5 files changed, 153 insertions, 91 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index cd279e3..a9e16e6 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -200,20 +200,36 @@ public sealed class BSCharacter : BSPhysObject
             // TODO: Decide if the step parameters should be changed depending on the avatar's
             //     state (flying, colliding, ...). There is code in ODE to do this.
 
+            // COMMENTARY: when the user is making the avatar walk, except for falling, the velocity
+            //   specified for the avatar is the one that should be used. For falling, if the avatar
+            //   is not flying and is not colliding then it is presumed to be falling and the Z
+            //   component is not fooled with (thus allowing gravity to do its thing).
+            // When the avatar is standing, though, the user has specified a velocity of zero and
+            //   the avatar should be standing. But if the avatar is pushed by something in the world
+            //   (raising elevator platform, moving vehicle, ...) the avatar should be allowed to
+            //   move. Thus, the velocity cannot be forced to zero. The problem is that small velocity
+            //   errors can creap in and the avatar will slowly float off in some direction.
+            // So, the problem is that, when an avatar is standing, we cannot tell creaping error
+            //   from real pushing.OMV.Vector3.Zero;
+            // The code below keeps setting the velocity to zero hoping the world will keep pushing.
+
             _velocityMotor.Step(timeStep);
 
             // If we're not supposed to be moving, make sure things are zero.
-            if (_velocityMotor.ErrorIsZero() && _velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f))
+            if (_velocityMotor.ErrorIsZero() && _velocityMotor.TargetValue == OMV.Vector3.Zero && IsColliding)
             {
-                if (_wasWalking)
+                // The avatar shouldn't be moving
+                _velocityMotor.Zero();
+                ZeroMotion(true /* inTaintTime */);
+
+                // Standing has more friction on the ground
+                if (_currentFriction != BSParam.AvatarStandingFriction)
                 {
-                    _velocityMotor.Zero();
-                    _velocity = OMV.Vector3.Zero;
-                    PhysicsScene.PE.SetLinearVelocity(PhysBody, OMV.Vector3.Zero);
                     _currentFriction = BSParam.AvatarStandingFriction;
                     PhysicsScene.PE.SetFriction(PhysBody, _currentFriction);
-                    // DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1}", LocalID, _velocityMotor.TargetValue);
                 }
+                DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1}", LocalID, _velocityMotor.TargetValue);
+
                 _wasWalking = false;
             }
             else
@@ -242,7 +258,7 @@ public sealed class BSCharacter : BSPhysObject
                 // Add special movement force to allow avatars to walk up stepped surfaces.
                 moveForce += WalkUpStairs();
 
-                // DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce);
+                DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce);
                 PhysicsScene.PE.ApplyCentralImpulse(PhysBody, moveForce);
                 _wasWalking = true;
             }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 388d4f9..f8fc3de 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -231,6 +231,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     break;
                 case Vehicle.ANGULAR_MOTOR_DIRECTION:
                     m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
+                    m_angularMotor.Zero();
                     m_angularMotor.SetTarget(m_angularMotorDirection);
                     break;
                 case Vehicle.LINEAR_FRICTION_TIMESCALE:
@@ -264,6 +265,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     pValue.Y = ClampInRange(-12.56f, pValue.Y, 12.56f);
                     pValue.Z = ClampInRange(-12.56f, pValue.Z, 12.56f);
                     m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    m_angularMotor.Zero();
                     m_angularMotor.SetTarget(m_angularMotorDirection);
                     break;
                 case Vehicle.LINEAR_FRICTION_TIMESCALE:
@@ -945,10 +947,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             // ==================================================================
             // Clamp high or low velocities
             float newVelocityLengthSq = VehicleVelocity.LengthSquared();
-            if (newVelocityLengthSq > 1000f)
+            if (newVelocityLengthSq > BSParam.VehicleMaxLinearVelocity)
             {
                 VehicleVelocity /= VehicleVelocity.Length();
-                VehicleVelocity *= 1000f;
+                VehicleVelocity *= BSParam.VehicleMaxLinearVelocity;
             }
             else if (newVelocityLengthSq < 0.001f)
                 VehicleVelocity = Vector3.Zero;
@@ -1190,63 +1192,33 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         //     set directly on the vehicle.
         private void MoveAngular(float pTimestep)
         {
-            // The user wants this many radians per second angular change?
-            Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep);
-            angularMotorContribution = m_angularMotor.CurrentValue;
+            VehicleRotationalVelocity = Vector3.Zero;
 
-            // ==================================================================
-            // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
-            //    This flag prevents linear deflection parallel to world z-axis. This is useful
-            //    for preventing ground vehicles with large linear deflection, like bumper cars,
-            //    from climbing their linear deflection into the sky. 
-            // That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement
-            // TODO: This is here because this is where ODE put it but documentation says it
-            //    is a linear effect. Where should this check go?
-            if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
-            {
-                angularMotorContribution.X = 0f;
-                angularMotorContribution.Y = 0f;
-                VDetailLog("{0},  MoveAngular,noDeflectionUp,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution);
-            }
+            ComputeAngularTurning(pTimestep);
 
-            Vector3 verticalAttractionContribution = ComputeAngularVerticalAttraction();
+            ComputeAngularVerticalAttraction();
 
-            Vector3 deflectionContribution = ComputeAngularDeflection();
+            ComputeAngularDeflection();
 
-            Vector3 bankingContribution = ComputeAngularBanking();
+            ComputeAngularBanking();
 
             // ==================================================================
-            m_lastVertAttractor = verticalAttractionContribution;
-
-            m_lastAngularVelocity = angularMotorContribution
-                                    + verticalAttractionContribution
-                                    + deflectionContribution
-                                    + bankingContribution;
-
             // All of the above computation are made relative to vehicle coordinates.
             // Convert to world coordinates.
-            m_lastAngularVelocity *= VehicleOrientation;
+            // TODO: Should this be applied as an angular force (torque)?
+            VehicleRotationalVelocity *= VehicleOrientation;
 
             // ==================================================================
-            // Apply the correction velocity.
-            // TODO: Should this be applied as an angular force (torque)?
-            if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
-            {
-                VehicleRotationalVelocity = m_lastAngularVelocity;
-
-                VDetailLog("{0},  MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5}",
-                                    Prim.LocalID,
-                                    angularMotorContribution, verticalAttractionContribution,
-                                    bankingContribution, deflectionContribution,
-                                    m_lastAngularVelocity
-                                    );
-            }
-            else
+            if (VehicleRotationalVelocity.ApproxEquals(Vector3.Zero, 0.01f))
             {
                 // The vehicle is not adding anything angular wise.
                 VehicleRotationalVelocity = Vector3.Zero;
                 VDetailLog("{0},  MoveAngular,done,zero", Prim.LocalID);
             }
+            else
+            {
+                VDetailLog("{0},  MoveAngular,done,nonZero,angVel={1}", Prim.LocalID, VehicleRotationalVelocity);
+            }
 
             // ==================================================================
             //Offset section
@@ -1280,6 +1252,30 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             }
 
         }
+
+        private void ComputeAngularTurning(float pTimestep)
+        {
+            // The user wants this many radians per second angular change?
+            Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep);
+
+            // ==================================================================
+            // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
+            //    This flag prevents linear deflection parallel to world z-axis. This is useful
+            //    for preventing ground vehicles with large linear deflection, like bumper cars,
+            //    from climbing their linear deflection into the sky. 
+            // That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement
+            // TODO: This is here because this is where ODE put it but documentation says it
+            //    is a linear effect. Where should this check go?
+            if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
+            {
+                angularMotorContribution.X = 0f;
+                angularMotorContribution.Y = 0f;
+            }
+
+            VehicleRotationalVelocity += angularMotorContribution;
+            VDetailLog("{0},  MoveAngular,angularTurning,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution);
+        }
+
         // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
         //      Some vehicles, like boats, should always keep their up-side up. This can be done by
         //      enabling the "vertical attractor" behavior that springs the vehicle's local z-axis to
@@ -1288,13 +1284,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         //      and then set the VEHICLE_VERTICAL_ATTRACTION_EFFICIENCY to control the damping. An
         //      efficiency of 0.0 will cause the spring to wobble around its equilibrium, while an
         //      efficiency of 1.0 will cause the spring to reach its equilibrium with exponential decay.
-        public Vector3 ComputeAngularVerticalAttraction()
+        public void ComputeAngularVerticalAttraction()
         {
-            Vector3 ret = Vector3.Zero;
-
             // If vertical attaction timescale is reasonable
             if (enableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
             {
+                Vector3 vertContribution = Vector3.Zero;
+
                 // Take a vector pointing up and convert it from world to vehicle relative coords.
                 Vector3 verticalError = Vector3.UnitZ * VehicleOrientation;
 
@@ -1308,37 +1304,36 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
                 // Y error means needed rotation around X axis and visa versa.
                 // Since the error goes from zero to one, the asin is the corresponding angle.
-                ret.X = (float)Math.Asin(verticalError.Y);
+                vertContribution.X = (float)Math.Asin(verticalError.Y);
                 // (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.)
-                ret.Y = -(float)Math.Asin(verticalError.X);
+                vertContribution.Y = -(float)Math.Asin(verticalError.X);
 
                 // If verticalError.Z is negative, the vehicle is upside down. Add additional push.
                 if (verticalError.Z < 0f)
                 {
-                    ret.X += PIOverFour;
-                    ret.Y += PIOverFour;
+                    vertContribution.X += PIOverFour;
+                    vertContribution.Y += PIOverFour;
                 }
 
-                // 'ret' is now the necessary velocity to correct tilt in one second.
+                // 'vertContrbution' is now the necessary angular correction to correct tilt in one second.
                 //     Correction happens over a number of seconds.
-                Vector3 unscaledContrib = ret;
-                ret /= m_verticalAttractionTimescale;
+                Vector3 unscaledContrib = vertContribution;     // DEBUG DEBUG
+                vertContribution /= m_verticalAttractionTimescale;
+
+                VehicleRotationalVelocity += vertContribution;
 
                 VDetailLog("{0},  MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},ts={4},vertAttr={5}",
-                                Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, ret);
+                                Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContribution);
             }
-            return ret;
         }
 
-        // Return the angular correction to correct the direction the vehicle is pointing to be
+        // Angular correction to correct the direction the vehicle is pointing to be
         //      the direction is should want to be pointing.
         // The vehicle is moving in some direction and correct its orientation to it is pointing
         //     in that direction.
         // TODO: implement reference frame.
-        public Vector3 ComputeAngularDeflection()
+        public void ComputeAngularDeflection()
         {
-            Vector3 ret = Vector3.Zero;
-
             // Since angularMotorUp and angularDeflection are computed independently, they will calculate
             //     approximately the same X or Y correction. When added together (when contributions are combined)
             //     this creates an over-correction and then wabbling as the target is overshot.
@@ -1346,6 +1341,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
             if (enableAngularDeflection && m_angularDeflectionEfficiency != 0 && VehicleForwardSpeed > 0.2)
             {
+                Vector3 deflectContribution = Vector3.Zero;
+
                 // The direction the vehicle is moving
                 Vector3 movingDirection = VehicleVelocity;
                 movingDirection.Normalize();
@@ -1371,18 +1368,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 // ret = m_angularDeflectionCorrectionMotor(1f, deflectionError);
 
                 // Scale the correction by recovery timescale and efficiency
-                ret = (-deflectionError) * m_angularDeflectionEfficiency;
-                ret /= m_angularDeflectionTimescale;
+                deflectContribution = (-deflectionError) * m_angularDeflectionEfficiency;
+                deflectContribution /= m_angularDeflectionTimescale;
+
+                VehicleRotationalVelocity += deflectContribution;
 
                 VDetailLog("{0},  MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}",
-                    Prim.LocalID, movingDirection, pointingDirection, deflectionError, ret);
+                    Prim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContribution);
                 VDetailLog("{0},  MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3}",
                     Prim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale);
             }
-            return ret;
         }
 
-        // Return an angular change to rotate the vehicle around the Z axis when the vehicle
+        // Angular change to rotate the vehicle around the Z axis when the vehicle
         //     is tipped around the X axis.
         // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
         //      The vertical attractor feature must be enabled in order for the banking behavior to
@@ -1413,12 +1411,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         //      world z-axis is determined by the VEHICLE_BANKING_TIMESCALE. So if you want the vehicle to
         //      bank quickly then give it a banking timescale of about a second or less, otherwise you can
         //      make a sluggish vehicle by giving it a timescale of several seconds. 
-        public Vector3 ComputeAngularBanking()
+        public void ComputeAngularBanking()
         {
-            Vector3 ret = Vector3.Zero;
-
             if (enableAngularBanking && m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
             {
+                Vector3 bankingContribution = Vector3.Zero;
+
                 // Rotate a UnitZ vector (pointing up) to how the vehicle is oriented.
                 // As the vehicle rolls to the right or left, the Y value will increase from
                 //     zero (straight up) to 1 or -1 (full tilt right  or left)
@@ -1435,15 +1433,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 mixedYawAngle = ClampInRange(-20f, mixedYawAngle, 20f);
 
                 // Build the force vector to change rotation from what it is to what it should be
-                ret.Z = -mixedYawAngle;
+                bankingContribution.Z = -mixedYawAngle;
 
                 // Don't do it all at once.
-                ret /= m_bankingTimescale;
+                bankingContribution /= m_bankingTimescale;
+
+                VehicleRotationalVelocity += bankingContribution;
 
                 VDetailLog("{0},  MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}",
-                            Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, ret);
+                            Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContribution);
             }
-            return ret;
         }
 
         // This is from previous instantiations of XXXDynamics.cs.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
index 82fd2d2..9501e2d 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
@@ -149,6 +149,7 @@ public class BSVMotor : BSMotor
 
         Vector3 correction = Vector3.Zero;
         Vector3 error = TargetValue - CurrentValue;
+        LastError = error;
         if (!ErrorIsZero(error))
         {
             correction = StepError(timeStep, error);
@@ -188,9 +189,15 @@ public class BSVMotor : BSMotor
         else
         {
             // Difference between what we have and target is small. Motor is done.
-            CurrentValue = TargetValue = Vector3.Zero;
-            MDetailLog("{0},  BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}",
-                        BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue);
+            if (TargetValue.ApproxEquals(Vector3.Zero, ErrorZeroThreshold))
+            {
+                // The target can step down to nearly zero but not get there.  If close to zero
+                //     it is really zero.
+                TargetValue = Vector3.Zero;
+            }
+            CurrentValue = TargetValue;
+            MDetailLog("{0},  BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},currTgt={4},currCurr={5}",
+                        BSScene.DetailLogZero, UseName, origCurrVal, origTarget, TargetValue, CurrentValue);
         }
 
         return correction;
@@ -205,9 +212,8 @@ public class BSVMotor : BSMotor
     {
         if (!Enabled) return Vector3.Zero;
 
-        LastError = error;
         Vector3 returnCorrection = Vector3.Zero;
-        if (!ErrorIsZero())
+        if (!ErrorIsZero(error))
         {
             // correction =  error / secondsItShouldTakeToCorrect
             Vector3 correctionAmount;
@@ -309,6 +315,7 @@ public class BSFMotor : BSMotor
 
         float correction = 0f;
         float error = TargetValue - CurrentValue;
+        LastError = error;
         if (!ErrorIsZero(error))
         {
             correction = StepError(timeStep, error);
@@ -346,6 +353,12 @@ public class BSFMotor : BSMotor
         else
         {
             // Difference between what we have and target is small. Motor is done.
+            if (Util.InRange<float>(TargetValue, -ErrorZeroThreshold, ErrorZeroThreshold))
+            {
+                // The target can step down to nearly zero but not get there.  If close to zero
+                //     it is really zero.
+                TargetValue = 0f;
+            }
             CurrentValue = TargetValue;
             MDetailLog("{0},  BSFMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}",
                         BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue);
@@ -358,9 +371,8 @@ public class BSFMotor : BSMotor
     {
         if (!Enabled) return 0f;
 
-        LastError = error;
         float returnCorrection = 0f;
-        if (!ErrorIsZero())
+        if (!ErrorIsZero(error))
         {
             // correction =  error / secondsItShouldTakeToCorrect
             float correctionAmount;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index 3e80aa4..6a92365 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -45,6 +45,9 @@ public static class BSParam
 
     public static float MinimumObjectMass { get; private set; }
     public static float MaximumObjectMass { get; private set; }
+    public static float MaxLinearVelocity { get; private set; }
+    public static float MaxAngularVelocity { get; private set; }
+    public static float MaxAddForceMagnitude { get; private set; }
 
     public static float LinearDamping { get; private set; }
     public static float AngularDamping { get; private set; }
@@ -79,6 +82,8 @@ public static class BSParam
         public static float AvatarStepApproachFactor { get; private set; }
         public static float AvatarStepForceFactor { get; private set; }
 
+    public static float VehicleMaxLinearVelocity { get; private set; }
+    public static float VehicleMaxAngularVelocity { get; private set; }
     public static float VehicleAngularDamping { get; private set; }
     public static float VehicleDebuggingEnabled { get; private set; }
 
@@ -103,7 +108,6 @@ public static class BSParam
     public const float MaxDensity = 22587f;
     public const float MinRestitution = 0f;
     public const float MaxRestitution = 1f;
-    public const float MaxAddForceMagnitude = 20f;
 
     // ===========================================================================
     public delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val);
@@ -247,6 +251,22 @@ public static class BSParam
             (s,cf,p,v) => { MaximumObjectMass = cf.GetFloat(p, v); },
             (s) => { return (float)MaximumObjectMass; },
             (s,p,l,v) => { MaximumObjectMass = v; } ),
+        new ParameterDefn("MaxLinearVelocity", "Maximum velocity magnitude that can be assigned to an object",
+            1000.0f,
+            (s,cf,p,v) => { MaxLinearVelocity = cf.GetFloat(p, v); },
+            (s) => { return (float)MaxLinearVelocity; },
+            (s,p,l,v) => { MaxLinearVelocity = v; } ),
+        new ParameterDefn("MaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to an object",
+            1000.0f,
+            (s,cf,p,v) => { MaxAngularVelocity = cf.GetFloat(p, v); },
+            (s) => { return (float)MaxAngularVelocity; },
+            (s,p,l,v) => { MaxAngularVelocity = v; } ),
+        // LL documentation says thie number should be 20f
+        new ParameterDefn("MaxAddForceMagnitude", "Maximum force that can be applied by llApplyImpulse (SL says 20f)",
+            200.0f,
+            (s,cf,p,v) => { MaxAddForceMagnitude = cf.GetFloat(p, v); },
+            (s) => { return (float)MaxAddForceMagnitude; },
+            (s,p,l,v) => { MaxAddForceMagnitude = v; } ),
 
         new ParameterDefn("PID_D", "Derivitive factor for motion smoothing",
             2200f,
@@ -423,6 +443,16 @@ public static class BSParam
             (s) => { return AvatarStepForceFactor; },
             (s,p,l,v) => { AvatarStepForceFactor = v; } ),
 
+        new ParameterDefn("VehicleMaxLinearVelocity", "Maximum velocity magnitude that can be assigned to a vehicle",
+            1000.0f,
+            (s,cf,p,v) => { VehicleMaxLinearVelocity = cf.GetFloat(p, v); },
+            (s) => { return (float)VehicleMaxLinearVelocity; },
+            (s,p,l,v) => { VehicleMaxLinearVelocity = v; } ),
+        new ParameterDefn("VehicleMaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to a vehicle",
+            12.0f,
+            (s,cf,p,v) => { VehicleMaxAngularVelocity = cf.GetFloat(p, v); },
+            (s) => { return (float)VehicleMaxAngularVelocity; },
+            (s,p,l,v) => { VehicleMaxAngularVelocity = v; } ),
         new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)",
             0.95f,
             (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); },
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 22afdc9..b63523c 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -989,10 +989,10 @@ public sealed class BSPrim : BSPhysObject
         }
         set {
             _rotationalVelocity = value;
+            Util.ClampV(_rotationalVelocity, BSParam.MaxAngularVelocity);
             // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
             PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
             {
-                DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
                 ForceRotationalVelocity = _rotationalVelocity;
             });
         }
@@ -1005,6 +1005,7 @@ public sealed class BSPrim : BSPhysObject
             _rotationalVelocity = value;
             if (PhysBody.HasPhysicalBody)
             {
+                DetailLog("{0},BSPrim.ForceRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
                 PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
                 ActivateIfPhysical(false);
             }
@@ -1193,10 +1194,14 @@ public sealed class BSPrim : BSPhysObject
     public override float APIDDamping { set { return; } }
 
     public override void AddForce(OMV.Vector3 force, bool pushforce) {
+        // Per documentation, max force is limited.
+        OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
+
         // Since this force is being applied in only one step, make this a force per second.
-        OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep;
-        AddForce(addForce, pushforce, false);
+        addForce /= PhysicsScene.LastTimeStep;
+        AddForce(addForce, pushforce, false /* inTaintTime */);
     }
+
     // Applying a force just adds this to the total force on the object.
     // This added force will only last the next simulation tick.
     public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
@@ -1205,9 +1210,9 @@ public sealed class BSPrim : BSPhysObject
         {
             if (force.IsFinite())
             {
-                OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
                 // DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce);
 
+                OMV.Vector3 addForce = force;
                 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
                 {
                     // Bullet adds this central force to the total force for this tick