64 files changed, 1871 insertions, 1584 deletions

diff --git a/OpenSim/Region/Application/OpenSim.cs b/OpenSim/Region/Application/OpenSim.cs
index c04b8c2..b448182 100644
--- a/OpenSim/Region/Application/OpenSim.cs
+++ b/OpenSim/Region/Application/OpenSim.cs
@@ -67,7 +67,7 @@ namespace OpenSim
 
             IConfig startupConfig = m_config.Source.Configs["Startup"];
 
-            Util.SetMaxThreads(startupConfig.GetInt("MaxPoolThreads", 15));
+            int stpMaxThreads = 15;
 
             if (startupConfig != null)
             {
@@ -100,8 +100,13 @@ namespace OpenSim
                 FireAndForgetMethod asyncCallMethod;
                 if (!String.IsNullOrEmpty(asyncCallMethodStr) && Utils.EnumTryParse<FireAndForgetMethod>(asyncCallMethodStr, out asyncCallMethod))
                     Util.FireAndForgetMethod = asyncCallMethod;
+
+                stpMaxThreads = startupConfig.GetInt("MaxPoolThreads", 15);
             }
 
+            if (Util.FireAndForgetMethod == FireAndForgetMethod.SmartThreadPool)
+                Util.InitThreadPool(stpMaxThreads);
+
             m_log.Info("[OPENSIM MAIN]: Using async_call_method " + Util.FireAndForgetMethod);
         }
 
@@ -167,6 +172,9 @@ namespace OpenSim
                 m_scriptTimer.Elapsed += RunAutoTimerScript;
             }
 
+            // Hook up to the watchdog timer
+            Watchdog.OnWatchdogTimeout += WatchdogTimeoutHandler;
+
             PrintFileToConsole("startuplogo.txt");
 
             // For now, start at the 'root' level by default
@@ -379,6 +387,14 @@ namespace OpenSim
             }
         }
 
+        private void WatchdogTimeoutHandler(System.Threading.Thread thread, int lastTick)
+        {
+            int now = Environment.TickCount & Int32.MaxValue;
+
+            m_log.ErrorFormat("[WATCHDOG]: Timeout detected for thread \"{0}\". ThreadState={1}. Last tick was {2}ms ago",
+                thread.Name, thread.ThreadState, now - lastTick);
+        }
+
         #region Console Commands
 
         /// <summary>
@@ -954,12 +970,12 @@ namespace OpenSim
                     m_sceneManager.ForEachScene(
                         delegate(Scene scene)
                         {
-                            scene.ClientManager.ForEachSync(
+                            scene.ForEachClient(
                                 delegate(IClientAPI client)
                                 {
                                     connections.AppendFormat("{0}: {1} ({2}) from {3} on circuit {4}\n",
                                         scene.RegionInfo.RegionName, client.Name, client.AgentId, client.RemoteEndPoint, client.CircuitCode);
-                                }
+                                }, false
                             );
                         }
                     );
diff --git a/OpenSim/Region/Application/OpenSimBase.cs b/OpenSim/Region/Application/OpenSimBase.cs
index 3df3a1c..cc18f1a 100644
--- a/OpenSim/Region/Application/OpenSimBase.cs
+++ b/OpenSim/Region/Application/OpenSimBase.cs
@@ -162,11 +162,11 @@ namespace OpenSim
 
         protected virtual void LoadPlugins()
         {
-            PluginLoader<IApplicationPlugin> loader =
-                new PluginLoader<IApplicationPlugin>(new ApplicationPluginInitialiser(this));
-
-            loader.Load("/OpenSim/Startup");
-            m_plugins = loader.Plugins;
+            using (PluginLoader<IApplicationPlugin> loader = new PluginLoader<IApplicationPlugin>(new ApplicationPluginInitialiser(this)))
+            {
+                loader.Load("/OpenSim/Startup");
+                m_plugins = loader.Plugins;
+            }
         }
 
         protected override List<string> GetHelpTopics()
diff --git a/OpenSim/Region/ClientStack/LindenUDP/LLClientView.cs b/OpenSim/Region/ClientStack/LindenUDP/LLClientView.cs
index 0ba76ec..f6a7a0c 100644
--- a/OpenSim/Region/ClientStack/LindenUDP/LLClientView.cs
+++ b/OpenSim/Region/ClientStack/LindenUDP/LLClientView.cs
@@ -346,15 +346,6 @@ namespace OpenSim.Region.ClientStack.LindenUDP
         protected int m_terrainCheckerCount;
         protected uint m_agentFOVCounter;
 
-        // These numbers are guesses at a decent tradeoff between responsiveness
-        // of the interest list and throughput. Lower is more responsive, higher
-        // is better throughput
-        protected int m_primTerseUpdatesPerPacket = 25;
-        protected int m_primFullUpdatesPerPacket = 100;
-        protected int m_avatarTerseUpdatesPerPacket = 10;
-        /// <summary>Number of texture packets to put on the queue each time the
-        /// OnQueueEmpty event is triggered for the texture category</summary>
-        protected int m_textureSendLimit = 20;
         protected IAssetService m_assetService;
         private IHyperAssetService m_hyperAssets;
 
@@ -827,7 +818,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
             for (int i = x1; i <= x2; i++)
                 SendLayerData(i, y1, map);
 
-            // Column    
+            // Column
             for (int j = y1 + 1; j <= y2; j++)
                 SendLayerData(x2, j, map);
      
@@ -2114,12 +2105,14 @@ namespace OpenSim.Region.ClientStack.LindenUDP
         public void SendViewerEffect(ViewerEffectPacket.EffectBlock[] effectBlocks)
         {
             ViewerEffectPacket packet = (ViewerEffectPacket)PacketPool.Instance.GetPacket(PacketType.ViewerEffect);
-            packet.Effect = effectBlocks;
+            packet.Header.Reliable = false;
+            packet.Header.Zerocoded = true;
 
             packet.AgentData.AgentID = AgentId;
             packet.AgentData.SessionID = SessionId;
-            packet.Header.Reliable = false;
-            packet.Header.Zerocoded = true;
+
+            packet.Effect = effectBlocks;
+            
             OutPacket(packet, ThrottleOutPacketType.State);
         }
 
@@ -3333,7 +3326,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
 
             lock (m_avatarTerseUpdates.SyncRoot)
             {
-                int count = Math.Min(m_avatarTerseUpdates.Count, m_avatarTerseUpdatesPerPacket);
+                int count = Math.Min(m_avatarTerseUpdates.Count, m_udpServer.AvatarTerseUpdatesPerPacket);
                 if (count == 0)
                     return;
 
@@ -3418,7 +3411,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
 
             lock (m_primFullUpdates.SyncRoot)
             {
-                int count = Math.Min(m_primFullUpdates.Count, m_primFullUpdatesPerPacket);
+                int count = Math.Min(m_primFullUpdates.Count, m_udpServer.PrimFullUpdatesPerPacket);
                 if (count == 0)
                     return;
 
@@ -3462,7 +3455,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
 
             lock (m_primTerseUpdates.SyncRoot)
             {
-                int count = Math.Min(m_primTerseUpdates.Count, m_primTerseUpdatesPerPacket);
+                int count = Math.Min(m_primTerseUpdates.Count, m_udpServer.PrimTerseUpdatesPerPacket);
                 if (count == 0)
                     return;
 
@@ -3585,7 +3578,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
         void ProcessTextureRequests()
         {
             if (m_imageManager != null)
-                m_imageManager.ProcessImageQueue(m_textureSendLimit);
+                m_imageManager.ProcessImageQueue(m_udpServer.TextureSendLimit);
         }
 
         public void SendAssetUploadCompleteMessage(sbyte AssetType, bool Success, UUID AssetFullID)
@@ -4167,6 +4160,10 @@ namespace OpenSim.Region.ClientStack.LindenUDP
 
                 pack.Data = dataBlock;
             }
+            else
+            {
+                pack.Data = new ParcelObjectOwnersReplyPacket.DataBlock[0];
+            }
             pack.Header.Zerocoded = true;
             this.OutPacket(pack, ThrottleOutPacketType.Task);
         }
@@ -4434,6 +4431,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
         protected virtual void RegisterLocalPacketHandlers()
         {
             AddLocalPacketHandler(PacketType.LogoutRequest, Logout);
+            AddLocalPacketHandler(PacketType.AgentUpdate, HandleAgentUpdate);
             AddLocalPacketHandler(PacketType.ViewerEffect, HandleViewerEffect);
             AddLocalPacketHandler(PacketType.AgentCachedTexture, AgentTextureCached);
             AddLocalPacketHandler(PacketType.MultipleObjectUpdate, MultipleObjUpdate);
@@ -4446,6 +4444,75 @@ namespace OpenSim.Region.ClientStack.LindenUDP
 
         #region Packet Handlers
 
+        private bool HandleAgentUpdate(IClientAPI sener, Packet Pack)
+        {
+            if (OnAgentUpdate != null)
+            {
+                bool update = false;
+                AgentUpdatePacket agenUpdate = (AgentUpdatePacket)Pack;
+
+                #region Packet Session and User Check
+                if (agenUpdate.AgentData.SessionID != SessionId || agenUpdate.AgentData.AgentID != AgentId)
+                    return false;
+                #endregion
+
+                AgentUpdatePacket.AgentDataBlock x = agenUpdate.AgentData;
+
+                // We can only check when we have something to check
+                // against.
+
+                if (lastarg != null)
+                {
+                    update =
+                       (
+                        (x.BodyRotation != lastarg.BodyRotation) ||
+                        (x.CameraAtAxis != lastarg.CameraAtAxis) ||
+                        (x.CameraCenter != lastarg.CameraCenter) ||
+                        (x.CameraLeftAxis != lastarg.CameraLeftAxis) ||
+                        (x.CameraUpAxis != lastarg.CameraUpAxis) ||
+                        (x.ControlFlags != lastarg.ControlFlags) ||
+                        (x.Far != lastarg.Far) ||
+                        (x.Flags != lastarg.Flags) ||
+                        (x.State != lastarg.State) ||
+                        (x.HeadRotation != lastarg.HeadRotation) ||
+                        (x.SessionID != lastarg.SessionID) ||
+                        (x.AgentID != lastarg.AgentID)
+                       );
+                }
+                else
+                    update = true;
+
+                // These should be ordered from most-likely to
+                // least likely to change. I've made an initial
+                // guess at that.
+
+                if (update)
+                {
+                    AgentUpdateArgs arg = new AgentUpdateArgs();
+                    arg.AgentID = x.AgentID;
+                    arg.BodyRotation = x.BodyRotation;
+                    arg.CameraAtAxis = x.CameraAtAxis;
+                    arg.CameraCenter = x.CameraCenter;
+                    arg.CameraLeftAxis = x.CameraLeftAxis;
+                    arg.CameraUpAxis = x.CameraUpAxis;
+                    arg.ControlFlags = x.ControlFlags;
+                    arg.Far = x.Far;
+                    arg.Flags = x.Flags;
+                    arg.HeadRotation = x.HeadRotation;
+                    arg.SessionID = x.SessionID;
+                    arg.State = x.State;
+                    UpdateAgent handlerAgentUpdate = OnAgentUpdate;
+                    lastarg = arg; // save this set of arguments for nexttime
+                    if (handlerAgentUpdate != null)
+                        OnAgentUpdate(this, arg);
+
+                    handlerAgentUpdate = null;
+                }
+            }
+
+            return true;
+        }
+
         private bool HandleMoneyTransferRequest(IClientAPI sender, Packet Pack)
         {
             MoneyTransferRequestPacket money = (MoneyTransferRequestPacket)Pack;
@@ -5631,77 +5698,6 @@ namespace OpenSim.Region.ClientStack.LindenUDP
 
                     break;
 
-                case PacketType.AgentUpdate:
-                    if (OnAgentUpdate != null)
-                    {
-                        bool update = false;
-                        AgentUpdatePacket agenUpdate = (AgentUpdatePacket)Pack;
-
-                        #region Packet Session and User Check
-                        if (m_checkPackets)
-                        {
-                            if (agenUpdate.AgentData.SessionID != SessionId ||
-                                agenUpdate.AgentData.AgentID != AgentId)
-                                break;
-                        }
-                        #endregion
-
-                        AgentUpdatePacket.AgentDataBlock x = agenUpdate.AgentData;
-
-                        // We can only check when we have something to check
-                        // against.
-
-                        if (lastarg != null)
-                        {
-                            update =
-                               (
-                                (x.BodyRotation != lastarg.BodyRotation) ||
-                                (x.CameraAtAxis != lastarg.CameraAtAxis) ||
-                                (x.CameraCenter != lastarg.CameraCenter) ||
-                                (x.CameraLeftAxis != lastarg.CameraLeftAxis) ||
-                                (x.CameraUpAxis != lastarg.CameraUpAxis) ||
-                                (x.ControlFlags != lastarg.ControlFlags) ||
-                                (x.Far != lastarg.Far) ||
-                                (x.Flags != lastarg.Flags) ||
-                                (x.State != lastarg.State) ||
-                                (x.HeadRotation != lastarg.HeadRotation) ||
-                                (x.SessionID != lastarg.SessionID) ||
-                                (x.AgentID != lastarg.AgentID)
-                               );
-                        }
-                        else
-                            update = true;
-
-                        // These should be ordered from most-likely to
-                        // least likely to change. I've made an initial
-                        // guess at that.
-
-                        if (update)
-                        {
-                            AgentUpdateArgs arg = new AgentUpdateArgs();
-                            arg.AgentID = x.AgentID;
-                            arg.BodyRotation = x.BodyRotation;
-                            arg.CameraAtAxis = x.CameraAtAxis;
-                            arg.CameraCenter = x.CameraCenter;
-                            arg.CameraLeftAxis = x.CameraLeftAxis;
-                            arg.CameraUpAxis = x.CameraUpAxis;
-                            arg.ControlFlags = x.ControlFlags;
-                            arg.Far = x.Far;
-                            arg.Flags = x.Flags;
-                            arg.HeadRotation = x.HeadRotation;
-                            arg.SessionID = x.SessionID;
-                            arg.State = x.State;
-                            UpdateAgent handlerAgentUpdate = OnAgentUpdate;
-                            lastarg = arg; // save this set of arguments for nexttime
-                            if (handlerAgentUpdate != null)
-                                OnAgentUpdate(this, arg);
-
-                            handlerAgentUpdate = null;
-                        }
-
-                    }
-                    break;
-
                 case PacketType.AgentAnimation:
                     AgentAnimationPacket AgentAni = (AgentAnimationPacket)Pack;
 
@@ -6762,11 +6758,21 @@ namespace OpenSim.Region.ClientStack.LindenUDP
                         if (OnRequestTexture != null)
                         {
                             TextureRequestArgs args = new TextureRequestArgs();
-                            args.RequestedAssetID = imageRequest.RequestImage[i].Image;
-                            args.DiscardLevel = imageRequest.RequestImage[i].DiscardLevel;
-                            args.PacketNumber = imageRequest.RequestImage[i].Packet;
-                            args.Priority = imageRequest.RequestImage[i].DownloadPriority;
+
+                            RequestImagePacket.RequestImageBlock block = imageRequest.RequestImage[i];
+
+                            args.RequestedAssetID = block.Image;
+                            args.DiscardLevel = block.DiscardLevel;
+                            args.PacketNumber = block.Packet;
+                            args.Priority = block.DownloadPriority;
                             args.requestSequence = imageRequest.Header.Sequence;
+
+                            // NOTE: This is not a built in part of the LLUDP protocol, but we double the
+                            // priority of avatar textures to get avatars rezzing in faster than the
+                            // surrounding scene
+                            if ((ImageType)block.Type == ImageType.Baked)
+                                args.Priority *= 2.0f;
+
                             //handlerTextureRequest = OnRequestTexture;
 
                             //if (handlerTextureRequest != null)
diff --git a/OpenSim/Region/ClientStack/LindenUDP/LLUDPClient.cs b/OpenSim/Region/ClientStack/LindenUDP/LLUDPClient.cs
index a9bc7d2..84a4959 100644
--- a/OpenSim/Region/ClientStack/LindenUDP/LLUDPClient.cs
+++ b/OpenSim/Region/ClientStack/LindenUDP/LLUDPClient.cs
@@ -304,8 +304,8 @@ namespace OpenSim.Region.ClientStack.LindenUDP
 
             int total = resend + land + wind + cloud + task + texture + asset + state;
 
-            m_log.DebugFormat("[LLUDPCLIENT]: {0} is setting throttles. Resend={1}, Land={2}, Wind={3}, Cloud={4}, Task={5}, Texture={6}, Asset={7}, State={8}, Total={9}",
-                AgentID, resend, land, wind, cloud, task, texture, asset, state, total);
+            //m_log.DebugFormat("[LLUDPCLIENT]: {0} is setting throttles. Resend={1}, Land={2}, Wind={3}, Cloud={4}, Task={5}, Texture={6}, Asset={7}, State={8}, Total={9}",
+            //    AgentID, resend, land, wind, cloud, task, texture, asset, state, total);
 
             // Update the token buckets with new throttle values
             TokenBucket bucket;
@@ -372,7 +372,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
                 OpenSim.Framework.LocklessQueue<OutgoingPacket> queue = m_packetOutboxes[category];
                 TokenBucket bucket = m_throttleCategories[category];
 
-                if (m_throttleCategories[category].RemoveTokens(packet.Buffer.DataLength))
+                if (bucket.RemoveTokens(packet.Buffer.DataLength))
                 {
                     // Enough tokens were removed from the bucket, the packet will not be queued
                     return false;
@@ -497,16 +497,33 @@ namespace OpenSim.Region.ClientStack.LindenUDP
                 SRTT = (1.0f - ALPHA) * SRTT + ALPHA * r;
             }
 
-            RTO = (int)(SRTT + Math.Max(m_udpServer.TickCountResolution, K * RTTVAR));
+            int rto = (int)(SRTT + Math.Max(m_udpServer.TickCountResolution, K * RTTVAR));
 
             // Clamp the retransmission timeout to manageable values
-            RTO = Utils.Clamp(RTO, 3000, 10000);
+            rto = Utils.Clamp(RTO, 3000, 60000);
+
+            RTO = rto;
 
             //m_log.Debug("[LLUDPCLIENT]: Setting agent " + this.Agent.FullName + "'s RTO to " + RTO + "ms with an RTTVAR of " +
             //    RTTVAR + " based on new RTT of " + r + "ms");
         }
 
         /// <summary>
+        /// Exponential backoff of the retransmission timeout, per section 5.5
+        /// of RFC 2988
+        /// </summary>
+        public void BackoffRTO()
+        {
+            // Reset SRTT and RTTVAR, we assume they are bogus since things
+            // didn't work out and we're backing off the timeout
+            SRTT = 0.0f;
+            RTTVAR = 0.0f;
+
+            // Double the retransmission timeout
+            RTO = Math.Min(RTO * 2, 60000);
+        }
+
+        /// <summary>
         /// Does an early check to see if this queue empty callback is already
         /// running, then asynchronously firing the event
         /// </summary>
diff --git a/OpenSim/Region/ClientStack/LindenUDP/LLUDPServer.cs b/OpenSim/Region/ClientStack/LindenUDP/LLUDPServer.cs
index a9f4b2c..e3233da 100644
--- a/OpenSim/Region/ClientStack/LindenUDP/LLUDPServer.cs
+++ b/OpenSim/Region/ClientStack/LindenUDP/LLUDPServer.cs
@@ -98,6 +98,18 @@ namespace OpenSim.Region.ClientStack.LindenUDP
 
         /// <summary>The measured resolution of Environment.TickCount</summary>
         public readonly float TickCountResolution;
+        /// <summary>Number of terse prim updates to put on the queue each time the
+        /// OnQueueEmpty event is triggered for updates</summary>
+        public readonly int PrimTerseUpdatesPerPacket;
+        /// <summary>Number of terse avatar updates to put on the queue each time the
+        /// OnQueueEmpty event is triggered for updates</summary>
+        public readonly int AvatarTerseUpdatesPerPacket;
+        /// <summary>Number of full prim updates to put on the queue each time the
+        /// OnQueueEmpty event is triggered for updates</summary>
+        public readonly int PrimFullUpdatesPerPacket;
+        /// <summary>Number of texture packets to put on the queue each time the
+        /// OnQueueEmpty event is triggered for textures</summary>
+        public readonly int TextureSendLimit;
 
         /// <summary>Handlers for incoming packets</summary>
         //PacketEventDictionary packetEvents = new PacketEventDictionary();
@@ -172,6 +184,18 @@ namespace OpenSim.Region.ClientStack.LindenUDP
                 m_asyncPacketHandling = config.GetBoolean("async_packet_handling", false);
                 m_recvBufferSize = config.GetInt("client_socket_rcvbuf_size", 0);
                 sceneThrottleBps = config.GetInt("scene_throttle_max_bps", 0);
+
+                PrimTerseUpdatesPerPacket = config.GetInt("PrimTerseUpdatesPerPacket", 25);
+                AvatarTerseUpdatesPerPacket = config.GetInt("AvatarTerseUpdatesPerPacket", 10);
+                PrimFullUpdatesPerPacket = config.GetInt("PrimFullUpdatesPerPacket", 100);
+                TextureSendLimit = config.GetInt("TextureSendLimit", 20);
+            }
+            else
+            {
+                PrimTerseUpdatesPerPacket = 25;
+                AvatarTerseUpdatesPerPacket = 10;
+                PrimFullUpdatesPerPacket = 100;
+                TextureSendLimit = 20;
             }
 
             m_throttle = new TokenBucket(null, sceneThrottleBps, sceneThrottleBps);
@@ -187,14 +211,9 @@ namespace OpenSim.Region.ClientStack.LindenUDP
 
             base.Start(m_recvBufferSize, m_asyncPacketHandling);
 
-            // Start the incoming packet processing thread
-            Thread incomingThread = new Thread(IncomingPacketHandler);
-            incomingThread.Name = "Incoming Packets (" + m_scene.RegionInfo.RegionName + ")";
-            incomingThread.Start();
-
-            Thread outgoingThread = new Thread(OutgoingPacketHandler);
-            outgoingThread.Name = "Outgoing Packets (" + m_scene.RegionInfo.RegionName + ")";
-            outgoingThread.Start();
+            // Start the packet processing threads
+            Watchdog.StartThread(IncomingPacketHandler, "Incoming Packets (" + m_scene.RegionInfo.RegionName + ")", ThreadPriority.Normal, false);
+            Watchdog.StartThread(OutgoingPacketHandler, "Outgoing Packets (" + m_scene.RegionInfo.RegionName + ")", ThreadPriority.Normal, false);
         }
 
         public new void Stop()
@@ -243,7 +262,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
                 for (int i = 0; i < packetCount; i++)
                 {
                     byte[] data = datas[i];
-                    m_scene.ClientManager.ForEach(
+                    m_scene.ForEachClient(
                         delegate(IClientAPI client)
                         {
                             if (client is LLClientView)
@@ -255,7 +274,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
             else
             {
                 byte[] data = packet.ToBytes();
-                m_scene.ClientManager.ForEach(
+                m_scene.ForEachClient(
                     delegate(IClientAPI client)
                     {
                         if (client is LLClientView)
@@ -412,6 +431,9 @@ namespace OpenSim.Region.ClientStack.LindenUDP
             {
                 m_log.Debug("[LLUDPSERVER]: Resending " + expiredPackets.Count + " packets to " + udpClient.AgentID + ", RTO=" + udpClient.RTO);
 
+                // Exponential backoff of the retransmission timeout
+                udpClient.BackoffRTO();
+
                 // Resend packets
                 for (int i = 0; i < expiredPackets.Count; i++)
                 {
@@ -548,27 +570,22 @@ namespace OpenSim.Region.ClientStack.LindenUDP
             // UseCircuitCode handling
             if (packet.Type == PacketType.UseCircuitCode)
             {
-                Util.FireAndForget(
-                    delegate(object o)
-                    {
-                        IPEndPoint remoteEndPoint = (IPEndPoint)buffer.RemoteEndPoint;
+                m_log.Debug("[LLUDPSERVER]: Handling UseCircuitCode packet from " + buffer.RemoteEndPoint);
+                object[] array = new object[] { buffer, packet };
 
-                        // Begin the process of adding the client to the simulator
-                        AddNewClient((UseCircuitCodePacket)packet, remoteEndPoint);
+                if (m_asyncPacketHandling)
+                    Util.FireAndForget(HandleUseCircuitCode, array);
+                else
+                    HandleUseCircuitCode(array);
 
-                        // Acknowledge the UseCircuitCode packet
-                        SendAckImmediate(remoteEndPoint, packet.Header.Sequence);
-                    }
-                );
                 return;
             }
 
             // Determine which agent this packet came from
             IClientAPI client;
-            if (!m_scene.ClientManager.TryGetValue(address, out client) || !(client is LLClientView))
+            if (!m_scene.TryGetClient(address, out client) || !(client is LLClientView))
             {
-                m_log.Debug("[LLUDPSERVER]: Received a " + packet.Type + " packet from an unrecognized source: " + address +
-                    " in " + m_scene.RegionInfo.RegionName + ", currently tracking " + m_scene.ClientManager.Count + " clients");
+                m_log.Debug("[LLUDPSERVER]: Received a " + packet.Type + " packet from an unrecognized source: " + address + " in " + m_scene.RegionInfo.RegionName);
                 return;
             }
 
@@ -670,6 +687,21 @@ namespace OpenSim.Region.ClientStack.LindenUDP
             packetInbox.Enqueue(new IncomingPacket(udpClient, packet));
         }
 
+        private void HandleUseCircuitCode(object o)
+        {
+            object[] array = (object[])o;
+            UDPPacketBuffer buffer = (UDPPacketBuffer)array[0];
+            UseCircuitCodePacket packet = (UseCircuitCodePacket)array[1];
+
+            IPEndPoint remoteEndPoint = (IPEndPoint)buffer.RemoteEndPoint;
+
+            // Begin the process of adding the client to the simulator
+            AddNewClient((UseCircuitCodePacket)packet, remoteEndPoint);
+
+            // Acknowledge the UseCircuitCode packet
+            SendAckImmediate(remoteEndPoint, packet.Header.Sequence);
+        }
+
         private void SendAckImmediate(IPEndPoint remoteEndpoint, uint sequenceNumber)
         {
             PacketAckPacket ack = new PacketAckPacket();
@@ -731,8 +763,9 @@ namespace OpenSim.Region.ClientStack.LindenUDP
         {
             // Create the LLUDPClient
             LLUDPClient udpClient = new LLUDPClient(this, m_throttleRates, m_throttle, circuitCode, agentID, remoteEndPoint);
+            IClientAPI existingClient;
 
-            if (!m_scene.ClientManager.ContainsKey(agentID))
+            if (!m_scene.TryGetClient(agentID, out existingClient))
             {
                 // Create the LLClientView
                 LLClientView client = new LLClientView(remoteEndPoint, m_scene, this, udpClient, sessionInfo, agentID, sessionID, circuitCode);
@@ -752,7 +785,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
         {
             // Remove this client from the scene
             IClientAPI client;
-            if (m_scene.ClientManager.TryGetValue(udpClient.AgentID, out client))
+            if (m_scene.TryGetClient(udpClient.AgentID, out client))
                 client.Close();
         }
 
@@ -775,11 +808,15 @@ namespace OpenSim.Region.ClientStack.LindenUDP
                 {
                     m_log.Error("[LLUDPSERVER]: Error in the incoming packet handler loop: " + ex.Message, ex);
                 }
+
+                Watchdog.UpdateThread();
             }
 
             if (packetInbox.Count > 0)
                 m_log.Warn("[LLUDPSERVER]: IncomingPacketHandler is shutting down, dropping " + packetInbox.Count + " packets");
             packetInbox.Clear();
+
+            Watchdog.RemoveThread();
         }
 
         private void OutgoingPacketHandler()
@@ -788,6 +825,10 @@ namespace OpenSim.Region.ClientStack.LindenUDP
             // on to en-US to avoid number parsing issues
             Culture.SetCurrentCulture();
 
+            // Typecast the function to an Action<IClientAPI> once here to avoid allocating a new
+            // Action generic every round
+            Action<IClientAPI> clientPacketHandler = ClientOutgoingPacketHandler;
+
             while (base.IsRunning)
             {
                 try
@@ -836,18 +877,22 @@ namespace OpenSim.Region.ClientStack.LindenUDP
 
                     // Handle outgoing packets, resends, acknowledgements, and pings for each
                     // client. m_packetSent will be set to true if a packet is sent
-                    m_scene.ClientManager.ForEachSync(ClientOutgoingPacketHandler);
+                    m_scene.ForEachClient(clientPacketHandler, false);
 
                     // If nothing was sent, sleep for the minimum amount of time before a
                     // token bucket could get more tokens
                     if (!m_packetSent)
                         Thread.Sleep((int)TickCountResolution);
+
+                    Watchdog.UpdateThread();
                 }
                 catch (Exception ex)
                 {
                     m_log.Error("[LLUDPSERVER]: OutgoingPacketHandler loop threw an exception: " + ex.Message, ex);
                 }
             }
+
+            Watchdog.RemoveThread();
         }
 
         private void ClientOutgoingPacketHandler(IClientAPI client)
@@ -897,7 +942,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
             }
 
             // Make sure this client is still alive
-            if (m_scene.ClientManager.TryGetValue(udpClient.AgentID, out client))
+            if (m_scene.TryGetClient(udpClient.AgentID, out client))
             {
                 try
                 {
diff --git a/OpenSim/Region/CoreModules/Agent/Xfer/XferModule.cs b/OpenSim/Region/CoreModules/Agent/Xfer/XferModule.cs
index 834aa14..ef7dce8 100644
--- a/OpenSim/Region/CoreModules/Agent/Xfer/XferModule.cs
+++ b/OpenSim/Region/CoreModules/Agent/Xfer/XferModule.cs
@@ -38,9 +38,20 @@ namespace OpenSim.Region.CoreModules.Agent.Xfer
     public class XferModule : IRegionModule, IXfer
     {
         private Scene m_scene;
+        private Dictionary<string, XferRequest> Requests = new Dictionary<string, XferRequest>();
+        private List<XferRequest> RequestTime = new List<XferRequest>();
         public Dictionary<string, byte[]> NewFiles = new Dictionary<string, byte[]>();
         public Dictionary<ulong, XferDownLoad> Transfers = new Dictionary<ulong, XferDownLoad>();
+        
 
+        public struct XferRequest
+        {
+            public IClientAPI remoteClient;
+            public ulong xferID;
+            public string fileName;
+            public DateTime timeStamp;
+        }
+       
         #region IRegionModule Members
 
         public void Initialise(Scene scene, IConfigSource config)
@@ -86,6 +97,13 @@ namespace OpenSim.Region.CoreModules.Agent.Xfer
                     NewFiles.Add(fileName, data);
                 }
             }
+
+            if (Requests.ContainsKey(fileName))
+            {
+                RequestXfer(Requests[fileName].remoteClient, Requests[fileName].xferID, fileName);
+                Requests.Remove(fileName);
+            }
+
             return true;
         }
 
@@ -105,7 +123,6 @@ namespace OpenSim.Region.CoreModules.Agent.Xfer
         /// <param name="fileName"></param>
         public void RequestXfer(IClientAPI remoteClient, ulong xferID, string fileName)
         {
-            
             lock (NewFiles)
             {
                 if (NewFiles.ContainsKey(fileName))
@@ -114,6 +131,7 @@ namespace OpenSim.Region.CoreModules.Agent.Xfer
                     {
                         byte[] fileData = NewFiles[fileName];
                         XferDownLoad transaction = new XferDownLoad(fileName, fileData, xferID, remoteClient);
+
                         Transfers.Add(xferID, transaction);
                         NewFiles.Remove(fileName);
 
@@ -123,6 +141,30 @@ namespace OpenSim.Region.CoreModules.Agent.Xfer
                         }
                     }
                 }
+                else
+                {
+                    if (RequestTime.Count > 0)
+                    {
+                        TimeSpan ts = new TimeSpan(DateTime.UtcNow.Ticks - RequestTime[0].timeStamp.Ticks);
+                        if (ts.TotalSeconds > 30)
+                        {
+                            Requests.Remove(RequestTime[0].fileName);
+                            RequestTime.RemoveAt(0);
+                        }
+                    }
+
+                    if (!Requests.ContainsKey(fileName))
+                    {
+                        XferRequest nRequest = new XferRequest();
+                        nRequest.remoteClient = remoteClient;
+                        nRequest.xferID = xferID;
+                        nRequest.fileName = fileName;
+                        nRequest.timeStamp = DateTime.UtcNow;
+                        Requests.Add(fileName, nRequest);
+                        RequestTime.Add(nRequest);
+                    }
+                    
+                }
             }
         }
 
@@ -177,7 +219,6 @@ namespace OpenSim.Region.CoreModules.Agent.Xfer
                     Array.Copy(Utils.IntToBytes(Data.Length), 0, transferData, 0, 4);
                     Array.Copy(Data, 0, transferData, 4, Data.Length);
                     Client.SendXferPacket(XferID, 0 + 0x80000000, transferData);
-
                     complete = true;
                 }
                 else
diff --git a/OpenSim/Region/CoreModules/Avatar/Combat/CombatModule.cs b/OpenSim/Region/CoreModules/Avatar/Combat/CombatModule.cs
index 9387bce..61b6d65 100644
--- a/OpenSim/Region/CoreModules/Avatar/Combat/CombatModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/Combat/CombatModule.cs
@@ -96,12 +96,14 @@ namespace OpenSim.Region.CoreModules.Avatar.Combat.CombatModule
             else
             {
                 bool foundResult = false;
-                string resultstring = "";
-                List<ScenePresence> allav = DeadAvatar.Scene.GetScenePresences();
+                string resultstring = String.Empty;
+                ScenePresence[] allav = DeadAvatar.Scene.GetScenePresences();
                 try
                 {
-                    foreach (ScenePresence av in allav)
+                    for (int i = 0; i < allav.Length; i++)
                     {
+                        ScenePresence av = allav[i];
+
                         if (av.LocalId == killerObjectLocalID)
                         {
                             av.ControllingClient.SendAlertMessage("You fragged " + DeadAvatar.Firstname + " " + DeadAvatar.Lastname);
diff --git a/OpenSim/Region/CoreModules/Avatar/Dialog/DialogModule.cs b/OpenSim/Region/CoreModules/Avatar/Dialog/DialogModule.cs
index ebebaf9..72ec869 100644
--- a/OpenSim/Region/CoreModules/Avatar/Dialog/DialogModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/Dialog/DialogModule.cs
@@ -85,10 +85,12 @@ namespace OpenSim.Region.CoreModules.Avatar.Dialog
         
         public void SendAlertToUser(string firstName, string lastName, string message, bool modal)
         {
-            List<ScenePresence> presenceList = m_scene.GetScenePresences();
+            ScenePresence[] presenceList = m_scene.GetScenePresences();
 
-            foreach (ScenePresence presence in presenceList)
+            for (int i = 0; i < presenceList.Length; i++)
             {
+                ScenePresence presence = presenceList[i];
+
                 if (presence.Firstname == firstName && presence.Lastname == lastName)
                 {
                     presence.ControllingClient.SendAgentAlertMessage(message, modal);
@@ -99,10 +101,12 @@ namespace OpenSim.Region.CoreModules.Avatar.Dialog
         
         public void SendGeneralAlert(string message)
         {
-            List<ScenePresence> presenceList = m_scene.GetScenePresences();
+            ScenePresence[] presenceList = m_scene.GetScenePresences();
 
-            foreach (ScenePresence presence in presenceList)
+            for (int i = 0; i < presenceList.Length; i++)
             {
+                ScenePresence presence = presenceList[i];
+
                 if (!presence.IsChildAgent)
                     presence.ControllingClient.SendAlertMessage(message);
             }
@@ -150,10 +154,11 @@ namespace OpenSim.Region.CoreModules.Avatar.Dialog
         public void SendNotificationToUsersInRegion(
             UUID fromAvatarID, string fromAvatarName, string message)
         {
-            List<ScenePresence> presenceList = m_scene.GetScenePresences();
+            ScenePresence[] presences = m_scene.GetScenePresences();
 
-            foreach (ScenePresence presence in presenceList)
+            for (int i = 0; i < presences.Length; i++)
             {
+                ScenePresence presence = presences[i];
                 if (!presence.IsChildAgent)
                     presence.ControllingClient.SendBlueBoxMessage(fromAvatarID, fromAvatarName, message);
             }
diff --git a/OpenSim/Region/CoreModules/Avatar/Gods/GodsModule.cs b/OpenSim/Region/CoreModules/Avatar/Gods/GodsModule.cs
index 7855862..273c128 100644
--- a/OpenSim/Region/CoreModules/Avatar/Gods/GodsModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/Gods/GodsModule.cs
@@ -114,7 +114,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Gods
                     {
                         string reasonStr = Utils.BytesToString(reason);
 
-                        m_scene.ClientManager.ForEach(
+                        m_scene.ForEachClient(
                             delegate(IClientAPI controller)
                             {
                                 if (controller.AgentId != godID)
diff --git a/OpenSim/Region/CoreModules/Avatar/InstantMessage/PresenceModule.cs b/OpenSim/Region/CoreModules/Avatar/InstantMessage/PresenceModule.cs
index ad05bab..f5ab454 100644
--- a/OpenSim/Region/CoreModules/Avatar/InstantMessage/PresenceModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/InstantMessage/PresenceModule.cs
@@ -274,8 +274,14 @@ namespace OpenSim.Region.CoreModules.Avatar.InstantMessage
                 }
                 m_RootAgents[agentID] = scene;
             }
+
             // inform messaging server that agent changed the region
-            NotifyMessageServerOfAgentLocation(agentID, scene.RegionInfo.RegionID, scene.RegionInfo.RegionHandle);
+            Util.FireAndForget(
+                delegate(object o)
+                {
+                    NotifyMessageServerOfAgentLocation(agentID, scene.RegionInfo.RegionID, scene.RegionInfo.RegionHandle);
+                }
+            );
         }
 
         private void OnEconomyDataRequest(UUID agentID)
diff --git a/OpenSim/Region/CoreModules/InterGrid/OpenGridProtocolModule.cs b/OpenSim/Region/CoreModules/InterGrid/OpenGridProtocolModule.cs
index d636b1c..62500a2 100644
--- a/OpenSim/Region/CoreModules/InterGrid/OpenGridProtocolModule.cs
+++ b/OpenSim/Region/CoreModules/InterGrid/OpenGridProtocolModule.cs
@@ -1208,10 +1208,7 @@ namespace OpenSim.Region.CoreModules.InterGrid
             if (homeScene.TryGetAvatar(avatarId,out avatar))
             {
                 KillAUser ku = new KillAUser(avatar,mod);
-                Thread ta = new Thread(ku.ShutdownNoLogout);
-                ta.IsBackground = true;
-                ta.Name = "ShutdownThread";
-                ta.Start();
+                Watchdog.StartThread(ku.ShutdownNoLogout, "OGPShutdown", ThreadPriority.Normal, true);
             }
         }
 
@@ -1261,7 +1258,13 @@ namespace OpenSim.Region.CoreModules.InterGrid
 
                 avToBeKilled.ControllingClient.SendLogoutPacketWhenClosing = false;
 
-                Thread.Sleep(30000);
+                int sleepMS = 30000;
+                while (sleepMS > 0)
+                {
+                    Watchdog.UpdateThread();
+                    Thread.Sleep(1000);
+                    sleepMS -= 1000;
+                }
 
                 // test for child agent because they might have come back
                 if (avToBeKilled.IsChildAgent)
@@ -1270,6 +1273,8 @@ namespace OpenSim.Region.CoreModules.InterGrid
                     avToBeKilled.ControllingClient.Close();
                 }
             }
+
+            Watchdog.RemoveThread();
         }
         
     }
diff --git a/OpenSim/Region/CoreModules/World/Archiver/AssetsRequest.cs b/OpenSim/Region/CoreModules/World/Archiver/AssetsRequest.cs
index fe9c8d9..c9fce91 100644
--- a/OpenSim/Region/CoreModules/World/Archiver/AssetsRequest.cs
+++ b/OpenSim/Region/CoreModules/World/Archiver/AssetsRequest.cs
@@ -128,7 +128,7 @@ namespace OpenSim.Region.CoreModules.World.Archiver
             if (m_repliesRequired == 0)
             {
                 m_requestState = RequestState.Completed;
-                PerformAssetsRequestCallback();
+                PerformAssetsRequestCallback(null);
                 return;
             }
             
@@ -246,9 +246,7 @@ namespace OpenSim.Region.CoreModules.World.Archiver
                         
                         // We want to stop using the asset cache thread asap 
                         // as we now need to do the work of producing the rest of the archive
-                        Thread newThread = new Thread(PerformAssetsRequestCallback);
-                        newThread.Name = "OpenSimulator archiving thread post assets receipt";
-                        newThread.Start();
+                        Util.FireAndForget(PerformAssetsRequestCallback);
                     }
                     else
                     {
@@ -265,7 +263,7 @@ namespace OpenSim.Region.CoreModules.World.Archiver
         /// <summary>
         /// Perform the callback on the original requester of the assets
         /// </summary>
-        protected void PerformAssetsRequestCallback()
+        protected void PerformAssetsRequestCallback(object o)
         {
             try
             {
diff --git a/OpenSim/Region/CoreModules/World/Estate/EstateManagementModule.cs b/OpenSim/Region/CoreModules/World/Estate/EstateManagementModule.cs
index 3bb162e..e3a395e 100644
--- a/OpenSim/Region/CoreModules/World/Estate/EstateManagementModule.cs
+++ b/OpenSim/Region/CoreModules/World/Estate/EstateManagementModule.cs
@@ -414,9 +414,12 @@ namespace OpenSim.Region.CoreModules.World.Estate
         private void handleEstateTeleportAllUsersHomeRequest(IClientAPI remover_client, UUID invoice, UUID senderID)
         {
             // Get a fresh list that will not change as people get teleported away
-            List<ScenePresence> prescences = m_scene.GetScenePresences(); 
-            foreach (ScenePresence p in prescences)
+            ScenePresence[] presences = m_scene.GetScenePresences();
+
+            for (int i = 0; i < presences.Length; i++)
             {
+                ScenePresence p = presences[i];
+
                 if (p.UUID != senderID)
                 {
                     // make sure they are still there, we could be working down a long list
diff --git a/OpenSim/Region/CoreModules/World/Land/LandManagementModule.cs b/OpenSim/Region/CoreModules/World/Land/LandManagementModule.cs
index 53c64cb..93a949a 100644
--- a/OpenSim/Region/CoreModules/World/Land/LandManagementModule.cs
+++ b/OpenSim/Region/CoreModules/World/Land/LandManagementModule.cs
@@ -264,10 +264,8 @@ namespace OpenSim.Region.CoreModules.World.Land
                 avatar.ControllingClient.SendAlertMessage(
                     "You are not allowed on this parcel because you are banned. Please go away.");
 
-                avatar.PhysicsActor.Position =
-                    new PhysicsVector(avatar.lastKnownAllowedPosition.X, avatar.lastKnownAllowedPosition.Y,
-                                      avatar.lastKnownAllowedPosition.Z);
-                avatar.PhysicsActor.Velocity = new PhysicsVector(0, 0, 0);
+                avatar.PhysicsActor.Position = avatar.lastKnownAllowedPosition;
+                avatar.PhysicsActor.Velocity = Vector3.Zero;
             }
             else
             {
diff --git a/OpenSim/Region/CoreModules/World/WorldMap/MapImageModule.cs b/OpenSim/Region/CoreModules/World/WorldMap/MapImageModule.cs
index 5fd8369..285d36a 100644
--- a/OpenSim/Region/CoreModules/World/WorldMap/MapImageModule.cs
+++ b/OpenSim/Region/CoreModules/World/WorldMap/MapImageModule.cs
@@ -98,27 +98,29 @@ namespace OpenSim.Region.CoreModules.World.WorldMap
             }
             terrainRenderer.Initialise(m_scene, m_config);
 
-            Bitmap mapbmp = new Bitmap((int)Constants.RegionSize, (int)Constants.RegionSize);
-            //long t = System.Environment.TickCount;
-            //for (int i = 0; i < 10; ++i) {
+            using (Bitmap mapbmp = new Bitmap((int)Constants.RegionSize, (int)Constants.RegionSize))
+            {
+                //long t = System.Environment.TickCount;
+                //for (int i = 0; i < 10; ++i) {
                 terrainRenderer.TerrainToBitmap(mapbmp);
-            //}
-            //t = System.Environment.TickCount - t;
-            //m_log.InfoFormat("[MAPTILE] generation of 10 maptiles needed {0} ms", t);
+                //}
+                //t = System.Environment.TickCount - t;
+                //m_log.InfoFormat("[MAPTILE] generation of 10 maptiles needed {0} ms", t);
 
 
-            if (drawPrimVolume)
-            {
-                DrawObjectVolume(m_scene, mapbmp);
-            }
+                if (drawPrimVolume)
+                {
+                    DrawObjectVolume(m_scene, mapbmp);
+                }
 
-            try
-            {
-                imageData = OpenJPEG.EncodeFromImage(mapbmp, true);
-            }
-            catch (Exception e) // LEGIT: Catching problems caused by OpenJPEG p/invoke
-            {
-                m_log.Error("Failed generating terrain map: " + e);
+                try
+                {
+                    imageData = OpenJPEG.EncodeFromImage(mapbmp, true);
+                }
+                catch (Exception e) // LEGIT: Catching problems caused by OpenJPEG p/invoke
+                {
+                    m_log.Error("Failed generating terrain map: " + e);
+                }
             }
 
             return imageData;
diff --git a/OpenSim/Region/CoreModules/World/WorldMap/WorldMapModule.cs b/OpenSim/Region/CoreModules/World/WorldMap/WorldMapModule.cs
index 4e40084..f4b54aa 100644
--- a/OpenSim/Region/CoreModules/World/WorldMap/WorldMapModule.cs
+++ b/OpenSim/Region/CoreModules/World/WorldMap/WorldMapModule.cs
@@ -58,7 +58,7 @@ namespace OpenSim.Region.CoreModules.World.WorldMap
             LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
         private static readonly string DEFAULT_WORLD_MAP_EXPORT_PATH = "exportmap.jpg";
-
+        private static readonly UUID STOP_UUID = UUID.Random();
         private static readonly string m_mapLayerPath = "0001/";
 
         private OpenSim.Framework.BlockingQueue<MapRequestState> requests = new OpenSim.Framework.BlockingQueue<MapRequestState>();
@@ -74,7 +74,6 @@ namespace OpenSim.Region.CoreModules.World.WorldMap
         private Dictionary<ulong, int> m_blacklistedregions = new Dictionary<ulong, int>();
         private Dictionary<ulong, string> m_cachedRegionMapItemsAddress = new Dictionary<ulong, string>();
         private List<UUID> m_rootAgents = new List<UUID>();
-        private Thread mapItemReqThread;
         private volatile bool threadrunning = false;
 
         //private int CacheRegionsDistance = 256;
@@ -338,13 +337,10 @@ namespace OpenSim.Region.CoreModules.World.WorldMap
         {
             if (threadrunning) return;
             threadrunning = true;
+
             m_log.Debug("[WORLD MAP]: Starting remote MapItem request thread");
-            mapItemReqThread = new Thread(new ThreadStart(process));
-            mapItemReqThread.IsBackground = true;
-            mapItemReqThread.Name = "MapItemRequestThread";
-            mapItemReqThread.Priority = ThreadPriority.BelowNormal;
-            mapItemReqThread.SetApartmentState(ApartmentState.MTA);
-            mapItemReqThread.Start();
+
+            Watchdog.StartThread(process, "MapItemRequestThread", ThreadPriority.BelowNormal, true);
         }
 
         /// <summary>
@@ -353,7 +349,7 @@ namespace OpenSim.Region.CoreModules.World.WorldMap
         private void StopThread()
         {
             MapRequestState st = new MapRequestState();
-            st.agentID=UUID.Zero;
+            st.agentID=STOP_UUID;
             st.EstateID=0;
             st.flags=0;
             st.godlike=false;
@@ -441,26 +437,29 @@ namespace OpenSim.Region.CoreModules.World.WorldMap
             {
                 while (true)
                 {
-                    MapRequestState st = requests.Dequeue();
+                    MapRequestState st = requests.Dequeue(1000);
 
                     // end gracefully
-                    if (st.agentID == UUID.Zero)
-                    {
+                    if (st.agentID == STOP_UUID)
                         break;
-                    }
 
-                    bool dorequest = true;
-                    lock (m_rootAgents)
+                    if (st.agentID != UUID.Zero)
                     {
-                        if (!m_rootAgents.Contains(st.agentID))
-                            dorequest = false;
-                    }
+                        bool dorequest = true;
+                        lock (m_rootAgents)
+                        {
+                            if (!m_rootAgents.Contains(st.agentID))
+                                dorequest = false;
+                        }
 
-                    if (dorequest)
-                    {
-                        OSDMap response = RequestMapItemsAsync("", st.agentID, st.flags, st.EstateID, st.godlike, st.itemtype, st.regionhandle);
-                        RequestMapItemsCompleted(response);
+                        if (dorequest)
+                        {
+                            OSDMap response = RequestMapItemsAsync("", st.agentID, st.flags, st.EstateID, st.godlike, st.itemtype, st.regionhandle);
+                            RequestMapItemsCompleted(response);
+                        }
                     }
+
+                    Watchdog.UpdateThread();
                 }
             }
             catch (Exception e)
@@ -469,6 +468,7 @@ namespace OpenSim.Region.CoreModules.World.WorldMap
             }
 
             threadrunning = false;
+            Watchdog.RemoveThread();
         }
 
         /// <summary>
diff --git a/OpenSim/Region/Framework/Scenes/AnimationSet.cs b/OpenSim/Region/Framework/Scenes/AnimationSet.cs
index aa0c8b8..740d168 100644
--- a/OpenSim/Region/Framework/Scenes/AnimationSet.cs
+++ b/OpenSim/Region/Framework/Scenes/AnimationSet.cs
@@ -30,6 +30,8 @@ using System.Collections.Generic;
 using OpenSim.Framework;
 using OpenMetaverse;
 
+using Animation = OpenSim.Framework.Animation;
+
 namespace OpenSim.Region.Framework.Scenes
 {
     [Serializable]
diff --git a/OpenSim/Region/Framework/Scenes/Scene.PacketHandlers.cs b/OpenSim/Region/Framework/Scenes/Scene.PacketHandlers.cs
index ac89f7b..1a91f0c 100644
--- a/OpenSim/Region/Framework/Scenes/Scene.PacketHandlers.cs
+++ b/OpenSim/Region/Framework/Scenes/Scene.PacketHandlers.cs
@@ -394,7 +394,7 @@ namespace OpenSim.Region.Framework.Scenes
         void ProcessViewerEffect(IClientAPI remoteClient, List<ViewerEffectEventHandlerArg> args)
         {
             // TODO: don't create new blocks if recycling an old packet
-            List<ViewerEffectPacket.EffectBlock> effectBlock = new List<ViewerEffectPacket.EffectBlock>();
+            ViewerEffectPacket.EffectBlock[] effectBlockArray = new ViewerEffectPacket.EffectBlock[args.Count];
             for (int i = 0; i < args.Count; i++)
             {
                 ViewerEffectPacket.EffectBlock effect = new ViewerEffectPacket.EffectBlock();
@@ -404,11 +404,10 @@ namespace OpenSim.Region.Framework.Scenes
                 effect.ID = args[i].ID;
                 effect.Type = args[i].Type;
                 effect.TypeData = args[i].TypeData;
-                effectBlock.Add(effect);
+                effectBlockArray[i] = effect;
             }
-            ViewerEffectPacket.EffectBlock[] effectBlockArray = effectBlock.ToArray();
 
-            ClientManager.ForEach(
+            ForEachClient(
                 delegate(IClientAPI client)
                 {
                     if (client.AgentId != remoteClient.AgentId)
diff --git a/OpenSim/Region/Framework/Scenes/Scene.cs b/OpenSim/Region/Framework/Scenes/Scene.cs
index 5005ac9..42051d0 100644
--- a/OpenSim/Region/Framework/Scenes/Scene.cs
+++ b/OpenSim/Region/Framework/Scenes/Scene.cs
@@ -61,6 +61,7 @@ namespace OpenSim.Region.Framework.Scenes
             Time = 0,
             Distance = 1,
             SimpleAngularDistance = 2,
+            FrontBack = 3,
         }
 
         public delegate void SynchronizeSceneHandler(Scene scene);
@@ -81,8 +82,6 @@ namespace OpenSim.Region.Framework.Scenes
 
         protected Timer m_restartWaitTimer = new Timer();
 
-        protected Thread m_updateEntitiesThread;
-
         public SimStatsReporter StatsReporter;
 
         protected List<RegionInfo> m_regionRestartNotifyList = new List<RegionInfo>();
@@ -107,11 +106,11 @@ namespace OpenSim.Region.Framework.Scenes
         public bool m_physicalPrim;
         public float m_maxNonphys = 256;
         public float m_maxPhys = 10;
-        public bool m_clampPrimSize = false;
-        public bool m_trustBinaries = false;
-        public bool m_allowScriptCrossings = false;
-        public bool m_useFlySlow = false;
-        public bool m_usePreJump = false;
+        public bool m_clampPrimSize;
+        public bool m_trustBinaries;
+        public bool m_allowScriptCrossings;
+        public bool m_useFlySlow;
+        public bool m_usePreJump;
         public bool m_seeIntoRegionFromNeighbor;
         // TODO: need to figure out how allow client agents but deny
         // root agents when ACL denies access to root agent
@@ -119,11 +118,11 @@ namespace OpenSim.Region.Framework.Scenes
         public int MaxUndoCount = 5;
         private int m_RestartTimerCounter;
         private readonly Timer m_restartTimer = new Timer(15000); // Wait before firing
-        private int m_incrementsof15seconds = 0;
-        private volatile bool m_backingup = false;
+        private int m_incrementsof15seconds;
+        private volatile bool m_backingup;
+        private bool m_useAsyncWhenPossible;
 
         private Dictionary<UUID, ReturnInfo> m_returns = new Dictionary<UUID, ReturnInfo>();
-        
         private Dictionary<UUID, SceneObjectGroup> m_groupsWithTargets = new Dictionary<UUID, SceneObjectGroup>();
 
         protected string m_simulatorVersion = "OpenSimulator Server";
@@ -143,8 +142,8 @@ namespace OpenSim.Region.Framework.Scenes
 
         public IXfer XferManager;
 
-        protected IAssetService m_AssetService = null;
-        protected IAuthorizationService m_AuthorizationService = null;
+        protected IAssetService m_AssetService;
+        protected IAuthorizationService m_AuthorizationService;
 
         private Object m_heartbeatLock = new Object();
 
@@ -185,7 +184,7 @@ namespace OpenSim.Region.Framework.Scenes
             }
         }
 
-        protected IInventoryService m_InventoryService = null;
+        protected IInventoryService m_InventoryService;
 
         public IInventoryService InventoryService
         {
@@ -205,7 +204,7 @@ namespace OpenSim.Region.Framework.Scenes
             }
         }
 
-        protected IGridService m_GridService = null;
+        protected IGridService m_GridService;
 
         public IGridService GridService
         {
@@ -253,9 +252,9 @@ namespace OpenSim.Region.Framework.Scenes
         // Central Update Loop
 
         protected int m_fps = 10;
-        protected int m_frame = 0;
+        protected int m_frame;
         protected float m_timespan = 0.089f;
-        protected DateTime m_lastupdate = DateTime.Now;
+        protected DateTime m_lastupdate = DateTime.UtcNow;
 
         private int m_update_physics = 1;
         private int m_update_entitymovement = 1;
@@ -266,17 +265,17 @@ namespace OpenSim.Region.Framework.Scenes
         private int m_update_terrain = 50;
         private int m_update_land = 1;
 
-        private int frameMS = 0;
-        private int physicsMS2 = 0;
-        private int physicsMS = 0;
-        private int otherMS = 0;
+        private int frameMS;
+        private int physicsMS2;
+        private int physicsMS;
+        private int otherMS;
 
         private bool m_physics_enabled = true;
         private bool m_scripts_enabled = true;
         private string m_defaultScriptEngine;
-        private int m_LastLogin = 0;
-        private Thread HeartbeatThread = null;
-        private volatile bool shuttingdown = false;
+        private int m_LastLogin;
+        private Thread HeartbeatThread;
+        private volatile bool shuttingdown;
 
         private int m_lastUpdate = Environment.TickCount;
         private bool m_firstHeartbeat = true;
@@ -480,6 +479,9 @@ namespace OpenSim.Region.Framework.Scenes
                 //
                 IConfig startupConfig = m_config.Configs["Startup"];
 
+                // Should we try to run loops synchronously or asynchronously?
+                m_useAsyncWhenPossible = startupConfig.GetBoolean("use_async_when_possible", false);
+
                 //Animation states
                 m_useFlySlow = startupConfig.GetBoolean("enableflyslow", false);
                 // TODO: Change default to true once the feature is supported
@@ -542,6 +544,9 @@ namespace OpenSim.Region.Framework.Scenes
                         case "simpleangulardistance":
                             m_update_prioritization_scheme = UpdatePrioritizationSchemes.SimpleAngularDistance;
                             break;
+                        case "frontback":
+                            m_update_prioritization_scheme = UpdatePrioritizationSchemes.FrontBack;
+                            break;
                         default:
                             m_log.Warn("[SCENE]: UpdatePrioritizationScheme was not recognized, setting to default settomg of Time");
                             m_update_prioritization_scheme = UpdatePrioritizationSchemes.Time;
@@ -889,6 +894,9 @@ namespace OpenSim.Region.Framework.Scenes
         {
             m_log.InfoFormat("[SCENE]: Closing down the single simulator: {0}", RegionInfo.RegionName);
 
+            m_restartTimer.Stop();
+            m_restartTimer.Close();
+
             // Kick all ROOT agents with the message, 'The simulator is going down'
             ForEachScenePresence(delegate(ScenePresence avatar)
                                  {
@@ -945,11 +953,8 @@ namespace OpenSim.Region.Framework.Scenes
                 HeartbeatThread = null;
             }
             m_lastUpdate = Environment.TickCount;
-            HeartbeatThread = new Thread(new ParameterizedThreadStart(Heartbeat));
-            HeartbeatThread.SetApartmentState(ApartmentState.MTA);
-            HeartbeatThread.Name = string.Format("Heartbeat for region {0}", RegionInfo.RegionName);
-            HeartbeatThread.Priority = ThreadPriority.AboveNormal;
-            HeartbeatThread.Start();
+
+            HeartbeatThread = Watchdog.StartThread(Heartbeat, "Heartbeat for region " + RegionInfo.RegionName, ThreadPriority.Normal, false);
         }
 
         /// <summary>
@@ -976,12 +981,13 @@ namespace OpenSim.Region.Framework.Scenes
         /// <summary>
         /// Performs per-frame updates regularly
         /// </summary>
-        /// <param name="sender"></param>
-        /// <param name="e"></param>
-        private void Heartbeat(object sender)
+        private void Heartbeat()
         {
             if (!Monitor.TryEnter(m_heartbeatLock))
+            {
+                Watchdog.RemoveThread();
                 return;
+            }
 
             try
             {
@@ -998,6 +1004,8 @@ namespace OpenSim.Region.Framework.Scenes
                 Monitor.Pulse(m_heartbeatLock);
                 Monitor.Exit(m_heartbeatLock);
             }
+
+            Watchdog.RemoveThread();
         }
 
         /// <summary>
@@ -1016,10 +1024,11 @@ namespace OpenSim.Region.Framework.Scenes
 //#endif
                 maintc = Environment.TickCount;
 
-                TimeSpan SinceLastFrame = DateTime.Now - m_lastupdate;
+                TimeSpan SinceLastFrame = DateTime.UtcNow - m_lastupdate;
                 float physicsFPS = 0;
 
                 frameMS = Environment.TickCount;
+
                 try
                 {
                     // Increment the frame counter
@@ -1101,6 +1110,11 @@ namespace OpenSim.Region.Framework.Scenes
                     }
                     if (loginsdisabled && (m_frame > 20))
                     {
+                        // In 99.9% of cases it is a bad idea to manually force garbage collection. However,
+                        // this is a rare case where we know we have just went through a long cycle of heap
+                        // allocations, and there is no more work to be done until someone logs in
+                        GC.Collect();
+
                         m_log.Debug("[REGION]: Enabling Logins");
                         loginsdisabled = false;
                     }
@@ -1139,13 +1153,16 @@ namespace OpenSim.Region.Framework.Scenes
                     }
                     m_timedilation = tmpval;
 
-                    m_lastupdate = DateTime.Now;
+                    m_lastupdate = DateTime.UtcNow;
                 }
                 maintc = Environment.TickCount - maintc;
                 maintc = (int)(m_timespan * 1000) - maintc;
 
                 if ((maintc < (m_timespan * 1000)) && maintc > 0)
                     Thread.Sleep(maintc);
+
+                // Tell the watchdog that this thread is still alive
+                Watchdog.UpdateThread();
             }
         }
 
@@ -1219,10 +1236,7 @@ namespace OpenSim.Region.Framework.Scenes
             if (!m_backingup)
             {
                 m_backingup = true;
-
-                System.ComponentModel.BackgroundWorker backupWorker = new System.ComponentModel.BackgroundWorker();
-                backupWorker.DoWork += delegate(object sender, System.ComponentModel.DoWorkEventArgs e) { Backup(); };
-                backupWorker.RunWorkerAsync();
+                Util.FireAndForget(BackupWaitCallback);
             }
         }
 
@@ -1235,6 +1249,14 @@ namespace OpenSim.Region.Framework.Scenes
         }
 
         /// <summary>
+        /// Wrapper for Backup() that can be called with Util.FireAndForget()
+        /// </summary>
+        private void BackupWaitCallback(object o)
+        {
+            Backup();
+        }
+
+        /// <summary>
         /// Backup the scene.  This acts as the main method of the backup thread.
         /// </summary>
         /// <returns></returns>
@@ -2460,7 +2482,7 @@ namespace OpenSim.Region.Framework.Scenes
         /// <param name="client"></param>
         public override void AddNewClient(IClientAPI client)
         {
-            ClientManager.Add(client);
+            m_clientManager.Add(client);
 
             CheckHeartbeat();
             SubscribeToClientEvents(client);
@@ -3099,7 +3121,7 @@ namespace OpenSim.Region.Framework.Scenes
 
                 // Remove the avatar from the scene
                 m_sceneGraph.RemoveScenePresence(agentID);
-                ClientManager.Remove(agentID);
+                m_clientManager.Remove(agentID);
 
                 try
                 {
@@ -3496,9 +3518,7 @@ namespace OpenSim.Region.Framework.Scenes
         public virtual void AgentCrossing(UUID agentID, Vector3 position, bool isFlying)
         {
             ScenePresence presence;
-
-            lock (m_sceneGraph.ScenePresences)
-                m_sceneGraph.ScenePresences.TryGetValue(agentID, out presence);
+            m_sceneGraph.TryGetAvatar(agentID, out presence);
 
             if (presence != null)
             {
@@ -3709,8 +3729,7 @@ namespace OpenSim.Region.Framework.Scenes
                                             Vector3 lookAt, uint teleportFlags)
         {
             ScenePresence sp;
-            lock (m_sceneGraph.ScenePresences)
-                m_sceneGraph.ScenePresences.TryGetValue(remoteClient.AgentId, out sp);
+            m_sceneGraph.TryGetAvatar(remoteClient.AgentId, out sp);
 
             if (sp != null)
             {
@@ -4112,7 +4131,7 @@ namespace OpenSim.Region.Framework.Scenes
         /// This list is a new object, so it can be iterated over without locking.
         /// </summary>
         /// <returns></returns>
-        public List<ScenePresence> GetScenePresences()
+        public ScenePresence[] GetScenePresences()
         {
             return m_sceneGraph.GetScenePresences();
         }
@@ -4159,15 +4178,13 @@ namespace OpenSim.Region.Framework.Scenes
         public void ForEachScenePresence(Action<ScenePresence> action)
         {
             // We don't want to try to send messages if there are no avatars.
-            if (m_sceneGraph != null && m_sceneGraph.ScenePresences != null)
+            if (m_sceneGraph != null)
             {
                 try
                 {
-                    List<ScenePresence> presenceList = GetScenePresences();
-                    foreach (ScenePresence presence in presenceList)
-                    {
-                        action(presence);
-                    }
+                    ScenePresence[] presences = GetScenePresences();
+                    for (int i = 0; i < presences.Length; i++)
+                        action(presences[i]);
                 }
                 catch (Exception e)
                 {
@@ -4239,7 +4256,28 @@ namespace OpenSim.Region.Framework.Scenes
 
         public void ForEachClient(Action<IClientAPI> action)
         {
-            ClientManager.ForEach(action);
+            ForEachClient(action, m_useAsyncWhenPossible);
+        }
+
+        public void ForEachClient(Action<IClientAPI> action, bool doAsynchronous)
+        {
+            // FIXME: Asynchronous iteration is disabled until we have a threading model that
+            // can support calling this function from an async packet handler without
+            // potentially deadlocking
+            //if (doAsynchronous)
+            //    m_clientManager.ForEach(action);
+            //else
+            //    m_clientManager.ForEachSync(action);
+        }
+
+        public bool TryGetClient(UUID avatarID, out IClientAPI client)
+        {
+            return m_clientManager.TryGetValue(avatarID, out client);
+        }
+
+        public bool TryGetClient(System.Net.IPEndPoint remoteEndPoint, out IClientAPI client)
+        {
+            return m_clientManager.TryGetValue(remoteEndPoint, out client);
         }
 
         public void ForEachSOG(Action<SceneObjectGroup> action)
@@ -4571,7 +4609,7 @@ namespace OpenSim.Region.Framework.Scenes
             {
                 case PhysicsJointType.Ball:
                     {
-                        PhysicsVector jointAnchor = PhysicsScene.GetJointAnchor(joint);
+                        Vector3 jointAnchor = PhysicsScene.GetJointAnchor(joint);
                         Vector3 proxyPos = new Vector3(jointAnchor.X, jointAnchor.Y, jointAnchor.Z);
                         jointProxyObject.ParentGroup.UpdateGroupPosition(proxyPos); // schedules the entire group for a terse update
                     }
@@ -4579,7 +4617,7 @@ namespace OpenSim.Region.Framework.Scenes
 
                 case PhysicsJointType.Hinge:
                     {
-                        PhysicsVector jointAnchor = PhysicsScene.GetJointAnchor(joint);
+                        Vector3 jointAnchor = PhysicsScene.GetJointAnchor(joint);
 
                         // Normally, we would just ask the physics scene to return the axis for the joint.
                         // Unfortunately, ODE sometimes returns <0,0,0> for the joint axis, which should
diff --git a/OpenSim/Region/Framework/Scenes/SceneBase.cs b/OpenSim/Region/Framework/Scenes/SceneBase.cs
index cf5c3c8..82731d1 100644
--- a/OpenSim/Region/Framework/Scenes/SceneBase.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneBase.cs
@@ -102,12 +102,7 @@ namespace OpenSim.Region.Framework.Scenes
 
         private readonly Mutex _primAllocateMutex = new Mutex(false);
         
-        private readonly ClientManager m_clientManager = new ClientManager();
-
-        public ClientManager ClientManager
-        {
-            get { return m_clientManager; }
-        }
+        protected readonly ClientManager m_clientManager = new ClientManager();
 
         public float TimeDilation
         {
diff --git a/OpenSim/Region/Framework/Scenes/SceneGraph.cs b/OpenSim/Region/Framework/Scenes/SceneGraph.cs
index deee6c3..db055f9 100644
--- a/OpenSim/Region/Framework/Scenes/SceneGraph.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneGraph.cs
@@ -66,7 +66,9 @@ namespace OpenSim.Region.Framework.Scenes
 
         #region Fields
 
-        protected internal Dictionary<UUID, ScenePresence> ScenePresences = new Dictionary<UUID, ScenePresence>();
+        protected Dictionary<UUID, ScenePresence> m_scenePresences = new Dictionary<UUID, ScenePresence>();
+        protected ScenePresence[] m_scenePresenceArray = new ScenePresence[0];
+
         // SceneObjects is not currently populated or used.
         //public Dictionary<UUID, SceneObjectGroup> SceneObjects;
         protected internal EntityManager Entities = new EntityManager();
@@ -126,10 +128,12 @@ namespace OpenSim.Region.Framework.Scenes
 
         protected internal void Close()
         {
-            lock (ScenePresences)
+            lock (m_scenePresences)
             {
-                ScenePresences.Clear();
+                m_scenePresences.Clear();
+                m_scenePresenceArray = new ScenePresence[0];
             }
+
             lock (m_dictionary_lock)
             {
                 SceneObjectGroupsByFullID.Clear();
@@ -157,11 +161,9 @@ namespace OpenSim.Region.Framework.Scenes
 
         protected internal void UpdatePresences()
         {
-            List<ScenePresence> updateScenePresences = GetScenePresences();
-            foreach (ScenePresence pres in updateScenePresences)
-            {
-                pres.Update();
-            }
+            ScenePresence[] updateScenePresences = GetScenePresences();
+            for (int i = 0; i < updateScenePresences.Length; i++)
+                updateScenePresences[i].Update();
         }
 
         protected internal float UpdatePhysics(double elapsed)
@@ -190,15 +192,9 @@ namespace OpenSim.Region.Framework.Scenes
 
         protected internal void UpdateScenePresenceMovement()
         {
-            List<ScenePresence> moveEntities = GetScenePresences();
-
-            foreach (EntityBase entity in moveEntities)
-            {
-                //cfk. This throws occaisional exceptions on a heavily used region
-                //and I added this null check to try to preclude the exception.
-                if (entity != null)
-                    entity.UpdateMovement();
-            }
+            ScenePresence[] moveEntities = GetScenePresences();
+            for (int i = 0; i < moveEntities.Length; i++)
+                moveEntities[i].UpdateMovement();
         }
 
         #endregion
@@ -645,9 +641,34 @@ namespace OpenSim.Region.Framework.Scenes
 
             Entities[presence.UUID] = presence;
 
-            lock (ScenePresences)
+            lock (m_scenePresences)
             {
-                ScenePresences[presence.UUID] = presence;
+                if (!m_scenePresences.ContainsKey(presence.UUID))
+                {
+                    m_scenePresences.Add(presence.UUID, presence);
+
+                    // Create a new array of ScenePresence references
+                    int oldLength = m_scenePresenceArray.Length;
+                    ScenePresence[] newArray = new ScenePresence[oldLength + 1];
+                    Array.Copy(m_scenePresenceArray, newArray, oldLength);
+                    newArray[oldLength] = presence;
+                    m_scenePresenceArray = newArray;
+                }
+                else
+                {
+                    m_scenePresences[presence.UUID] = presence;
+                    
+                    // Do a linear search through the array of ScenePresence references
+                    // and update the modified entry
+                    for (int i = 0; i < m_scenePresenceArray.Length; i++)
+                    {
+                        if (m_scenePresenceArray[i].UUID == presence.UUID)
+                        {
+                            m_scenePresenceArray[i] = presence;
+                            break;
+                        }
+                    }
+                }
             }
         }
 
@@ -663,16 +684,30 @@ namespace OpenSim.Region.Framework.Scenes
                     agentID);
             }
 
-            lock (ScenePresences)
+            lock (m_scenePresences)
             {
-                if (!ScenePresences.Remove(agentID))
+                if (m_scenePresences.Remove(agentID))
+                {
+                    // Copy all of the elements from the previous array
+                    // into the new array except the removed element
+                    int oldLength = m_scenePresenceArray.Length;
+                    ScenePresence[] newArray = new ScenePresence[oldLength - 1];
+                    int j = 0;
+                    for (int i = 0; i < m_scenePresenceArray.Length; i++)
+                    {
+                        ScenePresence presence = m_scenePresenceArray[i];
+                        if (presence.UUID != agentID)
+                        {
+                            newArray[j] = presence;
+                            ++j;
+                        }
+                    }
+                    m_scenePresenceArray = newArray;
+                }
+                else
                 {
                     m_log.WarnFormat("[SCENE] Tried to remove non-existent scene presence with agent ID {0} from scene ScenePresences list", agentID);
                 }
-//                else
-//                {
-//                    m_log.InfoFormat("[SCENE] Removed scene presence {0} from scene presences list", agentID);
-//                }
             }
         }
 
@@ -704,20 +739,21 @@ namespace OpenSim.Region.Framework.Scenes
 
         public void RecalculateStats()
         {
-            List<ScenePresence> SPList = GetScenePresences();
+            ScenePresence[] presences = GetScenePresences();
             int rootcount = 0;
             int childcount = 0;
 
-            foreach (ScenePresence user in SPList)
+            for (int i = 0; i < presences.Length; i++)
             {
+                ScenePresence user = presences[i];
                 if (user.IsChildAgent)
-                    childcount++;
+                    ++childcount;
                 else
-                    rootcount++;
+                    ++rootcount;
             }
+
             m_numRootAgents = rootcount;
             m_numChildAgents = childcount;
-            
         }
 
         public int GetChildAgentCount()
@@ -767,12 +803,9 @@ namespace OpenSim.Region.Framework.Scenes
         /// locking is required to iterate over it.
         /// </summary>
         /// <returns></returns>
-        protected internal List<ScenePresence> GetScenePresences()
+        protected internal ScenePresence[] GetScenePresences()
         {
-            lock (ScenePresences)
-            {
-                return new List<ScenePresence>(ScenePresences.Values);
-            }
+            return m_scenePresenceArray;
         }
 
         protected internal List<ScenePresence> GetAvatars()
@@ -817,14 +850,13 @@ namespace OpenSim.Region.Framework.Scenes
             // No locking of scene presences here since we're passing back a list...
 
             List<ScenePresence> result = new List<ScenePresence>();
-            List<ScenePresence> ScenePresencesList = GetScenePresences();
+            ScenePresence[] scenePresences = GetScenePresences();
 
-            foreach (ScenePresence avatar in ScenePresencesList)
+            for (int i = 0; i < scenePresences.Length; i++)
             {
+                ScenePresence avatar = scenePresences[i];
                 if (filter(avatar))
-                {
                     result.Add(avatar);
-                }
             }
 
             return result;
@@ -839,9 +871,9 @@ namespace OpenSim.Region.Framework.Scenes
         {
             ScenePresence sp;
             
-            lock (ScenePresences)
+            lock (m_scenePresences)
             {
-                ScenePresences.TryGetValue(agentID, out sp);
+                m_scenePresences.TryGetValue(agentID, out sp);
             }
 
             return sp;
@@ -1000,48 +1032,24 @@ namespace OpenSim.Region.Framework.Scenes
 
         protected internal bool TryGetAvatar(UUID avatarId, out ScenePresence avatar)
         {
-            ScenePresence presence;
-            
-            lock (ScenePresences)
-            {
-                if (ScenePresences.TryGetValue(avatarId, out presence))
-                {
-                    avatar = presence;
-                    return true;
-
-                    //if (!presence.IsChildAgent)
-                    //{
-                    //    avatar = presence;
-                    //    return true;
-                    //}
-                    //else
-                    //{
-                    //    m_log.WarnFormat(
-                    //        "[INNER SCENE]: Requested avatar {0} could not be found in scene {1} since it is only registered as a child agent!",
-                    //        avatarId, m_parentScene.RegionInfo.RegionName);
-                    //}
-                }
-            }
-
-            avatar = null;
-            return false;
+            lock (m_scenePresences)
+                return m_scenePresences.TryGetValue(avatarId, out avatar);
         }
 
         protected internal bool TryGetAvatarByName(string avatarName, out ScenePresence avatar)
         {
-            lock (ScenePresences)
+            ScenePresence[] presences = GetScenePresences();
+
+            for (int i = 0; i < presences.Length; i++)
             {
-                foreach (ScenePresence presence in ScenePresences.Values)
+                ScenePresence presence = presences[i];
+
+                if (!presence.IsChildAgent)
                 {
-                    if (!presence.IsChildAgent)
+                    if (String.Compare(avatarName, presence.ControllingClient.Name, true) == 0)
                     {
-                        string name = presence.ControllingClient.Name;
-
-                        if (String.Compare(avatarName, name, true) == 0)
-                        {
-                            avatar = presence;
-                            return true;
-                        }
+                        avatar = presence;
+                        return true;
                     }
                 }
             }
diff --git a/OpenSim/Region/Framework/Scenes/SceneManager.cs b/OpenSim/Region/Framework/Scenes/SceneManager.cs
index 3097929..dfaa7ea 100644
--- a/OpenSim/Region/Framework/Scenes/SceneManager.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneManager.cs
@@ -411,41 +411,46 @@ namespace OpenSim.Region.Framework.Scenes
         /// <param name="newDebug"></param>
         public void SetDebugPacketLevelOnCurrentScene(int newDebug)
         {
-            ForEachCurrentScene(delegate(Scene scene)
-                                {
-                                    List<ScenePresence> scenePresences = scene.GetScenePresences();
+            ForEachCurrentScene(
+                delegate(Scene scene)
+                {
+                    ScenePresence[] scenePresences = scene.GetScenePresences();
+
+                    for (int i = 0; i < scenePresences.Length; i++)
+                    {
+                        ScenePresence scenePresence = scenePresences[i];
 
-                                    foreach (ScenePresence scenePresence in scenePresences)
-                                    {
-                                        if (!scenePresence.IsChildAgent)
-                                        {
-                                            m_log.ErrorFormat("Packet debug for {0} {1} set to {2}",
-                                                              scenePresence.Firstname,
-                                                              scenePresence.Lastname,
-                                                              newDebug);
+                        if (!scenePresence.IsChildAgent)
+                        {
+                            m_log.ErrorFormat("Packet debug for {0} {1} set to {2}",
+                                              scenePresence.Firstname,
+                                              scenePresence.Lastname,
+                                              newDebug);
 
-                                            scenePresence.ControllingClient.SetDebugPacketLevel(newDebug);
-                                        }
-                                    }
-                                });
+                            scenePresence.ControllingClient.SetDebugPacketLevel(newDebug);
+                        }
+                    }
+                }
+            );
         }
 
         public List<ScenePresence> GetCurrentSceneAvatars()
         {
             List<ScenePresence> avatars = new List<ScenePresence>();
 
-            ForEachCurrentScene(delegate(Scene scene)
-            {
-                List<ScenePresence> scenePresences = scene.GetScenePresences();
-
-                foreach (ScenePresence scenePresence in scenePresences)
+            ForEachCurrentScene(
+                delegate(Scene scene)
                 {
-                    if (!scenePresence.IsChildAgent)
+                    ScenePresence[] scenePresences = scene.GetScenePresences();
+
+                    for (int i = 0; i < scenePresences.Length; i++)
                     {
-                        avatars.Add(scenePresence);
+                        ScenePresence scenePresence = scenePresences[i];
+                        if (!scenePresence.IsChildAgent)
+                            avatars.Add(scenePresence);
                     }
                 }
-            });
+            );
 
             return avatars;
         }
@@ -456,7 +461,7 @@ namespace OpenSim.Region.Framework.Scenes
 
             ForEachCurrentScene(delegate(Scene scene)
             {
-                List<ScenePresence> scenePresences = scene.GetScenePresences();
+                ScenePresence[] scenePresences = scene.GetScenePresences();
                 presences.AddRange(scenePresences);
             });
 
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
index 69b3ded..38a0cff 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
@@ -493,8 +493,8 @@ namespace OpenSim.Region.Framework.Scenes
 
         public Vector3 GroupScale()
         {
-            Vector3 minScale = new Vector3(Constants.RegionSize,Constants.RegionSize,Constants.RegionSize);
-            Vector3 maxScale = new Vector3(0f,0f,0f);
+            Vector3 minScale = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionSize);
+            Vector3 maxScale = Vector3.Zero;
             Vector3 finalScale = new Vector3(0.5f, 0.5f, 0.5f);
 
             lock (m_parts)
@@ -577,7 +577,6 @@ namespace OpenSim.Region.Framework.Scenes
             {
                 foreach (SceneObjectPart part in m_parts.Values)
                 {
-
                     Vector3 worldPos = part.GetWorldPosition();
                     Vector3 offset = worldPos - AbsolutePosition;
                     Quaternion worldRot;
@@ -1182,8 +1181,8 @@ namespace OpenSim.Region.Framework.Scenes
                 {
 //                    part.Inventory.RemoveScriptInstances();
 
-                    List<ScenePresence> avatars = Scene.GetScenePresences();
-                    for (int i = 0; i < avatars.Count; i++)
+                    ScenePresence[] avatars = Scene.GetScenePresences();
+                    for (int i = 0; i < avatars.Length; i++)
                     {
                         if (avatars[i].ParentID == LocalId)
                         {
@@ -1335,7 +1334,7 @@ namespace OpenSim.Region.Framework.Scenes
                                 (parcel.LandData.GroupID != GroupID ||
                                 parcel.LandData.GroupID == UUID.Zero))
                         {
-                            if ((DateTime.Now - RootPart.Rezzed).TotalMinutes >
+                            if ((DateTime.UtcNow - RootPart.Rezzed).TotalMinutes >
                                     parcel.LandData.OtherCleanTime)
                             {
                                 DetachFromBackup();
@@ -1480,8 +1479,8 @@ namespace OpenSim.Region.Framework.Scenes
                 dupe.RootPart.PhysActor = m_scene.PhysicsScene.AddPrimShape(
                     dupe.RootPart.Name,
                     pbs,
-                    new PhysicsVector(dupe.RootPart.AbsolutePosition.X, dupe.RootPart.AbsolutePosition.Y, dupe.RootPart.AbsolutePosition.Z),
-                    new PhysicsVector(dupe.RootPart.Scale.X, dupe.RootPart.Scale.Y, dupe.RootPart.Scale.Z),
+                    dupe.RootPart.AbsolutePosition,
+                    dupe.RootPart.Scale,
                     dupe.RootPart.RotationOffset,
                     dupe.RootPart.PhysActor.IsPhysical);
 
@@ -1596,7 +1595,7 @@ namespace OpenSim.Region.Framework.Scenes
             */
         }
 
-        public void applyImpulse(PhysicsVector impulse)
+        public void applyImpulse(Vector3 impulse)
         {
             // We check if rootpart is null here because scripts don't delete if you delete the host.
             // This means that unfortunately, we can pass a null physics actor to Simulate!
@@ -1623,7 +1622,7 @@ namespace OpenSim.Region.Framework.Scenes
             }
         }
 
-        public void applyAngularImpulse(PhysicsVector impulse)
+        public void applyAngularImpulse(Vector3 impulse)
         {
             // We check if rootpart is null here because scripts don't delete if you delete the host.
             // This means that unfortunately, we can pass a null physics actor to Simulate!
@@ -1642,7 +1641,7 @@ namespace OpenSim.Region.Framework.Scenes
             }
         }
 
-        public void setAngularImpulse(PhysicsVector impulse)
+        public void setAngularImpulse(Vector3 impulse)
         {
             // We check if rootpart is null here because scripts don't delete if you delete the host.
             // This means that unfortunately, we can pass a null physics actor to Simulate!
@@ -1673,8 +1672,8 @@ namespace OpenSim.Region.Framework.Scenes
                 {
                     if (!IsAttachment)
                     {
-                        PhysicsVector torque = rootpart.PhysActor.Torque;
-                        return new Vector3(torque.X, torque.Y, torque.Z);
+                        Vector3 torque = rootpart.PhysActor.Torque;
+                        return torque;
                     }
                 }
             }
@@ -1707,7 +1706,7 @@ namespace OpenSim.Region.Framework.Scenes
                 {
                     if (rootpart.PhysActor != null)
                     {
-                        rootpart.PhysActor.PIDTarget = new PhysicsVector(target.X, target.Y, target.Z);
+                        rootpart.PhysActor.PIDTarget = target;
                         rootpart.PhysActor.PIDTau = tau;
                         rootpart.PhysActor.PIDActive = true;
                     }
@@ -2375,7 +2374,7 @@ namespace OpenSim.Region.Framework.Scenes
                     if (m_rootPart.PhysActor.IsPhysical)
                     {
                         Vector3 llmoveforce = pos - AbsolutePosition;
-                        PhysicsVector grabforce = new PhysicsVector(llmoveforce.X, llmoveforce.Y, llmoveforce.Z);
+                        Vector3 grabforce = llmoveforce;
                         grabforce = (grabforce / 10) * m_rootPart.PhysActor.Mass;
                         m_rootPart.PhysActor.AddForce(grabforce,true);
                         m_scene.PhysicsScene.AddPhysicsActorTaint(m_rootPart.PhysActor);
@@ -2480,7 +2479,7 @@ namespace OpenSim.Region.Framework.Scenes
                           rotationAxis.Normalize();
 
                           //m_log.Error("SCENE OBJECT GROUP]: rotation axis is " + rotationAxis);
-                          PhysicsVector spinforce = new PhysicsVector(rotationAxis.X, rotationAxis.Y, rotationAxis.Z);
+                          Vector3 spinforce = new Vector3(rotationAxis.X, rotationAxis.Y, rotationAxis.Z);
                           spinforce = (spinforce/8) * m_rootPart.PhysActor.Mass; // 8 is an arbitrary torque scaling factor
                           m_rootPart.PhysActor.AddAngularForce(spinforce,true);
                           m_scene.PhysicsScene.AddPhysicsActorTaint(m_rootPart.PhysActor);
@@ -2707,8 +2706,7 @@ namespace OpenSim.Region.Framework.Scenes
                         if (scale.Z > m_scene.m_maxPhys)
                             scale.Z = m_scene.m_maxPhys;
                     }
-                    part.PhysActor.Size =
-                        new PhysicsVector(scale.X, scale.Y, scale.Z);
+                    part.PhysActor.Size = scale;
                     m_scene.PhysicsScene.AddPhysicsActorTaint(part.PhysActor);
                 }
                 //if (part.UUID != m_rootPart.UUID)
@@ -2852,8 +2850,7 @@ namespace OpenSim.Region.Framework.Scenes
 
                 if (part.PhysActor != null)
                 {
-                    part.PhysActor.Size =
-                        new PhysicsVector(prevScale.X, prevScale.Y, prevScale.Z);
+                    part.PhysActor.Size = prevScale;
                     m_scene.PhysicsScene.AddPhysicsActorTaint(part.PhysActor);
                 }
 
@@ -3366,6 +3363,8 @@ namespace OpenSim.Region.Framework.Scenes
                     return GetPriorityByDistance(client);
                 case Scene.UpdatePrioritizationSchemes.SimpleAngularDistance:
                     return GetPriorityBySimpleAngularDistance(client);
+                case Scenes.Scene.UpdatePrioritizationSchemes.FrontBack:
+                    return GetPriorityByFrontBack(client);
                 default:
                     throw new InvalidOperationException("UpdatePrioritizationScheme not defined");
             }
@@ -3398,6 +3397,16 @@ namespace OpenSim.Region.Framework.Scenes
             return double.NaN;
         }
 
+        private double GetPriorityByFrontBack(IClientAPI client)
+        {
+            ScenePresence presence = Scene.GetScenePresence(client.AgentId);
+            if (presence != null)
+            {
+                return GetPriorityByFrontBack(presence.CameraPosition, presence.CameraAtAxis);
+            }
+            return double.NaN;
+        }
+
         public double GetPriorityByDistance(Vector3 position)
         {
             return Vector3.Distance(AbsolutePosition, position);
@@ -3427,5 +3436,21 @@ namespace OpenSim.Region.Framework.Scenes
             else
                 return double.MinValue;
         }
+
+        public double GetPriorityByFrontBack(Vector3 camPosition, Vector3 camAtAxis)
+        {
+            // Distance
+            double priority = Vector3.Distance(camPosition, AbsolutePosition);
+
+            // Scale
+            //priority -= GroupScale().Length();
+
+            // Plane equation
+            float d = -Vector3.Dot(camPosition, camAtAxis);
+            float p = Vector3.Dot(camAtAxis, AbsolutePosition) + d;
+            if (p < 0.0f) priority *= 2.0f;
+
+            return priority;
+        }
     }
 }
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
index 32171a0..70f3112 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
@@ -102,16 +102,16 @@ namespace OpenSim.Region.Framework.Scenes
 
         #region Fields
 
-        public bool AllowedDrop = false;
+        public bool AllowedDrop;
 
         [XmlIgnore]
-        public bool DIE_AT_EDGE = false;
+        public bool DIE_AT_EDGE;
 
         // TODO: This needs to be persisted in next XML version update!
         [XmlIgnore]
-        public int[] PayPrice = {-2,-2,-2,-2,-2};
+        public readonly int[] PayPrice = {-2,-2,-2,-2,-2};
         [XmlIgnore]
-        public PhysicsActor PhysActor = null;
+        public PhysicsActor PhysActor;
 
         //Xantor 20080528 Sound stuff:
         //  Note: This isn't persisted in the database right now, as the fields for that aren't just there yet.
@@ -130,55 +130,56 @@ namespace OpenSim.Region.Framework.Scenes
         public double SoundRadius;
         
         [XmlIgnore]
-        public uint TimeStampFull = 0;
+        public uint TimeStampFull;
         
         [XmlIgnore]
-        public uint TimeStampLastActivity = 0; // Will be used for AutoReturn
+        public uint TimeStampLastActivity; // Will be used for AutoReturn
         
         [XmlIgnore]
-        public uint TimeStampTerse = 0;
-        
+        public uint TimeStampTerse;
+
         [XmlIgnore]
-        public UUID FromItemID = UUID.Zero;
+        public UUID FromItemID;
                
         /// <value>
         /// The UUID of the user inventory item from which this object was rezzed if this is a root part.
         /// If UUID.Zero then either this is not a root part or there is no connection with a user inventory item.
         /// </value>
-        private UUID m_fromUserInventoryItemID = UUID.Zero;
+        private UUID m_fromUserInventoryItemID;
         
         [XmlIgnore]
         public UUID FromUserInventoryItemID
         {
             get { return m_fromUserInventoryItemID; }
         }
-        
+
         [XmlIgnore]
-        public bool IsAttachment = false;
-        
+        public bool IsAttachment;
+
         [XmlIgnore]
-        public scriptEvents AggregateScriptEvents = 0;
-        
+        public scriptEvents AggregateScriptEvents;
+
         [XmlIgnore]
-        public UUID AttachedAvatar = UUID.Zero;
-        
+        public UUID AttachedAvatar;
+
         [XmlIgnore]
-        public Vector3 AttachedPos = Vector3.Zero;
-        
+        public Vector3 AttachedPos;
+
         [XmlIgnore]
-        public uint AttachmentPoint = (byte)0;
-        
+        public uint AttachmentPoint;
+
         [XmlIgnore]
-        public PhysicsVector RotationAxis = new PhysicsVector(1f,1f,1f);
+        public Vector3 RotationAxis = Vector3.One;
 
         [XmlIgnore]
-        public bool VolumeDetectActive = false; // XmlIgnore set to avoid problems with persistance until I come to care for this
-                                                // Certainly this must be a persistant setting finally
+        public bool VolumeDetectActive; // XmlIgnore set to avoid problems with persistance until I come to care for this
+                                        // Certainly this must be a persistant setting finally
 
         [XmlIgnore]
-        public bool IsWaitingForFirstSpinUpdatePacket = false;
+        public bool IsWaitingForFirstSpinUpdatePacket;
+
         [XmlIgnore]
-        public Quaternion SpinOldOrientation = new Quaternion();
+        public Quaternion SpinOldOrientation = Quaternion.Identity;
 
         /// <summary>
         /// This part's inventory
@@ -191,34 +192,32 @@ namespace OpenSim.Region.Framework.Scenes
         protected SceneObjectPartInventory m_inventory;
 
         [XmlIgnore]
-        public bool Undoing = false;
+        public bool Undoing;
 
         [XmlIgnore]
-        private PrimFlags LocalFlags = 0;
+        private PrimFlags LocalFlags;
         [XmlIgnore]
         private float m_damage = -1.0f;
         private byte[] m_TextureAnimation;
-        private byte m_clickAction = 0;
+        private byte m_clickAction;
         private Color m_color = Color.Black;
         private string m_description = String.Empty;
         private readonly List<uint> m_lastColliders = new List<uint>();
-        // private PhysicsVector m_lastRotationalVelocity = PhysicsVector.Zero;
-        private int m_linkNum = 0;
+        private int m_linkNum;
         [XmlIgnore]
-        private int m_scriptAccessPin = 0;
+        private int m_scriptAccessPin;
         [XmlIgnore]
         private readonly Dictionary<UUID, scriptEvents> m_scriptEvents = new Dictionary<UUID, scriptEvents>();
         private string m_sitName = String.Empty;
         private Quaternion m_sitTargetOrientation = Quaternion.Identity;
-        private Vector3 m_sitTargetPosition = Vector3.Zero;
+        private Vector3 m_sitTargetPosition;
         private string m_sitAnimation = "SIT";
         private string m_text = String.Empty;
         private string m_touchName = String.Empty;
         private readonly UndoStack<UndoState> m_undo = new UndoStack<UndoState>(5);
         private UUID _creatorID;
 
-
-        private bool m_passTouches = false;
+        private bool m_passTouches;
 
         /// <summary>
         /// Only used internally to schedule client updates.
@@ -236,28 +235,34 @@ namespace OpenSim.Region.Framework.Scenes
         //unkown if this will be kept, added as a way of removing the group position from the group class
         protected Vector3 m_groupPosition;
         protected uint m_localId;
-        protected Material m_material = (Material)3; // Wood
+        protected Material m_material = OpenMetaverse.Material.Wood;
         protected string m_name;
         protected Vector3 m_offsetPosition;
 
         // FIXME, TODO, ERROR: 'ParentGroup' can't be in here, move it out.
         protected SceneObjectGroup m_parentGroup;
-        protected byte[] m_particleSystem = new byte[0];
+        protected byte[] m_particleSystem = Utils.EmptyBytes;
         protected ulong m_regionHandle;
         protected Quaternion m_rotationOffset;
-        protected PrimitiveBaseShape m_shape = null;
+        protected PrimitiveBaseShape m_shape;
         protected UUID m_uuid;
         protected Vector3 m_velocity;
 
+        protected Vector3 m_lastPosition;
+        protected Quaternion m_lastRotation;
+        protected Vector3 m_lastVelocity;
+        protected Vector3 m_lastAcceleration;
+        protected Vector3 m_lastAngularVelocity;
+
         // TODO: Those have to be changed into persistent properties at some later point,
         // or sit-camera on vehicles will break on sim-crossing.
-        private Vector3 m_cameraEyeOffset = new Vector3(0.0f, 0.0f, 0.0f);
-        private Vector3 m_cameraAtOffset = new Vector3(0.0f, 0.0f, 0.0f);
-        private bool m_forceMouselook = false;
+        private Vector3 m_cameraEyeOffset;
+        private Vector3 m_cameraAtOffset;
+        private bool m_forceMouselook;
 
         // TODO: Collision sound should have default.
-        private UUID m_collisionSound = UUID.Zero;
-        private float m_collisionSoundVolume = 0.0f;
+        private UUID m_collisionSound;
+        private float m_collisionSoundVolume;
 
         #endregion Fields
 
@@ -269,9 +274,9 @@ namespace OpenSim.Region.Framework.Scenes
         public SceneObjectPart()
         {
             // It's not necessary to persist this
-            m_TextureAnimation = new byte[0];
-            m_particleSystem = new byte[0];
-            Rezzed = DateTime.Now;
+            m_TextureAnimation = Utils.EmptyBytes;
+            m_particleSystem = Utils.EmptyBytes;
+            Rezzed = DateTime.UtcNow;
             
             m_inventory = new SceneObjectPartInventory(this);
         }
@@ -290,8 +295,8 @@ namespace OpenSim.Region.Framework.Scenes
         {
             m_name = "Primitive";
 
-            Rezzed = DateTime.Now;
-            _creationDate = (Int32) (DateTime.UtcNow - new DateTime(1970, 1, 1)).TotalSeconds;
+            Rezzed = DateTime.UtcNow;
+            _creationDate = (int)Utils.DateTimeToUnixTime(Rezzed);
             _ownerID = ownerID;
             _creatorID = _ownerID;
             _lastOwnerID = UUID.Zero;
@@ -299,19 +304,19 @@ namespace OpenSim.Region.Framework.Scenes
             Shape = shape;
             // Todo: Add More Object Parameter from above!
             _ownershipCost = 0;
-            _objectSaleType = (byte) 0;
+            _objectSaleType = 0;
             _salePrice = 0;
-            _category = (uint) 0;
+            _category = 0;
             _lastOwnerID = _creatorID;
             // End Todo: ///
             GroupPosition = groupPosition;
             OffsetPosition = offsetPosition;
             RotationOffset = rotationOffset;
-            Velocity = new Vector3(0, 0, 0);
-            AngularVelocity = new Vector3(0, 0, 0);
-            Acceleration = new Vector3(0, 0, 0);
-            m_TextureAnimation = new byte[0];
-            m_particleSystem = new byte[0];
+            Velocity = Vector3.Zero;
+            AngularVelocity = Vector3.Zero;
+            Acceleration = Vector3.Zero;
+            m_TextureAnimation = Utils.EmptyBytes;
+            m_particleSystem = Utils.EmptyBytes;
 
             // Prims currently only contain a single folder (Contents).  From looking at the Second Life protocol,
             // this appears to have the same UUID (!) as the prim.  If this isn't the case, one can't drag items from
@@ -532,13 +537,13 @@ namespace OpenSim.Region.Framework.Scenes
                         // Root prim actually goes at Position
                         if (_parentID == 0)
                         {
-                            PhysActor.Position = new PhysicsVector(value.X, value.Y, value.Z);
+                            PhysActor.Position = value;
                         }
                         else
                         {
                             // To move the child prim in respect to the group position and rotation we have to calculate
                             Vector3 resultingposition = GetWorldPosition();
-                            PhysActor.Position = new PhysicsVector(resultingposition.X, resultingposition.Y, resultingposition.Z);
+                            PhysActor.Position = resultingposition;
                             Quaternion resultingrot = GetWorldRotation();
                             PhysActor.Orientation = resultingrot;
                         }
@@ -580,7 +585,7 @@ namespace OpenSim.Region.Framework.Scenes
                      if (_parentID != 0 && PhysActor != null)
                     {
                         Vector3 resultingposition = GetWorldPosition();
-                        PhysActor.Position = new PhysicsVector(resultingposition.X, resultingposition.Y, resultingposition.Z);
+                        PhysActor.Position = resultingposition;
                         Quaternion resultingrot = GetWorldRotation();
                         PhysActor.Orientation = resultingrot;
 
@@ -670,7 +675,7 @@ namespace OpenSim.Region.Framework.Scenes
                 {
                     if (PhysActor.IsPhysical)
                     {
-                        PhysActor.Velocity = new PhysicsVector(value.X, value.Y, value.Z);
+                        PhysActor.Velocity = value;
                         m_parentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(PhysActor);
                     }
                 }
@@ -812,7 +817,7 @@ if (m_shape != null) {
                     {
                         if (m_parentGroup.Scene.PhysicsScene != null)
                         {
-                            PhysActor.Size = new PhysicsVector(m_shape.Scale.X, m_shape.Scale.Y, m_shape.Scale.Z);
+                            PhysActor.Size = m_shape.Scale;
                             m_parentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(PhysActor);
                         }
                     }
@@ -1077,8 +1082,8 @@ if (m_shape != null) {
 
         private void SendObjectPropertiesToClient(UUID AgentID)
         {
-            List<ScenePresence> avatars = m_parentGroup.Scene.GetScenePresences();
-            for (int i = 0; i < avatars.Count; i++)
+            ScenePresence[] avatars = m_parentGroup.Scene.GetScenePresences();
+            for (int i = 0; i < avatars.Length; i++)
             {
                 // Ugly reference :(
                 if (avatars[i].UUID == AgentID)
@@ -1140,8 +1145,8 @@ if (m_shape != null) {
         /// </summary>
         public void AddFullUpdateToAllAvatars()
         {
-            List<ScenePresence> avatars = m_parentGroup.Scene.GetScenePresences();
-            for (int i = 0; i < avatars.Count; i++)
+            ScenePresence[] avatars = m_parentGroup.Scene.GetScenePresences();
+            for (int i = 0; i < avatars.Length; i++)
             {
                 avatars[i].SceneViewer.QueuePartForUpdate(this);
             }
@@ -1165,8 +1170,8 @@ if (m_shape != null) {
         /// Terse updates
         public void AddTerseUpdateToAllAvatars()
         {
-            List<ScenePresence> avatars = m_parentGroup.Scene.GetScenePresences();
-            for (int i = 0; i < avatars.Count; i++)
+            ScenePresence[] avatars = m_parentGroup.Scene.GetScenePresences();
+            for (int i = 0; i < avatars.Length; i++)
             {
                 avatars[i].SceneViewer.QueuePartForUpdate(this);
             }
@@ -1220,7 +1225,7 @@ if (m_shape != null) {
         /// <param name="localGlobalTF">true for the local frame, false for the global frame</param>
         public void ApplyImpulse(Vector3 impulsei, bool localGlobalTF)
         {
-            PhysicsVector impulse = new PhysicsVector(impulsei.X, impulsei.Y, impulsei.Z);
+            Vector3 impulse = impulsei;
 
             if (localGlobalTF)
             {
@@ -1228,7 +1233,7 @@ if (m_shape != null) {
                 Quaternion AXgrot = grot;
                 Vector3 AXimpulsei = impulsei;
                 Vector3 newimpulse = AXimpulsei * AXgrot;
-                impulse = new PhysicsVector(newimpulse.X, newimpulse.Y, newimpulse.Z);
+                impulse = newimpulse;
             }
 
             if (m_parentGroup != null)
@@ -1246,7 +1251,7 @@ if (m_shape != null) {
         /// <param name="localGlobalTF">true for the local frame, false for the global frame</param>
         public void ApplyAngularImpulse(Vector3 impulsei, bool localGlobalTF)
         {
-            PhysicsVector impulse = new PhysicsVector(impulsei.X, impulsei.Y, impulsei.Z);
+            Vector3 impulse = impulsei;
 
             if (localGlobalTF)
             {
@@ -1254,7 +1259,7 @@ if (m_shape != null) {
                 Quaternion AXgrot = grot;
                 Vector3 AXimpulsei = impulsei;
                 Vector3 newimpulse = AXimpulsei * AXgrot;
-                impulse = new PhysicsVector(newimpulse.X, newimpulse.Y, newimpulse.Z);
+                impulse = newimpulse;
             }
 
             if (m_parentGroup != null)
@@ -1272,7 +1277,7 @@ if (m_shape != null) {
         /// <param name="localGlobalTF">true for the local frame, false for the global frame</param>
         public void SetAngularImpulse(Vector3 impulsei, bool localGlobalTF)
         {
-            PhysicsVector impulse = new PhysicsVector(impulsei.X, impulsei.Y, impulsei.Z);
+            Vector3 impulse = impulsei;
 
             if (localGlobalTF)
             {
@@ -1280,7 +1285,7 @@ if (m_shape != null) {
                 Quaternion AXgrot = grot;
                 Vector3 AXimpulsei = impulsei;
                 Vector3 newimpulse = AXimpulsei * AXgrot;
-                impulse = new PhysicsVector(newimpulse.X, newimpulse.Y, newimpulse.Z);
+                impulse = newimpulse;
             }
 
             if (m_parentGroup != null)
@@ -1328,8 +1333,8 @@ if (m_shape != null) {
                     PhysActor = m_parentGroup.Scene.PhysicsScene.AddPrimShape(
                         Name,
                         Shape,
-                        new PhysicsVector(AbsolutePosition.X, AbsolutePosition.Y, AbsolutePosition.Z),
-                        new PhysicsVector(Scale.X, Scale.Y, Scale.Z),
+                        AbsolutePosition,
+                        Scale,
                         RotationOffset,
                         RigidBody);
 
@@ -1518,7 +1523,7 @@ if (m_shape != null) {
                     PhysicsJoint joint;
 
                     joint = m_parentGroup.Scene.PhysicsScene.RequestJointCreation(Name, jointType,
-                        new PhysicsVector(AbsolutePosition.X, AbsolutePosition.Y, AbsolutePosition.Z),
+                        AbsolutePosition,
                         this.RotationOffset,
                         Description,
                         bodyNames,
@@ -1703,12 +1708,12 @@ if (m_shape != null) {
             }
         }
 
-        public PhysicsVector GetForce()
+        public Vector3 GetForce()
         {
             if (PhysActor != null)
                 return PhysActor.Force;
             else
-                return new PhysicsVector();
+                return Vector3.Zero;
         }
 
         public void GetProperties(IClientAPI client)
@@ -1894,24 +1899,24 @@ if (m_shape != null) {
                         }
                         else
                         {
-                            List<ScenePresence> avlist = m_parentGroup.Scene.GetScenePresences();
-                            if (avlist != null)
+                            ScenePresence[] avlist = m_parentGroup.Scene.GetScenePresences();
+
+                            for (int i = 0; i < avlist.Length; i++)
                             {
-                                foreach (ScenePresence av in avlist)
+                                ScenePresence av = avlist[i];
+
+                                if (av.LocalId == localId)
                                 {
-                                    if (av.LocalId == localId)
-                                    {
-                                        DetectedObject detobj = new DetectedObject();
-                                        detobj.keyUUID = av.UUID;
-                                        detobj.nameStr = av.ControllingClient.Name;
-                                        detobj.ownerUUID = av.UUID;
-                                        detobj.posVector = av.AbsolutePosition;
-                                        detobj.rotQuat = av.Rotation;
-                                        detobj.velVector = av.Velocity;
-                                        detobj.colliderType = 0;
-                                        detobj.groupUUID = av.ControllingClient.ActiveGroupId;
-                                        colliding.Add(detobj);
-                                    }
+                                    DetectedObject detobj = new DetectedObject();
+                                    detobj.keyUUID = av.UUID;
+                                    detobj.nameStr = av.ControllingClient.Name;
+                                    detobj.ownerUUID = av.UUID;
+                                    detobj.posVector = av.AbsolutePosition;
+                                    detobj.rotQuat = av.Rotation;
+                                    detobj.velVector = av.Velocity;
+                                    detobj.colliderType = 0;
+                                    detobj.groupUUID = av.ControllingClient.ActiveGroupId;
+                                    colliding.Add(detobj);
                                 }
                             }
                         }
@@ -1965,26 +1970,25 @@ if (m_shape != null) {
                         }
                         else
                         {
-                            List<ScenePresence> avlist = m_parentGroup.Scene.GetScenePresences();
-                            if (avlist != null)
+                            ScenePresence[] avlist = m_parentGroup.Scene.GetScenePresences();
+                            
+                            for (int i = 0; i < avlist.Length; i++)
                             {
-                                foreach (ScenePresence av in avlist)
+                                ScenePresence av = avlist[i];
+
+                                if (av.LocalId == localId)
                                 {
-                                    if (av.LocalId == localId)
-                                    {
-                                        DetectedObject detobj = new DetectedObject();
-                                        detobj.keyUUID = av.UUID;
-                                        detobj.nameStr = av.Name;
-                                        detobj.ownerUUID = av.UUID;
-                                        detobj.posVector = av.AbsolutePosition;
-                                        detobj.rotQuat = av.Rotation;
-                                        detobj.velVector = av.Velocity;
-                                        detobj.colliderType = 0;
-                                        detobj.groupUUID = av.ControllingClient.ActiveGroupId;
-                                        colliding.Add(detobj);
-                                    }
+                                    DetectedObject detobj = new DetectedObject();
+                                    detobj.keyUUID = av.UUID;
+                                    detobj.nameStr = av.Name;
+                                    detobj.ownerUUID = av.UUID;
+                                    detobj.posVector = av.AbsolutePosition;
+                                    detobj.rotQuat = av.Rotation;
+                                    detobj.velVector = av.Velocity;
+                                    detobj.colliderType = 0;
+                                    detobj.groupUUID = av.ControllingClient.ActiveGroupId;
+                                    colliding.Add(detobj);
                                 }
-
                             }
                         }
                     }
@@ -2035,24 +2039,24 @@ if (m_shape != null) {
                         }
                         else
                         {
-                            List<ScenePresence> avlist = m_parentGroup.Scene.GetScenePresences();
-                            if (avlist != null)
+                            ScenePresence[] avlist = m_parentGroup.Scene.GetScenePresences();
+
+                            for (int i = 0; i < avlist.Length; i++)
                             {
-                                foreach (ScenePresence av in avlist)
+                                ScenePresence av = avlist[i];
+
+                                if (av.LocalId == localId)
                                 {
-                                    if (av.LocalId == localId)
-                                    {
-                                        DetectedObject detobj = new DetectedObject();
-                                        detobj.keyUUID = av.UUID;
-                                        detobj.nameStr = av.Name;
-                                        detobj.ownerUUID = av.UUID;
-                                        detobj.posVector = av.AbsolutePosition;
-                                        detobj.rotQuat = av.Rotation;
-                                        detobj.velVector = av.Velocity;
-                                        detobj.colliderType = 0;
-                                        detobj.groupUUID = av.ControllingClient.ActiveGroupId;
-                                        colliding.Add(detobj);
-                                    }
+                                    DetectedObject detobj = new DetectedObject();
+                                    detobj.keyUUID = av.UUID;
+                                    detobj.nameStr = av.Name;
+                                    detobj.ownerUUID = av.UUID;
+                                    detobj.posVector = av.AbsolutePosition;
+                                    detobj.rotQuat = av.Rotation;
+                                    detobj.velVector = av.Velocity;
+                                    detobj.colliderType = 0;
+                                    detobj.groupUUID = av.ControllingClient.ActiveGroupId;
+                                    colliding.Add(detobj);
                                 }
                             }
                         }
@@ -2074,7 +2078,7 @@ if (m_shape != null) {
             }
         }
 
-        public void PhysicsOutOfBounds(PhysicsVector pos)
+        public void PhysicsOutOfBounds(Vector3 pos)
         {
             m_log.Error("[PHYSICS]: Physical Object went out of bounds.");
             
@@ -2312,8 +2316,8 @@ if (m_shape != null) {
         /// </summary>
         public void SendFullUpdateToAllClients()
         {
-            List<ScenePresence> avatars = m_parentGroup.Scene.GetScenePresences();
-            for (int i = 0; i < avatars.Count; i++)
+            ScenePresence[] avatars = m_parentGroup.Scene.GetScenePresences();
+            for (int i = 0; i < avatars.Length; i++)
             {
                 // Ugly reference :(
                 m_parentGroup.SendPartFullUpdate(avatars[i].ControllingClient, this,
@@ -2323,8 +2327,8 @@ if (m_shape != null) {
 
         public void SendFullUpdateToAllClientsExcept(UUID agentID)
         {
-            List<ScenePresence> avatars = m_parentGroup.Scene.GetScenePresences();
-            for (int i = 0; i < avatars.Count; i++)
+            ScenePresence[] avatars = m_parentGroup.Scene.GetScenePresences();
+            for (int i = 0; i < avatars.Length; i++)
             {
                 // Ugly reference :(
                 if (avatars[i].UUID != agentID)
@@ -2389,18 +2393,36 @@ if (m_shape != null) {
         /// </summary>
         public void SendScheduledUpdates()
         {
-            if (m_updateFlag == 1) //some change has been made so update the clients
+            const float VELOCITY_TOLERANCE = 0.01f;
+            const float POSITION_TOLERANCE = 10.0f;
+
+            if (m_updateFlag == 1)
             {
-                AddTerseUpdateToAllAvatars();
-                ClearUpdateSchedule();
+                // Throw away duplicate or insignificant updates
+                if (RotationOffset != m_lastRotation ||
+                    Acceleration != m_lastAcceleration ||
+                    (Velocity - m_lastVelocity).Length() > VELOCITY_TOLERANCE ||
+                    (RotationalVelocity - m_lastAngularVelocity).Length() > VELOCITY_TOLERANCE ||
+                    (OffsetPosition - m_lastPosition).Length() > POSITION_TOLERANCE)
+                {
+                    AddTerseUpdateToAllAvatars();
+                    ClearUpdateSchedule();
 
-                // This causes the Scene to 'poll' physical objects every couple of frames
-                // bad, so it's been replaced by an event driven method.
-                //if ((ObjectFlags & (uint)PrimFlags.Physics) != 0)
-                //{
-                // Only send the constant terse updates on physical objects!
-                //ScheduleTerseUpdate();
-                //}
+                    // This causes the Scene to 'poll' physical objects every couple of frames
+                    // bad, so it's been replaced by an event driven method.
+                    //if ((ObjectFlags & (uint)PrimFlags.Physics) != 0)
+                    //{
+                    // Only send the constant terse updates on physical objects!
+                    //ScheduleTerseUpdate();
+                    //}
+
+                    // Update the "last" values
+                    m_lastPosition = OffsetPosition;
+                    m_lastRotation = RotationOffset;
+                    m_lastVelocity = Velocity;
+                    m_lastAcceleration = Acceleration;
+                    m_lastAngularVelocity = RotationalVelocity;
+                }
             }
             else
             {
@@ -2467,8 +2489,8 @@ if (m_shape != null) {
         /// </summary>
         public void SendTerseUpdateToAllClients()
         {
-            List<ScenePresence> avatars = m_parentGroup.Scene.GetScenePresences();
-            for (int i = 0; i < avatars.Count; i++)
+            ScenePresence[] avatars = m_parentGroup.Scene.GetScenePresences();
+            for (int i = 0; i < avatars.Length; i++)
             {
                 SendTerseUpdateToClient(avatars[i].ControllingClient);
             }
@@ -2542,7 +2564,7 @@ if (m_shape != null) {
             }
         }
 
-        public void SetForce(PhysicsVector force)
+        public void SetForce(Vector3 force)
         {
             if (PhysActor != null)
             {
@@ -2566,7 +2588,7 @@ if (m_shape != null) {
             }
         }
 
-        public void SetVehicleVectorParam(int param, PhysicsVector value)
+        public void SetVehicleVectorParam(int param, Vector3 value)
         {
             if (PhysActor != null)
             {
@@ -3408,8 +3430,8 @@ if (m_shape != null) {
                     PhysActor = m_parentGroup.Scene.PhysicsScene.AddPrimShape(
                         Name,
                         Shape,
-                        new PhysicsVector(AbsolutePosition.X, AbsolutePosition.Y, AbsolutePosition.Z),
-                        new PhysicsVector(Scale.X, Scale.Y, Scale.Z),
+                        AbsolutePosition,
+                        Scale,
                         RotationOffset,
                         UsePhysics);
 
@@ -3549,7 +3571,7 @@ if (m_shape != null) {
             // in SL.
             //
             if (ParentGroup.RootPart != this)
-                ParentGroup.RootPart.Rezzed = DateTime.Now;
+                ParentGroup.RootPart.Rezzed = DateTime.UtcNow;
 
             ParentGroup.HasGroupChanged = true;
             ScheduleFullUpdate();
diff --git a/OpenSim/Region/Framework/Scenes/ScenePresence.cs b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
index d7113bf..87fac0c 100644
--- a/OpenSim/Region/Framework/Scenes/ScenePresence.cs
+++ b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
@@ -93,12 +93,13 @@ namespace OpenSim.Region.Framework.Scenes
         public Vector3 lastKnownAllowedPosition;
         public bool sentMessageAboutRestrictedParcelFlyingDown;
 
-        
+        private Vector3 m_lastPosition;
+        private Quaternion m_lastRotation;
+        private Vector3 m_lastVelocity;
 
         private bool m_updateflag;
         private byte m_movementflag;
         private readonly List<NewForce> m_forcesList = new List<NewForce>();
-        private short m_updateCount;
         private uint m_requestedSitTargetID;
         private UUID m_requestedSitTargetUUID = UUID.Zero;
         private SendCourseLocationsMethod m_sendCourseLocationsMethod;
@@ -145,12 +146,9 @@ namespace OpenSim.Region.Framework.Scenes
         public string JID = string.Empty;
 
         // Agent moves with a PID controller causing a force to be exerted.
-        private bool m_newForce;
         private bool m_newCoarseLocations = true;
         private float m_health = 100f;
 
-        private Vector3 m_lastVelocity = Vector3.Zero;
-
         // Default AV Height
         private float m_avHeight = 127.0f;
 
@@ -158,16 +156,6 @@ namespace OpenSim.Region.Framework.Scenes
         protected ulong crossingFromRegion;
 
         private readonly Vector3[] Dir_Vectors = new Vector3[6];
-        
-        /// <value>
-        /// The avatar position last sent to clients
-        /// </value>
-        private Vector3 lastPhysPos = Vector3.Zero;
-        
-        /// <value>
-        /// The avatar body rotation last sent to clients 
-        /// </value>
-        private Quaternion lastPhysRot = Quaternion.Identity;
 
         // Position of agent's camera in world (region cordinates)
         protected Vector3 m_CameraCenter = Vector3.Zero;
@@ -297,6 +285,21 @@ namespace OpenSim.Region.Framework.Scenes
             get { return Util.Axes2Rot(m_CameraAtAxis, m_CameraLeftAxis, m_CameraUpAxis); }
         }
 
+        public Vector3 CameraAtAxis
+        {
+            get { return m_CameraAtAxis; }
+        }
+
+        public Vector3 CameraLeftAxis
+        {
+            get { return m_CameraLeftAxis; }
+        }
+
+        public Vector3 CameraUpAxis
+        {
+            get { return m_CameraUpAxis; }
+        }
+
         public Vector3 Lookat
         {
             get
@@ -431,7 +434,7 @@ namespace OpenSim.Region.Framework.Scenes
                     {
                         lock (m_scene.SyncRoot)
                         {
-                            m_physicsActor.Position = new PhysicsVector(value.X, value.Y, value.Z);
+                            m_physicsActor.Position = value;
                         }
                     }
                     catch (Exception e)
@@ -471,7 +474,7 @@ namespace OpenSim.Region.Framework.Scenes
                     {
                         lock (m_scene.SyncRoot)
                         {
-                            m_physicsActor.Velocity = new PhysicsVector(value.X, value.Y, value.Z);
+                            m_physicsActor.Velocity = value;
                         }
                     }
                     catch (Exception e)
@@ -869,14 +872,16 @@ namespace OpenSim.Region.Framework.Scenes
 
             m_isChildAgent = false;
 
-            List<ScenePresence> AnimAgents = m_scene.GetScenePresences();
-            foreach (ScenePresence p in AnimAgents)
+            ScenePresence[] animAgents = m_scene.GetScenePresences();
+            for (int i = 0; i < animAgents.Length; i++)
             {
-                if (p != this)
-                    p.SendAnimPackToClient(ControllingClient);
+                ScenePresence presence = animAgents[i];
+
+                if (presence != this)
+                    presence.SendAnimPackToClient(ControllingClient);
             }
-            m_scene.EventManager.TriggerOnMakeRootAgent(this);
 
+            m_scene.EventManager.TriggerOnMakeRootAgent(this);
         }
 
         /// <summary>
@@ -1041,7 +1046,7 @@ namespace OpenSim.Region.Framework.Scenes
             m_avHeight = height;
             if (PhysicsActor != null && !IsChildAgent)
             {
-                PhysicsVector SetSize = new PhysicsVector(0.45f, 0.6f, m_avHeight);
+                Vector3 SetSize = new Vector3(0.45f, 0.6f, m_avHeight);
                 PhysicsActor.Size = SetSize;
             }
         }
@@ -1106,18 +1111,18 @@ namespace OpenSim.Region.Framework.Scenes
                     CameraConstraintActive = true;
                     //m_log.DebugFormat("[RAYCASTRESULT]: {0}, {1}, {2}, {3}", hitYN, collisionPoint, localid, distance);
                     
-                    Vector3 normal = Vector3.Normalize(new Vector3(0,0,collisionPoint.Z) - collisionPoint);
+                    Vector3 normal = Vector3.Normalize(new Vector3(0f, 0f, collisionPoint.Z) - collisionPoint);
                     ControllingClient.SendCameraConstraint(new Vector4(normal.X, normal.Y, normal.Z, -1 * Vector3.Distance(new Vector3(0,0,collisionPoint.Z),collisionPoint)));
                 }
                 else 
                 {
-                    if (((Util.GetDistanceTo(lastPhysPos, AbsolutePosition) > 0.02)
-                         || (Util.GetDistanceTo(m_lastVelocity, m_velocity) > 0.02)
-                         || lastPhysRot != m_bodyRot))
+                    if ((m_pos - m_lastPosition).Length() > 0.02f ||
+                        (m_velocity - m_lastVelocity).Length() > 0.02f ||
+                        m_bodyRot != m_lastRotation)
                     {
                         if (CameraConstraintActive)
                         {
-                            ControllingClient.SendCameraConstraint(new Vector4(0, 0.5f, 0.9f, -3000f));
+                            ControllingClient.SendCameraConstraint(new Vector4(0f, 0.5f, 0.9f, -3000f));
                             CameraConstraintActive = false;
                         }
                     }
@@ -2356,6 +2361,9 @@ namespace OpenSim.Region.Framework.Scenes
 
         public override void Update()
         {
+            const float VELOCITY_TOLERANCE = 0.01f;
+            const float POSITION_TOLERANCE = 10.0f;
+
             SendPrimUpdates();
 
             if (m_newCoarseLocations)
@@ -2366,28 +2374,17 @@ namespace OpenSim.Region.Framework.Scenes
 
             if (m_isChildAgent == false)
             {
-                if (m_newForce) // user movement 'forces' (ie commands to move)
-                {
-                    SendTerseUpdateToAllClients();
-                    m_updateCount = 0;
-                }
-                else if (m_movementflag != 0) // scripted movement (?)
-                {
-                    m_updateCount++;
-                    if (m_updateCount > 3)
-                    {
-                        SendTerseUpdateToAllClients();
-                        m_updateCount = 0;
-                    }
-                }
-                else if ((Util.GetDistanceTo(lastPhysPos, AbsolutePosition) > 0.02) 
-                         || (Util.GetDistanceTo(m_lastVelocity, m_velocity) > 0.02)
-                         || lastPhysRot != m_bodyRot)
+                // Throw away duplicate or insignificant updates
+                if (m_bodyRot != m_lastRotation ||
+                    (m_velocity - m_lastVelocity).Length() > VELOCITY_TOLERANCE ||
+                    (m_pos - m_lastPosition).Length() > POSITION_TOLERANCE)
                 {
-                    // Send Terse Update to all clients updates lastPhysPos and m_lastVelocity
-                    // doing the above assures us that we know what we sent the clients last
                     SendTerseUpdateToAllClients();
-                    m_updateCount = 0;
+
+                    // Update the "last" values
+                    m_lastPosition = m_pos;
+                    m_lastRotation = m_bodyRot;
+                    m_lastVelocity = m_velocity;
                 }
 
                 // followed suggestion from mic bowman. reversed the two lines below.
@@ -2417,7 +2414,7 @@ namespace OpenSim.Region.Framework.Scenes
                 pos.Z -= m_appearance.HipOffset;
 
                 remoteClient.SendAvatarTerseUpdate(new SendAvatarTerseData(m_regionHandle, (ushort)(m_scene.TimeDilation * ushort.MaxValue), LocalId,
-                    pos, m_velocity, Vector3.Zero, m_rotation, Vector4.Zero, m_uuid, null, GetUpdatePriority(remoteClient)));
+                    pos, m_velocity, Vector3.Zero, m_bodyRot, Vector4.UnitW, m_uuid, null, GetUpdatePriority(remoteClient)));
 
                 m_scene.StatsReporter.AddAgentTime(Environment.TickCount - m_perfMonMS);
                 m_scene.StatsReporter.AddAgentUpdates(1);
@@ -2430,15 +2427,10 @@ namespace OpenSim.Region.Framework.Scenes
         public void SendTerseUpdateToAllClients()
         {
             m_perfMonMS = Environment.TickCount;
-
+            
             m_scene.ForEachClient(SendTerseUpdateToClient);
 
-            m_lastVelocity = m_velocity;
-            lastPhysPos = AbsolutePosition;
-            lastPhysRot = m_bodyRot;
-
             m_scene.StatsReporter.AddAgentTime(Environment.TickCount - m_perfMonMS);
-
         }
 
         public void SendCoarseLocations()
@@ -2517,15 +2509,12 @@ namespace OpenSim.Region.Framework.Scenes
             if (m_appearance.Texture == null)
                 return;
 
-            // Note: because Quaternion is a struct, it can't be null
-            Quaternion rot = m_bodyRot;
-
             Vector3 pos = m_pos;
             pos.Z -= m_appearance.HipOffset;
 
             remoteAvatar.m_controllingClient.SendAvatarData(new SendAvatarData(m_regionInfo.RegionHandle, m_firstname, m_lastname, m_grouptitle, m_uuid,
-                                                            LocalId, m_pos, m_appearance.Texture.GetBytes(),
-                                                            m_parentID, rot));
+                                                            LocalId, pos, m_appearance.Texture.GetBytes(),
+                                                            m_parentID, m_bodyRot));
             m_scene.StatsReporter.AddAgentUpdates(1);
         }
 
@@ -2536,9 +2525,12 @@ namespace OpenSim.Region.Framework.Scenes
         {
             m_perfMonMS = Environment.TickCount;
 
-            List<ScenePresence> avatars = m_scene.GetScenePresences();
-            foreach (ScenePresence avatar in avatars)
+            ScenePresence[] avatars = m_scene.GetScenePresences();
+
+            for (int i = 0; i < avatars.Length; i++)
             {
+                ScenePresence avatar = avatars[i];
+
                 // only send if this is the root (children are only "listening posts" in a foreign region)
                 if (!IsChildAgent)
                 {
@@ -2556,7 +2548,7 @@ namespace OpenSim.Region.Framework.Scenes
                 }
             }
 
-            m_scene.StatsReporter.AddAgentUpdates(avatars.Count);
+            m_scene.StatsReporter.AddAgentUpdates(avatars.Length);
             m_scene.StatsReporter.AddAgentTime(Environment.TickCount - m_perfMonMS);
 
             //SendAnimPack();
@@ -2588,14 +2580,11 @@ namespace OpenSim.Region.Framework.Scenes
             // the inventory arrives
             // m_scene.GetAvatarAppearance(m_controllingClient, out m_appearance);
 
-            // Note: because Quaternion is a struct, it can't be null
-            Quaternion rot = m_bodyRot;
-
             Vector3 pos = m_pos;
             pos.Z -= m_appearance.HipOffset;
 
             m_controllingClient.SendAvatarData(new SendAvatarData(m_regionInfo.RegionHandle, m_firstname, m_lastname, m_grouptitle, m_uuid, LocalId,
-                                               m_pos, m_appearance.Texture.GetBytes(), m_parentID, rot));
+                                               pos, m_appearance.Texture.GetBytes(), m_parentID, m_bodyRot));
 
             if (!m_isChildAgent)
             {
@@ -2679,7 +2668,7 @@ namespace OpenSim.Region.Framework.Scenes
                     {
                         if (m_scene.AssetService.Get(face.TextureID.ToString()) == null)
                         {
-                            m_log.Warn("[APPEARANCE]: Missing baked texture " + face.TextureID + " (" + (AppearanceManager.TextureIndex)j + ") for avatar " + this.Name);
+                            m_log.Warn("[APPEARANCE]: Missing baked texture " + face.TextureID + " (" + j + ") for avatar " + this.Name);
                             this.ControllingClient.SendRebakeAvatarTextures(face.TextureID);
                         }
                     }
@@ -2700,9 +2689,11 @@ namespace OpenSim.Region.Framework.Scenes
                 m_startAnimationSet = true;
             }
 
-            Quaternion rot = m_bodyRot;
+            Vector3 pos = m_pos;
+            pos.Z -= m_appearance.HipOffset;
+
             m_controllingClient.SendAvatarData(new SendAvatarData(m_regionInfo.RegionHandle, m_firstname, m_lastname, m_grouptitle, m_uuid, LocalId,
-                m_pos, m_appearance.Texture.GetBytes(), m_parentID, rot));
+                pos, m_appearance.Texture.GetBytes(), m_parentID, m_bodyRot));
 
         }
 
@@ -3300,7 +3291,6 @@ namespace OpenSim.Region.Framework.Scenes
         /// </summary>
         public override void UpdateMovement()
         {
-            m_newForce = false;
             lock (m_forcesList)
             {
                 if (m_forcesList.Count > 0)
@@ -3322,7 +3312,6 @@ namespace OpenSim.Region.Framework.Scenes
                         // Ignoring this causes no movement to be sent to the physics engine...
                         // which when the scene is moving at 1 frame every 10 seconds, it doesn't really matter!
                     }
-                    m_newForce = true;
 
                     m_forcesList.Clear();
                 }
@@ -3356,20 +3345,18 @@ namespace OpenSim.Region.Framework.Scenes
             
             PhysicsScene scene = m_scene.PhysicsScene;
 
-            PhysicsVector pVec =
-                new PhysicsVector(AbsolutePosition.X, AbsolutePosition.Y,
-                                  AbsolutePosition.Z);
+            Vector3 pVec = AbsolutePosition;
 
             // Old bug where the height was in centimeters instead of meters
             if (m_avHeight == 127.0f)
             {
-                m_physicsActor = scene.AddAvatar(Firstname + "." + Lastname, pVec, new PhysicsVector(0, 0, 1.56f),
+                m_physicsActor = scene.AddAvatar(Firstname + "." + Lastname, pVec, new Vector3(0f, 0f, 1.56f),
                                                  isFlying);
             }
             else
             {
                 m_physicsActor = scene.AddAvatar(Firstname + "." + Lastname, pVec,
-                                                 new PhysicsVector(0, 0, m_avHeight), isFlying);
+                                                 new Vector3(0f, 0f, m_avHeight), isFlying);
             }
             scene.AddPhysicsActorTaint(m_physicsActor);
             //m_physicsActor.OnRequestTerseUpdate += SendTerseUpdateToAllClients;
@@ -3380,7 +3367,7 @@ namespace OpenSim.Region.Framework.Scenes
             
         }
 
-        private void OutOfBoundsCall(PhysicsVector pos)
+        private void OutOfBoundsCall(Vector3 pos)
         {
             //bool flying = m_physicsActor.Flying;
             //RemoveFromPhysicalScene();
@@ -3603,7 +3590,7 @@ namespace OpenSim.Region.Framework.Scenes
             */
         }
 
-        internal void PushForce(PhysicsVector impulse)
+        internal void PushForce(Vector3 impulse)
         {
             if (PhysicsActor != null)
             {
@@ -3866,6 +3853,8 @@ namespace OpenSim.Region.Framework.Scenes
                     return GetPriorityByDistance(client);
                 case Scene.UpdatePrioritizationSchemes.SimpleAngularDistance:
                     return GetPriorityByDistance(client);
+                case Scenes.Scene.UpdatePrioritizationSchemes.FrontBack:
+                    return GetPriorityByFrontBack(client);
                 default:
                     throw new InvalidOperationException("UpdatePrioritizationScheme not defined.");
             }
@@ -3887,11 +3876,34 @@ namespace OpenSim.Region.Framework.Scenes
             return double.NaN;
         }
 
+        private double GetPriorityByFrontBack(IClientAPI client)
+        {
+            ScenePresence presence = Scene.GetScenePresence(client.AgentId);
+            if (presence != null)
+            {
+                return GetPriorityByFrontBack(presence.CameraPosition, presence.CameraAtAxis);
+            }
+            return double.NaN;
+        }
+
         private double GetPriorityByDistance(Vector3 position)
         {
             return Vector3.Distance(AbsolutePosition, position);
         }
 
+        private double GetPriorityByFrontBack(Vector3 camPosition, Vector3 camAtAxis)
+        {
+            // Distance
+            double priority = Vector3.Distance(camPosition, AbsolutePosition);
+
+            // Plane equation
+            float d = -Vector3.Dot(camPosition, camAtAxis);
+            float p = Vector3.Dot(camAtAxis, AbsolutePosition) + d;
+            if (p < 0.0f) priority *= 2.0f;
+
+            return priority;
+        }
+
         private double GetSOGUpdatePriority(SceneObjectGroup sog)
         {
             switch (Scene.UpdatePrioritizationScheme)
@@ -3902,6 +3914,8 @@ namespace OpenSim.Region.Framework.Scenes
                     return sog.GetPriorityByDistance((IsChildAgent) ? AbsolutePosition : CameraPosition);
                 case Scene.UpdatePrioritizationSchemes.SimpleAngularDistance:
                     return sog.GetPriorityBySimpleAngularDistance((IsChildAgent) ? AbsolutePosition : CameraPosition);
+                case Scenes.Scene.UpdatePrioritizationSchemes.FrontBack:
+                    return sog.GetPriorityByFrontBack(CameraPosition, CameraAtAxis);
                 default:
                     throw new InvalidOperationException("UpdatePrioritizationScheme not defined");
             }
@@ -3928,6 +3942,8 @@ namespace OpenSim.Region.Framework.Scenes
                     case Scene.UpdatePrioritizationSchemes.Distance:
                     case Scene.UpdatePrioritizationSchemes.SimpleAngularDistance:
                         return GetPriorityByDistance((IsChildAgent) ? AbsolutePosition : CameraPosition);
+                    case Scenes.Scene.UpdatePrioritizationSchemes.FrontBack:
+                        return GetPriorityByFrontBack(CameraPosition, CameraAtAxis);
                     default:
                         throw new InvalidOperationException("UpdatePrioritizationScheme not defined");
                 }
diff --git a/OpenSim/Region/OptionalModules/Agent/InternetRelayClientView/Server/IRCClientView.cs b/OpenSim/Region/OptionalModules/Agent/InternetRelayClientView/Server/IRCClientView.cs
index df03b8d..4b0d01a 100644
--- a/OpenSim/Region/OptionalModules/Agent/InternetRelayClientView/Server/IRCClientView.cs
+++ b/OpenSim/Region/OptionalModules/Agent/InternetRelayClientView/Server/IRCClientView.cs
@@ -67,9 +67,8 @@ namespace OpenSim.Region.OptionalModules.Agent.InternetRelayClientView.Server
         {
             m_client = client;
             m_scene = scene;
-            
-            Thread loopThread = new Thread(InternalLoop);
-            loopThread.Start();
+
+            Watchdog.StartThread(InternalLoop, "IRCClientView", ThreadPriority.Normal, false);
         }
 
         private void SendServerCommand(string command)
@@ -102,7 +101,7 @@ namespace OpenSim.Region.OptionalModules.Agent.InternetRelayClientView.Server
         {
             try
             {
-                string strbuf = "";
+                string strbuf = String.Empty;
 
                 while (m_connected && m_client.Connected)
                 {
@@ -140,6 +139,7 @@ namespace OpenSim.Region.OptionalModules.Agent.InternetRelayClientView.Server
                     }
 
                     Thread.Sleep(0);
+                    Watchdog.UpdateThread();
                 }
             }
             catch (IOException)
@@ -156,6 +156,8 @@ namespace OpenSim.Region.OptionalModules.Agent.InternetRelayClientView.Server
 
                 m_log.Warn("[IRCd] Disconnected client.");
             }
+
+            Watchdog.RemoveThread();
         }
 
         private void ProcessInMessage(string message, string command)
diff --git a/OpenSim/Region/OptionalModules/Agent/InternetRelayClientView/Server/IRCServer.cs b/OpenSim/Region/OptionalModules/Agent/InternetRelayClientView/Server/IRCServer.cs
index 91ce9f1..eb39026 100644
--- a/OpenSim/Region/OptionalModules/Agent/InternetRelayClientView/Server/IRCServer.cs
+++ b/OpenSim/Region/OptionalModules/Agent/InternetRelayClientView/Server/IRCServer.cs
@@ -33,6 +33,7 @@ using System.Reflection;
 using System.Text;
 using System.Threading;
 using log4net;
+using OpenSim.Framework;
 using OpenSim.Region.Framework.Scenes;
 
 namespace OpenSim.Region.OptionalModules.Agent.InternetRelayClientView.Server
@@ -56,8 +57,7 @@ namespace OpenSim.Region.OptionalModules.Agent.InternetRelayClientView.Server
 
             m_listener.Start(50);
 
-            Thread thread = new Thread(ListenLoop);
-            thread.Start();
+            Watchdog.StartThread(ListenLoop, "IRCServer", ThreadPriority.Normal, false);
             m_baseScene = baseScene;
         }
 
@@ -72,7 +72,10 @@ namespace OpenSim.Region.OptionalModules.Agent.InternetRelayClientView.Server
             while (m_running)
             {
                 AcceptClient(m_listener.AcceptTcpClient());
+                Watchdog.UpdateThread();
             }
+
+            Watchdog.RemoveThread();
         }
 
         private void AcceptClient(TcpClient client)
diff --git a/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/GroupsModule.cs b/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/GroupsModule.cs
index b2544fa..f24869b 100644
--- a/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/GroupsModule.cs
+++ b/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/GroupsModule.cs
@@ -94,7 +94,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
         }
         private Dictionary<UUID, GroupRequestIDInfo> m_clientRequestIDInfo = new Dictionary<UUID, GroupRequestIDInfo>();
         private const int m_clientRequestIDFlushTimeOut = 300000; // Every 5 minutes
-        private Timer m_clientRequestIDFlushTimer = new Timer(); 
+        private Timer m_clientRequestIDFlushTimer;
 
 
         // Configuration settings
@@ -133,6 +133,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
                 m_groupNoticesEnabled   = groupsConfig.GetBoolean("NoticesEnabled", true);
                 m_debugEnabled          = groupsConfig.GetBoolean("DebugEnabled", true);
 
+                m_clientRequestIDFlushTimer = new Timer();
                 m_clientRequestIDFlushTimer.Interval = m_clientRequestIDFlushTimeOut;
                 m_clientRequestIDFlushTimer.Elapsed += FlushClientRequestIDInfoCache;
                 m_clientRequestIDFlushTimer.AutoReset = true;
diff --git a/OpenSim/Region/OptionalModules/ContentManagementSystem/CMController.cs b/OpenSim/Region/OptionalModules/ContentManagementSystem/CMController.cs
index 16fe9e9..8d6c41d 100644
--- a/OpenSim/Region/OptionalModules/ContentManagementSystem/CMController.cs
+++ b/OpenSim/Region/OptionalModules/ContentManagementSystem/CMController.cs
@@ -86,7 +86,6 @@ namespace OpenSim.Region.OptionalModules.ContentManagement
         /// </value>
         Hashtable m_sceneList = Hashtable.Synchronized(new Hashtable());
         State m_state = State.NONE;
-        Thread m_thread = null;
         CMView m_view = null;
 
         #endregion Fields
@@ -148,10 +147,7 @@ namespace OpenSim.Region.OptionalModules.ContentManagement
             lock (this)
             {
                 m_estateModule = scene.RequestModuleInterface<IEstateModule>();
-                m_thread = new Thread(MainLoop);
-                m_thread.Name = "Content Management";
-                m_thread.IsBackground = true;
-                m_thread.Start();
+                Watchdog.StartThread(MainLoop, "Content Management", ThreadPriority.Normal, true);
                 m_state = State.NONE;
             }
         }
@@ -200,6 +196,8 @@ namespace OpenSim.Region.OptionalModules.ContentManagement
                         m_log.Debug("[CONTENT MANAGEMENT] MAIN LOOP -- uuuuuuuuuh, what?");
                         break;
                     }
+
+                    Watchdog.UpdateThread();
                 }
             }
             catch (Exception e)
@@ -209,6 +207,8 @@ namespace OpenSim.Region.OptionalModules.ContentManagement
                     "[CONTENT MANAGEMENT]: Content management thread terminating with exception.  PLEASE REBOOT YOUR SIM - CONTENT MANAGEMENT WILL NOT BE AVAILABLE UNTIL YOU DO.  Exception is {0}", 
                     e);
             }
+
+            Watchdog.RemoveThread();
         }
 
         /// <summary>
diff --git a/OpenSim/Region/OptionalModules/ContentManagementSystem/MetaEntity.cs b/OpenSim/Region/OptionalModules/ContentManagementSystem/MetaEntity.cs
index b6513e2..1a72971 100644
--- a/OpenSim/Region/OptionalModules/ContentManagementSystem/MetaEntity.cs
+++ b/OpenSim/Region/OptionalModules/ContentManagementSystem/MetaEntity.cs
@@ -183,10 +183,12 @@ namespace OpenSim.Region.OptionalModules.ContentManagement
         public virtual void HideFromAll()
         {
             foreach (SceneObjectPart part in m_Entity.Children.Values)
-                m_Entity.Scene.ClientManager.ForEach(
+            {
+                m_Entity.Scene.ForEachClient(
                     delegate(IClientAPI controller)
                     { controller.SendKillObject(m_Entity.RegionHandle, part.LocalId); }
                 );
+            }
         }
 
         public void SendFullUpdate(IClientAPI client)
@@ -202,7 +204,7 @@ namespace OpenSim.Region.OptionalModules.ContentManagement
 
         public void SendFullUpdateToAll()
         {
-            m_Entity.Scene.ClientManager.ForEach(
+            m_Entity.Scene.ForEachClient(
                 delegate(IClientAPI controller)
                 { m_Entity.SendFullUpdateToClient(controller); }
             );
diff --git a/OpenSim/Region/OptionalModules/Scripting/Minimodule/SOPObject.cs b/OpenSim/Region/OptionalModules/Scripting/Minimodule/SOPObject.cs
index 292e345..1f1ebae 100644
--- a/OpenSim/Region/OptionalModules/Scripting/Minimodule/SOPObject.cs
+++ b/OpenSim/Region/OptionalModules/Scripting/Minimodule/SOPObject.cs
@@ -525,8 +525,8 @@ namespace OpenSim.Region.OptionalModules.Scripting.Minimodule
         {
             get
             {
-                PhysicsVector tmp = GetSOP().PhysActor.GeometricCenter;
-                return new Vector3(tmp.X, tmp.Y, tmp.Z);
+                Vector3 tmp = GetSOP().PhysActor.GeometricCenter;
+                return tmp;
             }
         }
 
@@ -534,8 +534,8 @@ namespace OpenSim.Region.OptionalModules.Scripting.Minimodule
         {
             get
             {
-                PhysicsVector tmp = GetSOP().PhysActor.CenterOfMass;
-                return new Vector3(tmp.X, tmp.Y, tmp.Z);
+                Vector3 tmp = GetSOP().PhysActor.CenterOfMass;
+                return tmp;
             }
         }
 
@@ -543,15 +543,15 @@ namespace OpenSim.Region.OptionalModules.Scripting.Minimodule
         {
             get
             {
-                PhysicsVector tmp = GetSOP().PhysActor.RotationalVelocity;
-                return new Vector3(tmp.X, tmp.Y, tmp.Z);
+                Vector3 tmp = GetSOP().PhysActor.RotationalVelocity;
+                return tmp;
             }
             set
             {
                 if (!CanEdit())
                     return;
 
-                GetSOP().PhysActor.RotationalVelocity = new PhysicsVector(value.X, value.Y, value.Z);
+                GetSOP().PhysActor.RotationalVelocity = value;
             }
         }
 
@@ -559,15 +559,15 @@ namespace OpenSim.Region.OptionalModules.Scripting.Minimodule
         {
             get
             {
-                PhysicsVector tmp = GetSOP().PhysActor.Velocity;
-                return new Vector3(tmp.X, tmp.Y, tmp.Z);
+                Vector3 tmp = GetSOP().PhysActor.Velocity;
+                return tmp;
             }
             set
             {
                 if (!CanEdit())
                     return;
 
-                GetSOP().PhysActor.Velocity = new PhysicsVector(value.X, value.Y, value.Z);
+                GetSOP().PhysActor.Velocity = value;
             }
         }
 
@@ -575,15 +575,15 @@ namespace OpenSim.Region.OptionalModules.Scripting.Minimodule
         {
             get
             {
-                PhysicsVector tmp = GetSOP().PhysActor.Torque;
-                return new Vector3(tmp.X, tmp.Y, tmp.Z);
+                Vector3 tmp = GetSOP().PhysActor.Torque;
+                return tmp;
             }
             set
             {
                 if (!CanEdit())
                     return;
 
-                GetSOP().PhysActor.Torque = new PhysicsVector(value.X, value.Y, value.Z);
+                GetSOP().PhysActor.Torque = value;
             }
         }
 
@@ -591,8 +591,8 @@ namespace OpenSim.Region.OptionalModules.Scripting.Minimodule
         {
             get
             {
-                PhysicsVector tmp = GetSOP().PhysActor.Acceleration;
-                return new Vector3(tmp.X, tmp.Y, tmp.Z);
+                Vector3 tmp = GetSOP().PhysActor.Acceleration;
+                return tmp;
             }
         }
 
@@ -600,15 +600,15 @@ namespace OpenSim.Region.OptionalModules.Scripting.Minimodule
         {
             get
             {
-                PhysicsVector tmp = GetSOP().PhysActor.Force;
-                return new Vector3(tmp.X, tmp.Y, tmp.Z);
+                Vector3 tmp = GetSOP().PhysActor.Force;
+                return tmp;
             }
             set
             {
                 if (!CanEdit())
                     return;
 
-                GetSOP().PhysActor.Force = new PhysicsVector(value.X, value.Y, value.Z);
+                GetSOP().PhysActor.Force = value;
             }
         }
 
@@ -627,7 +627,7 @@ namespace OpenSim.Region.OptionalModules.Scripting.Minimodule
             if (!CanEdit())
                 return;
 
-            GetSOP().PhysActor.AddForce(new PhysicsVector(force.X, force.Y, force.Z), pushforce);
+            GetSOP().PhysActor.AddForce(force, pushforce);
         }
 
         public void AddAngularForce(Vector3 force, bool pushforce)
@@ -635,7 +635,7 @@ namespace OpenSim.Region.OptionalModules.Scripting.Minimodule
             if (!CanEdit())
                 return;
 
-            GetSOP().PhysActor.AddAngularForce(new PhysicsVector(force.X, force.Y, force.Z), pushforce);
+            GetSOP().PhysActor.AddAngularForce(force, pushforce);
         }
 
         public void SetMomentum(Vector3 momentum)
@@ -643,7 +643,7 @@ namespace OpenSim.Region.OptionalModules.Scripting.Minimodule
             if (!CanEdit())
                 return;
 
-            GetSOP().PhysActor.SetMomentum(new PhysicsVector(momentum.X, momentum.Y, momentum.Z));
+            GetSOP().PhysActor.SetMomentum(momentum);
         }
 
         #endregion
diff --git a/OpenSim/Region/OptionalModules/SvnSerialiser/SvnBackupModule.cs b/OpenSim/Region/OptionalModules/SvnSerialiser/SvnBackupModule.cs
index fc1c608..3490a8b 100644
--- a/OpenSim/Region/OptionalModules/SvnSerialiser/SvnBackupModule.cs
+++ b/OpenSim/Region/OptionalModules/SvnSerialiser/SvnBackupModule.cs
@@ -45,13 +45,13 @@ namespace OpenSim.Region.Modules.SvnSerialiser
     public class SvnBackupModule : IRegionModule
     {
         private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
-        private readonly List<Scene> m_scenes = new List<Scene>();
-        private readonly Timer m_timer = new Timer();
 
-        private bool m_enabled = false;
-        private bool m_installBackupOnLoad = false;
+        private List<Scene> m_scenes;
+        private Timer m_timer;
+        private bool m_enabled;
+        private bool m_installBackupOnLoad;
         private IRegionSerialiserModule m_serialiser;
-        private bool m_svnAutoSave = false;
+        private bool m_svnAutoSave;
         private SvnClient m_svnClient;
         private string m_svndir = "SVNmodule" + Slash.DirectorySeparatorChar + "repo";
         private string m_svnpass = "password";
@@ -204,6 +204,9 @@ namespace OpenSim.Region.Modules.SvnSerialiser
 
         public void Initialise(Scene scene, IConfigSource source)
         {
+            m_scenes = new List<Scene>();
+            m_timer = new Timer();
+
             try
             {
                 if (!source.Configs["SVN"].GetBoolean("Enabled", false))
diff --git a/OpenSim/Region/OptionalModules/World/NPC/NPCModule.cs b/OpenSim/Region/OptionalModules/World/NPC/NPCModule.cs
index 41a6255..ac39a53 100644
--- a/OpenSim/Region/OptionalModules/World/NPC/NPCModule.cs
+++ b/OpenSim/Region/OptionalModules/World/NPC/NPCModule.cs
@@ -41,12 +41,10 @@ namespace OpenSim.Region.OptionalModules.World.NPC
     {
         // private const bool m_enabled = false;
 
-        private Mutex m_createMutex = new Mutex(false);
-
-        private Timer m_timer = new Timer(500);
+        private Mutex m_createMutex;
+        private Timer m_timer;
 
         private Dictionary<UUID,NPCAvatar> m_avatars = new Dictionary<UUID, NPCAvatar>();
-
         private Dictionary<UUID,AvatarAppearance> m_appearanceCache = new Dictionary<UUID, AvatarAppearance>();
 
         // Timer vars.
@@ -138,10 +136,13 @@ namespace OpenSim.Region.OptionalModules.World.NPC
 
         public void Initialise(Scene scene, IConfigSource source)
         {
-            scene.RegisterModuleInterface<INPCModule>(this);
+            m_createMutex = new Mutex(false);
 
+            m_timer = new Timer(500);
             m_timer.Elapsed += m_timer_Elapsed;
             m_timer.Start();
+            
+            scene.RegisterModuleInterface<INPCModule>(this);
         }
 
         void m_timer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs
index 8d8b3fe..8df997e 100644
--- a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs
+++ b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs
@@ -36,20 +36,16 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
 {
     public class BasicActor : PhysicsActor
     {
-        private PhysicsVector _position;
-        private PhysicsVector _velocity;
-        private PhysicsVector _acceleration;
-        private PhysicsVector _size;
-        private PhysicsVector m_rotationalVelocity = PhysicsVector.Zero;
+        private Vector3 _position;
+        private Vector3 _velocity;
+        private Vector3 _acceleration;
+        private Vector3 _size;
+        private Vector3 m_rotationalVelocity;
         private bool flying;
         private bool iscolliding;
 
         public BasicActor()
         {
-            _velocity = new PhysicsVector();
-            _position = new PhysicsVector();
-            _acceleration = new PhysicsVector();
-            _size = new PhysicsVector();
         }
 
         public override int PhysicsActorType
@@ -58,7 +54,7 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
             set { return; }
         }
 
-        public override PhysicsVector RotationalVelocity
+        public override Vector3 RotationalVelocity
         {
             get { return m_rotationalVelocity; }
             set { m_rotationalVelocity = value; }
@@ -137,13 +133,13 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
             get { return false; }
         }
 
-        public override PhysicsVector Position
+        public override Vector3 Position
         {
             get { return _position; }
             set { _position = value; }
         }
 
-        public override PhysicsVector Size
+        public override Vector3 Size
         {
             get { return _size; }
             set {
@@ -162,9 +158,9 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
             get { return 0f; }
         }
 
-        public override PhysicsVector Force
+        public override Vector3 Force
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
             set { return; }
         }
 
@@ -179,7 +175,7 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
 
         }
 
-        public override void VehicleVectorParam(int param, PhysicsVector value)
+        public override void VehicleVectorParam(int param, Vector3 value)
         {
 
         }
@@ -194,25 +190,25 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
 
         }
 
-        public override PhysicsVector CenterOfMass
+        public override Vector3 CenterOfMass
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
         }
 
-        public override PhysicsVector GeometricCenter
+        public override Vector3 GeometricCenter
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
         }
 
-        public override PhysicsVector Velocity
+        public override Vector3 Velocity
         {
             get { return _velocity; }
             set { _velocity = value; }
         }
 
-        public override PhysicsVector Torque
+        public override Vector3 Torque
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
             set { return; }
         }
 
@@ -228,7 +224,7 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
             set { }
         }
 
-        public override PhysicsVector Acceleration
+        public override Vector3 Acceleration
         {
             get { return _acceleration; }
         }
@@ -247,24 +243,24 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
         {
         }
 
-        public override void LockAngularMotion(PhysicsVector axis)
+        public override void LockAngularMotion(Vector3 axis)
         {
         }
 
-        public void SetAcceleration(PhysicsVector accel)
+        public void SetAcceleration(Vector3 accel)
         {
             _acceleration = accel;
         }
 
-        public override void AddForce(PhysicsVector force, bool pushforce)
+        public override void AddForce(Vector3 force, bool pushforce)
         {
         }
 
-        public override void AddAngularForce(PhysicsVector force, bool pushforce)
+        public override void AddAngularForce(Vector3 force, bool pushforce)
         {
         }
 
-        public override void SetMomentum(PhysicsVector momentum)
+        public override void SetMomentum(Vector3 momentum)
         {
         }
 
@@ -272,7 +268,7 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
         {
         }
 
-        public override PhysicsVector PIDTarget
+        public override Vector3 PIDTarget
         {
             set { return; }
         }
diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs
index 66bd099..b6e1cb4 100644
--- a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs
+++ b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs
@@ -54,7 +54,7 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
         {
 
         }
-        public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying)
+        public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
         {
             BasicActor act = new BasicActor();
             act.Position = position;
@@ -77,20 +77,20 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
         }
 
 /*
-        public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation)
+        public override PhysicsActor AddPrim(Vector3 position, Vector3 size, Quaternion rotation)
         {
             return null;
         }
 */
 
-        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
-                                                  PhysicsVector size, Quaternion rotation)
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                                  Vector3 size, Quaternion rotation)
         {
             return AddPrimShape(primName, pbs, position, size, rotation, false);
         }
 
-        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
-                                                  PhysicsVector size, Quaternion rotation, bool isPhysical)
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                                  Vector3 size, Quaternion rotation, bool isPhysical)
         {
             return null;
         }
@@ -105,26 +105,28 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
             for (int i = 0; i < _actors.Count; ++i)
             {
                 BasicActor actor = _actors[i];
+                Vector3 actorPosition = actor.Position;
+                Vector3 actorVelocity = actor.Velocity;
 
-                actor.Position.X += actor.Velocity.X*timeStep;
-                actor.Position.Y += actor.Velocity.Y*timeStep;
+                actorPosition.X += actor.Velocity.X*timeStep;
+                actorPosition.Y += actor.Velocity.Y*timeStep;
 
                 if (actor.Position.Y < 0)
                 {
-                    actor.Position.Y = 0.1F;
+                    actorPosition.Y = 0.1F;
                 }
                 else if (actor.Position.Y >= Constants.RegionSize)
                 {
-                    actor.Position.Y = ((int)Constants.RegionSize - 0.1f);
+                    actorPosition.Y = ((int)Constants.RegionSize - 0.1f);
                 }
 
                 if (actor.Position.X < 0)
                 {
-                    actor.Position.X = 0.1F;
+                    actorPosition.X = 0.1F;
                 }
                 else if (actor.Position.X >= Constants.RegionSize)
                 {
-                    actor.Position.X = ((int)Constants.RegionSize - 0.1f);
+                    actorPosition.X = ((int)Constants.RegionSize - 0.1f);
                 }
 
                 float height = _heightMap[(int)actor.Position.Y * Constants.RegionSize + (int)actor.Position.X] + actor.Size.Z;
@@ -133,23 +135,27 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
                     if (actor.Position.Z + (actor.Velocity.Z*timeStep) <
                         _heightMap[(int)actor.Position.Y * Constants.RegionSize + (int)actor.Position.X] + 2)
                     {
-                        actor.Position.Z = height;
-                        actor.Velocity.Z = 0;
+                        actorPosition.Z = height;
+                        actorVelocity.Z = 0;
                         actor.IsColliding = true;
                     }
                     else
                     {
-                        actor.Position.Z += actor.Velocity.Z*timeStep;
+                        actorPosition.Z += actor.Velocity.Z*timeStep;
                         actor.IsColliding = false;
                     }
                 }
                 else
                 {
-                    actor.Position.Z = height;
-                    actor.Velocity.Z = 0;
+                    actorPosition.Z = height;
+                    actorVelocity.Z = 0;
                     actor.IsColliding = true;
                 }
+
+                actor.Position = actorPosition;
+                actor.Velocity = actorVelocity;
             }
+
             return fps;
         }
 
diff --git a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
index 8da9687..5ed3b14 100644
--- a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
+++ b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
@@ -60,15 +60,15 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
         private btQuaternion m_bodyOrientation;
         private btDefaultMotionState m_bodyMotionState;
         private btGeneric6DofConstraint m_aMotor;
-        // private PhysicsVector m_movementComparision;
-        private PhysicsVector m_position;
-        private PhysicsVector m_zeroPosition;
+        // private Vector3 m_movementComparision;
+        private Vector3 m_position;
+        private Vector3 m_zeroPosition;
         private bool m_zeroFlag = false;
         private bool m_lastUpdateSent = false;
-        private PhysicsVector m_velocity;
-        private PhysicsVector m_target_velocity;
-        private PhysicsVector m_acceleration;
-        private PhysicsVector m_rotationalVelocity;
+        private Vector3 m_velocity;
+        private Vector3 m_target_velocity;
+        private Vector3 m_acceleration;
+        private Vector3 m_rotationalVelocity;
         private bool m_pidControllerActive = true;
         public float PID_D = 80.0f;
         public float PID_P = 90.0f;
@@ -96,8 +96,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
         private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes. 
         private bool m_taintRemove = false;
         // private bool m_taintedPosition = false;
-        // private PhysicsVector m_taintedPosition_value;
-        private PhysicsVector m_taintedForce;
+        // private Vector3 m_taintedPosition_value;
+        private Vector3 m_taintedForce;
 
         private float m_buoyancy = 0f;
 
@@ -115,14 +115,10 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
         public int m_eventsubscription = 0;
         // private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
 
-        public BulletDotNETCharacter(string avName, BulletDotNETScene parent_scene, PhysicsVector pos, PhysicsVector size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
+        public BulletDotNETCharacter(string avName, BulletDotNETScene parent_scene, Vector3 pos, Vector3 size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
         {
-            m_taintedForce = new PhysicsVector();
-            m_velocity = new PhysicsVector();
-            m_target_velocity = new PhysicsVector();
             m_position = pos;
-            m_zeroPosition = new PhysicsVector(pos.X, pos.Y, pos.Z); // this is a class, not a struct.  Must make new, or m_zeroPosition will == position regardless
-            m_acceleration = new PhysicsVector();
+            m_zeroPosition = pos;
             m_parent_scene = parent_scene;
             PID_D = pid_d;
             PID_P = pid_p;
@@ -161,9 +157,6 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             tempTrans1 = new btTransform(tempQuat1, tempVector1);
             // m_movementComparision = new PhysicsVector(0, 0, 0);
             m_CapsuleOrientationAxis = new btVector3(1, 0, 1);
-            
-            
-
         }
 
         /// <summary>
@@ -254,18 +247,18 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             get { return m_zeroFlag; }
         }
 
-        public override PhysicsVector Size
+        public override Vector3 Size
         {
-            get { return new PhysicsVector(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
+            get { return new Vector3(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
             set
             {
                 m_pidControllerActive = true;
-               
-                    PhysicsVector SetSize = value;
+
+                Vector3 SetSize = value;
                     m_tainted_CAPSULE_LENGTH = (SetSize.Z * 1.15f) - CAPSULE_RADIUS * 2.0f;
                     //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
 
-                    Velocity = new PhysicsVector(0f, 0f, 0f);
+                    Velocity = Vector3.Zero;
                
                 m_parent_scene.AddPhysicsActorTaint(this);
             }
@@ -317,12 +310,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             
         }
 
-        public override void LockAngularMotion(PhysicsVector axis)
+        public override void LockAngularMotion(Vector3 axis)
         {
             
         }
 
-        public override PhysicsVector Position
+        public override Vector3 Position
         {
             get { return m_position; }
             set
@@ -342,9 +335,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             }
         }
 
-        public override PhysicsVector Force
+        public override Vector3 Force
         {
-            get { return new PhysicsVector(m_target_velocity.X, m_target_velocity.Y, m_target_velocity.Z); }
+            get { return m_target_velocity; }
             set { return; }
         }
 
@@ -359,7 +352,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             
         }
 
-        public override void VehicleVectorParam(int param, PhysicsVector value)
+        public override void VehicleVectorParam(int param, Vector3 value)
         {
             
         }
@@ -374,23 +367,22 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             
         }
 
-        public override PhysicsVector GeometricCenter
+        public override Vector3 GeometricCenter
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
         }
 
-        public override PhysicsVector CenterOfMass
+        public override Vector3 CenterOfMass
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
         }
 
-        public override PhysicsVector Velocity
+        public override Vector3 Velocity
         {
             get
             {
-                // There's a problem with PhysicsVector.Zero! Don't Use it Here!
                 if (m_zeroFlag)
-                    return new PhysicsVector(0f, 0f, 0f);
+                    return Vector3.Zero;
                 m_lastUpdateSent = false;
                 return m_velocity;
             }
@@ -401,9 +393,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             }
         }
 
-        public override PhysicsVector Torque
+        public override Vector3 Torque
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
             set { return; }
         }
 
@@ -413,7 +405,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             set { }
         }
 
-        public override PhysicsVector Acceleration
+        public override Vector3 Acceleration
         {
             get { return m_acceleration; }
         }
@@ -586,7 +578,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             set { return; }
         }
 
-        public override PhysicsVector RotationalVelocity
+        public override Vector3 RotationalVelocity
         {
             get { return m_rotationalVelocity; }
             set { m_rotationalVelocity = value; }
@@ -604,7 +596,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             set { m_buoyancy = value; }
         }
 
-        public override PhysicsVector PIDTarget { set { return; } }
+        public override Vector3 PIDTarget { set { return; } }
         public override bool PIDActive { set { return; } }
         public override float PIDTau { set { return; } }
 
@@ -634,7 +626,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
         /// </summary>
         /// <param name="force"></param>
         /// <param name="pushforce">Is this a push by a script?</param>
-        public override void AddForce(PhysicsVector force, bool pushforce)
+        public override void AddForce(Vector3 force, bool pushforce)
         {
             if (pushforce)
             {
@@ -656,7 +648,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             //m_lastUpdateSent = false;
         }
 
-        public void doForce(PhysicsVector force, bool now)
+        public void doForce(Vector3 force, bool now)
         {
 
             tempVector3.setValue(force.X, force.Y, force.Z);
@@ -671,7 +663,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             }
         }
 
-        public void doImpulse(PhysicsVector force, bool now)
+        public void doImpulse(Vector3 force, bool now)
         {
 
             tempVector3.setValue(force.X, force.Y, force.Z);
@@ -686,12 +678,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             }
         }
 
-        public override void AddAngularForce(PhysicsVector force, bool pushforce)
+        public override void AddAngularForce(Vector3 force, bool pushforce)
         {
 
         }
 
-        public override void SetMomentum(PhysicsVector momentum)
+        public override void SetMomentum(Vector3 momentum)
         {
             
         }
@@ -808,7 +800,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
 
                     AvatarGeomAndBodyCreation(m_position.X, m_position.Y,
                                       m_position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2));
-                    Velocity = new PhysicsVector(0f, 0f, 0f);
+                    Velocity = Vector3.Zero;
 
                 }
                 else
@@ -852,9 +844,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             }
             //PidStatus = true;
 
-            PhysicsVector vec = new PhysicsVector();
+            Vector3 vec = Vector3.Zero;
 
-            PhysicsVector vel = new PhysicsVector(tempVector2.getX(), tempVector2.getY(), tempVector2.getZ());
+            Vector3 vel = new Vector3(tempVector2.getX(), tempVector2.getY(), tempVector2.getZ());
 
             float movementdivisor = 1f;
 
@@ -885,7 +877,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                     // Avatar to Avatar collisions
                     // Prim to avatar collisions
 
-                    PhysicsVector pos = new PhysicsVector(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
+                    Vector3 pos = new Vector3(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
                     vec.X = (m_target_velocity.X - vel.X) * (PID_D) + (m_zeroPosition.X - pos.X) * (PID_P * 2);
                     vec.Y = (m_target_velocity.Y - vel.Y) * (PID_D) + (m_zeroPosition.Y - pos.Y) * (PID_P * 2);
                     if (m_flying)
@@ -927,7 +919,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                 {
                     // We're colliding with something and we're not flying but we're moving
                     // This means we're walking or running.
-                    PhysicsVector pos = new PhysicsVector(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
+                    Vector3 pos = new Vector3(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
                     vec.Z = (m_target_velocity.Z - vel.Z) * PID_D + (m_zeroPosition.Z - pos.Z) * PID_P;
                     if (m_target_velocity.X > 0)
                     {
@@ -1016,7 +1008,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             tempVector2 = Body.getInterpolationLinearVelocity();
 
             //  no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
-            PhysicsVector vec = new PhysicsVector(tempVector1.getX(),tempVector1.getY(),tempVector1.getZ());
+            Vector3 vec = new Vector3(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
 
             //  kluge to keep things in bounds.  ODE lets dead avatars drift away (they should be removed!)
             if (vec.X < -10.0f) vec.X = 0.0f;
@@ -1048,7 +1040,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             else
             {
                 m_lastUpdateSent = false;
-                vec = new PhysicsVector(tempVector2.getX(), tempVector2.getY(), tempVector2.getZ());
+                vec = new Vector3(tempVector2.getX(), tempVector2.getY(), tempVector2.getZ());
                 m_velocity.X = (vec.X);
                 m_velocity.Y = (vec.Y);
 
diff --git a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs
index f22ea71..5b542db 100644
--- a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs
+++ b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs
@@ -43,44 +43,43 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
     {
         private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
-        private PhysicsVector _position;
-        private PhysicsVector m_zeroPosition;
-        private PhysicsVector _velocity;
-        private PhysicsVector _torque = new PhysicsVector(0, 0, 0);
-        private PhysicsVector m_lastVelocity = new PhysicsVector(0.0f, 0.0f, 0.0f);
-        private PhysicsVector m_lastposition = new PhysicsVector(0.0f, 0.0f, 0.0f);
-        private Quaternion m_lastorientation = new Quaternion();
-        private PhysicsVector m_rotationalVelocity;
-        private PhysicsVector _size;
-        private PhysicsVector _acceleration;
+        private Vector3 _position;
+        private Vector3 m_zeroPosition;
+        private Vector3 _velocity;
+        private Vector3 _torque;
+        private Vector3 m_lastVelocity;
+        private Vector3 m_lastposition;
+        private Quaternion m_lastorientation = Quaternion.Identity;
+        private Vector3 m_rotationalVelocity;
+        private Vector3 _size;
+        private Vector3 _acceleration;
         // private d.Vector3 _zeroPosition = new d.Vector3(0.0f, 0.0f, 0.0f);
         private Quaternion _orientation;
-        private PhysicsVector m_taintposition;
-        private PhysicsVector m_taintsize;
-        private PhysicsVector m_taintVelocity = new PhysicsVector(0, 0, 0);
-        private PhysicsVector m_taintTorque = new PhysicsVector(0, 0, 0);
+        private Vector3 m_taintposition;
+        private Vector3 m_taintsize;
+        private Vector3 m_taintVelocity;
+        private Vector3 m_taintTorque;
         private Quaternion m_taintrot;
-        private PhysicsVector m_angularlock = new PhysicsVector(1f, 1f, 1f);
-        private PhysicsVector m_taintAngularLock = new PhysicsVector(1f, 1f, 1f);
+        private Vector3 m_angularlock = Vector3.One;
+        private Vector3 m_taintAngularLock = Vector3.One;
         // private btGeneric6DofConstraint Amotor;
 
-        private PhysicsVector m_PIDTarget = new PhysicsVector(0, 0, 0);
-        private float m_PIDTau = 0f;
-        private float m_PIDHoverHeight = 0f;
-        private float m_PIDHoverTau = 0f;
-        private bool m_useHoverPID = false;
+        private Vector3 m_PIDTarget;
+        private float m_PIDTau;
+        private float m_PIDHoverHeight;
+        private float m_PIDHoverTau;
+        private bool m_useHoverPID;
         private PIDHoverType m_PIDHoverType = PIDHoverType.Ground;
-        private float m_targetHoverHeight = 0f;
-        private float m_groundHeight = 0f;
-        private float m_waterHeight = 0f;
+        private float m_targetHoverHeight;
+        private float m_groundHeight;
+        private float m_waterHeight;
         private float PID_D = 35f;
         private float PID_G = 25f;
         // private float m_tensor = 5f;
         // private int body_autodisable_frames = 20;
-        private IMesh primMesh = null;
-
-        private bool m_usePID = false;
+        private IMesh primMesh;
 
+        private bool m_usePID;
 
         private const CollisionCategories m_default_collisionFlags = (CollisionCategories.Geom
                                                         | CollisionCategories.Space
@@ -88,11 +87,11 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                                                         | CollisionCategories.Character
                                                      );
 
-        private bool m_taintshape = false;
-        private bool m_taintPhysics = false;
+        private bool m_taintshape;
+        private bool m_taintPhysics;
         // private bool m_collidesLand = true;
-        private bool m_collidesWater = false;
-        public bool m_returnCollisions = false;
+        private bool m_collidesWater;
+        public bool m_returnCollisions;
 
         // Default we're a Geometry
         // private CollisionCategories m_collisionCategories = (CollisionCategories.Geom);
@@ -100,23 +99,23 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
         // Default, Collide with Other Geometries, spaces and Bodies
         // private CollisionCategories m_collisionFlags = m_default_collisionFlags;
 
-        public bool m_taintremove = false;
-        public bool m_taintdisable = false;
-        public bool m_disabled = false;
-        public bool m_taintadd = false;
-        public bool m_taintselected = false;
-        public bool m_taintCollidesWater = false;
+        public bool m_taintremove;
+        public bool m_taintdisable;
+        public bool m_disabled;
+        public bool m_taintadd;
+        public bool m_taintselected;
+        public bool m_taintCollidesWater;
 
-        public uint m_localID = 0;
+        public uint m_localID;
 
         //public GCHandle gc;
         // private CollisionLocker ode;
 
-        private bool m_taintforce = false;
-        private bool m_taintaddangularforce = false;
-        private PhysicsVector m_force = new PhysicsVector(0.0f, 0.0f, 0.0f);
-        private List<PhysicsVector> m_forcelist = new List<PhysicsVector>();
-        private List<PhysicsVector> m_angularforcelist = new List<PhysicsVector>();
+        private bool m_taintforce;
+        private bool m_taintaddangularforce;
+        private Vector3 m_force;
+        private List<Vector3> m_forcelist = new List<Vector3>();
+        private List<Vector3> m_angularforcelist = new List<Vector3>();
 
         private IMesh _mesh;
         private PrimitiveBaseShape _pbs;
@@ -124,40 +123,40 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
         public btCollisionShape prim_geom;
         public IntPtr _triMeshData;
 
-        private PhysicsActor _parent = null;
-        private PhysicsActor m_taintparent = null;
+        private PhysicsActor _parent;
+        private PhysicsActor m_taintparent;
 
         private List<BulletDotNETPrim> childrenPrim = new List<BulletDotNETPrim>();
 
-        private bool iscolliding = false;
-        private bool m_isphysical = false;
-        private bool m_isSelected = false;
+        private bool iscolliding;
+        private bool m_isphysical;
+        private bool m_isSelected;
 
-        internal bool m_isVolumeDetect = false; // If true, this prim only detects collisions but doesn't collide actively
+        internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively
 
-        private bool m_throttleUpdates = false;
-        // private int throttleCounter = 0;
-        public int m_interpenetrationcount = 0;
-        public float m_collisionscore = 0;
-        public int m_roundsUnderMotionThreshold = 0;
-        private int m_crossingfailures = 0;
+        private bool m_throttleUpdates;
+        // private int throttleCounter;
+        public int m_interpenetrationcount;
+        public float m_collisionscore;
+        public int m_roundsUnderMotionThreshold;
+        private int m_crossingfailures;
 
-        public float m_buoyancy = 0f;
+        public float m_buoyancy;
 
-        public bool outofBounds = false;
+        public bool outofBounds;
         private float m_density = 10.000006836f; // Aluminum g/cm3;
 
-        public bool _zeroFlag = false;
-        private bool m_lastUpdateSent = false;
+        public bool _zeroFlag;
+        private bool m_lastUpdateSent;
 
 
         private String m_primName;
-        private PhysicsVector _target_velocity;
+        private Vector3 _target_velocity;
 
-        public int m_eventsubscription = 0;
+        public int m_eventsubscription;
         // private CollisionEventUpdate CollisionEventsThisFrame = null;
 
-        public volatile bool childPrim = false;
+        public volatile bool childPrim;
 
         private btVector3 tempPosition1;
         private btVector3 tempPosition2;
@@ -190,7 +189,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
 
         public btRigidBody Body;
 
-        public BulletDotNETPrim(String primName, BulletDotNETScene parent_scene, PhysicsVector pos, PhysicsVector size,
+        public BulletDotNETPrim(String primName, BulletDotNETScene parent_scene, Vector3 pos, Vector3 size,
                        Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical)
         {
             tempPosition1 = new btVector3(0, 0, 0);
@@ -225,8 +224,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
 
             AxisLockLinearHigh = new btVector3((int)Constants.RegionSize, (int)Constants.RegionSize, (int)Constants.RegionSize);
 
-            _target_velocity = new PhysicsVector(0, 0, 0);
-            _velocity = new PhysicsVector();
+            _target_velocity = Vector3.Zero;
+            _velocity = Vector3.Zero;
             _position = pos;
             m_taintposition = pos;
             PID_D = parent_scene.bodyPIDD;
@@ -244,8 +243,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
 
             _size = size;
             m_taintsize = _size;
-            _acceleration = new PhysicsVector();
-            m_rotationalVelocity = PhysicsVector.Zero;
+            _acceleration = Vector3.Zero;
+            m_rotationalVelocity = Vector3.Zero;
             _orientation = rotation;
             m_taintrot = _orientation;
             _mesh = mesh;
@@ -274,7 +273,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             get { return _zeroFlag; }
         }
 
-        public override PhysicsVector Size
+        public override Vector3 Size
         {
             get { return _size; }
             set { _size = value; }
@@ -348,13 +347,13 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             m_taintparent = null;
         }
 
-        public override void LockAngularMotion(PhysicsVector axis)
+        public override void LockAngularMotion(Vector3 axis)
         {
             m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z);
-            m_taintAngularLock = new PhysicsVector(axis.X, axis.Y, axis.Z);
+            m_taintAngularLock = axis;
         }
 
-        public override PhysicsVector Position
+        public override Vector3 Position
         {
             get { return _position; }
 
@@ -370,9 +369,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             get { return CalculateMass(); }
         }
 
-        public override PhysicsVector Force
+        public override Vector3 Force
         {
-            //get { return PhysicsVector.Zero; }
+            //get { return Vector3.Zero; }
             get { return m_force; }
             set { m_force = value; }
         }
@@ -388,7 +387,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             //TODO:
         }
 
-        public override void VehicleVectorParam(int param, PhysicsVector value)
+        public override void VehicleVectorParam(int param, Vector3 value)
         {
             //TODO:
         }
@@ -405,23 +404,23 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
 
         }
 
-        public override PhysicsVector GeometricCenter
+        public override Vector3 GeometricCenter
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
         }
 
-        public override PhysicsVector CenterOfMass
+        public override Vector3 CenterOfMass
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
         }
 
-        public override PhysicsVector Velocity
+        public override Vector3 Velocity
         {
             get
             {
                 // Averate previous velocity with the new one so
                 // client object interpolation works a 'little' better
-                PhysicsVector returnVelocity = new PhysicsVector();
+                Vector3 returnVelocity;
                 returnVelocity.X = (m_lastVelocity.X + _velocity.X) / 2;
                 returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y) / 2;
                 returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z) / 2;
@@ -436,12 +435,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             }
         }
 
-        public override PhysicsVector Torque
+        public override Vector3 Torque
         {
             get
             {
                 if (!m_isphysical || Body.Handle == IntPtr.Zero)
-                    return new PhysicsVector(0, 0, 0);
+                    return Vector3.Zero;
 
                 return _torque;
             }
@@ -459,7 +458,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             set { m_collisionscore = value; }
         }
 
-        public override PhysicsVector Acceleration
+        public override Vector3 Acceleration
         {
             get { return _acceleration; }
         }
@@ -528,16 +527,16 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             }
         }
 
-        public override PhysicsVector RotationalVelocity
+        public override Vector3 RotationalVelocity
         {
             get
             {
-                PhysicsVector pv = new PhysicsVector(0, 0, 0);
+                Vector3 pv = Vector3.Zero;
                 if (_zeroFlag)
                     return pv;
                 m_lastUpdateSent = false;
 
-                if (m_rotationalVelocity.IsIdentical(pv, 0.2f))
+                if (m_rotationalVelocity.ApproxEquals(pv, 0.2f))
                     return pv;
 
                 return m_rotationalVelocity;
@@ -557,7 +556,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             set { m_buoyancy = value; }
         }
 
-        public override PhysicsVector PIDTarget { set { m_PIDTarget = value; ; } }
+        public override Vector3 PIDTarget { set { m_PIDTarget = value; ; } }
         public override bool PIDActive { set { m_usePID = value; } }
         public override float PIDTau { set { m_PIDTau = value; } }
 
@@ -567,20 +566,20 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
         public override float PIDHoverTau { set { m_PIDHoverTau = value; } }
 
 
-        public override void AddForce(PhysicsVector force, bool pushforce)
+        public override void AddForce(Vector3 force, bool pushforce)
         {
             m_forcelist.Add(force);
             m_taintforce = true;
             //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() +  " to prim at " + Position.ToString());
         }
 
-        public override void AddAngularForce(PhysicsVector force, bool pushforce)
+        public override void AddAngularForce(Vector3 force, bool pushforce)
         {
             m_angularforcelist.Add(force);
             m_taintaddangularforce = true;
         }
 
-        public override void SetMomentum(PhysicsVector momentum)
+        public override void SetMomentum(Vector3 momentum)
         {
         }
 
@@ -778,7 +777,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
 
             }
 
-            if (!_position.IsIdentical(m_taintposition, 0f))
+            if (!_position.ApproxEquals(m_taintposition, 0f))
             {
                 m_log.Debug("[PHYSICS]: TaintMove");
                 changemove(timestep);
@@ -796,7 +795,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             }
             //
 
-            if (!_size.IsIdentical(m_taintsize, 0))
+            if (!_size.ApproxEquals(m_taintsize, 0f))
             {
                 m_log.Debug("[PHYSICS]: TaintSize");
                 changesize(timestep);
@@ -820,7 +819,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                 m_log.Debug("[PHYSICS]: TaintAngularForce");
                 changeAddAngularForce(timestep);
             }
-            if (!m_taintTorque.IsIdentical(PhysicsVector.Zero, 0.001f))
+            if (!m_taintTorque.ApproxEquals(Vector3.Zero, 0.001f))
             {
                 m_log.Debug("[PHYSICS]: TaintTorque");
                 changeSetTorque(timestep);
@@ -835,7 +834,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                 m_log.Debug("[PHYSICS]: TaintSelected");
                 changeSelectedStatus(timestep);
             }
-            if (!m_taintVelocity.IsIdentical(PhysicsVector.Zero, 0.001f))
+            if (!m_taintVelocity.ApproxEquals(Vector3.Zero, 0.001f))
             {
                 m_log.Debug("[PHYSICS]: TaintVelocity");
                 changevelocity(timestep);
@@ -849,7 +848,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             {
                 changefloatonwater(timestep);
             }
-            if (!m_angularlock.IsIdentical(m_taintAngularLock, 0))
+            if (!m_angularlock.ApproxEquals(m_taintAngularLock, 0))
             {
                 m_log.Debug("[PHYSICS]: TaintAngularLock");
                 changeAngularLock(timestep);
@@ -1012,7 +1011,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
         {
             if (_parent_scene.needsMeshing(_pbs))
             {
-                ProcessGeomCreationAsTriMesh(PhysicsVector.Zero, Quaternion.Identity);
+                ProcessGeomCreationAsTriMesh(Vector3.Zero, Quaternion.Identity);
                 // createmesh returns null when it doesn't mesh.
                 CreateGeom(IntPtr.Zero, _mesh);
             }
@@ -1029,7 +1028,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             return _parent_scene.needsMeshing(_pbs);
         }
 
-        internal void ProcessGeomCreationAsTriMesh(PhysicsVector positionOffset, Quaternion orientation)
+        internal void ProcessGeomCreationAsTriMesh(Vector3 positionOffset, Quaternion orientation)
         {
             // Don't need to re-enable body..   it's done in SetMesh
             float meshlod = _parent_scene.meshSculptLOD;
@@ -1038,7 +1037,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                 meshlod = _parent_scene.MeshSculptphysicalLOD;
 
             IMesh mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical);
-            if (!positionOffset.IsIdentical(PhysicsVector.Zero, 0.001f) || orientation != Quaternion.Identity)
+            if (!positionOffset.ApproxEquals(Vector3.Zero, 0.001f) || orientation != Quaternion.Identity)
             {
 
                 float[] xyz = new float[3];
@@ -1202,7 +1201,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                     //m_log.Info("[PHYSICS]: dequeing forcelist");
                     if (IsPhysical)
                     {
-                        PhysicsVector iforce = new PhysicsVector();
+                        Vector3 iforce = Vector3.Zero;
                         for (int i = 0; i < m_forcelist.Count; i++)
                         {
                             iforce = iforce + m_forcelist[i];
@@ -1237,7 +1236,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                     //m_log.Info("[PHYSICS]: dequeing forcelist");
                     if (IsPhysical)
                     {
-                        PhysicsVector iforce = new PhysicsVector();
+                        Vector3 iforce = Vector3.Zero;
                         for (int i = 0; i < m_angularforcelist.Count; i++)
                         {
                             iforce = iforce + m_angularforcelist[i];
@@ -1276,7 +1275,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                     }
                 }
             }
-            m_taintTorque = new PhysicsVector(0, 0, 0);
+            m_taintTorque = Vector3.Zero;
         }
 
         private void changedisable(float timestep)
@@ -1317,7 +1316,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
 
                 //resetCollisionAccounting();
             }
-            m_taintVelocity = PhysicsVector.Zero;
+            m_taintVelocity = Vector3.Zero;
         }
 
         private void changelink(float timestep)
@@ -1361,7 +1360,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
 
                 if (m_taintparent != null)
                 {
-                    m_taintparent.Position.Z = m_taintparent.Position.Z + 0.02f;
+                    Vector3 taintparentPosition = m_taintparent.Position;
+                    taintparentPosition.Z = m_taintparent.Position.Z + 0.02f;
+                    m_taintparent.Position = taintparentPosition;
                     _parent_scene.AddPhysicsActorTaint(m_taintparent);
                 }
             }
@@ -1382,7 +1383,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             {
                 if (_parent == null)
                 {
-                    if (!m_taintAngularLock.IsIdentical(new PhysicsVector(1f, 1f, 1f), 0))
+                    if (!m_taintAngularLock.ApproxEquals(Vector3.One, 0f))
                     {
                         //d.BodySetFiniteRotationMode(Body, 0);
                         //d.BodySetFiniteRotationAxis(Body,m_taintAngularLock.X,m_taintAngularLock.Y,m_taintAngularLock.Z);
@@ -1395,7 +1396,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                 }
 
             }
-            m_angularlock = new PhysicsVector(m_taintAngularLock.X, m_taintAngularLock.Y, m_taintAngularLock.Z);
+            m_angularlock = m_taintAngularLock;
 
         }
         #endregion
@@ -1460,17 +1461,17 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                     // TODO: NEED btVector3 for Linear Velocity
                     // NEED btVector3 for Position
 
-                    PhysicsVector pos = new PhysicsVector(_position.X, _position.Y, _position.Z); //TODO: Insert values gotten from bullet
-                    PhysicsVector vel = new PhysicsVector(_velocity.X, _velocity.Y, _velocity.Z);
+                    Vector3 pos = _position; //TODO: Insert values gotten from bullet
+                    Vector3 vel = _velocity;
 
                     _target_velocity =
-                        new PhysicsVector(
+                        new Vector3(
                             (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep),
                             (m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep),
                             (m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep)
                             );
 
-                    if (_target_velocity.IsIdentical(PhysicsVector.Zero, 0.1f))
+                    if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
                     {
 
                         /* TODO: Do Bullet equiv
@@ -1512,8 +1513,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                     {
                         PID_G = m_PIDTau + 1;
                     }
-                    PhysicsVector pos = new PhysicsVector(0, 0, 0); //TODO: Insert values gotten from bullet
-                    PhysicsVector vel = new PhysicsVector(0, 0, 0);
+                    Vector3 pos = Vector3.Zero; //TODO: Insert values gotten from bullet
+                    Vector3 vel = Vector3.Zero;
 
                     // determine what our target height really is based on HoverType
                     switch (m_PIDHoverType)
@@ -1545,13 +1546,13 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
 
 
                     _target_velocity =
-                        new PhysicsVector(0.0f, 0.0f,
+                        new Vector3(0.0f, 0.0f,
                             (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep)
                             );
 
                     //  if velocity is zero, use position control; otherwise, velocity control
 
-                    if (_target_velocity.IsIdentical(PhysicsVector.Zero, 0.1f))
+                    if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
                     {
 
                         /* TODO: Do Bullet Equiv
@@ -1626,8 +1627,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             else
             {
                 if (m_zeroPosition == null)
-                    m_zeroPosition = new PhysicsVector(0, 0, 0);
-                m_zeroPosition.setValues(_position.X, _position.Y, _position.Z);
+                    m_zeroPosition = Vector3.Zero;
+                m_zeroPosition = _position;
                 return;
             }
         }
@@ -2177,7 +2178,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
 
                 //if (hasTrimesh)
                 //{
-                ProcessGeomCreationAsTriMesh(PhysicsVector.Zero, Quaternion.Identity);
+                ProcessGeomCreationAsTriMesh(Vector3.Zero, Quaternion.Identity);
                 // createmesh returns null when it doesn't mesh.
 
                 /*
@@ -2197,11 +2198,11 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                 {
                     if (chld == null)
                         continue;
-                    PhysicsVector offset = chld.Position - Position;
+                    Vector3 offset = chld.Position - Position;
                     Vector3 pos = new Vector3(offset.X, offset.Y, offset.Z);
                     pos *= Quaternion.Inverse(Orientation);
                     //pos *= Orientation;
-                    offset.setValues(pos.X, pos.Y, pos.Z);
+                    offset = pos;
                     chld.ProcessGeomCreationAsTriMesh(offset, chld.Orientation);
 
                     _mesh.Append(chld._mesh);
@@ -2433,7 +2434,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                 m_collisionscore = 0;
                 m_disabled = false;
                 // The body doesn't already have a finite rotation mode set here
-                if ((!m_angularlock.IsIdentical(PhysicsVector.Zero, 0)) && _parent == null)
+                if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null)
                 {
                     // TODO: Create Angular Motor on Axis Lock!
                 }
@@ -2447,7 +2448,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             {
                 if (_parent == null)
                 {
-                    PhysicsVector pv = new PhysicsVector(0, 0, 0);
+                    Vector3 pv = Vector3.Zero;
                     bool lastZeroFlag = _zeroFlag;
                     if (tempPosition3 != null && tempPosition3.Handle != IntPtr.Zero)
                         tempPosition3.Dispose();
@@ -2471,10 +2472,10 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                     tempAngularVelocity1 = Body.getInterpolationAngularVelocity(); //rotvel
                     tempLinearVelocity1 = Body.getInterpolationLinearVelocity(); // vel
 
-                    _torque.setValues(tempAngularVelocity1.getX(), tempAngularVelocity1.getX(),
+                    _torque = new Vector3(tempAngularVelocity1.getX(), tempAngularVelocity1.getX(),
                                       tempAngularVelocity1.getZ());
-                    PhysicsVector l_position = new PhysicsVector();
-                    Quaternion l_orientation = new Quaternion();
+                    Vector3 l_position = Vector3.Zero;
+                    Quaternion l_orientation = Quaternion.Identity;
                     m_lastposition = _position;
                     m_lastorientation = _orientation;
 
@@ -2598,20 +2599,18 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                         _velocity.Z = tempLinearVelocity1.getZ();
 
                         _acceleration = ((_velocity - m_lastVelocity) / 0.1f);
-                        _acceleration = new PhysicsVector(_velocity.X - m_lastVelocity.X / 0.1f,
+                        _acceleration = new Vector3(_velocity.X - m_lastVelocity.X / 0.1f,
                                                           _velocity.Y - m_lastVelocity.Y / 0.1f,
                                                           _velocity.Z - m_lastVelocity.Z / 0.1f);
                         //m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString());
 
-                        if (_velocity.IsIdentical(pv, 0.5f))
+                        if (_velocity.ApproxEquals(pv, 0.5f))
                         {
                             m_rotationalVelocity = pv;
                         }
                         else
                         {
-
-                            m_rotationalVelocity.setValues(tempAngularVelocity1.getX(), tempAngularVelocity1.getY(),
-                                                           tempAngularVelocity1.getZ());
+                            m_rotationalVelocity = new Vector3(tempAngularVelocity1.getX(), tempAngularVelocity1.getY(), tempAngularVelocity1.getZ());
                         }
 
                         //m_log.Debug("ODE: " + m_rotationalVelocity.ToString());
@@ -2665,7 +2664,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             m_taintremove = true;
         }
 
-        internal void EnableAxisMotor(PhysicsVector axislock)
+        internal void EnableAxisMotor(Vector3 axislock)
         {
             if (m_aMotor != null)
                 DisableAxisMotor();
diff --git a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETScene.cs b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETScene.cs
index 18d4bab..9e048ab 100644
--- a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETScene.cs
+++ b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETScene.cs
@@ -139,7 +139,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
 
         }
 
-        public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying)
+        public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
         {
             BulletDotNETCharacter chr = new BulletDotNETCharacter(avName, this, position, size, avPIDD, avPIDP,
                                                                   avCapRadius, avStandupTensor, avDensity,
@@ -177,14 +177,14 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             }
         }
 
-        private PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, Quaternion rotation,
+        private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
                                     IMesh mesh, PrimitiveBaseShape pbs, bool isphysical)
         {
-            PhysicsVector pos = new PhysicsVector(position.X, position.Y, position.Z);
+            Vector3 pos = position;
             //pos.X = position.X;
             //pos.Y = position.Y;
             //pos.Z = position.Z;
-            PhysicsVector siz = new PhysicsVector();
+            Vector3 siz = Vector3.Zero;
             siz.X = size.X;
             siz.Y = size.Y;
             siz.Z = size.Z;
@@ -201,12 +201,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             return newPrim;
         }
 
-        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, Quaternion rotation)
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, Vector3 size, Quaternion rotation)
         {
             return AddPrimShape(primName, pbs, position, size, rotation, false);
         }
 
-        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, Quaternion rotation, bool isPhysical)
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, Vector3 size, Quaternion rotation, bool isPhysical)
         {
             PhysicsActor result;
             IMesh mesh = null;
diff --git a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
index abed8df..cbe73bb 100644
--- a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
+++ b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
@@ -52,14 +52,14 @@ namespace OpenSim.Region.Physics.BulletXPlugin
         //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
 
         //Vector3
-        public static Vector3 PhysicsVectorToXnaVector3(PhysicsVector physicsVector)
+        public static Vector3 PhysicsVectorToXnaVector3(OpenMetaverse.Vector3 physicsVector)
         {
             return new Vector3(physicsVector.X, physicsVector.Y, physicsVector.Z);
         }
 
-        public static PhysicsVector XnaVector3ToPhysicsVector(Vector3 xnaVector3)
+        public static OpenMetaverse.Vector3 XnaVector3ToPhysicsVector(Vector3 xnaVector3)
         {
-            return new PhysicsVector(xnaVector3.X, xnaVector3.Y, xnaVector3.Z);
+            return new OpenMetaverse.Vector3(xnaVector3.X, xnaVector3.Y, xnaVector3.Z);
         }
 
         //Quaternion
@@ -349,7 +349,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
                 vertexBase = new Vector3[iVertexCount];
                 for (int i = 0; i < iVertexCount; i++)
                 {
-                    PhysicsVector v = mesh.getVertexList()[i];
+                    OpenMetaverse.Vector3 v = mesh.getVertexList()[i];
                     if (v != null) // Note, null has special meaning. See meshing code for details
                         vertexBase[i] = BulletXMaths.PhysicsVectorToXnaVector3(v);
                     else
@@ -392,7 +392,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
         private int preCheckCollision(BulletXActor actA, Vector3 vNormal, float fDist)
         {
             float fstartSide;
-            PhysicsVector v = actA.Position;
+            OpenMetaverse.Vector3 v = actA.Position;
             Vector3 v3 = BulletXMaths.PhysicsVectorToXnaVector3(v);
 
             fstartSide = Vector3.Dot(vNormal, v3) - fDist;
@@ -404,7 +404,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
         {
             Vector3 perPlaneNormal;
             float fPerPlaneDist;
-            PhysicsVector v = actA.Position;
+            OpenMetaverse.Vector3 v = actA.Position;
             Vector3 v3 = BulletXMaths.PhysicsVectorToXnaVector3(v);
             //check AB
             Vector3 v1;
@@ -573,9 +573,9 @@ namespace OpenSim.Region.Physics.BulletXPlugin
 
         }
 
-        public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying)
+        public override PhysicsActor AddAvatar(string avName, OpenMetaverse.Vector3 position, OpenMetaverse.Vector3 size, bool isFlying)
         {
-            PhysicsVector pos = new PhysicsVector();
+            OpenMetaverse.Vector3 pos = OpenMetaverse.Vector3.Zero;
             pos.X = position.X;
             pos.Y = position.Y;
             pos.Z = position.Z + 20;
@@ -611,14 +611,14 @@ namespace OpenSim.Region.Physics.BulletXPlugin
             }
         }
 
-        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
-                                                  PhysicsVector size, OpenMetaverse.Quaternion rotation)
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, OpenMetaverse.Vector3 position,
+                                                  OpenMetaverse.Vector3 size, OpenMetaverse.Quaternion rotation)
         {
             return AddPrimShape(primName, pbs, position, size, rotation, false);
         }
 
-        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
-                                                  PhysicsVector size, OpenMetaverse.Quaternion rotation, bool isPhysical)
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, OpenMetaverse.Vector3 position,
+                                                  OpenMetaverse.Vector3 size, OpenMetaverse.Quaternion rotation, bool isPhysical)
         {
             PhysicsActor result;
 
@@ -645,7 +645,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
             return result;
         }
 
-        public PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, OpenMetaverse.Quaternion rotation,
+        public PhysicsActor AddPrim(String name, OpenMetaverse.Vector3 position, OpenMetaverse.Vector3 size, OpenMetaverse.Quaternion rotation,
                                     IMesh mesh, PrimitiveBaseShape pbs, bool isPhysical)
         {
             BulletXPrim newPrim = null;
@@ -879,12 +879,12 @@ namespace OpenSim.Region.Physics.BulletXPlugin
     {
         protected bool flying = false;
         protected bool _physical = false;
-        protected PhysicsVector _position;
-        protected PhysicsVector _velocity;
-        protected PhysicsVector _size;
-        protected PhysicsVector _acceleration;
+        protected OpenMetaverse.Vector3 _position;
+        protected OpenMetaverse.Vector3 _velocity;
+        protected OpenMetaverse.Vector3 _size;
+        protected OpenMetaverse.Vector3 _acceleration;
         protected OpenMetaverse.Quaternion _orientation;
-        protected PhysicsVector m_rotationalVelocity = PhysicsVector.Zero;
+        protected OpenMetaverse.Vector3 m_rotationalVelocity;
         protected RigidBody rigidBody;
         protected int m_PhysicsActorType;
         private Boolean iscolliding = false;
@@ -900,7 +900,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
             get { return false; }
         }
 
-        public override PhysicsVector Position
+        public override OpenMetaverse.Vector3 Position
         {
             get { return _position; }
             set
@@ -913,13 +913,13 @@ namespace OpenSim.Region.Physics.BulletXPlugin
             }
         }
 
-        public override PhysicsVector RotationalVelocity
+        public override OpenMetaverse.Vector3 RotationalVelocity
         {
             get { return m_rotationalVelocity; }
             set { m_rotationalVelocity = value; }
         }
 
-        public override PhysicsVector Velocity
+        public override OpenMetaverse.Vector3 Velocity
         {
             get { return _velocity; }
             set
@@ -934,7 +934,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
                     }
                     else
                     {
-                        _velocity = new PhysicsVector();
+                        _velocity = OpenMetaverse.Vector3.Zero;
                     }
                 }
             }
@@ -944,7 +944,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
             get { return 0f; }
             set { }
         }
-        public override PhysicsVector Size
+        public override OpenMetaverse.Vector3 Size
         {
             get { return _size; }
             set
@@ -956,9 +956,9 @@ namespace OpenSim.Region.Physics.BulletXPlugin
             }
         }
 
-        public override PhysicsVector Force
+        public override OpenMetaverse.Vector3 Force
         {
-            get { return PhysicsVector.Zero; }
+            get { return OpenMetaverse.Vector3.Zero; }
             set { return; }
         }
 
@@ -973,7 +973,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
 
         }
 
-        public override void VehicleVectorParam(int param, PhysicsVector value)
+        public override void VehicleVectorParam(int param, OpenMetaverse.Vector3 value)
         {
 
         }
@@ -988,14 +988,14 @@ namespace OpenSim.Region.Physics.BulletXPlugin
 
         }
 
-        public override PhysicsVector CenterOfMass
+        public override OpenMetaverse.Vector3 CenterOfMass
         {
-            get { return PhysicsVector.Zero; }
+            get { return OpenMetaverse.Vector3.Zero; }
         }
 
-        public override PhysicsVector GeometricCenter
+        public override OpenMetaverse.Vector3 GeometricCenter
         {
-            get { return PhysicsVector.Zero; }
+            get { return OpenMetaverse.Vector3.Zero; }
         }
 
         public override PrimitiveBaseShape Shape
@@ -1009,7 +1009,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
             set { return; }
         }
 
-        public override PhysicsVector Acceleration
+        public override OpenMetaverse.Vector3 Acceleration
         {
             get { return _acceleration; }
         }
@@ -1036,7 +1036,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
 
         }
 
-        public override void LockAngularMotion(PhysicsVector axis)
+        public override void LockAngularMotion(OpenMetaverse.Vector3 axis)
         {
 
         }
@@ -1129,7 +1129,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
             set { return; }
         }
 
-        public virtual void SetAcceleration(PhysicsVector accel)
+        public virtual void SetAcceleration(OpenMetaverse.Vector3 accel)
         {
             lock (BulletXScene.BulletXLock)
             {
@@ -1143,19 +1143,19 @@ namespace OpenSim.Region.Physics.BulletXPlugin
             set { }
         }
 
-        public override void AddForce(PhysicsVector force, bool pushforce)
+        public override void AddForce(OpenMetaverse.Vector3 force, bool pushforce)
         {
         }
-        public override PhysicsVector Torque
+        public override OpenMetaverse.Vector3 Torque
         {
-            get { return PhysicsVector.Zero; }
+            get { return OpenMetaverse.Vector3.Zero; }
             set { return; }
         }
-        public override void AddAngularForce(PhysicsVector force, bool pushforce)
+        public override void AddAngularForce(OpenMetaverse.Vector3 force, bool pushforce)
         {
         }
 
-        public override void SetMomentum(PhysicsVector momentum)
+        public override void SetMomentum(OpenMetaverse.Vector3 momentum)
         {
         }
 
@@ -1174,7 +1174,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
             Translate(_position);
         }
 
-        protected internal void Translate(PhysicsVector _newPos)
+        protected internal void Translate(OpenMetaverse.Vector3 _newPos)
         {
             Vector3 _translation;
             _translation = BulletXMaths.PhysicsVectorToXnaVector3(_newPos) - rigidBody.CenterOfMassPosition;
@@ -1186,7 +1186,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
             Speed(_velocity);
         }
 
-        protected internal void Speed(PhysicsVector _newSpeed)
+        protected internal void Speed(OpenMetaverse.Vector3 _newSpeed)
         {
             Vector3 _speed;
             _speed = BulletXMaths.PhysicsVectorToXnaVector3(_newSpeed);
@@ -1212,7 +1212,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
             ReSize(_size);
         }
 
-        protected internal virtual void ReSize(PhysicsVector _newSize)
+        protected internal virtual void ReSize(OpenMetaverse.Vector3 _newSize)
         {
         }
 
@@ -1227,7 +1227,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
         {
 
         }
-        public override PhysicsVector PIDTarget { set { return; } }
+        public override OpenMetaverse.Vector3 PIDTarget { set { return; } }
         public override bool PIDActive { set { return; } }
         public override float PIDTau { set { return; } }
 
@@ -1256,19 +1256,19 @@ namespace OpenSim.Region.Physics.BulletXPlugin
     /// </summary>
     public class BulletXCharacter : BulletXActor
     {
-        public BulletXCharacter(BulletXScene parent_scene, PhysicsVector pos)
+        public BulletXCharacter(BulletXScene parent_scene, OpenMetaverse.Vector3 pos)
             : this(String.Empty, parent_scene, pos)
         {
         }
 
-        public BulletXCharacter(String avName, BulletXScene parent_scene, PhysicsVector pos)
-            : this(avName, parent_scene, pos, new PhysicsVector(), new PhysicsVector(), new PhysicsVector(),
+        public BulletXCharacter(String avName, BulletXScene parent_scene, OpenMetaverse.Vector3 pos)
+            : this(avName, parent_scene, pos, OpenMetaverse.Vector3.Zero, OpenMetaverse.Vector3.Zero, OpenMetaverse.Vector3.Zero,
                    OpenMetaverse.Quaternion.Identity)
         {
         }
 
-        public BulletXCharacter(String avName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity,
-                                PhysicsVector size, PhysicsVector acceleration, OpenMetaverse.Quaternion orientation)
+        public BulletXCharacter(String avName, BulletXScene parent_scene, OpenMetaverse.Vector3 pos, OpenMetaverse.Vector3 velocity,
+                                OpenMetaverse.Vector3 size, OpenMetaverse.Vector3 acceleration, OpenMetaverse.Quaternion orientation)
             : base(avName)
         {
             //This fields will be removed. They're temporal
@@ -1323,25 +1323,25 @@ namespace OpenSim.Region.Physics.BulletXPlugin
             set { return; }
         }
 
-        public override PhysicsVector Position
+        public override OpenMetaverse.Vector3 Position
         {
             get { return base.Position; }
             set { base.Position = value; }
         }
 
-        public override PhysicsVector Velocity
+        public override OpenMetaverse.Vector3 Velocity
         {
             get { return base.Velocity; }
             set { base.Velocity = value; }
         }
 
-        public override PhysicsVector Size
+        public override OpenMetaverse.Vector3 Size
         {
             get { return base.Size; }
             set { base.Size = value; }
         }
 
-        public override PhysicsVector Acceleration
+        public override OpenMetaverse.Vector3 Acceleration
         {
             get { return base.Acceleration; }
         }
@@ -1370,17 +1370,17 @@ namespace OpenSim.Region.Physics.BulletXPlugin
             set { base.Kinematic = value; }
         }
 
-        public override void SetAcceleration(PhysicsVector accel)
+        public override void SetAcceleration(OpenMetaverse.Vector3 accel)
         {
             base.SetAcceleration(accel);
         }
 
-        public override void AddForce(PhysicsVector force, bool pushforce)
+        public override void AddForce(OpenMetaverse.Vector3 force, bool pushforce)
         {
             base.AddForce(force, pushforce);
         }
 
-        public override void SetMomentum(PhysicsVector momentum)
+        public override void SetMomentum(OpenMetaverse.Vector3 momentum)
         {
             base.SetMomentum(momentum);
         }
@@ -1430,7 +1430,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
                 m.Translation = v3;
                 rigidBody.WorldTransform = m;
                 //When an Avie touch the ground it's vertical velocity it's reduced to ZERO
-                Speed(new PhysicsVector(rigidBody.LinearVelocity.X, rigidBody.LinearVelocity.Y, 0.0f));
+                Speed(new OpenMetaverse.Vector3(rigidBody.LinearVelocity.X, rigidBody.LinearVelocity.Y, 0.0f));
             }
         }
 
@@ -1452,7 +1452,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
         //For now all prims have the same density, all prims are made of water. Be water my friend! :D
         private const float _density = 1000.0f;
         private BulletXScene _parent_scene;
-        private PhysicsVector m_prev_position = new PhysicsVector(0, 0, 0);
+        private OpenMetaverse.Vector3 m_prev_position;
         private bool m_lastUpdateSent = false;
         //added by jed zhu
         private IMesh _mesh;
@@ -1460,17 +1460,17 @@ namespace OpenSim.Region.Physics.BulletXPlugin
 
 
 
-        public BulletXPrim(String primName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector size,
+        public BulletXPrim(String primName, BulletXScene parent_scene, OpenMetaverse.Vector3 pos, OpenMetaverse.Vector3 size,
                            OpenMetaverse.Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool isPhysical)
             : this(
-                primName, parent_scene, pos, new PhysicsVector(), size, new PhysicsVector(), rotation, mesh, pbs,
+                primName, parent_scene, pos, OpenMetaverse.Vector3.Zero, size, OpenMetaverse.Vector3.Zero, rotation, mesh, pbs,
                 isPhysical)
         {
         }
 
-        public BulletXPrim(String primName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity,
-                           PhysicsVector size,
-                           PhysicsVector acceleration, OpenMetaverse.Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs,
+        public BulletXPrim(String primName, BulletXScene parent_scene, OpenMetaverse.Vector3 pos, OpenMetaverse.Vector3 velocity,
+                           OpenMetaverse.Vector3 size,
+                           OpenMetaverse.Vector3 acceleration, OpenMetaverse.Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs,
                            bool isPhysical)
             : base(primName)
         {
@@ -1481,7 +1481,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
 
             _position = pos;
             _physical = isPhysical;
-            _velocity = _physical ? velocity : new PhysicsVector();
+            _velocity = _physical ? velocity : OpenMetaverse.Vector3.Zero;
             _size = size;
             _acceleration = acceleration;
             _orientation = rotation;
@@ -1497,19 +1497,19 @@ namespace OpenSim.Region.Physics.BulletXPlugin
             set { return; }
         }
 
-        public override PhysicsVector Position
+        public override OpenMetaverse.Vector3 Position
         {
             get { return base.Position; }
             set { base.Position = value; }
         }
 
-        public override PhysicsVector Velocity
+        public override OpenMetaverse.Vector3 Velocity
         {
             get { return base.Velocity; }
             set { base.Velocity = value; }
         }
 
-        public override PhysicsVector Size
+        public override OpenMetaverse.Vector3 Size
         {
             get { return _size; }
             set
@@ -1522,7 +1522,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
             }
         }
 
-        public override PhysicsVector Acceleration
+        public override OpenMetaverse.Vector3 Acceleration
         {
             get { return base.Acceleration; }
         }
@@ -1583,7 +1583,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
             set { base.Kinematic = value; }
         }
 
-        public override void SetAcceleration(PhysicsVector accel)
+        public override void SetAcceleration(OpenMetaverse.Vector3 accel)
         {
             lock (BulletXScene.BulletXLock)
             {
@@ -1591,12 +1591,12 @@ namespace OpenSim.Region.Physics.BulletXPlugin
             }
         }
 
-        public override void AddForce(PhysicsVector force, bool pushforce)
+        public override void AddForce(OpenMetaverse.Vector3 force, bool pushforce)
         {
             base.AddForce(force,pushforce);
         }
 
-        public override void SetMomentum(PhysicsVector momentum)
+        public override void SetMomentum(OpenMetaverse.Vector3 momentum)
         {
             base.SetMomentum(momentum);
         }
@@ -1613,7 +1613,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
                 //When a Prim touch the ground it's vertical velocity it's reduced to ZERO
                 //Static objects don't have linear velocity
                 if (_physical)
-                    Speed(new PhysicsVector(rigidBody.LinearVelocity.X, rigidBody.LinearVelocity.Y, 0.0f));
+                    Speed(new OpenMetaverse.Vector3(rigidBody.LinearVelocity.X, rigidBody.LinearVelocity.Y, 0.0f));
             }
         }
 
@@ -1632,7 +1632,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
                 {
                     if (!m_lastUpdateSent)
                     {
-                        _velocity = new PhysicsVector(0, 0, 0);
+                        _velocity = OpenMetaverse.Vector3.Zero;
                         base.ScheduleTerseUpdate();
                         m_lastUpdateSent = true;
                     }
@@ -1654,8 +1654,8 @@ namespace OpenSim.Region.Physics.BulletXPlugin
 
         #region Methods for updating values of RigidBody
 
-        protected internal void CreateRigidBody(BulletXScene parent_scene, IMesh mesh, PhysicsVector pos,
-                                                PhysicsVector size)
+        protected internal void CreateRigidBody(BulletXScene parent_scene, IMesh mesh, OpenMetaverse.Vector3 pos,
+                                                OpenMetaverse.Vector3 size)
         {
             //For RigidBody Constructor. The next values might change
             float _linearDamping = 0.0f;
@@ -1683,7 +1683,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
                     Vector3[] v3Vertices = new Vector3[iVertexCount];
                     for (int i = 0; i < iVertexCount; i++)
                     {
-                        PhysicsVector v = mesh.getVertexList()[i];
+                        OpenMetaverse.Vector3 v = mesh.getVertexList()[i];
                         if (v != null) // Note, null has special meaning. See meshing code for details
                             v3Vertices[i] = BulletXMaths.PhysicsVectorToXnaVector3(v);
                         else
@@ -1709,7 +1709,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
             }
         }
 
-        protected internal void ReCreateRigidBody(PhysicsVector size)
+        protected internal void ReCreateRigidBody(OpenMetaverse.Vector3 size)
         {
             //There is a bug when trying to remove a rigidBody that is colliding with something..
             try
@@ -1729,7 +1729,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
             GC.Collect();
         }
 
-        protected internal override void ReSize(PhysicsVector _newSize)
+        protected internal override void ReSize(OpenMetaverse.Vector3 _newSize)
         {
             //I wonder to know how to resize with a simple instruction in BulletX. It seems that for now there isn't
             //so i have to do it manually. That's recreating rigidbody
@@ -1744,8 +1744,8 @@ namespace OpenSim.Region.Physics.BulletXPlugin
     /// </summary>
     internal class BulletXPlanet
     {
-        private PhysicsVector _staticPosition;
-//         private PhysicsVector _staticVelocity;
+        private OpenMetaverse.Vector3 _staticPosition;
+//         private Vector3 _staticVelocity;
 //         private OpenMetaverse.Quaternion _staticOrientation;
         private float _mass;
         // private BulletXScene _parentscene;
@@ -1759,7 +1759,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
 
         internal BulletXPlanet(BulletXScene parent_scene, float[] heightField)
         {
-            _staticPosition = new PhysicsVector(BulletXScene.MaxXY/2, BulletXScene.MaxXY/2, 0);
+            _staticPosition = new OpenMetaverse.Vector3(BulletXScene.MaxXY / 2, BulletXScene.MaxXY / 2, 0);
 //             _staticVelocity = new PhysicsVector();
 //             _staticOrientation = OpenMetaverse.Quaternion.Identity;
             _mass = 0; //No active
diff --git a/OpenSim/Region/Physics/Manager/IMesher.cs b/OpenSim/Region/Physics/Manager/IMesher.cs
index 1a8c948..1181b8d 100644
--- a/OpenSim/Region/Physics/Manager/IMesher.cs
+++ b/OpenSim/Region/Physics/Manager/IMesher.cs
@@ -28,13 +28,14 @@
 using System;
 using System.Collections.Generic;
 using OpenSim.Framework;
+using OpenMetaverse;
 
 namespace OpenSim.Region.Physics.Manager
 {
     public interface IMesher
     {
-        IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, PhysicsVector size, float lod);
-        IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, PhysicsVector size, float lod, bool isPhysical);
+        IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod);
+        IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical);
     }
 
     public interface IVertex
@@ -43,7 +44,7 @@ namespace OpenSim.Region.Physics.Manager
 
     public interface IMesh
     {
-        List<PhysicsVector> getVertexList();
+        List<Vector3> getVertexList();
         int[] getIndexListAsInt();
         int[] getIndexListAsIntLocked();
         float[] getVertexListAsFloatLocked();
diff --git a/OpenSim/Region/Physics/Manager/PhysicsActor.cs b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
index 7603131..6bfdff2 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsActor.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
@@ -32,8 +32,8 @@ using OpenMetaverse;
 
 namespace OpenSim.Region.Physics.Manager
 {
-    public delegate void PositionUpdate(PhysicsVector position);
-    public delegate void VelocityUpdate(PhysicsVector velocity);
+    public delegate void PositionUpdate(Vector3 position);
+    public delegate void VelocityUpdate(Vector3 velocity);
     public delegate void OrientationUpdate(Quaternion orientation);
 
     public enum ActorTypes : int
@@ -106,7 +106,7 @@ namespace OpenSim.Region.Physics.Manager
     {
         public delegate void RequestTerseUpdate();
         public delegate void CollisionUpdate(EventArgs e);
-        public delegate void OutOfBounds(PhysicsVector pos);
+        public delegate void OutOfBounds(Vector3 pos);
 
 // disable warning: public events
 #pragma warning disable 67
@@ -125,7 +125,7 @@ namespace OpenSim.Region.Physics.Manager
 
         public abstract bool Stopped { get; }
 
-        public abstract PhysicsVector Size { get; set; }
+        public abstract Vector3 Size { get; set; }
 
         public abstract PrimitiveBaseShape Shape { set; }
 
@@ -144,7 +144,7 @@ namespace OpenSim.Region.Physics.Manager
 
         public abstract void delink();
 
-        public abstract void LockAngularMotion(PhysicsVector axis);
+        public abstract void LockAngularMotion(Vector3 axis);
 
         public virtual void RequestPhysicsterseUpdate()
         {
@@ -159,7 +159,7 @@ namespace OpenSim.Region.Physics.Manager
             }
         }
 
-        public virtual void RaiseOutOfBounds(PhysicsVector pos)
+        public virtual void RaiseOutOfBounds(Vector3 pos)
         {
             // Make a temporary copy of the event to avoid possibility of
             // a race condition if the last subscriber unsubscribes
@@ -187,23 +187,23 @@ namespace OpenSim.Region.Physics.Manager
             
         }
 
-        public abstract PhysicsVector Position { get; set; }
+        public abstract Vector3 Position { get; set; }
         public abstract float Mass { get; }
-        public abstract PhysicsVector Force { get; set; }
+        public abstract Vector3 Force { get; set; }
 
         public abstract int VehicleType { get; set; }
         public abstract void VehicleFloatParam(int param, float value);
-        public abstract void VehicleVectorParam(int param, PhysicsVector value);
+        public abstract void VehicleVectorParam(int param, Vector3 value);
         public abstract void VehicleRotationParam(int param, Quaternion rotation);
 
         public abstract void SetVolumeDetect(int param);    // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
 
-        public abstract PhysicsVector GeometricCenter { get; }
-        public abstract PhysicsVector CenterOfMass { get; }
-        public abstract PhysicsVector Velocity { get; set; }
-        public abstract PhysicsVector Torque { get; set; }
+        public abstract Vector3 GeometricCenter { get; }
+        public abstract Vector3 CenterOfMass { get; }
+        public abstract Vector3 Velocity { get; set; }
+        public abstract Vector3 Torque { get; set; }
         public abstract float CollisionScore { get; set;}
-        public abstract PhysicsVector Acceleration { get; }
+        public abstract Vector3 Acceleration { get; }
         public abstract Quaternion Orientation { get; set; }
         public abstract int PhysicsActorType { get; set; }
         public abstract bool IsPhysical { get; set; }
@@ -214,12 +214,12 @@ namespace OpenSim.Region.Physics.Manager
         public abstract bool CollidingGround { get; set; }
         public abstract bool CollidingObj { get; set; }
         public abstract bool FloatOnWater { set; }
-        public abstract PhysicsVector RotationalVelocity { get; set; }
+        public abstract Vector3 RotationalVelocity { get; set; }
         public abstract bool Kinematic { get; set; }
         public abstract float Buoyancy { get; set; }
 
         // Used for MoveTo
-        public abstract PhysicsVector PIDTarget { set;}
+        public abstract Vector3 PIDTarget { set; }
         public abstract bool  PIDActive { set;}
         public abstract float PIDTau { set; }
 
@@ -231,9 +231,9 @@ namespace OpenSim.Region.Physics.Manager
         public abstract float PIDHoverTau { set;}
 
 
-        public abstract void AddForce(PhysicsVector force, bool pushforce);
-        public abstract void AddAngularForce(PhysicsVector force, bool pushforce);
-        public abstract void SetMomentum(PhysicsVector momentum);
+        public abstract void AddForce(Vector3 force, bool pushforce);
+        public abstract void AddAngularForce(Vector3 force, bool pushforce);
+        public abstract void SetMomentum(Vector3 momentum);
         public abstract void SubscribeEvents(int ms);
         public abstract void UnSubscribeEvents();
         public abstract bool SubscribedEvents();
@@ -246,9 +246,9 @@ namespace OpenSim.Region.Physics.Manager
             get{ return false; }
         }
 
-        public override PhysicsVector Position
+        public override Vector3 Position
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
             set { return; }
         }
 
@@ -296,9 +296,9 @@ namespace OpenSim.Region.Physics.Manager
             set { return; }
         }
 
-        public override PhysicsVector Size
+        public override Vector3 Size
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
             set { return; }
         }
 
@@ -307,9 +307,9 @@ namespace OpenSim.Region.Physics.Manager
             get { return 0f; }
         }
 
-        public override PhysicsVector Force
+        public override Vector3 Force
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
             set { return; }
         }
 
@@ -324,7 +324,7 @@ namespace OpenSim.Region.Physics.Manager
 
         }
 
-        public override void VehicleVectorParam(int param, PhysicsVector value)
+        public override void VehicleVectorParam(int param, Vector3 value)
         {
 
         }
@@ -344,14 +344,14 @@ namespace OpenSim.Region.Physics.Manager
             
         }
 
-        public override PhysicsVector CenterOfMass
+        public override Vector3 CenterOfMass
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
         }
 
-        public override PhysicsVector GeometricCenter
+        public override Vector3 GeometricCenter
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
         }
 
         public override PrimitiveBaseShape Shape
@@ -359,15 +359,15 @@ namespace OpenSim.Region.Physics.Manager
             set { return; }
         }
 
-        public override PhysicsVector Velocity
+        public override Vector3 Velocity
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
             set { return; }
         }
 
-        public override PhysicsVector Torque
+        public override Vector3 Torque
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
             set { return; }
         }
 
@@ -387,9 +387,9 @@ namespace OpenSim.Region.Physics.Manager
             set { }
         }
 
-        public override PhysicsVector Acceleration
+        public override Vector3 Acceleration
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
         }
 
         public override bool IsPhysical
@@ -436,26 +436,26 @@ namespace OpenSim.Region.Physics.Manager
         {
         }
 
-        public override void LockAngularMotion(PhysicsVector axis)
+        public override void LockAngularMotion(Vector3 axis)
         {
         }
 
-        public override void AddForce(PhysicsVector force, bool pushforce)
+        public override void AddForce(Vector3 force, bool pushforce)
         {
         }
 
-        public override void AddAngularForce(PhysicsVector force, bool pushforce)
+        public override void AddAngularForce(Vector3 force, bool pushforce)
         {
             
         }
 
-        public override PhysicsVector RotationalVelocity
+        public override Vector3 RotationalVelocity
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
             set { return; }
         }
 
-        public override PhysicsVector PIDTarget { set { return; } }
+        public override Vector3 PIDTarget { set { return; } }
         public override bool PIDActive { set { return; } }
         public override float PIDTau { set { return; } }
 
@@ -464,7 +464,7 @@ namespace OpenSim.Region.Physics.Manager
         public override PIDHoverType PIDHoverType { set { return; } }
         public override float PIDHoverTau { set { return; } }
 
-        public override void SetMomentum(PhysicsVector momentum)
+        public override void SetMomentum(Vector3 momentum)
         {
         }
 
diff --git a/OpenSim/Region/Physics/Manager/PhysicsJoint.cs b/OpenSim/Region/Physics/Manager/PhysicsJoint.cs
index f463597..b685d04 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsJoint.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsJoint.cs
@@ -44,7 +44,7 @@ namespace OpenSim.Region.Physics.Manager
         public PhysicsJointType Type;
         public string RawParams;
         public List<string> BodyNames = new List<string>();
-        public PhysicsVector Position; // global coords
+        public Vector3 Position; // global coords
         public Quaternion Rotation; // global coords
         public string ObjectNameInScene; // proxy object in scene that represents the joint position/orientation
         public string TrackedBodyName; // body name that this joint is attached to (ObjectNameInScene will follow TrackedBodyName)
diff --git a/OpenSim/Region/Physics/Manager/PhysicsScene.cs b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
index 6dd26bb..bb0d18e 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsScene.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
@@ -64,23 +64,23 @@ namespace OpenSim.Region.Physics.Manager
 
         public abstract void Initialise(IMesher meshmerizer, IConfigSource config);
 
-        public abstract PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying);
+        public abstract PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying);
 
         public abstract void RemoveAvatar(PhysicsActor actor);
 
         public abstract void RemovePrim(PhysicsActor prim);
 
-        public abstract PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
-                                                  PhysicsVector size, Quaternion rotation); //To be removed
-        public abstract PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
-                                                  PhysicsVector size, Quaternion rotation, bool isPhysical);
+        public abstract PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                                  Vector3 size, Quaternion rotation); //To be removed
+        public abstract PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                                  Vector3 size, Quaternion rotation, bool isPhysical);
 
         public virtual bool SupportsNINJAJoints
         {
             get { return false; }
         }
 
-        public virtual PhysicsJoint RequestJointCreation(string objectNameInScene, PhysicsJointType jointType, PhysicsVector position,
+        public virtual PhysicsJoint RequestJointCreation(string objectNameInScene, PhysicsJointType jointType, Vector3 position,
                                             Quaternion rotation, string parms, List<string> bodyNames, string trackedBodyName, Quaternion localRotation)
         { return null; }
 
@@ -129,11 +129,11 @@ namespace OpenSim.Region.Physics.Manager
             }
         }
 
-        public virtual PhysicsVector GetJointAnchor(PhysicsJoint joint)
-        { return null; }
+        public virtual Vector3 GetJointAnchor(PhysicsJoint joint)
+        { return Vector3.Zero; }
 
-        public virtual PhysicsVector GetJointAxis(PhysicsJoint joint)
-        { return null; }
+        public virtual Vector3 GetJointAxis(PhysicsJoint joint)
+        { return Vector3.Zero; }
 
 
         public abstract void AddPhysicsActorTaint(PhysicsActor prim);
@@ -212,7 +212,7 @@ namespace OpenSim.Region.Physics.Manager
                 // Does nothing right now
             }
 
-            public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying)
+            public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
             {
                 m_log.InfoFormat("[PHYSICS]: NullPhysicsScene : AddAvatar({0})", position);
                 return PhysicsActor.Null;
@@ -231,21 +231,21 @@ namespace OpenSim.Region.Physics.Manager
             }
 
 /*
-            public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation)
+            public override PhysicsActor AddPrim(Vector3 position, Vector3 size, Quaternion rotation)
             {
                 m_log.InfoFormat("NullPhysicsScene : AddPrim({0},{1})", position, size);
                 return PhysicsActor.Null;
             }
 */
 
-            public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
-                                                      PhysicsVector size, Quaternion rotation) //To be removed
+            public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                                      Vector3 size, Quaternion rotation) //To be removed
             {
                 return AddPrimShape(primName, pbs, position, size, rotation, false);
             }
 
-            public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
-                                                      PhysicsVector size, Quaternion rotation, bool isPhysical)
+            public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                                      Vector3 size, Quaternion rotation, bool isPhysical)
             {
                 m_log.InfoFormat("[PHYSICS]: NullPhysicsScene : AddPrim({0},{1})", position, size);
                 return PhysicsActor.Null;
diff --git a/OpenSim/Region/Physics/Manager/PhysicsSensor.cs b/OpenSim/Region/Physics/Manager/PhysicsSensor.cs
index 090ad52..f480d71 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsSensor.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsSensor.cs
@@ -27,6 +27,7 @@
 
 using System;
 using System.Timers;
+using OpenMetaverse;
 
 namespace OpenSim.Region.Physics.Manager
 {
@@ -46,7 +47,7 @@ namespace OpenSim.Region.Physics.Manager
         {
             get { return new NullPhysicsSensor(); }
         }
-        public abstract PhysicsVector Position {get; set;}
+        public abstract Vector3 Position { get; set; }
         public abstract void TimerCallback (object obj, ElapsedEventArgs eea);
         public abstract float radianarc {get; set;}
         public abstract string targetname {get; set;}
@@ -58,9 +59,9 @@ namespace OpenSim.Region.Physics.Manager
 
     public class NullPhysicsSensor : PhysicsSensor
     {
-        public override PhysicsVector Position
+        public override Vector3 Position
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
             set { return; }
         }
         public override void TimerCallback(object obj, ElapsedEventArgs eea)
diff --git a/OpenSim/Region/Physics/Manager/PhysicsVector.cs b/OpenSim/Region/Physics/Manager/PhysicsVector.cs
index d6f4d0d..f60a636 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsVector.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsVector.cs
@@ -29,24 +29,24 @@ using System;
 
 namespace OpenSim.Region.Physics.Manager
 {
-    public class PhysicsVector
+    /*public class PhysicsVector
     {
         public float X;
         public float Y;
         public float Z;
 
-        public PhysicsVector()
+        public Vector3()
         {
         }
 
-        public PhysicsVector(float x, float y, float z)
+        public Vector3(float x, float y, float z)
         {
             X = x;
             Y = y;
             Z = z;
         }
 
-        public PhysicsVector(PhysicsVector pv) : this(pv.X, pv.Y, pv.Z)
+        public Vector3(Vector3 pv) : this(pv.X, pv.Y, pv.Z)
         {
         }
         
@@ -115,17 +115,17 @@ namespace OpenSim.Region.Physics.Manager
         }
 
         // Operations
-        public static PhysicsVector operator +(PhysicsVector a, PhysicsVector b)
+        public static PhysicsVector operator +(Vector3 a, Vector3 b)
         {
             return new PhysicsVector(a.X + b.X, a.Y + b.Y, a.Z + b.Z);
         }
 
-        public static PhysicsVector operator -(PhysicsVector a, PhysicsVector b)
+        public static PhysicsVector operator -(Vector3 a, Vector3 b)
         {
             return new PhysicsVector(a.X - b.X, a.Y - b.Y, a.Z - b.Z);
         }
 
-        public static PhysicsVector cross(PhysicsVector a, PhysicsVector b)
+        public static PhysicsVector cross(Vector3 a, Vector3 b)
         {
             return new PhysicsVector(a.Y*b.Z - a.Z*b.Y, a.Z*b.X - a.X*b.Z, a.X*b.Y - a.Y*b.X);
         }
@@ -135,7 +135,7 @@ namespace OpenSim.Region.Physics.Manager
             return (float) Math.Sqrt(X*X + Y*Y + Z*Z);
         }
 
-        public static float GetDistanceTo(PhysicsVector a, PhysicsVector b)
+        public static float GetDistanceTo(Vector3 a, Vector3 b)
         {
             float dx = a.X - b.X;
             float dy = a.Y - b.Y;
@@ -143,22 +143,22 @@ namespace OpenSim.Region.Physics.Manager
             return (float) Math.Sqrt(dx * dx + dy * dy + dz * dz);
         }
 
-        public static PhysicsVector operator /(PhysicsVector v, float f)
+        public static PhysicsVector operator /(Vector3 v, float f)
         {
             return new PhysicsVector(v.X/f, v.Y/f, v.Z/f);
         }
 
-        public static PhysicsVector operator *(PhysicsVector v, float f)
+        public static PhysicsVector operator *(Vector3 v, float f)
         {
             return new PhysicsVector(v.X*f, v.Y*f, v.Z*f);
         }
 
-        public static PhysicsVector operator *(float f, PhysicsVector v)
+        public static PhysicsVector operator *(float f, Vector3 v)
         {
             return v*f;
         }
 
-        public static bool isFinite(PhysicsVector v)
+        public static bool isFinite(Vector3 v)
         {
             if (v == null)
                 return false;
@@ -172,7 +172,7 @@ namespace OpenSim.Region.Physics.Manager
             return true;
         }
 
-        public virtual bool IsIdentical(PhysicsVector v, float tolerance)
+        public virtual bool IsIdentical(Vector3 v, float tolerance)
         {
             PhysicsVector diff = this - v;
             float d = diff.length();
@@ -182,5 +182,5 @@ namespace OpenSim.Region.Physics.Manager
             return false;
         }
 
-    }
+    }*/
 }
diff --git a/OpenSim/Region/Physics/Manager/ZeroMesher.cs b/OpenSim/Region/Physics/Manager/ZeroMesher.cs
index f9d0f2a..e6e75f9 100644
--- a/OpenSim/Region/Physics/Manager/ZeroMesher.cs
+++ b/OpenSim/Region/Physics/Manager/ZeroMesher.cs
@@ -27,6 +27,7 @@
 
 using System;
 using OpenSim.Framework;
+using OpenMetaverse;
 
 /*
  * This is the zero mesher.
@@ -60,13 +61,16 @@ namespace OpenSim.Region.Physics.Manager
 
     public class ZeroMesher : IMesher
     {
-        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, PhysicsVector size, float lod)
+        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod)
         {
             return CreateMesh(primName, primShape, size, lod, false);
         }
 
-        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, PhysicsVector size, float lod, bool isPhysical)
+        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical)
         {
+            // Remove the reference to the encoded JPEG2000 data so it can be GCed
+            primShape.SculptData = OpenMetaverse.Utils.EmptyBytes;
+
             return null;
         }
     }
diff --git a/OpenSim/Region/Physics/Meshing/HelperTypes.cs b/OpenSim/Region/Physics/Meshing/HelperTypes.cs
index 232245f..8cd8dcf 100644
--- a/OpenSim/Region/Physics/Meshing/HelperTypes.cs
+++ b/OpenSim/Region/Physics/Meshing/HelperTypes.cs
@@ -33,30 +33,52 @@ using OpenMetaverse;
 using OpenSim.Region.Physics.Manager;
 using OpenSim.Region.Physics.Meshing;
 
-public class Vertex : PhysicsVector, IComparable<Vertex>
+public class Vertex : IComparable<Vertex>
 {
+    Vector3 vector;
+
+    public float X
+    {
+        get { return vector.X; }
+        set { vector.X = value; }
+    }
+
+    public float Y
+    {
+        get { return vector.Y; }
+        set { vector.Y = value; }
+    }
+
+    public float Z
+    {
+        get { return vector.Z; }
+        set { vector.Z = value; }
+    }
+
     public Vertex(float x, float y, float z)
-        : base(x, y, z)
     {
+        vector.X = x;
+        vector.Y = y;
+        vector.Z = z;
     }
 
     public Vertex normalize()
     {
-        float tlength = length();
-        if (tlength != 0)
+        float tlength = vector.Length();
+        if (tlength != 0f)
         {
             float mul = 1.0f / tlength;
-            return new Vertex(X * mul, Y * mul, Z * mul);
+            return new Vertex(vector.X * mul, vector.Y * mul, vector.Z * mul);
         }
         else
         {
-            return new Vertex(0, 0, 0);
+            return new Vertex(0f, 0f, 0f);
         }
     }
 
     public Vertex cross(Vertex v)
     {
-        return new Vertex(Y * v.Z - Z * v.Y, Z * v.X - X * v.Z, X * v.Y - Y * v.X);
+        return new Vertex(vector.Y * v.Z - vector.Z * v.Y, vector.Z * v.X - vector.X * v.Z, vector.X * v.Y - vector.Y * v.X);
     }
 
     // disable warning: mono compiler moans about overloading
@@ -160,9 +182,9 @@ public class Vertex : PhysicsVector, IComparable<Vertex>
         return X * v.X + Y * v.Y + Z * v.Z;
     }
 
-    public Vertex(PhysicsVector v)
-        : base(v.X, v.Y, v.Z)
+    public Vertex(Vector3 v)
     {
+        vector = v;
     }
 
     public Vertex Clone()
@@ -175,11 +197,15 @@ public class Vertex : PhysicsVector, IComparable<Vertex>
         return new Vertex((float) Math.Cos(angle), (float) Math.Sin(angle), 0.0f);
     }
 
+    public float Length()
+    {
+        return vector.Length();
+    }
 
     public virtual bool Equals(Vertex v, float tolerance)
     {
-        PhysicsVector diff = this - v;
-        float d = diff.length();
+        Vertex diff = this - v;
+        float d = diff.Length();
         if (d < tolerance)
             return true;
 
@@ -369,22 +395,22 @@ public class Triangle
         return s1 + ";" + s2 + ";" + s3;
     }
 
-    public PhysicsVector getNormal()
+    public Vector3 getNormal()
     {
         // Vertices
 
         // Vectors for edges
-        PhysicsVector e1;
-        PhysicsVector e2;
+        Vector3 e1;
+        Vector3 e2;
 
-        e1 = new PhysicsVector(v1.X - v2.X, v1.Y - v2.Y, v1.Z - v2.Z);
-        e2 = new PhysicsVector(v1.X - v3.X, v1.Y - v3.Y, v1.Z - v3.Z);
+        e1 = new Vector3(v1.X - v2.X, v1.Y - v2.Y, v1.Z - v2.Z);
+        e2 = new Vector3(v1.X - v3.X, v1.Y - v3.Y, v1.Z - v3.Z);
 
         // Cross product for normal
-        PhysicsVector n = PhysicsVector.cross(e1, e2);
+        Vector3 n = Vector3.Cross(e1, e2);
 
         // Length
-        float l = n.length();
+        float l = n.Length();
 
         // Normalized "normal"
         n = n/l;
diff --git a/OpenSim/Region/Physics/Meshing/Mesh.cs b/OpenSim/Region/Physics/Meshing/Mesh.cs
index 4c3cf33..f781ff9 100644
--- a/OpenSim/Region/Physics/Meshing/Mesh.cs
+++ b/OpenSim/Region/Physics/Meshing/Mesh.cs
@@ -31,6 +31,7 @@ using System.IO;
 using System.Runtime.InteropServices;
 using OpenSim.Region.Physics.Manager;
 using PrimMesher;
+using OpenMetaverse;
 
 namespace OpenSim.Region.Physics.Meshing
 {
@@ -141,12 +142,12 @@ namespace OpenSim.Region.Physics.Meshing
             }
         }
 
-        public List<PhysicsVector> getVertexList()
+        public List<Vector3> getVertexList()
         {
-            List<PhysicsVector> result = new List<PhysicsVector>();
+            List<Vector3> result = new List<Vector3>();
             foreach (Vertex v in m_vertices.Keys)
             {
-                result.Add(v);
+                result.Add(new Vector3(v.X, v.Y, v.Z));
             }
             return result;
         }
@@ -174,6 +175,9 @@ namespace OpenSim.Region.Physics.Meshing
 
             float[] result = getVertexListAsFloat();
             m_pinnedVertexes = GCHandle.Alloc(result, GCHandleType.Pinned);
+            // Inform the garbage collector of this unmanaged allocation so it can schedule
+            // the next GC round more intelligently
+            GC.AddMemoryPressure(Buffer.ByteLength(result));
 
             return result;
         }
@@ -223,6 +227,9 @@ namespace OpenSim.Region.Physics.Meshing
         
             int[] result = getIndexListAsInt();
             m_pinnedIndex = GCHandle.Alloc(result, GCHandleType.Pinned);
+            // Inform the garbage collector of this unmanaged allocation so it can schedule
+            // the next GC round more intelligently
+            GC.AddMemoryPressure(Buffer.ByteLength(result));
 
             return result;
         }
diff --git a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
index f609e73..fbe1949 100644
--- a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
+++ b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
@@ -31,7 +31,6 @@ using System.Collections.Generic;
 using OpenSim.Framework;
 using OpenSim.Region.Physics.Manager;
 using OpenMetaverse;
-using OpenMetaverse.Imaging;
 using System.Drawing;
 using System.Drawing.Imaging;
 using PrimMesher;
@@ -61,7 +60,6 @@ namespace OpenSim.Region.Physics.Meshing
     public class Meshmerizer : IMesher
     {
         private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
-        //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
 
         // Setting baseDir to a path will enable the dumping of raw files
         // raw files can be imported by blender so a visual inspection of the results can be done
@@ -160,7 +158,7 @@ namespace OpenSim.Region.Physics.Meshing
             float minZ = float.MaxValue;
             float maxZ = float.MinValue;
 
-            foreach (Vertex v in meshIn.getVertexList())
+            foreach (Vector3 v in meshIn.getVertexList())
             {
                 if (v != null)
                 {
@@ -185,7 +183,7 @@ namespace OpenSim.Region.Physics.Meshing
 
         }
 
-        private ulong GetMeshKey(PrimitiveBaseShape pbs, PhysicsVector size, float lod)
+        private ulong GetMeshKey(PrimitiveBaseShape pbs, Vector3 size, float lod)
         {
             ulong hash = 5381;
 
@@ -245,9 +243,9 @@ namespace OpenSim.Region.Physics.Meshing
             hash = ((hash << 5) + hash) + (ulong)((byte)c);
             return ((hash << 5) + hash) + (ulong)(c >> 8);
         }
-        
 
-        private Mesh CreateMeshFromPrimMesher(string primName, PrimitiveBaseShape primShape, PhysicsVector size, float lod)
+
+        private Mesh CreateMeshFromPrimMesher(string primName, PrimitiveBaseShape primShape, Vector3 size, float lod)
         {
             PrimMesh primMesh;
             PrimMesher.SculptMesh sculptMesh;
@@ -281,16 +279,12 @@ namespace OpenSim.Region.Physics.Meshing
 
                 if (idata == null)
                 {
-                    if (primShape.SculptData.Length == 0)
+                    if (primShape.SculptData == null || primShape.SculptData.Length == 0)
                         return null;
 
                     try
                     {
-                        ManagedImage managedImage;  // we never use this
-                        OpenJPEG.DecodeToImage(primShape.SculptData, out managedImage, out idata);
-
-                        // Remove the reference to the encoded JPEG2000 data so it can be GCed
-                        primShape.SculptData = Utils.EmptyBytes;
+                        idata = CSJ2K.J2kImage.FromBytes(primShape.SculptData);
 
                         if (cacheSculptMaps)
                         {
@@ -315,8 +309,6 @@ namespace OpenSim.Region.Physics.Meshing
                     }
                 }
 
-
-
                 PrimMesher.SculptMesh.SculptType sculptType;
                 switch ((OpenMetaverse.SculptType)primShape.SculptType)
                 {
@@ -351,7 +343,6 @@ namespace OpenSim.Region.Physics.Meshing
                 coords = sculptMesh.coords;
                 faces = sculptMesh.faces;
             }
-
             else
             {
                 float pathShearX = primShape.PathShearX < 128 ? (float)primShape.PathShearX * 0.01f : (float)(primShape.PathShearX - 256) * 0.01f;
@@ -466,6 +457,8 @@ namespace OpenSim.Region.Physics.Meshing
                 faces = primMesh.faces;
             }
 
+            // Remove the reference to any JPEG2000 sculpt data so it can be GCed
+            primShape.SculptData = Utils.EmptyBytes;
 
             int numCoords = coords.Count;
             int numFaces = faces.Count;
@@ -488,12 +481,12 @@ namespace OpenSim.Region.Physics.Meshing
             return mesh;
         }
 
-        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, PhysicsVector size, float lod)
+        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod)
         {
             return CreateMesh(primName, primShape, size, lod, false);
         }
 
-        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, PhysicsVector size, float lod, bool isPhysical)
+        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical)
         {
             Mesh mesh = null;
             ulong key = 0;
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
index 71ace16..c86bc62 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
@@ -68,15 +68,15 @@ namespace OpenSim.Region.Physics.OdePlugin
     {
         private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
-        private PhysicsVector _position;
+        private Vector3 _position;
         private d.Vector3 _zeroPosition;
         // private d.Matrix3 m_StandUpRotation;
         private bool _zeroFlag = false;
         private bool m_lastUpdateSent = false;
-        private PhysicsVector _velocity;
-        private PhysicsVector _target_velocity;
-        private PhysicsVector _acceleration;
-        private PhysicsVector m_rotationalVelocity;
+        private Vector3 _velocity;
+        private Vector3 _target_velocity;
+        private Vector3 _acceleration;
+        private Vector3 m_rotationalVelocity;
         private float m_mass = 80f;
         public float m_density = 60f;
         private bool m_pidControllerActive = true;
@@ -99,7 +99,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         private bool m_hackSentFall = false;
         private bool m_hackSentFly = false;
         private int m_requestedUpdateFrequency = 0;
-        private PhysicsVector m_taintPosition = new PhysicsVector(0, 0, 0);
+        private Vector3 m_taintPosition = Vector3.Zero;
         public uint m_localID = 0;
         public bool m_returnCollisions = false;
         // taints and their non-tainted counterparts
@@ -143,22 +143,17 @@ namespace OpenSim.Region.Physics.OdePlugin
         public UUID m_uuid;
         public bool bad = false;
 
-        public OdeCharacter(String avName, OdeScene parent_scene, PhysicsVector pos, CollisionLocker dode, PhysicsVector size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
+        public OdeCharacter(String avName, OdeScene parent_scene, Vector3 pos, CollisionLocker dode, Vector3 size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
         {
             m_uuid = UUID.Random();
 
-            // ode = dode;
-            _velocity = new PhysicsVector();
-            _target_velocity = new PhysicsVector();
-
-
-            if (PhysicsVector.isFinite(pos))
+            if (pos.IsFinite())
             {
-                if (pos.Z > 9999999)
+                if (pos.Z > 9999999f)
                 {
                     pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
                 }
-                if (pos.Z < -90000)
+                if (pos.Z < -90000f)
                 {
                     pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
                 }
@@ -169,15 +164,13 @@ namespace OpenSim.Region.Physics.OdePlugin
             }
             else
             {
-                _position = new PhysicsVector(((int)_parent_scene.WorldExtents.X * 0.5f), ((int)_parent_scene.WorldExtents.Y * 0.5f), parent_scene.GetTerrainHeightAtXY(128, 128) + 10);
+                _position = new Vector3(((float)_parent_scene.WorldExtents.X * 0.5f), ((float)_parent_scene.WorldExtents.Y * 0.5f), parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f);
                 m_taintPosition.X = _position.X;
                 m_taintPosition.Y = _position.Y;
                 m_taintPosition.Z = _position.Z;
                 m_log.Warn("[PHYSICS]: Got NaN Position on Character Create");
             }
 
-
-            _acceleration = new PhysicsVector();
             _parent_scene = parent_scene;
 
             PID_D = pid_d;
@@ -189,7 +182,6 @@ namespace OpenSim.Region.Physics.OdePlugin
             walkDivisor = walk_divisor;
             runDivisor = rundivisor;
 
-
             // m_StandUpRotation =
             //     new d.Matrix3(0.5f, 0.7071068f, 0.5f, -0.7071068f, 0f, 0.7071068f, 0.5f, -0.7071068f,
             //                   0.5f);
@@ -205,7 +197,6 @@ namespace OpenSim.Region.Physics.OdePlugin
             m_isPhysical = false; // current status: no ODE information exists
             m_tainted_isPhysical = true; // new tainted status: need to create ODE information
 
-            
             _parent_scene.AddPhysicsActorTaint(this);
             
             m_name = avName;
@@ -412,20 +403,20 @@ namespace OpenSim.Region.Physics.OdePlugin
         /// Not really a good choice unless you 'know' it's a good
         /// spot otherwise you're likely to orbit the avatar.
         /// </summary>
-        public override PhysicsVector Position
+        public override Vector3 Position
         {
             get { return _position; }
             set
             {
                 if (Body == IntPtr.Zero || Shell == IntPtr.Zero)
                 {
-                    if (PhysicsVector.isFinite(value))
+                    if (value.IsFinite())
                     {
-                        if (value.Z > 9999999)
+                        if (value.Z > 9999999f)
                         {
                             value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
                         }
-                        if (value.Z < -90000)
+                        if (value.Z < -90000f)
                         {
                             value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
                         }
@@ -447,7 +438,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             }
         }
 
-        public override PhysicsVector RotationalVelocity
+        public override Vector3 RotationalVelocity
         {
             get { return m_rotationalVelocity; }
             set { m_rotationalVelocity = value; }
@@ -457,20 +448,20 @@ namespace OpenSim.Region.Physics.OdePlugin
         /// This property sets the height of the avatar only.  We use the height to make sure the avatar stands up straight
         /// and use it to offset landings properly
         /// </summary>
-        public override PhysicsVector Size
+        public override Vector3 Size
         {
-            get { return new PhysicsVector(CAPSULE_RADIUS*2, CAPSULE_RADIUS*2, CAPSULE_LENGTH); }
+            get { return new Vector3(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
             set
             {
-                if (PhysicsVector.isFinite(value))
+                if (value.IsFinite())
                 {
                     m_pidControllerActive = true;
 
-                    PhysicsVector SetSize = value;
+                    Vector3 SetSize = value;
                     m_tainted_CAPSULE_LENGTH = (SetSize.Z*1.15f) - CAPSULE_RADIUS*2.0f;
                     //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
 
-                    Velocity = new PhysicsVector(0f, 0f, 0f);
+                    Velocity = Vector3.Zero;
 
                     _parent_scene.AddPhysicsActorTaint(this);
                 }
@@ -481,7 +472,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             }
         }
 
-        private void AlignAvatarTiltWithCurrentDirectionOfMovement(PhysicsVector movementVector)
+        private void AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3 movementVector)
         {
             movementVector.Z = 0f;
             float magnitude = (float)Math.Sqrt((double)(movementVector.X * movementVector.X + movementVector.Y * movementVector.Y));
@@ -643,7 +634,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 // (with -0..0 motor stops) falls into the terrain for reasons yet
                 // to be comprehended in their entirety.
                 #endregion
-                AlignAvatarTiltWithCurrentDirectionOfMovement(new PhysicsVector(0,0,0));
+                AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3.Zero);
                 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f);
                 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
                 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f);
@@ -688,7 +679,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         }
 
-        public override void LockAngularMotion(PhysicsVector axis)
+        public override void LockAngularMotion(Vector3 axis)
         {
 
         }
@@ -716,9 +707,9 @@ namespace OpenSim.Region.Physics.OdePlugin
 //             //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
 //         }
 
-        public override PhysicsVector Force
+        public override Vector3 Force
         {
-            get { return new PhysicsVector(_target_velocity.X, _target_velocity.Y, _target_velocity.Z); }
+            get { return _target_velocity; }
             set { return; }
         }
 
@@ -733,7 +724,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         }
 
-        public override void VehicleVectorParam(int param, PhysicsVector value)
+        public override void VehicleVectorParam(int param, Vector3 value)
         {
 
         }
@@ -748,14 +739,14 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         }
 
-        public override PhysicsVector CenterOfMass
+        public override Vector3 CenterOfMass
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
         }
 
-        public override PhysicsVector GeometricCenter
+        public override Vector3 GeometricCenter
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
         }
 
         public override PrimitiveBaseShape Shape
@@ -763,18 +754,18 @@ namespace OpenSim.Region.Physics.OdePlugin
             set { return; }
         }
 
-        public override PhysicsVector Velocity
+        public override Vector3 Velocity
         {
             get {
-                // There's a problem with PhysicsVector.Zero! Don't Use it Here!
+                // There's a problem with Vector3.Zero! Don't Use it Here!
                 if (_zeroFlag)
-                    return new PhysicsVector(0f, 0f, 0f);
+                    return Vector3.Zero;
                 m_lastUpdateSent = false;
                 return _velocity;
             }
             set
             {
-                if (PhysicsVector.isFinite(value))
+                if (value.IsFinite())
                 {
                     m_pidControllerActive = true;
                     _target_velocity = value;
@@ -786,9 +777,9 @@ namespace OpenSim.Region.Physics.OdePlugin
             }
         }
 
-        public override PhysicsVector Torque
+        public override Vector3 Torque
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
             set { return; }
         }
 
@@ -814,12 +805,12 @@ namespace OpenSim.Region.Physics.OdePlugin
             }
         }
 
-        public override PhysicsVector Acceleration
+        public override Vector3 Acceleration
         {
             get { return _acceleration; }
         }
 
-        public void SetAcceleration(PhysicsVector accel)
+        public void SetAcceleration(Vector3 accel)
         {
             m_pidControllerActive = true;
             _acceleration = accel;
@@ -830,9 +821,9 @@ namespace OpenSim.Region.Physics.OdePlugin
         /// The PID controller takes this target velocity and tries to make it a reality
         /// </summary>
         /// <param name="force"></param>
-        public override void AddForce(PhysicsVector force, bool pushforce)
+        public override void AddForce(Vector3 force, bool pushforce)
         {
-            if (PhysicsVector.isFinite(force))
+            if (force.IsFinite())
             {
                 if (pushforce)
                 {
@@ -861,7 +852,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             //m_lastUpdateSent = false;
         }
 
-        public override void AddAngularForce(PhysicsVector force, bool pushforce)
+        public override void AddAngularForce(Vector3 force, bool pushforce)
         {
 
         }
@@ -870,7 +861,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         /// After all of the forces add up with 'add force' we apply them with doForce
         /// </summary>
         /// <param name="force"></param>
-        public void doForce(PhysicsVector force)
+        public void doForce(Vector3 force)
         {
             if (!collidelock)
             {
@@ -881,7 +872,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             }
         }
 
-        public override void SetMomentum(PhysicsVector momentum)
+        public override void SetMomentum(Vector3 momentum)
         {
         }
 
@@ -908,9 +899,9 @@ namespace OpenSim.Region.Physics.OdePlugin
             //PidStatus = true;
 
             d.Vector3 localpos = d.BodyGetPosition(Body);
-            PhysicsVector localPos = new PhysicsVector(localpos.X, localpos.Y, localpos.Z);
+            Vector3 localPos = new Vector3(localpos.X, localpos.Y, localpos.Z);
             
-            if (!PhysicsVector.isFinite(localPos))
+            if (!localPos.IsFinite())
             {
 
                 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
@@ -946,7 +937,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 return;
             }
 
-            PhysicsVector vec = new PhysicsVector();
+            Vector3 vec = Vector3.Zero;
             d.Vector3 vel = d.BodyGetLinearVel(Body);
 
             float movementdivisor = 1f;
@@ -1059,12 +1050,12 @@ namespace OpenSim.Region.Physics.OdePlugin
                 }
                 // end add Kitto Flora
             }
-            if (PhysicsVector.isFinite(vec))
+            if (vec.IsFinite())
             {
                 doForce(vec);
                 if (!_zeroFlag)
                 {
-                  AlignAvatarTiltWithCurrentDirectionOfMovement(new PhysicsVector(vec.X, vec.Y, vec.Z));
+                  AlignAvatarTiltWithCurrentDirectionOfMovement(vec);
                 }
             }
             else
@@ -1197,7 +1188,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         {
         }
 
-        public override PhysicsVector PIDTarget { set { return; } }
+        public override Vector3 PIDTarget { set { return; } }
         public override bool PIDActive { set { return; } }
         public override float PIDTau { set { return; } }
 
@@ -1311,7 +1302,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                     d.GeomDestroy(Shell);
                     AvatarGeomAndBodyCreation(_position.X, _position.Y,
                                       _position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2), m_tensor);
-                    Velocity = new PhysicsVector(0f, 0f, 0f);
+                    Velocity = Vector3.Zero;
 
                     _parent_scene.geom_name_map[Shell] = m_name;
                     _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
@@ -1325,7 +1316,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 }
             }
 
-            if (!m_taintPosition.IsIdentical(_position, 0.05f))
+            if (!m_taintPosition.ApproxEquals(_position, 0.05f))
             {
                 if (Body != IntPtr.Zero)
                 {
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs
index 467eba0..4a802cd 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs
@@ -1,16 +1,4 @@
 /*
- * Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces
- * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
- * ODEPrim.cs contains methods dealing with Prim editing, Prim
- * characteristics and Kinetic motion.
- * ODEDynamics.cs contains methods dealing with Prim Physical motion
- * (dynamics) and the associated settings. Old Linear and angular
- * motors for dynamic motion have been replace with  MoveLinear()
- * and MoveAngular(); 'Physical' is used only to switch ODE dynamic 
- * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
- * switch between 'VEHICLE' parameter use and general dynamics
- * settings use.
- * 
  * Copyright (c) Contributors, http://opensimulator.org/
  * See CONTRIBUTORS.TXT for a full list of copyright holders.
  *
@@ -37,6 +25,19 @@
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
+/* Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces
+ * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
+ * ODEPrim.cs contains methods dealing with Prim editing, Prim
+ * characteristics and Kinetic motion.
+ * ODEDynamics.cs contains methods dealing with Prim Physical motion
+ * (dynamics) and the associated settings. Old Linear and angular
+ * motors for dynamic motion have been replace with  MoveLinear()
+ * and MoveAngular(); 'Physical' is used only to switch ODE dynamic 
+ * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
+ * switch between 'VEHICLE' parameter use and general dynamics
+ * settings use.
+ */ 
+
 using System;
 using System.Collections.Generic;
 using System.Reflection;
@@ -231,7 +232,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             
         }//end ProcessFloatVehicleParam
 
-        internal void ProcessVectorVehicleParam(Vehicle pParam, PhysicsVector pValue)
+        internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
         {
             switch (pParam)
             {
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
index f59f0ae..5ff9d32 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
@@ -1,18 +1,5 @@
-/*
- * Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces
- * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
- * ODEPrim.cs contains methods dealing with Prim editing, Prim
- * characteristics and Kinetic motion.
- * ODEDynamics.cs contains methods dealing with Prim Physical motion
- * (dynamics) and the associated settings. Old Linear and angular
- * motors for dynamic motion have been replace with  MoveLinear()
- * and MoveAngular(); 'Physical' is used only to switch ODE dynamic 
- * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
- * switch between 'VEHICLE' parameter use and general dynamics
- * settings use.
- * Copyright (c) Contributors, http://opensimulator.org/
+/* Copyright (c) Contributors, http://opensimulator.org/
  * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are met:
  *     * Redistributions of source code must retain the above copyright
@@ -35,6 +22,20 @@
  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
+
+/*
+ * Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces
+ * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
+ * ODEPrim.cs contains methods dealing with Prim editing, Prim
+ * characteristics and Kinetic motion.
+ * ODEDynamics.cs contains methods dealing with Prim Physical motion
+ * (dynamics) and the associated settings. Old Linear and angular
+ * motors for dynamic motion have been replace with  MoveLinear()
+ * and MoveAngular(); 'Physical' is used only to switch ODE dynamic 
+ * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
+ * switch between 'VEHICLE' parameter use and general dynamics
+ * settings use.
+ */
 using System;
 using System.Collections.Generic;
 using System.Reflection;
@@ -56,44 +57,43 @@ namespace OpenSim.Region.Physics.OdePlugin
     {
         private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
-        private PhysicsVector _position;
-        private PhysicsVector _velocity;
-        private PhysicsVector _torque = new PhysicsVector(0,0,0);
-        private PhysicsVector m_lastVelocity = new PhysicsVector(0.0f, 0.0f, 0.0f);
-        private PhysicsVector m_lastposition = new PhysicsVector(0.0f, 0.0f, 0.0f);
+        private Vector3 _position;
+        private Vector3 _velocity;
+        private Vector3 _torque;
+        private Vector3 m_lastVelocity;
+        private Vector3 m_lastposition;
         private Quaternion m_lastorientation = new Quaternion();
-        private PhysicsVector m_rotationalVelocity;
-        private PhysicsVector _size;
-        private PhysicsVector _acceleration;
+        private Vector3 m_rotationalVelocity;
+        private Vector3 _size;
+        private Vector3 _acceleration;
         // private d.Vector3 _zeroPosition = new d.Vector3(0.0f, 0.0f, 0.0f);
         private Quaternion _orientation;
-        private PhysicsVector m_taintposition;
-        private PhysicsVector m_taintsize;
-        private PhysicsVector m_taintVelocity = new PhysicsVector(0, 0, 0);
-        private PhysicsVector m_taintTorque = new PhysicsVector(0, 0, 0);
+        private Vector3 m_taintposition;
+        private Vector3 m_taintsize;
+        private Vector3 m_taintVelocity;
+        private Vector3 m_taintTorque;
         private Quaternion m_taintrot;
-        private PhysicsVector m_angularlock = new PhysicsVector(1f, 1f, 1f);
-        private PhysicsVector m_taintAngularLock = new PhysicsVector(1f, 1f, 1f);
+        private Vector3 m_angularlock = Vector3.One;
+        private Vector3 m_taintAngularLock = Vector3.One;
         private IntPtr Amotor = IntPtr.Zero;
 
-        private PhysicsVector m_PIDTarget = new PhysicsVector(0, 0, 0);
-        // private PhysicsVector m_taintPIDTarget = new PhysicsVector(0, 0, 0);
-        private float m_PIDTau = 0f;
+        private Vector3 m_PIDTarget;
+        private float m_PIDTau;
         private float PID_D = 35f;
         private float PID_G = 25f;
-        private bool m_usePID = false;
+        private bool m_usePID;
 
         // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau),
         // and are for non-VEHICLES only.
-         
-        private float m_PIDHoverHeight = 0f;
-        private float m_PIDHoverTau = 0f;
-        private bool m_useHoverPID = false;
+
+        private float m_PIDHoverHeight;
+        private float m_PIDHoverTau;
+        private bool m_useHoverPID;
         private PIDHoverType m_PIDHoverType = PIDHoverType.Ground;
-        private float m_targetHoverHeight = 0f;
-        private float m_groundHeight = 0f;
-        private float m_waterHeight = 0f;
-        private float m_buoyancy = 0f;                          //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. 
+        private float m_targetHoverHeight;
+        private float m_groundHeight;
+        private float m_waterHeight;
+        private float m_buoyancy;                               //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. 
 
         // private float m_tensor = 5f;
         private int body_autodisable_frames = 20;
@@ -104,11 +104,11 @@ namespace OpenSim.Region.Physics.OdePlugin
                                                         | CollisionCategories.Body
                                                         | CollisionCategories.Character
                                                         );
-        private bool m_taintshape = false;
-        private bool m_taintPhysics = false;
+        private bool m_taintshape;
+        private bool m_taintPhysics;
         private bool m_collidesLand = true;
-        private bool m_collidesWater = false;
-        public bool m_returnCollisions = false;
+        private bool m_collidesWater;
+        public bool m_returnCollisions;
 
         // Default we're a Geometry
         private CollisionCategories m_collisionCategories = (CollisionCategories.Geom);
@@ -116,85 +116,83 @@ namespace OpenSim.Region.Physics.OdePlugin
         // Default, Collide with Other Geometries, spaces and Bodies
         private CollisionCategories m_collisionFlags = m_default_collisionFlags;
 
-        public bool m_taintremove = false;
-        public bool m_taintdisable = false;
-        public bool m_disabled = false;
-        public bool m_taintadd = false;
-        public bool m_taintselected = false;
-        public bool m_taintCollidesWater = false;
+        public bool m_taintremove;
+        public bool m_taintdisable;
+        public bool m_disabled;
+        public bool m_taintadd;
+        public bool m_taintselected;
+        public bool m_taintCollidesWater;
 
-        public uint m_localID = 0;
+        public uint m_localID;
 
         //public GCHandle gc;
         private CollisionLocker ode;
 
         private bool m_taintforce = false;
         private bool m_taintaddangularforce = false;
-        private PhysicsVector m_force = new PhysicsVector(0.0f, 0.0f, 0.0f);
-        private List<PhysicsVector> m_forcelist = new List<PhysicsVector>();
-        private List<PhysicsVector> m_angularforcelist = new List<PhysicsVector>();
+        private Vector3 m_force;
+        private List<Vector3> m_forcelist = new List<Vector3>();
+        private List<Vector3> m_angularforcelist = new List<Vector3>();
 
         private IMesh _mesh;
         private PrimitiveBaseShape _pbs;
         private OdeScene _parent_scene;
-        public IntPtr m_targetSpace = (IntPtr) 0;
+        public IntPtr m_targetSpace = IntPtr.Zero;
         public IntPtr prim_geom;
         public IntPtr prev_geom;
         public IntPtr _triMeshData;
 
-        private IntPtr _linkJointGroup = (IntPtr)0;
-        private PhysicsActor _parent = null;
-        private PhysicsActor m_taintparent = null;
+        private IntPtr _linkJointGroup = IntPtr.Zero;
+        private PhysicsActor _parent;
+        private PhysicsActor m_taintparent;
 
         private List<OdePrim> childrenPrim = new List<OdePrim>();
 
-        private bool iscolliding = false;
-        private bool m_isphysical = false;
-        private bool m_isSelected = false;
+        private bool iscolliding;
+        private bool m_isphysical;
+        private bool m_isSelected;
 
-        internal bool m_isVolumeDetect = false; // If true, this prim only detects collisions but doesn't collide actively
+        internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively
 
-        private bool m_throttleUpdates = false;
-        private int throttleCounter = 0;
-        public int m_interpenetrationcount = 0;
-        public float m_collisionscore = 0;
-        public int m_roundsUnderMotionThreshold = 0;
-        private int m_crossingfailures = 0;
+        private bool m_throttleUpdates;
+        private int throttleCounter;
+        public int m_interpenetrationcount;
+        public float m_collisionscore;
+        public int m_roundsUnderMotionThreshold;
+        private int m_crossingfailures;
 
-        public bool outofBounds = false;
+        public bool outofBounds;
         private float m_density = 10.000006836f; // Aluminum g/cm3;
 
-        public bool _zeroFlag = false;
-        private bool m_lastUpdateSent = false;
+        public bool _zeroFlag;
+        private bool m_lastUpdateSent;
 
-        public IntPtr Body = (IntPtr) 0;
+        public IntPtr Body = IntPtr.Zero;
         public String m_primName;
-//        private String m_primName;
-        private PhysicsVector _target_velocity;
+        private Vector3 _target_velocity;
         public d.Mass pMass;
 
-        public int m_eventsubscription = 0;
-        private CollisionEventUpdate CollisionEventsThisFrame = null;
+        public int m_eventsubscription;
+        private CollisionEventUpdate CollisionEventsThisFrame;
 
-        private IntPtr m_linkJoint = (IntPtr)0;
+        private IntPtr m_linkJoint = IntPtr.Zero;
 
-        public volatile bool childPrim = false;
+        public volatile bool childPrim;
 
         private ODEDynamics m_vehicle;
 
         internal int m_material = (int)Material.Wood;
 
-        public OdePrim(String primName, OdeScene parent_scene, PhysicsVector pos, PhysicsVector size,
+        public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size,
                        Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode)
         {
-            _target_velocity = new PhysicsVector(0, 0, 0);
             m_vehicle = new ODEDynamics();
             //gc = GCHandle.Alloc(prim_geom, GCHandleType.Pinned);
             ode = dode;
-            _velocity = new PhysicsVector();
-            if (!PhysicsVector.isFinite(pos))
+            if (!pos.IsFinite())
             {
-                pos = new PhysicsVector(((int)Constants.RegionSize * 0.5f), ((int)Constants.RegionSize * 0.5f), parent_scene.GetTerrainHeightAtXY(((int)Constants.RegionSize * 0.5f), ((int)Constants.RegionSize * 0.5f)) + 0.5f);
+                pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f),
+                    parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f);
                 m_log.Warn("[PHYSICS]: Got nonFinite Object create Position");
             }
             _position = pos;
@@ -209,9 +207,9 @@ namespace OpenSim.Region.Physics.OdePlugin
             prim_geom = IntPtr.Zero;
             prev_geom = IntPtr.Zero;
 
-            if (!PhysicsVector.isFinite(pos))
+            if (!pos.IsFinite())
             {
-                size = new PhysicsVector(0.5f, 0.5f, 0.5f);
+                size = new Vector3(0.5f, 0.5f, 0.5f);
                 m_log.Warn("[PHYSICS]: Got nonFinite Object create Size");
             }
 
@@ -221,8 +219,6 @@ namespace OpenSim.Region.Physics.OdePlugin
 
             _size = size;
             m_taintsize = _size;
-            _acceleration = new PhysicsVector();
-            m_rotationalVelocity = PhysicsVector.Zero;
 
             if (!QuaternionIsFinite(rotation))
             {
@@ -387,7 +383,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 m_disabled = false;
 
                 // The body doesn't already have a finite rotation mode set here
-                if ((!m_angularlock.IsIdentical(PhysicsVector.Zero, 0)) && _parent == null)
+                if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0.0f)) && _parent == null)
                 {
                     createAMotor(m_angularlock);
                 }
@@ -800,6 +796,8 @@ namespace OpenSim.Region.Physics.OdePlugin
             m_collisionscore = 0;
         }
 
+        private static Dictionary<IMesh, IntPtr> m_MeshToTriMeshMap = new Dictionary<IMesh, IntPtr>();
+
         public void setMesh(OdeScene parent_scene, IMesh mesh)
         {
             // This sleeper is there to moderate how long it takes between
@@ -831,19 +829,24 @@ namespace OpenSim.Region.Physics.OdePlugin
             mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); // Also fixed, needs release after usage
 
             mesh.releaseSourceMeshData(); // free up the original mesh data to save memory
+            if (m_MeshToTriMeshMap.ContainsKey(mesh))
+            {
+                _triMeshData = m_MeshToTriMeshMap[mesh];
+            }
+            else
+            {
+                _triMeshData = d.GeomTriMeshDataCreate();
 
-            _triMeshData = d.GeomTriMeshDataCreate();
-
-            d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride);
-            d.GeomTriMeshDataPreprocess(_triMeshData);
+                d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride);
+                d.GeomTriMeshDataPreprocess(_triMeshData);
+                m_MeshToTriMeshMap[mesh] = _triMeshData;
+            }
 
             _parent_scene.waitForSpaceUnlock(m_targetSpace);
-
             try
             {
                 if (prim_geom == IntPtr.Zero)
                 {
-//Console.WriteLine(" setMesh 1");               
                     SetGeom(d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null));
                 }
             }
@@ -853,6 +856,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 return;
             }
 
+
            // if (IsPhysical && Body == (IntPtr) 0)
            // {
                 // Recreate the body
@@ -873,7 +877,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             
             if (prim_geom != IntPtr.Zero)
             {
-                         if (!_position.IsIdentical(m_taintposition,0f))
+                         if (!_position.ApproxEquals(m_taintposition, 0f))
                             changemove(timestep);
 
                      if (m_taintrot != _orientation)
@@ -898,7 +902,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                     changePhysicsStatus(timestep);
                 //
 
-                if (!_size.IsIdentical(m_taintsize,0))
+                if (!_size.ApproxEquals(m_taintsize,0f))
                     changesize(timestep);
                 //
 
@@ -912,7 +916,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 if (m_taintaddangularforce)
                     changeAddAngularForce(timestep);
 
-                if (!m_taintTorque.IsIdentical(PhysicsVector.Zero, 0.001f))
+                if (!m_taintTorque.ApproxEquals(Vector3.Zero, 0.001f))
                     changeSetTorque(timestep);
 
                 if (m_taintdisable)
@@ -921,7 +925,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 if (m_taintselected != m_isSelected)
                     changeSelectedStatus(timestep);
 
-                if (!m_taintVelocity.IsIdentical(PhysicsVector.Zero, 0.001f))
+                if (!m_taintVelocity.ApproxEquals(Vector3.Zero, 0.001f))
                     changevelocity(timestep);
 
                 if (m_taintparent != _parent)
@@ -930,7 +934,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 if (m_taintCollidesWater != m_collidesWater)
                     changefloatonwater(timestep);
 
-                if (!m_angularlock.IsIdentical(m_taintAngularLock,0))
+                if (!m_angularlock.ApproxEquals(m_taintAngularLock,0f))
                     changeAngularLock(timestep);
  
             }
@@ -950,7 +954,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 //If we have a parent then we're not authorative here
                 if (_parent == null)
                 {
-                    if (!m_taintAngularLock.IsIdentical(new PhysicsVector(1f,1f,1f), 0))
+                    if (!m_taintAngularLock.ApproxEquals(Vector3.One, 0f))
                     {
                         //d.BodySetFiniteRotationMode(Body, 0);
                         //d.BodySetFiniteRotationAxis(Body,m_taintAngularLock.X,m_taintAngularLock.Y,m_taintAngularLock.Z);
@@ -967,7 +971,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 }
             }
             // Store this for later in case we get turned into a separate body
-            m_angularlock = new PhysicsVector(m_taintAngularLock.X, m_taintAngularLock.Y, m_taintAngularLock.Z);
+            m_angularlock = m_taintAngularLock;
             
         }
 
@@ -1111,7 +1115,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                                 prm.m_disabled = false;
 
                                 // The body doesn't already have a finite rotation mode set here
-                                if ((!m_angularlock.IsIdentical(PhysicsVector.Zero, 0)) && _parent == null)
+                                if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null)
                                 {
                                     prm.createAMotor(m_angularlock);
                                 }
@@ -1154,7 +1158,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                             m_disabled = false;
 
                             // The body doesn't already have a finite rotation mode set here
-                            if ((!m_angularlock.IsIdentical(PhysicsVector.Zero, 0)) && _parent == null)
+                            if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null)
                             {
                                 createAMotor(m_angularlock);
                             }
@@ -1338,7 +1342,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             m_taintshape = false;
             m_taintforce = false;
             m_taintdisable = false;
-            m_taintVelocity = PhysicsVector.Zero;
+            m_taintVelocity = Vector3.Zero;
         }
 
         public void CreateGeom(IntPtr m_targetSpace, IMesh _mesh)
@@ -1567,7 +1571,7 @@ Console.WriteLine(" JointCreateFixed");
 //Console.WriteLine("Move " +  m_primName);             
                         if(!d.BodyIsEnabled (Body))  d.BodyEnable (Body); // KF add 161009
                         // NON-'VEHICLES' are dealt with here
-                        if (d.BodyIsEnabled(Body) && !m_angularlock.IsIdentical(PhysicsVector.Zero, 0.003f))
+                        if (d.BodyIsEnabled(Body) && !m_angularlock.ApproxEquals(Vector3.Zero, 0.003f))
                         {
                             d.Vector3 avel2 = d.BodyGetAngularVel(Body);
                             if (m_angularlock.X == 1)
@@ -1624,7 +1628,7 @@ Console.WriteLine(" JointCreateFixed");
 
                             d.Vector3 pos = d.BodyGetPosition(Body);
                             _target_velocity =
-                                new PhysicsVector(
+                            new Vector3(
                                     (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep),
                                     (m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep),
                                     (m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep)
@@ -1632,7 +1636,7 @@ Console.WriteLine(" JointCreateFixed");
 
                             //  if velocity is zero, use position control; otherwise, velocity control
 
-                            if (_target_velocity.IsIdentical(PhysicsVector.Zero,0.1f))
+                            if (_target_velocity.ApproxEquals(Vector3.Zero,0.1f))
                             {
                                 //  keep track of where we stopped.  No more slippin' & slidin'
         
@@ -1717,13 +1721,13 @@ Console.WriteLine(" JointCreateFixed");
 
 
                             _target_velocity =
-                            new PhysicsVector(0.0f, 0.0f,
+                            new Vector3(0.0f, 0.0f,
                                 (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep)
                                 );
 
                         //  if velocity is zero, use position control; otherwise, velocity control
 
-                        if (_target_velocity.IsIdentical(PhysicsVector.Zero, 0.1f))
+                        if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
                         {
                             //  keep track of where we stopped.  No more slippin' & slidin'
         
@@ -1812,7 +1816,7 @@ Console.WriteLine(" JointCreateFixed");
                 d.BodySetQuaternion(Body, ref myrot);
                     if (m_isphysical)
                     {
-                        if (!m_angularlock.IsIdentical(new PhysicsVector(1, 1, 1), 0))
+                    if (!m_angularlock.ApproxEquals(Vector3.One, 0f))
                             createAMotor(m_angularlock);
                     }
                 }
@@ -2121,7 +2125,7 @@ Console.WriteLine(" JointCreateFixed");
                     //m_log.Info("[PHYSICS]: dequeing forcelist");
                     if (IsPhysical)
                     {
-                        PhysicsVector iforce = new PhysicsVector();
+                        Vector3 iforce = Vector3.Zero;
                         for (int i = 0; i < m_forcelist.Count; i++)
                         {
                             iforce = iforce + (m_forcelist[i] * 100);
@@ -2151,8 +2155,8 @@ Console.WriteLine(" JointCreateFixed");
                     d.BodySetTorque(Body, m_taintTorque.X, m_taintTorque.Y, m_taintTorque.Z);
                 }
             }
-            
-            m_taintTorque = new PhysicsVector(0, 0, 0);
+
+            m_taintTorque = Vector3.Zero;
         }
 
         public void changeAddAngularForce(float timestamp)
@@ -2164,7 +2168,7 @@ Console.WriteLine(" JointCreateFixed");
                     //m_log.Info("[PHYSICS]: dequeing forcelist");
                     if (IsPhysical)
                     {
-                        PhysicsVector iforce = new PhysicsVector();
+                        Vector3 iforce = Vector3.Zero;
                         for (int i = 0; i < m_angularforcelist.Count; i++)
                         {
                             iforce = iforce + (m_angularforcelist[i] * 100);
@@ -2198,7 +2202,7 @@ Console.WriteLine(" JointCreateFixed");
                 
                 //resetCollisionAccounting();
             }
-            m_taintVelocity = PhysicsVector.Zero;
+            m_taintVelocity = Vector3.Zero;
         }
 
         public override bool IsPhysical
@@ -2207,7 +2211,7 @@ Console.WriteLine(" JointCreateFixed");
             set { 
                   m_isphysical = value;
                   if (!m_isphysical) // Zero the remembered last velocity
-                      m_lastVelocity = new PhysicsVector(0.0f, 0.0f, 0.0f);
+                      m_lastVelocity = Vector3.Zero;
                 }
         }
 
@@ -2252,7 +2256,7 @@ Console.WriteLine(" JointCreateFixed");
             get { return _zeroFlag; }
         }
 
-        public override PhysicsVector Position
+        public override Vector3 Position
         {
             get { return _position; }
 
@@ -2261,12 +2265,12 @@ Console.WriteLine(" JointCreateFixed");
             }
         }
 
-        public override PhysicsVector Size
+        public override Vector3 Size
         {
             get { return _size; }
             set
             {
-                if (PhysicsVector.isFinite(value))
+                if (value.IsFinite())
                 {
                     _size = value;
                 }
@@ -2282,13 +2286,13 @@ Console.WriteLine(" JointCreateFixed");
             get { return CalculateMass(); }
         }
 
-        public override PhysicsVector Force
+        public override Vector3 Force
         {
-            //get { return PhysicsVector.Zero; }
+            //get { return Vector3.Zero; }
             get { return m_force; }
             set
             {
-                if (PhysicsVector.isFinite(value))
+                if (value.IsFinite())
                 {
                     m_force = value;
                 }
@@ -2310,7 +2314,7 @@ Console.WriteLine(" JointCreateFixed");
             m_vehicle.ProcessFloatVehicleParam((Vehicle) param, value);
         }
 
-        public override void VehicleVectorParam(int param, PhysicsVector value)
+        public override void VehicleVectorParam(int param, Vector3 value)
         {
             m_vehicle.ProcessVectorVehicleParam((Vehicle) param, value);
         }
@@ -2328,14 +2332,14 @@ Console.WriteLine(" JointCreateFixed");
             }
         }
 
-        public override PhysicsVector CenterOfMass
+        public override Vector3 CenterOfMass
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
         }
 
-        public override PhysicsVector GeometricCenter
+        public override Vector3 GeometricCenter
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
         }
 
         public override PrimitiveBaseShape Shape
@@ -2347,13 +2351,13 @@ Console.WriteLine(" JointCreateFixed");
             }
         }
 
-        public override PhysicsVector Velocity
+        public override Vector3 Velocity
         {
             get
             {
                 // Averate previous velocity with the new one so
                 // client object interpolation works a 'little' better
-                PhysicsVector returnVelocity = new PhysicsVector();
+                Vector3 returnVelocity = Vector3.Zero;
                 returnVelocity.X = (m_lastVelocity.X + _velocity.X)/2;
                 returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y)/2;
                 returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z)/2;
@@ -2361,7 +2365,7 @@ Console.WriteLine(" JointCreateFixed");
             }
             set
             {
-                if (PhysicsVector.isFinite(value))
+                if (value.IsFinite())
                 {
                     _velocity = value;
 
@@ -2376,19 +2380,19 @@ Console.WriteLine(" JointCreateFixed");
             }
         }
 
-        public override PhysicsVector Torque
+        public override Vector3 Torque
         {
             get
             {
                 if (!m_isphysical || Body == IntPtr.Zero)
-                    return new PhysicsVector(0,0,0);
+                    return Vector3.Zero;
 
                 return _torque;
             }
 
             set
             {
-                if (PhysicsVector.isFinite(value))
+                if (value.IsFinite())
                 {
                     m_taintTorque = value;
                     _parent_scene.AddPhysicsActorTaint(this);
@@ -2440,20 +2444,20 @@ Console.WriteLine(" JointCreateFixed");
             return true;
         }
 
-        public override PhysicsVector Acceleration
+        public override Vector3 Acceleration
         {
             get { return _acceleration; }
         }
 
 
-        public void SetAcceleration(PhysicsVector accel)
+        public void SetAcceleration(Vector3 accel)
         {
             _acceleration = accel;
         }
 
-        public override void AddForce(PhysicsVector force, bool pushforce)
+        public override void AddForce(Vector3 force, bool pushforce)
         {
-            if (PhysicsVector.isFinite(force))
+            if (force.IsFinite())
             {
                 m_forcelist.Add(force);
                 m_taintforce = true;
@@ -2465,9 +2469,9 @@ Console.WriteLine(" JointCreateFixed");
             //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() +  " to prim at " + Position.ToString());
         }
 
-        public override void AddAngularForce(PhysicsVector force, bool pushforce)
+        public override void AddAngularForce(Vector3 force, bool pushforce)
         {
-            if (PhysicsVector.isFinite(force))
+            if (force.IsFinite())
             {
                 m_angularforcelist.Add(force);
                 m_taintaddangularforce = true;
@@ -2478,23 +2482,23 @@ Console.WriteLine(" JointCreateFixed");
             }
         }
 
-        public override PhysicsVector RotationalVelocity
+        public override Vector3 RotationalVelocity
         {
             get
             {
-                PhysicsVector pv = new PhysicsVector(0, 0, 0);
+                Vector3 pv = Vector3.Zero;
                 if (_zeroFlag)
                     return pv;
                 m_lastUpdateSent = false;
 
-                if (m_rotationalVelocity.IsIdentical(pv, 0.2f))
+                if (m_rotationalVelocity.ApproxEquals(pv, 0.2f))
                     return pv;
 
                 return m_rotationalVelocity;
             }
             set
             {
-                if (PhysicsVector.isFinite(value))
+                if (value.IsFinite())
                 {
                     m_rotationalVelocity = value;
                 }
@@ -2535,16 +2539,16 @@ Console.WriteLine(" JointCreateFixed");
             m_taintparent = null;
         }
 
-        public override void LockAngularMotion(PhysicsVector axis)
+        public override void LockAngularMotion(Vector3 axis)
         {
             // reverse the zero/non zero values for ODE.
-            if (PhysicsVector.isFinite(axis))
+            if (axis.IsFinite())
             {
                 axis.X = (axis.X > 0) ? 1f : 0f;
                 axis.Y = (axis.Y > 0) ? 1f : 0f;
                 axis.Z = (axis.Z > 0) ? 1f : 0f;
                 m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z);
-                m_taintAngularLock = new PhysicsVector(axis.X, axis.Y, axis.Z);
+                m_taintAngularLock = axis;
             }
             else
             {
@@ -2557,7 +2561,7 @@ Console.WriteLine(" JointCreateFixed");
             //  no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
             if (_parent == null)
             {
-                PhysicsVector pv = new PhysicsVector(0, 0, 0);
+                Vector3 pv = Vector3.Zero;
                 bool lastZeroFlag = _zeroFlag;
                 if (Body != (IntPtr)0) // FIXME -> or if it is a joint
                 {
@@ -2566,9 +2570,9 @@ Console.WriteLine(" JointCreateFixed");
                     d.Vector3 vel = d.BodyGetLinearVel(Body);
                     d.Vector3 rotvel = d.BodyGetAngularVel(Body);
                     d.Vector3 torque = d.BodyGetTorque(Body);
-                    _torque.setValues(torque.X, torque.Y, torque.Z);
-                    PhysicsVector l_position = new PhysicsVector();
-                    Quaternion l_orientation = new Quaternion();
+                    _torque = new Vector3(torque.X, torque.Y, torque.Z);
+                    Vector3 l_position = Vector3.Zero;
+                    Quaternion l_orientation = Quaternion.Identity;
 
                     //  kluge to keep things in bounds.  ODE lets dead avatars drift away (they should be removed!)
                     //if (vec.X < 0.0f) { vec.X = 0.0f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); }
@@ -2703,16 +2707,16 @@ Console.WriteLine(" JointCreateFixed");
                         _velocity.Z = vel.Z;
 
                         _acceleration = ((_velocity - m_lastVelocity) / 0.1f);
-                        _acceleration = new PhysicsVector(_velocity.X - m_lastVelocity.X / 0.1f, _velocity.Y - m_lastVelocity.Y / 0.1f, _velocity.Z - m_lastVelocity.Z / 0.1f);
+                        _acceleration = new Vector3(_velocity.X - m_lastVelocity.X / 0.1f, _velocity.Y - m_lastVelocity.Y / 0.1f, _velocity.Z - m_lastVelocity.Z / 0.1f);
                         //m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString());
 
-                        if (_velocity.IsIdentical(pv, 0.5f))
+                        if (_velocity.ApproxEquals(pv, 0.5f))
                         {
                             m_rotationalVelocity = pv;
                         }
                         else
                         {
-                            m_rotationalVelocity.setValues(rotvel.X, rotvel.Y, rotvel.Z);
+                            m_rotationalVelocity = new Vector3(rotvel.X, rotvel.Y, rotvel.Z);
                         }
 
                         //m_log.Debug("ODE: " + m_rotationalVelocity.ToString());
@@ -2760,15 +2764,15 @@ Console.WriteLine(" JointCreateFixed");
             }
         }
 
-        public override void SetMomentum(PhysicsVector momentum)
+        public override void SetMomentum(Vector3 momentum)
         {
         }
 
-        public override PhysicsVector PIDTarget 
+        public override Vector3 PIDTarget 
         { 
             set
             {
-                if (PhysicsVector.isFinite(value))
+                if (value.IsFinite())
                 {
                     m_PIDTarget = value;
                 }
@@ -2784,7 +2788,7 @@ Console.WriteLine(" JointCreateFixed");
         public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } }
         public override float PIDHoverTau { set { m_PIDHoverTau = value; } }
 
-        private void createAMotor(PhysicsVector axis)
+        private void createAMotor(Vector3 axis)
         {
             if (Body == IntPtr.Zero)
                 return;
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
index 0a065be..2f42646 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
@@ -239,6 +239,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         private readonly HashSet<OdePrim> _prims = new HashSet<OdePrim>();
         private readonly HashSet<OdePrim> _activeprims = new HashSet<OdePrim>();
         private readonly HashSet<OdePrim> _taintedPrimH = new HashSet<OdePrim>();
+        private readonly Object _taintedPrimLock = new Object();
         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>();
@@ -683,7 +684,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         /// </summary>
         /// <param name="pos"></param>
         /// <returns>Returns which split up space the given position is in.</returns>
-        public string whichspaceamIin(PhysicsVector pos)
+        public string whichspaceamIin(Vector3 pos)
         {
             return calculateSpaceForGeom(pos).ToString();
         }
@@ -962,7 +963,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 
                                     //p2.CollidingObj = true;
                                     contacts[i].depth = 0.00000003f;
-                                    p2.Velocity = p2.Velocity + new PhysicsVector(0, 0, 0.5f);
+                                    p2.Velocity = p2.Velocity + new Vector3(0f, 0f, 0.5f);
                                     contacts[i].pos =
                                         new d.Vector3(contacts[i].pos.X + (p1.Size.X/2),
                                                       contacts[i].pos.Y + (p1.Size.Y/2),
@@ -980,7 +981,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 
                                     //p2.CollidingObj = true;
                                     contacts[i].depth = 0.00000003f;
-                                    p1.Velocity = p1.Velocity + new PhysicsVector(0, 0, 0.5f);
+                                    p1.Velocity = p1.Velocity + new Vector3(0f, 0f, 0.5f);
                                     contacts[i].pos =
                                         new d.Vector3(contacts[i].pos.X + (p1.Size.X/2),
                                                       contacts[i].pos.Y + (p1.Size.Y/2),
@@ -1645,9 +1646,9 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         #region Add/Remove Entities
 
-        public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying)
+        public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
         {
-            PhysicsVector pos = new PhysicsVector();
+            Vector3 pos;
             pos.X = position.X;
             pos.Y = position.Y;
             pos.Z = position.Z;
@@ -1697,18 +1698,12 @@ namespace OpenSim.Region.Physics.OdePlugin
             
         }
 
-        private PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, Quaternion rotation,
+        private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
                                      IMesh mesh, PrimitiveBaseShape pbs, bool isphysical)
         {
-            
-            PhysicsVector pos = new PhysicsVector(position.X, position.Y, position.Z);
-            //pos.X = position.X;
-            //pos.Y = position.Y;
-            //pos.Z = position.Z;
-            PhysicsVector siz = new PhysicsVector();
-            siz.X = size.X;
-            siz.Y = size.Y;
-            siz.Z = size.Z;
+
+            Vector3 pos = position;
+            Vector3 siz = size;
             Quaternion rot = rotation;
 
             OdePrim newPrim;
@@ -1735,14 +1730,14 @@ namespace OpenSim.Region.Physics.OdePlugin
             }
         }
 
-        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
-                                                  PhysicsVector size, Quaternion rotation) //To be removed
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                                  Vector3 size, Quaternion rotation) //To be removed
         {
             return AddPrimShape(primName, pbs, position, size, rotation, false);
         }
 
-        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
-                                                  PhysicsVector size, Quaternion rotation, bool isPhysical)
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                                  Vector3 size, Quaternion rotation, bool isPhysical)
         {
             PhysicsActor result;
             IMesh mesh = null;
@@ -1975,7 +1970,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         // this joint will just be added to a waiting list that is NOT processed during the main
         // Simulate() loop (to avoid deadlocks). After Simulate() is finished, we handle unprocessed joint requests.
 
-        public override PhysicsJoint RequestJointCreation(string objectNameInScene, PhysicsJointType jointType, PhysicsVector position,
+        public override PhysicsJoint RequestJointCreation(string objectNameInScene, PhysicsJointType jointType, Vector3 position,
                                             Quaternion rotation, string parms, List<string> bodyNames, string trackedBodyName, Quaternion localRotation)
 
         {
@@ -1983,7 +1978,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             OdePhysicsJoint joint = new OdePhysicsJoint();
             joint.ObjectNameInScene = objectNameInScene;
             joint.Type = jointType;
-            joint.Position = new PhysicsVector(position.X, position.Y, position.Z);
+            joint.Position = position;
             joint.Rotation = rotation;
             joint.RawParams = parms;
             joint.BodyNames = new List<string>(bodyNames);
@@ -2035,7 +2030,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         }
 
         // normally called from within OnJointMoved, which is called from within a lock (OdeLock)
-        public override PhysicsVector GetJointAnchor(PhysicsJoint joint)
+        public override Vector3 GetJointAnchor(PhysicsJoint joint)
         {
             Debug.Assert(joint.IsInPhysicsEngine);
             d.Vector3 pos = new d.Vector3();
@@ -2057,14 +2052,14 @@ namespace OpenSim.Region.Physics.OdePlugin
                         break;
                 }
             }
-            return new PhysicsVector(pos.X, pos.Y, pos.Z);
+            return new Vector3(pos.X, pos.Y, pos.Z);
         }
 
         // normally called from within OnJointMoved, which is called from within a lock (OdeLock)
         // WARNING: ODE sometimes returns <0,0,0> as the joint axis! Therefore this function
         // appears to be unreliable. Fortunately we can compute the joint axis ourselves by
         // keeping track of the joint's original orientation relative to one of the involved bodies.
-        public override PhysicsVector GetJointAxis(PhysicsJoint joint)
+        public override Vector3 GetJointAxis(PhysicsJoint joint)
         {
             Debug.Assert(joint.IsInPhysicsEngine);
             d.Vector3 axis = new d.Vector3();
@@ -2086,7 +2081,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                         break;
                 }
             }
-            return new PhysicsVector(axis.X, axis.Y, axis.Z);
+            return new Vector3(axis.X, axis.Y, axis.Z);
         }
 
 
@@ -2254,7 +2249,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         /// <param name="pos">the position that the geom moved to</param>
         /// <param name="currentspace">a pointer to the space it was in before it was moved.</param>
         /// <returns>a pointer to the new space it's in</returns>
-        public IntPtr recalculateSpaceForGeom(IntPtr geom, PhysicsVector pos, IntPtr currentspace)
+        public IntPtr recalculateSpaceForGeom(IntPtr geom, Vector3 pos, IntPtr currentspace)
         {
             // Called from setting the Position and Size of an ODEPrim so
             // it's already in locked space.
@@ -2401,7 +2396,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         /// </summary>
         /// <param name="pos"></param>
         /// <returns>a pointer to the space. This could be a new space or reused space.</returns>
-        public IntPtr calculateSpaceForGeom(PhysicsVector pos)
+        public IntPtr calculateSpaceForGeom(Vector3 pos)
         {
             int[] xyspace = calculateSpaceArrayItemFromPos(pos);
             //m_log.Info("[Physics]: Attempting to use arrayItem: " + xyspace[0].ToString() + "," + xyspace[1].ToString());
@@ -2413,7 +2408,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         /// </summary>
         /// <param name="pos"></param>
         /// <returns>an array item based on the position</returns>
-        public int[] calculateSpaceArrayItemFromPos(PhysicsVector pos)
+        public int[] calculateSpaceArrayItemFromPos(Vector3 pos)
         {
             int[] returnint = new int[2];
 
@@ -2572,7 +2567,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             if (prim is OdePrim)
             {
                 OdePrim taintedprim = ((OdePrim) prim);
-                lock (_taintedPrimH)
+                lock (_taintedPrimLock)
                 {
                     if (!(_taintedPrimH.Contains(taintedprim))) 
                                 {
@@ -2700,24 +2695,28 @@ namespace OpenSim.Region.Physics.OdePlugin
                                 // Modify other objects in the scene.
                                 processedtaints = false;
 
-                                lock (_taintedPrimL)
+                                lock (_taintedPrimLock)
                                 {
                                     foreach (OdePrim prim in _taintedPrimL)
                                     {
-       
-                                    
                                         if (prim.m_taintremove)
                                         {
-//Console.WriteLine("Simulate calls RemovePrimThreadLocked");                                          
+                                            //Console.WriteLine("Simulate calls RemovePrimThreadLocked");                                          
                                             RemovePrimThreadLocked(prim);
                                         }
                                         else
                                         {
-//Console.WriteLine("Simulate calls ProcessTaints");                                        
+                                            //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();
                                     }
 
                                     if (SupportsNINJAJoints)
diff --git a/OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs b/OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs
index cdd38c4..69e2d03 100644
--- a/OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs
+++ b/OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs
@@ -76,8 +76,8 @@ namespace OpenSim.Region.Physics.OdePlugin
         public void CreateAndDropPhysicalCube()
         {
             PrimitiveBaseShape newcube = PrimitiveBaseShape.CreateBox();
-            PhysicsVector position = new PhysicsVector(((int)Constants.RegionSize * 0.5f), ((int)Constants.RegionSize * 0.5f), 128);
-            PhysicsVector size = new PhysicsVector(0.5f, 0.5f, 0.5f);
+            Vector3 position = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f), 128f);
+            Vector3 size = new Vector3(0.5f, 0.5f, 0.5f);
             Quaternion rot = Quaternion.Identity;
             PhysicsActor prim = ps.AddPrimShape("CoolShape", newcube, position, size, rot, true);
             OdePrim oprim = (OdePrim)prim;
diff --git a/OpenSim/Region/Physics/POSPlugin/POSCharacter.cs b/OpenSim/Region/Physics/POSPlugin/POSCharacter.cs
index 35fc616..26cd1dd 100644
--- a/OpenSim/Region/Physics/POSPlugin/POSCharacter.cs
+++ b/OpenSim/Region/Physics/POSPlugin/POSCharacter.cs
@@ -36,20 +36,17 @@ namespace OpenSim.Region.Physics.POSPlugin
 {
     public class POSCharacter : PhysicsActor
     {
-        private PhysicsVector _position;
-        public PhysicsVector _velocity;
-        public PhysicsVector _target_velocity = PhysicsVector.Zero;
-        public PhysicsVector _size = PhysicsVector.Zero;
-        private PhysicsVector _acceleration;
-        private PhysicsVector m_rotationalVelocity = PhysicsVector.Zero;
+        private Vector3 _position;
+        public Vector3 _velocity;
+        public Vector3 _target_velocity = Vector3.Zero;
+        public Vector3 _size = Vector3.Zero;
+        private Vector3 _acceleration;
+        private Vector3 m_rotationalVelocity = Vector3.Zero;
         private bool flying;
         private bool isColliding;
 
         public POSCharacter()
         {
-            _velocity = new PhysicsVector();
-            _position = new PhysicsVector();
-            _acceleration = new PhysicsVector();
         }
 
         public override int PhysicsActorType
@@ -58,7 +55,7 @@ namespace OpenSim.Region.Physics.POSPlugin
             set { return; }
         }
 
-        public override PhysicsVector RotationalVelocity
+        public override Vector3 RotationalVelocity
         {
             get { return m_rotationalVelocity; }
             set { m_rotationalVelocity = value; }
@@ -137,13 +134,13 @@ namespace OpenSim.Region.Physics.POSPlugin
             get { return false; }
         }
 
-        public override PhysicsVector Position
+        public override Vector3 Position
         {
             get { return _position; }
             set { _position = value; }
         }
 
-        public override PhysicsVector Size
+        public override Vector3 Size
         {
             get { return _size; }
             set
@@ -158,9 +155,9 @@ namespace OpenSim.Region.Physics.POSPlugin
             get { return 0f; }
         }
 
-        public override PhysicsVector Force
+        public override Vector3 Force
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
             set { return; }
         }
 
@@ -175,7 +172,7 @@ namespace OpenSim.Region.Physics.POSPlugin
 
         }
 
-        public override void VehicleVectorParam(int param, PhysicsVector value)
+        public override void VehicleVectorParam(int param, Vector3 value)
         {
 
         }
@@ -190,14 +187,14 @@ namespace OpenSim.Region.Physics.POSPlugin
 
         }
 
-        public override PhysicsVector CenterOfMass
+        public override Vector3 CenterOfMass
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
         }
 
-        public override PhysicsVector GeometricCenter
+        public override Vector3 GeometricCenter
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
         }
 
         public override PrimitiveBaseShape Shape
@@ -205,15 +202,15 @@ namespace OpenSim.Region.Physics.POSPlugin
             set { return; }
         }
 
-        public override PhysicsVector Velocity
+        public override Vector3 Velocity
         {
             get { return _velocity; }
             set { _target_velocity = value; }
         }
 
-        public override PhysicsVector Torque
+        public override Vector3 Torque
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
             set { return; }
         }
 
@@ -229,7 +226,7 @@ namespace OpenSim.Region.Physics.POSPlugin
             set { }
         }
 
-        public override PhysicsVector Acceleration
+        public override Vector3 Acceleration
         {
             get { return _acceleration; }
         }
@@ -248,24 +245,24 @@ namespace OpenSim.Region.Physics.POSPlugin
         {
         }
 
-        public override void LockAngularMotion(PhysicsVector axis)
+        public override void LockAngularMotion(Vector3 axis)
         {
         }
 
-        public void SetAcceleration(PhysicsVector accel)
+        public void SetAcceleration(Vector3 accel)
         {
             _acceleration = accel;
         }
 
-        public override void AddForce(PhysicsVector force, bool pushforce)
+        public override void AddForce(Vector3 force, bool pushforce)
         {
         }
 
-        public override void AddAngularForce(PhysicsVector force, bool pushforce)
+        public override void AddAngularForce(Vector3 force, bool pushforce)
         {
         }
 
-        public override void SetMomentum(PhysicsVector momentum)
+        public override void SetMomentum(Vector3 momentum)
         {
         }
 
@@ -273,7 +270,7 @@ namespace OpenSim.Region.Physics.POSPlugin
         {
         }
 
-        public override PhysicsVector PIDTarget
+        public override Vector3 PIDTarget
         {
             set { return; }
         }
diff --git a/OpenSim/Region/Physics/POSPlugin/POSPrim.cs b/OpenSim/Region/Physics/POSPlugin/POSPrim.cs
index b50364b..96c3e26 100644
--- a/OpenSim/Region/Physics/POSPlugin/POSPrim.cs
+++ b/OpenSim/Region/Physics/POSPlugin/POSPrim.cs
@@ -36,19 +36,16 @@ namespace OpenSim.Region.Physics.POSPlugin
 {
     public class POSPrim : PhysicsActor
     {
-        private PhysicsVector _position;
-        private PhysicsVector _velocity;
-        private PhysicsVector _acceleration;
-        private PhysicsVector _size;
-        private PhysicsVector m_rotationalVelocity = PhysicsVector.Zero;
+        private Vector3 _position;
+        private Vector3 _velocity;
+        private Vector3 _acceleration;
+        private Vector3 _size;
+        private Vector3 m_rotationalVelocity = Vector3.Zero;
         private Quaternion _orientation;
         private bool iscolliding;
 
         public POSPrim()
         {
-            _velocity = new PhysicsVector();
-            _position = new PhysicsVector();
-            _acceleration = new PhysicsVector();
         }
 
         public override int PhysicsActorType
@@ -57,7 +54,7 @@ namespace OpenSim.Region.Physics.POSPlugin
             set { return; }
         }
 
-        public override PhysicsVector RotationalVelocity
+        public override Vector3 RotationalVelocity
         {
             get { return m_rotationalVelocity; }
             set { m_rotationalVelocity = value; }
@@ -98,13 +95,13 @@ namespace OpenSim.Region.Physics.POSPlugin
             get { return false; }
         }
 
-        public override PhysicsVector Position
+        public override Vector3 Position
         {
             get { return _position; }
             set { _position = value; }
         }
 
-        public override PhysicsVector Size
+        public override Vector3 Size
         {
             get { return _size; }
             set { _size = value; }
@@ -115,9 +112,9 @@ namespace OpenSim.Region.Physics.POSPlugin
             get { return 0f; }
         }
 
-        public override PhysicsVector Force
+        public override Vector3 Force
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
             set { return; }
         }
 
@@ -132,7 +129,7 @@ namespace OpenSim.Region.Physics.POSPlugin
 
         }
 
-        public override void VehicleVectorParam(int param, PhysicsVector value)
+        public override void VehicleVectorParam(int param, Vector3 value)
         {
 
         }
@@ -147,14 +144,14 @@ namespace OpenSim.Region.Physics.POSPlugin
 
         }
 
-        public override PhysicsVector CenterOfMass
+        public override Vector3 CenterOfMass
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
         }
 
-        public override PhysicsVector GeometricCenter
+        public override Vector3 GeometricCenter
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
         }
 
         public override PrimitiveBaseShape Shape
@@ -173,7 +170,7 @@ namespace OpenSim.Region.Physics.POSPlugin
             set { return; }
         }
 
-        public override PhysicsVector Velocity
+        public override Vector3 Velocity
         {
             get { return _velocity; }
             set { _velocity = value; }
@@ -191,7 +188,7 @@ namespace OpenSim.Region.Physics.POSPlugin
             set { _orientation = value; }
         }
 
-        public override PhysicsVector Acceleration
+        public override Vector3 Acceleration
         {
             get { return _acceleration; }
         }
@@ -202,26 +199,26 @@ namespace OpenSim.Region.Physics.POSPlugin
             set { }
         }
 
-        public void SetAcceleration(PhysicsVector accel)
+        public void SetAcceleration(Vector3 accel)
         {
             _acceleration = accel;
         }
 
-        public override void AddForce(PhysicsVector force, bool pushforce)
+        public override void AddForce(Vector3 force, bool pushforce)
         {
         }
 
-        public override void AddAngularForce(PhysicsVector force, bool pushforce)
+        public override void AddAngularForce(Vector3 force, bool pushforce)
         {
         }
 
-        public override PhysicsVector Torque
+        public override Vector3 Torque
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
             set { return; }
         }
 
-        public override void SetMomentum(PhysicsVector momentum)
+        public override void SetMomentum(Vector3 momentum)
         {
         }
 
@@ -255,7 +252,7 @@ namespace OpenSim.Region.Physics.POSPlugin
         {
         }
 
-        public override void LockAngularMotion(PhysicsVector axis)
+        public override void LockAngularMotion(Vector3 axis)
         {
         }
 
@@ -268,7 +265,7 @@ namespace OpenSim.Region.Physics.POSPlugin
         {
         }
 
-        public override PhysicsVector PIDTarget
+        public override Vector3 PIDTarget
         {
             set { return; }
         }
diff --git a/OpenSim/Region/Physics/POSPlugin/POSScene.cs b/OpenSim/Region/Physics/POSPlugin/POSScene.cs
index fa8cc70..c3f5040 100644
--- a/OpenSim/Region/Physics/POSPlugin/POSScene.cs
+++ b/OpenSim/Region/Physics/POSPlugin/POSScene.cs
@@ -56,7 +56,7 @@ namespace OpenSim.Region.Physics.POSPlugin
         {
         }
 
-        public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying)
+        public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
         {
             POSCharacter act = new POSCharacter();
             act.Position = position;
@@ -84,20 +84,20 @@ namespace OpenSim.Region.Physics.POSPlugin
         }
 
 /*
-        public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation)
+        public override PhysicsActor AddPrim(Vector3 position, Vector3 size, Quaternion rotation)
         {
             return null;
         }
 */
 
-        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
-                                                  PhysicsVector size, Quaternion rotation)
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                                  Vector3 size, Quaternion rotation)
         {
             return AddPrimShape(primName, pbs, position, size, rotation, false);
         }
 
-        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
-                                                  PhysicsVector size, Quaternion rotation, bool isPhysical)
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                                  Vector3 size, Quaternion rotation, bool isPhysical)
         {
             POSPrim prim = new POSPrim();
             prim.Position = position;
@@ -152,23 +152,25 @@ namespace OpenSim.Region.Physics.POSPlugin
                     character._target_velocity.Z += gravity * timeStep;
                 }
 
-                character.Position.X += character._target_velocity.X * timeStep;
-                character.Position.Y += character._target_velocity.Y * timeStep;
+                Vector3 characterPosition = character.Position;
 
-                character.Position.X = Util.Clamp(character.Position.X, 0.01f, Constants.RegionSize - 0.01f);
-                character.Position.Y = Util.Clamp(character.Position.Y, 0.01f, Constants.RegionSize - 0.01f);
+                characterPosition.X += character._target_velocity.X * timeStep;
+                characterPosition.Y += character._target_velocity.Y * timeStep;
+
+                characterPosition.X = Util.Clamp(character.Position.X, 0.01f, Constants.RegionSize - 0.01f);
+                characterPosition.Y = Util.Clamp(character.Position.Y, 0.01f, Constants.RegionSize - 0.01f);
 
                 bool forcedZ = false;
 
                 float terrainheight = _heightMap[(int)character.Position.Y * Constants.RegionSize + (int)character.Position.X];
                 if (character.Position.Z + (character._target_velocity.Z * timeStep) < terrainheight + 2)
                 {
-                    character.Position.Z = terrainheight + character.Size.Z;
+                    characterPosition.Z = terrainheight + character.Size.Z;
                     forcedZ = true;
                 }
                 else
                 {
-                    character.Position.Z += character._target_velocity.Z*timeStep;
+                    characterPosition.Z += character._target_velocity.Z*timeStep;
                 }
 
                 /// this is it -- the magic you've all been waiting for!  Ladies and gentlemen --
@@ -177,29 +179,29 @@ namespace OpenSim.Region.Physics.POSPlugin
 
                 if (isCollidingWithPrim(character))
                 {
-                    character.Position.Z = oldposZ; //  first try Z axis
+                    characterPosition.Z = oldposZ; //  first try Z axis
                     if (isCollidingWithPrim(character))
                     {
-                        character.Position.Z = oldposZ + character.Size.Z / 4.4f; // try harder
+                        characterPosition.Z = oldposZ + character.Size.Z / 4.4f; // try harder
                         if (isCollidingWithPrim(character))
                         {
-                            character.Position.Z = oldposZ + character.Size.Z / 2.2f; // try very hard
+                            characterPosition.Z = oldposZ + character.Size.Z / 2.2f; // try very hard
                             if (isCollidingWithPrim(character))
                             {
-                                character.Position.X = oldposX;
-                                character.Position.Y = oldposY;
-                                character.Position.Z = oldposZ;
+                                characterPosition.X = oldposX;
+                                characterPosition.Y = oldposY;
+                                characterPosition.Z = oldposZ;
 
-                                character.Position.X += character._target_velocity.X * timeStep;
+                                characterPosition.X += character._target_velocity.X * timeStep;
                                 if (isCollidingWithPrim(character))
                                 {
-                                    character.Position.X = oldposX;
+                                    characterPosition.X = oldposX;
                                 }
 
-                                character.Position.Y += character._target_velocity.Y * timeStep;
+                                characterPosition.Y += character._target_velocity.Y * timeStep;
                                 if (isCollidingWithPrim(character))
                                 {
-                                    character.Position.Y = oldposY;
+                                    characterPosition.Y = oldposY;
                                 }
                             }
                             else
@@ -218,8 +220,10 @@ namespace OpenSim.Region.Physics.POSPlugin
                     }
                 }
 
-                character.Position.X = Util.Clamp(character.Position.X, 0.01f, Constants.RegionSize - 0.01f);
-                character.Position.Y = Util.Clamp(character.Position.Y, 0.01f, Constants.RegionSize - 0.01f);
+                characterPosition.X = Util.Clamp(character.Position.X, 0.01f, Constants.RegionSize - 0.01f);
+                characterPosition.Y = Util.Clamp(character.Position.Y, 0.01f, Constants.RegionSize - 0.01f);
+
+                character.Position = characterPosition;
 
                 character._velocity.X = (character.Position.X - oldposX)/timeStep;
                 character._velocity.Y = (character.Position.Y - oldposY)/timeStep;
diff --git a/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs b/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
index e7d989c..8bdb18d 100644
--- a/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
+++ b/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
@@ -34,6 +34,7 @@ using PhysXWrapper;
 using Quaternion=OpenMetaverse.Quaternion;
 using System.Reflection;
 using log4net;
+using OpenMetaverse;
 
 namespace OpenSim.Region.Physics.PhysXPlugin
 {
@@ -106,7 +107,7 @@ namespace OpenSim.Region.Physics.PhysXPlugin
 
         }
 
-        public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying)
+        public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
         {
             Vec3 pos = new Vec3();
             pos.X = position.X;
@@ -127,7 +128,7 @@ namespace OpenSim.Region.Physics.PhysXPlugin
         {
         }
 
-        private PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation)
+        private PhysicsActor AddPrim(Vector3 position, Vector3 size, Quaternion rotation)
         {
             Vec3 pos = new Vec3();
             pos.X = position.X;
@@ -142,14 +143,14 @@ namespace OpenSim.Region.Physics.PhysXPlugin
             return act;
         }
 
-        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
-                                                  PhysicsVector size, Quaternion rotation) //To be removed
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                                  Vector3 size, Quaternion rotation) //To be removed
         {
             return AddPrimShape(primName, pbs, position, size, rotation, false);
         }
 
-        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
-                                                  PhysicsVector size, Quaternion rotation, bool isPhysical)
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                                  Vector3 size, Quaternion rotation, bool isPhysical)
         {
             return AddPrim(position, size, rotation);
         }
@@ -219,10 +220,10 @@ namespace OpenSim.Region.Physics.PhysXPlugin
 
     public class PhysXCharacter : PhysicsActor
     {
-        private PhysicsVector _position;
-        private PhysicsVector _velocity;
-        private PhysicsVector m_rotationalVelocity = PhysicsVector.Zero;
-        private PhysicsVector _acceleration;
+        private Vector3 _position;
+        private Vector3 _velocity;
+        private Vector3 m_rotationalVelocity = Vector3.Zero;
+        private Vector3 _acceleration;
         private NxCharacter _character;
         private bool flying;
         private bool iscolliding = false;
@@ -230,9 +231,6 @@ namespace OpenSim.Region.Physics.PhysXPlugin
 
         public PhysXCharacter(NxCharacter character)
         {
-            _velocity = new PhysicsVector();
-            _position = new PhysicsVector();
-            _acceleration = new PhysicsVector();
             _character = character;
         }
 
@@ -310,7 +308,7 @@ namespace OpenSim.Region.Physics.PhysXPlugin
             set { return; }
         }
 
-        public override PhysicsVector RotationalVelocity
+        public override Vector3 RotationalVelocity
         {
             get { return m_rotationalVelocity; }
             set { m_rotationalVelocity = value; }
@@ -321,7 +319,7 @@ namespace OpenSim.Region.Physics.PhysXPlugin
             get { return false; }
         }
 
-        public override PhysicsVector Position
+        public override Vector3 Position
         {
             get { return _position; }
             set
@@ -335,9 +333,9 @@ namespace OpenSim.Region.Physics.PhysXPlugin
             }
         }
 
-        public override PhysicsVector Size
+        public override Vector3 Size
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
             set { }
         }
 
@@ -346,9 +344,9 @@ namespace OpenSim.Region.Physics.PhysXPlugin
             get { return 0f; }
         }
 
-        public override PhysicsVector Force
+        public override Vector3 Force
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
             set { return; }
         }
 
@@ -363,7 +361,7 @@ namespace OpenSim.Region.Physics.PhysXPlugin
 
         }
 
-        public override void VehicleVectorParam(int param, PhysicsVector value)
+        public override void VehicleVectorParam(int param, Vector3 value)
         {
 
         }
@@ -379,17 +377,17 @@ namespace OpenSim.Region.Physics.PhysXPlugin
         }
 
 
-        public override PhysicsVector CenterOfMass
+        public override Vector3 CenterOfMass
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
         }
 
-        public override PhysicsVector GeometricCenter
+        public override Vector3 GeometricCenter
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
         }
 
-        public override PhysicsVector Velocity
+        public override Vector3 Velocity
         {
             get { return _velocity; }
             set { _velocity = value; }
@@ -413,25 +411,25 @@ namespace OpenSim.Region.Physics.PhysXPlugin
             set { }
         }
 
-        public override PhysicsVector Acceleration
+        public override Vector3 Acceleration
         {
             get { return _acceleration; }
         }
 
-        public void SetAcceleration(PhysicsVector accel)
+        public void SetAcceleration(Vector3 accel)
         {
             _acceleration = accel;
         }
 
-        public override void AddForce(PhysicsVector force, bool pushforce)
+        public override void AddForce(Vector3 force, bool pushforce)
         {
         }
-        public override PhysicsVector Torque
+        public override Vector3 Torque
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
             set { return; }
         }
-        public override void AddAngularForce(PhysicsVector force, bool pushforce)
+        public override void AddAngularForce(Vector3 force, bool pushforce)
         {
         }
 
@@ -445,12 +443,12 @@ namespace OpenSim.Region.Physics.PhysXPlugin
 
         }
 
-        public override void LockAngularMotion(PhysicsVector axis)
+        public override void LockAngularMotion(Vector3 axis)
         {
 
         }
 
-        public override void SetMomentum(PhysicsVector momentum)
+        public override void SetMomentum(Vector3 momentum)
         {
         }
 
@@ -492,7 +490,7 @@ namespace OpenSim.Region.Physics.PhysXPlugin
 
         }
 
-        public override PhysicsVector PIDTarget { set { return; } }
+        public override Vector3 PIDTarget { set { return; } }
         public override bool PIDActive { set { return; } }
         public override float PIDTau { set { return; } }
 
@@ -518,15 +516,15 @@ namespace OpenSim.Region.Physics.PhysXPlugin
 
     public class PhysXPrim : PhysicsActor
     {
-        private PhysicsVector _velocity;
-        private PhysicsVector _acceleration;
-        private PhysicsVector m_rotationalVelocity;
+        private Vector3 _velocity;
+        private Vector3 _acceleration;
+        private Vector3 m_rotationalVelocity;
         private NxActor _prim;
 
         public PhysXPrim(NxActor prim)
         {
-            _velocity = new PhysicsVector();
-            _acceleration = new PhysicsVector();
+            _velocity = Vector3.Zero;
+            _acceleration = Vector3.Zero;
             _prim = prim;
         }
 
@@ -580,7 +578,7 @@ namespace OpenSim.Region.Physics.PhysXPlugin
             set { return; }
         }
 
-        public override PhysicsVector RotationalVelocity
+        public override Vector3 RotationalVelocity
         {
             get { return m_rotationalVelocity; }
             set { m_rotationalVelocity = value; }
@@ -616,11 +614,11 @@ namespace OpenSim.Region.Physics.PhysXPlugin
             get { return false; }
         }
 
-        public override PhysicsVector Position
+        public override Vector3 Position
         {
             get
             {
-                PhysicsVector pos = new PhysicsVector();
+                Vector3 pos = Vector3.Zero;
                 Vec3 vec = _prim.Position;
                 pos.X = vec.X;
                 pos.Y = vec.Y;
@@ -629,7 +627,7 @@ namespace OpenSim.Region.Physics.PhysXPlugin
             }
             set
             {
-                PhysicsVector vec = value;
+                Vector3 vec = value;
                 Vec3 pos = new Vec3();
                 pos.X = vec.X;
                 pos.Y = vec.Y;
@@ -643,15 +641,15 @@ namespace OpenSim.Region.Physics.PhysXPlugin
             set { return; }
         }
 
-        public override PhysicsVector Velocity
+        public override Vector3 Velocity
         {
             get { return _velocity; }
             set { _velocity = value; }
         }
 
-        public override PhysicsVector Torque
+        public override Vector3 Torque
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
             set { return; }
         }
 
@@ -682,31 +680,31 @@ namespace OpenSim.Region.Physics.PhysXPlugin
             set { }
         }
 
-        public override PhysicsVector Acceleration
+        public override Vector3 Acceleration
         {
             get { return _acceleration; }
         }
 
-        public void SetAcceleration(PhysicsVector accel)
+        public void SetAcceleration(Vector3 accel)
         {
             _acceleration = accel;
         }
 
-        public override void AddForce(PhysicsVector force, bool pushforce)
+        public override void AddForce(Vector3 force, bool pushforce)
         {
         }
 
-        public override void AddAngularForce(PhysicsVector force, bool pushforce)
+        public override void AddAngularForce(Vector3 force, bool pushforce)
         {
         }
 
-        public override void SetMomentum(PhysicsVector momentum)
+        public override void SetMomentum(Vector3 momentum)
         {
         }
 
-        public override PhysicsVector Size
+        public override Vector3 Size
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
             set { }
         }
 
@@ -718,7 +716,7 @@ namespace OpenSim.Region.Physics.PhysXPlugin
         {
         }
 
-        public override void LockAngularMotion(PhysicsVector axis)
+        public override void LockAngularMotion(Vector3 axis)
         {
 
         }
@@ -728,9 +726,9 @@ namespace OpenSim.Region.Physics.PhysXPlugin
             get { return 0f; }
         }
 
-        public override PhysicsVector Force
+        public override Vector3 Force
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
             set { return; }
         }
 
@@ -745,7 +743,7 @@ namespace OpenSim.Region.Physics.PhysXPlugin
 
         }
 
-        public override void VehicleVectorParam(int param, PhysicsVector value)
+        public override void VehicleVectorParam(int param, Vector3 value)
         {
 
         }
@@ -760,21 +758,21 @@ namespace OpenSim.Region.Physics.PhysXPlugin
 
         }
 
-        public override PhysicsVector CenterOfMass
+        public override Vector3 CenterOfMass
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
         }
 
-        public override PhysicsVector GeometricCenter
+        public override Vector3 GeometricCenter
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
         }
 
         public override void CrossingFailure()
         {
         }
 
-        public override PhysicsVector PIDTarget { set { return; } }
+        public override Vector3 PIDTarget { set { return; } }
         public override bool PIDActive { set { return; } }
         public override float PIDTau { set { return; } }
 
diff --git a/OpenSim/Region/ScriptEngine/DotNetEngine/EventQueueThreadClass.cs b/OpenSim/Region/ScriptEngine/DotNetEngine/EventQueueThreadClass.cs
index 583d2ff..51fd41a 100644
--- a/OpenSim/Region/ScriptEngine/DotNetEngine/EventQueueThreadClass.cs
+++ b/OpenSim/Region/ScriptEngine/DotNetEngine/EventQueueThreadClass.cs
@@ -132,12 +132,7 @@ namespace OpenSim.Region.ScriptEngine.DotNetEngine
         /// </summary>
         private void Start()
         {
-            EventQueueThread = new Thread(EventQueueThreadLoop);
-            EventQueueThread.IsBackground = true;
-
-            EventQueueThread.Priority = MyThreadPriority;
-            EventQueueThread.Name = "EventQueueManagerThread_" + ThreadCount;
-            EventQueueThread.Start();
+            EventQueueThread = Watchdog.StartThread(EventQueueThreadLoop, "EventQueueManagerThread_" + ThreadCount, MyThreadPriority, true);
 
             // Look at this... Don't you wish everyone did that solid
             // coding everywhere? :P
@@ -184,6 +179,7 @@ namespace OpenSim.Region.ScriptEngine.DotNetEngine
                         while (true)
                         {
                             DoProcessQueue();
+                            Watchdog.UpdateThread();
                         }
                     }
                     catch (ThreadAbortException)
@@ -214,6 +210,8 @@ namespace OpenSim.Region.ScriptEngine.DotNetEngine
                         m_log.ErrorFormat("[{0}]: Exception {1} thrown", ScriptEngineName, e.GetType().ToString());
                         throw e;
                     }
+
+                    Watchdog.UpdateThread();
                 }
             }
             catch (ThreadAbortException)
@@ -226,6 +224,8 @@ namespace OpenSim.Region.ScriptEngine.DotNetEngine
                     "[{0}]: Event queue thread terminating with exception.  PLEASE REBOOT YOUR SIM - SCRIPT EVENTS WILL NOT WORK UNTIL YOU DO.  Exception is {1}", 
                     ScriptEngineName, e);
             }
+
+            Watchdog.RemoveThread();
         }
 
         public void DoProcessQueue()
diff --git a/OpenSim/Region/ScriptEngine/DotNetEngine/MaintenanceThread.cs b/OpenSim/Region/ScriptEngine/DotNetEngine/MaintenanceThread.cs
index 7ffdb1a..87fdf1f 100644
--- a/OpenSim/Region/ScriptEngine/DotNetEngine/MaintenanceThread.cs
+++ b/OpenSim/Region/ScriptEngine/DotNetEngine/MaintenanceThread.cs
@@ -93,10 +93,7 @@ namespace OpenSim.Region.ScriptEngine.DotNetEngine
         {
             if (MaintenanceThreadThread == null)
             {
-                MaintenanceThreadThread = new Thread(MaintenanceLoop);
-                MaintenanceThreadThread.Name = "ScriptMaintenanceThread";
-                MaintenanceThreadThread.IsBackground = true;
-                MaintenanceThreadThread.Start();
+                MaintenanceThreadThread = Watchdog.StartThread(MaintenanceLoop, "ScriptMaintenanceThread", ThreadPriority.Normal, true);
             }
         }
 
@@ -164,56 +161,54 @@ namespace OpenSim.Region.ScriptEngine.DotNetEngine
                         MaintenanceLoopTicks_ScriptLoadUnload_Count++;
                         MaintenanceLoopTicks_Other_Count++;
 
-
-                        //lock (ScriptEngine.ScriptEngines)
-                        //{
-                            foreach (ScriptEngine m_ScriptEngine in new ArrayList(ScriptEngine.ScriptEngines))
+                        foreach (ScriptEngine m_ScriptEngine in new ArrayList(ScriptEngine.ScriptEngines))
+                        {
+                            // lastScriptEngine = m_ScriptEngine;
+                            // Re-reading config every x seconds
+                            if (MaintenanceLoopTicks_Other_Count >= MaintenanceLoopTicks_Other)
                             {
-                                // lastScriptEngine = m_ScriptEngine;
-                                // Re-reading config every x seconds
-                                if (MaintenanceLoopTicks_Other_Count >= MaintenanceLoopTicks_Other)
+                                MaintenanceLoopTicks_Other_ResetCount = true;
+                                if (m_ScriptEngine.RefreshConfigFilens > 0)
                                 {
-                                    MaintenanceLoopTicks_Other_ResetCount = true;
-                                    if (m_ScriptEngine.RefreshConfigFilens > 0)
+                                    // Check if its time to re-read config
+                                    if (DateTime.Now.Ticks - Last_ReReadConfigFilens >
+                                        m_ScriptEngine.RefreshConfigFilens)
                                     {
-                                        // Check if its time to re-read config
-                                        if (DateTime.Now.Ticks - Last_ReReadConfigFilens >
-                                            m_ScriptEngine.RefreshConfigFilens)
-                                        {
-                                            //m_log.Debug("Time passed: " + (DateTime.Now.Ticks - Last_ReReadConfigFilens) + ">" + m_ScriptEngine.RefreshConfigFilens);
-                                            // Its time to re-read config file
-                                            m_ScriptEngine.ReadConfig();
-                                            Last_ReReadConfigFilens = DateTime.Now.Ticks; // Reset time
-                                        }
+                                        //m_log.Debug("Time passed: " + (DateTime.Now.Ticks - Last_ReReadConfigFilens) + ">" + m_ScriptEngine.RefreshConfigFilens);
+                                        // Its time to re-read config file
+                                        m_ScriptEngine.ReadConfig();
+                                        Last_ReReadConfigFilens = DateTime.Now.Ticks; // Reset time
+                                    }
 
 
-                                        // Adjust number of running script threads if not correct
-                                        if (m_ScriptEngine.m_EventQueueManager != null)
-                                            m_ScriptEngine.m_EventQueueManager.AdjustNumberOfScriptThreads();
+                                    // Adjust number of running script threads if not correct
+                                    if (m_ScriptEngine.m_EventQueueManager != null)
+                                        m_ScriptEngine.m_EventQueueManager.AdjustNumberOfScriptThreads();
 
-                                        // Check if any script has exceeded its max execution time
-                                        if (EventQueueManager.EnforceMaxExecutionTime)
+                                    // Check if any script has exceeded its max execution time
+                                    if (EventQueueManager.EnforceMaxExecutionTime)
+                                    {
+                                        // We are enforcing execution time
+                                        if (DateTime.Now.Ticks - Last_maxFunctionExecutionTimens >
+                                            EventQueueManager.maxFunctionExecutionTimens)
                                         {
-                                            // We are enforcing execution time
-                                            if (DateTime.Now.Ticks - Last_maxFunctionExecutionTimens >
-                                                EventQueueManager.maxFunctionExecutionTimens)
-                                            {
-                                                // Its time to check again
-                                                m_ScriptEngine.m_EventQueueManager.CheckScriptMaxExecTime(); // Do check
-                                                Last_maxFunctionExecutionTimens = DateTime.Now.Ticks; // Reset time
-                                            }
+                                            // Its time to check again
+                                            m_ScriptEngine.m_EventQueueManager.CheckScriptMaxExecTime(); // Do check
+                                            Last_maxFunctionExecutionTimens = DateTime.Now.Ticks; // Reset time
                                         }
                                     }
                                 }
-                                if (MaintenanceLoopTicks_ScriptLoadUnload_Count >= MaintenanceLoopTicks_ScriptLoadUnload)
-                                {
-                                    MaintenanceLoopTicks_ScriptLoadUnload_ResetCount = true;
-                                    // LOAD / UNLOAD SCRIPTS
-                                    if (m_ScriptEngine.m_ScriptManager != null)
-                                        m_ScriptEngine.m_ScriptManager.DoScriptLoadUnload();
-                                }
                             }
-                        //}
+                            if (MaintenanceLoopTicks_ScriptLoadUnload_Count >= MaintenanceLoopTicks_ScriptLoadUnload)
+                            {
+                                MaintenanceLoopTicks_ScriptLoadUnload_ResetCount = true;
+                                // LOAD / UNLOAD SCRIPTS
+                                if (m_ScriptEngine.m_ScriptManager != null)
+                                    m_ScriptEngine.m_ScriptManager.DoScriptLoadUnload();
+                            }
+                        }
+
+                        Watchdog.UpdateThread();
                     }
                 }
                 catch(ThreadAbortException)
@@ -225,6 +220,8 @@ namespace OpenSim.Region.ScriptEngine.DotNetEngine
                     m_log.ErrorFormat("Exception in MaintenanceLoopThread. Thread will recover after 5 sec throttle. Exception: {0}", ex.ToString());
                 }
             }
+
+            Watchdog.RemoveThread();
         }
         #endregion
 
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/AsyncCommandManager.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/AsyncCommandManager.cs
index 1607d34..9d97cb2 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/AsyncCommandManager.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/AsyncCommandManager.cs
@@ -137,11 +137,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             if (cmdHandlerThread == null)
             {
                 // Start the thread that will be doing the work
-                cmdHandlerThread = new Thread(CmdHandlerThreadLoop);
-                cmdHandlerThread.Name = "AsyncLSLCmdHandlerThread";
-                cmdHandlerThread.Priority = ThreadPriority.BelowNormal;
-                cmdHandlerThread.IsBackground = true;
-                cmdHandlerThread.Start();
+                cmdHandlerThread = Watchdog.StartThread(CmdHandlerThreadLoop, "AsyncLSLCmdHandlerThread", ThreadPriority.Normal, true);
             }
         }
 
@@ -185,6 +181,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                         Thread.Sleep(cmdHandlerThreadCycleSleepms);
 
                         DoOneCmdHandlerPass();
+
+                        Watchdog.UpdateThread();
                     }
                 }
                 catch
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
index 11f255f..3849558 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
@@ -1267,12 +1267,14 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         protected void SetScale(SceneObjectPart part, LSL_Vector scale)
         {
             // TODO: this needs to trigger a persistance save as well
-
             if (part == null || part.ParentGroup == null || part.ParentGroup.IsDeleted)
                 return;
-
-            if (scale.x < 0.01 || scale.y < 0.01 || scale.z < 0.01)
-                return;
+            if (scale.x < 0.01)
+                                scale.x = 0.01;
+            if (scale.y < 0.01)
+                                scale.y = 0.01;
+            if (scale.z < 0.01)
+                                scale.z = 0.01;
 
             if (part.ParentGroup.RootPart.PhysActor != null && part.ParentGroup.RootPart.PhysActor.IsPhysical)
             {
@@ -1283,12 +1285,14 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                 if (scale.z > World.m_maxPhys)
                     scale.z = World.m_maxPhys;
             }
+
             if (scale.x > World.m_maxNonphys)
                 scale.x = World.m_maxNonphys;
             if (scale.y > World.m_maxNonphys)
                 scale.y = World.m_maxNonphys;
             if (scale.z > World.m_maxNonphys)
                 scale.z = World.m_maxNonphys;
+
             Vector3 tmp = part.Scale;
             tmp.X = (float)scale.x;
             tmp.Y = (float)scale.y;
@@ -2043,7 +2047,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                     if (local != 0)
                         force *= llGetRot();
 
-                    m_host.ParentGroup.RootPart.SetForce(new PhysicsVector((float)force.x, (float)force.y, (float)force.z));
+                    m_host.ParentGroup.RootPart.SetForce(new Vector3((float)force.x, (float)force.y, (float)force.z));
                 }
             }
         }
@@ -2058,7 +2062,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             {
                 if (!m_host.ParentGroup.IsDeleted)
                 {
-                    PhysicsVector tmpForce = m_host.ParentGroup.RootPart.GetForce();
+                    Vector3 tmpForce = m_host.ParentGroup.RootPart.GetForce();
                     force.x = tmpForce.X;
                     force.y = tmpForce.Y;
                     force.z = tmpForce.Z;
@@ -4176,7 +4180,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                             {
                                 applied_linear_impulse *= m_host.GetWorldRotation();
                             }
-                            pusheeav.PhysicsActor.AddForce(new PhysicsVector(applied_linear_impulse.X, applied_linear_impulse.Y, applied_linear_impulse.Z), true);
+                            pusheeav.PhysicsActor.AddForce(applied_linear_impulse, true);
                         }
                     }
                 }
@@ -6084,7 +6088,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                 if (!m_host.ParentGroup.IsDeleted)
                 {
                     m_host.ParentGroup.RootPart.SetVehicleVectorParam(param,
-                        new PhysicsVector((float)vec.x, (float)vec.y, (float)vec.z));
+                        new Vector3((float)vec.x, (float)vec.y, (float)vec.z));
                 }
             }
         }
@@ -7223,13 +7227,15 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         public LSL_Integer llGetNumberOfPrims()
         {
             m_host.AddScriptLPS(1);
-            List<ScenePresence> presences = World.GetScenePresences();
-            if (presences.Count == 0)
+            ScenePresence[] presences = World.GetScenePresences();
+            if (presences.Length == 0)
                 return 0;
 
             int avatarCount = 0;
-            foreach (ScenePresence presence in presences)
+            for (int i = 0; i < presences.Length; i++)
             {
+                ScenePresence presence = presences[i];
+
                 if (!presence.IsChildAgent && presence.ParentID != 0)
                 {
                     if (m_host.ParentGroup.HasChildPrim(presence.ParentID))
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Plugins/SensorRepeat.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Plugins/SensorRepeat.cs
index a09c8db..b75a2e4 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Plugins/SensorRepeat.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Plugins/SensorRepeat.cs
@@ -404,7 +404,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
 
         private List<SensedEntity> doAgentSensor(SenseRepeatClass ts)
         {
-            List<ScenePresence> Presences;
+            List<ScenePresence> presences;
             List<SensedEntity> sensedEntities = new List<SensedEntity>();
 
             // If this is an avatar sense by key try to get them directly
@@ -414,16 +414,16 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
                 ScenePresence p = m_CmdManager.m_ScriptEngine.World.GetScenePresence(ts.keyID);
                 if (p == null)
                     return sensedEntities;
-                Presences = new List<ScenePresence>();
-                Presences.Add(p);
+                presences = new List<ScenePresence>();
+                presences.Add(p);
             }
             else
             {
-                Presences = m_CmdManager.m_ScriptEngine.World.GetScenePresences();
+                presences = new List<ScenePresence>(m_CmdManager.m_ScriptEngine.World.GetScenePresences());
             }
 
             // If nobody about quit fast
-            if (Presences.Count == 0)
+            if (presences.Count == 0)
                 return sensedEntities;
 
             SceneObjectPart SensePoint = ts.host;
@@ -440,8 +440,9 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
             Vector3 toRegionPos;
             double dis;
 
-            foreach (ScenePresence presence in Presences)
+            for (int i = 0; i < presences.Count; i++)
             {
+                ScenePresence presence = presences[i];
                 bool keep = true;
 
                 if (presence.IsDeleted)
@@ -515,16 +516,19 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
         {
             List<Object> data = new List<Object>();
 
-            foreach (SenseRepeatClass ts in SenseRepeaters)
+            lock (SenseRepeatListLock)
             {
-                if (ts.itemID == itemID)
+                foreach (SenseRepeatClass ts in SenseRepeaters)
                 {
-                    data.Add(ts.interval);
-                    data.Add(ts.name);
-                    data.Add(ts.keyID);
-                    data.Add(ts.type);
-                    data.Add(ts.range);
-                    data.Add(ts.arc);
+                    if (ts.itemID == itemID)
+                    {
+                        data.Add(ts.interval);
+                        data.Add(ts.name);
+                        data.Add(ts.keyID);
+                        data.Add(ts.type);
+                        data.Add(ts.range);
+                        data.Add(ts.arc);
+                    }
                 }
             }
             return data.ToArray();
diff --git a/OpenSim/Region/UserStatistics/ActiveConnectionsAJAX.cs b/OpenSim/Region/UserStatistics/ActiveConnectionsAJAX.cs
index d7c39a3..704b74f 100644
--- a/OpenSim/Region/UserStatistics/ActiveConnectionsAJAX.cs
+++ b/OpenSim/Region/UserStatistics/ActiveConnectionsAJAX.cs
@@ -68,11 +68,11 @@ namespace OpenSim.Region.UserStatistics
             HTMLUtil.OL_O(ref output, "");
             foreach (Scene scene in all_scenes)
             {
-                List<ScenePresence> avatarInScene = scene.GetScenePresences();
+                ScenePresence[] avatarInScene = scene.GetScenePresences();
 
-                HTMLUtil.LI_O(ref output, "");
+                HTMLUtil.LI_O(ref output, String.Empty);
                 output.Append(scene.RegionInfo.RegionName);
-                HTMLUtil.OL_O(ref output, "");
+                HTMLUtil.OL_O(ref output, String.Empty);
                 foreach (ScenePresence av in avatarInScene)
                 {
                     Dictionary<string,string> queues = new Dictionary<string, string>();
@@ -81,7 +81,7 @@ namespace OpenSim.Region.UserStatistics
                         IStatsCollector isClient = (IStatsCollector) av.ControllingClient;
                         queues = decodeQueueReport(isClient.Report());
                     }
-                    HTMLUtil.LI_O(ref output, "");
+                    HTMLUtil.LI_O(ref output, String.Empty);
                     output.Append(av.Name);
                     output.Append("&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;");
                     output.Append((av.IsChildAgent ? "Child" : "Root"));
@@ -96,12 +96,12 @@ namespace OpenSim.Region.UserStatistics
                                                     (int) av.AbsolutePosition.Z));
                     }
                     Dictionary<string, int> throttles = DecodeClientThrottles(av.ControllingClient.GetThrottlesPacked(1));
-                    
-                    HTMLUtil.UL_O(ref output, "");
+
+                    HTMLUtil.UL_O(ref output, String.Empty);
 
                     foreach (string throttlename in throttles.Keys)
                     {
-                        HTMLUtil.LI_O(ref output, "");
+                        HTMLUtil.LI_O(ref output, String.Empty);
                         output.Append(throttlename);
                         output.Append(":");
                         output.Append(throttles[throttlename].ToString());