21 files changed, 262 insertions, 235 deletions

diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/CTri.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/CTri.cs
index 7ad689e..bd1f75e 100644
--- a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/CTri.cs
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/CTri.cs
@@ -1,21 +1,21 @@
 /* The MIT License
- * 
+ *
  * Copyright (c) 2010 Intel Corporation.
  * All rights reserved.
  *
- * Based on the convexdecomposition library from 
+ * Based on the convexdecomposition library from
  * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
- * 
+ *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- * 
+ *
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- * 
+ *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -28,7 +28,7 @@
 using System;
 using System.Collections.Generic;
 
-namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+namespace OpenSim.Region.PhysicsModules.ConvexDecompositionDotNet
 {
     public class Wpoint
     {
@@ -246,13 +246,13 @@ namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
         }
 
         private static float DistToPt(float3 p, float4 plane)
-            {
-                    float x = p.x;
-                    float y = p.y;
-                    float z = p.z;
-                    float d = x*plane.x + y*plane.y + z*plane.z + plane.w;
-                    return d;
-            }
+        {
+            float x = p.x;
+            float y = p.y;
+            float z = p.z;
+            float d = x*plane.x + y*plane.y + z*plane.z + plane.w;
+            return d;
+        }
 
         private static void intersect(float3 p1, float3 p2, ref float3 split, float4 plane)
         {
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/Concavity.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/Concavity.cs
index 4140d25..0d22d71 100644
--- a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/Concavity.cs
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/Concavity.cs
@@ -1,21 +1,21 @@
 /* The MIT License
- * 
+ *
  * Copyright (c) 2010 Intel Corporation.
  * All rights reserved.
  *
- * Based on the convexdecomposition library from 
+ * Based on the convexdecomposition library from
  * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
- * 
+ *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- * 
+ *
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- * 
+ *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -29,7 +29,7 @@ using System;
 using System.Collections.Generic;
 using System.Text;
 
-namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+namespace OpenSim.Region.PhysicsModules.ConvexDecompositionDotNet
 {
     public static class Concavity
     {
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/ConvexBuilder.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/ConvexBuilder.cs
index 70c3a2b..810e95d 100644
--- a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/ConvexBuilder.cs
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/ConvexBuilder.cs
@@ -1,21 +1,21 @@
 /* The MIT License
- * 
+ *
  * Copyright (c) 2010 Intel Corporation.
  * All rights reserved.
  *
- * Based on the convexdecomposition library from 
+ * Based on the convexdecomposition library from
  * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
- * 
+ *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- * 
+ *
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- * 
+ *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -29,7 +29,7 @@ using System;
 using System.Collections.Generic;
 using System.Diagnostics;
 
-namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+namespace OpenSim.Region.PhysicsModules.ConvexDecompositionDotNet
 {
     public class DecompDesc
     {
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/ConvexDecomposition.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/ConvexDecomposition.cs
index 5046bce..a382f9d 100644
--- a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/ConvexDecomposition.cs
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/ConvexDecomposition.cs
@@ -1,21 +1,21 @@
 /* The MIT License
- * 
+ *
  * Copyright (c) 2010 Intel Corporation.
  * All rights reserved.
  *
- * Based on the convexdecomposition library from 
+ * Based on the convexdecomposition library from
  * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
- * 
+ *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- * 
+ *
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- * 
+ *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -29,7 +29,7 @@ using System;
 using System.Collections.Generic;
 using System.Diagnostics;
 
-namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+namespace OpenSim.Region.PhysicsModules.ConvexDecompositionDotNet
 {
     public delegate void ConvexDecompositionCallback(ConvexResult result);
 
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/ConvexResult.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/ConvexResult.cs
index 44e3e50..300fed3 100644
--- a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/ConvexResult.cs
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/ConvexResult.cs
@@ -1,21 +1,21 @@
 /* The MIT License
- * 
+ *
  * Copyright (c) 2010 Intel Corporation.
  * All rights reserved.
  *
- * Based on the convexdecomposition library from 
+ * Based on the convexdecomposition library from
  * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
- * 
+ *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- * 
+ *
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- * 
+ *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -28,7 +28,7 @@
 using System;
 using System.Collections.Generic;
 
-namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+namespace OpenSim.Region.PhysicsModules.ConvexDecompositionDotNet
 {
     public class ConvexResult
     {
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/HullClasses.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/HullClasses.cs
index 8a0164e..73fb252 100644
--- a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/HullClasses.cs
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/HullClasses.cs
@@ -1,21 +1,21 @@
 /* The MIT License
- * 
+ *
  * Copyright (c) 2010 Intel Corporation.
  * All rights reserved.
  *
- * Based on the convexdecomposition library from 
+ * Based on the convexdecomposition library from
  * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
- * 
+ *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- * 
+ *
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- * 
+ *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -28,7 +28,7 @@
 using System;
 using System.Collections.Generic;
 
-namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+namespace OpenSim.Region.PhysicsModules.ConvexDecompositionDotNet
 {
     public class HullResult
     {
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/HullTriangle.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/HullTriangle.cs
index d3f0052..6e73fd5 100644
--- a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/HullTriangle.cs
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/HullTriangle.cs
@@ -1,21 +1,21 @@
 /* The MIT License
- * 
+ *
  * Copyright (c) 2010 Intel Corporation.
  * All rights reserved.
  *
- * Based on the convexdecomposition library from 
+ * Based on the convexdecomposition library from
  * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
- * 
+ *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- * 
+ *
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- * 
+ *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -29,7 +29,7 @@ using System;
 using System.Collections.Generic;
 using System.Diagnostics;
 
-namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+namespace OpenSim.Region.PhysicsModules.ConvexDecompositionDotNet
 {
     public class HullTriangle : int3
     {
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/HullUtils.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/HullUtils.cs
index 3903254..cf7161a 100644
--- a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/HullUtils.cs
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/HullUtils.cs
@@ -1,21 +1,21 @@
 /* The MIT License
- * 
+ *
  * Copyright (c) 2010 Intel Corporation.
  * All rights reserved.
  *
- * Based on the convexdecomposition library from 
+ * Based on the convexdecomposition library from
  * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
- * 
+ *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- * 
+ *
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- * 
+ *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -29,7 +29,7 @@ using System;
 using System.Collections.Generic;
 using System.Diagnostics;
 
-namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+namespace OpenSim.Region.PhysicsModules.ConvexDecompositionDotNet
 {
     public static class HullUtils
     {
@@ -763,7 +763,7 @@ namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
                     }
                     else if ((vertflag[edge0.v].planetest | vertflag[edge1.v].planetest) == (0))
                     {
-                        // both endpoints coplanar 
+                        // both endpoints coplanar
                         // must check a 3rd point to see if UNDER
                         int e2 = e1 + 1;
                         if (e2 >= convex.edges.Count || convex.edges[e2].p != currentplane)
@@ -792,7 +792,7 @@ namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
                     }
                     else if (vertflag[edge0.v].planetest == (1) && vertflag[edge1.v].planetest == (2))
                     {
-                        // first is under 2nd is over 
+                        // first is under 2nd is over
 
                         edgeflag[e0].undermap = (short)under_edge_count;
                         tmpunderedges[under_edge_count].v = vertflag[edge0.v].undermap;
@@ -815,7 +815,7 @@ namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
                             vout = vertcountunder++;
                         }
                         under_edge_count++;
-                        /// hmmm something to think about: i might be able to output this edge regarless of 
+                        /// hmmm something to think about: i might be able to output this edge regarless of
                         // wheter or not we know v-in yet.  ok i;ll try this now:
                         tmpunderedges[under_edge_count].v = (byte)vout;
                         tmpunderedges[under_edge_count].p = (byte)underplanescount;
@@ -834,7 +834,7 @@ namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
                     }
                     else if (vertflag[edge0.v].planetest == (0) && vertflag[edge1.v].planetest == (2))
                     {
-                        // first is coplanar 2nd is over 
+                        // first is coplanar 2nd is over
 
                         edgeflag[e0].undermap = -1;
                         vout = vertflag[edge0.v].undermap;
@@ -858,7 +858,7 @@ namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
                     }
                     else if (vertflag[edge0.v].planetest == (2) && vertflag[edge1.v].planetest == (1))
                     {
-                        // first is over next is under 
+                        // first is over next is under
                         // new vertex!!!
                         Debug.Assert(vin == -1);
                         if (e0 < edge0.ea)
@@ -901,7 +901,7 @@ namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
                     }
                     else if (vertflag[edge0.v].planetest == (2) && vertflag[edge1.v].planetest == (0))
                     {
-                        // first is over next is coplanar 
+                        // first is over next is coplanar
 
                         edgeflag[e0].undermap = -1;
                         vin = vertflag[edge1.v].undermap;
@@ -1074,14 +1074,27 @@ namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
         public static int maxdirfiltered(List<float3> p, int count, float3 dir, byte[] allow)
         {
             //Debug.Assert(count != 0);
-            int m = 0;
-            float currDotm = float3.dot(p[0], dir);
+            int m = -1;
+            float currDotm = 0;
             float currDoti;
 
-            while (allow[m] == 0)
-                m++;
+            for (int i = 0; i < count; i++)
+            {
+                if (allow[i] != 0)
+                {
+                    currDotm = float3.dot(p[i], dir);
+                    m = i;
+                    break;
+               }
+            }
 
-            for (int i = 1; i < count; i++)
+            if(m == -1)
+            {
+                Debug.Assert(false);
+                return m;
+            }
+
+            for (int i = m + 1; i < count; i++)
             {
                 if (allow[i] != 0)
                 {
@@ -1093,7 +1106,8 @@ namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
                     }
                 }
             }
-            //Debug.Assert(m != -1);
+
+//            Debug.Assert(m != -1);
             return m;
         }
 
@@ -1112,8 +1126,8 @@ namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
                 {
                     int mb;
                     {
-                        float s = (float)Math.Sin((3.14159264f / 180.0f) * (x));
-                        float c = (float)Math.Cos((3.14159264f / 180.0f) * (x));
+                        float s = (float)Math.Sin(0.01745329f * x);
+                        float c = (float)Math.Cos(0.01745329f * x);
                         mb = maxdirfiltered(p, count, dir + (u * s + v * c) * 0.025f, allow);
                     }
                     if (ma == m && mb == m)
@@ -1126,8 +1140,8 @@ namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
                         int mc = ma;
                         for (float xx = x - 40.0f; xx <= x; xx += 5.0f)
                         {
-                            float s = (float)Math.Sin((3.14159264f / 180.0f) * (xx));
-                            float c = (float)Math.Cos((3.14159264f / 180.0f) * (xx));
+                            float s = (float)Math.Sin(0.01745329f * xx);
+                            float c = (float)Math.Cos(0.01745329f * xx);
                             int md = maxdirfiltered(p, count, dir + (u * s + v * c) * 0.025f, allow);
                             if (mc == m && md == m)
                             {
@@ -1176,7 +1190,7 @@ namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
             Debug.Assert(!(p0 == p1 || p0 == p2 || p0 == p3 || p1 == p2 || p1 == p3 || p2 == p3));
             if (float3.dot(verts[p3] - verts[p0], float3.cross(verts[p1] - verts[p0], verts[p2] - verts[p0])) < 0)
             {
-                Swap(ref p2, ref p3);
+                return new int4(p0, p1, p3, p2);
             }
             return new int4(p0, p1, p2, p3);
         }
@@ -1207,12 +1221,12 @@ namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
             int j;
             float3 bmin = new float3(verts[0]);
             float3 bmax = new float3(verts[0]);
-            List<int> isextreme = new List<int>(verts.Count);
+            byte[] isextreme = new byte[verts.Count];
             byte[] allow = new byte[verts.Count];
             for (j = 0; j < verts.Count; j++)
             {
                 allow[j] = 1;
-                isextreme.Add(0);
+                isextreme[j] = 0;
                 bmin = float3.VectorMin(bmin, verts[j]);
                 bmax = float3.VectorMax(bmax, verts[j]);
             }
@@ -1526,6 +1540,19 @@ namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
             }
         }
 
+        public static bool ComputeHull(List<float3> vertices, out List<int> indices)
+        {
+            List<HullTriangle> tris = new List<HullTriangle>();
+
+            bool ret = calchull(vertices, out indices, 0, tris);
+            if (ret == false)
+            {
+                indices = new List<int>();
+                return false;
+            }
+            return true;
+        }
+
         private static bool CleanupVertices(List<float3> svertices, out List<float3> vertices, float normalepsilon, out float3 scale)
         {
             const float EPSILON = 0.000001f;
@@ -1609,7 +1636,7 @@ namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
                 addPoint(ref vcount, vertices, x2, y2, z2);
                 addPoint(ref vcount, vertices, x1, y2, z2);
 
-                return true; // return cube     
+                return true; // return cube
             }
             else
             {
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/Plane.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/Plane.cs
index da9ae0c..0f10e5f 100644
--- a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/Plane.cs
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/Plane.cs
@@ -1,21 +1,21 @@
 /* The MIT License
- * 
+ *
  * Copyright (c) 2010 Intel Corporation.
  * All rights reserved.
  *
- * Based on the convexdecomposition library from 
+ * Based on the convexdecomposition library from
  * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
- * 
+ *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- * 
+ *
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- * 
+ *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -27,7 +27,7 @@
 
 using System;
 
-namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+namespace OpenSim.Region.PhysicsModules.ConvexDecompositionDotNet
 {
     public class Plane
     {
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/PlaneTri.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/PlaneTri.cs
index 42f7a22..5915c29 100644
--- a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/PlaneTri.cs
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/PlaneTri.cs
@@ -1,21 +1,21 @@
 /* The MIT License
- * 
+ *
  * Copyright (c) 2010 Intel Corporation.
  * All rights reserved.
  *
- * Based on the convexdecomposition library from 
+ * Based on the convexdecomposition library from
  * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
- * 
+ *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- * 
+ *
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- * 
+ *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -29,7 +29,7 @@ using System;
 using System.Collections.Generic;
 using System.Diagnostics;
 
-namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+namespace OpenSim.Region.PhysicsModules.ConvexDecompositionDotNet
 {
     public enum PlaneTriResult : int
     {
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/Properties/AssemblyInfo.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/Properties/AssemblyInfo.cs
index b9cd6f5..9b418d6 100644
--- a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/Properties/AssemblyInfo.cs
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/Properties/AssemblyInfo.cs
@@ -2,7 +2,7 @@
 using System.Runtime.CompilerServices;
 using System.Runtime.InteropServices;
 
-// General Information about an assembly is controlled through the following 
+// General Information about an assembly is controlled through the following
 // set of attributes. Change these attribute values to modify the information
 // associated with an assembly.
 [assembly: AssemblyTitle("ConvexDecompositionDotNet")]
@@ -14,8 +14,8 @@ using System.Runtime.InteropServices;
 [assembly: AssemblyTrademark("")]
 [assembly: AssemblyCulture("")]
 
-// Setting ComVisible to false makes the types in this assembly not visible 
-// to COM components.  If you need to access a type in this assembly from 
+// Setting ComVisible to false makes the types in this assembly not visible
+// to COM components.  If you need to access a type in this assembly from
 // COM, set the ComVisible attribute to true on that type.
 [assembly: ComVisible(false)]
 
@@ -25,12 +25,12 @@ using System.Runtime.InteropServices;
 // Version information for an assembly consists of the following four values:
 //
 //      Major Version
-//      Minor Version 
+//      Minor Version
 //      Build Number
 //      Revision
 //
-// You can specify all the values or you can default the Build and Revision Numbers 
+// You can specify all the values or you can default the Build and Revision Numbers
 // by using the '*' as shown below:
 // [assembly: AssemblyVersion("1.0.*")]
-[assembly: AssemblyVersion("0.8.3.*")]
+[assembly: AssemblyVersion(OpenSim.VersionInfo.AssemblyVersionNumber)]
 
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/Quaternion.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/Quaternion.cs
index 045f620..571677d 100644
--- a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/Quaternion.cs
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/Quaternion.cs
@@ -1,21 +1,21 @@
 /* The MIT License
- * 
+ *
  * Copyright (c) 2010 Intel Corporation.
  * All rights reserved.
  *
- * Based on the convexdecomposition library from 
+ * Based on the convexdecomposition library from
  * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
- * 
+ *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- * 
+ *
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- * 
+ *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -27,7 +27,7 @@
 
 using System;
 
-namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+namespace OpenSim.Region.PhysicsModules.ConvexDecompositionDotNet
 {
     public class Quaternion : float4
     {
@@ -126,9 +126,9 @@ namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
         }
 
         public static Quaternion operator *(Quaternion a, float b)
-            {
-                    return new Quaternion(a.x *b, a.y *b, a.z *b, a.w *b);
-            }
+        {
+            return new Quaternion(a.x *b, a.y *b, a.z *b, a.w *b);
+        }
 
         public static Quaternion normalize(Quaternion a)
         {
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/SplitPlane.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/SplitPlane.cs
index 9f56bc5..d8c10c7 100644
--- a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/SplitPlane.cs
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/SplitPlane.cs
@@ -1,21 +1,21 @@
 /* The MIT License
- * 
+ *
  * Copyright (c) 2010 Intel Corporation.
  * All rights reserved.
  *
- * Based on the convexdecomposition library from 
+ * Based on the convexdecomposition library from
  * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
- * 
+ *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- * 
+ *
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- * 
+ *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -28,7 +28,7 @@
 using System;
 using System.Collections.Generic;
 
-namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+namespace OpenSim.Region.PhysicsModules.ConvexDecompositionDotNet
 {
     public class Rect3d
     {
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/VertexLookup.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/VertexLookup.cs
index bfe11e5..915bec6 100644
--- a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/VertexLookup.cs
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/VertexLookup.cs
@@ -1,21 +1,21 @@
 /* The MIT License
- * 
+ *
  * Copyright (c) 2010 Intel Corporation.
  * All rights reserved.
  *
- * Based on the convexdecomposition library from 
+ * Based on the convexdecomposition library from
  * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
- * 
+ *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- * 
+ *
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- * 
+ *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -28,7 +28,7 @@
 using System;
 using System.Collections.Generic;
 
-namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+namespace OpenSim.Region.PhysicsModules.ConvexDecompositionDotNet
 {
     public class VertexPool
     {
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float2.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float2.cs
index e7358c1..c2c8940 100644
--- a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float2.cs
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float2.cs
@@ -1,21 +1,21 @@
 /* The MIT License
- * 
+ *
  * Copyright (c) 2010 Intel Corporation.
  * All rights reserved.
  *
- * Based on the convexdecomposition library from 
+ * Based on the convexdecomposition library from
  * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
- * 
+ *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- * 
+ *
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- * 
+ *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -27,7 +27,7 @@
 
 using System;
 
-namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+namespace OpenSim.Region.PhysicsModules.ConvexDecompositionDotNet
 {
     public class float2
     {
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float3.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float3.cs
index fde9b32..1ea003b 100644
--- a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float3.cs
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float3.cs
@@ -1,21 +1,21 @@
 /* The MIT License
- * 
+ *
  * Copyright (c) 2010 Intel Corporation.
  * All rights reserved.
  *
- * Based on the convexdecomposition library from 
+ * Based on the convexdecomposition library from
  * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
- * 
+ *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- * 
+ *
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- * 
+ *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -27,7 +27,7 @@
 
 using System;
 
-namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+namespace OpenSim.Region.PhysicsModules.ConvexDecompositionDotNet
 {
     public class float3 : IEquatable<float3>
     {
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float3x3.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float3x3.cs
index c420fde..4b6cd5d 100644
--- a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float3x3.cs
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float3x3.cs
@@ -1,21 +1,21 @@
 /* The MIT License
- * 
+ *
  * Copyright (c) 2010 Intel Corporation.
  * All rights reserved.
  *
- * Based on the convexdecomposition library from 
+ * Based on the convexdecomposition library from
  * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
- * 
+ *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- * 
+ *
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- * 
+ *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -29,7 +29,7 @@ using System;
 using System.Collections.Generic;
 using System.Diagnostics;
 
-namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+namespace OpenSim.Region.PhysicsModules.ConvexDecompositionDotNet
 {
     public class float3x3
     {
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float4.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float4.cs
index b2b6fd3..1f2ab02 100644
--- a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float4.cs
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float4.cs
@@ -1,21 +1,21 @@
 /* The MIT License
- * 
+ *
  * Copyright (c) 2010 Intel Corporation.
  * All rights reserved.
  *
- * Based on the convexdecomposition library from 
+ * Based on the convexdecomposition library from
  * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
- * 
+ *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- * 
+ *
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- * 
+ *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -27,7 +27,7 @@
 
 using System;
 
-namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+namespace OpenSim.Region.PhysicsModules.ConvexDecompositionDotNet
 {
     public class float4
     {
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float4x4.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float4x4.cs
index 087eba7..85a8cf1 100644
--- a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float4x4.cs
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float4x4.cs
@@ -1,21 +1,21 @@
 /* The MIT License
- * 
+ *
  * Copyright (c) 2010 Intel Corporation.
  * All rights reserved.
  *
- * Based on the convexdecomposition library from 
+ * Based on the convexdecomposition library from
  * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
- * 
+ *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- * 
+ *
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- * 
+ *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -30,7 +30,7 @@ using System.Collections.Generic;
 using System.Linq;
 using System.Text;
 
-namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+namespace OpenSim.Region.PhysicsModules.ConvexDecompositionDotNet
 {
     public class float4x4
     {
@@ -127,88 +127,88 @@ namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
         }
 
         public static float4x4 Inverse(float4x4 m)
-            {
-                    float4x4 d = new float4x4();
-                    //float dst = d.x.x;
-                    float[] tmp = new float[12]; // temp array for pairs
-                    float[] src = new float[16]; // array of transpose source matrix
-                    float det; // determinant
-                    // transpose matrix
-                    for (int i = 0; i < 4; i++)
-                    {
-                            src[i] = m[i].x;
-                            src[i + 4] = m[i].y;
-                            src[i + 8] = m[i].z;
-                            src[i + 12] = m[i].w;
-                    }
-                    // calculate pairs for first 8 elements (cofactors)
-                    tmp[0] = src[10] * src[15];
-                    tmp[1] = src[11] * src[14];
-                    tmp[2] = src[9] * src[15];
-                    tmp[3] = src[11] * src[13];
-                    tmp[4] = src[9] * src[14];
-                    tmp[5] = src[10] * src[13];
-                    tmp[6] = src[8] * src[15];
-                    tmp[7] = src[11] * src[12];
-                    tmp[8] = src[8] * src[14];
-                    tmp[9] = src[10] * src[12];
-                    tmp[10] = src[8] * src[13];
-                    tmp[11] = src[9] * src[12];
-                    // calculate first 8 elements (cofactors)
-                    d.x.x = tmp[0]*src[5] + tmp[3]*src[6] + tmp[4]*src[7];
-                    d.x.x -= tmp[1]*src[5] + tmp[2]*src[6] + tmp[5]*src[7];
-                    d.x.y = tmp[1]*src[4] + tmp[6]*src[6] + tmp[9]*src[7];
-                    d.x.y -= tmp[0]*src[4] + tmp[7]*src[6] + tmp[8]*src[7];
-                    d.x.z = tmp[2]*src[4] + tmp[7]*src[5] + tmp[10]*src[7];
-                    d.x.z -= tmp[3]*src[4] + tmp[6]*src[5] + tmp[11]*src[7];
-                    d.x.w = tmp[5]*src[4] + tmp[8]*src[5] + tmp[11]*src[6];
-                    d.x.w -= tmp[4]*src[4] + tmp[9]*src[5] + tmp[10]*src[6];
-                    d.y.x = tmp[1]*src[1] + tmp[2]*src[2] + tmp[5]*src[3];
-                    d.y.x -= tmp[0]*src[1] + tmp[3]*src[2] + tmp[4]*src[3];
-                    d.y.y = tmp[0]*src[0] + tmp[7]*src[2] + tmp[8]*src[3];
-                    d.y.y -= tmp[1]*src[0] + tmp[6]*src[2] + tmp[9]*src[3];
-                    d.y.z = tmp[3]*src[0] + tmp[6]*src[1] + tmp[11]*src[3];
-                    d.y.z -= tmp[2]*src[0] + tmp[7]*src[1] + tmp[10]*src[3];
-                    d.y.w = tmp[4]*src[0] + tmp[9]*src[1] + tmp[10]*src[2];
-                    d.y.w -= tmp[5]*src[0] + tmp[8]*src[1] + tmp[11]*src[2];
-                    // calculate pairs for second 8 elements (cofactors)
-                    tmp[0] = src[2]*src[7];
-                    tmp[1] = src[3]*src[6];
-                    tmp[2] = src[1]*src[7];
-                    tmp[3] = src[3]*src[5];
-                    tmp[4] = src[1]*src[6];
-                    tmp[5] = src[2]*src[5];
-                    tmp[6] = src[0]*src[7];
-                    tmp[7] = src[3]*src[4];
-                    tmp[8] = src[0]*src[6];
-                    tmp[9] = src[2]*src[4];
-                    tmp[10] = src[0]*src[5];
-                    tmp[11] = src[1]*src[4];
-                    // calculate second 8 elements (cofactors)
-                    d.z.x = tmp[0]*src[13] + tmp[3]*src[14] + tmp[4]*src[15];
-                    d.z.x -= tmp[1]*src[13] + tmp[2]*src[14] + tmp[5]*src[15];
-                    d.z.y = tmp[1]*src[12] + tmp[6]*src[14] + tmp[9]*src[15];
-                    d.z.y -= tmp[0]*src[12] + tmp[7]*src[14] + tmp[8]*src[15];
-                    d.z.z = tmp[2]*src[12] + tmp[7]*src[13] + tmp[10]*src[15];
-                    d.z.z -= tmp[3]*src[12] + tmp[6]*src[13] + tmp[11]*src[15];
-                    d.z.w = tmp[5]*src[12] + tmp[8]*src[13] + tmp[11]*src[14];
-                    d.z.w-= tmp[4]*src[12] + tmp[9]*src[13] + tmp[10]*src[14];
-                    d.w.x = tmp[2]*src[10] + tmp[5]*src[11] + tmp[1]*src[9];
-                    d.w.x-= tmp[4]*src[11] + tmp[0]*src[9] + tmp[3]*src[10];
-                    d.w.y = tmp[8]*src[11] + tmp[0]*src[8] + tmp[7]*src[10];
-                    d.w.y-= tmp[6]*src[10] + tmp[9]*src[11] + tmp[1]*src[8];
-                    d.w.z = tmp[6]*src[9] + tmp[11]*src[11] + tmp[3]*src[8];
-                    d.w.z-= tmp[10]*src[11] + tmp[2]*src[8] + tmp[7]*src[9];
-                    d.w.w = tmp[10]*src[10] + tmp[4]*src[8] + tmp[9]*src[9];
-                    d.w.w-= tmp[8]*src[9] + tmp[11]*src[10] + tmp[5]*src[8];
-                    // calculate determinant
+        {
+            float4x4 d = new float4x4();
+            //float dst = d.x.x;
+            float[] tmp = new float[12]; // temp array for pairs
+            float[] src = new float[16]; // array of transpose source matrix
+            float det; // determinant
+            // transpose matrix
+            for (int i = 0; i < 4; i++)
+            {
+                src[i] = m[i].x;
+                src[i + 4] = m[i].y;
+                src[i + 8] = m[i].z;
+                src[i + 12] = m[i].w;
+            }
+            // calculate pairs for first 8 elements (cofactors)
+            tmp[0] = src[10] * src[15];
+            tmp[1] = src[11] * src[14];
+            tmp[2] = src[9] * src[15];
+            tmp[3] = src[11] * src[13];
+            tmp[4] = src[9] * src[14];
+            tmp[5] = src[10] * src[13];
+            tmp[6] = src[8] * src[15];
+            tmp[7] = src[11] * src[12];
+            tmp[8] = src[8] * src[14];
+            tmp[9] = src[10] * src[12];
+            tmp[10] = src[8] * src[13];
+            tmp[11] = src[9] * src[12];
+            // calculate first 8 elements (cofactors)
+            d.x.x = tmp[0]*src[5] + tmp[3]*src[6] + tmp[4]*src[7];
+            d.x.x -= tmp[1]*src[5] + tmp[2]*src[6] + tmp[5]*src[7];
+            d.x.y = tmp[1]*src[4] + tmp[6]*src[6] + tmp[9]*src[7];
+            d.x.y -= tmp[0]*src[4] + tmp[7]*src[6] + tmp[8]*src[7];
+            d.x.z = tmp[2]*src[4] + tmp[7]*src[5] + tmp[10]*src[7];
+            d.x.z -= tmp[3]*src[4] + tmp[6]*src[5] + tmp[11]*src[7];
+            d.x.w = tmp[5]*src[4] + tmp[8]*src[5] + tmp[11]*src[6];
+            d.x.w -= tmp[4]*src[4] + tmp[9]*src[5] + tmp[10]*src[6];
+            d.y.x = tmp[1]*src[1] + tmp[2]*src[2] + tmp[5]*src[3];
+            d.y.x -= tmp[0]*src[1] + tmp[3]*src[2] + tmp[4]*src[3];
+            d.y.y = tmp[0]*src[0] + tmp[7]*src[2] + tmp[8]*src[3];
+            d.y.y -= tmp[1]*src[0] + tmp[6]*src[2] + tmp[9]*src[3];
+            d.y.z = tmp[3]*src[0] + tmp[6]*src[1] + tmp[11]*src[3];
+            d.y.z -= tmp[2]*src[0] + tmp[7]*src[1] + tmp[10]*src[3];
+            d.y.w = tmp[4]*src[0] + tmp[9]*src[1] + tmp[10]*src[2];
+            d.y.w -= tmp[5]*src[0] + tmp[8]*src[1] + tmp[11]*src[2];
+            // calculate pairs for second 8 elements (cofactors)
+            tmp[0] = src[2]*src[7];
+            tmp[1] = src[3]*src[6];
+            tmp[2] = src[1]*src[7];
+            tmp[3] = src[3]*src[5];
+            tmp[4] = src[1]*src[6];
+            tmp[5] = src[2]*src[5];
+            tmp[6] = src[0]*src[7];
+            tmp[7] = src[3]*src[4];
+            tmp[8] = src[0]*src[6];
+            tmp[9] = src[2]*src[4];
+            tmp[10] = src[0]*src[5];
+            tmp[11] = src[1]*src[4];
+            // calculate second 8 elements (cofactors)
+            d.z.x = tmp[0]*src[13] + tmp[3]*src[14] + tmp[4]*src[15];
+            d.z.x -= tmp[1]*src[13] + tmp[2]*src[14] + tmp[5]*src[15];
+            d.z.y = tmp[1]*src[12] + tmp[6]*src[14] + tmp[9]*src[15];
+            d.z.y -= tmp[0]*src[12] + tmp[7]*src[14] + tmp[8]*src[15];
+            d.z.z = tmp[2]*src[12] + tmp[7]*src[13] + tmp[10]*src[15];
+            d.z.z -= tmp[3]*src[12] + tmp[6]*src[13] + tmp[11]*src[15];
+            d.z.w = tmp[5]*src[12] + tmp[8]*src[13] + tmp[11]*src[14];
+            d.z.w-= tmp[4]*src[12] + tmp[9]*src[13] + tmp[10]*src[14];
+            d.w.x = tmp[2]*src[10] + tmp[5]*src[11] + tmp[1]*src[9];
+            d.w.x-= tmp[4]*src[11] + tmp[0]*src[9] + tmp[3]*src[10];
+            d.w.y = tmp[8]*src[11] + tmp[0]*src[8] + tmp[7]*src[10];
+            d.w.y-= tmp[6]*src[10] + tmp[9]*src[11] + tmp[1]*src[8];
+            d.w.z = tmp[6]*src[9] + tmp[11]*src[11] + tmp[3]*src[8];
+            d.w.z-= tmp[10]*src[11] + tmp[2]*src[8] + tmp[7]*src[9];
+            d.w.w = tmp[10]*src[10] + tmp[4]*src[8] + tmp[9]*src[9];
+            d.w.w-= tmp[8]*src[9] + tmp[11]*src[10] + tmp[5]*src[8];
+            // calculate determinant
             det = src[0] * d.x.x + src[1] * d.x.y + src[2] * d.x.z + src[3] * d.x.w;
-                    // calculate matrix inverse
-                    det = 1/det;
+            // calculate matrix inverse
+            det = 1/det;
             for (int j = 0; j < 4; j++)
                 d[j] *= det;
-                    return d;
-            }
+            return d;
+        }
 
         public static float4x4 MatrixRigidInverse(float4x4 m)
         {
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/int3.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/int3.cs
index 90624eb..e7bb6e7 100644
--- a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/int3.cs
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/int3.cs
@@ -1,21 +1,21 @@
 /* The MIT License
- * 
+ *
  * Copyright (c) 2010 Intel Corporation.
  * All rights reserved.
  *
- * Based on the convexdecomposition library from 
+ * Based on the convexdecomposition library from
  * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
- * 
+ *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- * 
+ *
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- * 
+ *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -27,7 +27,7 @@
 
 using System;
 
-namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+namespace OpenSim.Region.PhysicsModules.ConvexDecompositionDotNet
 {
     public class int3
     {
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/int4.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/int4.cs
index e9320c0..9950be2 100644
--- a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/int4.cs
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/int4.cs
@@ -1,21 +1,21 @@
 /* The MIT License
- * 
+ *
  * Copyright (c) 2010 Intel Corporation.
  * All rights reserved.
  *
- * Based on the convexdecomposition library from 
+ * Based on the convexdecomposition library from
  * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
- * 
+ *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- * 
+ *
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- * 
+ *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -27,7 +27,7 @@
 
 using System;
 
-namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+namespace OpenSim.Region.PhysicsModules.ConvexDecompositionDotNet
 {
     public class int4
     {