is currently commented out, but if things like OAR loading are
+                                // timing the heartbeat out we will need to uncomment it
+                                //Watchdog.UpdateThread();
+                            }
 
-                                    if (processedtaints)
+                            if (SupportsNINJAJoints)
+                                SimulatePendingNINJAJoints();
+
+                            if (processedtaints)
+                            {
 //Console.WriteLine("Simulate calls Clear of _taintedPrim list");
-                                        _taintedPrimH.Clear();
-                                        _taintedPrimL.Clear();
-                                }
+                                _taintedPrimH.Clear();
+                                _taintedPrimL.Clear();
+                            }
+                        }
 
-                                // Move characters
-                                lock (_characters)
+                        // Move characters
+                        lock (_characters)
+                        {
+                            List<OdeCharacter> defects = new List<OdeCharacter>();
+                            foreach (OdeCharacter actor in _characters)
+                            {
+                                if (actor != null)
+                                    actor.Move(timeStep, defects);
+                            }
+                            if (0 != defects.Count)
+                            {
+                                foreach (OdeCharacter defect in defects)
                                 {
-                                    List<OdeCharacter> defects = new List<OdeCharacter>();
-                                    foreach (OdeCharacter actor in _characters)
-                                    {
-                                        if (actor != null)
-                                            actor.Move(timeStep, defects);
-                                    }
-                                    if (0 != defects.Count)
-                                    {
-                                        foreach (OdeCharacter defect in defects)
-                                        {
-                                            RemoveCharacter(defect);
-                                        }
-                                    }
+                                    RemoveCharacter(defect);
                                 }
+                            }
+                        }
 
-                                // Move other active objects
-                                lock (_activeprims)
-                                {
-                                    foreach (OdePrim prim in _activeprims)
-                                    {
-                                        prim.m_collisionscore = 0;
-                                        prim.Move(timeStep);
-                                    }
-                                }
+                        // Move other active objects
+                        lock (_activeprims)
+                        {
+                            foreach (OdePrim prim in _activeprims)
+                            {
+                                prim.m_collisionscore = 0;
+                                prim.Move(timeStep);
+                            }
+                        }
+
+                        //if ((framecount % m_randomizeWater) == 0)
+                           // randomizeWater(waterlevel);
 
-                                //if ((framecount % m_randomizeWater) == 0)
-                                   // randomizeWater(waterlevel);
+                        //int RayCastTimeMS = m_rayCastManager.ProcessQueuedRequests();
+                        m_rayCastManager.ProcessQueuedRequests();
 
-                                //int RayCastTimeMS = m_rayCastManager.ProcessQueuedRequests();
-                                m_rayCastManager.ProcessQueuedRequests();
+                        collision_optimized(timeStep);
 
-                                collision_optimized(timeStep);
+                        lock (_collisionEventPrim)
+                        {
+                            foreach (PhysicsActor obj in _collisionEventPrim)
+                            {
+                                if (obj == null)
+                                    continue;
 
-                                lock (_collisionEventPrim)
+//                                m_log.DebugFormat("[PHYSICS]: Assessing {0} for collision events", obj.SOPName);
+
+                                switch ((ActorTypes)obj.PhysicsActorType)
                                 {
-                                    foreach (PhysicsActor obj in _collisionEventPrim)
-                                    {
-                                        if (obj == null)
-                                            continue;
+                                    case ActorTypes.Agent:
+                                        OdeCharacter cobj = (OdeCharacter)obj;
+                                        cobj.AddCollisionFrameTime(100);
+                                        cobj.SendCollisions();
+                                        break;
 
-                                        switch ((ActorTypes)obj.PhysicsActorType)
-                                        {
-                                            case ActorTypes.Agent:
-                                                OdeCharacter cobj = (OdeCharacter)obj;
-                                                cobj.AddCollisionFrameTime(100);
-                                                cobj.SendCollisions();
-                                                break;
-                                            case ActorTypes.Prim:
-                                                OdePrim pobj = (OdePrim)obj;
-                                                pobj.SendCollisions();
-                                                break;
-                                        }
-                                    }
+                                    case ActorTypes.Prim:
+                                        OdePrim pobj = (OdePrim)obj;
+                                        pobj.SendCollisions();
+                                        break;
                                 }
+                            }
+                        }
 
-                                //if (m_global_contactcount > 5)
-                                //{
-                                //    m_log.DebugFormat("[PHYSICS]: Contacts:{0}", m_global_contactcount);
-                                //}
+                        //if (m_global_contactcount > 5)
+                        //{
+                        //    m_log.DebugFormat("[PHYSICS]: Contacts:{0}", m_global_contactcount);
+                        //}
 
-                                m_global_contactcount = 0;
-                                
-                                d.WorldQuickStep(world, ODE_STEPSIZE);
-                                d.JointGroupEmpty(contactgroup);
-                                //ode.dunlock(world);
-                            }
-                            catch (Exception e)
-                            {
-                                m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e);
-                                ode.dunlock(world);
-                            }
+                        m_global_contactcount = 0;
+                        
+                        d.WorldQuickStep(world, ODE_STEPSIZE);
+                        d.JointGroupEmpty(contactgroup);
+                        //ode.dunlock(world);
+                    }
+                    catch (Exception e)
+                    {
+                        m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e);
+                        ode.dunlock(world);
+                    }
 
-                            step_time -= ODE_STEPSIZE;
-                            i++;
+                    step_time -= ODE_STEPSIZE;
+                    i++;
                         //}
                         //else
                         //{
@@ -3017,6 +2827,7 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
                         {
                             if (actor.bad)
                                 m_log.WarnFormat("[PHYSICS]: BAD Actor {0} in _characters list was not removed?", actor.m_uuid);
+
                             actor.UpdatePositionAndVelocity();
                         }
                     }
@@ -3030,6 +2841,7 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
                         {
                             RemoveCharacter(chr);
                         }
+
                         _badCharacter.Clear();
                     }
                 }
@@ -3045,30 +2857,7 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
                                 actor.UpdatePositionAndVelocity();
 
                                 if (SupportsNINJAJoints)
-                                {
-                                    // If an actor moved, move its joint proxy objects as well.
-                                    // There seems to be an event PhysicsActor.OnPositionUpdate that could be used
-                                    // for this purpose but it is never called! So we just do the joint
-                                    // movement code here.
-
-                                    if (actor.SOPName != null &&
-                                        joints_connecting_actor.ContainsKey(actor.SOPName) &&
-                                        joints_connecting_actor[actor.SOPName] != null &&
-                                        joints_connecting_actor[actor.SOPName].Count > 0)
-                                    {
-                                        foreach (PhysicsJoint affectedJoint in joints_connecting_actor[actor.SOPName])
-                                        {
-                                            if (affectedJoint.IsInPhysicsEngine)
-                                            {
-                                                DoJointMoved(affectedJoint);
-                                            }
-                                            else
-                                            {
-                                                DoJointErrorMessage(affectedJoint, "a body connected to a joint was moved, but the joint doesn't exist yet! this will lead to joint error. joint was: " + affectedJoint.ObjectNameInScene + " parms:" + affectedJoint.RawParams);
-                                            }
-                                        }
-                                    }
-                                }
+                                    SimulateActorPendingJoints(actor);
                             }
                         }
                     }
@@ -3079,7 +2868,7 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
                 // Finished with all sim stepping. If requested, dump world state to file for debugging.
                 // TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed?
                 // TODO: This overwrites all dump files in-place. Should this be a growing logfile, or separate snapshots?
-                if (physics_logging && (physics_logging_interval>0) && (framecount % physics_logging_interval == 0))
+                if (physics_logging && (physics_logging_interval > 0) && (framecount % physics_logging_interval == 0))
                 {
                     string fname = "state-" + world.ToString() + ".DIF"; // give each physics world a separate filename
                     string prefix = "world" + world.ToString(); // prefix for variable names in exported .DIF file
@@ -3091,8 +2880,10 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
                         fwriter.WriteLine(header);
                         fwriter.Close();
                     }
+
                     d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix);
                 }
+
                 latertickcount = Util.EnvironmentTickCount() - tickCountFrameRun;
 
                 // OpenSimulator above does 10 fps.  10 fps = means that the main thread loop and physics
@@ -3101,7 +2892,9 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
                 // If Physics stalls, it takes longer which makes the tick count ms larger.
 
                 if (latertickcount < 100)
+                {
                     m_timeDilation = 1.0f;
+                }
                 else
                 {
                     m_timeDilation = 100f / latertickcount;
@@ -3114,6 +2907,229 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
             return fps;
         }
 
+        /// <summary>
+        /// Simulate pending NINJA joints.
+        /// </summary>
+        /// <remarks>
+        /// Called by the main Simulate() loop if NINJA joints are active.  Should not be called from anywhere else.
+        /// </remarks>
+        protected void SimulatePendingNINJAJoints()
+        {
+            // Create pending joints, if possible
+
+            // joints can only be processed after ALL bodies are processed (and exist in ODE), since creating
+            // a joint requires specifying the body id of both involved bodies
+            if (pendingJoints.Count > 0)
+            {
+                List<PhysicsJoint> successfullyProcessedPendingJoints = new List<PhysicsJoint>();
+                //DoJointErrorMessage(joints_connecting_actor, "taint: " + pendingJoints.Count + " pending joints");
+                foreach (PhysicsJoint joint in pendingJoints)
+                {
+                    //DoJointErrorMessage(joint, "taint: time to create joint with parms: " + joint.RawParams);
+                    string[] jointParams = joint.RawParams.Split(" ".ToCharArray(), System.StringSplitOptions.RemoveEmptyEntries);
+                    List<IntPtr> jointBodies = new List<IntPtr>();
+                    bool allJointBodiesAreReady = true;
+                    foreach (string jointParam in jointParams)
+                    {
+                        if (jointParam == "NULL")
+                        {
+                            //DoJointErrorMessage(joint, "attaching NULL joint to world");
+                            jointBodies.Add(IntPtr.Zero);
+                        }
+                        else
+                        {
+                            //DoJointErrorMessage(joint, "looking for prim name: " + jointParam);
+                            bool foundPrim = false;
+                            lock (_prims)
+                            {
+                                foreach (OdePrim prim in _prims) // FIXME: inefficient
+                                {
+                                    if (prim.SOPName == jointParam)
+                                    {
+                                        //DoJointErrorMessage(joint, "found for prim name: " + jointParam);
+                                        if (prim.IsPhysical && prim.Body != IntPtr.Zero)
+                                        {
+                                            jointBodies.Add(prim.Body);
+                                            foundPrim = true;
+                                            break;
+                                        }
+                                        else
+                                        {
+                                            DoJointErrorMessage(joint, "prim name " + jointParam +
+                                                " exists but is not (yet) physical; deferring joint creation. " +
+                                                "IsPhysical property is " + prim.IsPhysical +
+                                                " and body is " + prim.Body);
+                                            foundPrim = false;
+                                            break;
+                                        }
+                                    }
+                                }
+                            }
+                            if (foundPrim)
+                            {
+                                // all is fine
+                            }
+                            else
+                            {
+                                allJointBodiesAreReady = false;
+                                break;
+                            }
+                        }
+                    }
+
+                    if (allJointBodiesAreReady)
+                    {
+                        //DoJointErrorMessage(joint, "allJointBodiesAreReady for " + joint.ObjectNameInScene + " with parms " + joint.RawParams);
+                        if (jointBodies[0] == jointBodies[1])
+                        {
+                            DoJointErrorMessage(joint, "ERROR: joint cannot be created; the joint bodies are the same, body1==body2. Raw body is " + jointBodies[0] + ". raw parms: " + joint.RawParams);
+                        }
+                        else
+                        {
+                            switch (joint.Type)
+                            {
+                                case PhysicsJointType.Ball:
+                                    {
+                                        IntPtr odeJoint;
+                                        //DoJointErrorMessage(joint, "ODE creating ball joint ");
+                                        odeJoint = d.JointCreateBall(world, IntPtr.Zero);
+                                        //DoJointErrorMessage(joint, "ODE attaching ball joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
+                                        d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
+                                        //DoJointErrorMessage(joint, "ODE setting ball anchor: " + odeJoint + " to vec:" + joint.Position);
+                                        d.JointSetBallAnchor(odeJoint,
+                                                            joint.Position.X,
+                                                            joint.Position.Y,
+                                                            joint.Position.Z);
+                                        //DoJointErrorMessage(joint, "ODE joint setting OK");
+                                        //DoJointErrorMessage(joint, "The ball joint's bodies are here: b0: ");
+                                        //DoJointErrorMessage(joint, "" + (jointBodies[0] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[0]) : "fixed environment"));
+                                        //DoJointErrorMessage(joint, "The ball joint's bodies are here: b1: ");
+                                        //DoJointErrorMessage(joint, "" + (jointBodies[1] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[1]) : "fixed environment"));
+
+                                        if (joint is OdePhysicsJoint)
+                                        {
+                                            ((OdePhysicsJoint)joint).jointID = odeJoint;
+                                        }
+                                        else
+                                        {
+                                            DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
+                                        }
+                                    }
+                                    break;
+                                case PhysicsJointType.Hinge:
+                                    {
+                                        IntPtr odeJoint;
+                                        //DoJointErrorMessage(joint, "ODE creating hinge joint ");
+                                        odeJoint = d.JointCreateHinge(world, IntPtr.Zero);
+                                        //DoJointErrorMessage(joint, "ODE attaching hinge joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
+                                        d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
+                                        //DoJointErrorMessage(joint, "ODE setting hinge anchor: " + odeJoint + " to vec:" + joint.Position);
+                                        d.JointSetHingeAnchor(odeJoint,
+                                                              joint.Position.X,
+                                                              joint.Position.Y,
+                                                              joint.Position.Z);
+                                        // We use the orientation of the x-axis of the joint's coordinate frame
+                                        // as the axis for the hinge.
+
+                                        // Therefore, we must get the joint's coordinate frame based on the
+                                        // joint.Rotation field, which originates from the orientation of the 
+                                        // joint's proxy object in the scene.
+
+                                        // The joint's coordinate frame is defined as the transformation matrix
+                                        // that converts a vector from joint-local coordinates into world coordinates.
+                                        // World coordinates are defined as the XYZ coordinate system of the sim,
+                                        // as shown in the top status-bar of the viewer.
+
+                                        // Once we have the joint's coordinate frame, we extract its X axis (AtAxis)
+                                        // and use that as the hinge axis.
+
+                                        //joint.Rotation.Normalize();
+                                        Matrix4 proxyFrame = Matrix4.CreateFromQuaternion(joint.Rotation);
+
+                                        // Now extract the X axis of the joint's coordinate frame.
+
+                                        // Do not try to use proxyFrame.AtAxis or you will become mired in the
+                                        // tar pit of transposed, inverted, and generally messed-up orientations.
+                                        // (In other words, Matrix4.AtAxis() is borked.)
+                                        // Vector3 jointAxis = proxyFrame.AtAxis; <--- this path leadeth to madness
+
+                                        // Instead, compute the X axis of the coordinate frame by transforming
+                                        // the (1,0,0) vector. At least that works.
+
+                                        //m_log.Debug("PHY: making axis: complete matrix is " + proxyFrame);
+                                        Vector3 jointAxis = Vector3.Transform(Vector3.UnitX, proxyFrame);
+                                        //m_log.Debug("PHY: making axis: hinge joint axis is " + jointAxis);
+                                        //DoJointErrorMessage(joint, "ODE setting hinge axis: " + odeJoint + " to vec:" + jointAxis);
+                                        d.JointSetHingeAxis(odeJoint,
+                                                            jointAxis.X,
+                                                            jointAxis.Y,
+                                                            jointAxis.Z);
+                                        //d.JointSetHingeParam(odeJoint, (int)dParam.CFM, 0.1f);
+                                        if (joint is OdePhysicsJoint)
+                                        {
+                                            ((OdePhysicsJoint)joint).jointID = odeJoint;
+                                        }
+                                        else
+                                        {
+                                            DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
+                                        }
+                                    }
+                                    break;
+                            }
+                            successfullyProcessedPendingJoints.Add(joint);
+                        }
+                    }
+                    else
+                    {
+                        DoJointErrorMessage(joint, "joint could not yet be created; still pending");
+                    }
+                }
+
+                foreach (PhysicsJoint successfullyProcessedJoint in successfullyProcessedPendingJoints)
+                {
+                    //DoJointErrorMessage(successfullyProcessedJoint, "finalizing succesfully procsssed joint " + successfullyProcessedJoint.ObjectNameInScene + " parms " + successfullyProcessedJoint.RawParams);
+                    //DoJointErrorMessage(successfullyProcessedJoint, "removing from pending");
+                    InternalRemovePendingJoint(successfullyProcessedJoint);
+                    //DoJointErrorMessage(successfullyProcessedJoint, "adding to active");
+                    InternalAddActiveJoint(successfullyProcessedJoint);
+                    //DoJointErrorMessage(successfullyProcessedJoint, "done");
+                }
+            }
+        }
+
+        /// <summary>
+        /// Simulate the joint proxies of a NINJA actor.
+        /// </summary>
+        /// <remarks>
+        /// Called as part of the Simulate() loop if NINJA physics is active.  Must only be called from there.
+        /// </remarks>
+        /// <param name="actor"></param>
+        protected void SimulateActorPendingJoints(OdePrim actor)
+        {
+            // If an actor moved, move its joint proxy objects as well.
+            // There seems to be an event PhysicsActor.OnPositionUpdate that could be used
+            // for this purpose but it is never called! So we just do the joint
+            // movement code here.
+
+            if (actor.SOPName != null &&
+                joints_connecting_actor.ContainsKey(actor.SOPName) &&
+                joints_connecting_actor[actor.SOPName] != null &&
+                joints_connecting_actor[actor.SOPName].Count > 0)
+            {
+                foreach (PhysicsJoint affectedJoint in joints_connecting_actor[actor.SOPName])
+                {
+                    if (affectedJoint.IsInPhysicsEngine)
+                    {
+                        DoJointMoved(affectedJoint);
+                    }
+                    else
+                    {
+                        DoJointErrorMessage(affectedJoint, "a body connected to a joint was moved, but the joint doesn't exist yet! this will lead to joint error. joint was: " + affectedJoint.ObjectNameInScene + " parms:" + affectedJoint.RawParams);
+                    }
+                }
+            }
+        }
+
         public override void GetResults()
         {
         }
@@ -3459,24 +3475,21 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
             float hfmin = 2000;
             float hfmax = -2000;
             
-                for (int x = 0; x < heightmapWidthSamples; x++)
+            for (int x = 0; x < heightmapWidthSamples; x++)
+            {
+                for (int y = 0; y < heightmapHeightSamples; y++)
                 {
-                    for (int y = 0; y < heightmapHeightSamples; y++)
-                    {
-                        int xx = Util.Clip(x - 1, 0, regionsize - 1);
-                        int yy = Util.Clip(y - 1, 0, regionsize - 1);
-                        
-                        
-                        float val= heightMap[yy * (int)Constants.RegionSize + xx];
-                         _heightmap[x * ((int)Constants.RegionSize + 2) + y] = val;
-                        
-                        hfmin = (val < hfmin) ? val : hfmin;
-                        hfmax = (val > hfmax) ? val : hfmax;
-                    }
+                    int xx = Util.Clip(x - 1, 0, regionsize - 1);
+                    int yy = Util.Clip(y - 1, 0, regionsize - 1);
+                    
+                    
+                    float val= heightMap[yy * (int)Constants.RegionSize + xx];
+                     _heightmap[x * ((int)Constants.RegionSize + 2) + y] = val;
+                    
+                    hfmin = (val < hfmin) ? val : hfmin;
+                    hfmax = (val > hfmax) ? val : hfmax;
                 }
-                
-            
-            
+            }
 
             lock (OdeLock)
             {
@@ -3531,7 +3544,6 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
                 }
                 RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
                 TerrainHeightFieldHeights.Add(GroundGeom,_heightmap);
-                
             }
         }
 
@@ -3694,6 +3706,7 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
                 //d.CloseODE();
             }
         }
+
         public override Dictionary<uint, float> GetTopColliders()
         {
             Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();