142 files changed, 37818 insertions, 3811 deletions

diff --git a/OpenSim/Region/Application/OpenSim.cs b/OpenSim/Region/Application/OpenSim.cs
index 59b6b21..fb1e831 100644
--- a/OpenSim/Region/Application/OpenSim.cs
+++ b/OpenSim/Region/Application/OpenSim.cs
@@ -479,7 +479,7 @@ namespace OpenSim
                     if (alert != null)
                         presence.ControllingClient.Kick(alert);
                     else
-                        presence.ControllingClient.Kick("\nThe OpenSim manager kicked you out.\n");
+                        presence.ControllingClient.Kick("\nYou have been logged out by an administrator.\n");
 
                     // ...and close on our side
                     presence.Scene.IncomingCloseAgent(presence.UUID);
@@ -1201,7 +1201,7 @@ namespace OpenSim
                         MainConsole.Instance.Output(String.Format("loadOffsets <X,Y,Z> = <{0},{1},{2}>",loadOffset.X,loadOffset.Y,loadOffset.Z));
                     }
                 }
-                m_sceneManager.LoadCurrentSceneFromXml(cmdparams[2], generateNewIDS, loadOffset);
+                m_sceneManager.LoadCurrentSceneFromXml(cmdparams[0], generateNewIDS, loadOffset);
             }
             else
             {
diff --git a/OpenSim/Region/Application/OpenSimBase.cs b/OpenSim/Region/Application/OpenSimBase.cs
index 5de3f25..ddc7f10 100644
--- a/OpenSim/Region/Application/OpenSimBase.cs
+++ b/OpenSim/Region/Application/OpenSimBase.cs
@@ -97,6 +97,10 @@ namespace OpenSim
 
         protected List<IApplicationPlugin> m_plugins = new List<IApplicationPlugin>();
 
+        private List<string> m_permsModules;
+
+        private bool m_securePermissionsLoading = true;
+
         /// <value>
         /// The config information passed into the OpenSimulator region server.
         /// </value>
@@ -201,6 +205,11 @@ namespace OpenSim
                     CreatePIDFile(pidFile);
                 
                 userStatsURI = startupConfig.GetString("Stats_URI", String.Empty);
+
+                m_securePermissionsLoading = startupConfig.GetBoolean("SecurePermissionsLoading", true);
+
+                string permissionModules = startupConfig.GetString("permissionmodules", "DefaultPermissionsModule");
+                m_permsModules = new List<string>(permissionModules.Split(','));
             }
 
             // Load the simulation data service
@@ -229,6 +238,12 @@ namespace OpenSim
             m_moduleLoader = new ModuleLoader(m_config.Source);
 
             LoadPlugins();
+
+            if (m_plugins.Count == 0) // We failed to load any modules. Mono Addins glitch!
+            {
+                Environment.Exit(1);
+            }
+
             foreach (IApplicationPlugin plugin in m_plugins)
             {
                 plugin.PostInitialise();
@@ -379,7 +394,41 @@ namespace OpenSim
             }
             else m_log.Error("[REGIONMODULES]: The new RegionModulesController is missing...");
 
+            if (m_securePermissionsLoading)
+            {
+                foreach (string s in m_permsModules)
+                {
+                    if (!scene.RegionModules.ContainsKey(s))
+                    {
+                        bool found = false;
+                        foreach (IRegionModule m in modules)
+                        {
+                            if (m.Name == s)
+                            {
+                                found = true;
+                            }
+                        }
+                        if (!found)
+                        {
+                            m_log.Fatal("[MODULES]: Required module " + s + " not found.");
+                            Environment.Exit(0);
+                        }
+                    }
+                }
+            }
+
             scene.SetModuleInterfaces();
+// First Step of bootreport sequence
+            if (scene.SnmpService != null)
+            {
+                scene.SnmpService.ColdStart(1,scene);
+                scene.SnmpService.LinkDown(scene);
+            }
+
+            if (scene.SnmpService != null)
+            {
+                scene.SnmpService.BootInfo("Loading prins", scene);
+            }
 
             while (regionInfo.EstateSettings.EstateOwner == UUID.Zero && MainConsole.Instance != null)
                 SetUpEstateOwner(scene);
@@ -393,6 +442,11 @@ namespace OpenSim
             scene.loadAllLandObjectsFromStorage(regionInfo.originRegionID);
             scene.EventManager.TriggerParcelPrimCountUpdate();
 
+            if (scene.SnmpService != null)
+            {
+                scene.SnmpService.BootInfo("Grid Registration in progress", scene);
+            } 
+
             try
             {
                 scene.RegisterRegionWithGrid();
@@ -403,15 +457,29 @@ namespace OpenSim
                     "[STARTUP]: Registration of region with grid failed, aborting startup due to {0} {1}", 
                     e.Message, e.StackTrace);
 
+                if (scene.SnmpService != null)
+                {
+                    scene.SnmpService.Critical("Grid registration failed. Startup aborted.", scene);
+                }
                 // Carrying on now causes a lot of confusion down the
                 // line - we need to get the user's attention
                 Environment.Exit(1);
             }
 
+            if (scene.SnmpService != null)
+            {
+                scene.SnmpService.BootInfo("Grid Registration done", scene);
+            }
+
             // We need to do this after we've initialized the
             // scripting engines.
             scene.CreateScriptInstances();
 
+            if (scene.SnmpService != null)
+            {
+                scene.SnmpService.BootInfo("ScriptEngine started", scene);
+            }
+
             m_sceneManager.Add(scene);
 
             if (m_autoCreateClientStack)
@@ -420,6 +488,10 @@ namespace OpenSim
                 clientServer.Start();
             }
 
+            if (scene.SnmpService != null)
+            {
+                scene.SnmpService.BootInfo("Initializing region modules", scene);
+            }
             if (do_post_init)
             {
                 foreach (IRegionModule module in modules)
@@ -431,6 +503,12 @@ namespace OpenSim
 
             mscene = scene;
 
+            if (scene.SnmpService != null)
+            {
+                scene.SnmpService.BootInfo("The region is operational", scene);
+                scene.SnmpService.LinkUp(scene);
+            }
+
             scene.Start();
 
             scene.StartScripts();
@@ -550,6 +628,11 @@ namespace OpenSim
         private void ShutdownRegion(Scene scene)
         {
             m_log.DebugFormat("[SHUTDOWN]: Shutting down region {0}", scene.RegionInfo.RegionName);
+            if (scene.SnmpService != null)
+            {
+                scene.SnmpService.BootInfo("The region is shutting down", scene);
+                scene.SnmpService.LinkDown(scene);
+            }
             IRegionModulesController controller;
             if (ApplicationRegistry.TryGet<IRegionModulesController>(out controller))
             {
diff --git a/OpenSim/Region/ClientStack/Linden/Caps/BunchOfCaps/BunchOfCaps.cs b/OpenSim/Region/ClientStack/Linden/Caps/BunchOfCaps/BunchOfCaps.cs
index 8ec2f20..ef6dedb 100644
--- a/OpenSim/Region/ClientStack/Linden/Caps/BunchOfCaps/BunchOfCaps.cs
+++ b/OpenSim/Region/ClientStack/Linden/Caps/BunchOfCaps/BunchOfCaps.cs
@@ -96,7 +96,10 @@ namespace OpenSim.Region.ClientStack.Linden
         //        private static readonly string m_fetchInventoryPath = "0006/";
         private static readonly string m_copyFromNotecardPath = "0007/";
         // private static readonly string m_remoteParcelRequestPath = "0009/";// This is in the LandManagementModule.
-
+        private static readonly string m_getObjectPhysicsDataPath = "0101/";
+        private static readonly string m_getObjectCostPath = "0102/";
+        private static readonly string m_ResourceCostSelectedPath = "0103/";
+        
 
         // These are callbacks which will be setup by the scene so that we can update scene data when we
         // receive capability calls
@@ -186,7 +189,14 @@ namespace OpenSim.Region.ClientStack.Linden
                 m_HostCapsObj.RegisterHandler("UpdateScriptAgentInventory", req);
                 m_HostCapsObj.RegisterHandler("UpdateScriptAgent", req);
                 m_HostCapsObj.RegisterHandler("CopyInventoryFromNotecard", new RestStreamHandler("POST", capsBase + m_copyFromNotecardPath, CopyInventoryFromNotecard));
-             
+                IRequestHandler getObjectPhysicsDataHandler = new RestStreamHandler("POST", capsBase + m_getObjectPhysicsDataPath, GetObjectPhysicsData);
+                m_HostCapsObj.RegisterHandler("GetObjectPhysicsData", getObjectPhysicsDataHandler);
+                IRequestHandler getObjectCostHandler = new RestStreamHandler("POST", capsBase + m_getObjectCostPath, GetObjectCost);
+                m_HostCapsObj.RegisterHandler("GetObjectCost", getObjectCostHandler);
+                IRequestHandler ResourceCostSelectedHandler = new RestStreamHandler("POST", capsBase + m_ResourceCostSelectedPath, ResourceCostSelected);
+                m_HostCapsObj.RegisterHandler("ResourceCostSelected", ResourceCostSelectedHandler);
+           
+
                 // As of RC 1.22.9 of the Linden client this is
                 // supported
 
@@ -819,6 +829,151 @@ namespace OpenSim.Region.ClientStack.Linden
             response["int_response_code"] = 200;
             return LLSDHelpers.SerialiseLLSDReply(response);
         }
+
+        public string GetObjectPhysicsData(string request, string path,
+                string param, IOSHttpRequest httpRequest,
+                IOSHttpResponse httpResponse)
+        {
+            OSDMap req = (OSDMap)OSDParser.DeserializeLLSDXml(request);
+            OSDMap resp = new OSDMap();
+            OSDArray object_ids = (OSDArray)req["object_ids"];
+
+            for (int i = 0 ; i < object_ids.Count ; i++)
+            {
+                UUID uuid = object_ids[i].AsUUID();
+
+                SceneObjectPart obj = m_Scene.GetSceneObjectPart(uuid);
+                if (obj != null)
+                {
+                    OSDMap object_data = new OSDMap();
+
+                    object_data["PhysicsShapeType"] = obj.PhysicsShapeType;
+                    object_data["Density"] = obj.Density;
+                    object_data["Friction"] = obj.Friction;
+                    object_data["Restitution"] = obj.Bounciness;
+                    object_data["GravityMultiplier"] = obj.GravityModifier;
+
+                    resp[uuid.ToString()] = object_data;
+                }
+            }
+
+            string response = OSDParser.SerializeLLSDXmlString(resp);
+            return response;
+        }
+
+        public string GetObjectCost(string request, string path,
+                string param, IOSHttpRequest httpRequest,
+                IOSHttpResponse httpResponse)
+        {          
+            OSDMap req = (OSDMap)OSDParser.DeserializeLLSDXml(request);
+            OSDMap resp = new OSDMap();
+
+            OSDArray object_ids = (OSDArray)req["object_ids"];
+
+            for (int i = 0; i < object_ids.Count; i++)
+            {
+                UUID uuid = object_ids[i].AsUUID();
+                                
+                SceneObjectPart part = m_Scene.GetSceneObjectPart(uuid);
+
+                if (part != null)
+                {
+                    SceneObjectGroup grp = part.ParentGroup;
+                    if (grp != null)
+                    {
+                        float linksetCost;
+                        float linksetPhysCost;
+                        float partCost;
+                        float partPhysCost;
+
+                        grp.GetResourcesCosts(part, out linksetCost, out linksetPhysCost, out partCost, out  partPhysCost);
+
+                        OSDMap object_data = new OSDMap();
+                        object_data["linked_set_resource_cost"] = linksetCost;
+                        object_data["resource_cost"] = partCost;
+                        object_data["physics_cost"] = partPhysCost;
+                        object_data["linked_set_physics_cost"] = linksetPhysCost;
+
+                        resp[uuid.ToString()] = object_data;
+                    }
+                }
+            }
+
+            string response = OSDParser.SerializeLLSDXmlString(resp);
+            return response; 
+        }
+
+        public string ResourceCostSelected(string request, string path,
+                string param, IOSHttpRequest httpRequest,
+                IOSHttpResponse httpResponse)
+        {
+            OSDMap req = (OSDMap)OSDParser.DeserializeLLSDXml(request);
+            OSDMap resp = new OSDMap();
+
+
+            float phys=0;
+            float stream=0;
+            float simul=0;
+
+            if (req.ContainsKey("selected_roots"))
+            {
+                OSDArray object_ids = (OSDArray)req["selected_roots"];
+
+                // should go by SOG suming costs for all parts
+                // ll v3 works ok with several objects select we get the list and adds ok
+                // FS calls per object so results are wrong guess fs bug
+                for (int i = 0; i < object_ids.Count; i++)
+                {
+                    UUID uuid = object_ids[i].AsUUID();
+                    float Physc;
+                    float simulc;
+                    float streamc;
+
+                    SceneObjectGroup grp = m_Scene.GetGroupByPrim(uuid);
+                    if (grp != null)
+                    {
+                        grp.GetSelectedCosts(out Physc, out streamc, out simulc);
+                        phys += Physc;
+                        stream += streamc;
+                        simul += simulc;
+                    }
+                }
+            }
+            else if (req.ContainsKey("selected_prims"))
+            {
+                OSDArray object_ids = (OSDArray)req["selected_prims"];
+
+                // don't see in use in any of the 2 viewers
+                // guess it should be for edit linked but... nothing
+                // should go to SOP per part
+                for (int i = 0; i < object_ids.Count; i++)
+                {
+                    UUID uuid = object_ids[i].AsUUID();
+
+                    SceneObjectPart part = m_Scene.GetSceneObjectPart(uuid);
+                    if (part != null)
+                    {
+                        phys += part.PhysicsCost;
+                        stream += part.StreamingCost;
+                        simul += part.SimulationCost;
+                    }
+                }
+            }
+
+            if (simul != 0)
+            {
+                OSDMap object_data = new OSDMap();
+
+                object_data["physics"] = phys;
+                object_data["streaming"] = stream;
+                object_data["simulation"] = simul;
+
+                resp["selected"] = object_data;
+            }
+
+            string response = OSDParser.SerializeLLSDXmlString(resp);
+            return response; 
+        }
     }
 
     public class AssetUploader
diff --git a/OpenSim/Region/ClientStack/Linden/Caps/EventQueue/EventQueueGetModule.cs b/OpenSim/Region/ClientStack/Linden/Caps/EventQueue/EventQueueGetModule.cs
index 7c07c56..a91b02c 100644
--- a/OpenSim/Region/ClientStack/Linden/Caps/EventQueue/EventQueueGetModule.cs
+++ b/OpenSim/Region/ClientStack/Linden/Caps/EventQueue/EventQueueGetModule.cs
@@ -805,5 +805,13 @@ namespace OpenSim.Region.ClientStack.Linden
         {
             return EventQueueHelper.BuildEvent(eventName, eventBody);
         }
+
+        public void partPhysicsProperties(uint localID, byte physhapetype,
+                        float density, float friction, float bounce, float gravmod,UUID avatarID)
+        {
+            OSD item = EventQueueHelper.partPhysicsProperties(localID, physhapetype,
+                        density, friction, bounce, gravmod);
+            Enqueue(item, avatarID);
+        }
     }
 }
diff --git a/OpenSim/Region/ClientStack/Linden/Caps/EventQueue/EventQueueHelper.cs b/OpenSim/Region/ClientStack/Linden/Caps/EventQueue/EventQueueHelper.cs
index 3f49aba..b9222e3 100644
--- a/OpenSim/Region/ClientStack/Linden/Caps/EventQueue/EventQueueHelper.cs
+++ b/OpenSim/Region/ClientStack/Linden/Caps/EventQueue/EventQueueHelper.cs
@@ -395,5 +395,25 @@ namespace OpenSim.Region.ClientStack.Linden
             return message;
         }
 
+        public static OSD partPhysicsProperties(uint localID, byte physhapetype,
+                        float density, float friction, float bounce, float gravmod)
+        {
+            
+            OSDMap physinfo = new OSDMap(6);
+            physinfo["LocalID"] = localID;
+            physinfo["Density"] = density;
+            physinfo["Friction"] = friction;
+            physinfo["GravityMultiplier"] = gravmod;
+            physinfo["Restitution"] = bounce;
+            physinfo["PhysicsShapeType"] = (int)physhapetype;
+
+            OSDArray array = new OSDArray(1);
+            array.Add(physinfo);
+
+            OSDMap llsdBody = new OSDMap(1);
+            llsdBody.Add("ObjectData", array);
+
+            return BuildEvent("ObjectPhysicsProperties", llsdBody);
+        }
     }
 }
diff --git a/OpenSim/Region/ClientStack/Linden/UDP/J2KImage.cs b/OpenSim/Region/ClientStack/Linden/UDP/J2KImage.cs
index afbe56b..3995620 100644
--- a/OpenSim/Region/ClientStack/Linden/UDP/J2KImage.cs
+++ b/OpenSim/Region/ClientStack/Linden/UDP/J2KImage.cs
@@ -234,6 +234,9 @@ namespace OpenSim.Region.ClientStack.LindenUDP
                             m_stopPacket = TexturePacketCount();
                         }
 
+                        //Give them at least two packets, to play nice with some broken viewers (SL also behaves this way)
+                        if (m_stopPacket == 1 && m_layers[0].End > FIRST_PACKET_SIZE) m_stopPacket++;
+
                         m_currentPacket = StartPacket;
                     }
                 }
diff --git a/OpenSim/Region/ClientStack/Linden/UDP/LLClientView.cs b/OpenSim/Region/ClientStack/Linden/UDP/LLClientView.cs
index 0c1d7f2..dd18b16 100644
--- a/OpenSim/Region/ClientStack/Linden/UDP/LLClientView.cs
+++ b/OpenSim/Region/ClientStack/Linden/UDP/LLClientView.cs
@@ -125,6 +125,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
         public event RequestObjectPropertiesFamily OnRequestObjectPropertiesFamily;
         public event UpdatePrimFlags OnUpdatePrimFlags;
         public event UpdatePrimTexture OnUpdatePrimTexture;
+        public event ClientChangeObject onClientChangeObject;
         public event UpdateVector OnUpdatePrimGroupPosition;
         public event UpdateVector OnUpdatePrimSinglePosition;
         public event UpdatePrimRotation OnUpdatePrimGroupRotation;
@@ -158,6 +159,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
         public event RequestTaskInventory OnRequestTaskInventory;
         public event UpdateInventoryItem OnUpdateInventoryItem;
         public event CopyInventoryItem OnCopyInventoryItem;
+        public event MoveItemsAndLeaveCopy OnMoveItemsAndLeaveCopy;
         public event MoveInventoryItem OnMoveInventoryItem;
         public event RemoveInventoryItem OnRemoveInventoryItem;
         public event RemoveInventoryFolder OnRemoveInventoryFolder;
@@ -256,7 +258,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
         public event ClassifiedInfoRequest OnClassifiedInfoRequest;
         public event ClassifiedInfoUpdate OnClassifiedInfoUpdate;
         public event ClassifiedDelete OnClassifiedDelete;
-        public event ClassifiedDelete OnClassifiedGodDelete;
+        public event ClassifiedGodDelete OnClassifiedGodDelete;
         public event EventNotificationAddRequest OnEventNotificationAddRequest;
         public event EventNotificationRemoveRequest OnEventNotificationRemoveRequest;
         public event EventGodDelete OnEventGodDelete;
@@ -287,6 +289,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
         public event GroupVoteHistoryRequest OnGroupVoteHistoryRequest;
         public event SimWideDeletesDelegate OnSimWideDeletes;
         public event SendPostcard OnSendPostcard;
+        public event ChangeInventoryItemFlags OnChangeInventoryItemFlags;
         public event MuteListEntryUpdate OnUpdateMuteListEntry;
         public event MuteListEntryRemove OnRemoveMuteListEntry;
         public event GodlikeMessage onGodlikeMessage;
@@ -336,7 +339,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
         /// thread servicing the m_primFullUpdates queue after a kill.  If this happens the object persists as an
         /// ownerless phantom.
         ///
-        /// All manipulation of this set has to occur under a lock
+        /// All manipulation of this set has to occur under an m_entityUpdates.SyncRoot lock
         ///
         /// </value>
         protected HashSet<uint> m_killRecord;
@@ -344,6 +347,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
 //        protected HashSet<uint> m_attachmentsSent;
 
         private int m_moneyBalance;
+        private bool m_deliverPackets = true;
         private int m_animationSequenceNumber = 1;
         private bool m_SendLogoutPacketWhenClosing = true;
         private AgentUpdateArgs lastarg;
@@ -383,6 +387,14 @@ namespace OpenSim.Region.ClientStack.LindenUDP
             get { return m_startpos; }
             set { m_startpos = value; }
         }
+        public bool DeliverPackets
+        {
+            get { return m_deliverPackets; }
+            set {
+                m_deliverPackets = value;
+                m_udpClient.m_deliverPackets = value;
+            }
+        }
         public UUID AgentId { get { return m_agentId; } }
         public ISceneAgent SceneAgent { get; private set; }
         public UUID ActiveGroupId { get { return m_activeGroupID; } }
@@ -485,18 +497,30 @@ namespace OpenSim.Region.ClientStack.LindenUDP
 
         #region Client Methods
 
+
         /// <summary>
         /// Shut down the client view
         /// </summary>
         public void Close()
         {
+            Close(true);
+        }
+
+        /// <summary>
+        /// Shut down the client view
+        /// </summary>
+        public void Close(bool sendStop)
+        {
             m_log.DebugFormat(
                 "[CLIENT]: Close has been called for {0} attached to scene {1}",
                 Name, m_scene.RegionInfo.RegionName);
 
-            // Send the STOP packet
-            DisableSimulatorPacket disable = (DisableSimulatorPacket)PacketPool.Instance.GetPacket(PacketType.DisableSimulator);
-            OutPacket(disable, ThrottleOutPacketType.Unknown);
+            if (sendStop)
+            {
+                // Send the STOP packet
+                DisableSimulatorPacket disable = (DisableSimulatorPacket)PacketPool.Instance.GetPacket(PacketType.DisableSimulator);
+                OutPacket(disable, ThrottleOutPacketType.Unknown);
+            }
 
             IsActive = false;
 
@@ -796,7 +820,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
             reply.ChatData.OwnerID = fromAgentID;
             reply.ChatData.SourceID = fromAgentID;
 
-            OutPacket(reply, ThrottleOutPacketType.Task);
+            OutPacket(reply, ThrottleOutPacketType.Unknown);
         }
 
         /// <summary>
@@ -1082,6 +1106,10 @@ namespace OpenSim.Region.ClientStack.LindenUDP
         public virtual void SendLayerData(float[] map)
         {
             Util.FireAndForget(DoSendLayerData, map);
+
+            // Send it sync, and async. It's not that much data
+            // and it improves user experience just so much!
+            DoSendLayerData(map);
         }
 
         /// <summary>
@@ -1094,16 +1122,13 @@ namespace OpenSim.Region.ClientStack.LindenUDP
 
             try
             {
-                //for (int y = 0; y < 16; y++)
-                //{
-                //    for (int x = 0; x < 16; x++)
-                //    {
-                //        SendLayerData(x, y, map);
-                //    }
-                //}
-
-                // Send LayerData in a spiral pattern. Fun!
-                SendLayerTopRight(map, 0, 0, 15, 15);
+                for (int y = 0; y < 16; y++)
+                {
+                    for (int x = 0; x < 16; x+=4)
+                    {
+                        SendLayerPacket(x, y, map);
+                    }
+                }
             }
             catch (Exception e)
             {
@@ -1111,51 +1136,35 @@ namespace OpenSim.Region.ClientStack.LindenUDP
             }
         }
 
-        private void SendLayerTopRight(float[] map, int x1, int y1, int x2, int y2)
-        {
-            // Row
-            for (int i = x1; i <= x2; i++)
-                SendLayerData(i, y1, map);
-
-            // Column
-            for (int j = y1 + 1; j <= y2; j++)
-                SendLayerData(x2, j, map);
-
-            if (x2 - x1 > 0)
-                SendLayerBottomLeft(map, x1, y1 + 1, x2 - 1, y2);
-        }
-
-        void SendLayerBottomLeft(float[] map, int x1, int y1, int x2, int y2)
-        {
-            // Row in reverse
-            for (int i = x2; i >= x1; i--)
-                SendLayerData(i, y2, map);
-
-            // Column in reverse
-            for (int j = y2 - 1; j >= y1; j--)
-                SendLayerData(x1, j, map);
-
-            if (x2 - x1 > 0)
-                SendLayerTopRight(map, x1 + 1, y1, x2, y2 - 1);
-        }
-
         /// <summary>
         /// Sends a set of four patches (x, x+1, ..., x+3) to the client
         /// </summary>
         /// <param name="map">heightmap</param>
         /// <param name="px">X coordinate for patches 0..12</param>
         /// <param name="py">Y coordinate for patches 0..15</param>
-        // private void SendLayerPacket(float[] map, int y, int x)
-        // {
-        //     int[] patches = new int[4];
-        //     patches[0] = x + 0 + y * 16;
-        //     patches[1] = x + 1 + y * 16;
-        //     patches[2] = x + 2 + y * 16;
-        //     patches[3] = x + 3 + y * 16;
-
-        //     Packet layerpack = LLClientView.TerrainManager.CreateLandPacket(map, patches);
-        //     OutPacket(layerpack, ThrottleOutPacketType.Land);
-        // }
+        private void SendLayerPacket(int x, int y, float[] map)
+        {
+            int[] patches = new int[4];
+            patches[0] = x + 0 + y * 16;
+            patches[1] = x + 1 + y * 16;
+            patches[2] = x + 2 + y * 16;
+            patches[3] = x + 3 + y * 16;
+
+            float[] heightmap = (map.Length == 65536) ?
+                map :
+                LLHeightFieldMoronize(map);
+
+            try
+            {
+                Packet layerpack = TerrainCompressor.CreateLandPacket(heightmap, patches);
+                OutPacket(layerpack, ThrottleOutPacketType.Land);
+            }
+            catch
+            {
+                for (int px = x ; px < x + 4 ; px++)
+                    SendLayerData(px, y, map);
+            }
+        }
 
         /// <summary>
         /// Sends a specified patch to a client
@@ -1175,7 +1184,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
                 LayerDataPacket layerpack = TerrainCompressor.CreateLandPacket(heightmap, patches);
                 layerpack.Header.Reliable = true;
 
-                OutPacket(layerpack, ThrottleOutPacketType.Land);
+                OutPacket(layerpack, ThrottleOutPacketType.Task);
             }
             catch (Exception e)
             {
@@ -1538,7 +1547,8 @@ namespace OpenSim.Region.ClientStack.LindenUDP
 
         public void SendKillObject(ulong regionHandle, List<uint> localIDs)
         {
-//            m_log.DebugFormat("[CLIENT]: Sending KillObjectPacket to {0} for {1} in {2}", Name, localID, regionHandle);
+//            foreach (uint id in localIDs)
+//                m_log.DebugFormat("[CLIENT]: Sending KillObjectPacket to {0} for {1} in {2}", Name, id, regionHandle);
 
             KillObjectPacket kill = (KillObjectPacket)PacketPool.Instance.GetPacket(PacketType.KillObject);
             // TODO: don't create new blocks if recycling an old packet
@@ -2299,6 +2309,15 @@ namespace OpenSim.Region.ClientStack.LindenUDP
             OutPacket(sound, ThrottleOutPacketType.Task);
         }
 
+        public void SendTransferAbort(TransferRequestPacket transferRequest)
+        {
+            TransferAbortPacket abort = (TransferAbortPacket)PacketPool.Instance.GetPacket(PacketType.TransferAbort);
+            abort.TransferInfo.TransferID = transferRequest.TransferInfo.TransferID;
+            abort.TransferInfo.ChannelType = transferRequest.TransferInfo.ChannelType;
+            m_log.Debug("[Assets] Aborting transfer; asset request failed");
+            OutPacket(abort, ThrottleOutPacketType.Task);
+        }
+
         public void SendTriggeredSound(UUID soundID, UUID ownerID, UUID objectID, UUID parentID, ulong handle, Vector3 position, float gain)
         {
             SoundTriggerPacket sound = (SoundTriggerPacket)PacketPool.Instance.GetPacket(PacketType.SoundTrigger);
@@ -2591,6 +2610,35 @@ namespace OpenSim.Region.ClientStack.LindenUDP
             }
         }
 
+        public void SendPartPhysicsProprieties(ISceneEntity entity)
+        {
+            SceneObjectPart part = (SceneObjectPart)entity;
+            if (part != null && AgentId != UUID.Zero)
+            {
+                try
+                {
+                    IEventQueue eq = Scene.RequestModuleInterface<IEventQueue>();
+                    if (eq != null)
+                    {
+                        uint localid = part.LocalId;
+                        byte physshapetype = part.PhysicsShapeType;
+                        float density = part.Density;
+                        float friction = part.Friction;
+                        float bounce = part.Bounciness;
+                        float gravmod = part.GravityModifier;
+
+                        eq.partPhysicsProperties(localid, physshapetype, density, friction, bounce, gravmod,AgentId);
+                    }
+                }
+                catch (Exception ex)
+                {
+                    m_log.Error("Unable to send part Physics Proprieties - exception: " + ex.ToString());
+                }
+                part.UpdatePhysRequired = false;
+            }
+        }
+
+
 
         public void SendGroupNameReply(UUID groupLLUID, string GroupName)
         {
@@ -2746,7 +2794,10 @@ namespace OpenSim.Region.ClientStack.LindenUDP
             reply.Data.ParcelID = parcelID;
             reply.Data.OwnerID = land.OwnerID;
             reply.Data.Name = Utils.StringToBytes(land.Name);
-            reply.Data.Desc = Utils.StringToBytes(land.Description);
+            if (land != null && land.Description != null && land.Description != String.Empty)
+                reply.Data.Desc = Utils.StringToBytes(land.Description.Substring(0, land.Description.Length > 254 ? 254: land.Description.Length));
+            else
+                reply.Data.Desc = new Byte[0];
             reply.Data.ActualArea = land.Area;
             reply.Data.BillableArea = land.Area; // TODO: what is this?
 
@@ -3609,7 +3660,15 @@ namespace OpenSim.Region.ClientStack.LindenUDP
         /// </summary>
         public void SendEntityUpdate(ISceneEntity entity, PrimUpdateFlags updateFlags)
         {
-            //double priority = m_prioritizer.GetUpdatePriority(this, entity);
+            if (entity is SceneObjectPart)
+            {
+                SceneObjectPart e = (SceneObjectPart)entity;
+                SceneObjectGroup g = e.ParentGroup;
+                if (g.RootPart.Shape.State > 30) // HUD
+                    if (g.OwnerID != AgentId)
+                        return; // Don't send updates for other people's HUDs
+            }
+
             uint priority = m_prioritizer.GetUpdatePriority(this, entity);
 
             lock (m_entityUpdates.SyncRoot)
@@ -3676,211 +3735,238 @@ namespace OpenSim.Region.ClientStack.LindenUDP
 
             // We must lock for both manipulating the kill record and sending the packet, in order to avoid a race
             // condition where a kill can be processed before an out-of-date update for the same object.                        
-            lock (m_killRecord)
+            float avgTimeDilation = 1.0f;
+            IEntityUpdate iupdate;
+            Int32 timeinqueue; // this is just debugging code & can be dropped later
+                
+            while (updatesThisCall < maxUpdates)
             {
-                float avgTimeDilation = 1.0f;
-                IEntityUpdate iupdate;
-                Int32 timeinqueue; // this is just debugging code & can be dropped later
-
-                while (updatesThisCall < maxUpdates)
-                {
-                    lock (m_entityUpdates.SyncRoot)
-                        if (!m_entityUpdates.TryDequeue(out iupdate, out timeinqueue))
-                            break;
+                lock (m_entityUpdates.SyncRoot)
+                    if (!m_entityUpdates.TryDequeue(out iupdate, out timeinqueue))
+                        break;
 
-                    EntityUpdate update = (EntityUpdate)iupdate;
+                EntityUpdate update = (EntityUpdate)iupdate;
                     
-                    avgTimeDilation += update.TimeDilation;
-                    avgTimeDilation *= 0.5f;
-
-                    if (update.Entity is SceneObjectPart)
+                avgTimeDilation += update.TimeDilation;
+                avgTimeDilation *= 0.5f;
+
+                if (update.Entity is SceneObjectPart)
+                {
+                    SceneObjectPart part = (SceneObjectPart)update.Entity;
+
+                    // Please do not remove this unless you can demonstrate on the OpenSim mailing list that a client
+                    // will never receive an update after a prim kill.  Even then, keeping the kill record may be a good
+                    // safety measure.
+                    //
+                    // If a Linden Lab 1.23.5 client (and possibly later and earlier) receives an object update
+                    // after a kill, it will keep displaying the deleted object until relog.  OpenSim currently performs
+                    // updates and kills on different threads with different scheduling strategies, hence this protection.
+                    // 
+                    // This doesn't appear to apply to child prims - a client will happily ignore these updates
+                    // after the root prim has been deleted.
+                    lock (m_killRecord)
                     {
-                        SceneObjectPart part = (SceneObjectPart)update.Entity;
-    
-                        // Please do not remove this unless you can demonstrate on the OpenSim mailing list that a client
-                        // will never receive an update after a prim kill.  Even then, keeping the kill record may be a good
-                        // safety measure.
-                        //
-                        // If a Linden Lab 1.23.5 client (and possibly later and earlier) receives an object update
-                        // after a kill, it will keep displaying the deleted object until relog.  OpenSim currently performs
-                        // updates and kills on different threads with different scheduling strategies, hence this protection.
-                        // 
-                        // This doesn't appear to apply to child prims - a client will happily ignore these updates
-                        // after the root prim has been deleted.
                         if (m_killRecord.Contains(part.LocalId))
-                        {
-        //                        m_log.WarnFormat(
-        //                            "[CLIENT]: Preventing update for prim with local id {0} after client for user {1} told it was deleted",
-        //                            part.LocalId, Name);
                             continue;
-                        }                        
-                            
-                        if (part.ParentGroup.IsAttachment && m_disableFacelights)
+                        if (m_killRecord.Contains(part.ParentGroup.RootPart.LocalId))
+                            continue;
+                    }
+
+                    if (part.ParentGroup.IsDeleted)
+                        continue;
+
+                    if (part.ParentGroup.IsAttachment)
+                    {   // Someone else's HUD, why are we getting these?
+                        if (part.ParentGroup.OwnerID != AgentId &&
+                            part.ParentGroup.RootPart.Shape.State >= 30)
+                            continue;
+                        ScenePresence sp;
+                        // Owner is not in the sim, don't update it to
+                        // anyone
+                        if (!m_scene.TryGetScenePresence(part.OwnerID, out sp))
+                            continue;
+
+                        List<SceneObjectGroup> atts = sp.GetAttachments();
+                        bool found = false;
+                        foreach (SceneObjectGroup att in atts)
                         {
-                            if (part.ParentGroup.RootPart.Shape.State != (byte)AttachmentPoint.LeftHand &&
-                                part.ParentGroup.RootPart.Shape.State != (byte)AttachmentPoint.RightHand)
+                            if (att == part.ParentGroup)
                             {
-                                part.Shape.LightEntry = false;
+                                found = true;
+                                break;
                             }
                         }
+
+                        // It's an attachment of a valid avatar, but
+                        // doesn't seem to be attached, skip
+                        if (!found)
+                            continue;
+
+                        // On vehicle crossing, the attachments are received
+                        // while the avatar is still a child. Don't send
+                        // updates here because the LocalId has not yet
+                        // been updated and the viewer will derender the
+                        // attachments until the avatar becomes root.
+                        if (sp.IsChildAgent)
+                            continue;
                     }
-    
-                    ++updatesThisCall;
-    
-                    #region UpdateFlags to packet type conversion
-    
-                    PrimUpdateFlags updateFlags = (PrimUpdateFlags)update.Flags;
-    
-                    bool canUseCompressed = true;
-                    bool canUseImproved = true;
-    
-                    // Compressed object updates only make sense for LL primitives
-                    if (!(update.Entity is SceneObjectPart))
-                    {
-                        canUseCompressed = false;
-                    }
-    
-                    if (updateFlags.HasFlag(PrimUpdateFlags.FullUpdate))
-                    {
-                        canUseCompressed = false;
-                        canUseImproved = false;
-                    }
-                    else
+                    if (part.ParentGroup.IsAttachment && m_disableFacelights)
                     {
-                        if (updateFlags.HasFlag(PrimUpdateFlags.Velocity) ||
-                            updateFlags.HasFlag(PrimUpdateFlags.Acceleration) ||
-                            updateFlags.HasFlag(PrimUpdateFlags.CollisionPlane) ||
-                            updateFlags.HasFlag(PrimUpdateFlags.Joint))
-                        {
-                            canUseCompressed = false;
-                        }
-    
-                        if (updateFlags.HasFlag(PrimUpdateFlags.PrimFlags) ||
-                            updateFlags.HasFlag(PrimUpdateFlags.ParentID) ||
-                            updateFlags.HasFlag(PrimUpdateFlags.Scale) ||
-                            updateFlags.HasFlag(PrimUpdateFlags.PrimData) ||
-                            updateFlags.HasFlag(PrimUpdateFlags.Text) ||
-                            updateFlags.HasFlag(PrimUpdateFlags.NameValue) ||
-                            updateFlags.HasFlag(PrimUpdateFlags.ExtraData) ||
-                            updateFlags.HasFlag(PrimUpdateFlags.TextureAnim) ||
-                            updateFlags.HasFlag(PrimUpdateFlags.Sound) ||
-                            updateFlags.HasFlag(PrimUpdateFlags.Particles) ||
-                            updateFlags.HasFlag(PrimUpdateFlags.Material) ||
-                            updateFlags.HasFlag(PrimUpdateFlags.ClickAction) ||
-                            updateFlags.HasFlag(PrimUpdateFlags.MediaURL) ||
-                            updateFlags.HasFlag(PrimUpdateFlags.Joint))
+                        if (part.ParentGroup.RootPart.Shape.State != (byte)AttachmentPoint.LeftHand &&
+                            part.ParentGroup.RootPart.Shape.State != (byte)AttachmentPoint.RightHand)
                         {
-                            canUseImproved = false;
+                            part.Shape.LightEntry = false;
                         }
                     }
-    
-                    #endregion UpdateFlags to packet type conversion
-    
-                    #region Block Construction
-    
-                    // TODO: Remove this once we can build compressed updates
+                }
+
+                ++updatesThisCall;
+
+                #region UpdateFlags to packet type conversion
+
+                PrimUpdateFlags updateFlags = (PrimUpdateFlags)update.Flags;
+
+                bool canUseCompressed = true;
+                bool canUseImproved = true;
+
+                // Compressed object updates only make sense for LL primitives
+                if (!(update.Entity is SceneObjectPart))
+                {
                     canUseCompressed = false;
-    
-                    if (!canUseImproved && !canUseCompressed)
-                    {
-                        if (update.Entity is ScenePresence)
-                        {
-                            objectUpdateBlocks.Value.Add(CreateAvatarUpdateBlock((ScenePresence)update.Entity));
-                            objectUpdates.Value.Add(update);
-                        }
-                        else
-                        {
-                            objectUpdateBlocks.Value.Add(CreatePrimUpdateBlock((SceneObjectPart)update.Entity, this.m_agentId));
-                            objectUpdates.Value.Add(update);
-                        }
-                    }
-                    else if (!canUseImproved)
+                }
+
+                if (updateFlags.HasFlag(PrimUpdateFlags.FullUpdate))
+                {
+                    canUseCompressed = false;
+                    canUseImproved = false;
+                }
+                else
+                {
+                    if (updateFlags.HasFlag(PrimUpdateFlags.Velocity) ||
+                        updateFlags.HasFlag(PrimUpdateFlags.Acceleration) ||
+                        updateFlags.HasFlag(PrimUpdateFlags.CollisionPlane) ||
+                        updateFlags.HasFlag(PrimUpdateFlags.Joint))
                     {
-                        compressedUpdateBlocks.Value.Add(CreateCompressedUpdateBlock((SceneObjectPart)update.Entity, updateFlags));
-                        compressedUpdates.Value.Add(update);
+                        canUseCompressed = false;
                     }
-                    else
+
+                    if (updateFlags.HasFlag(PrimUpdateFlags.PrimFlags) ||
+                        updateFlags.HasFlag(PrimUpdateFlags.ParentID) ||
+                        updateFlags.HasFlag(PrimUpdateFlags.Scale) ||
+                        updateFlags.HasFlag(PrimUpdateFlags.PrimData) ||
+                        updateFlags.HasFlag(PrimUpdateFlags.Text) ||
+                        updateFlags.HasFlag(PrimUpdateFlags.NameValue) ||
+                        updateFlags.HasFlag(PrimUpdateFlags.ExtraData) ||
+                        updateFlags.HasFlag(PrimUpdateFlags.TextureAnim) ||
+                        updateFlags.HasFlag(PrimUpdateFlags.Sound) ||
+                        updateFlags.HasFlag(PrimUpdateFlags.Particles) ||
+                        updateFlags.HasFlag(PrimUpdateFlags.Material) ||
+                        updateFlags.HasFlag(PrimUpdateFlags.ClickAction) ||
+                        updateFlags.HasFlag(PrimUpdateFlags.MediaURL) ||
+                        updateFlags.HasFlag(PrimUpdateFlags.Joint))
                     {
-                        if (update.Entity is ScenePresence && ((ScenePresence)update.Entity).UUID == AgentId)
-                        {
-                            // Self updates go into a special list
-                            terseAgentUpdateBlocks.Value.Add(CreateImprovedTerseBlock(update.Entity, updateFlags.HasFlag(PrimUpdateFlags.Textures)));
-                            terseAgentUpdates.Value.Add(update);
-                        }
-                        else
-                        {
-                            // Everything else goes here
-                            terseUpdateBlocks.Value.Add(CreateImprovedTerseBlock(update.Entity, updateFlags.HasFlag(PrimUpdateFlags.Textures)));
-                            terseUpdates.Value.Add(update);
-                        }
+                        canUseImproved = false;
                     }
-    
-                    #endregion Block Construction
                 }
-                
-    
-                #region Packet Sending
-                ushort timeDilation = Utils.FloatToUInt16(avgTimeDilation, 0.0f, 1.0f);
 
-                if (terseAgentUpdateBlocks.IsValueCreated)
-                {
-                    List<ImprovedTerseObjectUpdatePacket.ObjectDataBlock> blocks = terseAgentUpdateBlocks.Value;
+                #endregion UpdateFlags to packet type conversion
 
-                    ImprovedTerseObjectUpdatePacket packet = new ImprovedTerseObjectUpdatePacket();
-                    packet.RegionData.RegionHandle = m_scene.RegionInfo.RegionHandle;
-                    packet.RegionData.TimeDilation = timeDilation;
-                    packet.ObjectData = new ImprovedTerseObjectUpdatePacket.ObjectDataBlock[blocks.Count];
+                #region Block Construction
 
-                    for (int i = 0; i < blocks.Count; i++)
-                        packet.ObjectData[i] = blocks[i];
-                    // If any of the packets created from this call go unacknowledged, all of the updates will be resent
-                    OutPacket(packet, ThrottleOutPacketType.Unknown, true, delegate(OutgoingPacket oPacket) { ResendPrimUpdates(terseAgentUpdates.Value, oPacket); });
-                }
+                // TODO: Remove this once we can build compressed updates
+                canUseCompressed = false;
 
-                if (objectUpdateBlocks.IsValueCreated)
+                if (!canUseImproved && !canUseCompressed)
                 {
-                    List<ObjectUpdatePacket.ObjectDataBlock> blocks = objectUpdateBlocks.Value;
-        
-                    ObjectUpdatePacket packet = (ObjectUpdatePacket)PacketPool.Instance.GetPacket(PacketType.ObjectUpdate);
-                    packet.RegionData.RegionHandle = m_scene.RegionInfo.RegionHandle;
-                    packet.RegionData.TimeDilation = timeDilation;
-                    packet.ObjectData = new ObjectUpdatePacket.ObjectDataBlock[blocks.Count];
-        
-                    for (int i = 0; i < blocks.Count; i++)
-                        packet.ObjectData[i] = blocks[i];
-                    // If any of the packets created from this call go unacknowledged, all of the updates will be resent
-                    OutPacket(packet, ThrottleOutPacketType.Task, true, delegate(OutgoingPacket oPacket) { ResendPrimUpdates(objectUpdates.Value, oPacket); });
+                    if (update.Entity is ScenePresence)
+                    {
+                        objectUpdateBlocks.Value.Add(CreateAvatarUpdateBlock((ScenePresence)update.Entity));
+                    }
+                    else
+                    {
+                        objectUpdateBlocks.Value.Add(CreatePrimUpdateBlock((SceneObjectPart)update.Entity, this.m_agentId));
+                    }
                 }
-        
-                if (compressedUpdateBlocks.IsValueCreated)
+                else if (!canUseImproved)
                 {
-                    List<ObjectUpdateCompressedPacket.ObjectDataBlock> blocks = compressedUpdateBlocks.Value;
-        
-                    ObjectUpdateCompressedPacket packet = (ObjectUpdateCompressedPacket)PacketPool.Instance.GetPacket(PacketType.ObjectUpdateCompressed);
-                    packet.RegionData.RegionHandle = m_scene.RegionInfo.RegionHandle;
-                    packet.RegionData.TimeDilation = timeDilation;
-                    packet.ObjectData = new ObjectUpdateCompressedPacket.ObjectDataBlock[blocks.Count];
-        
-                    for (int i = 0; i < blocks.Count; i++)
-                        packet.ObjectData[i] = blocks[i];
-                    // If any of the packets created from this call go unacknowledged, all of the updates will be resent
-                    OutPacket(packet, ThrottleOutPacketType.Task, true, delegate(OutgoingPacket oPacket) { ResendPrimUpdates(compressedUpdates.Value, oPacket); });
+                    compressedUpdateBlocks.Value.Add(CreateCompressedUpdateBlock((SceneObjectPart)update.Entity, updateFlags));
                 }
-
-                if (terseUpdateBlocks.IsValueCreated)
+                else
                 {
-                    List<ImprovedTerseObjectUpdatePacket.ObjectDataBlock> blocks = terseUpdateBlocks.Value;
-        
-                    ImprovedTerseObjectUpdatePacket packet = new ImprovedTerseObjectUpdatePacket();
-                    packet.RegionData.RegionHandle = m_scene.RegionInfo.RegionHandle;
-                    packet.RegionData.TimeDilation = timeDilation;
-                    packet.ObjectData = new ImprovedTerseObjectUpdatePacket.ObjectDataBlock[blocks.Count];
-        
-                    for (int i = 0; i < blocks.Count; i++)
-                        packet.ObjectData[i] = blocks[i];
-                    // If any of the packets created from this call go unacknowledged, all of the updates will be resent
-                    OutPacket(packet, ThrottleOutPacketType.Task, true, delegate(OutgoingPacket oPacket) { ResendPrimUpdates(terseUpdates.Value, oPacket); });
+                    if (update.Entity is ScenePresence && ((ScenePresence)update.Entity).UUID == AgentId)
+                        // Self updates go into a special list
+                        terseAgentUpdateBlocks.Value.Add(CreateImprovedTerseBlock(update.Entity, updateFlags.HasFlag(PrimUpdateFlags.Textures)));
+                    else
+                        // Everything else goes here
+                        terseUpdateBlocks.Value.Add(CreateImprovedTerseBlock(update.Entity, updateFlags.HasFlag(PrimUpdateFlags.Textures)));
                 }
+
+                #endregion Block Construction
+            }
+
+            #region Packet Sending
+    
+            const float TIME_DILATION = 1.0f;
+            ushort timeDilation = Utils.FloatToUInt16(avgTimeDilation, 0.0f, 1.0f);
+    
+            if (terseAgentUpdateBlocks.IsValueCreated)
+            {
+                List<ImprovedTerseObjectUpdatePacket.ObjectDataBlock> blocks = terseAgentUpdateBlocks.Value;
+
+                ImprovedTerseObjectUpdatePacket packet = new ImprovedTerseObjectUpdatePacket();
+                packet.RegionData.RegionHandle = m_scene.RegionInfo.RegionHandle;
+                packet.RegionData.TimeDilation = timeDilation;
+                packet.ObjectData = new ImprovedTerseObjectUpdatePacket.ObjectDataBlock[blocks.Count];
+
+                for (int i = 0; i < blocks.Count; i++)
+                    packet.ObjectData[i] = blocks[i];
+
+                OutPacket(packet, ThrottleOutPacketType.Unknown, true);
+            }
+
+            if (objectUpdateBlocks.IsValueCreated)
+            {
+                List<ObjectUpdatePacket.ObjectDataBlock> blocks = objectUpdateBlocks.Value;
+    
+                ObjectUpdatePacket packet = (ObjectUpdatePacket)PacketPool.Instance.GetPacket(PacketType.ObjectUpdate);
+                packet.RegionData.RegionHandle = m_scene.RegionInfo.RegionHandle;
+                packet.RegionData.TimeDilation = timeDilation;
+                packet.ObjectData = new ObjectUpdatePacket.ObjectDataBlock[blocks.Count];
+    
+                for (int i = 0; i < blocks.Count; i++)
+                    packet.ObjectData[i] = blocks[i];
+    
+                OutPacket(packet, ThrottleOutPacketType.Task, true);
+            }
+    
+            if (compressedUpdateBlocks.IsValueCreated)
+            {
+                List<ObjectUpdateCompressedPacket.ObjectDataBlock> blocks = compressedUpdateBlocks.Value;
+    
+                ObjectUpdateCompressedPacket packet = (ObjectUpdateCompressedPacket)PacketPool.Instance.GetPacket(PacketType.ObjectUpdateCompressed);
+                packet.RegionData.RegionHandle = m_scene.RegionInfo.RegionHandle;
+                packet.RegionData.TimeDilation = timeDilation;
+                packet.ObjectData = new ObjectUpdateCompressedPacket.ObjectDataBlock[blocks.Count];
+
+                for (int i = 0; i < blocks.Count; i++)
+                    packet.ObjectData[i] = blocks[i];
+    
+                OutPacket(packet, ThrottleOutPacketType.Task, true);
+            }
+    
+            if (terseUpdateBlocks.IsValueCreated)
+            {
+                List<ImprovedTerseObjectUpdatePacket.ObjectDataBlock> blocks = terseUpdateBlocks.Value;
+    
+                ImprovedTerseObjectUpdatePacket packet = new ImprovedTerseObjectUpdatePacket();
+                packet.RegionData.RegionHandle = m_scene.RegionInfo.RegionHandle;
+                packet.RegionData.TimeDilation = timeDilation;
+                packet.ObjectData = new ImprovedTerseObjectUpdatePacket.ObjectDataBlock[blocks.Count];
+    
+                for (int i = 0; i < blocks.Count; i++)
+                    packet.ObjectData[i] = blocks[i];
+    
+                OutPacket(packet, ThrottleOutPacketType.Task, true);
             }
 
             #endregion Packet Sending
@@ -4173,11 +4259,13 @@ namespace OpenSim.Region.ClientStack.LindenUDP
 
                 // Pass in the delegate so that if this packet needs to be resent, we send the current properties
                 // of the object rather than the properties when the packet was created
-                OutPacket(packet, ThrottleOutPacketType.Task, true,
-                          delegate(OutgoingPacket oPacket)
-                          {
-                              ResendPropertyUpdates(updates, oPacket);
-                          });
+                // HACK : Remove intelligent resending until it's fixed in core
+                //OutPacket(packet, ThrottleOutPacketType.Task, true,
+                //          delegate(OutgoingPacket oPacket)
+                //          {
+                //              ResendPropertyUpdates(updates, oPacket);
+                //          });
+                OutPacket(packet, ThrottleOutPacketType.Task, true);
 
                 // pbcnt += blocks.Count;
                 // ppcnt++;
@@ -4203,11 +4291,13 @@ namespace OpenSim.Region.ClientStack.LindenUDP
                     // of the object rather than the properties when the packet was created
                     List<ObjectPropertyUpdate> updates = new List<ObjectPropertyUpdate>();
                     updates.Add(familyUpdates.Value[i]);
-                    OutPacket(packet, ThrottleOutPacketType.Task, true,
-                              delegate(OutgoingPacket oPacket)
-                              {
-                                  ResendPropertyUpdates(updates, oPacket);
-                              });
+                    // HACK : Remove intelligent resending until it's fixed in core
+                    //OutPacket(packet, ThrottleOutPacketType.Task, true,
+                    //          delegate(OutgoingPacket oPacket)
+                    //          {
+                    //              ResendPropertyUpdates(updates, oPacket);
+                    //          });
+                    OutPacket(packet, ThrottleOutPacketType.Task, true);
 
                     // fpcnt++;
                     // fbcnt++;
@@ -4356,37 +4446,44 @@ namespace OpenSim.Region.ClientStack.LindenUDP
                 if (bl[i].BannedUserID == UUID.Zero)
                     continue;
                 BannedUsers.Add(bl[i].BannedUserID);
-            }
 
-            EstateOwnerMessagePacket packet = new EstateOwnerMessagePacket();
-            packet.AgentData.TransactionID = UUID.Random();
-            packet.AgentData.AgentID = AgentId;
-            packet.AgentData.SessionID = SessionId;
-            packet.MethodData.Invoice = invoice;
-            packet.MethodData.Method = Utils.StringToBytes("setaccess");
+                if (BannedUsers.Count >= 50 || (i == (bl.Length - 1) && BannedUsers.Count > 0))
+                {
+                    EstateOwnerMessagePacket packet = new EstateOwnerMessagePacket();
+                    packet.AgentData.TransactionID = UUID.Random();
+                    packet.AgentData.AgentID = AgentId;
+                    packet.AgentData.SessionID = SessionId;
+                    packet.MethodData.Invoice = invoice;
+                    packet.MethodData.Method = Utils.StringToBytes("setaccess");
 
-            EstateOwnerMessagePacket.ParamListBlock[] returnblock = new EstateOwnerMessagePacket.ParamListBlock[6 + BannedUsers.Count];
+                    EstateOwnerMessagePacket.ParamListBlock[] returnblock = new EstateOwnerMessagePacket.ParamListBlock[6 + BannedUsers.Count];
 
-            for (int i = 0; i < (6 + BannedUsers.Count); i++)
-            {
-                returnblock[i] = new EstateOwnerMessagePacket.ParamListBlock();
-            }
-            int j = 0;
+                    int j;
+                    for (j = 0; j < (6 + BannedUsers.Count); j++)
+                    {
+                        returnblock[j] = new EstateOwnerMessagePacket.ParamListBlock();
+                    }
+                    j = 0;
 
-            returnblock[j].Parameter = Utils.StringToBytes(estateID.ToString()); j++;
-            returnblock[j].Parameter = Utils.StringToBytes(((int)Constants.EstateAccessCodex.EstateBans).ToString()); j++;
-            returnblock[j].Parameter = Utils.StringToBytes("0"); j++;
-            returnblock[j].Parameter = Utils.StringToBytes("0"); j++;
-            returnblock[j].Parameter = Utils.StringToBytes(BannedUsers.Count.ToString()); j++;
-            returnblock[j].Parameter = Utils.StringToBytes("0"); j++;
+                    returnblock[j].Parameter = Utils.StringToBytes(estateID.ToString()); j++;
+                    returnblock[j].Parameter = Utils.StringToBytes(((int)Constants.EstateAccessCodex.EstateBans).ToString()); j++;
+                    returnblock[j].Parameter = Utils.StringToBytes("0"); j++;
+                    returnblock[j].Parameter = Utils.StringToBytes("0"); j++;
+                    returnblock[j].Parameter = Utils.StringToBytes(BannedUsers.Count.ToString()); j++;
+                    returnblock[j].Parameter = Utils.StringToBytes("0"); j++;
 
-            foreach (UUID banned in BannedUsers)
-            {
-                returnblock[j].Parameter = banned.GetBytes(); j++;
+                    foreach (UUID banned in BannedUsers)
+                    {
+                        returnblock[j].Parameter = banned.GetBytes(); j++;
+                    }
+                    packet.ParamList = returnblock;
+                    packet.Header.Reliable = true;
+                    OutPacket(packet, ThrottleOutPacketType.Task);
+
+                    BannedUsers.Clear();
+                }
             }
-            packet.ParamList = returnblock;
-            packet.Header.Reliable = false;
-            OutPacket(packet, ThrottleOutPacketType.Task);
+
         }
 
         public void SendRegionInfoToEstateMenu(RegionInfoForEstateMenuArgs args)
@@ -4572,7 +4669,10 @@ namespace OpenSim.Region.ClientStack.LindenUDP
             
             if (landData.SimwideArea > 0)
             {
-                int simulatorCapacity = (int)(((float)landData.SimwideArea / 65536.0f) * (float)m_scene.RegionInfo.ObjectCapacity * (float)m_scene.RegionInfo.RegionSettings.ObjectBonus);
+                int simulatorCapacity = (int)((long)landData.SimwideArea * (long)m_scene.RegionInfo.ObjectCapacity * (long)m_scene.RegionInfo.RegionSettings.ObjectBonus / 65536L);
+                // Never report more than sim total capacity
+                if (simulatorCapacity > m_scene.RegionInfo.ObjectCapacity)
+                    simulatorCapacity = m_scene.RegionInfo.ObjectCapacity;
                 updateMessage.SimWideMaxPrims = simulatorCapacity;
             }
             else
@@ -4701,14 +4801,14 @@ namespace OpenSim.Region.ClientStack.LindenUDP
 
             if (notifyCount > 0)
             {
-                if (notifyCount > 32)
-                {
-                    m_log.InfoFormat(
-                        "[LAND]: More than {0} avatars own prims on this parcel.  Only sending back details of first {0}"
-                        + " - a developer might want to investigate whether this is a hard limit", 32);
-
-                    notifyCount = 32;
-                }
+//                if (notifyCount > 32)
+//                {
+//                    m_log.InfoFormat(
+//                        "[LAND]: More than {0} avatars own prims on this parcel.  Only sending back details of first {0}"
+//                        + " - a developer might want to investigate whether this is a hard limit", 32);
+//
+//                    notifyCount = 32;
+//                }
 
                 ParcelObjectOwnersReplyPacket.DataBlock[] dataBlock
                     = new ParcelObjectOwnersReplyPacket.DataBlock[notifyCount];
@@ -4763,9 +4863,21 @@ namespace OpenSim.Region.ClientStack.LindenUDP
             {
                 ScenePresence presence = (ScenePresence)entity;
 
+                position = presence.OffsetPosition;
+                rotation = presence.Rotation;
+
+                if (presence.ParentID != 0)
+                {
+                    SceneObjectPart part = m_scene.GetSceneObjectPart(presence.ParentID);
+                    if (part != null && part != part.ParentGroup.RootPart)
+                    {
+                        position = part.OffsetPosition + presence.OffsetPosition * part.RotationOffset;
+                        rotation = part.RotationOffset * presence.Rotation;
+                    }
+                }
+
                 attachPoint = 0;
                 collisionPlane = presence.CollisionPlane;
-                position = presence.OffsetPosition;
                 velocity = presence.Velocity;
                 acceleration = Vector3.Zero;
 
@@ -4775,7 +4887,6 @@ namespace OpenSim.Region.ClientStack.LindenUDP
 //                acceleration = new Vector3(1, 0, 0);
                 
                 angularVelocity = Vector3.Zero;
-                rotation = presence.Rotation;
 
                 if (sendTexture)
                     textureEntry = presence.Appearance.Texture.GetBytes();
@@ -4880,13 +4991,28 @@ namespace OpenSim.Region.ClientStack.LindenUDP
 
         protected ObjectUpdatePacket.ObjectDataBlock CreateAvatarUpdateBlock(ScenePresence data)
         {
+            Vector3 offsetPosition = data.OffsetPosition;
+            Quaternion rotation = data.Rotation;
+            uint parentID = data.ParentID;
+
+            if (parentID != 0)
+            {
+                SceneObjectPart part = m_scene.GetSceneObjectPart(parentID);
+                if (part != null && part != part.ParentGroup.RootPart)
+                {
+                    offsetPosition = part.OffsetPosition + data.OffsetPosition * part.RotationOffset;
+                    rotation = part.RotationOffset * data.Rotation;
+                    parentID = part.ParentGroup.RootPart.LocalId;
+                }
+            }
+
             byte[] objectData = new byte[76];
 
             data.CollisionPlane.ToBytes(objectData, 0);
-            data.OffsetPosition.ToBytes(objectData, 16);
+            offsetPosition.ToBytes(objectData, 16);
 //            data.Velocity.ToBytes(objectData, 28);
 //            data.Acceleration.ToBytes(objectData, 40);
-            data.Rotation.ToBytes(objectData, 52);
+            rotation.ToBytes(objectData, 52);
             //data.AngularVelocity.ToBytes(objectData, 64);
 
             ObjectUpdatePacket.ObjectDataBlock update = new ObjectUpdatePacket.ObjectDataBlock();
@@ -4900,7 +5026,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
             update.NameValue = Utils.StringToBytes("FirstName STRING RW SV " + data.Firstname + "\nLastName STRING RW SV " +
                 data.Lastname + "\nTitle STRING RW SV " + data.Grouptitle);
             update.ObjectData = objectData;
-            update.ParentID = data.ParentID;
+            update.ParentID = parentID;
             update.PathCurve = 16;
             update.PathScaleX = 100;
             update.PathScaleY = 100;
@@ -5241,6 +5367,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
             AddLocalPacketHandler(PacketType.TransferAbort, HandleTransferAbort, false);
             AddLocalPacketHandler(PacketType.MuteListRequest, HandleMuteListRequest, false);
             AddLocalPacketHandler(PacketType.UseCircuitCode, HandleUseCircuitCode);
+            AddLocalPacketHandler(PacketType.CreateNewOutfitAttachments, HandleCreateNewOutfitAttachments);
             AddLocalPacketHandler(PacketType.AgentHeightWidth, HandleAgentHeightWidth, false);
             AddLocalPacketHandler(PacketType.InventoryDescendents, HandleInventoryDescendents);
             AddLocalPacketHandler(PacketType.DirPlacesQuery, HandleDirPlacesQuery);
@@ -5307,6 +5434,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
             AddLocalPacketHandler(PacketType.GroupVoteHistoryRequest, HandleGroupVoteHistoryRequest);
             AddLocalPacketHandler(PacketType.SimWideDeletes, HandleSimWideDeletes);
             AddLocalPacketHandler(PacketType.SendPostcard, HandleSendPostcard);
+            AddLocalPacketHandler(PacketType.ChangeInventoryItemFlags, HandleChangeInventoryItemFlags);
 
             AddGenericPacketHandler("autopilot", HandleAutopilot);
         }
@@ -5342,6 +5470,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
                         (x.CameraLeftAxis != lastarg.CameraLeftAxis) ||
                         (x.CameraUpAxis != lastarg.CameraUpAxis) ||
                         (x.ControlFlags != lastarg.ControlFlags) ||
+                        (x.ControlFlags != 0) ||
                         (x.Far != lastarg.Far) ||
                         (x.Flags != lastarg.Flags) ||
                         (x.State != lastarg.State) ||
@@ -5719,7 +5848,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
                 args.Channel = ch;
                 args.From = String.Empty;
                 args.Message = Utils.BytesToString(msg);
-                args.Type = ChatTypeEnum.Shout;
+                args.Type = ChatTypeEnum.Region; //Behaviour in SL is that the response can be heard from any distance
                 args.Position = new Vector3();
                 args.Scene = Scene;
                 args.Sender = this;
@@ -6907,10 +7036,33 @@ namespace OpenSim.Region.ClientStack.LindenUDP
                 // 46,47,48 are special positions within the packet
                 // This may change so perhaps we need a better way
                 // of storing this (OMV.FlagUpdatePacket.UsePhysics,etc?)
-                bool UsePhysics = (data[46] != 0) ? true : false;
-                bool IsTemporary = (data[47] != 0) ? true : false;
-                bool IsPhantom = (data[48] != 0) ? true : false;
-                handlerUpdatePrimFlags(flags.AgentData.ObjectLocalID, UsePhysics, IsTemporary, IsPhantom, this);
+                /*
+                                bool UsePhysics = (data[46] != 0) ? true : false;
+                                bool IsTemporary = (data[47] != 0) ? true : false;
+                                bool IsPhantom = (data[48] != 0) ? true : false;
+                                handlerUpdatePrimFlags(flags.AgentData.ObjectLocalID, UsePhysics, IsTemporary, IsPhantom, this);
+                 */
+                bool UsePhysics = flags.AgentData.UsePhysics;
+                bool IsPhantom = flags.AgentData.IsPhantom;
+                bool IsTemporary = flags.AgentData.IsTemporary;
+                ObjectFlagUpdatePacket.ExtraPhysicsBlock[] blocks = flags.ExtraPhysics;
+                ExtraPhysicsData physdata = new ExtraPhysicsData();
+
+                if (blocks == null || blocks.Length == 0)
+                {
+                    physdata.PhysShapeType = PhysShapeType.invalid;
+                }
+                else
+                {
+                    ObjectFlagUpdatePacket.ExtraPhysicsBlock phsblock = blocks[0];
+                    physdata.PhysShapeType = (PhysShapeType)phsblock.PhysicsShapeType;
+                    physdata.Bounce = phsblock.Restitution;
+                    physdata.Density = phsblock.Density;
+                    physdata.Friction = phsblock.Friction;
+                    physdata.GravitationModifier = phsblock.GravityMultiplier;                   
+                }
+
+                handlerUpdatePrimFlags(flags.AgentData.ObjectLocalID, UsePhysics, IsTemporary, IsPhantom, physdata, this);
             }
             return true;
         }
@@ -9764,7 +9916,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
                 handlerUpdateMuteListEntry(this, UpdateMuteListEntry.MuteData.MuteID,
                                            Utils.BytesToString(UpdateMuteListEntry.MuteData.MuteName),
                                            UpdateMuteListEntry.MuteData.MuteType,
-                                           UpdateMuteListEntry.AgentData.AgentID);
+                                           UpdateMuteListEntry.MuteData.MuteFlags);
                 return true;
             }
             return false;
@@ -9779,8 +9931,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
             {
                 handlerRemoveMuteListEntry(this,
                                            RemoveMuteListEntry.MuteData.MuteID,
-                                           Utils.BytesToString(RemoveMuteListEntry.MuteData.MuteName),
-                                           RemoveMuteListEntry.AgentData.AgentID);
+                                           Utils.BytesToString(RemoveMuteListEntry.MuteData.MuteName));
                 return true;
             }
             return false;
@@ -9824,10 +9975,55 @@ namespace OpenSim.Region.ClientStack.LindenUDP
             return false;
         }
 
+        private bool HandleChangeInventoryItemFlags(IClientAPI client, Packet packet)
+        {
+            ChangeInventoryItemFlagsPacket ChangeInventoryItemFlags =
+                (ChangeInventoryItemFlagsPacket)packet;
+            ChangeInventoryItemFlags handlerChangeInventoryItemFlags = OnChangeInventoryItemFlags;
+            if (handlerChangeInventoryItemFlags != null)
+            {
+                foreach(ChangeInventoryItemFlagsPacket.InventoryDataBlock b in ChangeInventoryItemFlags.InventoryData)
+                    handlerChangeInventoryItemFlags(this, b.ItemID, b.Flags);
+                return true;
+            }
+            return false;
+        }
+
         private bool HandleUseCircuitCode(IClientAPI sender, Packet Pack)
         {
             return true;
         }
+        
+        private bool HandleCreateNewOutfitAttachments(IClientAPI sender, Packet Pack)
+        {
+            CreateNewOutfitAttachmentsPacket packet = (CreateNewOutfitAttachmentsPacket)Pack;
+
+            #region Packet Session and User Check
+            if (m_checkPackets)
+            {
+                if (packet.AgentData.SessionID != SessionId ||
+                    packet.AgentData.AgentID != AgentId)
+                    return true;
+            }
+            #endregion
+            MoveItemsAndLeaveCopy handlerMoveItemsAndLeaveCopy = null;
+            List<InventoryItemBase> items = new List<InventoryItemBase>();
+            foreach (CreateNewOutfitAttachmentsPacket.ObjectDataBlock n in packet.ObjectData)
+            {
+                InventoryItemBase b = new InventoryItemBase();
+                b.ID = n.OldItemID;
+                b.Folder = n.OldFolderID;
+                items.Add(b);
+            }
+
+            handlerMoveItemsAndLeaveCopy = OnMoveItemsAndLeaveCopy;
+            if (handlerMoveItemsAndLeaveCopy != null)
+            {
+                handlerMoveItemsAndLeaveCopy(this, items, packet.HeaderData.NewFolderID);
+            }
+
+            return true;
+        }
 
         private bool HandleAgentHeightWidth(IClientAPI sender, Packet Pack)
         {
@@ -10254,6 +10450,20 @@ namespace OpenSim.Region.ClientStack.LindenUDP
                 groupProfileReply.GroupData.MaturePublish = d.MaturePublish;
                 groupProfileReply.GroupData.OwnerRole = d.OwnerRole;
 
+                Scene scene = (Scene)m_scene;
+                if (scene.Permissions.IsGod(sender.AgentId) && (!sender.IsGroupMember(groupProfileRequest.GroupData.GroupID)))
+                {
+                    ScenePresence p;
+                    if (scene.TryGetScenePresence(sender.AgentId, out p))
+                    {
+                        if (p.GodLevel >= 200)
+                        {
+                            groupProfileReply.GroupData.OpenEnrollment = true;
+                            groupProfileReply.GroupData.MembershipFee = 0;
+                        }
+                    }
+                }
+
                 OutPacket(groupProfileReply, ThrottleOutPacketType.Task);
             }
             return true;
@@ -10827,11 +11037,16 @@ namespace OpenSim.Region.ClientStack.LindenUDP
 
             StartLure handlerStartLure = OnStartLure;
             if (handlerStartLure != null)
-                handlerStartLure(startLureRequest.Info.LureType,
-                                 Utils.BytesToString(
-                                    startLureRequest.Info.Message),
-                                 startLureRequest.TargetData[0].TargetID,
-                                 this);
+            {
+                for (int i = 0 ; i < startLureRequest.TargetData.Length ; i++)
+                {
+                    handlerStartLure(startLureRequest.Info.LureType,
+                                     Utils.BytesToString(
+                                             startLureRequest.Info.Message),
+                                     startLureRequest.TargetData[i].TargetID,
+                                     this);
+                }
+            }
             return true;
         }
         private bool HandleTeleportLureRequest(IClientAPI sender, Packet Pack)
@@ -10945,10 +11160,11 @@ namespace OpenSim.Region.ClientStack.LindenUDP
             }
             #endregion
 
-            ClassifiedDelete handlerClassifiedGodDelete = OnClassifiedGodDelete;
+            ClassifiedGodDelete handlerClassifiedGodDelete = OnClassifiedGodDelete;
             if (handlerClassifiedGodDelete != null)
                 handlerClassifiedGodDelete(
                          classifiedGodDelete.Data.ClassifiedID,
+                         classifiedGodDelete.Data.QueryID,
                          this);
             return true;
         }
@@ -11313,209 +11529,149 @@ namespace OpenSim.Region.ClientStack.LindenUDP
                     }
                     else
                     {
-//                        m_log.DebugFormat(
-//                            "[CLIENT]: Processing block {0} type {1} for {2} {3}",
-//                            i, block.Type, part.Name, part.LocalId);
+                        ClientChangeObject updatehandler = onClientChangeObject;
 
-//                        // Do this once since fetch parts creates a new array.
-//                        SceneObjectPart[] parts = part.ParentGroup.Parts;
-//                        for (int j = 0; j < parts.Length; j++)
-//                        {
-//                            part.StoreUndoState();
-//                            parts[j].IgnoreUndoUpdate = true;
-//                        }
+                        if (updatehandler != null)
+                        {
+                            ObjectChangeData udata = new ObjectChangeData();
 
-                        UpdatePrimGroupRotation handlerUpdatePrimGroupRotation;
+                            /*ubit from ll JIRA:
+                             * 0x01 position
+                             * 0x02 rotation
+                             * 0x04 scale
+  
+                             * 0x08 LINK_SET
+                             * 0x10 UNIFORM for scale
+                             */
 
-                        switch (block.Type)
-                        {
-                            case 1:
-                                Vector3 pos1 = new Vector3(block.Data, 0);
+                            // translate to internal changes
+                            // not all cases .. just the ones older code did
 
-                                UpdateVector handlerUpdatePrimSinglePosition = OnUpdatePrimSinglePosition;
-                                if (handlerUpdatePrimSinglePosition != null)
-                                {
-                                    // m_log.Debug("new movement position is " + pos.X + " , " + pos.Y + " , " + pos.Z);
-                                    handlerUpdatePrimSinglePosition(localId, pos1, this);
-                                }
-                                break;
+                            switch (block.Type)
+                            {
+                                case 1: //change position sp
+                                    udata.position = new Vector3(block.Data, 0);
 
-                            case 2:
-                                Quaternion rot1 = new Quaternion(block.Data, 0, true);
+                                    udata.change = ObjectChangeType.primP;
+                                    updatehandler(localId, udata, this);
+                                    break;
 
-                                UpdatePrimSingleRotation handlerUpdatePrimSingleRotation = OnUpdatePrimSingleRotation;
-                                if (handlerUpdatePrimSingleRotation != null)
-                                {
-                                    // m_log.Info("new tab rotation is " + rot1.X + " , " + rot1.Y + " , " + rot1.Z + " , " + rot1.W);
-                                    handlerUpdatePrimSingleRotation(localId, rot1, this);
-                                }
-                                break;
+                                case 2: // rotation sp
+                                    udata.rotation = new Quaternion(block.Data, 0, true);
 
-                            case 3:
-                                Vector3 rotPos = new Vector3(block.Data, 0);
-                                Quaternion rot2 = new Quaternion(block.Data, 12, true);
+                                    udata.change = ObjectChangeType.primR;
+                                    updatehandler(localId, udata, this);
+                                    break;
 
-                                UpdatePrimSingleRotationPosition handlerUpdatePrimSingleRotationPosition = OnUpdatePrimSingleRotationPosition;
-                                if (handlerUpdatePrimSingleRotationPosition != null)
-                                {
-                                    // m_log.Debug("new mouse rotation position is " + rotPos.X + " , " + rotPos.Y + " , " + rotPos.Z);
-                                    // m_log.Info("new mouse rotation is " + rot2.X + " , " + rot2.Y + " , " + rot2.Z + " , " + rot2.W);
-                                    handlerUpdatePrimSingleRotationPosition(localId, rot2, rotPos, this);
-                                }
-                                break;
+                                case 3: // position plus rotation
+                                    udata.position = new Vector3(block.Data, 0);
+                                    udata.rotation = new Quaternion(block.Data, 12, true);
 
-                            case 4:
-                            case 20:
-                                Vector3 scale4 = new Vector3(block.Data, 0);
+                                    udata.change = ObjectChangeType.primPR;
+                                    updatehandler(localId, udata, this);
+                                    break;
 
-                                UpdateVector handlerUpdatePrimScale = OnUpdatePrimScale;
-                                if (handlerUpdatePrimScale != null)
-                                {
-                                    //                                     m_log.Debug("new scale is " + scale4.X + " , " + scale4.Y + " , " + scale4.Z);
-                                    handlerUpdatePrimScale(localId, scale4, this);
-                                }
-                                break;
+                                case 4: // scale sp
+                                    udata.scale = new Vector3(block.Data, 0);
+                                    udata.change = ObjectChangeType.primS;
 
-                            case 5:
-                                Vector3 scale1 = new Vector3(block.Data, 12);
-                                Vector3 pos11 = new Vector3(block.Data, 0);
+                                    updatehandler(localId, udata, this);
+                                    break;
 
-                                handlerUpdatePrimScale = OnUpdatePrimScale;
-                                if (handlerUpdatePrimScale != null)
-                                {
-                                    // m_log.Debug("new scale is " + scale.X + " , " + scale.Y + " , " + scale.Z);
-                                    handlerUpdatePrimScale(localId, scale1, this);
+                                case 0x14: // uniform scale sp 
+                                    udata.scale = new Vector3(block.Data, 0);
 
-                                    handlerUpdatePrimSinglePosition = OnUpdatePrimSinglePosition;
-                                    if (handlerUpdatePrimSinglePosition != null)
-                                    {
-                                        handlerUpdatePrimSinglePosition(localId, pos11, this);
-                                    }
-                                }
-                                break;
+                                    udata.change = ObjectChangeType.primUS;
+                                    updatehandler(localId, udata, this);
+                                    break;
 
-                            case 9:
-                                Vector3 pos2 = new Vector3(block.Data, 0);
+                                case 5: // scale and position sp
+                                    udata.position = new Vector3(block.Data, 0);
+                                    udata.scale = new Vector3(block.Data, 12);
 
-                                UpdateVector handlerUpdateVector = OnUpdatePrimGroupPosition;
+                                    udata.change = ObjectChangeType.primPS;
+                                    updatehandler(localId, udata, this);
+                                    break;
 
-                                if (handlerUpdateVector != null)
-                                {
-                                    handlerUpdateVector(localId, pos2, this);
-                                }
-                                break;
+                                case 0x15: //uniform scale and position
+                                    udata.position = new Vector3(block.Data, 0);
+                                    udata.scale = new Vector3(block.Data, 12);
 
-                            case 10:
-                                Quaternion rot3 = new Quaternion(block.Data, 0, true);
+                                    udata.change = ObjectChangeType.primPUS;
+                                    updatehandler(localId, udata, this);
+                                    break;
 
-                                UpdatePrimRotation handlerUpdatePrimRotation = OnUpdatePrimGroupRotation;
-                                if (handlerUpdatePrimRotation != null)
-                                {
-                                    //  Console.WriteLine("new rotation is " + rot3.X + " , " + rot3.Y + " , " + rot3.Z + " , " + rot3.W);
-                                    handlerUpdatePrimRotation(localId, rot3, this);
-                                }
-                                break;
+                                // now group related (bit 4)
+                                case 9: //( 8 + 1 )group position
+                                    udata.position = new Vector3(block.Data, 0);
 
-                            case 11:
-                                Vector3 pos3 = new Vector3(block.Data, 0);
-                                Quaternion rot4 = new Quaternion(block.Data, 12, true);
+                                    udata.change = ObjectChangeType.groupP;
+                                    updatehandler(localId, udata, this);
+                                    break;
 
-                                handlerUpdatePrimGroupRotation = OnUpdatePrimGroupMouseRotation;
-                                if (handlerUpdatePrimGroupRotation != null)
-                                {
-                                    //  m_log.Debug("new rotation position is " + pos.X + " , " + pos.Y + " , " + pos.Z);
-                                    // m_log.Debug("new group mouse rotation is " + rot4.X + " , " + rot4.Y + " , " + rot4.Z + " , " + rot4.W);
-                                    handlerUpdatePrimGroupRotation(localId, pos3, rot4, this);
-                                }
-                                break;
-                            case 12:
-                            case 28:
-                                Vector3 scale7 = new Vector3(block.Data, 0);
+                                case 0x0A: // (8 + 2) group rotation
+                                    udata.rotation = new Quaternion(block.Data, 0, true);
 
-                                UpdateVector handlerUpdatePrimGroupScale = OnUpdatePrimGroupScale;
-                                if (handlerUpdatePrimGroupScale != null)
-                                {
-                                    //                                     m_log.Debug("new scale is " + scale7.X + " , " + scale7.Y + " , " + scale7.Z);
-                                    handlerUpdatePrimGroupScale(localId, scale7, this);
-                                }
-                                break;
+                                    udata.change = ObjectChangeType.groupR;
+                                    updatehandler(localId, udata, this);
+                                    break;
 
-                            case 13:
-                                Vector3 scale2 = new Vector3(block.Data, 12);
-                                Vector3 pos4 = new Vector3(block.Data, 0);
+                                case 0x0B: //( 8 + 2 + 1) group rotation and position
+                                    udata.position = new Vector3(block.Data, 0);
+                                    udata.rotation = new Quaternion(block.Data, 12, true);
 
-                                handlerUpdatePrimScale = OnUpdatePrimScale;
-                                if (handlerUpdatePrimScale != null)
-                                {
-                                    //m_log.Debug("new scale is " + scale.X + " , " + scale.Y + " , " + scale.Z);
-                                    handlerUpdatePrimScale(localId, scale2, this);
+                                    udata.change = ObjectChangeType.groupPR;
+                                    updatehandler(localId, udata, this);
+                                    break;
 
-                                    // Change the position based on scale (for bug number 246)
-                                    handlerUpdatePrimSinglePosition = OnUpdatePrimSinglePosition;
-                                    // m_log.Debug("new movement position is " + pos.X + " , " + pos.Y + " , " + pos.Z);
-                                    if (handlerUpdatePrimSinglePosition != null)
-                                    {
-                                        handlerUpdatePrimSinglePosition(localId, pos4, this);
-                                    }
-                                }
-                                break;
+                                case 0x0C: // (8 + 4) group scale
+                                    // only afects root prim and only sent by viewer editor object tab scaling
+                                    // mouse edition only allows uniform scaling
+                                    // SL MAY CHANGE THIS in viewers
 
-                            case 29:
-                                Vector3 scale5 = new Vector3(block.Data, 12);
-                                Vector3 pos5 = new Vector3(block.Data, 0);
+                                    udata.scale = new Vector3(block.Data, 0);
 
-                                handlerUpdatePrimGroupScale = OnUpdatePrimGroupScale;
-                                if (handlerUpdatePrimGroupScale != null)
-                                {
-                                    // m_log.Debug("new scale is " + scale.X + " , " + scale.Y + " , " + scale.Z);
-                                    part.StoreUndoState(true);
-                                    part.IgnoreUndoUpdate = true;
-                                    handlerUpdatePrimGroupScale(localId, scale5, this);
-                                    handlerUpdateVector = OnUpdatePrimGroupPosition;
+                                    //                                    udata.change = ObjectChangeType.groupS;
+                                    udata.change = ObjectChangeType.primS; // to conform to current SL
+                                    updatehandler(localId, udata, this);
 
-                                    if (handlerUpdateVector != null)
-                                    {
-                                        handlerUpdateVector(localId, pos5, this);
-                                    }
+                                    break;
 
-                                    part.IgnoreUndoUpdate = false;
-                                }
+                                case 0x0D: //(8 + 4 + 1) group scale and position
+                                    // exception as above
 
-                                break;
+                                    udata.position = new Vector3(block.Data, 0);
+                                    udata.scale = new Vector3(block.Data, 12);
 
-                            case 21:
-                                Vector3 scale6 = new Vector3(block.Data, 12);
-                                Vector3 pos6 = new Vector3(block.Data, 0);
+                                    //                                    udata.change = ObjectChangeType.groupPS;
+                                    udata.change = ObjectChangeType.primPS; // to conform to current SL
+                                    updatehandler(localId, udata, this);
+                                    break;
 
-                                handlerUpdatePrimScale = OnUpdatePrimScale;
-                                if (handlerUpdatePrimScale != null)
-                                {
-                                    part.StoreUndoState(false);
-                                    part.IgnoreUndoUpdate = true;
+                                case 0x1C: // (0x10 + 8 + 4 ) group scale UNIFORM
+                                    udata.scale = new Vector3(block.Data, 0);
 
-                                    // m_log.Debug("new scale is " + scale.X + " , " + scale.Y + " , " + scale.Z);
-                                    handlerUpdatePrimScale(localId, scale6, this);
-                                    handlerUpdatePrimSinglePosition = OnUpdatePrimSinglePosition;
-                                    if (handlerUpdatePrimSinglePosition != null)
-                                    {
-                                        handlerUpdatePrimSinglePosition(localId, pos6, this);
-                                    }
+                                    udata.change = ObjectChangeType.groupUS;
+                                    updatehandler(localId, udata, this);
+                                    break;
 
-                                    part.IgnoreUndoUpdate = false;
-                                }
-                                break;
+                                case 0x1D: // (UNIFORM + GROUP + SCALE + POS)
+                                    udata.position = new Vector3(block.Data, 0);
+                                    udata.scale = new Vector3(block.Data, 12);
 
-                            default:
-                                m_log.Debug("[CLIENT]: MultipleObjUpdate recieved an unknown packet type: " + (block.Type));
-                                break;
+                                    udata.change = ObjectChangeType.groupPUS;
+                                    updatehandler(localId, udata, this);
+                                    break;
+
+                                default:
+                                    m_log.Debug("[CLIENT]: MultipleObjUpdate recieved an unknown packet type: " + (block.Type));
+                                    break;
+                            }
                         }
 
-//                        for (int j = 0; j < parts.Length; j++)
-//                            parts[j].IgnoreUndoUpdate = false;
                     }
                 }
             }
-
             return true;
         }
 
@@ -11971,7 +12127,10 @@ namespace OpenSim.Region.ClientStack.LindenUDP
 
 //            m_log.DebugFormat("[CLIENT]: {0} requesting asset {1}", Name, requestID);
 
+
+            //Note, the bool returned from the below function is useless since it is always false.
             m_assetService.Get(requestID.ToString(), transferRequest, AssetReceived);
+
         }
 
         /// <summary>
diff --git a/OpenSim/Region/ClientStack/Linden/UDP/LLUDPClient.cs b/OpenSim/Region/ClientStack/Linden/UDP/LLUDPClient.cs
index ffa3be4..ae72175 100644
--- a/OpenSim/Region/ClientStack/Linden/UDP/LLUDPClient.cs
+++ b/OpenSim/Region/ClientStack/Linden/UDP/LLUDPClient.cs
@@ -158,6 +158,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
 
         private int m_defaultRTO = 1000; // 1sec is the recommendation in the RFC
         private int m_maxRTO = 60000;
+        public bool m_deliverPackets = true;
 
         /// <summary>
         /// Default constructor
@@ -439,6 +440,13 @@ namespace OpenSim.Region.ClientStack.LindenUDP
             if (category >= 0 && category < m_packetOutboxes.Length)
             {
                 OpenSim.Framework.LocklessQueue<OutgoingPacket> queue = m_packetOutboxes[category];
+
+                if (m_deliverPackets == false)
+                {
+                    queue.Enqueue(packet);
+                    return true;
+                }
+
                 TokenBucket bucket = m_throttleCategories[category];
 
                 // Don't send this packet if there is already a packet waiting in the queue
@@ -488,7 +496,9 @@ namespace OpenSim.Region.ClientStack.LindenUDP
         /// <returns>True if any packets were sent, otherwise false</returns>
         public bool DequeueOutgoing()
         {
-            OutgoingPacket packet;
+            if (m_deliverPackets == false) return false;
+
+            OutgoingPacket packet = null;
             OpenSim.Framework.LocklessQueue<OutgoingPacket> queue;
             TokenBucket bucket;
             bool packetSent = false;
@@ -520,32 +530,49 @@ namespace OpenSim.Region.ClientStack.LindenUDP
                     // No dequeued packet waiting to be sent, try to pull one off
                     // this queue
                     queue = m_packetOutboxes[i];
-                    if (queue.Dequeue(out packet))
+                    if (queue != null)
                     {
-                        // A packet was pulled off the queue. See if we have
-                        // enough tokens in the bucket to send it out
-                        if (bucket.RemoveTokens(packet.Buffer.DataLength))
+                        bool success = false;
+                        try
                         {
-                            // Send the packet
-                            m_udpServer.SendPacketFinal(packet);
-                            packetSent = true;
+                            success = queue.Dequeue(out packet);
                         }
-                        else
+                        catch
                         {
-                            // Save the dequeued packet for the next iteration
-                            m_nextPackets[i] = packet;
+                            m_packetOutboxes[i] = new OpenSim.Framework.LocklessQueue<OutgoingPacket>();
                         }
-
-                        // If the queue is empty after this dequeue, fire the queue
-                        // empty callback now so it has a chance to fill before we 
-                        // get back here
-                        if (queue.Count == 0)
+                        if (success)
+                        {
+                            // A packet was pulled off the queue. See if we have
+                            // enough tokens in the bucket to send it out
+                            if (bucket.RemoveTokens(packet.Buffer.DataLength))
+                            {
+                                // Send the packet
+                                m_udpServer.SendPacketFinal(packet);
+                                packetSent = true;
+                            }
+                            else
+                            {
+                                // Save the dequeued packet for the next iteration
+                                m_nextPackets[i] = packet;
+                            }
+
+                            // If the queue is empty after this dequeue, fire the queue
+                            // empty callback now so it has a chance to fill before we 
+                            // get back here
+                            if (queue.Count == 0)
+                                emptyCategories |= CategoryToFlag(i);
+                        }
+                        else
+                        {
+                            // No packets in this queue. Fire the queue empty callback
+                            // if it has not been called recently
                             emptyCategories |= CategoryToFlag(i);
+                        }
                     }
                     else
                     {
-                        // No packets in this queue. Fire the queue empty callback
-                        // if it has not been called recently
+                        m_packetOutboxes[i] = new OpenSim.Framework.LocklessQueue<OutgoingPacket>();
                         emptyCategories |= CategoryToFlag(i);
                     }
                 }
@@ -703,4 +730,4 @@ namespace OpenSim.Region.ClientStack.LindenUDP
             }
         }
     }
-}
\ No newline at end of file
+}
diff --git a/OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs b/OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs
index fb6b11e..75f783b 100644
--- a/OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs
+++ b/OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs
@@ -1051,7 +1051,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
             if (m_scene.TryGetClient(udpClient.AgentID, out client))
             {
                 client.IsLoggingOut = true;
-                client.Close();
+                client.Close(false);
             }
         }
 
@@ -1063,6 +1063,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
 
             while (base.IsRunning)
             {
+                m_scene.ThreadAlive(1);
                 try
                 {
                     IncomingPacket incomingPacket = null;
@@ -1105,6 +1106,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
 
             while (base.IsRunning)
             {
+                m_scene.ThreadAlive(2);
                 try
                 {
                     m_packetSent = false;
diff --git a/OpenSim/Region/ClientStack/Linden/UDP/OpenSimUDPBase.cs b/OpenSim/Region/ClientStack/Linden/UDP/OpenSimUDPBase.cs
index 039379d..cfe7c9d 100644
--- a/OpenSim/Region/ClientStack/Linden/UDP/OpenSimUDPBase.cs
+++ b/OpenSim/Region/ClientStack/Linden/UDP/OpenSimUDPBase.cs
@@ -100,10 +100,6 @@ namespace OpenMetaverse
                 const int SIO_UDP_CONNRESET = -1744830452;
 
                 IPEndPoint ipep = new IPEndPoint(m_localBindAddress, m_udpPort);
-                
-                m_log.DebugFormat(
-                    "[UDPBASE]: Binding UDP listener using internal IP address config {0}:{1}", 
-                    ipep.Address, ipep.Port);                
 
                 m_udpSocket = new Socket(
                     AddressFamily.InterNetwork,
diff --git a/OpenSim/Region/CoreModules/Agent/AssetTransaction/AssetXferUploader.cs b/OpenSim/Region/CoreModules/Agent/AssetTransaction/AssetXferUploader.cs
index ec4dfd0..4cedfe6 100644
--- a/OpenSim/Region/CoreModules/Agent/AssetTransaction/AssetXferUploader.cs
+++ b/OpenSim/Region/CoreModules/Agent/AssetTransaction/AssetXferUploader.cs
@@ -28,6 +28,7 @@
 using System;
 using System.IO;
 using System.Reflection;
+using System.Collections.Generic;
 using log4net;
 using OpenMetaverse;
 using OpenSim.Framework;
@@ -38,6 +39,13 @@ namespace OpenSim.Region.CoreModules.Agent.AssetTransaction
 {
     public class AssetXferUploader
     {
+        // Viewer's notion of the default texture
+        private List<UUID> defaultIDs = new List<UUID> {
+                new UUID("5748decc-f629-461c-9a36-a35a221fe21f"),
+                new UUID("7ca39b4c-bd19-4699-aff7-f93fd03d3e7b"),
+                new UUID("6522e74d-1660-4e7f-b601-6f48c1659a77"),
+                new UUID("c228d1cf-4b5d-4ba8-84f4-899a0796aa97")
+                };
         private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
         /// <summary>
@@ -65,6 +73,7 @@ namespace OpenSim.Region.CoreModules.Agent.AssetTransaction
         private UUID TransactionID = UUID.Zero;
         private sbyte type = 0;
         private byte wearableType = 0;
+        private byte[] m_oldData = null;
         public ulong XferID;
         private Scene m_Scene;
 
@@ -302,6 +311,7 @@ namespace OpenSim.Region.CoreModules.Agent.AssetTransaction
 
         private void DoCreateItem(uint callbackID)
         {
+            ValidateAssets();
             m_Scene.AssetService.Store(m_asset);
 
             InventoryItemBase item = new InventoryItemBase();
@@ -322,12 +332,84 @@ namespace OpenSim.Region.CoreModules.Agent.AssetTransaction
             item.Flags = (uint) wearableType;
             item.CreationDate = Util.UnixTimeSinceEpoch();
 
+            m_log.DebugFormat("[XFER]: Created item {0} with asset {1}",
+                    item.ID, item.AssetID);
+
             if (m_Scene.AddInventoryItem(item))
                 ourClient.SendInventoryItemCreateUpdate(item, callbackID);
             else
                 ourClient.SendAlertMessage("Unable to create inventory item");
         }
 
+        private void ValidateAssets()
+        {
+            if (m_asset.Type == (sbyte)AssetType.Clothing ||
+                m_asset.Type == (sbyte)AssetType.Bodypart)
+            {
+                string content = System.Text.Encoding.ASCII.GetString(m_asset.Data);
+                string[] lines = content.Split(new char[] {'\n'});
+
+                List<string> validated = new List<string>();
+
+                Dictionary<int, UUID> allowed = ExtractTexturesFromOldData();
+
+                int textures = 0;
+
+                foreach (string line in lines)
+                {
+                    try
+                    {
+                        if (line.StartsWith("textures "))
+                        {
+                            textures = Convert.ToInt32(line.Substring(9));
+                            validated.Add(line);
+                        }
+                        else if (textures > 0)
+                        {
+                            string[] parts = line.Split(new char[] {' '});
+
+                            UUID tx = new UUID(parts[1]);
+                            int id = Convert.ToInt32(parts[0]);
+
+                            if (defaultIDs.Contains(tx) || tx == UUID.Zero ||
+                                (allowed.ContainsKey(id) && allowed[id] == tx))
+                            {
+                                validated.Add(parts[0] + " " + tx.ToString());
+                            }
+                            else
+                            {
+                                int perms = m_Scene.InventoryService.GetAssetPermissions(ourClient.AgentId, tx);
+                                int full = (int)(PermissionMask.Modify | PermissionMask.Transfer | PermissionMask.Copy);
+
+                                if ((perms & full) != full)
+                                {
+                                    m_log.ErrorFormat("[ASSET UPLOADER]: REJECTED update with texture {0} from {1} because they do not own the texture", tx, ourClient.AgentId);
+                                    validated.Add(parts[0] + " " + UUID.Zero.ToString());
+                                }
+                                else
+                                {
+                                    validated.Add(line);
+                                }
+                            }
+                            textures--;
+                        }
+                        else
+                        {
+                            validated.Add(line);
+                        }
+                    }
+                    catch
+                    {
+                        // If it's malformed, skip it
+                    }
+                }
+
+                string final = String.Join("\n", validated.ToArray());
+
+                m_asset.Data = System.Text.Encoding.ASCII.GetBytes(final);
+            }
+        }
+
         /// <summary>
         /// Get the asset data uploaded in this transfer.
         /// </summary>
@@ -336,10 +418,55 @@ namespace OpenSim.Region.CoreModules.Agent.AssetTransaction
         {
             if (m_finished)
             {
+                ValidateAssets();
                 return m_asset;
             }
 
             return null;
         }
+
+        public void SetOldData(byte[] d)
+        {
+            m_oldData = d;
+        }
+
+        private Dictionary<int,UUID> ExtractTexturesFromOldData()
+        {
+            Dictionary<int,UUID> result = new Dictionary<int,UUID>();
+            if (m_oldData == null)
+                return result;
+
+            string content = System.Text.Encoding.ASCII.GetString(m_oldData);
+            string[] lines = content.Split(new char[] {'\n'});
+
+            int textures = 0;
+
+            foreach (string line in lines)
+            {
+                try
+                {
+                    if (line.StartsWith("textures "))
+                    {
+                        textures = Convert.ToInt32(line.Substring(9));
+                    }
+                    else if (textures > 0)
+                    {
+                        string[] parts = line.Split(new char[] {' '});
+
+                        UUID tx = new UUID(parts[1]);
+                        int id = Convert.ToInt32(parts[0]);
+                        result[id] = tx;
+                        textures--;
+                    }
+                }
+                catch
+                {
+                    // If it's malformed, skip it
+                }
+            }
+
+            return result;
+        }
     }
 }
+
diff --git a/OpenSim/Region/CoreModules/Asset/FlotsamAssetCache.cs b/OpenSim/Region/CoreModules/Asset/FlotsamAssetCache.cs
index 389fb7b..127ca1d 100644
--- a/OpenSim/Region/CoreModules/Asset/FlotsamAssetCache.cs
+++ b/OpenSim/Region/CoreModules/Asset/FlotsamAssetCache.cs
@@ -257,53 +257,66 @@ namespace Flotsam.RegionModules.AssetCache
 
         private void UpdateFileCache(string key, AssetBase asset)
         {
-            string filename = GetFileName(asset.ID);
-
-            try
+            // TODO: Spawn this off to some seperate thread to do the actual writing
+            if (asset != null)
             {
-                // If the file is already cached, don't cache it, just touch it so access time is updated
-                if (File.Exists(filename))
-                {
-                    File.SetLastAccessTime(filename, DateTime.Now);
-                }
-                else
+                string filename = GetFileName(key);
+
+                try
                 {
-                    // Once we start writing, make sure we flag that we're writing
-                    // that object to the cache so that we don't try to write the
-                    // same file multiple times.
-                    lock (m_CurrentlyWriting)
+                    // If the file is already cached, don't cache it, just touch it so access time is updated
+                    if (File.Exists(filename))
                     {
-#if WAIT_ON_INPROGRESS_REQUESTS
-                        if (m_CurrentlyWriting.ContainsKey(filename))
+                        // We don't really want to know about sharing
+                        // violations here. If the file is locked, then
+                        // the other thread has updated the time for us.
+                        try
                         {
-                            return;
+                            File.SetLastAccessTime(filename, DateTime.Now);
                         }
-                        else
-                        {
-                            m_CurrentlyWriting.Add(filename, new ManualResetEvent(false));
-                       }
-
-#else
-                        if (m_CurrentlyWriting.Contains(filename))
+                        catch
                         {
-                            return;
                         }
-                        else
+                    } else {
+
+                        // Once we start writing, make sure we flag that we're writing
+                        // that object to the cache so that we don't try to write the 
+                        // same file multiple times.
+                        lock (m_CurrentlyWriting)
                         {
-                            m_CurrentlyWriting.Add(filename);
-                        }
+#if WAIT_ON_INPROGRESS_REQUESTS
+                            if (m_CurrentlyWriting.ContainsKey(filename))
+                            {
+                                return;
+                            }
+                            else
+                            {
+                                m_CurrentlyWriting.Add(filename, new ManualResetEvent(false));
+                            }
+
+#else
+                            if (m_CurrentlyWriting.Contains(filename))
+                            {
+                                return;
+                            }
+                            else
+                            {
+                                m_CurrentlyWriting.Add(filename);
+                            }
 #endif
-                    }
 
-                    Util.FireAndForget(
-                        delegate { WriteFileCache(filename, asset); });
+                        }
+
+                        Util.FireAndForget(
+                            delegate { WriteFileCache(filename, asset); });
+                    }
+                }
+                catch (Exception e)
+                {
+                    m_log.ErrorFormat(
+                        "[FLOTSAM ASSET CACHE]: Failed to update cache for asset {0}.  Exception {1} {2}",
+                        asset.ID, e.Message, e.StackTrace);
                 }
-            }
-            catch (Exception e)
-            {
-                m_log.ErrorFormat(
-                    "[FLOTSAM ASSET CACHE]: Failed to update cache for asset {0}.  Exception {1} {2}",
-                    asset.ID, e.Message, e.StackTrace);
             }
         }
 
diff --git a/OpenSim/Region/CoreModules/Avatar/Attachments/AttachmentsModule.cs b/OpenSim/Region/CoreModules/Avatar/Attachments/AttachmentsModule.cs
index 7086e6c..c5cec59 100644
--- a/OpenSim/Region/CoreModules/Avatar/Attachments/AttachmentsModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/Attachments/AttachmentsModule.cs
@@ -28,6 +28,7 @@
 using System;
 using System.Collections.Generic;
 using System.Reflection;
+using System.Xml;
 using log4net;
 using Mono.Addins;
 using Nini.Config;
@@ -38,6 +39,7 @@ using OpenSim.Region.Framework;
 using OpenSim.Region.Framework.Interfaces;
 using OpenSim.Region.Framework.Scenes;
 using OpenSim.Region.Framework.Scenes.Serialization;
+using OpenSim.Services.Interfaces;
 
 namespace OpenSim.Region.CoreModules.Avatar.Attachments
 {
@@ -115,6 +117,40 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments
 
 //            m_log.DebugFormat("[ATTACHMENTS MODULE]: Rezzing any attachments for {0}", sp.Name);
 
+            XmlDocument doc = new XmlDocument();
+            string stateData = String.Empty;
+
+            IAttachmentsService attServ = m_scene.RequestModuleInterface<IAttachmentsService>();
+            if (attServ != null)
+            {
+                m_log.DebugFormat("[ATTACHMENT]: Loading attachment data from attachment service");
+                stateData = attServ.Get(sp.UUID.ToString());
+                if (stateData != String.Empty)
+                {
+                    try
+                    {
+                        doc.LoadXml(stateData);
+                    }
+                    catch { }
+                }
+            }
+
+            Dictionary<UUID, string> itemData = new Dictionary<UUID, string>();
+
+            XmlNodeList nodes = doc.GetElementsByTagName("Attachment");
+            if (nodes.Count > 0)
+            {
+                foreach (XmlNode n in nodes)
+                {
+                    XmlElement elem = (XmlElement)n;
+                    string itemID = elem.GetAttribute("ItemID");
+                    string xml = elem.InnerXml;
+
+                    itemData[new UUID(itemID)] = xml;
+                }
+            }
+
+
             List<AvatarAttachment> attachments = sp.Appearance.GetAttachments();
             foreach (AvatarAttachment attach in attachments)
             {
@@ -134,12 +170,22 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments
 
                 try
                 {
+                    string xmlData;
+                    XmlDocument d = null;
+                    UUID asset;
+                    if (itemData.TryGetValue(attach.ItemID, out xmlData))
+                    {
+                        d = new XmlDocument();
+                        d.LoadXml(xmlData);
+                        m_log.InfoFormat("[ATTACHMENT]: Found saved state for item {0}, loading it", attach.ItemID);
+                    }
+
                     // If we're an NPC then skip all the item checks and manipulations since we don't have an
                     // inventory right now.
                     if (sp.PresenceType == PresenceType.Npc)
-                        RezSingleAttachmentFromInventoryInternal(sp, UUID.Zero, attach.AssetID, p);
+                        RezSingleAttachmentFromInventoryInternal(sp, UUID.Zero, attach.AssetID, p, null);
                     else
-                        RezSingleAttachmentFromInventory(sp, attach.ItemID, p);
+                        RezSingleAttachmentFromInventory(sp, attach.ItemID, p, true, d);
                 }
                 catch (Exception e)
                 {
@@ -264,6 +310,11 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments
         }
 
         public ISceneEntity RezSingleAttachmentFromInventory(IScenePresence sp, UUID itemID, uint AttachmentPt)
+                {
+                        return RezSingleAttachmentFromInventory(sp, itemID, AttachmentPt, true, null);
+                }
+
+                public ISceneEntity RezSingleAttachmentFromInventory(IScenePresence sp, UUID itemID, uint AttachmentPt, bool updateInventoryStatus, XmlDocument doc)
         {
             if (!Enabled)
                 return null;
@@ -302,7 +353,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments
                 return null;
             }
 
-            SceneObjectGroup att = RezSingleAttachmentFromInventoryInternal(sp, itemID, UUID.Zero, AttachmentPt);
+            SceneObjectGroup att = RezSingleAttachmentFromInventoryInternal(sp, itemID, UUID.Zero, AttachmentPt, doc);
 
             if (att == null)
                 DetachSingleAttachmentToInv(sp, itemID);
@@ -366,7 +417,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments
                 so.AttachedAvatar = UUID.Zero;
                 rootPart.SetParentLocalId(0);
                 so.ClearPartAttachmentData();
-                rootPart.ApplyPhysics(rootPart.GetEffectiveObjectFlags(), rootPart.VolumeDetectActive);
+                rootPart.ApplyPhysics(rootPart.GetEffectiveObjectFlags(), rootPart.VolumeDetectActive,false);
                 so.HasGroupChanged = true;
                 rootPart.Rezzed = DateTime.Now;
                 rootPart.RemFlag(PrimFlags.TemporaryOnRez);
@@ -582,11 +633,11 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments
 
             Vector3 inventoryStoredPosition = new Vector3
                    (((grp.AbsolutePosition.X > (int)Constants.RegionSize)
-                         ? Constants.RegionSize - 6
+                         ? (float)Constants.RegionSize - 6
                          : grp.AbsolutePosition.X)
                     ,
                     (grp.AbsolutePosition.Y > (int)Constants.RegionSize)
-                        ? Constants.RegionSize - 6
+                        ? (float)Constants.RegionSize - 6
                         : grp.AbsolutePosition.Y,
                     grp.AbsolutePosition.Z);
 
@@ -704,8 +755,8 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments
             }
         }
 
-        private SceneObjectGroup RezSingleAttachmentFromInventoryInternal(
-            IScenePresence sp, UUID itemID, UUID assetID, uint attachmentPt)
+        protected SceneObjectGroup RezSingleAttachmentFromInventoryInternal(
+            IScenePresence sp, UUID itemID, UUID assetID, uint attachmentPt, XmlDocument doc)
         {
             IInventoryAccessModule invAccess = m_scene.RequestModuleInterface<IInventoryAccessModule>();
             if (invAccess != null)
@@ -713,7 +764,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments
                 lock (sp.AttachmentsSyncLock)
                 {
                     SceneObjectGroup objatt;
-
+    
                     if (itemID != UUID.Zero)
                         objatt = invAccess.RezObject(sp.ControllingClient,
                             itemID, Vector3.Zero, Vector3.Zero, UUID.Zero, (byte)1, true,
@@ -722,11 +773,11 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments
                         objatt = invAccess.RezObject(sp.ControllingClient,
                             null, assetID, Vector3.Zero, Vector3.Zero, UUID.Zero, (byte)1, true,
                             false, false, sp.UUID, true);
-
-                    //                m_log.DebugFormat(
-                    //                    "[ATTACHMENTS MODULE]: Retrieved single object {0} for attachment to {1} on point {2}",
-                    //                    objatt.Name, remoteClient.Name, AttachmentPt);
-
+    
+    //                m_log.DebugFormat(
+    //                    "[ATTACHMENTS MODULE]: Retrieved single object {0} for attachment to {1} on point {2}",
+    //                    objatt.Name, remoteClient.Name, AttachmentPt);
+                    
                     if (objatt != null)
                     {
                         // HasGroupChanged is being set from within RezObject.  Ideally it would be set by the caller.
@@ -734,7 +785,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments
                         bool tainted = false;
                         if (attachmentPt != 0 && attachmentPt != objatt.AttachmentPoint)
                             tainted = true;
-
+    
                         // This will throw if the attachment fails
                         try
                         {
@@ -745,21 +796,27 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments
                             m_log.ErrorFormat(
                                 "[ATTACHMENTS MODULE]: Failed to attach {0} {1} for {2}, exception {3}{4}",
                                 objatt.Name, objatt.UUID, sp.Name, e.Message, e.StackTrace);
-
+    
                             // Make sure the object doesn't stick around and bail
                             sp.RemoveAttachment(objatt);
                             m_scene.DeleteSceneObject(objatt, false);
                             return null;
                         }
-
+                        
                         if (tainted)
                             objatt.HasGroupChanged = true;
+    
+                        if (doc != null)
+                        {
+                            objatt.LoadScriptState(doc);
+                            objatt.ResetOwnerChangeFlag();
+                        }
 
                         // Fire after attach, so we don't get messy perms dialogs
                         // 4 == AttachedRez
                         objatt.CreateScriptInstances(0, true, m_scene.DefaultScriptEngine, 4);
                         objatt.ResumeScripts();
-
+    
                         // Do this last so that event listeners have access to all the effects of the attachment
                         m_scene.EventManager.TriggerOnAttach(objatt.LocalId, itemID, sp.UUID);
 
@@ -773,7 +830,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments
                     }
                 }
             }
-
+            
             return null;
         }
 
diff --git a/OpenSim/Region/CoreModules/Avatar/AvatarFactory/AvatarFactoryModule.cs b/OpenSim/Region/CoreModules/Avatar/AvatarFactory/AvatarFactoryModule.cs
index b0cee03..2bebd30 100644
--- a/OpenSim/Region/CoreModules/Avatar/AvatarFactory/AvatarFactoryModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/AvatarFactory/AvatarFactoryModule.cs
@@ -551,12 +551,17 @@ namespace OpenSim.Region.CoreModules.Avatar.AvatarFactory
         /// <param name="client"></param>
         private void Client_OnRequestWearables(IClientAPI client)
         {
-            // m_log.DebugFormat("[AVFACTORY]: Client_OnRequestWearables called for {0} ({1})", client.Name, client.AgentId);
-            ScenePresence sp = m_scene.GetScenePresence(client.AgentId);
-            if (sp != null)
-                client.SendWearables(sp.Appearance.Wearables, sp.Appearance.Serial++);
-            else
-                m_log.WarnFormat("[AVFACTORY]: Client_OnRequestWearables unable to find presence for {0}", client.AgentId);
+            Util.FireAndForget(delegate(object x)
+            {
+                Thread.Sleep(4000);
+
+                // m_log.DebugFormat("[AVFACTORY]: Client_OnRequestWearables called for {0} ({1})", client.Name, client.AgentId);
+                ScenePresence sp = m_scene.GetScenePresence(client.AgentId);
+                if (sp != null)
+                    client.SendWearables(sp.Appearance.Wearables, sp.Appearance.Serial++);
+                else
+                    m_log.WarnFormat("[AVFACTORY]: Client_OnRequestWearables unable to find presence for {0}", client.AgentId);
+            });
         }
         
         /// <summary>
diff --git a/OpenSim/Region/CoreModules/Avatar/Chat/ChatModule.cs b/OpenSim/Region/CoreModules/Avatar/Chat/ChatModule.cs
index 10b4c37..4d8fb90 100644
--- a/OpenSim/Region/CoreModules/Avatar/Chat/ChatModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/Chat/ChatModule.cs
@@ -49,7 +49,8 @@ namespace OpenSim.Region.CoreModules.Avatar.Chat
         private int m_shoutdistance = 100;
         private int m_whisperdistance = 10;
         private List<Scene> m_scenes = new List<Scene>();
-
+        private List<string> FreezeCache = new List<string>();
+        private string m_adminPrefix = "";
         internal object m_syncy = new object();
 
         internal IConfig m_config;
@@ -76,6 +77,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Chat
             m_whisperdistance = config.Configs["Chat"].GetInt("whisper_distance", m_whisperdistance);
             m_saydistance = config.Configs["Chat"].GetInt("say_distance", m_saydistance);
             m_shoutdistance = config.Configs["Chat"].GetInt("shout_distance", m_shoutdistance);
+            m_adminPrefix = config.Configs["Chat"].GetString("admin_prefix", "");
         }
 
         public virtual void AddRegion(Scene scene)
@@ -171,7 +173,15 @@ namespace OpenSim.Region.CoreModules.Avatar.Chat
                 return;
             }
 
-            DeliverChatToAvatars(ChatSourceType.Agent, c);
+            if (FreezeCache.Contains(c.Sender.AgentId.ToString()))
+            {
+                if (c.Type != ChatTypeEnum.StartTyping || c.Type != ChatTypeEnum.StopTyping)
+                    c.Sender.SendAgentAlertMessage("You may not talk as you are frozen.", false);
+            }
+            else
+            {
+                DeliverChatToAvatars(ChatSourceType.Agent, c);
+            }
         }
 
         public virtual void OnChatFromWorld(Object sender, OSChatMessage c)
@@ -185,6 +195,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Chat
         protected virtual void DeliverChatToAvatars(ChatSourceType sourceType, OSChatMessage c)
         {
             string fromName = c.From;
+            string fromNamePrefix = "";
             UUID fromID = UUID.Zero;
             string message = c.Message;
             IScene scene = c.Scene;
@@ -207,7 +218,10 @@ namespace OpenSim.Region.CoreModules.Avatar.Chat
                 fromPos = avatar.AbsolutePosition;
                 fromName = avatar.Name;
                 fromID = c.Sender.AgentId;
-
+                if (avatar.GodLevel >= 200)
+                {
+                    fromNamePrefix = m_adminPrefix;
+                }
                 break;
 
             case ChatSourceType.Object:
@@ -233,8 +247,20 @@ namespace OpenSim.Region.CoreModules.Avatar.Chat
                 s.ForEachRootScenePresence(
                     delegate(ScenePresence presence)
                     {
-                        if (TrySendChatMessage(presence, fromPos, regionPos, fromID, fromName, c.Type, message, sourceType))
-                            receiverIDs.Add(presence.UUID);
+                        ILandObject Presencecheck = s.LandChannel.GetLandObject(presence.AbsolutePosition.X, presence.AbsolutePosition.Y);
+                        if (Presencecheck != null)
+                        {
+                            // This will pass all chat from objects. Not
+                            // perfect, but it will do. For now. Better
+                            // than the prior behavior of muting all
+                            // objects on a parcel with access restrictions
+                            if (c.Sender == null || Presencecheck.IsEitherBannedOrRestricted(c.Sender.AgentId) != true)
+                            {
+                                if (TrySendChatMessage(presence, fromPos, regionPos, fromID, fromNamePrefix + fromName, c.Type, message, sourceType))
+                                    receiverIDs.Add(presence.UUID);
+                            }
+                        }
+
                     }
                 );
             }
@@ -278,26 +304,29 @@ namespace OpenSim.Region.CoreModules.Avatar.Chat
             }
             
             // m_log.DebugFormat("[CHAT] Broadcast: fromID {0} fromName {1}, cType {2}, sType {3}", fromID, fromName, cType, sourceType);
-
             HashSet<UUID> receiverIDs = new HashSet<UUID>();
             
-            ((Scene)c.Scene).ForEachRootClient(
-                delegate(IClientAPI client)
-                {   
-                    // don't forward SayOwner chat from objects to
-                    // non-owner agents
-                    if ((c.Type == ChatTypeEnum.Owner) &&
-                        (null != c.SenderObject) &&
-                        (((SceneObjectPart)c.SenderObject).OwnerID != client.AgentId))
-                        return;
-                    
-                    client.SendChatMessage(c.Message, (byte)cType, CenterOfRegion, fromName, fromID, 
-                                            (byte)sourceType, (byte)ChatAudibleLevel.Fully);
-                    receiverIDs.Add(client.AgentId);
-                });
-            
-            (c.Scene as Scene).EventManager.TriggerOnChatToClients(
-                fromID, receiverIDs, c.Message, cType, CenterOfRegion, fromName, sourceType, ChatAudibleLevel.Fully);
+            if (c.Scene != null)
+            {
+                ((Scene)c.Scene).ForEachRootClient
+                (
+                    delegate(IClientAPI client)
+                    {
+                        // don't forward SayOwner chat from objects to
+                        // non-owner agents
+                        if ((c.Type == ChatTypeEnum.Owner) &&
+                            (null != c.SenderObject) &&
+                            (((SceneObjectPart)c.SenderObject).OwnerID != client.AgentId))
+                            return;
+                        
+                        client.SendChatMessage(c.Message, (byte)cType, CenterOfRegion, fromName, fromID, 
+                                               (byte)sourceType, (byte)ChatAudibleLevel.Fully);
+                        receiverIDs.Add(client.AgentId);
+                    }
+                );
+                (c.Scene as Scene).EventManager.TriggerOnChatToClients(
+                    fromID, receiverIDs, c.Message, cType, CenterOfRegion, fromName, sourceType, ChatAudibleLevel.Fully);
+             }
         }
 
         /// <summary>
@@ -340,5 +369,35 @@ namespace OpenSim.Region.CoreModules.Avatar.Chat
             
             return true;
         }
+
+        Dictionary<UUID, System.Threading.Timer> Timers = new Dictionary<UUID, System.Threading.Timer>();
+        public void ParcelFreezeUser(IClientAPI client, UUID parcelowner, uint flags, UUID target)
+        {
+            System.Threading.Timer Timer;
+            if (flags == 0)
+            {
+                FreezeCache.Add(target.ToString());
+                System.Threading.TimerCallback timeCB = new System.Threading.TimerCallback(OnEndParcelFrozen);
+                Timer = new System.Threading.Timer(timeCB, target, 30000, 0);
+                Timers.Add(target, Timer);
+            }
+            else
+            {
+                FreezeCache.Remove(target.ToString());
+                Timers.TryGetValue(target, out Timer);
+                Timers.Remove(target);
+                Timer.Dispose();
+            }
+        }
+
+        private void OnEndParcelFrozen(object avatar)
+        {
+            UUID target = (UUID)avatar;
+            FreezeCache.Remove(target.ToString());
+            System.Threading.Timer Timer;
+            Timers.TryGetValue(target, out Timer);
+            Timers.Remove(target);
+            Timer.Dispose();
+        }
     }
 }
diff --git a/OpenSim/Region/CoreModules/Avatar/Dialog/DialogModule.cs b/OpenSim/Region/CoreModules/Avatar/Dialog/DialogModule.cs
index 325067c..3c294bb 100644
--- a/OpenSim/Region/CoreModules/Avatar/Dialog/DialogModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/Dialog/DialogModule.cs
@@ -216,4 +216,4 @@ namespace OpenSim.Region.CoreModules.Avatar.Dialog
             return result;
         }
     }
-}
\ No newline at end of file
+}
diff --git a/OpenSim/Region/CoreModules/Avatar/Friends/FriendsModule.cs b/OpenSim/Region/CoreModules/Avatar/Friends/FriendsModule.cs
index be767c4..0590716 100644
--- a/OpenSim/Region/CoreModules/Avatar/Friends/FriendsModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/Friends/FriendsModule.cs
@@ -328,7 +328,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Friends
             //m_log.DebugFormat("[XXX]: OnClientLogin!");
             // Inform the friends that this user is online
             StatusChange(agentID, true);
-            
+
             // Register that we need to send the list of online friends to this user
             lock (m_NeedsListOfOnlineFriends)
                 m_NeedsListOfOnlineFriends.Add(agentID);
@@ -617,7 +617,13 @@ namespace OpenSim.Region.CoreModules.Avatar.Friends
         {
             StoreFriendships(client.AgentId, friendID);
 
-            // Update the local cache. 
+            ICallingCardModule ccm = client.Scene.RequestModuleInterface<ICallingCardModule>();
+            if (ccm != null)
+            {
+                ccm.CreateCallingCard(client.AgentId, friendID, UUID.Zero);
+            }
+
+            // Update the local cache
             RecacheFriends(client);
 
             //
@@ -793,6 +799,13 @@ namespace OpenSim.Region.CoreModules.Avatar.Friends
                     (byte)OpenMetaverse.InstantMessageDialog.FriendshipAccepted, userID.ToString(), false, Vector3.Zero);
                 friendClient.SendInstantMessage(im);
 
+                ICallingCardModule ccm = friendClient.Scene.RequestModuleInterface<ICallingCardModule>();
+                if (ccm != null)
+                {
+                    ccm.CreateCallingCard(friendID, userID, UUID.Zero);
+                }
+
+
                 // Update the local cache
                 RecacheFriends(friendClient);
 
@@ -815,7 +828,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Friends
                 // we're done
                 return true;
             }
-            
+
             return false;
         }
 
@@ -867,7 +880,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Friends
 
         public bool LocalStatusNotification(UUID userID, UUID friendID, bool online)
         {
-//            m_log.DebugFormat("[FRIENDS]: Local Status Notify {0} that user {1} is {2}", friendID, userID, online);
+            //m_log.DebugFormat("[FRIENDS]: Local Status Notify {0} that user {1} is {2}", friendID, userID, online);
             IClientAPI friendClient = LocateClientObject(friendID);
             if (friendClient != null)
             {
diff --git a/OpenSim/Region/CoreModules/Avatar/Gods/GodsModule.cs b/OpenSim/Region/CoreModules/Avatar/Gods/GodsModule.cs
index 2e3312f..1492302 100644
--- a/OpenSim/Region/CoreModules/Avatar/Gods/GodsModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/Gods/GodsModule.cs
@@ -31,16 +31,40 @@ using OpenMetaverse;
 using OpenSim.Framework;
 using OpenSim.Region.Framework.Scenes;
 using OpenSim.Region.Framework.Interfaces;
+using System;
+using System.Reflection;
+using System.Collections;
+using System.Collections.Specialized;
+using System.Reflection;
+using System.IO;
+using System.Web;
+using System.Xml;
+using log4net;
+using Mono.Addins;
+using OpenMetaverse.Messages.Linden;
+using OpenMetaverse.StructuredData;
+using OpenSim.Framework.Capabilities;
+using OpenSim.Framework.Servers;
+using OpenSim.Framework.Servers.HttpServer;
+using Caps = OpenSim.Framework.Capabilities.Caps;
+using OSDArray = OpenMetaverse.StructuredData.OSDArray;
+using OSDMap = OpenMetaverse.StructuredData.OSDMap;
 
 namespace OpenSim.Region.CoreModules.Avatar.Gods
 {
     public class GodsModule : IRegionModule, IGodsModule
     {
+        private static readonly ILog m_log =
+            LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+
         /// <summary>Special UUID for actions that apply to all agents</summary>
         private static readonly UUID ALL_AGENTS = new UUID("44e87126-e794-4ded-05b3-7c42da3d5cdb");
 
         protected Scene m_scene;
         protected IDialogModule m_dialogModule;
+
+        protected Dictionary<UUID, string> m_capsDict =
+                new Dictionary<UUID, string>();
         
         public void Initialise(Scene scene, IConfigSource source)
         {
@@ -48,6 +72,10 @@ namespace OpenSim.Region.CoreModules.Avatar.Gods
             m_dialogModule = m_scene.RequestModuleInterface<IDialogModule>();
             m_scene.RegisterModuleInterface<IGodsModule>(this);
             m_scene.EventManager.OnNewClient += SubscribeToClientEvents;
+            m_scene.EventManager.OnRegisterCaps += OnRegisterCaps;
+            m_scene.EventManager.OnClientClosed += OnClientClosed;
+            scene.EventManager.OnIncomingInstantMessage +=
+                    OnIncomingInstantMessage;
         }
         
         public void PostInitialise() {}
@@ -67,6 +95,54 @@ namespace OpenSim.Region.CoreModules.Avatar.Gods
             client.OnRequestGodlikePowers -= RequestGodlikePowers;
         }
         
+        private void OnClientClosed(UUID agentID, Scene scene)
+        {
+            m_capsDict.Remove(agentID);
+        }
+
+        private void OnRegisterCaps(UUID agentID, Caps caps)
+        {
+            string uri = "/CAPS/" + UUID.Random();
+            m_capsDict[agentID] = uri;
+
+            caps.RegisterHandler("UntrustedSimulatorMessage",
+                    new RestStreamHandler("POST", uri,
+                    HandleUntrustedSimulatorMessage));
+        }
+
+        private string HandleUntrustedSimulatorMessage(string request,
+                string path, string param, IOSHttpRequest httpRequest,
+                IOSHttpResponse httpResponse)
+        {
+            OSDMap osd = (OSDMap)OSDParser.DeserializeLLSDXml(request);
+
+            string message = osd["message"].AsString();
+
+            if (message == "GodKickUser")
+            {
+                OSDMap body = (OSDMap)osd["body"];
+                OSDArray userInfo = (OSDArray)body["UserInfo"];
+                OSDMap userData = (OSDMap)userInfo[0];
+
+                UUID agentID = userData["AgentID"].AsUUID();
+                UUID godID = userData["GodID"].AsUUID();
+                UUID godSessionID = userData["GodSessionID"].AsUUID();
+                uint kickFlags = userData["KickFlags"].AsUInteger();
+                string reason = userData["Reason"].AsString();
+
+                ScenePresence god = m_scene.GetScenePresence(godID);
+                if (god == null || god.ControllingClient.SessionId != godSessionID)
+                    return String.Empty;
+
+                KickUser(godID, godSessionID, agentID, kickFlags, Util.StringToBytes1024(reason));
+            }
+            else
+            {
+                m_log.ErrorFormat("[GOD]: Unhandled UntrustedSimulatorMessage: {0}", message);
+            }
+            return String.Empty;
+        }
+
         public void RequestGodlikePowers(
             UUID agentID, UUID sessionID, UUID token, bool godLike, IClientAPI controllingClient)
         {
@@ -115,69 +191,85 @@ namespace OpenSim.Region.CoreModules.Avatar.Gods
         /// <param name="reason">The message to send to the user after it's been turned into a field</param>
         public void KickUser(UUID godID, UUID sessionID, UUID agentID, uint kickflags, byte[] reason)
         {
-            UUID kickUserID = ALL_AGENTS;
-            
+            if (!m_scene.Permissions.IsGod(godID))
+                return;
+
             ScenePresence sp = m_scene.GetScenePresence(agentID);
 
-            if (sp != null || agentID == kickUserID)
+            if (sp == null && agentID != ALL_AGENTS)
             {
-                if (m_scene.Permissions.IsGod(godID))
+                IMessageTransferModule transferModule =
+                        m_scene.RequestModuleInterface<IMessageTransferModule>();
+                if (transferModule != null)
                 {
-                    if (kickflags == 0)
-                    {
-                        if (agentID == kickUserID)
-                        {
-                            string reasonStr = Utils.BytesToString(reason);
-
-                            m_scene.ForEachClient(
-                                delegate(IClientAPI controller)
-                                {
-                                    if (controller.AgentId != godID)
-                                        controller.Kick(reasonStr);
-                                }
-                            );
-
-                            // This is a bit crude. It seems the client will be null before it actually stops the thread
-                            // The thread will kill itself eventually :/
-                            // Is there another way to make sure *all* clients get this 'inter region' message?
-                            m_scene.ForEachRootClient(
-                                delegate(IClientAPI client)
-                                {
-                                    if (client.AgentId != godID)
-                                    {
-                                        client.Close();
-                                    }
-                                }
-                            );
-                        }
-                        else
-                        {
-                            m_scene.SceneGraph.removeUserCount(!sp.IsChildAgent);
+                    m_log.DebugFormat("[GODS]: Sending nonlocal kill for agent {0}", agentID);
+                    transferModule.SendInstantMessage(new GridInstantMessage(
+                            m_scene, godID, "God", agentID, (byte)250, false,
+                            Utils.BytesToString(reason), UUID.Zero, true,
+                            new Vector3(), new byte[] {(byte)kickflags}),
+                            delegate(bool success) {} );
+                }
+                return;
+            }
 
-                            sp.ControllingClient.Kick(Utils.BytesToString(reason));
-                            sp.ControllingClient.Close();
-                        }
-                    }
-                    
-                    if (kickflags == 1)
-                    {
-                        sp.AllowMovement = false;
-                        m_dialogModule.SendAlertToUser(agentID, Utils.BytesToString(reason));
-                        m_dialogModule.SendAlertToUser(godID, "User Frozen");
-                    }
-                    
-                    if (kickflags == 2)
-                    {
-                        sp.AllowMovement = true;
-                        m_dialogModule.SendAlertToUser(agentID, Utils.BytesToString(reason));
-                        m_dialogModule.SendAlertToUser(godID, "User Unfrozen");
-                    }
+            switch (kickflags)
+            {
+            case 0:
+                if (sp != null)
+                {
+                    KickPresence(sp, Utils.BytesToString(reason));
                 }
-                else
+                else if (agentID == ALL_AGENTS)
                 {
-                    m_dialogModule.SendAlertToUser(godID, "Kick request denied");
+                    m_scene.ForEachRootScenePresence(
+                            delegate(ScenePresence p)
+                            {
+                                if (p.UUID != godID && (!m_scene.Permissions.IsGod(p.UUID)))
+                                    KickPresence(p, Utils.BytesToString(reason));
+                            }
+                    );
                 }
+                break;
+            case 1:
+                if (sp != null)
+                {
+                    sp.AllowMovement = false;
+                    m_dialogModule.SendAlertToUser(agentID, Utils.BytesToString(reason));
+                    m_dialogModule.SendAlertToUser(godID, "User Frozen");
+                }
+                break;
+            case 2:
+                if (sp != null)
+                {
+                    sp.AllowMovement = true;
+                    m_dialogModule.SendAlertToUser(agentID, Utils.BytesToString(reason));
+                    m_dialogModule.SendAlertToUser(godID, "User Unfrozen");
+                }
+                break;
+            default:
+                break;
+            }
+        }
+
+        private void KickPresence(ScenePresence sp, string reason)
+        {
+            if (sp.IsChildAgent)
+                return;
+            sp.ControllingClient.Kick(reason);
+            sp.Scene.IncomingCloseAgent(sp.UUID);
+        }
+
+        private void OnIncomingInstantMessage(GridInstantMessage msg)
+        {
+            if (msg.dialog == (uint)250) // Nonlocal kick
+            {
+                UUID agentID = new UUID(msg.toAgentID);
+                string reason = msg.message;
+                UUID godID = new UUID(msg.fromAgentID);
+                uint kickMode = (uint)msg.binaryBucket[0];
+
+                KickUser(godID, UUID.Zero, agentID, kickMode, Util.StringToBytes1024(reason));
             }
         }
     }
-}
\ No newline at end of file
+}
diff --git a/OpenSim/Region/CoreModules/Avatar/InstantMessage/InstantMessageModule.cs b/OpenSim/Region/CoreModules/Avatar/InstantMessage/InstantMessageModule.cs
index ca5d485..727f1c9 100644
--- a/OpenSim/Region/CoreModules/Avatar/InstantMessage/InstantMessageModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/InstantMessage/InstantMessageModule.cs
@@ -27,6 +27,7 @@
 using System;
 using System.Collections.Generic;
 using System.Reflection;
+using System.Timers;
 using log4net;
 using Nini.Config;
 using OpenMetaverse;
@@ -42,6 +43,10 @@ namespace OpenSim.Region.CoreModules.Avatar.InstantMessage
         private static readonly ILog m_log = LogManager.GetLogger(
                 MethodBase.GetCurrentMethod().DeclaringType);
 
+        private Timer m_logTimer = new Timer(10000);
+        private List<GridInstantMessage> m_logData = new List<GridInstantMessage>();
+        private string m_restUrl;
+
         /// <value>
         /// Is this module enabled?
         /// </value>
@@ -61,9 +66,12 @@ namespace OpenSim.Region.CoreModules.Avatar.InstantMessage
                         "InstantMessageModule", "InstantMessageModule") !=
                         "InstantMessageModule")
                     return;
+                m_restUrl = config.Configs["Messaging"].GetString("LogURL", String.Empty);
             }
             
             m_enabled = true;
+            m_logTimer.AutoReset = false;
+            m_logTimer.Elapsed += LogTimerElapsed;
         }
 
         public void AddRegion(Scene scene)
@@ -148,6 +156,9 @@ namespace OpenSim.Region.CoreModules.Avatar.InstantMessage
         {
             byte dialog = im.dialog;
 
+            if (client != null && dialog == (byte)InstantMessageDialog.MessageFromAgent)
+                LogInstantMesssage(im);
+
             if (dialog != (byte)InstantMessageDialog.MessageFromAgent
                 && dialog != (byte)InstantMessageDialog.StartTyping
                 && dialog != (byte)InstantMessageDialog.StopTyping
@@ -157,6 +168,32 @@ namespace OpenSim.Region.CoreModules.Avatar.InstantMessage
                 return;
             }
 
+            //DateTime dt = DateTime.UtcNow;
+
+            // Ticks from UtcNow, but make it look like local. Evil, huh?
+            //dt = DateTime.SpecifyKind(dt, DateTimeKind.Local);
+
+            //try
+            //{
+            //    // Convert that to the PST timezone
+            //    TimeZoneInfo timeZoneInfo = TimeZoneInfo.FindSystemTimeZoneById("America/Los_Angeles");
+            //    dt = TimeZoneInfo.ConvertTime(dt, timeZoneInfo);
+            //}
+            //catch
+            //{
+            //    //m_log.Info("[OFFLINE MESSAGING]: No PST timezone found on this machine. Saving with local timestamp.");
+            //}
+
+            //// And make it look local again to fool the unix time util
+            //dt = DateTime.SpecifyKind(dt, DateTimeKind.Utc);
+
+            // If client is null, this message comes from storage and IS offline
+            if (client != null)
+                im.offline = 0;
+
+            if (im.offline == 0)
+                im.timestamp = (uint)Util.UnixTimeSinceEpoch();
+
             if (m_TransferModule != null)
             {
                 if (client != null)
@@ -200,5 +237,35 @@ namespace OpenSim.Region.CoreModules.Avatar.InstantMessage
             //
             OnInstantMessage(null, msg);
         }
+
+        private void LogInstantMesssage(GridInstantMessage im)
+        {
+            if (m_logData.Count < 20)
+            {
+                // Restart the log write timer
+                m_logTimer.Stop();
+            }
+            if (!m_logTimer.Enabled)
+                m_logTimer.Start();
+
+            lock (m_logData)
+            {
+                m_logData.Add(im);
+            }
+        }
+
+        private void LogTimerElapsed(object source, ElapsedEventArgs e)
+        {
+            lock (m_logData)
+            {
+                if (m_restUrl != String.Empty && m_logData.Count > 0)
+                {
+                    bool success = SynchronousRestObjectRequester.MakeRequest<List<GridInstantMessage>, bool>("POST", m_restUrl + "/LogMessages/", m_logData);
+                    if (!success)
+                        m_log.ErrorFormat("[INSTANT MESSAGE]: Failed to save log data");
+                }
+                m_logData.Clear();
+            }
+        }
     }
 }
diff --git a/OpenSim/Region/CoreModules/Avatar/InstantMessage/MessageTransferModule.cs b/OpenSim/Region/CoreModules/Avatar/InstantMessage/MessageTransferModule.cs
index 0dad3c4..6064ddc 100644
--- a/OpenSim/Region/CoreModules/Avatar/InstantMessage/MessageTransferModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/InstantMessage/MessageTransferModule.cs
@@ -48,6 +48,7 @@ namespace OpenSim.Region.CoreModules.Avatar.InstantMessage
         private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
         private bool m_Enabled = false;
+        protected string m_MessageKey = String.Empty;
         protected List<Scene> m_Scenes = new List<Scene>();
         protected Dictionary<UUID, UUID> m_UserRegionMap = new Dictionary<UUID, UUID>();
 
@@ -67,14 +68,17 @@ namespace OpenSim.Region.CoreModules.Avatar.InstantMessage
         public virtual void Initialise(IConfigSource config)
         {
             IConfig cnf = config.Configs["Messaging"];
-            if (cnf != null && cnf.GetString(
-                    "MessageTransferModule", "MessageTransferModule") !=
-                    "MessageTransferModule")
+            if (cnf != null)
             {
-                m_log.Debug("[MESSAGE TRANSFER]: Disabled by configuration");
-                return;
-            }
+                if (cnf.GetString("MessageTransferModule",
+                        "MessageTransferModule") != "MessageTransferModule")
+                {
+                    return;
+                }
 
+                m_MessageKey = cnf.GetString("MessageKey", String.Empty);
+            }
+            m_log.Debug("[MESSAGE TRANSFER]: Module enabled");
             m_Enabled = true;
         }
 
@@ -244,6 +248,19 @@ namespace OpenSim.Region.CoreModules.Avatar.InstantMessage
                         && requestData.ContainsKey("position_z") && requestData.ContainsKey("region_id")
                         && requestData.ContainsKey("binary_bucket"))
                 {
+                    if (m_MessageKey != String.Empty)
+                    {
+                        XmlRpcResponse error_resp = new XmlRpcResponse();
+                        Hashtable error_respdata = new Hashtable();
+                        error_respdata["success"] = "FALSE";
+                        error_resp.Value = error_respdata;
+
+                        if (!requestData.Contains("message_key"))
+                            return error_resp;
+                        if (m_MessageKey != (string)requestData["message_key"])
+                            return error_resp;
+                    }
+
                     // Do the easy way of validating the UUIDs
                     UUID.TryParse((string)requestData["from_agent_id"], out fromAgentID);
                     UUID.TryParse((string)requestData["to_agent_id"], out toAgentID);
@@ -420,24 +437,37 @@ namespace OpenSim.Region.CoreModules.Avatar.InstantMessage
             return resp;
         }
 
-        /// <summary>
-        /// delegate for sending a grid instant message asynchronously
-        /// </summary>
-        public delegate void GridInstantMessageDelegate(GridInstantMessage im, MessageResultNotification result, UUID prevRegionID);
+        private delegate void GridInstantMessageDelegate(GridInstantMessage im, MessageResultNotification result);
 
-        protected virtual void GridInstantMessageCompleted(IAsyncResult iar)
-        {
-            GridInstantMessageDelegate icon =
-                    (GridInstantMessageDelegate)iar.AsyncState;
-            icon.EndInvoke(iar);
-        }
+        private class GIM {
+            public GridInstantMessage im;
+            public MessageResultNotification result;
+        };
 
+        private Queue<GIM> pendingInstantMessages = new Queue<GIM>();
+        private int numInstantMessageThreads = 0;
 
-        protected virtual void SendGridInstantMessageViaXMLRPC(GridInstantMessage im, MessageResultNotification result)
+        private void SendGridInstantMessageViaXMLRPC(GridInstantMessage im, MessageResultNotification result)
         {
-            GridInstantMessageDelegate d = SendGridInstantMessageViaXMLRPCAsync;
+            lock (pendingInstantMessages) {
+                if (numInstantMessageThreads >= 4) {
+                    GIM gim = new GIM();
+                    gim.im = im;
+                    gim.result = result;
+                    pendingInstantMessages.Enqueue(gim);
+                } else {
+                    ++ numInstantMessageThreads;
+                    //m_log.DebugFormat("[SendGridInstantMessageViaXMLRPC]: ++numInstantMessageThreads={0}", numInstantMessageThreads);
+                    GridInstantMessageDelegate d = SendGridInstantMessageViaXMLRPCAsyncMain;
+                    d.BeginInvoke(im, result, GridInstantMessageCompleted, d);
+                }
+            }
+        }
 
-            d.BeginInvoke(im, result, UUID.Zero, GridInstantMessageCompleted, d);
+        private void GridInstantMessageCompleted(IAsyncResult iar)
+        {
+            GridInstantMessageDelegate d = (GridInstantMessageDelegate)iar.AsyncState;
+            d.EndInvoke(iar);
         }
 
         /// <summary>
@@ -452,8 +482,31 @@ namespace OpenSim.Region.CoreModules.Avatar.InstantMessage
         /// Pass in 0 the first time this method is called.  It will be called recursively with the last 
         /// regionhandle tried
         /// </param>
-        protected virtual void SendGridInstantMessageViaXMLRPCAsync(GridInstantMessage im, MessageResultNotification result, UUID prevRegionID)
+        private void SendGridInstantMessageViaXMLRPCAsyncMain(GridInstantMessage im, MessageResultNotification result)
         {
+            GIM gim;
+            do {
+                try {
+                    SendGridInstantMessageViaXMLRPCAsync(im, result, UUID.Zero);
+                } catch (Exception e) {
+                    m_log.Error("[SendGridInstantMessageViaXMLRPC]: exception " + e.Message);
+                }
+                lock (pendingInstantMessages) {
+                    if (pendingInstantMessages.Count > 0) {
+                        gim = pendingInstantMessages.Dequeue();
+                        im = gim.im;
+                        result = gim.result;
+                    } else {
+                        gim = null;
+                        -- numInstantMessageThreads;
+                        //m_log.DebugFormat("[SendGridInstantMessageViaXMLRPC]: --numInstantMessageThreads={0}", numInstantMessageThreads);
+                    }
+                }
+            } while (gim != null);
+        }
+        private void SendGridInstantMessageViaXMLRPCAsync(GridInstantMessage im, MessageResultNotification result, UUID prevRegionID)
+        {
+
             UUID toAgentID = new UUID(im.toAgentID);
 
             PresenceInfo upd = null;
@@ -520,7 +573,7 @@ namespace OpenSim.Region.CoreModules.Avatar.InstantMessage
 
             if (upd != null)
             {
-                GridRegion reginfo = m_Scenes[0].GridService.GetRegionByUUID(m_Scenes[0].RegionInfo.ScopeID,
+                GridRegion reginfo = m_Scenes[0].GridService.GetRegionByUUID(UUID.Zero,
                     upd.RegionID);
                 if (reginfo != null)
                 {
@@ -669,6 +722,8 @@ namespace OpenSim.Region.CoreModules.Avatar.InstantMessage
             gim["position_z"] = msg.Position.Z.ToString();
             gim["region_id"] = msg.RegionID.ToString();
             gim["binary_bucket"] = Convert.ToBase64String(msg.binaryBucket,Base64FormattingOptions.None);
+            if (m_MessageKey != String.Empty)
+                gim["message_key"] = m_MessageKey;
             return gim;
         }
 
diff --git a/OpenSim/Region/CoreModules/Avatar/InstantMessage/OfflineMessageModule.cs b/OpenSim/Region/CoreModules/Avatar/InstantMessage/OfflineMessageModule.cs
index de25048..b27b07d 100644
--- a/OpenSim/Region/CoreModules/Avatar/InstantMessage/OfflineMessageModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/InstantMessage/OfflineMessageModule.cs
@@ -171,7 +171,11 @@ namespace OpenSim.Region.CoreModules.Avatar.InstantMessage
 
         private void RetrieveInstantMessages(IClientAPI client)
         {
-            if (m_RestURL != "")
+            if (m_RestURL == String.Empty)
+            {
+                return;
+            }
+            else
             {
                 m_log.DebugFormat("[OFFLINE MESSAGING]: Retrieving stored messages for {0}", client.AgentId);
 
@@ -179,22 +183,25 @@ namespace OpenSim.Region.CoreModules.Avatar.InstantMessage
                     = SynchronousRestObjectRequester.MakeRequest<UUID, List<GridInstantMessage>>(
                         "POST", m_RestURL + "/RetrieveMessages/", client.AgentId);
 
-                if (msglist == null)
-                    m_log.WarnFormat("[OFFLINE MESSAGING]: WARNING null message list.");
-
-                foreach (GridInstantMessage im in msglist)
+                if (msglist != null)
                 {
-                    // client.SendInstantMessage(im);
-
-                    // Send through scene event manager so all modules get a chance
-                    // to look at this message before it gets delivered.
-                    //
-                    // Needed for proper state management for stored group
-                    // invitations
-                    //
-                    Scene s = FindScene(client.AgentId);
-                    if (s != null)
-                        s.EventManager.TriggerIncomingInstantMessage(im);
+                    foreach (GridInstantMessage im in msglist)
+                    {
+                        // client.SendInstantMessage(im);
+
+                        // Send through scene event manager so all modules get a chance
+                        // to look at this message before it gets delivered.
+                        //
+                        // Needed for proper state management for stored group
+                        // invitations
+                        //
+
+                        im.offline = 1;
+
+                        Scene s = FindScene(client.AgentId);
+                        if (s != null)
+                            s.EventManager.TriggerIncomingInstantMessage(im);
+                    }
                 }
             }
         }
@@ -205,24 +212,19 @@ namespace OpenSim.Region.CoreModules.Avatar.InstantMessage
                 im.dialog != (byte)InstantMessageDialog.MessageFromAgent &&
                 im.dialog != (byte)InstantMessageDialog.GroupNotice &&
                 im.dialog != (byte)InstantMessageDialog.GroupInvitation &&
-                im.dialog != (byte)InstantMessageDialog.InventoryOffered)
+                im.dialog != (byte)InstantMessageDialog.InventoryOffered &&
+                im.dialog != (byte)InstantMessageDialog.TaskInventoryOffered)
             {
                 return;
             }
 
-            if (!m_ForwardOfflineGroupMessages)
-            {
-                if (im.dialog == (byte)InstantMessageDialog.GroupNotice ||
-                    im.dialog != (byte)InstantMessageDialog.GroupInvitation)
-                    return;
-            }
-
             Scene scene = FindScene(new UUID(im.fromAgentID));
             if (scene == null)
                 scene = m_SceneList[0];
 
             bool success = SynchronousRestObjectRequester.MakeRequest<GridInstantMessage, bool>(
-                    "POST", m_RestURL+"/SaveMessage/", im);
+                    "POST", m_RestURL+"/SaveMessage/?scope=" +
+                    scene.RegionInfo.ScopeID.ToString(), im);
 
             if (im.dialog == (byte)InstantMessageDialog.MessageFromAgent)
             {
diff --git a/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/InventoryArchiveReadRequest.cs b/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/InventoryArchiveReadRequest.cs
index ee10d04..0833154 100644
--- a/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/InventoryArchiveReadRequest.cs
+++ b/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/InventoryArchiveReadRequest.cs
@@ -635,4 +635,4 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Archiver
             m_assetsLoaded = true;            
         }                 
     }
-}
\ No newline at end of file
+}
diff --git a/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/InventoryArchiveWriteRequest.cs b/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/InventoryArchiveWriteRequest.cs
index a26c73a..8560c73 100644
--- a/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/InventoryArchiveWriteRequest.cs
+++ b/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/InventoryArchiveWriteRequest.cs
@@ -178,9 +178,6 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Archiver
             InventoryFolderBase inventoryFolder, string path, bool saveThisFolderItself, 
             Dictionary<string, object> options, IUserAccountService userAccountService)
         {
-            if (options.ContainsKey("verbose"))
-                m_log.InfoFormat("[INVENTORY ARCHIVER]: Saving folder {0}", inventoryFolder.Name);
- 
             if (saveThisFolderItself)
             {
                 path += CreateArchiveFolderName(inventoryFolder);
@@ -450,4 +447,4 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Archiver
             return s;
         }
     }
-}
\ No newline at end of file
+}
diff --git a/OpenSim/Region/CoreModules/Avatar/Inventory/Transfer/InventoryTransferModule.cs b/OpenSim/Region/CoreModules/Avatar/Inventory/Transfer/InventoryTransferModule.cs
index 19c774f..80554fb 100644
--- a/OpenSim/Region/CoreModules/Avatar/Inventory/Transfer/InventoryTransferModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/Inventory/Transfer/InventoryTransferModule.cs
@@ -175,8 +175,8 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Transfer
                 if (im.binaryBucket.Length < 17) // Invalid
                     return;
             
-                UUID receipientID = new UUID(im.toAgentID);
-                ScenePresence user = scene.GetScenePresence(receipientID);
+                UUID recipientID = new UUID(im.toAgentID);
+                ScenePresence user = scene.GetScenePresence(recipientID);
                 UUID copyID;
 
                 // First byte is the asset type
@@ -191,7 +191,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Transfer
                             folderID, new UUID(im.toAgentID));
                     
                     InventoryFolderBase folderCopy 
-                        = scene.GiveInventoryFolder(receipientID, client.AgentId, folderID, UUID.Zero);
+                        = scene.GiveInventoryFolder(recipientID, client.AgentId, folderID, UUID.Zero);
                     
                     if (folderCopy == null)
                     {
@@ -244,6 +244,8 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Transfer
                     im.imSessionID = itemID.Guid;
                 }
 
+                im.offline = 0;
+
                 // Send the IM to the recipient. The item is already
                 // in their inventory, so it will not be lost if
                 // they are offline.
@@ -263,8 +265,42 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Transfer
                         });
                 }
             }
-            else if (im.dialog == (byte) InstantMessageDialog.InventoryAccepted)
+            else if (im.dialog == (byte) InstantMessageDialog.InventoryAccepted ||
+                     im.dialog == (byte) InstantMessageDialog.TaskInventoryAccepted)
             {
+                UUID inventoryID = new UUID(im.imSessionID); // The inventory item/folder, back from it's trip
+                IInventoryService invService = scene.InventoryService;
+
+                // Special case: folder redirect.
+                // RLV uses this
+                if (im.dialog == (byte) InstantMessageDialog.TaskInventoryAccepted)
+                {
+                    InventoryFolderBase folder = new InventoryFolderBase(inventoryID, client.AgentId);
+                    folder = invService.GetFolder(folder);
+
+                    if (folder != null)
+                    {
+                        if (im.binaryBucket.Length >= 16)
+                        {
+                            UUID destFolderID = new UUID(im.binaryBucket, 0);
+                            if (destFolderID != UUID.Zero)
+                            {
+                                InventoryFolderBase destFolder = new InventoryFolderBase(destFolderID, client.AgentId);
+                                destFolder = invService.GetFolder(destFolder);
+                                if (destFolder != null)
+                                {
+                                    if (folder.ParentID != destFolder.ID)
+                                    {
+                                        folder.ParentID = destFolder.ID;
+                                        invService.MoveFolder(folder);
+                                        client.SendBulkUpdateInventory(folder);
+                                    }
+                                }
+                            }
+                        }
+                    }
+                }
+
                 ScenePresence user = scene.GetScenePresence(new UUID(im.toAgentID));
 
                 if (user != null) // Local
@@ -274,30 +310,11 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Transfer
                 else
                 {
                     if (m_TransferModule != null)
-                        m_TransferModule.SendInstantMessage(im, delegate(bool success) {
-
-                            // justincc - FIXME: Comment out for now.  This code was added in commit db91044 Mon Aug 22 2011
-                            // and is apparently supposed to fix bulk inventory updates after accepting items.  But
-                            // instead it appears to cause two copies of an accepted folder for the receiving user in
-                            // at least some cases.  Folder/item update is already done when the offer is made (see code above)
-
-//                            // Send BulkUpdateInventory
-//                            IInventoryService invService = scene.InventoryService;
-//                            UUID inventoryEntityID = new UUID(im.imSessionID); // The inventory item /folder, back from it's trip
-//
-//                            InventoryFolderBase folder = new InventoryFolderBase(inventoryEntityID, client.AgentId);
-//                            folder = invService.GetFolder(folder);
-//
-//                            ScenePresence fromUser = scene.GetScenePresence(new UUID(im.fromAgentID));
-//
-//                            // If the user has left the scene by the time the message comes back then we can't send
-//                            // them the update.
-//                            if (fromUser != null)
-//                                fromUser.ControllingClient.SendBulkUpdateInventory(folder);
-                        });
+                        m_TransferModule.SendInstantMessage(im, delegate(bool success) {});
                 }
             }
-            else if (im.dialog == (byte) InstantMessageDialog.InventoryDeclined)
+            else if (im.dialog == (byte) InstantMessageDialog.InventoryDeclined ||
+                     im.dialog == (byte) InstantMessageDialog.TaskInventoryDeclined)
             {
                 // Here, the recipient is local and we can assume that the
                 // inventory is loaded. Courtesy of the above bulk update,
@@ -333,6 +350,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Transfer
                     {
                         folder.ParentID = trashFolder.ID;
                         invService.MoveFolder(folder);
+                        client.SendBulkUpdateInventory(folder);
                     }
                 }
                 
@@ -433,22 +451,113 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Transfer
         ///
         /// </summary>
         /// <param name="msg"></param>
-        private void OnGridInstantMessage(GridInstantMessage msg)
+        private void OnGridInstantMessage(GridInstantMessage im)
         {
             // Check if this is ours to handle
             //
-            Scene scene = FindClientScene(new UUID(msg.toAgentID));
+            Scene scene = FindClientScene(new UUID(im.toAgentID));
 
             if (scene == null)
                 return;
 
             // Find agent to deliver to
             //
-            ScenePresence user = scene.GetScenePresence(new UUID(msg.toAgentID));
+            ScenePresence user = scene.GetScenePresence(new UUID(im.toAgentID));
+            if (user == null)
+                return;
+
+            // This requires a little bit of processing because we have to make the
+            // new item visible in the recipient's inventory here
+            //
+            if (im.dialog == (byte) InstantMessageDialog.InventoryOffered)
+            {
+                if (im.binaryBucket.Length < 17) // Invalid
+                    return;
+            
+                UUID recipientID = new UUID(im.toAgentID);
+
+                // First byte is the asset type
+                AssetType assetType = (AssetType)im.binaryBucket[0];
+                
+                if (AssetType.Folder == assetType)
+                {
+                    UUID folderID = new UUID(im.binaryBucket, 1);
 
-            // Just forward to local handling
-            OnInstantMessage(user.ControllingClient, msg);
+                    InventoryFolderBase given =
+                            new InventoryFolderBase(folderID, recipientID);
+                    InventoryFolderBase folder =
+                            scene.InventoryService.GetFolder(given);
 
+                    if (folder != null)
+                        user.ControllingClient.SendBulkUpdateInventory(folder);
+                }
+                else
+                {
+                    UUID itemID = new UUID(im.binaryBucket, 1);
+
+                    InventoryItemBase given =
+                            new InventoryItemBase(itemID, recipientID);
+                    InventoryItemBase item =
+                            scene.InventoryService.GetItem(given);
+
+                    if (item != null)
+                    {
+                        user.ControllingClient.SendBulkUpdateInventory(item);
+                    }
+                }
+                user.ControllingClient.SendInstantMessage(im);
+            }
+            if (im.dialog == (byte) InstantMessageDialog.TaskInventoryOffered)
+            {
+                if (im.binaryBucket.Length < 1) // Invalid
+                    return;
+            
+                UUID recipientID = new UUID(im.toAgentID);
+
+                // Bucket is the asset type
+                AssetType assetType = (AssetType)im.binaryBucket[0];
+                
+                if (AssetType.Folder == assetType)
+                {
+                    UUID folderID = new UUID(im.imSessionID);
+
+                    InventoryFolderBase given =
+                            new InventoryFolderBase(folderID, recipientID);
+                    InventoryFolderBase folder =
+                            scene.InventoryService.GetFolder(given);
+
+                    if (folder != null)
+                        user.ControllingClient.SendBulkUpdateInventory(folder);
+                }
+                else
+                {
+                    UUID itemID = new UUID(im.imSessionID);
+
+                    InventoryItemBase given =
+                            new InventoryItemBase(itemID, recipientID);
+                    InventoryItemBase item =
+                            scene.InventoryService.GetItem(given);
+
+                    if (item != null)
+                    {
+                        user.ControllingClient.SendBulkUpdateInventory(item);
+                    }
+                }
+
+                // Fix up binary bucket since this may be 17 chars long here
+                Byte[] bucket = new Byte[1];
+                bucket[0] = im.binaryBucket[0];
+                im.binaryBucket = bucket;
+
+                user.ControllingClient.SendInstantMessage(im);
+            }
+            else if (im.dialog == (byte) InstantMessageDialog.InventoryAccepted ||
+                     im.dialog == (byte) InstantMessageDialog.InventoryDeclined ||
+                     im.dialog == (byte) InstantMessageDialog.TaskInventoryDeclined ||
+                     im.dialog == (byte) InstantMessageDialog.TaskInventoryAccepted)
+            {
+                user.ControllingClient.SendInstantMessage(im);
+            }
         }
     }
 }
diff --git a/OpenSim/Region/CoreModules/Avatar/Lure/LureModule.cs b/OpenSim/Region/CoreModules/Avatar/Lure/LureModule.cs
index d295384..dcfdf8f 100644
--- a/OpenSim/Region/CoreModules/Avatar/Lure/LureModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/Lure/LureModule.cs
@@ -155,16 +155,29 @@ namespace OpenSim.Region.CoreModules.Avatar.Lure
                     scene.RegionInfo.RegionHandle,
                     (uint)presence.AbsolutePosition.X,
                     (uint)presence.AbsolutePosition.Y,
-                    (uint)presence.AbsolutePosition.Z);
+                    (uint)presence.AbsolutePosition.Z + 2);
 
-            m_log.DebugFormat("TP invite with message {0}", message);
+            m_log.DebugFormat("[LURE]: TP invite with message {0}", message);
+
+            GridInstantMessage m;
+
+            if (scene.Permissions.IsAdministrator(client.AgentId) && presence.GodLevel >= 200 && (!scene.Permissions.IsAdministrator(targetid)))
+            {
+                m = new GridInstantMessage(scene, client.AgentId,
+                        client.FirstName+" "+client.LastName, targetid,
+                        (byte)InstantMessageDialog.GodLikeRequestTeleport, false,
+                        message, dest, false, presence.AbsolutePosition,
+                        new Byte[0]);
+            }
+            else
+            {
+                m = new GridInstantMessage(scene, client.AgentId,
+                        client.FirstName+" "+client.LastName, targetid,
+                        (byte)InstantMessageDialog.RequestTeleport, false,
+                        message, dest, false, presence.AbsolutePosition,
+                        new Byte[0]);
+            }
 
-            GridInstantMessage m = new GridInstantMessage(scene, client.AgentId,
-                    client.FirstName+" "+client.LastName, targetid,
-                    (byte)InstantMessageDialog.RequestTeleport, false,
-                    message, dest, false, presence.AbsolutePosition,
-                    new Byte[0]);
-                    
             if (m_TransferModule != null)
             {
                 m_TransferModule.SendInstantMessage(m,
@@ -199,7 +212,8 @@ namespace OpenSim.Region.CoreModules.Avatar.Lure
         {
             // Forward remote teleport requests
             //
-            if (msg.dialog != 22)
+            if (msg.dialog != (byte)InstantMessageDialog.RequestTeleport &&
+                msg.dialog != (byte)InstantMessageDialog.GodLikeRequestTeleport)
                 return;
 
             if (m_TransferModule != null)
diff --git a/OpenSim/Region/CoreModules/Framework/Caps/CapabilitiesModule.cs b/OpenSim/Region/CoreModules/Framework/Caps/CapabilitiesModule.cs
index 4ea85a8..dbe75b5 100644
--- a/OpenSim/Region/CoreModules/Framework/Caps/CapabilitiesModule.cs
+++ b/OpenSim/Region/CoreModules/Framework/Caps/CapabilitiesModule.cs
@@ -102,7 +102,8 @@ namespace OpenSim.Region.CoreModules.Framework
 
         public void CreateCaps(UUID agentId)
         {
-            if (m_scene.RegionInfo.EstateSettings.IsBanned(agentId))
+            int flags = m_scene.GetUserFlags(agentId);
+            if (m_scene.RegionInfo.EstateSettings.IsBanned(agentId, flags))
                 return;
 
             String capsObjectPath = GetCapsPath(agentId);
diff --git a/OpenSim/Region/CoreModules/Framework/EntityTransfer/EntityTransferModule.cs b/OpenSim/Region/CoreModules/Framework/EntityTransfer/EntityTransferModule.cs
index 427a49d..a422552 100644
--- a/OpenSim/Region/CoreModules/Framework/EntityTransfer/EntityTransferModule.cs
+++ b/OpenSim/Region/CoreModules/Framework/EntityTransfer/EntityTransferModule.cs
@@ -131,7 +131,7 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
 
         protected virtual void OnNewClient(IClientAPI client)
         {
-            client.OnTeleportHomeRequest += TeleportHome;
+            client.OnTeleportHomeRequest += TriggerTeleportHome;
             client.OnTeleportLandmarkRequest += RequestTeleportLandmark;
         }
 
@@ -209,6 +209,7 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
                     sp.ControllingClient.SendTeleportStart(teleportFlags);
 
                     sp.ControllingClient.SendLocalTeleport(position, lookAt, teleportFlags);
+                    sp.TeleportFlags = (Constants.TeleportFlags)teleportFlags;
                     sp.Teleport(position);
 
                     foreach (SceneObjectGroup grp in sp.GetAttachments())
@@ -337,7 +338,7 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
             // This may be a costly operation. The reg.ExternalEndPoint field is not a passive field,
             // it's actually doing a lot of work.
             IPEndPoint endPoint = finalDestination.ExternalEndPoint;
-            if (endPoint.Address != null)
+            if (endPoint != null && endPoint.Address != null)
             {
                 // Fixing a bug where teleporting while sitting results in the avatar ending up removed from
                 // both regions
@@ -648,7 +649,12 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
 
         #region Teleport Home
 
-        public virtual void TeleportHome(UUID id, IClientAPI client)
+        public virtual void TriggerTeleportHome(UUID id, IClientAPI client)
+        {
+            TeleportHome(id, client);
+        }
+
+        public virtual bool TeleportHome(UUID id, IClientAPI client)
         {
             m_log.DebugFormat("[ENTITY TRANSFER MODULE]: Request to teleport {0} {1} home", client.FirstName, client.LastName);
 
@@ -657,12 +663,18 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
 
             if (uinfo != null)
             {
+                if (uinfo.HomeRegionID == UUID.Zero)
+                {
+                    // can't find the Home region: Tell viewer and abort
+                    client.SendTeleportFailed("You don't have a home position set.");
+                    return false;
+                }
                 GridRegion regionInfo = m_aScene.GridService.GetRegionByUUID(UUID.Zero, uinfo.HomeRegionID);
                 if (regionInfo == null)
                 {
                     // can't find the Home region: Tell viewer and abort
                     client.SendTeleportFailed("Your home region could not be found.");
-                    return;
+                    return false;
                 }
                 
                 m_log.DebugFormat("[ENTITY TRANSFER MODULE]: User's home region is {0} {1} ({2}-{3})", 
@@ -673,6 +685,13 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
                     client, regionInfo.RegionHandle, uinfo.HomePosition, uinfo.HomeLookAt,
                     (uint)(Constants.TeleportFlags.SetLastToTarget | Constants.TeleportFlags.ViaHome));
             }
+            else
+            {
+                // can't find the Home region: Tell viewer and abort
+                client.SendTeleportFailed("Your home region could not be found.");
+                return false;
+            }
+            return true;
         }
 
         #endregion
@@ -680,11 +699,10 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
 
         #region Agent Crossings
 
-        public bool Cross(ScenePresence agent, bool isFlying)
+        public GridRegion GetDestination(Scene scene, UUID agentID, Vector3 pos, out uint xDest, out uint yDest, out string version, out Vector3 newpos)
         {
-            Scene scene = agent.Scene;
-            Vector3 pos = agent.AbsolutePosition;
-            Vector3 newpos = new Vector3(pos.X, pos.Y, pos.Z);
+            version = String.Empty;
+            newpos = new Vector3(pos.X, pos.Y, pos.Z);
             uint neighbourx = scene.RegionInfo.RegionLocX;
             uint neighboury = scene.RegionInfo.RegionLocY;
             const float boundaryDistance = 1.7f;
@@ -705,53 +723,12 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
                 }
                 else if (scene.TestBorderCross(pos + southCross, Cardinals.S))
                 {
-                    Border b = scene.GetCrossedBorder(pos + southCross, Cardinals.S);
-                    if (b.TriggerRegionX == 0 && b.TriggerRegionY == 0)
-                    {
-                        neighboury--;
-                        newpos.Y = Constants.RegionSize - enterDistance;
-                    }
-                    else
-                    {
-                        agent.IsInTransit = true;
-
-                        neighboury = b.TriggerRegionY;
-                        neighbourx = b.TriggerRegionX;
-
-                        Vector3 newposition = pos;
-                        newposition.X += (scene.RegionInfo.RegionLocX - neighbourx) * Constants.RegionSize;
-                        newposition.Y += (scene.RegionInfo.RegionLocY - neighboury) * Constants.RegionSize;
-                        agent.ControllingClient.SendAgentAlertMessage(
-                            String.Format("Moving you to region {0},{1}", neighbourx, neighboury), false);
-                        InformClientToInitateTeleportToLocation(agent, neighbourx, neighboury, newposition, scene);
-                        return true;
-                    }
-                }
-
-                Border ba = scene.GetCrossedBorder(pos + westCross, Cardinals.W);
-                if (ba.TriggerRegionX == 0 && ba.TriggerRegionY == 0)
-                {
-                    neighbourx--;
-                    newpos.X = Constants.RegionSize - enterDistance;
+                    neighboury--;
+                    newpos.Y = Constants.RegionSize - enterDistance;
                 }
-                else
-                {
-                    agent.IsInTransit = true;
-
-                    neighboury = ba.TriggerRegionY;
-                    neighbourx = ba.TriggerRegionX;
-
-
-                    Vector3 newposition = pos;
-                    newposition.X += (scene.RegionInfo.RegionLocX - neighbourx) * Constants.RegionSize;
-                    newposition.Y += (scene.RegionInfo.RegionLocY - neighboury) * Constants.RegionSize;
-                    agent.ControllingClient.SendAgentAlertMessage(
-                            String.Format("Moving you to region {0},{1}", neighbourx, neighboury), false);
-                    InformClientToInitateTeleportToLocation(agent, neighbourx, neighboury, newposition, scene);
 
-
-                    return true;
-                }
+                neighbourx--;
+                newpos.X = Constants.RegionSize - enterDistance;
 
             }
             else if (scene.TestBorderCross(pos + eastCross, Cardinals.E))
@@ -762,26 +739,8 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
 
                 if (scene.TestBorderCross(pos + southCross, Cardinals.S))
                 {
-                    Border ba = scene.GetCrossedBorder(pos + southCross, Cardinals.S);
-                    if (ba.TriggerRegionX == 0 && ba.TriggerRegionY == 0)
-                    {
-                        neighboury--;
-                        newpos.Y = Constants.RegionSize - enterDistance;
-                    }
-                    else
-                    {
-                        agent.IsInTransit = true;
-
-                        neighboury = ba.TriggerRegionY;
-                        neighbourx = ba.TriggerRegionX;
-                        Vector3 newposition = pos;
-                        newposition.X += (scene.RegionInfo.RegionLocX - neighbourx) * Constants.RegionSize;
-                        newposition.Y += (scene.RegionInfo.RegionLocY - neighboury) * Constants.RegionSize;
-                        agent.ControllingClient.SendAgentAlertMessage(
-                            String.Format("Moving you to region {0},{1}", neighbourx, neighboury), false);
-                        InformClientToInitateTeleportToLocation(agent, neighbourx, neighboury, newposition, scene);
-                        return true;
-                    }
+                    neighboury--;
+                    newpos.Y = Constants.RegionSize - enterDistance;
                 }
                 else if (scene.TestBorderCross(pos + northCross, Cardinals.N))
                 {
@@ -789,35 +748,15 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
                     neighboury += (uint)(int)(c.BorderLine.Z / (int)Constants.RegionSize);
                     newpos.Y = enterDistance;
                 }
-
-
             }
             else if (scene.TestBorderCross(pos + southCross, Cardinals.S))
             {
                 Border b = scene.GetCrossedBorder(pos + southCross, Cardinals.S);
-                if (b.TriggerRegionX == 0 && b.TriggerRegionY == 0)
-                {
-                    neighboury--;
-                    newpos.Y = Constants.RegionSize - enterDistance;
-                }
-                else
-                {
-                    agent.IsInTransit = true;
-
-                    neighboury = b.TriggerRegionY;
-                    neighbourx = b.TriggerRegionX;
-                    Vector3 newposition = pos;
-                    newposition.X += (scene.RegionInfo.RegionLocX - neighbourx) * Constants.RegionSize;
-                    newposition.Y += (scene.RegionInfo.RegionLocY - neighboury) * Constants.RegionSize;
-                    agent.ControllingClient.SendAgentAlertMessage(
-                            String.Format("Moving you to region {0},{1}", neighbourx, neighboury), false);
-                    InformClientToInitateTeleportToLocation(agent, neighbourx, neighboury, newposition, scene);
-                    return true;
-                }
+                neighboury--;
+                newpos.Y = Constants.RegionSize - enterDistance;
             }
             else if (scene.TestBorderCross(pos + northCross, Cardinals.N))
             {
-
                 Border b = scene.GetCrossedBorder(pos + northCross, Cardinals.N);
                 neighboury += (uint)(int)(b.BorderLine.Z / (int)Constants.RegionSize);
                 newpos.Y = enterDistance;
@@ -848,19 +787,22 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
             }
             */
 
-            ulong neighbourHandle = Utils.UIntsToLong((uint)(neighbourx * Constants.RegionSize), (uint)(neighboury * Constants.RegionSize));
+            xDest = neighbourx;
+            yDest = neighboury;
 
             int x = (int)(neighbourx * Constants.RegionSize), y = (int)(neighboury * Constants.RegionSize);
 
+            ulong neighbourHandle = Utils.UIntsToLong((uint)x, (uint)y);
+
             ExpiringCache<ulong, DateTime> r;
             DateTime banUntil;
 
-            if (m_bannedRegions.TryGetValue(agent.ControllingClient.AgentId, out r))
+            if (m_bannedRegions.TryGetValue(agentID, out r))
             {
                 if (r.TryGetValue(neighbourHandle, out banUntil))
                 {
                     if (DateTime.Now < banUntil)
-                        return false;
+                        return null;
                     r.Remove(neighbourHandle);
                 }
             }
@@ -872,28 +814,43 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
             GridRegion neighbourRegion = scene.GridService.GetRegionByPosition(scene.RegionInfo.ScopeID, (int)x, (int)y);
 
             string reason;
-            string version;
-            if (!scene.SimulationService.QueryAccess(neighbourRegion, agent.ControllingClient.AgentId, newpos, out version, out reason))
+            if (!scene.SimulationService.QueryAccess(neighbourRegion, agentID, newpos, out version, out reason))
             {
-                agent.ControllingClient.SendAlertMessage("Cannot region cross into banned parcel");
                 if (r == null)
                 {
                     r = new ExpiringCache<ulong, DateTime>();
                     r.Add(neighbourHandle, DateTime.Now + TimeSpan.FromSeconds(15), TimeSpan.FromSeconds(15));
 
-                    m_bannedRegions.Add(agent.ControllingClient.AgentId, r, TimeSpan.FromSeconds(45));
+                    m_bannedRegions.Add(agentID, r, TimeSpan.FromSeconds(45));
                 }
                 else
                 {
                     r.Add(neighbourHandle, DateTime.Now + TimeSpan.FromSeconds(15), TimeSpan.FromSeconds(15));
                 }
+                return null;
+            }
+
+            return neighbourRegion;
+        }
+
+        public bool Cross(ScenePresence agent, bool isFlying)
+        {
+            uint x;
+            uint y;
+            Vector3 newpos;
+            string version;
+
+            GridRegion neighbourRegion = GetDestination(agent.Scene, agent.UUID, agent.AbsolutePosition, out x, out y, out version, out newpos);
+            if (neighbourRegion == null)
+            {
+                agent.ControllingClient.SendAlertMessage("Cannot region cross into banned parcel");
                 return false;
             }
 
             agent.IsInTransit = true;
 
             CrossAgentToNewRegionDelegate d = CrossAgentToNewRegionAsync;
-            d.BeginInvoke(agent, newpos, neighbourx, neighboury, neighbourRegion, isFlying, version, CrossAgentToNewRegionCompleted, d);
+            d.BeginInvoke(agent, newpos, x, y, neighbourRegion, isFlying, version, CrossAgentToNewRegionCompleted, d);
 
             return true;
         }
@@ -950,13 +907,11 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
             icon.EndInvoke(iar);
         }
 
-        public delegate ScenePresence CrossAgentToNewRegionDelegate(ScenePresence agent, Vector3 pos, uint neighbourx, uint neighboury, GridRegion neighbourRegion, bool isFlying, string version);
-
         /// <summary>
         /// This Closes child agents on neighbouring regions
         /// Calls an asynchronous method to do so..  so it doesn't lag the sim.
         /// </summary>
-        protected ScenePresence CrossAgentToNewRegionAsync(
+        public ScenePresence CrossAgentToNewRegionAsync(
             ScenePresence agent, Vector3 pos, uint neighbourx, uint neighboury, GridRegion neighbourRegion,
             bool isFlying, string version)
         {
@@ -1145,10 +1100,14 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
                 agent.Id0 = currentAgentCircuit.Id0;
             }
 
-            InformClientOfNeighbourDelegate d = InformClientOfNeighbourAsync;
-            d.BeginInvoke(sp, agent, region, region.ExternalEndPoint, true,
+            IPEndPoint external = region.ExternalEndPoint;
+            if (external != null)
+            {
+                InformClientOfNeighbourDelegate d = InformClientOfNeighbourAsync;
+                d.BeginInvoke(sp, agent, region, external, true,
                           InformClientOfNeighbourCompleted,
                           d);
+            }
         }
         #endregion
 
@@ -1398,8 +1357,6 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
 
                 m_log.Debug("[ENTITY TRANSFER MODULE]: Completed inform client about neighbour " + endPoint.ToString());
             }
-            if (!regionAccepted)
-                m_log.DebugFormat("[ENTITY TRANSFER MODULE]: Region {0} did not accept agent: {1}", reg.RegionName, reason);
         }
 
         /// <summary>
@@ -1728,27 +1685,28 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
             Utils.LongToUInts(newRegionHandle, out x, out y);
             GridRegion destination = scene.GridService.GetRegionByPosition(scene.RegionInfo.ScopeID, (int)x, (int)y);
 
-            if (destination == null || !CrossPrimGroupIntoNewRegion(destination, pos, grp, silent))
+            if (destination != null)
             {
-                m_log.InfoFormat("[ENTITY TRANSFER MODULE] cross region transfer failed for object {0}",grp.UUID);
+                if (CrossPrimGroupIntoNewRegion(destination, pos, grp, silent))
+                    return; // we did it
+            }
 
-                // We are going to move the object back to the old position so long as the old position
-                // is in the region
-                oldGroupPosition.X = Util.Clamp<float>(oldGroupPosition.X,1.0f,(float)Constants.RegionSize-1);
-                oldGroupPosition.Y = Util.Clamp<float>(oldGroupPosition.Y,1.0f,(float)Constants.RegionSize-1);
-                oldGroupPosition.Z = Util.Clamp<float>(oldGroupPosition.Z,1.0f,4096.0f);
+            // no one or failed lets go back and tell physics to go on
+            oldGroupPosition.X = Util.Clamp<float>(oldGroupPosition.X, 0.5f, (float)Constants.RegionSize - 0.5f);
+            oldGroupPosition.Y = Util.Clamp<float>(oldGroupPosition.Y, 0.5f, (float)Constants.RegionSize - 0.5f);
+            oldGroupPosition.Z = Util.Clamp<float>(oldGroupPosition.Z, 0.5f, 4096.0f);
 
-                grp.RootPart.GroupPosition = oldGroupPosition;
+            grp.AbsolutePosition = oldGroupPosition;
+            grp.Velocity = Vector3.Zero;
 
-                // Need to turn off the physics flags, otherwise the object will continue to attempt to
-                // move out of the region creating an infinite loop of failed attempts to cross
-                grp.UpdatePrimFlags(grp.RootPart.LocalId,false,grp.IsTemporary,grp.IsPhantom,false);
+            if (grp.RootPart.PhysActor != null)
+                grp.RootPart.PhysActor.CrossingFailure();
 
-                grp.ScheduleGroupForFullUpdate();
-            }
+            grp.ScheduleGroupForFullUpdate();
         }
 
 
+
         /// <summary>
         /// Move the given scene object into a new region
         /// </summary>
@@ -1806,6 +1764,12 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
                         if (grp.RootPart.PhysActor != null)
                         {
                             grp.RootPart.PhysActor.CrossingFailure();
+                            if (grp.RootPart.KeyframeMotion != null)
+                            {
+                                grp.RootPart.Velocity = Vector3.Zero;
+                                grp.RootPart.KeyframeMotion.CrossingFailure();
+                                grp.SendGroupRootTerseUpdate();
+                            }
                         }
                     }
 
diff --git a/OpenSim/Region/CoreModules/Framework/EntityTransfer/HGEntityTransferModule.cs b/OpenSim/Region/CoreModules/Framework/EntityTransfer/HGEntityTransferModule.cs
index b277095..4a563f9 100644
--- a/OpenSim/Region/CoreModules/Framework/EntityTransfer/HGEntityTransferModule.cs
+++ b/OpenSim/Region/CoreModules/Framework/EntityTransfer/HGEntityTransferModule.cs
@@ -90,7 +90,7 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
 
         protected override void OnNewClient(IClientAPI client)
         {
-            client.OnTeleportHomeRequest += TeleportHome;
+            client.OnTeleportHomeRequest += TriggerTeleportHome;
             client.OnTeleportLandmarkRequest += RequestTeleportLandmark;
             client.OnConnectionClosed += new Action<IClientAPI>(OnConnectionClosed);
         }
@@ -193,7 +193,12 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
             return m_aScene.SimulationService.CreateAgent(reg, agentCircuit, teleportFlags, out reason);
         }
 
-        public override void TeleportHome(UUID id, IClientAPI client)
+        public void TriggerTeleportHome(UUID id, IClientAPI client)
+        {
+            TeleportHome(id, client);
+        }
+
+        public override bool TeleportHome(UUID id, IClientAPI client)
         {
             m_log.DebugFormat("[HG ENTITY TRANSFER MODULE]: Request to teleport {0} {1} home", client.FirstName, client.LastName);
 
@@ -203,8 +208,7 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
             {
                 // local grid user
                 m_log.DebugFormat("[HG ENTITY TRANSFER MODULE]: User is local");
-                base.TeleportHome(id, client);
-                return;
+                return base.TeleportHome(id, client);
             }
 
             // Foreign user wants to go home
@@ -214,7 +218,7 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
             {
                 client.SendTeleportFailed("Your information has been lost");
                 m_log.DebugFormat("[HG ENTITY TRANSFER MODULE]: Unable to locate agent's gateway information");
-                return;
+                return false;
             }
 
             IUserAgentService userAgentService = new UserAgentServiceConnector(aCircuit.ServiceURLs["HomeURI"].ToString());
@@ -224,7 +228,7 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
             {
                 client.SendTeleportFailed("Your home region could not be found");
                 m_log.DebugFormat("[HG ENTITY TRANSFER MODULE]: Agent's home region not found");
-                return;
+                return false;
             }
 
             ScenePresence sp = ((Scene)(client.Scene)).GetScenePresence(client.AgentId);
@@ -232,7 +236,7 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
             {
                 client.SendTeleportFailed("Internal error");
                 m_log.DebugFormat("[HG ENTITY TRANSFER MODULE]: Agent not found in the scene where it is supposed to be");
-                return;
+                return false;
             }
 
             IEventQueue eq = sp.Scene.RequestModuleInterface<IEventQueue>();
@@ -242,6 +246,7 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
                 aCircuit.firstname, aCircuit.lastname, finalDestination.RegionName, homeGatekeeper.ServerURI, homeGatekeeper.RegionName);
 
             DoTeleport(sp, homeGatekeeper, finalDestination, position, lookAt, (uint)(Constants.TeleportFlags.SetLastToTarget | Constants.TeleportFlags.ViaHome), eq);
+            return true;
         }
 
         /// <summary>
diff --git a/OpenSim/Region/CoreModules/Framework/InventoryAccess/InventoryAccessModule.cs b/OpenSim/Region/CoreModules/Framework/InventoryAccess/InventoryAccessModule.cs
index d320af4..192d55f 100644
--- a/OpenSim/Region/CoreModules/Framework/InventoryAccess/InventoryAccessModule.cs
+++ b/OpenSim/Region/CoreModules/Framework/InventoryAccess/InventoryAccessModule.cs
@@ -355,6 +355,12 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
 
             foreach (SceneObjectGroup objectGroup in objlist)
             {
+                if (objectGroup.RootPart.KeyframeMotion != null)
+                    objectGroup.RootPart.KeyframeMotion.Stop();
+                objectGroup.RootPart.SetForce(Vector3.Zero);
+                objectGroup.RootPart.SetAngularImpulse(Vector3.Zero, false);
+                objectGroup.RootPart.KeyframeMotion = null;
+
                 Vector3 inventoryStoredPosition = new Vector3
                             (((objectGroup.AbsolutePosition.X > (int)Constants.RegionSize)
                                   ? 250
@@ -367,6 +373,11 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
 
                 originalPositions[objectGroup.UUID] = objectGroup.AbsolutePosition;
 
+                // Restore attachment data after trip through the sim
+                if (objectGroup.RootPart.AttachPoint > 0)
+                    inventoryStoredPosition = objectGroup.RootPart.AttachOffset;
+                objectGroup.RootPart.Shape.State = objectGroup.RootPart.AttachPoint;
+
                 objectGroup.AbsolutePosition = inventoryStoredPosition;
 
                 // Make sure all bits but the ones we want are clear
@@ -476,8 +487,17 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
             IClientAPI remoteClient)
         {
             uint effectivePerms = (uint)(PermissionMask.Copy | PermissionMask.Transfer | PermissionMask.Modify | PermissionMask.Move) | 7;
+            // For the porposes of inventory, an object is modify if the prims
+            // are modify. This allows renaming an object that contains no
+            // mod items.
             foreach (SceneObjectGroup grp in objsForEffectivePermissions)
-                effectivePerms &= grp.GetEffectivePermissions();
+            {
+                uint groupPerms = grp.GetEffectivePermissions(true);
+                if ((grp.RootPart.BaseMask & (uint)PermissionMask.Modify) != 0)
+                    groupPerms |= (uint)PermissionMask.Modify;
+
+                effectivePerms &= groupPerms;
+            }
             effectivePerms |= (uint)PermissionMask.Move;
 
             if (remoteClient != null && (remoteClient.AgentId != so.RootPart.OwnerID) && m_Scene.Permissions.PropagatePermissions())
@@ -657,7 +677,8 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
                     if (so.RootPart.FromFolderID != UUID.Zero && userID == remoteClient.AgentId)
                     {
                         InventoryFolderBase f = new InventoryFolderBase(so.RootPart.FromFolderID, userID);
-                        folder = m_Scene.InventoryService.GetFolder(f);
+                        if (f != null)
+                            folder = m_Scene.InventoryService.GetFolder(f);
                     }
                 }
 
@@ -687,15 +708,11 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
             bool RezSelected, bool RemoveItem, UUID fromTaskID, bool attachment)
         {
 //            m_log.DebugFormat("[INVENTORY ACCESS MODULE]: RezObject for {0}, item {1}", remoteClient.Name, itemID);
-
             InventoryItemBase item = new InventoryItemBase(itemID, remoteClient.AgentId);
             item = m_Scene.InventoryService.GetItem(item);
 
             if (item == null)
             {
-                m_log.WarnFormat(
-                    "[InventoryAccessModule]: Could not find item {0} for {1} in RezObject()",
-                    itemID, remoteClient.Name);
 
                 return null;
             }
@@ -747,6 +764,11 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
             if (e == null || attachment) // Single
             {
                 SceneObjectGroup g = SceneObjectSerializer.FromOriginalXmlFormat(xmlData);
+                if (!attachment)
+                {
+                    g.RootPart.AttachPoint = g.RootPart.Shape.State;
+                    g.RootPart.AttachOffset = g.AbsolutePosition;
+                }
 
                 objlist.Add(g);
                 veclist.Add(new Vector3(0, 0, 0));
@@ -776,6 +798,8 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
                 foreach (XmlNode n in groups)
                 {
                     SceneObjectGroup g = SceneObjectSerializer.FromOriginalXmlFormat(n.OuterXml);
+                    g.RootPart.AttachPoint = g.RootPart.Shape.State;
+                    g.RootPart.AttachOffset = g.AbsolutePosition;
 
                     objlist.Add(g);
                     XmlElement el = (XmlElement)n;
@@ -795,12 +819,35 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
                 }
             }
 
+            int primcount = 0;
+            foreach (SceneObjectGroup g in objlist)
+                primcount += g.PrimCount;
+
+            if (!m_Scene.Permissions.CanRezObject(
+                primcount, remoteClient.AgentId, pos)
+                && !attachment)
+            {
+                // The client operates in no fail mode. It will
+                // have already removed the item from the folder
+                // if it's no copy.
+                // Put it back if it's not an attachment
+                //
+                if (item != null)
+                {
+                    if (((item.CurrentPermissions & (uint)PermissionMask.Copy) == 0) && (!attachment))
+                        remoteClient.SendBulkUpdateInventory(item);
+                }
+
+                return null;
+            }
+
             if (item != null && !DoPreRezWhenFromItem(remoteClient, item, objlist, pos, attachment))
                 return null;
 
             for (int i = 0; i < objlist.Count; i++)
             {
                 group = objlist[i];
+                SceneObjectPart rootPart = group.RootPart;
 
 //                m_log.DebugFormat(
 //                    "[InventoryAccessModule]: Preparing to rez {0} {1} {2} ownermask={3:X} nextownermask={4:X} groupmask={5:X} everyonemask={6:X} for {7}",
@@ -861,8 +908,6 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
 
                 if (!attachment)
                 {
-                    SceneObjectPart rootPart = group.RootPart;
-
                     if (rootPart.Shape.PCode == (byte)PCode.Prim)
                         group.ClearPartAttachmentData();
 
@@ -880,6 +925,8 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
 //                    remoteClient.Name);
             }
 
+            group.SetGroup(remoteClient.ActiveGroupId, remoteClient);
+
             if (item != null)
                 DoPostRezWhenFromItem(item, attachment);
 
@@ -919,25 +966,6 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
                 }
             }
 
-            int primcount = 0;
-            foreach (SceneObjectGroup g in objlist)
-                primcount += g.PrimCount;
-
-            if (!m_Scene.Permissions.CanRezObject(
-                primcount, remoteClient.AgentId, pos)
-                && !isAttachment)
-            {
-                // The client operates in no fail mode. It will
-                // have already removed the item from the folder
-                // if it's no copy.
-                // Put it back if it's not an attachment
-                //
-                if (((item.CurrentPermissions & (uint)PermissionMask.Copy) == 0) && (!isAttachment))
-                    remoteClient.SendBulkUpdateInventory(item);
-
-                return false;
-            }
-
             for (int i = 0; i < objlist.Count; i++)
             {
                 SceneObjectGroup so = objlist[i];
@@ -953,8 +981,11 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
                 {
                     rootPart.Name = item.Name;
                     rootPart.Description = item.Description;
-                    rootPart.ObjectSaleType = item.SaleType;
-                    rootPart.SalePrice = item.SalePrice;
+                    if ((item.Flags & (uint)InventoryItemFlags.ObjectSlamSale) != 0)
+                    {
+                        rootPart.ObjectSaleType = item.SaleType;
+                        rootPart.SalePrice = item.SalePrice;
+                    }
                 }
 
                 rootPart.FromFolderID = item.Folder;
@@ -963,7 +994,8 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
 //                                  rootPart.OwnerID, item.Owner, item.CurrentPermissions);
 
                 if ((rootPart.OwnerID != item.Owner) ||
-                    (item.CurrentPermissions & 16) != 0)
+                    (item.CurrentPermissions & 16) != 0 ||
+                    (item.Flags & (uint)InventoryItemFlags.ObjectSlamPerm) != 0)
                 {
                     //Need to kill the for sale here
                     rootPart.ObjectSaleType = 0;
@@ -973,31 +1005,43 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
                     {
                         foreach (SceneObjectPart part in so.Parts)
                         {
-                            if ((item.Flags & (uint)InventoryItemFlags.ObjectHasMultipleItems) == 0)
-                            {
-                                part.EveryoneMask = item.EveryOnePermissions;
-                                part.NextOwnerMask = item.NextPermissions;
-                            }
                             part.GroupMask = 0; // DO NOT propagate here
+
+                            part.LastOwnerID = part.OwnerID;
+                            part.OwnerID = item.Owner;
+                            part.Inventory.ChangeInventoryOwner(item.Owner);
                         }
     
                         so.ApplyNextOwnerPermissions();
+
+                        // In case the user has changed flags on a received item
+                        // we have to apply those changes after the slam. Else we
+                        // get a net loss of permissions
+                        foreach (SceneObjectPart part in so.Parts)
+                        {
+                            if ((item.Flags & (uint)InventoryItemFlags.ObjectHasMultipleItems) == 0)
+                            {
+                                if ((item.Flags & (uint)InventoryItemFlags.ObjectOverwriteEveryone) != 0)
+                                    part.EveryoneMask = item.EveryOnePermissions & part.BaseMask;
+                                if ((item.Flags & (uint)InventoryItemFlags.ObjectOverwriteNextOwner) != 0)
+                                    part.NextOwnerMask = item.NextPermissions & part.BaseMask;
+                            }
+                        }
                     }
                 }
-    
-                foreach (SceneObjectPart part in so.Parts)
+                else
                 {
-                    part.FromUserInventoryItemID = fromUserInventoryItemId;
-
-                    if ((part.OwnerID != item.Owner) ||
-                        (item.CurrentPermissions & 16) != 0)
+                    foreach (SceneObjectPart part in so.Parts)
                     {
-                        part.Inventory.ChangeInventoryOwner(item.Owner);
-                        part.GroupMask = 0; // DO NOT propagate here
+                        part.FromUserInventoryItemID = fromUserInventoryItemId;
+
+                        if ((item.Flags & (uint)InventoryItemFlags.ObjectOverwriteEveryone) != 0)
+                            part.EveryoneMask = item.EveryOnePermissions;
+                        if ((item.Flags & (uint)InventoryItemFlags.ObjectOverwriteNextOwner) != 0)
+                            part.NextOwnerMask = item.NextPermissions;
+                        if ((item.Flags & (uint)InventoryItemFlags.ObjectOverwriteGroup) != 0)
+                            part.GroupMask = item.GroupPermissions;
                     }
-
-                    part.EveryoneMask = item.EveryOnePermissions;
-                    part.NextOwnerMask = item.NextPermissions;
                 }
     
                 rootPart.TrimPermissions();
@@ -1135,4 +1179,4 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
 
         #endregion
     }
-}
\ No newline at end of file
+}
diff --git a/OpenSim/Region/CoreModules/LightShare/LightShareModule.cs b/OpenSim/Region/CoreModules/LightShare/LightShareModule.cs
index 16cbbf5..f49641f 100644
--- a/OpenSim/Region/CoreModules/LightShare/LightShareModule.cs
+++ b/OpenSim/Region/CoreModules/LightShare/LightShareModule.cs
@@ -170,7 +170,8 @@ namespace OpenSim.Region.CoreModules.World.LightShare
 
         private void EventManager_OnMakeRootAgent(ScenePresence presence)
         {
-            m_log.Debug("[WINDLIGHT]: Sending windlight scene to new client");
+            if (m_enableWindlight && m_scene.RegionInfo.WindlightSettings.valid)
+                m_log.Debug("[WINDLIGHT]: Sending windlight scene to new client");
             SendProfileToClient(presence.ControllingClient);
         }
 
diff --git a/OpenSim/Region/CoreModules/Scripting/HttpRequest/ScriptsHttpRequests.cs b/OpenSim/Region/CoreModules/Scripting/HttpRequest/ScriptsHttpRequests.cs
index d328eb3..9dac6b9 100644
--- a/OpenSim/Region/CoreModules/Scripting/HttpRequest/ScriptsHttpRequests.cs
+++ b/OpenSim/Region/CoreModules/Scripting/HttpRequest/ScriptsHttpRequests.cs
@@ -382,6 +382,10 @@ namespace OpenSim.Region.CoreModules.Scripting.HttpRequest
             try
             {
                 Request = (HttpWebRequest) WebRequest.Create(Url);
+
+                //This works around some buggy HTTP Servers like Lighttpd
+                Request.ServicePoint.Expect100Continue = false;
+
                 Request.Method = HttpMethod;
                 Request.ContentType = HttpMIMEType;
 
@@ -458,15 +462,36 @@ namespace OpenSim.Region.CoreModules.Scripting.HttpRequest
 
                         // continue building the string
                         sb.Append(tempString);
+                        if (sb.Length > 2048)
+                            break;
                     }
                 } while (count > 0); // any more data to read?
 
-                ResponseBody = sb.ToString();
+                ResponseBody = sb.ToString().Replace("\r", "");
             }
             catch (Exception e)
             {
-                Status = (int)OSHttpStatusCode.ClientErrorJoker;
-                ResponseBody = e.Message;
+                if (e is WebException && ((WebException)e).Status == WebExceptionStatus.ProtocolError)
+                {
+                    HttpWebResponse webRsp = (HttpWebResponse)((WebException)e).Response;
+                    Status = (int)webRsp.StatusCode;
+                    try
+                    {
+                        using (Stream responseStream = webRsp.GetResponseStream())
+                        {
+                            ResponseBody = responseStream.GetStreamString();
+                        }
+                    }
+                    catch
+                    {
+                        ResponseBody = webRsp.StatusDescription;
+                    }
+                }
+                else
+                {
+                    Status = (int)OSHttpStatusCode.ClientErrorJoker;
+                    ResponseBody = e.Message;
+                }
 
                 _finished = true;
                 return;
diff --git a/OpenSim/Region/CoreModules/Scripting/LSLHttp/UrlModule.cs b/OpenSim/Region/CoreModules/Scripting/LSLHttp/UrlModule.cs
index 93e75b3..f4cf6b4 100644
--- a/OpenSim/Region/CoreModules/Scripting/LSLHttp/UrlModule.cs
+++ b/OpenSim/Region/CoreModules/Scripting/LSLHttp/UrlModule.cs
@@ -61,6 +61,7 @@ namespace OpenSim.Region.CoreModules.Scripting.LSLHttp
         //public ManualResetEvent ev;
         public bool requestDone;
         public int startTime;
+        public bool responseSent;
         public string uri;
     }
 
@@ -77,7 +78,7 @@ namespace OpenSim.Region.CoreModules.Scripting.LSLHttp
                 new Dictionary<string, UrlData>();
 
 
-        private int m_TotalUrls = 100;
+        private int m_TotalUrls = 5000;
 
         private uint https_port = 0;
         private IHttpServer m_HttpServer = null;
@@ -157,7 +158,7 @@ namespace OpenSim.Region.CoreModules.Scripting.LSLHttp
                     engine.PostScriptEvent(itemID, "http_request", new Object[] { urlcode.ToString(), "URL_REQUEST_DENIED", "" });
                     return urlcode;
                 }
-                string url = "http://" + m_ExternalHostNameForLSL + ":" + m_HttpServer.Port.ToString() + "/lslhttp/" + urlcode.ToString() + "/";
+                string url = "http://" + m_ExternalHostNameForLSL + ":" + m_HttpServer.Port.ToString() + "/lslhttp/" + urlcode.ToString();
 
                 UrlData urlData = new UrlData();
                 urlData.hostID = host.UUID;
@@ -166,10 +167,10 @@ namespace OpenSim.Region.CoreModules.Scripting.LSLHttp
                 urlData.url = url;
                 urlData.urlcode = urlcode;
                 urlData.requests = new Dictionary<UUID, RequestData>();
-                
+
                 m_UrlMap[url] = urlData;
                 
-                string uri = "/lslhttp/" + urlcode.ToString() + "/";
+                string uri = "/lslhttp/" + urlcode.ToString();
                
                 m_HttpServer.AddPollServiceHTTPHandler(
                     uri,
@@ -234,9 +235,12 @@ namespace OpenSim.Region.CoreModules.Scripting.LSLHttp
                     return;
                 }
 
-                foreach (UUID req in data.requests.Keys)
-                    m_RequestMap.Remove(req);
-
+                lock (m_RequestMap)
+                {
+                    foreach (UUID req in data.requests.Keys)
+                        m_RequestMap.Remove(req);
+                }
+                        
                 RemoveUrl(data);
                 m_UrlMap.Remove(url);
             }
@@ -244,32 +248,42 @@ namespace OpenSim.Region.CoreModules.Scripting.LSLHttp
         
         public void HttpResponse(UUID request, int status, string body)
         {
-            if (m_RequestMap.ContainsKey(request))
-            {
-                UrlData urlData = m_RequestMap[request];
-                urlData.requests[request].responseCode = status;
-                urlData.requests[request].responseBody = body;
-                //urlData.requests[request].ev.Set();
-                urlData.requests[request].requestDone =true;
-            }
-            else
+            lock (m_RequestMap)
             {
-                m_log.Info("[HttpRequestHandler] There is no http-in request with id " + request.ToString());
+                if (m_RequestMap.ContainsKey(request))
+                {
+                    UrlData urlData = m_RequestMap[request];
+                    if (!urlData.requests[request].responseSent)
+                    {
+                        urlData.requests[request].responseCode = status;
+                        urlData.requests[request].responseBody = body;
+                        //urlData.requests[request].ev.Set();
+                        urlData.requests[request].requestDone = true;
+                        urlData.requests[request].responseSent = true;
+                    }
+                }
+                else
+                {
+                    m_log.Info("[HttpRequestHandler] There is no http-in request with id " + request.ToString());
+                }
             }
         }
 
         public string GetHttpHeader(UUID requestId, string header)
         {
-            if (m_RequestMap.ContainsKey(requestId))
-            {
-                UrlData urlData=m_RequestMap[requestId];
-                string value;
-                if (urlData.requests[requestId].headers.TryGetValue(header,out value))
-                    return value;
-            }
-            else
+            lock (m_RequestMap)
             {
-                m_log.Warn("[HttpRequestHandler] There was no http-in request with id " + requestId);
+                if (m_RequestMap.ContainsKey(requestId))
+                {
+                    UrlData urlData = m_RequestMap[requestId];
+                    string value;
+                    if (urlData.requests[requestId].headers.TryGetValue(header, out value))
+                        return value;
+                }
+                else
+                {
+                    m_log.Warn("[HttpRequestHandler] There was no http-in request with id " + requestId);
+                }
             }
             return String.Empty;
         }
@@ -293,8 +307,11 @@ namespace OpenSim.Region.CoreModules.Scripting.LSLHttp
                     {
                         RemoveUrl(url.Value);
                         removeURLs.Add(url.Key);
-                        foreach (UUID req in url.Value.requests.Keys)
-                            m_RequestMap.Remove(req);
+                        lock (m_RequestMap)
+                        {
+                            foreach (UUID req in url.Value.requests.Keys)
+                                m_RequestMap.Remove(req);
+                        }
                     }
                 }
 
@@ -315,8 +332,11 @@ namespace OpenSim.Region.CoreModules.Scripting.LSLHttp
                     {
                         RemoveUrl(url.Value);
                         removeURLs.Add(url.Key);
-                        foreach (UUID req in url.Value.requests.Keys)
-                            m_RequestMap.Remove(req);
+                        lock (m_RequestMap)
+                        {
+                            foreach (UUID req in url.Value.requests.Keys)
+                                m_RequestMap.Remove(req);
+                        }
                     }
                 }
 
@@ -335,14 +355,16 @@ namespace OpenSim.Region.CoreModules.Scripting.LSLHttp
         {
             Hashtable response = new Hashtable();
             UrlData url;
+            int startTime = 0;
             lock (m_RequestMap)
             {
                 if (!m_RequestMap.ContainsKey(requestID))
                     return response;
                 url = m_RequestMap[requestID];
+                startTime = url.requests[requestID].startTime;
             }
 
-            if (System.Environment.TickCount - url.requests[requestID].startTime > 25000)
+            if (System.Environment.TickCount - startTime > 25000)
             {
                 response["int_response_code"] = 500;
                 response["str_response_string"] = "Script timeout";
@@ -351,9 +373,12 @@ namespace OpenSim.Region.CoreModules.Scripting.LSLHttp
                 response["reusecontext"] = false;
 
                 //remove from map
-                lock (url)
+                lock (url.requests)
                 {
                     url.requests.Remove(requestID);
+                }
+                lock (m_RequestMap)
+                {
                     m_RequestMap.Remove(requestID);
                 }
 
@@ -375,22 +400,25 @@ namespace OpenSim.Region.CoreModules.Scripting.LSLHttp
                     return false;
                 }
                 url = m_RequestMap[requestID];
+            }
+            lock (url.requests)
+            {
                 if (!url.requests.ContainsKey(requestID))
                 {
                     return false;
                 }
+                else
+                {
+                    if (System.Environment.TickCount - url.requests[requestID].startTime > 25000)
+                    {
+                        return true;
+                    }
+                    if (url.requests[requestID].requestDone)
+                        return true;
+                    else
+                        return false;
+                }
             }
-
-            if (System.Environment.TickCount-url.requests[requestID].startTime>25000)
-            {
-                return true;
-            }
-
-            if (url.requests[requestID].requestDone)
-                return true;
-            else
-                return false;
-
         }
         private Hashtable GetEvents(UUID requestID, UUID sessionID, string request)
         {
@@ -402,9 +430,12 @@ namespace OpenSim.Region.CoreModules.Scripting.LSLHttp
                 if (!m_RequestMap.ContainsKey(requestID))
                     return NoEvents(requestID,sessionID);
                 url = m_RequestMap[requestID];
+            }
+            lock (url.requests)
+            {
                 requestData = url.requests[requestID];
             }
-
+            
             if (!requestData.requestDone)
                 return NoEvents(requestID,sessionID);
             
@@ -427,14 +458,18 @@ namespace OpenSim.Region.CoreModules.Scripting.LSLHttp
             response["reusecontext"] = false;
             
             //remove from map
-            lock (url)
+            lock (url.requests)
             {
                 url.requests.Remove(requestID);
+            }
+            lock (m_RequestMap)
+            {
                 m_RequestMap.Remove(requestID);
             }
 
             return response;
         }
+
         public void HttpRequestHandler(UUID requestID, Hashtable request)
         {
             lock (request)
@@ -450,8 +485,8 @@ namespace OpenSim.Region.CoreModules.Scripting.LSLHttp
 
                     int pos1 = uri.IndexOf("/");// /lslhttp
                     int pos2 = uri.IndexOf("/", pos1 + 1);// /lslhttp/
-                    int pos3 = uri.IndexOf("/", pos2 + 1);// /lslhttp/<UUID>/
-                    string uri_tmp = uri.Substring(0, pos3 + 1);
+                    int pos3 = pos2 + 37; // /lslhttp/urlcode
+                    string uri_tmp = uri.Substring(0, pos3);
                     //HTTP server code doesn't provide us with QueryStrings
                     string pathInfo;
                     string queryString;
@@ -460,10 +495,21 @@ namespace OpenSim.Region.CoreModules.Scripting.LSLHttp
                     pathInfo = uri.Substring(pos3);
 
                     UrlData url = null;
+                    string urlkey;
                     if (!is_ssl)
-                        url = m_UrlMap["http://" + m_ExternalHostNameForLSL + ":" + m_HttpServer.Port.ToString() + uri_tmp];
+                        urlkey = "http://" + m_ExternalHostNameForLSL + ":" + m_HttpServer.Port.ToString() + uri_tmp;
+                    //m_UrlMap[];
                     else
-                        url = m_UrlMap["https://" + m_ExternalHostNameForLSL + ":" + m_HttpsServer.Port.ToString() + uri_tmp];
+                        urlkey = "https://" + m_ExternalHostNameForLSL + ":" + m_HttpsServer.Port.ToString() + uri_tmp;
+
+                    if (m_UrlMap.ContainsKey(urlkey))
+                    {
+                        url = m_UrlMap[urlkey];
+                    }
+                    else
+                    {
+                        m_log.Warn("[HttpRequestHandler]: http-in request failed; no such url: "+urlkey.ToString());
+                    }
 
                     //for llGetHttpHeader support we need to store original URI here
                     //to make x-path-info / x-query-string / x-script-url / x-remote-ip headers 
@@ -493,7 +539,14 @@ namespace OpenSim.Region.CoreModules.Scripting.LSLHttp
                                 if (request.ContainsKey(key))
                                 {
                                     string val = (String)request[key];
-                                    queryString = queryString + key + "=" + val + "&";
+                                    if (key != "")
+                                    {
+                                        queryString = queryString + key + "=" + val + "&";
+                                    }
+                                    else
+                                    {
+                                        queryString = queryString + val + "&";
+                                    }                                    
                                 }
                             }
                             if (queryString.Length > 1)
diff --git a/OpenSim/Region/CoreModules/ServiceConnectorsOut/Simulation/LocalSimulationConnector.cs b/OpenSim/Region/CoreModules/ServiceConnectorsOut/Simulation/LocalSimulationConnector.cs
index 85e7e94..6e75692 100644
--- a/OpenSim/Region/CoreModules/ServiceConnectorsOut/Simulation/LocalSimulationConnector.cs
+++ b/OpenSim/Region/CoreModules/ServiceConnectorsOut/Simulation/LocalSimulationConnector.cs
@@ -271,7 +271,6 @@ namespace OpenSim.Region.CoreModules.ServiceConnectorsOut.Simulation
                 if (s.RegionInfo.RegionID == destination.RegionID)
                     return s.QueryAccess(id, position, out reason);
             }
-            //m_log.Debug("[LOCAL COMMS]: region not found for QueryAccess");
             return false;
         }
 
@@ -301,10 +300,24 @@ namespace OpenSim.Region.CoreModules.ServiceConnectorsOut.Simulation
                 if (s.RegionInfo.RegionID == destination.RegionID)
                 {
                     //m_log.Debug("[LOCAL COMMS]: Found region to SendCloseAgent");
-                    // Let's spawn a threadlet right here, because this may take
-                    // a while
-                    Util.FireAndForget(delegate { s.IncomingCloseAgent(id); });
-                    return true;
+                    return s.IncomingCloseAgent(id);
+                }
+            }
+            //m_log.Debug("[LOCAL COMMS]: region not found in SendCloseAgent");
+            return false;
+        }
+
+        public bool CloseChildAgent(GridRegion destination, UUID id)
+        {
+            if (destination == null)
+                return false;
+
+            foreach (Scene s in m_sceneList)
+            {
+                if (s.RegionInfo.RegionID == destination.RegionID)
+                {
+                    //m_log.Debug("[LOCAL COMMS]: Found region to SendCloseAgent");
+                    return s.IncomingCloseChildAgent(id);
                 }
             }
             //m_log.Debug("[LOCAL COMMS]: region not found in SendCloseAgent");
diff --git a/OpenSim/Region/CoreModules/ServiceConnectorsOut/Simulation/RemoteSimulationConnector.cs b/OpenSim/Region/CoreModules/ServiceConnectorsOut/Simulation/RemoteSimulationConnector.cs
index eaf9506..4b70692 100644
--- a/OpenSim/Region/CoreModules/ServiceConnectorsOut/Simulation/RemoteSimulationConnector.cs
+++ b/OpenSim/Region/CoreModules/ServiceConnectorsOut/Simulation/RemoteSimulationConnector.cs
@@ -261,6 +261,21 @@ namespace OpenSim.Region.CoreModules.ServiceConnectorsOut.Simulation
             return false;
         }
 
+        public bool CloseChildAgent(GridRegion destination, UUID id)
+        {
+            if (destination == null)
+                return false;
+
+            // Try local first
+            if (m_localBackend.CloseChildAgent(destination, id))
+                return true;
+
+            // else do the remote thing
+            if (!m_localBackend.IsLocalRegion(destination.RegionHandle))
+                return m_remoteConnector.CloseChildAgent(destination, id);
+
+            return false;
+        }
 
         public bool CloseAgent(GridRegion destination, UUID id)
         {
diff --git a/OpenSim/Region/CoreModules/ServiceConnectorsOut/UserAccounts/LocalUserAccountServiceConnector.cs b/OpenSim/Region/CoreModules/ServiceConnectorsOut/UserAccounts/LocalUserAccountServiceConnector.cs
index 0a0ce3c..1ffd480 100644
--- a/OpenSim/Region/CoreModules/ServiceConnectorsOut/UserAccounts/LocalUserAccountServiceConnector.cs
+++ b/OpenSim/Region/CoreModules/ServiceConnectorsOut/UserAccounts/LocalUserAccountServiceConnector.cs
@@ -127,6 +127,7 @@ namespace OpenSim.Region.CoreModules.ServiceConnectorsOut.UserAccounts
             // FIXME: Why do we bother setting this module and caching up if we just end up registering the inner
             // user account service?!
             scene.RegisterModuleInterface<IUserAccountService>(UserAccountService);
+            scene.RegisterModuleInterface<IUserAccountCacheModule>(m_Cache);
         }
 
         public void RemoveRegion(Scene scene)
@@ -179,6 +180,11 @@ namespace OpenSim.Region.CoreModules.ServiceConnectorsOut.UserAccounts
             return UserAccountService.GetUserAccount(scopeID, Email);
         }
 
+        public List<UserAccount> GetUserAccountsWhere(UUID scopeID, string query)
+        {
+            return null;
+        }
+
         public List<UserAccount> GetUserAccounts(UUID scopeID, string query)
         {
             return UserAccountService.GetUserAccounts(scopeID, query);
@@ -193,4 +199,4 @@ namespace OpenSim.Region.CoreModules.ServiceConnectorsOut.UserAccounts
 
         #endregion
     }
-}
\ No newline at end of file
+}
diff --git a/OpenSim/Region/CoreModules/ServiceConnectorsOut/UserAccounts/RemoteUserAccountServiceConnector.cs b/OpenSim/Region/CoreModules/ServiceConnectorsOut/UserAccounts/RemoteUserAccountServiceConnector.cs
index 3321b38..f6b6aeb 100644
--- a/OpenSim/Region/CoreModules/ServiceConnectorsOut/UserAccounts/RemoteUserAccountServiceConnector.cs
+++ b/OpenSim/Region/CoreModules/ServiceConnectorsOut/UserAccounts/RemoteUserAccountServiceConnector.cs
@@ -33,6 +33,7 @@ using OpenSim.Region.Framework.Interfaces;
 using OpenSim.Region.Framework.Scenes;
 using OpenSim.Services.Interfaces;
 using OpenSim.Services.Connectors;
+using OpenSim.Framework;
 
 using OpenMetaverse;
 
@@ -101,6 +102,9 @@ namespace OpenSim.Region.CoreModules.ServiceConnectorsOut.UserAccounts
                 return;
 
             scene.RegisterModuleInterface<IUserAccountService>(this);
+            scene.RegisterModuleInterface<IUserAccountCacheModule>(m_Cache);
+
+            scene.EventManager.OnNewClient += OnNewClient;
         }
 
         public void RemoveRegion(Scene scene)
@@ -115,6 +119,14 @@ namespace OpenSim.Region.CoreModules.ServiceConnectorsOut.UserAccounts
                 return;
         }
 
+        // When a user actually enters the sim, clear them from
+        // cache so the sim will have the current values for
+        // flags, title, etc. And country, don't forget country!
+        private void OnNewClient(IClientAPI client)
+        {
+            m_Cache.Remove(client.Name);
+        }
+
         #region Overwritten methods from IUserAccountService
 
         public override UserAccount GetUserAccount(UUID scopeID, UUID userID)
diff --git a/OpenSim/Region/CoreModules/ServiceConnectorsOut/UserAccounts/UserAccountCache.cs b/OpenSim/Region/CoreModules/ServiceConnectorsOut/UserAccounts/UserAccountCache.cs
index ddef75f..cbe2eaa 100644
--- a/OpenSim/Region/CoreModules/ServiceConnectorsOut/UserAccounts/UserAccountCache.cs
+++ b/OpenSim/Region/CoreModules/ServiceConnectorsOut/UserAccounts/UserAccountCache.cs
@@ -34,7 +34,7 @@ using log4net;
 
 namespace OpenSim.Region.CoreModules.ServiceConnectorsOut.UserAccounts
 {
-    public class UserAccountCache
+    public class UserAccountCache : IUserAccountCacheModule
     {
         private const double CACHE_EXPIRATION_SECONDS = 120000.0; // 33 hours!
 
@@ -92,5 +92,18 @@ namespace OpenSim.Region.CoreModules.ServiceConnectorsOut.UserAccounts
 
             return null;
         }
+
+        public void Remove(string name)
+        {
+            if (!m_NameCache.Contains(name))
+                return;
+
+            UUID uuid = UUID.Zero;
+            if (m_NameCache.TryGetValue(name, out uuid))
+            {
+                m_NameCache.Remove(name);
+                m_UUIDCache.Remove(uuid);
+            }
+        }
     }
 }
diff --git a/OpenSim/Region/CoreModules/World/Archiver/ArchiveReadRequest.cs b/OpenSim/Region/CoreModules/World/Archiver/ArchiveReadRequest.cs
index a6dbaba..38db239 100644
--- a/OpenSim/Region/CoreModules/World/Archiver/ArchiveReadRequest.cs
+++ b/OpenSim/Region/CoreModules/World/Archiver/ArchiveReadRequest.cs
@@ -298,6 +298,23 @@ namespace OpenSim.Region.CoreModules.World.Archiver
                     // being no copy/no mod for everyone
                     lock (part.TaskInventory)
                     {
+                        if (!ResolveUserUuid(part.CreatorID))
+                            part.CreatorID = m_scene.RegionInfo.EstateSettings.EstateOwner;
+    
+                        if (!ResolveUserUuid(part.OwnerID))
+                            part.OwnerID = m_scene.RegionInfo.EstateSettings.EstateOwner;
+    
+                        if (!ResolveUserUuid(part.LastOwnerID))
+                            part.LastOwnerID = m_scene.RegionInfo.EstateSettings.EstateOwner;
+    
+                        // And zap any troublesome sit target information
+                        part.SitTargetOrientation = new Quaternion(0, 0, 0, 1);
+                        part.SitTargetPosition    = new Vector3(0, 0, 0);
+    
+                        // Fix ownership/creator of inventory items
+                        // Not doing so results in inventory items
+                        // being no copy/no mod for everyone
+                        part.TaskInventory.LockItemsForRead(true);
                         TaskInventoryDictionary inv = part.TaskInventory;
                         foreach (KeyValuePair<UUID, TaskInventoryItem> kvp in inv)
                         {
@@ -313,6 +330,7 @@ namespace OpenSim.Region.CoreModules.World.Archiver
                             if (UserManager != null)
                                 UserManager.AddUser(kvp.Value.CreatorID, kvp.Value.CreatorData);
                         }
+                        part.TaskInventory.LockItemsForRead(false);
                     }
                 }
 
diff --git a/OpenSim/Region/CoreModules/World/Archiver/AssetsRequest.cs b/OpenSim/Region/CoreModules/World/Archiver/AssetsRequest.cs
index 55110dc..1eb641d 100644
--- a/OpenSim/Region/CoreModules/World/Archiver/AssetsRequest.cs
+++ b/OpenSim/Region/CoreModules/World/Archiver/AssetsRequest.cs
@@ -253,18 +253,14 @@ namespace OpenSim.Region.CoreModules.World.Archiver
                                                            
                     if (asset != null)
                     {
-                        if (m_options.ContainsKey("verbose"))
-                            m_log.InfoFormat("[ARCHIVER]: Writing asset {0}", id);
-
+//                        m_log.DebugFormat("[ARCHIVER]: Writing asset {0}", id);
                         m_foundAssetUuids.Add(asset.FullID);
 
                         m_assetsArchiver.WriteAsset(PostProcess(asset));
                     }
                     else
                     {
-                        if (m_options.ContainsKey("verbose"))
-                            m_log.InfoFormat("[ARCHIVER]: Recording asset {0} as not found", id);
-
+//                        m_log.DebugFormat("[ARCHIVER]: Recording asset {0} as not found", id);
                         m_notFoundAssetUuids.Add(new UUID(id));
                     }
         
diff --git a/OpenSim/Region/CoreModules/World/Estate/EstateManagementModule.cs b/OpenSim/Region/CoreModules/World/Estate/EstateManagementModule.cs
index fc217b0..1e743c3 100644
--- a/OpenSim/Region/CoreModules/World/Estate/EstateManagementModule.cs
+++ b/OpenSim/Region/CoreModules/World/Estate/EstateManagementModule.cs
@@ -32,6 +32,7 @@ using System.IO;
 using System.Linq;
 using System.Reflection;
 using System.Security;
+using System.Timers;
 using log4net;
 using Mono.Addins;
 using Nini.Config;
@@ -47,6 +48,7 @@ namespace OpenSim.Region.CoreModules.World.Estate
     {
         private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
+        private Timer m_regionChangeTimer = new Timer();
         public Scene Scene { get; private set; }
         public IUserManagement UserManager { get; private set; }
         
@@ -61,6 +63,12 @@ namespace OpenSim.Region.CoreModules.World.Estate
 
         #region Packet Data Responders
 
+        private void clientSendDetailedEstateData(IClientAPI remote_client, UUID invoice)
+        {
+            sendDetailedEstateData(remote_client, invoice);
+            sendEstateLists(remote_client, invoice);
+        }
+
         private void sendDetailedEstateData(IClientAPI remote_client, UUID invoice)
         {
             uint sun = 0;
@@ -83,7 +91,10 @@ namespace OpenSim.Region.CoreModules.World.Estate
                     (uint) Scene.RegionInfo.RegionSettings.CovenantChangedDateTime,
                     Scene.RegionInfo.EstateSettings.AbuseEmail,
                     estateOwner);
+        }
 
+        private void sendEstateLists(IClientAPI remote_client, UUID invoice)
+        {
             remote_client.SendEstateList(invoice,
                     (int)Constants.EstateAccessCodex.EstateManagers,
                     Scene.RegionInfo.EstateSettings.EstateManagers,
@@ -246,6 +257,12 @@ namespace OpenSim.Region.CoreModules.World.Estate
             IRestartModule restartModule = Scene.RequestModuleInterface<IRestartModule>();
             if (restartModule != null)
             {
+                if (timeInSeconds == -1)
+                {
+                    restartModule.AbortRestart("Restart aborted by region manager");
+                    return;
+                }
+
                 List<int> times = new List<int>();
                 while (timeInSeconds > 0)
                 {
@@ -258,7 +275,7 @@ namespace OpenSim.Region.CoreModules.World.Estate
                         timeInSeconds -= 15;
                 }
 
-                restartModule.ScheduleRestart(UUID.Zero, "Region will restart in {0}", times.ToArray(), true);
+                restartModule.ScheduleRestart(UUID.Zero, "Region will restart in {0}", times.ToArray(), false);
             }
         }
 
@@ -466,7 +483,11 @@ namespace OpenSim.Region.CoreModules.World.Estate
                         {
                             if (!s.IsChildAgent)
                             {
-                                Scene.TeleportClientHome(user, s.ControllingClient);
+                                if (!Scene.TeleportClientHome(user, s.ControllingClient))
+                                {
+                                    s.ControllingClient.Kick("Your access to the region was revoked and TP home failed - you have been logged out.");
+                                    s.ControllingClient.Close();
+                                }
                             }
                         }
 
@@ -475,7 +496,7 @@ namespace OpenSim.Region.CoreModules.World.Estate
                     {
                         remote_client.SendAlertMessage("User is already on the region ban list");
                     }
-                    //m_scene.RegionInfo.regionBanlist.Add(Manager(user);
+                    //Scene.RegionInfo.regionBanlist.Add(Manager(user);
                     remote_client.SendBannedUserList(invoice, Scene.RegionInfo.EstateSettings.EstateBans, Scene.RegionInfo.EstateSettings.EstateID);
                 }
                 else
@@ -530,7 +551,7 @@ namespace OpenSim.Region.CoreModules.World.Estate
                         remote_client.SendAlertMessage("User is not on the region ban list");
                     }
                     
-                    //m_scene.RegionInfo.regionBanlist.Add(Manager(user);
+                    //Scene.RegionInfo.regionBanlist.Add(Manager(user);
                     remote_client.SendBannedUserList(invoice, Scene.RegionInfo.EstateSettings.EstateBans, Scene.RegionInfo.EstateSettings.EstateID);
                 }
                 else
@@ -689,7 +710,11 @@ namespace OpenSim.Region.CoreModules.World.Estate
                 ScenePresence s = Scene.GetScenePresence(prey);
                 if (s != null)
                 {
-                    Scene.TeleportClientHome(prey, s.ControllingClient);
+                    if (!Scene.TeleportClientHome(prey, s.ControllingClient))
+                    {
+                        s.ControllingClient.Kick("You were teleported home by the region owner, but the TP failed - you have been logged out.");
+                        s.ControllingClient.Close();
+                    }
                 }
             }
         }
@@ -707,7 +732,13 @@ namespace OpenSim.Region.CoreModules.World.Estate
                     // Also make sure they are actually in the region
                     ScenePresence p;
                     if(Scene.TryGetScenePresence(client.AgentId, out p))
-                        Scene.TeleportClientHome(p.UUID, p.ControllingClient);
+                    {
+                        if (!Scene.TeleportClientHome(p.UUID, p.ControllingClient))
+                        {
+                            p.ControllingClient.Kick("You were teleported home by the region owner, but the TP failed - you have been logged out.");
+                            p.ControllingClient.Close();
+                        }
+                    }
                 }
             });
         }
@@ -1070,6 +1101,10 @@ namespace OpenSim.Region.CoreModules.World.Estate
         
         public void AddRegion(Scene scene)
         {
+            m_regionChangeTimer.AutoReset = false;
+            m_regionChangeTimer.Interval = 2000;
+            m_regionChangeTimer.Elapsed += RaiseRegionInfoChange;
+
             Scene = scene;
             Scene.RegisterModuleInterface<IEstateModule>(this);
             Scene.EventManager.OnNewClient += EventManager_OnNewClient;
@@ -1120,7 +1155,7 @@ namespace OpenSim.Region.CoreModules.World.Estate
 
         private void EventManager_OnNewClient(IClientAPI client)
         {
-            client.OnDetailedEstateDataRequest += sendDetailedEstateData;
+            client.OnDetailedEstateDataRequest += clientSendDetailedEstateData;
             client.OnSetEstateFlagsRequest += estateSetRegionInfoHandler;
 //            client.OnSetEstateTerrainBaseTexture += setEstateTerrainBaseTexture;
             client.OnSetEstateTerrainDetailTexture += setEstateTerrainBaseTexture;
@@ -1172,6 +1207,10 @@ namespace OpenSim.Region.CoreModules.World.Estate
                 flags |= RegionFlags.AllowParcelChanges;
             if (Scene.RegionInfo.RegionSettings.BlockShowInSearch)
                 flags |= RegionFlags.BlockParcelSearch;
+            if (Scene.RegionInfo.RegionSettings.GodBlockSearch)
+                flags |= (RegionFlags)(1 << 11);
+            if (Scene.RegionInfo.RegionSettings.Casino)
+                flags |= (RegionFlags)(1 << 10);
 
             if (Scene.RegionInfo.RegionSettings.FixedSun)
                 flags |= RegionFlags.SunFixed;
@@ -1179,11 +1218,15 @@ namespace OpenSim.Region.CoreModules.World.Estate
                 flags |= RegionFlags.Sandbox;
             if (Scene.RegionInfo.EstateSettings.AllowVoice)
                 flags |= RegionFlags.AllowVoice;
+            if (Scene.RegionInfo.EstateSettings.AllowLandmark)
+                flags |= RegionFlags.AllowLandmark;
+            if (Scene.RegionInfo.EstateSettings.AllowSetHome)
+                flags |= RegionFlags.AllowSetHome;
+            if (Scene.RegionInfo.EstateSettings.BlockDwell)
+                flags |= RegionFlags.BlockDwell;
+            if (Scene.RegionInfo.EstateSettings.ResetHomeOnTeleport)
+                flags |= RegionFlags.ResetHomeOnTeleport;
 
-            // Fudge these to always on, so the menu options activate
-            //
-            flags |= RegionFlags.AllowLandmark;
-            flags |= RegionFlags.AllowSetHome;
 
             // TODO: SkipUpdateInterestList
 
@@ -1224,6 +1267,12 @@ namespace OpenSim.Region.CoreModules.World.Estate
                 flags |= RegionFlags.ResetHomeOnTeleport;
             if (Scene.RegionInfo.EstateSettings.TaxFree)
                 flags |= RegionFlags.TaxFree;
+            if (Scene.RegionInfo.EstateSettings.AllowLandmark)
+                flags |= RegionFlags.AllowLandmark;
+            if (Scene.RegionInfo.EstateSettings.AllowParcelChanges)
+                flags |= RegionFlags.AllowParcelChanges;
+            if (Scene.RegionInfo.EstateSettings.AllowSetHome)
+                flags |= RegionFlags.AllowSetHome;
             if (Scene.RegionInfo.EstateSettings.DenyMinors)
                 flags |= (RegionFlags)(1 << 30);
 
@@ -1244,6 +1293,12 @@ namespace OpenSim.Region.CoreModules.World.Estate
 
         public void TriggerRegionInfoChange()
         {
+            m_regionChangeTimer.Stop();
+            m_regionChangeTimer.Start();
+        }
+
+        protected void RaiseRegionInfoChange(object sender, ElapsedEventArgs e)
+        {
             ChangeDelegate change = OnRegionInfoChange;
 
             if (change != null)
diff --git a/OpenSim/Region/CoreModules/World/Land/LandManagementModule.cs b/OpenSim/Region/CoreModules/World/Land/LandManagementModule.cs
index f6d4b40..02ac091 100644
--- a/OpenSim/Region/CoreModules/World/Land/LandManagementModule.cs
+++ b/OpenSim/Region/CoreModules/World/Land/LandManagementModule.cs
@@ -91,14 +91,13 @@ namespace OpenSim.Region.CoreModules.World.Land
         private int m_lastLandLocalID = LandChannel.START_LAND_LOCAL_ID - 1;
 
         private bool m_allowedForcefulBans = true;
+        private UUID DefaultGodParcelGroup;
+        private string DefaultGodParcelName;
 
         // caches ExtendedLandData
         private Cache parcelInfoCache;
-
-        /// <summary>
-        /// Record positions that avatar's are currently being forced to move to due to parcel entry restrictions.
-        /// </summary>
-        private Dictionary<UUID, Vector3> forcedPosition = new Dictionary<UUID, Vector3>();
+        private Dictionary<UUID, Vector3> forcedPosition =
+                new Dictionary<UUID, Vector3>();
 
         #region INonSharedRegionModule Members
 
@@ -109,6 +108,12 @@ namespace OpenSim.Region.CoreModules.World.Land
 
         public void Initialise(IConfigSource source)
         {
+            IConfig cnf = source.Configs["LandManagement"];
+            if (cnf != null)
+            {
+                DefaultGodParcelGroup = new UUID(cnf.GetString("DefaultAdministratorGroupUUID", UUID.Zero.ToString()));
+                DefaultGodParcelName = cnf.GetString("DefaultAdministratorParcelName", "Default Parcel");
+            }
         }
 
         public void AddRegion(Scene scene)
@@ -160,13 +165,6 @@ namespace OpenSim.Region.CoreModules.World.Land
             m_scene.UnregisterModuleCommander(m_commander.Name);            
         }
 
-//        private bool OnVerifyUserConnection(ScenePresence scenePresence, out string reason)
-//        {
-//            ILandObject nearestParcel = m_scene.GetNearestAllowedParcel(scenePresence.UUID, scenePresence.AbsolutePosition.X, scenePresence.AbsolutePosition.Y);
-//            reason = "You are not allowed to enter this sim.";
-//            return nearestParcel != null;
-//        }
-        
         /// <summary>
         /// Processes commandline input. Do not call directly.
         /// </summary>
@@ -207,6 +205,8 @@ namespace OpenSim.Region.CoreModules.World.Land
             client.OnParcelInfoRequest += ClientOnParcelInfoRequest;
             client.OnParcelDeedToGroup += ClientOnParcelDeedToGroup;
             client.OnPreAgentUpdate += ClientOnPreAgentUpdate;
+            client.OnParcelEjectUser += ClientOnParcelEjectUser;
+            client.OnParcelFreezeUser += ClientOnParcelFreezeUser;
 
             EntityBase presenceEntity;
             if (m_scene.Entities.TryGetValue(client.AgentId, out presenceEntity) && presenceEntity is ScenePresence)
@@ -218,48 +218,6 @@ namespace OpenSim.Region.CoreModules.World.Land
 
         void ClientOnPreAgentUpdate(IClientAPI remoteClient, AgentUpdateArgs agentData)
         {
-            //If we are forcing a position for them to go
-            if (forcedPosition.ContainsKey(remoteClient.AgentId))
-            {
-                ScenePresence clientAvatar = m_scene.GetScenePresence(remoteClient.AgentId);
-
-                //Putting the user into flying, both keeps the avatar in fligth when it bumps into something and stopped from going another direction AND
-                //When the avatar walks into a ban line on the ground, it prevents getting stuck
-                agentData.ControlFlags = (uint)AgentManager.ControlFlags.AGENT_CONTROL_FLY;
-
-                //Make sure we stop if they get about to the right place to prevent yoyo and prevents getting stuck on banlines
-                if (Vector3.Distance(clientAvatar.AbsolutePosition, forcedPosition[remoteClient.AgentId]) < .2)
-                {
-//                    m_log.DebugFormat(
-//                        "[LAND MANAGEMENT MODULE]: Stopping force position of {0} because {1} is close enough to {2}",
-//                        clientAvatar.Name, clientAvatar.AbsolutePosition, forcedPosition[remoteClient.AgentId]);
-
-                    forcedPosition.Remove(remoteClient.AgentId);
-                }
-                //if we are far away, teleport
-                else if (Vector3.Distance(clientAvatar.AbsolutePosition, forcedPosition[remoteClient.AgentId]) > 3)
-                {
-                    Vector3 forcePosition = forcedPosition[remoteClient.AgentId];
-//                    m_log.DebugFormat(
-//                        "[LAND MANAGEMENT MODULE]: Teleporting out {0} because {1} is too far from avatar position {2}",
-//                        clientAvatar.Name, clientAvatar.AbsolutePosition, forcePosition);
-
-                    m_scene.RequestTeleportLocation(remoteClient, m_scene.RegionInfo.RegionHandle,
-                        forcePosition, clientAvatar.Lookat, (uint)Constants.TeleportFlags.ForceRedirect);
-
-                    forcedPosition.Remove(remoteClient.AgentId);
-                }
-                else
-                {
-//                    m_log.DebugFormat(
-//                        "[LAND MANAGEMENT MODULE]: Forcing {0} from {1} to {2}",
-//                        clientAvatar.Name, clientAvatar.AbsolutePosition, forcedPosition[remoteClient.AgentId]);
-
-                    //Forces them toward the forced position we want if they aren't there yet
-                    agentData.UseClientAgentPosition = true;
-                    agentData.ClientAgentPosition = forcedPosition[remoteClient.AgentId];
-                }
-            }
         }
 
         public void Close()
@@ -378,10 +336,16 @@ namespace OpenSim.Region.CoreModules.World.Land
         private void ForceAvatarToPosition(ScenePresence avatar, Vector3? position)
         {
             if (m_scene.Permissions.IsGod(avatar.UUID)) return;
-            if (position.HasValue)
-            {
-                forcedPosition[avatar.ControllingClient.AgentId] = (Vector3)position;
-            }
+
+            if (!position.HasValue)
+                return;
+
+            bool isFlying = avatar.PhysicsActor.Flying;
+            avatar.RemoveFromPhysicalScene();
+
+            avatar.AbsolutePosition = (Vector3)position;
+
+            avatar.AddToPhysicalScene(isFlying);
         }
 
         public void SendYouAreRestrictedNotice(ScenePresence avatar)
@@ -401,29 +365,7 @@ namespace OpenSim.Region.CoreModules.World.Land
                 }
 
                 if (parcelAvatarIsEntering != null)
-                {
-                    if (avatar.AbsolutePosition.Z < LandChannel.BAN_LINE_SAFETY_HIEGHT)
-                    {
-                        if (parcelAvatarIsEntering.IsBannedFromLand(avatar.UUID))
-                        {
-                            SendYouAreBannedNotice(avatar);
-                            ForceAvatarToPosition(avatar, m_scene.GetNearestAllowedPosition(avatar));
-                        }
-                        else if (parcelAvatarIsEntering.IsRestrictedFromLand(avatar.UUID))
-                        {
-                            SendYouAreRestrictedNotice(avatar);
-                            ForceAvatarToPosition(avatar, m_scene.GetNearestAllowedPosition(avatar));
-                        }
-                        else
-                        {
-                            avatar.sentMessageAboutRestrictedParcelFlyingDown = true;
-                        }
-                    }
-                    else
-                    {
-                        avatar.sentMessageAboutRestrictedParcelFlyingDown = true;
-                    }
-                }
+                    EnforceBans(parcelAvatarIsEntering, avatar);
             }
         }
 
@@ -527,6 +469,7 @@ namespace OpenSim.Region.CoreModules.World.Land
                     //when we are finally in a safe place, lets release the forced position lock
                     forcedPosition.Remove(clientAvatar.ControllingClient.AgentId);
                 }
+                                EnforceBans(parcel, clientAvatar);
             }
         }
 
@@ -735,7 +678,7 @@ namespace OpenSim.Region.CoreModules.World.Land
             int x;
             int y;
 
-            if (x_float >= Constants.RegionSize || x_float < 0 || y_float >= Constants.RegionSize || y_float < 0)
+            if (x_float > Constants.RegionSize || x_float < 0 || y_float > Constants.RegionSize || y_float < 0)
                 return null;
 
             try
@@ -785,14 +728,13 @@ namespace OpenSim.Region.CoreModules.World.Land
             {
                 try
                 {
-                    return m_landList[m_landIDList[x / 4, y / 4]];
+                    //if (m_landList.ContainsKey(m_landIDList[x / 4, y / 4]))
+                        return m_landList[m_landIDList[x / 4, y / 4]];
+                    //else
+                    //    return null;
                 }
                 catch (IndexOutOfRangeException)
                 {
-//                    m_log.WarnFormat(
-//                        "[LAND MANAGEMENT MODULE]: Tried to retrieve land object from out of bounds co-ordinate ({0},{1}) in {2}", 
-//                        x, y, m_scene.RegionInfo.RegionName);
-                    
                     return null;
                 }
             }
@@ -1075,6 +1017,10 @@ namespace OpenSim.Region.CoreModules.World.Land
                             //Owner Flag
                             tempByte = Convert.ToByte(tempByte | LandChannel.LAND_TYPE_OWNED_BY_REQUESTER);
                         }
+                        else if (currentParcelBlock.LandData.IsGroupOwned && remote_client.IsGroupMember(currentParcelBlock.LandData.GroupID))
+                        {
+                            tempByte = Convert.ToByte(tempByte | LandChannel.LAND_TYPE_OWNED_BY_GROUP);
+                        }
                         else if (currentParcelBlock.LandData.SalePrice > 0 &&
                                  (currentParcelBlock.LandData.AuthBuyerID == UUID.Zero ||
                                   currentParcelBlock.LandData.AuthBuyerID == remote_client.AgentId))
@@ -1375,18 +1321,31 @@ namespace OpenSim.Region.CoreModules.World.Land
 
         public void EventManagerOnIncomingLandDataFromStorage(List<LandData> data)
         {
-            for (int i = 0; i < data.Count; i++)
+            lock (m_landList)
             {
-                IncomingLandObjectFromStorage(data[i]);
+                //Remove all the land objects in the sim and then process our new data
+                foreach (int n in m_landList.Keys)
+                {
+                    m_scene.EventManager.TriggerLandObjectRemoved(m_landList[n].LandData.GlobalID);
+                }
+                m_landIDList.Initialize();
+                m_landList.Clear();
+
+                for (int i = 0; i < data.Count; i++)
+                {
+                    IncomingLandObjectFromStorage(data[i]);
+                }
             }
         }
 
         public void IncomingLandObjectFromStorage(LandData data)
         {
+
             ILandObject new_land = new LandObject(data.OwnerID, data.IsGroupOwned, m_scene);
             new_land.LandData = data.Copy();
             new_land.SetLandBitmapFromByteArray();            
             AddLandObject(new_land);
+            new_land.SendLandUpdateToAvatarsOverMe();
         }
 
         public void ReturnObjectsInParcel(int localID, uint returnType, UUID[] agentIDs, UUID[] taskIDs, IClientAPI remoteClient)
@@ -1664,6 +1623,168 @@ namespace OpenSim.Region.CoreModules.World.Land
 
             UpdateLandObject(localID, land.LandData);
         }
+
+        public void ClientOnParcelGodMark(IClientAPI client, UUID god, int landID)
+        {
+            ILandObject land = null;
+            List<ILandObject> Land = ((Scene)client.Scene).LandChannel.AllParcels();
+            foreach (ILandObject landObject in Land)
+            {
+                if (landObject.LandData.LocalID == landID)
+                {
+                    land = landObject;
+                }
+            }
+            land.DeedToGroup(DefaultGodParcelGroup);
+            land.LandData.Name = DefaultGodParcelName;
+            land.SendLandUpdateToAvatarsOverMe();
+        }
+
+        private void ClientOnSimWideDeletes(IClientAPI client, UUID agentID, int flags, UUID targetID)
+        {
+            ScenePresence SP;
+            ((Scene)client.Scene).TryGetScenePresence(client.AgentId, out SP);
+            List<SceneObjectGroup> returns = new List<SceneObjectGroup>();
+            if (SP.UserLevel != 0)
+            {
+                if (flags == 0) //All parcels, scripted or not
+                {
+                    ((Scene)client.Scene).ForEachSOG(delegate(SceneObjectGroup e)
+                    {
+                        if (e.OwnerID == targetID)
+                        {
+                            returns.Add(e);
+                        }
+                    }
+                                                    );
+                }
+                if (flags == 4) //All parcels, scripted object
+                {
+                    ((Scene)client.Scene).ForEachSOG(delegate(SceneObjectGroup e)
+                    {
+                        if (e.OwnerID == targetID)
+                        {
+                            if (e.ContainsScripts())
+                            {
+                                returns.Add(e);
+                            }
+                        }
+                    }
+                                                    );
+                }
+                if (flags == 4) //not target parcel, scripted object
+                {
+                    ((Scene)client.Scene).ForEachSOG(delegate(SceneObjectGroup e)
+                    {
+                        if (e.OwnerID == targetID)
+                        {
+                            ILandObject landobject = ((Scene)client.Scene).LandChannel.GetLandObject(e.AbsolutePosition.X, e.AbsolutePosition.Y);
+                            if (landobject.LandData.OwnerID != e.OwnerID)
+                            {
+                                if (e.ContainsScripts())
+                                {
+                                    returns.Add(e);
+                                }
+                            }
+                        }
+                    }
+                                                    );
+                }
+                foreach (SceneObjectGroup ol in returns)
+                {
+                    ReturnObject(ol, client);
+                }
+            }
+        }
+        public void ReturnObject(SceneObjectGroup obj, IClientAPI client)
+        {
+            SceneObjectGroup[] objs = new SceneObjectGroup[1];
+            objs[0] = obj;
+            ((Scene)client.Scene).returnObjects(objs, client.AgentId);
+        }
+
+        Dictionary<UUID, System.Threading.Timer> Timers = new Dictionary<UUID, System.Threading.Timer>();
+
+        public void ClientOnParcelFreezeUser(IClientAPI client, UUID parcelowner, uint flags, UUID target)
+        {
+            ScenePresence targetAvatar = null;
+            ((Scene)client.Scene).TryGetScenePresence(target, out targetAvatar);
+            ScenePresence parcelManager = null;
+            ((Scene)client.Scene).TryGetScenePresence(client.AgentId, out parcelManager);
+            System.Threading.Timer Timer;
+
+            if (targetAvatar.UserLevel == 0)
+            {
+                ILandObject land = ((Scene)client.Scene).LandChannel.GetLandObject(targetAvatar.AbsolutePosition.X, targetAvatar.AbsolutePosition.Y);
+                if (!((Scene)client.Scene).Permissions.CanEditParcelProperties(client.AgentId, land, GroupPowers.LandEjectAndFreeze))
+                    return;
+                if (flags == 0)
+                {
+                    targetAvatar.AllowMovement = false;
+                    targetAvatar.ControllingClient.SendAlertMessage(parcelManager.Firstname + " " + parcelManager.Lastname + " has frozen you for 30 seconds.  You cannot move or interact with the world.");
+                    parcelManager.ControllingClient.SendAlertMessage("Avatar Frozen.");
+                    System.Threading.TimerCallback timeCB = new System.Threading.TimerCallback(OnEndParcelFrozen);
+                    Timer = new System.Threading.Timer(timeCB, targetAvatar, 30000, 0);
+                    Timers.Add(targetAvatar.UUID, Timer);
+                }
+                else
+                {
+                    targetAvatar.AllowMovement = true;
+                    targetAvatar.ControllingClient.SendAlertMessage(parcelManager.Firstname + " " + parcelManager.Lastname + " has unfrozen you.");
+                    parcelManager.ControllingClient.SendAlertMessage("Avatar Unfrozen.");
+                    Timers.TryGetValue(targetAvatar.UUID, out Timer);
+                    Timers.Remove(targetAvatar.UUID);
+                    Timer.Dispose();
+                }
+            }
+        }
+        private void OnEndParcelFrozen(object avatar)
+        {
+            ScenePresence targetAvatar = (ScenePresence)avatar;
+            targetAvatar.AllowMovement = true;
+            System.Threading.Timer Timer;
+            Timers.TryGetValue(targetAvatar.UUID, out Timer);
+            Timers.Remove(targetAvatar.UUID);
+            targetAvatar.ControllingClient.SendAgentAlertMessage("The freeze has worn off; you may go about your business.", false);
+        }
+
+
+        public void ClientOnParcelEjectUser(IClientAPI client, UUID parcelowner, uint flags, UUID target)
+        {
+            ScenePresence targetAvatar = null;
+            ScenePresence parcelManager = null;
+
+            // Must have presences
+            if (!m_scene.TryGetScenePresence(target, out targetAvatar) ||
+                !m_scene.TryGetScenePresence(client.AgentId, out parcelManager))
+                return;
+
+            // Cannot eject estate managers or gods
+            if (m_scene.Permissions.IsAdministrator(target))
+                return;
+
+            // Check if you even have permission to do this
+            ILandObject land = m_scene.LandChannel.GetLandObject(targetAvatar.AbsolutePosition.X, targetAvatar.AbsolutePosition.Y);
+            if (!m_scene.Permissions.CanEditParcelProperties(client.AgentId, land, GroupPowers.LandEjectAndFreeze) &&
+                !m_scene.Permissions.IsAdministrator(client.AgentId))
+                return;
+
+            Vector3 pos = m_scene.GetNearestAllowedPosition(targetAvatar, land);
+
+            targetAvatar.TeleportWithMomentum(pos);
+            targetAvatar.ControllingClient.SendAlertMessage("You have been ejected by " + parcelManager.Firstname + " " + parcelManager.Lastname);
+            parcelManager.ControllingClient.SendAlertMessage("Avatar Ejected.");
+            
+            if ((flags & 1) != 0) // Ban TODO: Remove magic number
+            {
+                LandAccessEntry entry = new LandAccessEntry();
+                entry.AgentID = targetAvatar.UUID;
+                entry.Flags = AccessList.Ban;
+                entry.Expires = 0; // Perm
+
+                land.LandData.ParcelAccessList.Add(entry);
+            }
+        }
         
         protected void InstallInterfaces()
         {
@@ -1726,5 +1847,27 @@ namespace OpenSim.Region.CoreModules.World.Land
             
             MainConsole.Instance.Output(report.ToString());
         }         
+
+        public void EnforceBans(ILandObject land, ScenePresence avatar)
+        {
+            if (avatar.AbsolutePosition.Z > LandChannel.BAN_LINE_SAFETY_HIEGHT)
+                return;
+
+            if (land.IsEitherBannedOrRestricted(avatar.UUID))
+            {
+                if (land.ContainsPoint(Convert.ToInt32(avatar.lastKnownAllowedPosition.X), Convert.ToInt32(avatar.lastKnownAllowedPosition.Y)))
+                {
+                    Vector3? pos = m_scene.GetNearestAllowedPosition(avatar);
+                    if (pos == null)
+                        m_scene.TeleportClientHome(avatar.UUID, avatar.ControllingClient);
+                    else
+                        ForceAvatarToPosition(avatar, (Vector3)pos);
+                }
+                else
+                {
+                    ForceAvatarToPosition(avatar, avatar.lastKnownAllowedPosition);
+                }
+            }
+        }
     }
 }
diff --git a/OpenSim/Region/CoreModules/World/Land/LandObject.cs b/OpenSim/Region/CoreModules/World/Land/LandObject.cs
index a0ed5a5..e86887d 100644
--- a/OpenSim/Region/CoreModules/World/Land/LandObject.cs
+++ b/OpenSim/Region/CoreModules/World/Land/LandObject.cs
@@ -190,10 +190,27 @@ namespace OpenSim.Region.CoreModules.World.Land
             else
             {
                 // Normal Calculations
-                int parcelMax = (int)(((float)LandData.Area / 65536.0f)
-                              * (float)m_scene.RegionInfo.ObjectCapacity
-                              * (float)m_scene.RegionInfo.RegionSettings.ObjectBonus);
-                // TODO: The calculation of ObjectBonus should be refactored. It does still not work in the same manner as SL!
+                int parcelMax = (int)((long)LandData.Area
+                              * (long)m_scene.RegionInfo.ObjectCapacity
+                              * (long)m_scene.RegionInfo.RegionSettings.ObjectBonus
+                              / 65536L);
+                m_log.DebugFormat("Area: {0}, Capacity {1}, Bonus {2}, Parcel {3}", LandData.Area, m_scene.RegionInfo.ObjectCapacity, m_scene.RegionInfo.RegionSettings.ObjectBonus, parcelMax);
+                return parcelMax;
+            }
+        }
+
+        private int GetParcelBasePrimCount()
+        {
+            if (overrideParcelMaxPrimCount != null)
+            {
+                return overrideParcelMaxPrimCount(this);
+            }
+            else
+            {
+                // Normal Calculations
+                int parcelMax = (int)((long)LandData.Area
+                              * (long)m_scene.RegionInfo.ObjectCapacity
+                              / 65536L);
                 return parcelMax;
             }
         }
@@ -207,8 +224,9 @@ namespace OpenSim.Region.CoreModules.World.Land
             else
             {
                 //Normal Calculations
-                int simMax = (int)(((float)LandData.SimwideArea / 65536.0f)
-                           * (float)m_scene.RegionInfo.ObjectCapacity);
+                int simMax = (int)((long)LandData.SimwideArea
+                           * (long)m_scene.RegionInfo.ObjectCapacity / 65536L);
+                // m_log.DebugFormat("Simwide Area: {0}, Capacity {1}, SimMax {2}", LandData.SimwideArea, m_scene.RegionInfo.ObjectCapacity, simMax);
                 return simMax;
             }
         }
@@ -245,7 +263,7 @@ namespace OpenSim.Region.CoreModules.World.Land
             remote_client.SendLandProperties(seq_id,
                     snap_selection, request_result, this,
                     (float)m_scene.RegionInfo.RegionSettings.ObjectBonus,
-                    GetParcelMaxPrimCount(),
+                    GetParcelBasePrimCount(),
                     GetSimulatorMaxPrimCount(), regionFlags);
         }
 
@@ -305,7 +323,7 @@ namespace OpenSim.Region.CoreModules.World.Land
 
                 allowedDelta |= (uint)(ParcelFlags.ShowDirectory |
                         ParcelFlags.AllowPublish |
-                        ParcelFlags.MaturePublish);
+                        ParcelFlags.MaturePublish) | (uint)(1 << 23);
             }
 
             if (m_scene.Permissions.CanEditParcelProperties(remote_client.AgentId,this, GroupPowers.LandChangeIdentity))
@@ -417,6 +435,37 @@ namespace OpenSim.Region.CoreModules.World.Land
             return false;
         }
 
+        public bool HasGroupAccess(UUID avatar)
+        {
+            if (LandData.GroupID != UUID.Zero && (LandData.Flags & (uint)ParcelFlags.UseAccessGroup) == (uint)ParcelFlags.UseAccessGroup)
+            {
+                ScenePresence sp;
+                if (!m_scene.TryGetScenePresence(avatar, out sp))
+                {
+                    IGroupsModule groupsModule = m_scene.RequestModuleInterface<IGroupsModule>();
+                    if (groupsModule == null)
+                        return false;
+
+                    GroupMembershipData[] membership = groupsModule.GetMembershipData(avatar);
+                    if (membership == null || membership.Length == 0)
+                        return false;
+
+                    foreach (GroupMembershipData d in membership)
+                    {
+                        if (d.GroupID == LandData.GroupID)
+                            return true;
+                    }
+                    return false;
+                }
+
+                if (!sp.ControllingClient.IsGroupMember(LandData.GroupID))
+                    return false;
+                
+                return true;
+            }
+            return false;
+        }
+
         public bool IsBannedFromLand(UUID avatar)
         {
             ExpireAccessList();
@@ -448,6 +497,9 @@ namespace OpenSim.Region.CoreModules.World.Land
 
         public bool IsRestrictedFromLand(UUID avatar)
         {
+            if ((LandData.Flags & (uint) ParcelFlags.UseAccessList) == 0)
+                return false;
+
             if (m_scene.Permissions.IsAdministrator(avatar))
                 return false;
 
@@ -457,7 +509,7 @@ namespace OpenSim.Region.CoreModules.World.Land
             if (avatar == LandData.OwnerID)
                 return false;
 
-            if ((LandData.Flags & (uint) ParcelFlags.UseAccessList) == 0)
+            if (HasGroupAccess(avatar))
                 return false;
 
             return (!IsInLandAccessList(avatar));
diff --git a/OpenSim/Region/CoreModules/World/Land/PrimCountModule.cs b/OpenSim/Region/CoreModules/World/Land/PrimCountModule.cs
index efede5c..5122734 100644
--- a/OpenSim/Region/CoreModules/World/Land/PrimCountModule.cs
+++ b/OpenSim/Region/CoreModules/World/Land/PrimCountModule.cs
@@ -206,7 +206,7 @@ namespace OpenSim.Region.CoreModules.World.Land
             if (m_ParcelCounts.TryGetValue(landData.GlobalID, out parcelCounts))
             {
                 UUID landOwner = landData.OwnerID;
-                int partCount = obj.Parts.Length;
+                int partCount = obj.GetPartCount();
 
                 m_SimwideCounts[landOwner] += partCount;
                 if (parcelCounts.Users.ContainsKey(obj.OwnerID))
@@ -593,4 +593,4 @@ namespace OpenSim.Region.CoreModules.World.Land
             }
         }
     }
-}
\ No newline at end of file
+}
diff --git a/OpenSim/Region/CoreModules/World/Objects/BuySell/BuySellModule.cs b/OpenSim/Region/CoreModules/World/Objects/BuySell/BuySellModule.cs
index 1e4f0a4..eb4731c 100644
--- a/OpenSim/Region/CoreModules/World/Objects/BuySell/BuySellModule.cs
+++ b/OpenSim/Region/CoreModules/World/Objects/BuySell/BuySellModule.cs
@@ -176,6 +176,13 @@ namespace OpenSim.Region.CoreModules.World.Objects.BuySell
                     return false;
                 }
 
+                if ((perms & (uint)PermissionMask.Copy) == 0)
+                {
+                    if (m_dialogModule != null)
+                        m_dialogModule.SendAlertToUser(remoteClient, "This sale has been blocked by the permissions system");
+                    return false;
+                }
+
                 AssetBase asset = m_scene.CreateAsset(
                     group.GetPartName(localID),
                     group.GetPartDescription(localID),
diff --git a/OpenSim/Region/CoreModules/World/Permissions/PermissionsModule.cs b/OpenSim/Region/CoreModules/World/Permissions/PermissionsModule.cs
index ac03747..4a654a3 100644
--- a/OpenSim/Region/CoreModules/World/Permissions/PermissionsModule.cs
+++ b/OpenSim/Region/CoreModules/World/Permissions/PermissionsModule.cs
@@ -367,7 +367,7 @@ namespace OpenSim.Region.CoreModules.World.Permissions
 
         public string Name
         {
-            get { return "PermissionsModule"; }
+            get { return "DefaultPermissionsModule"; }
         }
 
         public bool IsSharedModule
diff --git a/OpenSim/Region/CoreModules/World/Region/RestartModule.cs b/OpenSim/Region/CoreModules/World/Region/RestartModule.cs
index fea4de0..65180b5a 100644
--- a/OpenSim/Region/CoreModules/World/Region/RestartModule.cs
+++ b/OpenSim/Region/CoreModules/World/Region/RestartModule.cs
@@ -28,6 +28,8 @@
 using System;
 using System.Reflection;
 using System.Timers;
+using System.IO;
+using System.Diagnostics;
 using System.Threading;
 using System.Collections.Generic;
 using log4net;
@@ -56,13 +58,23 @@ namespace OpenSim.Region.CoreModules.World.Region
         protected UUID m_Initiator;
         protected bool m_Notice = false;
         protected IDialogModule m_DialogModule = null;
+        protected string m_MarkerPath = String.Empty;
 
         public void Initialise(IConfigSource config)
         {
+            IConfig restartConfig = config.Configs["RestartModule"];
+            if (restartConfig != null)
+            {
+                m_MarkerPath = restartConfig.GetString("MarkerPath", String.Empty);
+            }
         }
 
         public void AddRegion(Scene scene)
         {
+            if (m_MarkerPath != String.Empty)
+                File.Delete(Path.Combine(m_MarkerPath,
+                        scene.RegionInfo.RegionID.ToString()));
+
             m_Scene = scene;
             
             scene.RegisterModuleInterface<IRestartModule>(this);
@@ -121,6 +133,7 @@ namespace OpenSim.Region.CoreModules.World.Region
 
             if (alerts == null)
             {
+                CreateMarkerFile();
                 m_Scene.RestartNow();
                 return;
             }
@@ -134,6 +147,7 @@ namespace OpenSim.Region.CoreModules.World.Region
 
             if (m_Alerts[0] == 0)
             {
+                CreateMarkerFile();
                 m_Scene.RestartNow();
                 return;
             }
@@ -147,6 +161,7 @@ namespace OpenSim.Region.CoreModules.World.Region
         {
             if (m_Alerts.Count == 0 || m_Alerts[0] == 0)
             {
+                CreateMarkerFile();
                 m_Scene.RestartNow();
                 return 0;
             }
@@ -225,6 +240,9 @@ namespace OpenSim.Region.CoreModules.World.Region
                 if (m_DialogModule != null && message != String.Empty)
                     m_DialogModule.SendGeneralAlert(message);
             }
+           if (m_MarkerPath != String.Empty)
+               File.Delete(Path.Combine(m_MarkerPath,
+                       m_Scene.RegionInfo.RegionID.ToString()));
         }
         
         private void HandleRegionRestart(string module, string[] args)
@@ -266,5 +284,25 @@ namespace OpenSim.Region.CoreModules.World.Region
 
             ScheduleRestart(UUID.Zero, args[3], times.ToArray(), notice);
         }
+
+        protected void CreateMarkerFile()
+        {
+            if (m_MarkerPath == String.Empty)
+                return;
+
+            string path = Path.Combine(m_MarkerPath, m_Scene.RegionInfo.RegionID.ToString());
+            try
+            {
+                string pidstring = System.Diagnostics.Process.GetCurrentProcess().Id.ToString();
+                FileStream fs = File.Create(path);
+                System.Text.ASCIIEncoding enc = new System.Text.ASCIIEncoding();
+                Byte[] buf = enc.GetBytes(pidstring);
+                fs.Write(buf, 0, buf.Length);
+                fs.Close();
+            }
+            catch (Exception)
+            {
+            }
+        }
     }
 }
diff --git a/OpenSim/Region/CoreModules/World/Terrain/TerrainModule.cs b/OpenSim/Region/CoreModules/World/Terrain/TerrainModule.cs
index b3c2969..14e428e 100644
--- a/OpenSim/Region/CoreModules/World/Terrain/TerrainModule.cs
+++ b/OpenSim/Region/CoreModules/World/Terrain/TerrainModule.cs
@@ -624,6 +624,8 @@ namespace OpenSim.Region.CoreModules.World.Terrain
                 m_scene.PhysicsScene.SetTerrain(m_channel.GetFloatsSerialised());
                 m_scene.SaveTerrain();
 
+                m_scene.EventManager.TriggerTerrainUpdate();
+
                 // Clients who look at the map will never see changes after they looked at the map, so i've commented this out.
                 //m_scene.CreateTerrainTexture(true);
             }
diff --git a/OpenSim/Region/CoreModules/World/WorldMap/MapSearchModule.cs b/OpenSim/Region/CoreModules/World/WorldMap/MapSearchModule.cs
index f37dd94..4e6bfb8 100644
--- a/OpenSim/Region/CoreModules/World/WorldMap/MapSearchModule.cs
+++ b/OpenSim/Region/CoreModules/World/WorldMap/MapSearchModule.cs
@@ -86,9 +86,9 @@ namespace OpenSim.Region.CoreModules.World.WorldMap
 
         private void OnMapNameRequest(IClientAPI remoteClient, string mapName, uint flags)
         {
-            if (mapName.Length < 3)
+            if (mapName.Length < 2)
             {
-                remoteClient.SendAlertMessage("Use a search string with at least 3 characters");
+                remoteClient.SendAlertMessage("Use a search string with at least 2 characters");
                 return;
             }
 
@@ -112,10 +112,10 @@ namespace OpenSim.Region.CoreModules.World.WorldMap
             
             // try to fetch from GridServer
             List<GridRegion> regionInfos = m_scene.GridService.GetRegionsByName(m_scene.RegionInfo.ScopeID, mapName, 20);
-            if (regionInfos.Count == 0)
-                remoteClient.SendAlertMessage("Hyperlink could not be established.");
+//            if (regionInfos.Count == 0)
+//                remoteClient.SendAlertMessage("Hyperlink could not be established.");
 
-            m_log.DebugFormat("[MAPSEARCHMODULE]: search {0} returned {1} regions. Flags={2}", mapName, regionInfos.Count, flags);
+            //m_log.DebugFormat("[MAPSEARCHMODULE]: search {0} returned {1} regions", mapName, regionInfos.Count);
             List<MapBlockData> blocks = new List<MapBlockData>();
 
             MapBlockData data;
@@ -149,7 +149,7 @@ namespace OpenSim.Region.CoreModules.World.WorldMap
             data.Agents = 0;
             data.Access = 255;
             data.MapImageId = UUID.Zero;
-            data.Name = ""; // mapName;
+            data.Name = mapName;
             data.RegionFlags = 0;
             data.WaterHeight = 0; // not used
             data.X = 0;
diff --git a/OpenSim/Region/CoreModules/World/WorldMap/WorldMapModule.cs b/OpenSim/Region/CoreModules/World/WorldMap/WorldMapModule.cs
index faaf928..899e5ea 100644
--- a/OpenSim/Region/CoreModules/World/WorldMap/WorldMapModule.cs
+++ b/OpenSim/Region/CoreModules/World/WorldMap/WorldMapModule.cs
@@ -1240,7 +1240,7 @@ namespace OpenSim.Region.CoreModules.World.WorldMap
             }
             else
             {
-                OSDArray responsearr = new OSDArray(m_scene.GetRootAgentCount());
+                OSDArray responsearr = new OSDArray(); // Don't preallocate. MT (m_scene.GetRootAgentCount());
                 m_scene.ForEachRootScenePresence(delegate(ScenePresence sp)
                 {
                     OSDMap responsemapdata = new OSDMap();
@@ -1459,9 +1459,10 @@ namespace OpenSim.Region.CoreModules.World.WorldMap
             Color background = Color.FromArgb(0, 0, 0, 0);
             SolidBrush transparent = new SolidBrush(background);
             Graphics g = Graphics.FromImage(overlay);
-            g.FillRectangle(transparent, 0, 0, 256, 256);
+            g.FillRectangle(transparent, 0, 0, 255, 255);
 
             SolidBrush yellow = new SolidBrush(Color.FromArgb(255, 249, 223, 9));
+            Pen grey = new Pen(Color.FromArgb(255, 92, 92, 92));
 
             foreach (ILandObject land in parcels)
             {
@@ -1469,8 +1470,42 @@ namespace OpenSim.Region.CoreModules.World.WorldMap
                 if ((land.LandData.Flags & (uint)ParcelFlags.ForSale) != 0)
                 {
                     landForSale = true;
+                    
+                    bool[,] landBitmap = land.GetLandBitmap();
+
+                    for (int x = 0 ; x < 64 ; x++)
+                    {
+                        for (int y = 0 ; y < 64 ; y++)
+                        {
+                            if (landBitmap[x, y])
+                            {
+                                g.FillRectangle(yellow, x * 4, 252 - (y * 4), 4, 4);
+
+                                if (x > 0)
+                                {
+                                    if ((saleBitmap[x - 1, y] || landBitmap[x - 1, y]) == false)
+                                        g.DrawLine(grey, x * 4, 252 - (y * 4), x * 4, 255 - (y * 4));
+                                }
+                                if (y > 0)
+                                {
+                                    if ((saleBitmap[x, y-1] || landBitmap[x, y-1]) == false)
+                                        g.DrawLine(grey, x * 4, 255 - (y * 4), x * 4 + 3, 255 - (y * 4));
+                                }
+                                if (x < 63)
+                                {
+                                    if ((saleBitmap[x + 1, y] || landBitmap[x + 1, y]) == false)
+                                        g.DrawLine(grey, x * 4 + 3, 252 - (y * 4), x * 4 + 3, 255 - (y * 4));
+                                }
+                                if (y < 63)
+                                {
+                                    if ((saleBitmap[x, y + 1] || landBitmap[x, y + 1]) == false)
+                                        g.DrawLine(grey, x * 4, 252 - (y * 4), x * 4 + 3, 252 - (y * 4));
+                                }
+                            }
+                        }
+                    }
 
-                    saleBitmap = land.MergeLandBitmaps(saleBitmap, land.GetLandBitmap());
+                    saleBitmap = land.MergeLandBitmaps(saleBitmap, landBitmap);
                 }
             }
 
@@ -1482,15 +1517,6 @@ namespace OpenSim.Region.CoreModules.World.WorldMap
 
             m_log.DebugFormat("[WORLD MAP]: Region {0} has parcels for sale, generating overlay", m_scene.RegionInfo.RegionName);
 
-            for (int x = 0 ; x < 64 ; x++)
-            {
-                for (int y = 0 ; y < 64 ; y++)
-                {
-                    if (saleBitmap[x, y])
-                        g.FillRectangle(yellow, x * 4, 252 - (y * 4), 4, 4);
-                }
-            }
-
             try
             {
                 return OpenJPEG.EncodeFromImage(overlay, true);
diff --git a/OpenSim/Region/Framework/Interfaces/IAttachmentsModule.cs b/OpenSim/Region/Framework/Interfaces/IAttachmentsModule.cs
index eb07165..69ce967 100644
--- a/OpenSim/Region/Framework/Interfaces/IAttachmentsModule.cs
+++ b/OpenSim/Region/Framework/Interfaces/IAttachmentsModule.cs
@@ -26,6 +26,7 @@
  */
 
 using System;
+using System.Xml;
 using System.Collections.Generic;
 using OpenMetaverse;
 using OpenSim.Framework;
@@ -75,6 +76,10 @@ namespace OpenSim.Region.Framework.Interfaces
         /// <returns>The scene object that was attached.  Null if the scene object could not be found</returns>
         ISceneEntity RezSingleAttachmentFromInventory(IScenePresence sp, UUID itemID, uint AttachmentPt);
 
+        // Same as above, but also load script states from a separate doc
+        ISceneEntity RezSingleAttachmentFromInventory(
+            IScenePresence presence, UUID itemID, uint AttachmentPt, bool updateInventoryStatus, XmlDocument doc);
+
         /// <summary>
         /// Rez multiple attachments from a user's inventory
         /// </summary>
@@ -96,7 +101,6 @@ namespace OpenSim.Region.Framework.Interfaces
         /// <param name="itemID"></param>
         void DetachSingleAttachmentToInv(IScenePresence sp, UUID itemID);
         
-        /// <summary>
         /// Update the position of an attachment.
         /// </summary>
         /// <param name="sog"></param>
diff --git a/OpenSim/Region/Framework/Interfaces/IEntityInventory.cs b/OpenSim/Region/Framework/Interfaces/IEntityInventory.cs
index 1334905..32f4eea 100644
--- a/OpenSim/Region/Framework/Interfaces/IEntityInventory.cs
+++ b/OpenSim/Region/Framework/Interfaces/IEntityInventory.cs
@@ -115,6 +115,8 @@ namespace OpenSim.Region.Framework.Interfaces
         /// <param name="stateSource"></param>
         void CreateScriptInstance(UUID itemId, int startParam, bool postOnRez, string engine, int stateSource);
 
+        ArrayList CreateScriptInstanceEr(UUID itemId, int startParam, bool postOnRez, string engine, int stateSource);
+
         /// <summary>
         /// Stop a script which is in this prim's inventory.
         /// </summary>
@@ -238,5 +240,6 @@ namespace OpenSim.Region.Framework.Interfaces
         /// A <see cref="Dictionary`2"/>
         /// </returns>
         Dictionary<UUID, string> GetScriptStates();
+        Dictionary<UUID, string> GetScriptStates(bool oldIDs);
     }
 }
diff --git a/OpenSim/Region/Framework/Interfaces/IEntityTransferModule.cs b/OpenSim/Region/Framework/Interfaces/IEntityTransferModule.cs
index 07e97d5..76f1641 100644
--- a/OpenSim/Region/Framework/Interfaces/IEntityTransferModule.cs
+++ b/OpenSim/Region/Framework/Interfaces/IEntityTransferModule.cs
@@ -35,16 +35,18 @@ using OpenSim.Region.Framework.Scenes;
 
 namespace OpenSim.Region.Framework.Interfaces
 {
+    public delegate ScenePresence CrossAgentToNewRegionDelegate(ScenePresence agent, Vector3 pos, uint neighbourx, uint neighboury, GridRegion neighbourRegion, bool isFlying, string version);
+
     public interface IEntityTransferModule
     {
         void Teleport(ScenePresence agent, ulong regionHandle, Vector3 position,
                                                       Vector3 lookAt, uint teleportFlags);
 
+        bool TeleportHome(UUID id, IClientAPI client);
+
         void DoTeleport(ScenePresence sp, GridRegion reg, GridRegion finalDestination,
             Vector3 position, Vector3 lookAt, uint teleportFlags, IEventQueue eq);
 
-        void TeleportHome(UUID id, IClientAPI client);
-
         bool Cross(ScenePresence agent, bool isFlying);
 
         void AgentArrivedAtDestination(UUID agent);
@@ -53,7 +55,12 @@ namespace OpenSim.Region.Framework.Interfaces
 
         void EnableChildAgent(ScenePresence agent, GridRegion region);
 
+        GridRegion GetDestination(Scene scene, UUID agentID, Vector3 pos, out uint xDest, out uint yDest, out string version, out Vector3 newpos);
+
         void Cross(SceneObjectGroup sog, Vector3 position, bool silent);
+
+        ScenePresence CrossAgentToNewRegionAsync(ScenePresence agent, Vector3 pos, uint neighbourx, uint neighboury, GridRegion neighbourRegion, bool isFlying, string version);
+
     }
 
     public interface IUserAgentVerificationModule
diff --git a/OpenSim/Region/Framework/Interfaces/IEstateModule.cs b/OpenSim/Region/Framework/Interfaces/IEstateModule.cs
index 721f0ee..72e79ed 100644
--- a/OpenSim/Region/Framework/Interfaces/IEstateModule.cs
+++ b/OpenSim/Region/Framework/Interfaces/IEstateModule.cs
@@ -45,5 +45,7 @@ namespace OpenSim.Region.Framework.Interfaces
         /// Tell all clients about the current state of the region (terrain textures, water height, etc.).
         /// </summary>
         void sendRegionHandshakeToAll();
+        void TriggerEstateInfoChange();
+        void TriggerRegionInfoChange();
     }
 }
diff --git a/OpenSim/Region/Framework/Interfaces/IEventQueue.cs b/OpenSim/Region/Framework/Interfaces/IEventQueue.cs
index bfa5d17..5512642 100644
--- a/OpenSim/Region/Framework/Interfaces/IEventQueue.cs
+++ b/OpenSim/Region/Framework/Interfaces/IEventQueue.cs
@@ -59,5 +59,7 @@ namespace OpenSim.Region.Framework.Interfaces
         void GroupMembership(AgentGroupDataUpdatePacket groupUpdate, UUID avatarID);
         OSD ScriptRunningEvent(UUID objectID, UUID itemID, bool running, bool mono);
         OSD BuildEvent(string eventName, OSD eventBody);
+        void partPhysicsProperties(uint localID, byte physhapetype, float density, float friction, float bounce, float gravmod, UUID avatarID);
+
     }
 }
diff --git a/OpenSim/Region/Framework/Interfaces/IInterregionComms.cs b/OpenSim/Region/Framework/Interfaces/IInterregionComms.cs
index 2d6287f..67a500f 100644
--- a/OpenSim/Region/Framework/Interfaces/IInterregionComms.cs
+++ b/OpenSim/Region/Framework/Interfaces/IInterregionComms.cs
@@ -68,6 +68,14 @@ namespace OpenSim.Region.Framework.Interfaces
         bool SendReleaseAgent(ulong regionHandle, UUID id, string uri);
 
         /// <summary>
+        /// Close chid agent.
+        /// </summary>
+        /// <param name="regionHandle"></param>
+        /// <param name="id"></param>
+        /// <returns></returns>
+        bool SendCloseChildAgent(ulong regionHandle, UUID id);
+
+        /// <summary>
         /// Close agent.
         /// </summary>
         /// <param name="regionHandle"></param>
diff --git a/OpenSim/Region/Framework/Interfaces/IScriptModule.cs b/OpenSim/Region/Framework/Interfaces/IScriptModule.cs
index 9cab2e1..ce66100 100644
--- a/OpenSim/Region/Framework/Interfaces/IScriptModule.cs
+++ b/OpenSim/Region/Framework/Interfaces/IScriptModule.cs
@@ -69,6 +69,8 @@ namespace OpenSim.Region.Framework.Interfaces
 
         ArrayList GetScriptErrors(UUID itemID);
 
+        bool HasScript(UUID itemID, out bool running);
+
         void SaveAllState();
 
         /// <summary>
diff --git a/OpenSim/Region/Framework/Interfaces/ISnmpModule.cs b/OpenSim/Region/Framework/Interfaces/ISnmpModule.cs
new file mode 100644
index 0000000..e01f649
--- /dev/null
+++ b/OpenSim/Region/Framework/Interfaces/ISnmpModule.cs
@@ -0,0 +1,27 @@
+///////////////////////////////////////////////////////////////////
+//
+// (c) Careminster LImited, Melanie Thielker and the Meta7 Team
+//
+// This file is not open source. All rights reserved
+// Mod 2
+
+using OpenSim.Region.Framework.Scenes;
+
+public interface ISnmpModule
+{
+    void Trap(int code, string Message, Scene scene);
+    void Critical(string Message, Scene scene);
+    void Warning(string Message, Scene scene);
+    void Major(string Message, Scene scene);
+    void ColdStart(int step , Scene scene);
+    void Shutdown(int step , Scene scene);
+        //
+        // Node Start/stop events
+        //
+    void LinkUp(Scene scene);
+    void LinkDown(Scene scene);
+    void BootInfo(string data, Scene scene);
+    void trapDebug(string Module,string data, Scene scene);
+    void trapXMRE(int data, string Message, Scene scene);
+
+}
diff --git a/OpenSim/Region/Framework/Interfaces/IUserAccountCacheModule.cs b/OpenSim/Region/Framework/Interfaces/IUserAccountCacheModule.cs
new file mode 100644
index 0000000..d1a4d8e
--- /dev/null
+++ b/OpenSim/Region/Framework/Interfaces/IUserAccountCacheModule.cs
@@ -0,0 +1,13 @@
+///////////////////////////////////////////////////////////////////
+//
+// (c) Careminster Limited, Melanie Thielker and the Meta7 Team
+//
+// This file is not open source. All rights reserved
+//
+
+using OpenSim.Region.Framework.Scenes;
+
+public interface IUserAccountCacheModule
+{
+    void Remove(string name);
+}
diff --git a/OpenSim/Region/Framework/ModuleLoader.cs b/OpenSim/Region/Framework/ModuleLoader.cs
index 14ecd44..32ee674 100644
--- a/OpenSim/Region/Framework/ModuleLoader.cs
+++ b/OpenSim/Region/Framework/ModuleLoader.cs
@@ -227,7 +227,8 @@ namespace OpenSim.Region.Framework
                         pluginAssembly.FullName, e.Message, e.StackTrace);
                     
                     // justincc: Right now this is fatal to really get the user's attention
-                    throw e;
+                    // TomMeta: WTF? No, how about we /don't/ throw a fatal exception when there's no need to?
+                    //throw e;
                 }
             }
 
diff --git a/OpenSim/Region/Framework/Scenes/EventManager.cs b/OpenSim/Region/Framework/Scenes/EventManager.cs
index 7993abe..470ce2e 100644
--- a/OpenSim/Region/Framework/Scenes/EventManager.cs
+++ b/OpenSim/Region/Framework/Scenes/EventManager.cs
@@ -55,8 +55,12 @@ namespace OpenSim.Region.Framework.Scenes
 
         public delegate void OnTerrainTickDelegate();
 
+        public delegate void OnTerrainUpdateDelegate();
+
         public event OnTerrainTickDelegate OnTerrainTick;
 
+        public event OnTerrainUpdateDelegate OnTerrainUpdate;
+
         public delegate void OnBackupDelegate(ISimulationDataService datastore, bool forceBackup);
 
         public event OnBackupDelegate OnBackup;
@@ -882,6 +886,26 @@ namespace OpenSim.Region.Framework.Scenes
                 }
             }
         }
+        public void TriggerTerrainUpdate()
+        {
+            OnTerrainUpdateDelegate handlerTerrainUpdate = OnTerrainUpdate;
+            if (handlerTerrainUpdate != null)
+            {
+                foreach (OnTerrainUpdateDelegate d in handlerTerrainUpdate.GetInvocationList())
+                {
+                    try
+                    {
+                        d();
+                    }
+                    catch (Exception e)
+                    {
+                        m_log.ErrorFormat(
+                            "[EVENT MANAGER]: Delegate for TriggerTerrainUpdate failed - continuing.  {0} {1}",
+                            e.Message, e.StackTrace);
+                    }
+                }
+            }
+        }
 
         public void TriggerTerrainTick()
         {
diff --git a/OpenSim/Region/Framework/Scenes/KeyframeMotion.cs b/OpenSim/Region/Framework/Scenes/KeyframeMotion.cs
new file mode 100644
index 0000000..b7b0d27
--- /dev/null
+++ b/OpenSim/Region/Framework/Scenes/KeyframeMotion.cs
@@ -0,0 +1,422 @@
+// Proprietary code of Avination Virtual Limited
+// (c) 2012 Melanie Thielker
+//
+
+using System;
+using System.Timers;
+using System.Collections;
+using System.Collections.Generic;
+using System.IO;
+using System.Diagnostics;
+using System.Reflection;
+using System.Threading;
+using OpenMetaverse;
+using OpenSim.Framework;
+using OpenSim.Region.Framework.Interfaces;
+using OpenSim.Region.Physics.Manager;
+using OpenSim.Region.Framework.Scenes.Serialization;
+using System.Runtime.Serialization.Formatters.Binary;
+using System.Runtime.Serialization;
+using Timer = System.Timers.Timer;
+using log4net;
+
+namespace OpenSim.Region.Framework.Scenes
+{
+    [Serializable]
+    public class KeyframeMotion
+    {
+        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+
+        public enum PlayMode : int
+        {
+            Forward = 0,
+            Reverse = 1,
+            Loop = 2,
+            PingPong = 3
+        };
+
+        [Flags]
+        public enum DataFormat : int
+        {
+            Translation = 1,
+            Rotation = 2
+        }
+
+        [Serializable]
+        public struct Keyframe
+        {
+            public Vector3? Position;
+            public Quaternion? Rotation;
+            public Quaternion StartRotation;
+            public int TimeMS;
+            public int TimeTotal;
+            public Vector3 AngularVelocity;
+        };
+
+        private Vector3 m_basePosition;
+        private Quaternion m_baseRotation;
+        private Vector3 m_serializedPosition;
+
+        private Keyframe m_currentFrame;
+        private List<Keyframe> m_frames = new List<Keyframe>();
+
+        private Keyframe[] m_keyframes;
+
+        [NonSerialized()]
+        protected Timer m_timer = new Timer();
+
+        [NonSerialized()]
+        private SceneObjectGroup m_group;
+
+        private PlayMode m_mode = PlayMode.Forward;
+        private DataFormat m_data = DataFormat.Translation | DataFormat.Rotation;
+
+        private bool m_running = false;
+        [NonSerialized()]
+        private bool m_selected = false;
+
+        private int m_iterations = 0;
+
+        private const double timerInterval = 50.0;
+
+        public DataFormat Data
+        {
+            get { return m_data; }
+        }
+
+        public bool Selected
+        {
+            set
+            {
+                if (value)
+                {
+                    // Once we're let go, recompute positions
+                    if (m_selected)
+                        UpdateSceneObject(m_group);
+                }
+                else
+                {
+                    // Save selection position in case we get moved
+                    if (!m_selected)
+                        m_serializedPosition = m_group.AbsolutePosition;
+                }
+                m_selected = value; }
+        }
+
+        public static KeyframeMotion FromData(SceneObjectGroup grp, Byte[] data)
+        {
+            MemoryStream ms = new MemoryStream(data);
+
+            BinaryFormatter fmt = new BinaryFormatter();
+
+            KeyframeMotion newMotion = (KeyframeMotion)fmt.Deserialize(ms);
+
+            // This will be started when position is updated
+            newMotion.m_timer = new Timer();
+            newMotion.m_timer.Interval = (int)timerInterval;
+            newMotion.m_timer.AutoReset = true;
+            newMotion.m_timer.Elapsed += newMotion.OnTimer;
+
+            return newMotion;
+        }
+
+        public void UpdateSceneObject(SceneObjectGroup grp)
+        {
+            m_group = grp;
+            Vector3 offset = grp.AbsolutePosition - m_serializedPosition;
+
+            m_basePosition += offset;
+            m_currentFrame.Position += offset;
+            for (int i = 0 ; i < m_frames.Count ; i++)
+            {
+                Keyframe k = m_frames[i];
+                k.Position += offset;
+                m_frames[i] = k;
+            }
+
+            if (m_running)
+                Start();
+        }
+
+        public KeyframeMotion(SceneObjectGroup grp, PlayMode mode, DataFormat data)
+        {
+            m_mode = mode;
+            m_data = data;
+
+            m_group = grp;
+            m_basePosition = grp.AbsolutePosition;
+            m_baseRotation = grp.GroupRotation;
+
+            m_timer.Interval = (int)timerInterval;
+            m_timer.AutoReset = true;
+            m_timer.Elapsed += OnTimer;
+        }
+
+        public void SetKeyframes(Keyframe[] frames)
+        {
+            m_keyframes = frames;
+        }
+
+        public void Start()
+        {
+            if (m_keyframes.Length > 0)
+                m_timer.Start();
+            m_running = true;
+        }
+
+        public void Stop()
+        {
+            // Failed object creation
+            if (m_timer == null)
+                return;
+            m_timer.Stop();
+
+            m_basePosition = m_group.AbsolutePosition;
+            m_baseRotation = m_group.GroupRotation;
+
+            m_group.RootPart.Velocity = Vector3.Zero;
+            m_group.RootPart.UpdateAngularVelocity(Vector3.Zero);
+            m_group.SendGroupRootTerseUpdate();
+
+            m_frames.Clear();
+            m_running = false;
+        }
+
+        public void Pause()
+        {
+            m_group.RootPart.Velocity = Vector3.Zero;
+            m_group.RootPart.UpdateAngularVelocity(Vector3.Zero);
+            m_group.SendGroupRootTerseUpdate();
+
+            m_timer.Stop();
+            m_running = false;
+        }
+
+        private void GetNextList()
+        {
+            m_frames.Clear();
+            Vector3 pos = m_basePosition;
+            Quaternion rot = m_baseRotation;
+
+            if (m_mode == PlayMode.Loop || m_mode == PlayMode.PingPong || m_iterations == 0)
+            {
+                int direction = 1;
+                if (m_mode == PlayMode.Reverse || ((m_mode == PlayMode.PingPong) && ((m_iterations & 1) != 0)))
+                    direction = -1;
+
+                int start = 0;
+                int end = m_keyframes.Length;
+//                if (m_mode == PlayMode.PingPong && m_keyframes.Length > 1)
+//                    end = m_keyframes.Length - 1;
+
+                if (direction < 0)
+                {
+                    start = m_keyframes.Length - 1;
+                    end = -1;
+//                    if (m_mode == PlayMode.PingPong && m_keyframes.Length > 1)
+//                        end = 0;
+                }
+
+                for (int i = start; i != end ; i += direction)
+                {
+                    Keyframe k = m_keyframes[i];
+
+                    if (k.Position.HasValue)
+                        k.Position = (k.Position * direction) + pos;
+                    else
+                        k.Position = pos;
+
+                    k.StartRotation = rot;
+                    if (k.Rotation.HasValue)
+                    {
+                        if (direction == -1)
+                            k.Rotation = Quaternion.Conjugate((Quaternion)k.Rotation);
+                        k.Rotation = rot * k.Rotation;
+                    }
+                    else
+                    {
+                        k.Rotation = rot;
+                    }
+
+                    float angle = 0;
+
+                    float aa = k.StartRotation.X * k.StartRotation.X + k.StartRotation.Y * k.StartRotation.Y + k.StartRotation.Z * k.StartRotation.Z + k.StartRotation.W * k.StartRotation.W;
+                    float bb = ((Quaternion)k.Rotation).X * ((Quaternion)k.Rotation).X + ((Quaternion)k.Rotation).Y * ((Quaternion)k.Rotation).Y + ((Quaternion)k.Rotation).Z * ((Quaternion)k.Rotation).Z + ((Quaternion)k.Rotation).W * ((Quaternion)k.Rotation).W;
+                    float aa_bb = aa * bb;
+
+                    if (aa_bb == 0)
+                    {
+                        angle = 0;
+                    }
+                    else
+                    {
+                        float ab = k.StartRotation.X * ((Quaternion)k.Rotation).X +
+                                   k.StartRotation.Y * ((Quaternion)k.Rotation).Y +
+                                   k.StartRotation.Z * ((Quaternion)k.Rotation).Z +
+                                   k.StartRotation.W * ((Quaternion)k.Rotation).W;
+                        float q = (ab * ab) / aa_bb;
+
+                        if (q > 1.0f)
+                        {
+                            angle = 0;
+                        }
+                        else
+                        {
+                            angle = (float)Math.Acos(2 * q - 1);
+                        }
+                    }
+
+                    k.AngularVelocity = (new Vector3(0, 0, 1) * (Quaternion)k.Rotation) * (angle / (k.TimeMS / 1000));
+                    k.TimeTotal = k.TimeMS;
+
+                    m_frames.Add(k);
+
+                    pos = (Vector3)k.Position;
+                    rot = (Quaternion)k.Rotation;
+                }
+
+                m_basePosition = pos;
+                m_baseRotation = rot;
+
+                m_iterations++;
+            }
+        }
+
+        protected void OnTimer(object sender, ElapsedEventArgs e)
+        {
+            if (m_frames.Count == 0)
+            {
+                GetNextList();
+
+                if (m_frames.Count == 0)
+                {
+                    Stop();
+                    return;
+                }
+
+                m_currentFrame = m_frames[0];
+            }
+
+            if (m_selected)
+            {
+                if (m_group.RootPart.Velocity != Vector3.Zero)
+                {
+                    m_group.RootPart.Velocity = Vector3.Zero;
+                    m_group.SendGroupRootTerseUpdate();
+                }
+                return;
+            }
+
+            // Do the frame processing
+            double steps = (double)m_currentFrame.TimeMS / timerInterval;
+            float complete = ((float)m_currentFrame.TimeTotal - (float)m_currentFrame.TimeMS) / (float)m_currentFrame.TimeTotal;
+
+            if (steps <= 1.0)
+            {
+                m_currentFrame.TimeMS = 0;
+
+                m_group.AbsolutePosition = (Vector3)m_currentFrame.Position;
+                m_group.UpdateGroupRotationR((Quaternion)m_currentFrame.Rotation);
+            }
+            else
+            {
+                Vector3 v = (Vector3)m_currentFrame.Position - m_group.AbsolutePosition;
+                Vector3 motionThisFrame = v / (float)steps;
+                v = v * 1000 / m_currentFrame.TimeMS;
+
+                bool update = false;
+
+                if (Vector3.Mag(motionThisFrame) >= 0.05f)
+                {
+                    m_group.AbsolutePosition += motionThisFrame;
+                    m_group.RootPart.Velocity = v;
+                    update = true;
+                }
+
+                if ((Quaternion)m_currentFrame.Rotation != m_group.GroupRotation)
+                {
+                    Quaternion current = m_group.GroupRotation;
+
+                    Quaternion step = Quaternion.Slerp(m_currentFrame.StartRotation, (Quaternion)m_currentFrame.Rotation, complete);
+
+                    float angle = 0;
+
+                    float aa = current.X * current.X + current.Y * current.Y + current.Z * current.Z + current.W * current.W;
+                    float bb = step.X * step.X + step.Y * step.Y + step.Z * step.Z + step.W * step.W;
+                    float aa_bb = aa * bb;
+
+                    if (aa_bb == 0)
+                    {
+                        angle = 0;
+                    }
+                    else
+                    {
+                        float ab = current.X * step.X +
+                                   current.Y * step.Y +
+                                   current.Z * step.Z +
+                                   current.W * step.W;
+                        float q = (ab * ab) / aa_bb;
+
+                        if (q > 1.0f)
+                        {
+                            angle = 0;
+                        }
+                        else
+                        {
+                            angle = (float)Math.Acos(2 * q - 1);
+                        }
+                    }
+
+                    if (angle > 0.01f)
+                    {
+                        m_group.UpdateGroupRotationR(step);
+                        //m_group.RootPart.UpdateAngularVelocity(m_currentFrame.AngularVelocity / 2);
+                        update = true;
+                    }
+                }
+
+                if (update)
+                    m_group.SendGroupRootTerseUpdate();
+            }
+
+            m_currentFrame.TimeMS -= (int)timerInterval;
+
+            if (m_currentFrame.TimeMS <= 0)
+            {
+                m_group.RootPart.Velocity = Vector3.Zero;
+                m_group.RootPart.UpdateAngularVelocity(Vector3.Zero);
+                m_group.SendGroupRootTerseUpdate();
+
+                m_frames.RemoveAt(0);
+                if (m_frames.Count > 0)
+                    m_currentFrame = m_frames[0];
+            }
+        }
+
+        public Byte[] Serialize()
+        {
+            MemoryStream ms = new MemoryStream();
+            m_timer.Stop();
+
+            BinaryFormatter fmt = new BinaryFormatter();
+            SceneObjectGroup tmp = m_group;
+            m_group = null;
+            m_serializedPosition = tmp.AbsolutePosition;
+            fmt.Serialize(ms, this);
+            m_group = tmp;
+            return ms.ToArray();
+        }
+
+        public void CrossingFailure()
+        {
+            // The serialization has stopped the timer, so let's wait a moment
+            // then retry the crossing. We'll get back here if it fails.
+            Util.FireAndForget(delegate (object x)
+            {
+                Thread.Sleep(60000);
+                if (m_running)
+                    m_timer.Start();
+            });
+        }
+    }
+}
diff --git a/OpenSim/Region/Framework/Scenes/Prioritizer.cs b/OpenSim/Region/Framework/Scenes/Prioritizer.cs
index 1b10e3c..0a34a4c 100644
--- a/OpenSim/Region/Framework/Scenes/Prioritizer.cs
+++ b/OpenSim/Region/Framework/Scenes/Prioritizer.cs
@@ -157,7 +157,7 @@ namespace OpenSim.Region.Framework.Scenes
 
         private uint GetPriorityByBestAvatarResponsiveness(IClientAPI client, ISceneEntity entity)
         {
-            uint pqueue = ComputeDistancePriority(client,entity,true);
+            uint pqueue = ComputeDistancePriority(client,entity,false);
 
             ScenePresence presence = m_scene.GetScenePresence(client.AgentId);
             if (presence != null)
@@ -226,7 +226,7 @@ namespace OpenSim.Region.Framework.Scenes
             
             for (int i = 0; i < queues - 1; i++)
             {
-                if (distance < 10 * Math.Pow(2.0,i))
+                if (distance < 30 * Math.Pow(2.0,i))
                     break;
                 pqueue++;
             }
diff --git a/OpenSim/Region/Framework/Scenes/SOPMaterial.cs b/OpenSim/Region/Framework/Scenes/SOPMaterial.cs
new file mode 100644
index 0000000..10ac37c
--- /dev/null
+++ b/OpenSim/Region/Framework/Scenes/SOPMaterial.cs
@@ -0,0 +1,95 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections.Generic;
+using OpenMetaverse;
+using OpenSim.Framework;
+
+namespace OpenSim.Region.Framework.Scenes
+{
+    public static class SOPMaterialData
+    {
+        public enum SopMaterial : int // redundante and not in use for now 
+        {
+            Stone = 0,
+            Metal = 1,
+            Glass = 2,
+            Wood = 3,
+            Flesh = 4,
+            Plastic = 5,
+            Rubber = 6,
+            light = 7 // compatibility with old viewers
+        }
+
+        private struct MaterialData
+        {
+            public float friction;
+            public float bounce;
+            public MaterialData(float f, float b)
+            {
+                friction = f;
+                bounce = b;
+            }
+        }
+
+        private static MaterialData[] m_materialdata = {
+            new MaterialData(0.8f,0.4f), // Stone
+            new MaterialData(0.3f,0.4f), // Metal
+            new MaterialData(0.2f,0.7f), // Glass
+            new MaterialData(0.6f,0.5f), // Wood
+            new MaterialData(0.9f,0.3f), // Flesh
+            new MaterialData(0.4f,0.7f), // Plastic
+            new MaterialData(0.9f,0.95f), // Rubber
+            new MaterialData(0.0f,0.0f) // light ??
+        };
+
+        public static Material MaxMaterial
+        {
+            get { return (Material)(m_materialdata.Length - 1); }
+        }
+
+        public static float friction(Material material)
+        {
+            int indx = (int)material;
+            if (indx < m_materialdata.Length)
+                return (m_materialdata[indx].friction);
+            else
+                return 0;
+        }
+
+        public static float bounce(Material material)
+        {
+            int indx = (int)material;
+            if (indx < m_materialdata.Length)
+                return (m_materialdata[indx].bounce);
+            else
+                return 0;
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/OpenSim/Region/Framework/Scenes/SOPVehicle.cs b/OpenSim/Region/Framework/Scenes/SOPVehicle.cs
new file mode 100644
index 0000000..d3c2d27
--- /dev/null
+++ b/OpenSim/Region/Framework/Scenes/SOPVehicle.cs
@@ -0,0 +1,742 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections.Generic;
+using OpenMetaverse;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+using System.Xml;
+using OpenSim.Framework.Serialization;
+using OpenSim.Framework.Serialization.External;
+using OpenSim.Region.Framework.Scenes.Serialization;
+using OpenSim.Region.Framework.Scenes.Serialization;
+
+namespace OpenSim.Region.Framework.Scenes
+{
+    public class SOPVehicle
+    {
+        public VehicleData vd;
+
+        public Vehicle Type
+        {
+            get { return vd.m_type; }
+        }
+
+        public SOPVehicle()
+        {
+            vd = new VehicleData();
+            ProcessTypeChange(Vehicle.TYPE_NONE); // is needed?
+        }
+
+        public void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
+        {
+            float len;
+            float timestep = 0.01f;
+            switch (pParam)
+            {
+                case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
+                    if (pValue < 0f) pValue = 0f;
+                    if (pValue > 1f) pValue = 1f;
+                    vd.m_angularDeflectionEfficiency = pValue;
+                    break;
+                case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
+                    if (pValue < timestep) pValue = timestep;
+                    vd.m_angularDeflectionTimescale = pValue;
+                    break;
+                case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
+                    if (pValue < timestep) pValue = timestep;
+                    else if (pValue > 120) pValue = 120;
+                    vd.m_angularMotorDecayTimescale = pValue;
+                    break;
+                case Vehicle.ANGULAR_MOTOR_TIMESCALE:
+                    if (pValue < timestep) pValue = timestep;
+                    vd.m_angularMotorTimescale = pValue;
+                    break;
+                case Vehicle.BANKING_EFFICIENCY:
+                    if (pValue < -1f) pValue = -1f;
+                    if (pValue > 1f) pValue = 1f;
+                    vd.m_bankingEfficiency = pValue;
+                    break;
+                case Vehicle.BANKING_MIX:
+                    if (pValue < 0f) pValue = 0f;
+                    if (pValue > 1f) pValue = 1f;
+                    vd.m_bankingMix = pValue;
+                    break;
+                case Vehicle.BANKING_TIMESCALE:
+                    if (pValue < timestep) pValue = timestep;
+                    vd.m_bankingTimescale = pValue;
+                    break;
+                case Vehicle.BUOYANCY:
+                    if (pValue < -1f) pValue = -1f;
+                    if (pValue > 1f) pValue = 1f;
+                    vd.m_VehicleBuoyancy = pValue;
+                    break;
+                case Vehicle.HOVER_EFFICIENCY:
+                    if (pValue < 0f) pValue = 0f;
+                    if (pValue > 1f) pValue = 1f;
+                    vd.m_VhoverEfficiency = pValue;
+                    break;
+                case Vehicle.HOVER_HEIGHT:
+                    vd.m_VhoverHeight = pValue;
+                    break;
+                case Vehicle.HOVER_TIMESCALE:
+                    if (pValue < timestep) pValue = timestep;
+                    vd.m_VhoverTimescale = pValue;
+                    break;
+                case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
+                    if (pValue < 0f) pValue = 0f;
+                    if (pValue > 1f) pValue = 1f;
+                    vd.m_linearDeflectionEfficiency = pValue;
+                    break;
+                case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
+                    if (pValue < timestep) pValue = timestep;
+                    vd.m_linearDeflectionTimescale = pValue;
+                    break;
+                case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
+                    if (pValue < timestep) pValue = timestep;
+                    else if (pValue > 120) pValue = 120;
+                    vd.m_linearMotorDecayTimescale = pValue;
+                    break;
+                case Vehicle.LINEAR_MOTOR_TIMESCALE:
+                    if (pValue < timestep) pValue = timestep;
+                    vd.m_linearMotorTimescale = pValue;
+                    break;
+                case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
+                    if (pValue < 0f) pValue = 0f;
+                    if (pValue > 1f) pValue = 1f;
+                    vd.m_verticalAttractionEfficiency = pValue;
+                    break;
+                case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
+                    if (pValue < timestep) pValue = timestep;
+                    vd.m_verticalAttractionTimescale = pValue;
+                    break;
+
+                // These are vector properties but the engine lets you use a single float value to
+                // set all of the components to the same value
+                case Vehicle.ANGULAR_FRICTION_TIMESCALE:
+                    if (pValue < timestep) pValue = timestep;
+                    vd.m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
+                    break;
+                case Vehicle.ANGULAR_MOTOR_DIRECTION:
+                    vd.m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
+                    len = vd.m_angularMotorDirection.Length();
+                    if (len > 12.566f)
+                        vd.m_angularMotorDirection *= (12.566f / len);
+                    break;
+                case Vehicle.LINEAR_FRICTION_TIMESCALE:
+                    if (pValue < timestep) pValue = timestep;
+                    vd.m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
+                    break;
+                case Vehicle.LINEAR_MOTOR_DIRECTION:
+                    vd.m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
+                    len = vd.m_linearMotorDirection.Length();
+                    if (len > 30.0f)
+                        vd.m_linearMotorDirection *= (30.0f / len);
+                    break;
+                case Vehicle.LINEAR_MOTOR_OFFSET:
+                    vd.m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
+                    len = vd.m_linearMotorOffset.Length();
+                    if (len > 100.0f)
+                        vd.m_linearMotorOffset *= (100.0f / len);
+                    break;
+            }
+        }//end ProcessFloatVehicleParam
+
+        public void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
+        {
+            float len;
+            float timestep = 0.01f;
+            switch (pParam)
+            {
+                case Vehicle.ANGULAR_FRICTION_TIMESCALE:
+                    if (pValue.X < timestep) pValue.X = timestep;
+                    if (pValue.Y < timestep) pValue.Y = timestep;
+                    if (pValue.Z < timestep) pValue.Z = timestep;
+
+                    vd.m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    break;
+                case Vehicle.ANGULAR_MOTOR_DIRECTION:
+                    vd.m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    // Limit requested angular speed to 2 rps= 4 pi rads/sec
+                    len = vd.m_angularMotorDirection.Length();
+                    if (len > 12.566f)
+                        vd.m_angularMotorDirection *= (12.566f / len);
+                    break;
+                case Vehicle.LINEAR_FRICTION_TIMESCALE:
+                    if (pValue.X < timestep) pValue.X = timestep;
+                    if (pValue.Y < timestep) pValue.Y = timestep;
+                    if (pValue.Z < timestep) pValue.Z = timestep;
+                    vd.m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    break;
+                case Vehicle.LINEAR_MOTOR_DIRECTION:
+                    vd.m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    len = vd.m_linearMotorDirection.Length();
+                    if (len > 30.0f)
+                        vd.m_linearMotorDirection *= (30.0f / len);
+                    break;
+                case Vehicle.LINEAR_MOTOR_OFFSET:
+                    vd.m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    len = vd.m_linearMotorOffset.Length();
+                    if (len > 100.0f)
+                        vd.m_linearMotorOffset *= (100.0f / len);
+                    break;
+            }
+        }//end ProcessVectorVehicleParam
+
+        public void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
+        {
+            switch (pParam)
+            {
+                case Vehicle.REFERENCE_FRAME:
+                    vd.m_referenceFrame = Quaternion.Inverse(pValue);
+                    break;
+            }
+        }//end ProcessRotationVehicleParam
+
+        public void ProcessVehicleFlags(int pParam, bool remove)
+        {
+            if (remove)
+            {
+                vd.m_flags &= ~((VehicleFlag)pParam);
+            }
+            else
+            {
+                vd.m_flags |= (VehicleFlag)pParam;
+            }
+        }//end ProcessVehicleFlags
+
+        public void ProcessTypeChange(Vehicle pType)
+        {
+            vd.m_linearMotorDirection = Vector3.Zero;
+            vd.m_angularMotorDirection = Vector3.Zero;
+            vd.m_linearMotorOffset = Vector3.Zero;
+            vd.m_referenceFrame = Quaternion.Identity;
+
+            // Set Defaults For Type
+            vd.m_type = pType;
+            switch (pType)
+            {
+                case Vehicle.TYPE_NONE:
+                    vd.m_linearFrictionTimescale = new Vector3(1000, 1000, 1000);
+                    vd.m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
+                    vd.m_linearMotorTimescale = 1000;
+                    vd.m_linearMotorDecayTimescale = 120;
+                    vd.m_angularMotorTimescale = 1000;
+                    vd.m_angularMotorDecayTimescale = 1000;
+                    vd.m_VhoverHeight = 0;
+                    vd.m_VhoverEfficiency = 1;
+                    vd.m_VhoverTimescale = 1000;
+                    vd.m_VehicleBuoyancy = 0;
+                    vd.m_linearDeflectionEfficiency = 0;
+                    vd.m_linearDeflectionTimescale = 1000;
+                    vd.m_angularDeflectionEfficiency = 0;
+                    vd.m_angularDeflectionTimescale = 1000;
+                    vd.m_bankingEfficiency = 0;
+                    vd.m_bankingMix = 1;
+                    vd.m_bankingTimescale = 1000;
+                    vd.m_verticalAttractionEfficiency = 0;
+                    vd.m_verticalAttractionTimescale = 1000;
+
+                    vd.m_flags = (VehicleFlag)0;
+                    break;
+
+                case Vehicle.TYPE_SLED:
+                    vd.m_linearFrictionTimescale = new Vector3(30, 1, 1000);
+                    vd.m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
+                    vd.m_linearMotorTimescale = 1000;
+                    vd.m_linearMotorDecayTimescale = 120;
+                    vd.m_angularMotorTimescale = 1000;
+                    vd.m_angularMotorDecayTimescale = 120;
+                    vd.m_VhoverHeight = 0;
+                    vd.m_VhoverEfficiency = 1;
+                    vd.m_VhoverTimescale = 10;
+                    vd.m_VehicleBuoyancy = 0;
+                    vd.m_linearDeflectionEfficiency = 1;
+                    vd.m_linearDeflectionTimescale = 1;
+                    vd.m_angularDeflectionEfficiency = 0;
+                    vd.m_angularDeflectionTimescale = 1000;
+                    vd.m_bankingEfficiency = 0;
+                    vd.m_bankingMix = 1;
+                    vd.m_bankingTimescale = 10;
+                    vd.m_flags &=
+                         ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
+                           VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
+                    vd.m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
+                    break;
+                case Vehicle.TYPE_CAR:
+                    vd.m_linearFrictionTimescale = new Vector3(100, 2, 1000);
+                    vd.m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
+                    vd.m_linearMotorTimescale = 1;
+                    vd.m_linearMotorDecayTimescale = 60;
+                    vd.m_angularMotorTimescale = 1;
+                    vd.m_angularMotorDecayTimescale = 0.8f;
+                    vd.m_VhoverHeight = 0;
+                    vd.m_VhoverEfficiency = 0;
+                    vd.m_VhoverTimescale = 1000;
+                    vd.m_VehicleBuoyancy = 0;
+                    vd.m_linearDeflectionEfficiency = 1;
+                    vd.m_linearDeflectionTimescale = 2;
+                    vd.m_angularDeflectionEfficiency = 0;
+                    vd.m_angularDeflectionTimescale = 10;
+                    vd.m_verticalAttractionEfficiency = 1f;
+                    vd.m_verticalAttractionTimescale = 10f;
+                    vd.m_bankingEfficiency = -0.2f;
+                    vd.m_bankingMix = 1;
+                    vd.m_bankingTimescale = 1;
+                    vd.m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
+                    vd.m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY |
+                                VehicleFlag.LIMIT_MOTOR_UP | VehicleFlag.HOVER_UP_ONLY);
+                    break;
+                case Vehicle.TYPE_BOAT:
+                    vd.m_linearFrictionTimescale = new Vector3(10, 3, 2);
+                    vd.m_angularFrictionTimescale = new Vector3(10, 10, 10);
+                    vd.m_linearMotorTimescale = 5;
+                    vd.m_linearMotorDecayTimescale = 60;
+                    vd.m_angularMotorTimescale = 4;
+                    vd.m_angularMotorDecayTimescale = 4;
+                    vd.m_VhoverHeight = 0;
+                    vd.m_VhoverEfficiency = 0.5f;
+                    vd.m_VhoverTimescale = 2;
+                    vd.m_VehicleBuoyancy = 1;
+                    vd.m_linearDeflectionEfficiency = 0.5f;
+                    vd.m_linearDeflectionTimescale = 3;
+                    vd.m_angularDeflectionEfficiency = 0.5f;
+                    vd.m_angularDeflectionTimescale = 5;
+                    vd.m_verticalAttractionEfficiency = 0.5f;
+                    vd.m_verticalAttractionTimescale = 5f;
+                    vd.m_bankingEfficiency = -0.3f;
+                    vd.m_bankingMix = 0.8f;
+                    vd.m_bankingTimescale = 1;
+                    vd.m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY |
+                            VehicleFlag.HOVER_GLOBAL_HEIGHT |
+                            VehicleFlag.HOVER_UP_ONLY |
+                            VehicleFlag.LIMIT_ROLL_ONLY);
+                    vd.m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
+                                VehicleFlag.LIMIT_MOTOR_UP |
+                                VehicleFlag.HOVER_WATER_ONLY);
+                    break;
+                case Vehicle.TYPE_AIRPLANE:
+                    vd.m_linearFrictionTimescale = new Vector3(200, 10, 5);
+                    vd.m_angularFrictionTimescale = new Vector3(20, 20, 20);
+                    vd.m_linearMotorTimescale = 2;
+                    vd.m_linearMotorDecayTimescale = 60;
+                    vd.m_angularMotorTimescale = 4;
+                    vd.m_angularMotorDecayTimescale = 8;
+                    vd.m_VhoverHeight = 0;
+                    vd.m_VhoverEfficiency = 0.5f;
+                    vd.m_VhoverTimescale = 1000;
+                    vd.m_VehicleBuoyancy = 0;
+                    vd.m_linearDeflectionEfficiency = 0.5f;
+                    vd.m_linearDeflectionTimescale = 0.5f;
+                    vd.m_angularDeflectionEfficiency = 1;
+                    vd.m_angularDeflectionTimescale = 2;
+                    vd.m_verticalAttractionEfficiency = 0.9f;
+                    vd.m_verticalAttractionTimescale = 2f;
+                    vd.m_bankingEfficiency = 1;
+                    vd.m_bankingMix = 0.7f;
+                    vd.m_bankingTimescale = 2;
+                    vd.m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY |
+                        VehicleFlag.HOVER_TERRAIN_ONLY |
+                        VehicleFlag.HOVER_GLOBAL_HEIGHT |
+                        VehicleFlag.HOVER_UP_ONLY |
+                        VehicleFlag.NO_DEFLECTION_UP |
+                        VehicleFlag.LIMIT_MOTOR_UP);
+                    vd.m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
+                    break;
+                case Vehicle.TYPE_BALLOON:
+                    vd.m_linearFrictionTimescale = new Vector3(5, 5, 5);
+                    vd.m_angularFrictionTimescale = new Vector3(10, 10, 10);
+                    vd.m_linearMotorTimescale = 5;
+                    vd.m_linearMotorDecayTimescale = 60;
+                    vd.m_angularMotorTimescale = 6;
+                    vd.m_angularMotorDecayTimescale = 10;
+                    vd.m_VhoverHeight = 5;
+                    vd.m_VhoverEfficiency = 0.8f;
+                    vd.m_VhoverTimescale = 10;
+                    vd.m_VehicleBuoyancy = 1;
+                    vd.m_linearDeflectionEfficiency = 0;
+                    vd.m_linearDeflectionTimescale = 5;
+                    vd.m_angularDeflectionEfficiency = 0;
+                    vd.m_angularDeflectionTimescale = 5;
+                    vd.m_verticalAttractionEfficiency = 0f;
+                    vd.m_verticalAttractionTimescale = 1000f;
+                    vd.m_bankingEfficiency = 0;
+                    vd.m_bankingMix = 0.7f;
+                    vd.m_bankingTimescale = 5;
+                    vd.m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY |
+                        VehicleFlag.HOVER_TERRAIN_ONLY |
+                        VehicleFlag.HOVER_UP_ONLY |
+                        VehicleFlag.NO_DEFLECTION_UP |
+                        VehicleFlag.LIMIT_MOTOR_UP);
+                    vd.m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY |
+                        VehicleFlag.HOVER_GLOBAL_HEIGHT);
+                    break;
+            }
+        }
+        public void SetVehicle(PhysicsActor ph)
+        {
+            if (ph == null)
+                return;
+            ph.SetVehicle(vd);
+        }
+
+        private XmlTextWriter writer;
+
+        private void XWint(string name, int i)
+        {
+            writer.WriteElementString(name, i.ToString());
+        }
+
+        private void XWfloat(string name, float f)
+        {
+            writer.WriteElementString(name, f.ToString(Utils.EnUsCulture));
+        }
+
+        private void XWVector(string name, Vector3 vec)
+        {
+            writer.WriteStartElement(name);
+            writer.WriteElementString("X", vec.X.ToString(Utils.EnUsCulture));
+            writer.WriteElementString("Y", vec.Y.ToString(Utils.EnUsCulture));
+            writer.WriteElementString("Z", vec.Z.ToString(Utils.EnUsCulture));
+            writer.WriteEndElement();
+        }
+
+        private void XWQuat(string name, Quaternion quat)
+        {
+            writer.WriteStartElement(name);
+            writer.WriteElementString("X", quat.X.ToString(Utils.EnUsCulture));
+            writer.WriteElementString("Y", quat.Y.ToString(Utils.EnUsCulture));
+            writer.WriteElementString("Z", quat.Z.ToString(Utils.EnUsCulture));
+            writer.WriteElementString("W", quat.W.ToString(Utils.EnUsCulture));
+            writer.WriteEndElement();
+        }
+
+        public void ToXml2(XmlTextWriter twriter)
+        {
+            writer = twriter;
+            writer.WriteStartElement("Vehicle");
+
+            XWint("TYPE", (int)vd.m_type);
+            XWint("FLAGS", (int)vd.m_flags);
+
+            // Linear properties
+            XWVector("LMDIR", vd.m_linearMotorDirection);
+            XWVector("LMFTIME", vd.m_linearFrictionTimescale);
+            XWfloat("LMDTIME", vd.m_linearMotorDecayTimescale);
+            XWfloat("LMTIME", vd.m_linearMotorTimescale);
+            XWVector("LMOFF", vd.m_linearMotorOffset);
+
+            //Angular properties
+            XWVector("AMDIR", vd.m_angularMotorDirection);
+            XWfloat("AMTIME", vd.m_angularMotorTimescale);
+            XWfloat("AMDTIME", vd.m_angularMotorDecayTimescale);
+            XWVector("AMFTIME", vd.m_angularFrictionTimescale);
+
+            //Deflection properties
+            XWfloat("ADEFF", vd.m_angularDeflectionEfficiency);
+            XWfloat("ADTIME", vd.m_angularDeflectionTimescale);
+            XWfloat("LDEFF", vd.m_linearDeflectionEfficiency);
+            XWfloat("LDTIME", vd.m_linearDeflectionTimescale);
+
+            //Banking properties
+            XWfloat("BEFF", vd.m_bankingEfficiency);
+            XWfloat("BMIX", vd.m_bankingMix);
+            XWfloat("BTIME", vd.m_bankingTimescale);
+
+            //Hover and Buoyancy properties
+            XWfloat("HHEI", vd.m_VhoverHeight);
+            XWfloat("HEFF", vd.m_VhoverEfficiency);
+            XWfloat("HTIME", vd.m_VhoverTimescale);
+            XWfloat("VBUO", vd.m_VehicleBuoyancy);
+
+            //Attractor properties
+            XWfloat("VAEFF", vd.m_verticalAttractionEfficiency);
+            XWfloat("VATIME", vd.m_verticalAttractionTimescale);
+
+            XWQuat("REF_FRAME", vd.m_referenceFrame);
+
+            writer.WriteEndElement();
+            writer = null;
+        }
+
+
+
+        XmlTextReader reader;
+
+        private int XRint()
+        {
+            return reader.ReadElementContentAsInt();
+        }
+
+        private float XRfloat()
+        {
+            return reader.ReadElementContentAsFloat();
+        }
+
+        public Vector3 XRvector()
+        {
+            Vector3 vec;
+            reader.ReadStartElement();
+            vec.X = reader.ReadElementContentAsFloat();
+            vec.Y = reader.ReadElementContentAsFloat();
+            vec.Z = reader.ReadElementContentAsFloat();
+            reader.ReadEndElement();
+            return vec;
+        }
+
+        public Quaternion XRquat()
+        {
+            Quaternion q;
+            reader.ReadStartElement();
+            q.X = reader.ReadElementContentAsFloat();
+            q.Y = reader.ReadElementContentAsFloat();
+            q.Z = reader.ReadElementContentAsFloat();
+            q.W = reader.ReadElementContentAsFloat();
+            reader.ReadEndElement();
+            return q;
+        }
+
+        public static bool EReadProcessors(
+            Dictionary<string, Action> processors,
+            XmlTextReader xtr)
+        {
+            bool errors = false;
+
+            string nodeName = string.Empty;
+            while (xtr.NodeType != XmlNodeType.EndElement)
+            {
+                nodeName = xtr.Name;
+
+                //                        m_log.DebugFormat("[ExternalRepresentationUtils]: Processing: {0}", nodeName);
+
+                Action p = null;
+                if (processors.TryGetValue(xtr.Name, out p))
+                {
+                    //                            m_log.DebugFormat("[ExternalRepresentationUtils]: Found {0} processor, nodeName);
+
+                    try
+                    {
+                        p();
+                    }
+                    catch (Exception e)
+                    {
+                        errors = true;
+                        if (xtr.NodeType == XmlNodeType.EndElement)
+                            xtr.Read();
+                    }
+                }
+                else
+                {
+                    // m_log.DebugFormat("[LandDataSerializer]: caught unknown element {0}", nodeName);
+                    xtr.ReadOuterXml(); // ignore
+                }
+            }
+
+            return errors;
+        }
+
+        
+
+        public void FromXml2(XmlTextReader _reader, out bool errors)
+        {
+            errors = false;
+            reader = _reader;
+
+            Dictionary<string, Action> m_VehicleXmlProcessors
+            = new Dictionary<string, Action>();
+
+            m_VehicleXmlProcessors.Add("TYPE", ProcessXR_type);
+            m_VehicleXmlProcessors.Add("FLAGS", ProcessXR_flags);
+
+            // Linear properties
+            m_VehicleXmlProcessors.Add("LMDIR", ProcessXR_linearMotorDirection);
+            m_VehicleXmlProcessors.Add("LMFTIME", ProcessXR_linearFrictionTimescale);
+            m_VehicleXmlProcessors.Add("LMDTIME", ProcessXR_linearMotorDecayTimescale);
+            m_VehicleXmlProcessors.Add("LMTIME", ProcessXR_linearMotorTimescale);
+            m_VehicleXmlProcessors.Add("LMOFF", ProcessXR_linearMotorOffset);
+
+            //Angular properties
+            m_VehicleXmlProcessors.Add("AMDIR", ProcessXR_angularMotorDirection);
+            m_VehicleXmlProcessors.Add("AMTIME", ProcessXR_angularMotorTimescale);
+            m_VehicleXmlProcessors.Add("AMDTIME", ProcessXR_angularMotorDecayTimescale);
+            m_VehicleXmlProcessors.Add("AMFTIME", ProcessXR_angularFrictionTimescale);
+
+            //Deflection properties
+            m_VehicleXmlProcessors.Add("ADEFF", ProcessXR_angularDeflectionEfficiency);
+            m_VehicleXmlProcessors.Add("ADTIME", ProcessXR_angularDeflectionTimescale);
+            m_VehicleXmlProcessors.Add("LDEFF", ProcessXR_linearDeflectionEfficiency);
+            m_VehicleXmlProcessors.Add("LDTIME", ProcessXR_linearDeflectionTimescale);
+
+            //Banking properties
+            m_VehicleXmlProcessors.Add("BEFF", ProcessXR_bankingEfficiency);
+            m_VehicleXmlProcessors.Add("BMIX", ProcessXR_bankingMix);
+            m_VehicleXmlProcessors.Add("BTIME", ProcessXR_bankingTimescale);
+
+            //Hover and Buoyancy properties
+            m_VehicleXmlProcessors.Add("HHEI", ProcessXR_VhoverHeight);
+            m_VehicleXmlProcessors.Add("HEFF", ProcessXR_VhoverEfficiency);
+            m_VehicleXmlProcessors.Add("HTIME", ProcessXR_VhoverTimescale);
+
+            m_VehicleXmlProcessors.Add("VBUO", ProcessXR_VehicleBuoyancy);
+
+            //Attractor properties
+            m_VehicleXmlProcessors.Add("VAEFF", ProcessXR_verticalAttractionEfficiency);
+            m_VehicleXmlProcessors.Add("VATIME", ProcessXR_verticalAttractionTimescale);
+
+            m_VehicleXmlProcessors.Add("REF_FRAME", ProcessXR_referenceFrame);
+
+            vd = new VehicleData();
+
+            reader.ReadStartElement("Vehicle", String.Empty);
+
+            errors = EReadProcessors(
+                m_VehicleXmlProcessors,
+                reader);
+
+            reader.ReadEndElement();
+            reader = null;
+        }
+
+        private void ProcessXR_type()
+        {
+            vd.m_type = (Vehicle)XRint();
+        }
+        private void ProcessXR_flags()
+        {
+            vd.m_flags = (VehicleFlag)XRint();
+        }
+        // Linear properties
+        private void ProcessXR_linearMotorDirection()
+        {
+            vd.m_linearMotorDirection = XRvector();
+        }
+
+        private void ProcessXR_linearFrictionTimescale()
+        {
+            vd.m_linearFrictionTimescale = XRvector();
+        }
+
+        private void ProcessXR_linearMotorDecayTimescale()
+        {
+            vd.m_linearMotorDecayTimescale = XRfloat();
+        }
+        private void ProcessXR_linearMotorTimescale()
+        {
+            vd.m_linearMotorTimescale = XRfloat();
+        }
+        private void ProcessXR_linearMotorOffset()
+        {
+            vd.m_linearMotorOffset = XRvector();
+        }
+
+
+        //Angular properties
+        private void ProcessXR_angularMotorDirection()
+        {
+            vd.m_angularMotorDirection = XRvector();
+        }
+        private void ProcessXR_angularMotorTimescale()
+        {
+            vd.m_angularMotorTimescale = XRfloat();
+        }
+        private void ProcessXR_angularMotorDecayTimescale()
+        {
+            vd.m_angularMotorDecayTimescale = XRfloat();
+        }
+        private void ProcessXR_angularFrictionTimescale()
+        {
+            vd.m_angularFrictionTimescale = XRvector();
+        }
+
+        //Deflection properties
+        private void ProcessXR_angularDeflectionEfficiency()
+        {
+            vd.m_angularDeflectionEfficiency = XRfloat();
+        }
+        private void ProcessXR_angularDeflectionTimescale()
+        {
+            vd.m_angularDeflectionTimescale = XRfloat();
+        }
+        private void ProcessXR_linearDeflectionEfficiency()
+        {
+            vd.m_linearDeflectionEfficiency = XRfloat();
+        }
+        private void ProcessXR_linearDeflectionTimescale()
+        {
+            vd.m_linearDeflectionTimescale = XRfloat();
+        }
+
+        //Banking properties
+        private void ProcessXR_bankingEfficiency()
+        {
+            vd.m_bankingEfficiency = XRfloat();
+        }
+        private void ProcessXR_bankingMix()
+        {
+            vd.m_bankingMix = XRfloat();
+        }
+        private void ProcessXR_bankingTimescale()
+        {
+            vd.m_bankingTimescale = XRfloat();
+        }
+
+        //Hover and Buoyancy properties
+        private void ProcessXR_VhoverHeight()
+        {
+            vd.m_VhoverHeight = XRfloat();
+        }
+        private void ProcessXR_VhoverEfficiency()
+        {
+            vd.m_VhoverEfficiency = XRfloat();
+        }
+        private void ProcessXR_VhoverTimescale()
+        {
+            vd.m_VhoverTimescale = XRfloat();
+        }
+
+        private void ProcessXR_VehicleBuoyancy()
+        {
+            vd.m_VehicleBuoyancy = XRfloat();
+        }
+
+        //Attractor properties
+        private void ProcessXR_verticalAttractionEfficiency()
+        {
+            vd.m_verticalAttractionEfficiency = XRfloat();
+        }
+        private void ProcessXR_verticalAttractionTimescale()
+        {
+            vd.m_verticalAttractionTimescale = XRfloat();
+        }
+
+        private void ProcessXR_referenceFrame()
+        {
+            vd.m_referenceFrame = XRquat();
+        }
+    }
+}
\ No newline at end of file
diff --git a/OpenSim/Region/Framework/Scenes/Scene.Inventory.cs b/OpenSim/Region/Framework/Scenes/Scene.Inventory.cs
index 5abd74f..6cf1067 100644
--- a/OpenSim/Region/Framework/Scenes/Scene.Inventory.cs
+++ b/OpenSim/Region/Framework/Scenes/Scene.Inventory.cs
@@ -117,34 +117,22 @@ namespace OpenSim.Region.Framework.Scenes
         /// <param name="item"></param>
         public bool AddInventoryItem(InventoryItemBase item)
         {
-            if (UUID.Zero == item.Folder)
+            InventoryFolderBase folder;
+
+            if (item.Folder == UUID.Zero)
             {
-                InventoryFolderBase f = InventoryService.GetFolderForType(item.Owner, (AssetType)item.AssetType);
-                if (f != null)
-                {
-//                    m_log.DebugFormat(
-//                        "[LOCAL INVENTORY SERVICES CONNECTOR]: Found folder {0} type {1} for item {2}", 
-//                        f.Name, (AssetType)f.Type, item.Name);
-                    
-                    item.Folder = f.ID;
-                }
-                else
+                folder = InventoryService.GetFolderForType(item.Owner, (AssetType)item.AssetType);
+                if (folder == null)
                 {
-                    f = InventoryService.GetRootFolder(item.Owner);
-                    if (f != null)
-                    {
-                        item.Folder = f.ID;
-                    }
-                    else
-                    {
-                        m_log.WarnFormat(
-                            "[AGENT INVENTORY]: Could not find root folder for {0} when trying to add item {1} with no parent folder specified",
-                            item.Owner, item.Name);
+                    folder = InventoryService.GetRootFolder(item.Owner);
+
+                    if (folder == null)
                         return false;
-                    }
                 }
+
+                item.Folder = folder.ID;
             }
-            
+
             if (InventoryService.AddItem(item))
             {
                 int userlevel = 0;
@@ -264,8 +252,7 @@ namespace OpenSim.Region.Framework.Scenes
 
             // Update item with new asset
             item.AssetID = asset.FullID;
-            if (group.UpdateInventoryItem(item))
-                remoteClient.SendAgentAlertMessage("Script saved", false);
+            group.UpdateInventoryItem(item);
             
             part.SendPropertiesToClient(remoteClient);
 
@@ -276,12 +263,7 @@ namespace OpenSim.Region.Framework.Scenes
             {
                 // Needs to determine which engine was running it and use that
                 //
-                part.Inventory.CreateScriptInstance(item.ItemID, 0, false, DefaultScriptEngine, 0);
-                errors = part.Inventory.GetScriptErrors(item.ItemID);
-            }
-            else
-            {
-                remoteClient.SendAgentAlertMessage("Script saved", false);
+                errors = part.Inventory.CreateScriptInstanceEr(item.ItemID, 0, false, DefaultScriptEngine, 0);
             }
 
             // Tell anyone managing scripts that a script has been reloaded/changed
@@ -349,6 +331,7 @@ namespace OpenSim.Region.Framework.Scenes
 
                 if (UUID.Zero == transactionID)
                 {
+                    item.Flags = (item.Flags & ~(uint)255) | (itemUpd.Flags & (uint)255);
                     item.Name = itemUpd.Name;
                     item.Description = itemUpd.Description;
 
@@ -736,6 +719,8 @@ namespace OpenSim.Region.Framework.Scenes
                     return;
             }
 
+            if (newName == null) newName = item.Name;
+
             AssetBase asset = AssetService.Get(item.AssetID.ToString());
 
             if (asset != null)
@@ -792,6 +777,24 @@ namespace OpenSim.Region.Framework.Scenes
         }
 
         /// <summary>
+        /// Move an item within the agent's inventory, and leave a copy (used in making a new outfit)
+        /// </summary>
+        public void MoveInventoryItemsLeaveCopy(IClientAPI remoteClient, List<InventoryItemBase> items, UUID destfolder)
+        {
+            List<InventoryItemBase> moveitems = new List<InventoryItemBase>();
+            foreach (InventoryItemBase b in items)
+            {
+                CopyInventoryItem(remoteClient, 0, remoteClient.AgentId, b.ID, b.Folder, null);
+                InventoryItemBase n = InventoryService.GetItem(b);
+                n.Folder = destfolder;
+                moveitems.Add(n);
+                remoteClient.SendInventoryItemCreateUpdate(n, 0);
+            }
+            
+            MoveInventoryItem(remoteClient, moveitems);
+        }
+
+        /// <summary>
         /// Move an item within the agent's inventory.
         /// </summary>
         /// <param name="remoteClient"></param>
@@ -1134,6 +1137,10 @@ namespace OpenSim.Region.Framework.Scenes
         {
             SceneObjectPart part = GetSceneObjectPart(primLocalId);
 
+            // Can't move a null item
+            if (itemId == UUID.Zero)
+                return;
+
             if (null == part)
             {
                 m_log.WarnFormat(
@@ -1238,21 +1245,28 @@ namespace OpenSim.Region.Framework.Scenes
                 return;
             }
 
-            if (part.OwnerID != destPart.OwnerID)
+            // Can't transfer this
+            //
+            if (part.OwnerID != destPart.OwnerID && (srcTaskItem.CurrentPermissions & (uint)PermissionMask.Transfer) == 0)
+                return;
+
+            bool overrideNoMod = false;
+            if ((part.GetEffectiveObjectFlags() & (uint)PrimFlags.AllowInventoryDrop) != 0)
+                overrideNoMod = true;
+
+            if (part.OwnerID != destPart.OwnerID && (destPart.GetEffectiveObjectFlags() & (uint)PrimFlags.AllowInventoryDrop) == 0)
             {
-                // Source must have transfer permissions
-                if ((srcTaskItem.CurrentPermissions & (uint)PermissionMask.Transfer) == 0)
-                    return;
+                // object cannot copy items to an object owned by a different owner
+                // unless llAllowInventoryDrop has been called
 
-                // Object cannot copy items to an object owned by a different owner
-                // unless llAllowInventoryDrop has been called on the destination
-                if ((destPart.GetEffectiveObjectFlags() & (uint)PrimFlags.AllowInventoryDrop) == 0)
-                    return;
+                return;
             }
 
             // must have both move and modify permission to put an item in an object
-            if ((part.OwnerMask & ((uint)PermissionMask.Move | (uint)PermissionMask.Modify)) == 0)
+            if (((part.OwnerMask & (uint)PermissionMask.Modify) == 0) && (!overrideNoMod))
+            {
                 return;
+            }
 
             TaskInventoryItem destTaskItem = new TaskInventoryItem();
 
@@ -1308,6 +1322,14 @@ namespace OpenSim.Region.Framework.Scenes
 
         public UUID MoveTaskInventoryItems(UUID destID, string category, SceneObjectPart host, List<UUID> items)
         {
+            SceneObjectPart destPart = GetSceneObjectPart(destID);
+            if (destPart != null) // Move into a prim
+            {
+                foreach(UUID itemID in items)
+                    MoveTaskInventoryItem(destID, host, itemID);
+                return destID; // Prim folder ID == prim ID
+            }
+
             InventoryFolderBase rootFolder = InventoryService.GetRootFolder(destID);
 
             UUID newFolderID = UUID.Random();
@@ -1493,12 +1515,12 @@ namespace OpenSim.Region.Framework.Scenes
                             agentTransactions.HandleTaskItemUpdateFromTransaction(
                                 remoteClient, part, transactionID, currentItem);
     
-                            if ((InventoryType)itemInfo.InvType == InventoryType.Notecard)
-                                remoteClient.SendAgentAlertMessage("Notecard saved", false);
-                            else if ((InventoryType)itemInfo.InvType == InventoryType.LSL)
-                                remoteClient.SendAgentAlertMessage("Script saved", false);
-                            else
-                                remoteClient.SendAgentAlertMessage("Item saved", false);
+//                            if ((InventoryType)itemInfo.InvType == InventoryType.Notecard)
+//                                remoteClient.SendAgentAlertMessage("Notecard saved", false);
+//                            else if ((InventoryType)itemInfo.InvType == InventoryType.LSL)
+//                                remoteClient.SendAgentAlertMessage("Script saved", false);
+//                            else
+//                                remoteClient.SendAgentAlertMessage("Item saved", false);
                         }
                     }
 
@@ -1682,7 +1704,7 @@ namespace OpenSim.Region.Framework.Scenes
             }
 
             AssetBase asset = CreateAsset(itemBase.Name, itemBase.Description, (sbyte)itemBase.AssetType,
-                Encoding.ASCII.GetBytes("default\n{\n    state_entry()\n    {\n        llSay(0, \"Script running\");\n    }\n}"),
+                Encoding.ASCII.GetBytes("default\n{\n    state_entry()\n    {\n        llSay(0, \"Script running\");\n    }\n\n    touch_start(integer num)\n    {\n    }\n}"),
                 agentID);
             AssetService.Store(asset);
 
@@ -1838,23 +1860,32 @@ namespace OpenSim.Region.Framework.Scenes
             // build a list of eligible objects
             List<uint> deleteIDs = new List<uint>();
             List<SceneObjectGroup> deleteGroups = new List<SceneObjectGroup>();
-
-            // Start with true for both, then remove the flags if objects
-            // that we can't derez are part of the selection
-            bool permissionToTake = true;
-            bool permissionToTakeCopy = true;
-            bool permissionToDelete = true;
+            List<SceneObjectGroup> takeGroups = new List<SceneObjectGroup>();
 
             foreach (uint localID in localIDs)
             {
+                // Start with true for both, then remove the flags if objects
+                // that we can't derez are part of the selection
+                bool permissionToTake = true;
+                bool permissionToTakeCopy = true;
+                bool permissionToDelete = true;
+
                 // Invalid id
                 SceneObjectPart part = GetSceneObjectPart(localID);
                 if (part == null)
+                {
+                    //Client still thinks the object exists, kill it
+                    deleteIDs.Add(localID);
                     continue;
+                }
 
                 // Already deleted by someone else
                 if (part.ParentGroup.IsDeleted)
+                {
+                    //Client still thinks the object exists, kill it
+                    deleteIDs.Add(localID);
                     continue;
+                }
 
                 // Can't delete child prims
                 if (part != part.ParentGroup.RootPart)
@@ -1862,9 +1893,6 @@ namespace OpenSim.Region.Framework.Scenes
 
                 SceneObjectGroup grp = part.ParentGroup;
 
-                deleteIDs.Add(localID);
-                deleteGroups.Add(grp);
-
                 if (remoteClient == null)
                 {
                     // Autoreturn has a null client. Nothing else does. So
@@ -1881,81 +1909,193 @@ namespace OpenSim.Region.Framework.Scenes
                 }
                 else
                 {
-                    if (!Permissions.CanTakeCopyObject(grp.UUID, remoteClient.AgentId))
+                    if (action == DeRezAction.TakeCopy)
+                    {
+                        if (!Permissions.CanTakeCopyObject(grp.UUID, remoteClient.AgentId))
+                            permissionToTakeCopy = false;
+                    }
+                    else
+                    {
                         permissionToTakeCopy = false;
-                    
+                    }
                     if (!Permissions.CanTakeObject(grp.UUID, remoteClient.AgentId))
                         permissionToTake = false;
                     
                     if (!Permissions.CanDeleteObject(grp.UUID, remoteClient.AgentId))
                         permissionToDelete = false;
                 }
-            }
 
-            // Handle god perms
-            if ((remoteClient != null) && Permissions.IsGod(remoteClient.AgentId))
-            {
-                permissionToTake = true;
-                permissionToTakeCopy = true;
-                permissionToDelete = true;
-            }
+                // Handle god perms
+                if ((remoteClient != null) && Permissions.IsGod(remoteClient.AgentId))
+                {
+                    permissionToTake = true;
+                    permissionToTakeCopy = true;
+                    permissionToDelete = true;
+                }
 
-            // If we're re-saving, we don't even want to delete
-            if (action == DeRezAction.SaveToExistingUserInventoryItem)
-                permissionToDelete = false;
+                // If we're re-saving, we don't even want to delete
+                if (action == DeRezAction.SaveToExistingUserInventoryItem)
+                    permissionToDelete = false;
 
-            // if we want to take a copy, we also don't want to delete
-            // Note: after this point, the permissionToTakeCopy flag
-            // becomes irrelevant. It already includes the permissionToTake
-            // permission and after excluding no copy items here, we can
-            // just use that.
-            if (action == DeRezAction.TakeCopy)
-            {
-                // If we don't have permission, stop right here
-                if (!permissionToTakeCopy)
-                    return;
+                // if we want to take a copy, we also don't want to delete
+                // Note: after this point, the permissionToTakeCopy flag
+                // becomes irrelevant. It already includes the permissionToTake
+                // permission and after excluding no copy items here, we can
+                // just use that.
+                if (action == DeRezAction.TakeCopy)
+                {
+                    // If we don't have permission, stop right here
+                    if (!permissionToTakeCopy)
+                        return;
 
-                permissionToTake = true;
-                // Don't delete
-                permissionToDelete = false;
-            }
+                    permissionToTake = true;
+                    // Don't delete
+                    permissionToDelete = false;
+                }
 
-            if (action == DeRezAction.Return)
-            {
-                if (remoteClient != null)
+                if (action == DeRezAction.Return)
                 {
-                    if (Permissions.CanReturnObjects(
-                                    null,
-                                    remoteClient.AgentId,
-                                    deleteGroups))
+                    if (remoteClient != null)
                     {
-                        permissionToTake = true;
-                        permissionToDelete = true;
-
-                        foreach (SceneObjectGroup g in deleteGroups)
+                        if (Permissions.CanReturnObjects(
+                                        null,
+                                        remoteClient.AgentId,
+                                        deleteGroups))
                         {
-                            AddReturn(g.OwnerID == g.GroupID ? g.LastOwnerID : g.OwnerID, g.Name, g.AbsolutePosition, "parcel owner return");
+                            permissionToTake = true;
+                            permissionToDelete = true;
+
+                            AddReturn(grp.OwnerID == grp.GroupID ? grp.LastOwnerID : grp.OwnerID, grp.Name, grp.AbsolutePosition, "parcel owner return");
                         }
                     }
+                    else // Auto return passes through here with null agent
+                    {
+                        permissionToTake = true;
+                        permissionToDelete = true;
+                    }
                 }
-                else // Auto return passes through here with null agent
+
+                if (permissionToTake && (!permissionToDelete))
+                    takeGroups.Add(grp);
+
+                if (permissionToDelete)
                 {
-                    permissionToTake = true;
-                    permissionToDelete = true;
+                    if (permissionToTake)
+                        deleteGroups.Add(grp);
+                    deleteIDs.Add(grp.LocalId);
                 }
             }
 
-            if (permissionToTake)
+            SendKillObject(deleteIDs);
+
+            if (deleteGroups.Count > 0)
             {
+                foreach (SceneObjectGroup g in deleteGroups)
+                    deleteIDs.Remove(g.LocalId);
+
                 m_asyncSceneObjectDeleter.DeleteToInventory(
                         action, destinationID, deleteGroups, remoteClient,
-                        permissionToDelete);
+                        true);
             }
-            else if (permissionToDelete)
+            if (takeGroups.Count > 0)
+            {
+                m_asyncSceneObjectDeleter.DeleteToInventory(
+                        action, destinationID, takeGroups, remoteClient,
+                        false);
+            }
+            if (deleteIDs.Count > 0)
             {
                 foreach (SceneObjectGroup g in deleteGroups)
-                    DeleteSceneObject(g, false);
+                    DeleteSceneObject(g, true);
+            }
+        }
+
+        public UUID attachObjectAssetStore(IClientAPI remoteClient, SceneObjectGroup grp, UUID AgentId, out UUID itemID)
+        {
+            itemID = UUID.Zero;
+            if (grp != null)
+            {
+                Vector3 inventoryStoredPosition = new Vector3
+                       (((grp.AbsolutePosition.X > (int)Constants.RegionSize)
+                             ? 250
+                             : grp.AbsolutePosition.X)
+                        ,
+                        (grp.AbsolutePosition.X > (int)Constants.RegionSize)
+                            ? 250
+                            : grp.AbsolutePosition.X,
+                        grp.AbsolutePosition.Z);
+
+                Vector3 originalPosition = grp.AbsolutePosition;
+
+                grp.AbsolutePosition = inventoryStoredPosition;
+
+                string sceneObjectXml = SceneObjectSerializer.ToOriginalXmlFormat(grp);
+
+                grp.AbsolutePosition = originalPosition;
+
+                AssetBase asset = CreateAsset(
+                    grp.GetPartName(grp.LocalId),
+                    grp.GetPartDescription(grp.LocalId),
+                    (sbyte)AssetType.Object,
+                    Utils.StringToBytes(sceneObjectXml),
+                    remoteClient.AgentId);
+                AssetService.Store(asset);
+
+                InventoryItemBase item = new InventoryItemBase();
+                item.CreatorId = grp.RootPart.CreatorID.ToString();
+                item.CreatorData = grp.RootPart.CreatorData;
+                item.Owner = remoteClient.AgentId;
+                item.ID = UUID.Random();
+                item.AssetID = asset.FullID;
+                item.Description = asset.Description;
+                item.Name = asset.Name;
+                item.AssetType = asset.Type;
+                item.InvType = (int)InventoryType.Object;
+
+                InventoryFolderBase folder = InventoryService.GetFolderForType(remoteClient.AgentId, AssetType.Object);
+                if (folder != null)
+                    item.Folder = folder.ID;
+                else // oopsies
+                    item.Folder = UUID.Zero;
+
+                // Set up base perms properly
+                uint permsBase = (uint)(PermissionMask.Move | PermissionMask.Copy | PermissionMask.Transfer | PermissionMask.Modify);
+                permsBase &= grp.RootPart.BaseMask;
+                permsBase |= (uint)PermissionMask.Move;
+
+                // Make sure we don't lock it
+                grp.RootPart.NextOwnerMask |= (uint)PermissionMask.Move;
+
+                if ((remoteClient.AgentId != grp.RootPart.OwnerID) && Permissions.PropagatePermissions())
+                {
+                    item.BasePermissions = permsBase & grp.RootPart.NextOwnerMask;
+                    item.CurrentPermissions = permsBase & grp.RootPart.NextOwnerMask;
+                    item.NextPermissions = permsBase & grp.RootPart.NextOwnerMask;
+                    item.EveryOnePermissions = permsBase & grp.RootPart.EveryoneMask & grp.RootPart.NextOwnerMask;
+                    item.GroupPermissions = permsBase & grp.RootPart.GroupMask & grp.RootPart.NextOwnerMask;
+                }
+                else
+                {
+                    item.BasePermissions = permsBase;
+                    item.CurrentPermissions = permsBase & grp.RootPart.OwnerMask;
+                    item.NextPermissions = permsBase & grp.RootPart.NextOwnerMask;
+                    item.EveryOnePermissions = permsBase & grp.RootPart.EveryoneMask;
+                    item.GroupPermissions = permsBase & grp.RootPart.GroupMask;
+                }
+                item.CreationDate = Util.UnixTimeSinceEpoch();
+
+                // sets itemID so client can show item as 'attached' in inventory
+                grp.SetFromItemID(item.ID);
+
+                if (AddInventoryItem(item))
+                    remoteClient.SendInventoryItemCreateUpdate(item, 0);
+                else
+                    m_dialogModule.SendAlertToUser(remoteClient, "Operation failed");
+
+                itemID = item.ID;
+                return item.AssetID;
             }
+            return UUID.Zero;
         }
 
         /// <summary>
@@ -2084,6 +2224,9 @@ namespace OpenSim.Region.Framework.Scenes
 
         public void SetScriptRunning(IClientAPI controllingClient, UUID objectID, UUID itemID, bool running)
         {
+            if (!Permissions.CanEditScript(itemID, objectID, controllingClient.AgentId))
+                return;
+
             SceneObjectPart part = GetSceneObjectPart(objectID);
             if (part == null)
                 return;
diff --git a/OpenSim/Region/Framework/Scenes/Scene.PacketHandlers.cs b/OpenSim/Region/Framework/Scenes/Scene.PacketHandlers.cs
index 87ffc74..35ac908 100644
--- a/OpenSim/Region/Framework/Scenes/Scene.PacketHandlers.cs
+++ b/OpenSim/Region/Framework/Scenes/Scene.PacketHandlers.cs
@@ -138,12 +138,12 @@ namespace OpenSim.Region.Framework.Scenes
             {
                 SceneObjectGroup sog = part.ParentGroup;
                 sog.SendPropertiesToClient(remoteClient);
-                sog.IsSelected = true;
 
                 // A prim is only tainted if it's allowed to be edited by the person clicking it.
                 if (Permissions.CanEditObject(sog.UUID, remoteClient.AgentId)
                     || Permissions.CanMoveObject(sog.UUID, remoteClient.AgentId))
                 {
+                    sog.IsSelected = true;
                     EventManager.TriggerParcelPrimCountTainted();
                 }
             }
@@ -215,7 +215,9 @@ namespace OpenSim.Region.Framework.Scenes
             // handled by group, but by prim. Legacy cruft.
             // TODO: Make selection flagging per prim!
             //
-            part.ParentGroup.IsSelected = false;
+            if (Permissions.CanEditObject(part.ParentGroup.UUID, remoteClient.AgentId)
+                || Permissions.CanMoveObject(part.ParentGroup.UUID, remoteClient.AgentId))
+                part.ParentGroup.IsSelected = false;
             
             if (part.ParentGroup.IsAttachment)
                 isAttachment = true;
diff --git a/OpenSim/Region/Framework/Scenes/Scene.cs b/OpenSim/Region/Framework/Scenes/Scene.cs
index 0b31e0c..973be39 100644
--- a/OpenSim/Region/Framework/Scenes/Scene.cs
+++ b/OpenSim/Region/Framework/Scenes/Scene.cs
@@ -118,6 +118,7 @@ namespace OpenSim.Region.Framework.Scenes
         // TODO: need to figure out how allow client agents but deny
         // root agents when ACL denies access to root agent
         public bool m_strictAccessControl = true;
+        public bool m_seeIntoBannedRegion = false;
         public int MaxUndoCount = 5;
         // Using this for RegionReady module to prevent LoginsDisabled from changing under our feet;
         public bool LoginLock = false;
@@ -133,12 +134,14 @@ namespace OpenSim.Region.Framework.Scenes
 
         protected int m_splitRegionID;
         protected Timer m_restartWaitTimer = new Timer();
+        protected Timer m_timerWatchdog = new Timer();
         protected List<RegionInfo> m_regionRestartNotifyList = new List<RegionInfo>();
         protected List<RegionInfo> m_neighbours = new List<RegionInfo>();
         protected string m_simulatorVersion = "OpenSimulator Server";
         protected ModuleLoader m_moduleLoader;
         protected AgentCircuitManager m_authenticateHandler;
         protected SceneCommunicationService m_sceneGridService;
+        protected ISnmpModule m_snmpService = null;
 
         protected ISimulationDataService m_SimulationDataService;
         protected IEstateDataService m_EstateDataService;
@@ -201,7 +204,7 @@ namespace OpenSim.Region.Framework.Scenes
         private int m_update_events = 1;
         private int m_update_backup = 200;
         private int m_update_terrain = 50;
-//        private int m_update_land = 1;
+        private int m_update_land = 10;
         private int m_update_coarse_locations = 50;
 
         private int agentMS;
@@ -220,6 +223,7 @@ namespace OpenSim.Region.Framework.Scenes
         /// </summary>
         private int m_lastFrameTick;
 
+        public bool CombineRegions = false;
         /// <summary>
         /// Tick at which the last maintenance run occurred.
         /// </summary>
@@ -250,6 +254,11 @@ namespace OpenSim.Region.Framework.Scenes
         /// </summary>
         private int m_LastLogin;
 
+        private int m_lastIncoming;
+        private int m_lastOutgoing;
+        private int m_hbRestarts = 0;
+
+
         /// <summary>
         /// Thread that runs the scene loop.
         /// </summary>
@@ -265,7 +274,7 @@ namespace OpenSim.Region.Framework.Scenes
         private volatile bool m_shuttingDown;
 
 //        private int m_lastUpdate;
-//        private bool m_firstHeartbeat = true;
+        private bool m_firstHeartbeat = true;
         
         private UpdatePrioritizationSchemes m_priorityScheme = UpdatePrioritizationSchemes.Time;
         private bool m_reprioritizationEnabled = true;
@@ -310,6 +319,19 @@ namespace OpenSim.Region.Framework.Scenes
             get { return m_sceneGridService; }
         }
 
+        public ISnmpModule SnmpService
+        {
+            get
+            {
+                if (m_snmpService == null)
+                {
+                    m_snmpService = RequestModuleInterface<ISnmpModule>();
+                }
+
+                return m_snmpService;
+            }
+        }
+
         public ISimulationDataService SimulationDataService
         {
             get
@@ -592,6 +614,8 @@ namespace OpenSim.Region.Framework.Scenes
             m_EstateDataService = estateDataService;
             m_regionHandle = m_regInfo.RegionHandle;
             m_regionName = m_regInfo.RegionName;
+            m_lastIncoming = 0;
+            m_lastOutgoing = 0;
 
             m_asyncSceneObjectDeleter = new AsyncSceneObjectGroupDeleter(this);
             m_asyncSceneObjectDeleter.Enabled = true;
@@ -676,98 +700,107 @@ namespace OpenSim.Region.Framework.Scenes
 
             // Region config overrides global config
             //
-            if (m_config.Configs["Startup"] != null)
+            try
             {
-                IConfig startupConfig = m_config.Configs["Startup"];
-
-                m_defaultDrawDistance = startupConfig.GetFloat("DefaultDrawDistance",m_defaultDrawDistance);
-                m_useBackup = startupConfig.GetBoolean("UseSceneBackup", m_useBackup);
-                if (!m_useBackup)
-                    m_log.InfoFormat("[SCENE]: Backup has been disabled for {0}", RegionInfo.RegionName);
-                
-                //Animation states
-                m_useFlySlow = startupConfig.GetBoolean("enableflyslow", false);
-
-                PhysicalPrims = startupConfig.GetBoolean("physical_prim", true);
-                CollidablePrims = startupConfig.GetBoolean("collidable_prim", true);
-
-                m_maxNonphys = startupConfig.GetFloat("NonphysicalPrimMax", m_maxNonphys);
-                if (RegionInfo.NonphysPrimMax > 0)
+                if (m_config.Configs["Startup"] != null)
                 {
-                    m_maxNonphys = RegionInfo.NonphysPrimMax;
-                }
+                    IConfig startupConfig = m_config.Configs["Startup"];
 
-                m_maxPhys = startupConfig.GetFloat("PhysicalPrimMax", m_maxPhys);
+                    m_defaultDrawDistance = startupConfig.GetFloat("DefaultDrawDistance",m_defaultDrawDistance);
+                    m_useBackup = startupConfig.GetBoolean("UseSceneBackup", m_useBackup);
+                    if (!m_useBackup)
+                        m_log.InfoFormat("[SCENE]: Backup has been disabled for {0}", RegionInfo.RegionName);
+                    
+                    //Animation states
+                    m_useFlySlow = startupConfig.GetBoolean("enableflyslow", false);
 
-                if (RegionInfo.PhysPrimMax > 0)
-                {
-                    m_maxPhys = RegionInfo.PhysPrimMax;
-                }
+                    PhysicalPrims = startupConfig.GetBoolean("physical_prim", true);
+                    CollidablePrims = startupConfig.GetBoolean("collidable_prim", true);
 
-                // Here, if clamping is requested in either global or
-                // local config, it will be used
-                //
-                m_clampPrimSize = startupConfig.GetBoolean("ClampPrimSize", m_clampPrimSize);
-                if (RegionInfo.ClampPrimSize)
-                {
-                    m_clampPrimSize = true;
-                }
+                    m_maxNonphys = startupConfig.GetFloat("NonphysicalPrimMax", m_maxNonphys);
+                    if (RegionInfo.NonphysPrimMax > 0)
+                    {
+                        m_maxNonphys = RegionInfo.NonphysPrimMax;
+                    }
 
-                m_trustBinaries = startupConfig.GetBoolean("TrustBinaries", m_trustBinaries);
-                m_allowScriptCrossings = startupConfig.GetBoolean("AllowScriptCrossing", m_allowScriptCrossings);
-                m_dontPersistBefore =
-                  startupConfig.GetLong("MinimumTimeBeforePersistenceConsidered", DEFAULT_MIN_TIME_FOR_PERSISTENCE);
-                m_dontPersistBefore *= 10000000;
-                m_persistAfter =
-                  startupConfig.GetLong("MaximumTimeBeforePersistenceConsidered", DEFAULT_MAX_TIME_FOR_PERSISTENCE);
-                m_persistAfter *= 10000000;
+                    m_maxPhys = startupConfig.GetFloat("PhysicalPrimMax", m_maxPhys);
 
-                m_defaultScriptEngine = startupConfig.GetString("DefaultScriptEngine", "XEngine");
+                    if (RegionInfo.PhysPrimMax > 0)
+                    {
+                        m_maxPhys = RegionInfo.PhysPrimMax;
+                    }
 
-                IConfig packetConfig = m_config.Configs["PacketPool"];
-                if (packetConfig != null)
-                {
-                    PacketPool.Instance.RecyclePackets = packetConfig.GetBoolean("RecyclePackets", true);
-                    PacketPool.Instance.RecycleDataBlocks = packetConfig.GetBoolean("RecycleDataBlocks", true);
-                }
+                    // Here, if clamping is requested in either global or
+                    // local config, it will be used
+                    //
+                    m_clampPrimSize = startupConfig.GetBoolean("ClampPrimSize", m_clampPrimSize);
+                    if (RegionInfo.ClampPrimSize)
+                    {
+                        m_clampPrimSize = true;
+                    }
 
-                m_strictAccessControl = startupConfig.GetBoolean("StrictAccessControl", m_strictAccessControl);
+                    m_trustBinaries = startupConfig.GetBoolean("TrustBinaries", m_trustBinaries);
+                    m_allowScriptCrossings = startupConfig.GetBoolean("AllowScriptCrossing", m_allowScriptCrossings);
+                    m_dontPersistBefore =
+                      startupConfig.GetLong("MinimumTimeBeforePersistenceConsidered", DEFAULT_MIN_TIME_FOR_PERSISTENCE);
+                    m_dontPersistBefore *= 10000000;
+                    m_persistAfter =
+                      startupConfig.GetLong("MaximumTimeBeforePersistenceConsidered", DEFAULT_MAX_TIME_FOR_PERSISTENCE);
+                    m_persistAfter *= 10000000;
 
-                m_generateMaptiles = startupConfig.GetBoolean("GenerateMaptiles", true);
-                if (m_generateMaptiles)
-                {
-                    int maptileRefresh = startupConfig.GetInt("MaptileRefresh", 0);
-                    if (maptileRefresh != 0)
+                    m_defaultScriptEngine = startupConfig.GetString("DefaultScriptEngine", "XEngine");
+                    m_log.InfoFormat("[SCENE]: Default script engine {0}", m_defaultScriptEngine);
+
+                    IConfig packetConfig = m_config.Configs["PacketPool"];
+                    if (packetConfig != null)
                     {
-                        m_mapGenerationTimer.Interval = maptileRefresh * 1000;
-                        m_mapGenerationTimer.Elapsed += RegenerateMaptileAndReregister;
-                        m_mapGenerationTimer.AutoReset = true;
-                        m_mapGenerationTimer.Start();
+                        PacketPool.Instance.RecyclePackets = packetConfig.GetBoolean("RecyclePackets", true);
+                        PacketPool.Instance.RecycleDataBlocks = packetConfig.GetBoolean("RecycleDataBlocks", true);
                     }
-                }
-                else
-                {
-                    string tile = startupConfig.GetString("MaptileStaticUUID", UUID.Zero.ToString());
-                    UUID tileID;
 
-                    if (UUID.TryParse(tile, out tileID))
+                    m_strictAccessControl = startupConfig.GetBoolean("StrictAccessControl", m_strictAccessControl);
+                    m_seeIntoBannedRegion = startupConfig.GetBoolean("SeeIntoBannedRegion", m_seeIntoBannedRegion);
+                    CombineRegions = startupConfig.GetBoolean("CombineContiguousRegions", false);
+
+                    m_generateMaptiles = startupConfig.GetBoolean("GenerateMaptiles", true);
+                    if (m_generateMaptiles)
                     {
-                        RegionInfo.RegionSettings.TerrainImageID = tileID;
+                        int maptileRefresh = startupConfig.GetInt("MaptileRefresh", 0);
+                        if (maptileRefresh != 0)
+                        {
+                            m_mapGenerationTimer.Interval = maptileRefresh * 1000;
+                            m_mapGenerationTimer.Elapsed += RegenerateMaptileAndReregister;
+                            m_mapGenerationTimer.AutoReset = true;
+                            m_mapGenerationTimer.Start();
+                        }
                     }
-                }
+                    else
+                    {
+                        string tile = startupConfig.GetString("MaptileStaticUUID", UUID.Zero.ToString());
+                        UUID tileID;
 
-                MinFrameTime              = startupConfig.GetFloat( "MinFrameTime",                      MinFrameTime);
-                m_update_backup           = startupConfig.GetInt(   "UpdateStorageEveryNFrames",         m_update_backup);
-                m_update_coarse_locations = startupConfig.GetInt(   "UpdateCoarseLocationsEveryNFrames", m_update_coarse_locations);
-                m_update_entitymovement   = startupConfig.GetInt(   "UpdateEntityMovementEveryNFrames",  m_update_entitymovement);
-                m_update_events           = startupConfig.GetInt(   "UpdateEventsEveryNFrames",          m_update_events);
-                m_update_objects          = startupConfig.GetInt(   "UpdateObjectsEveryNFrames",         m_update_objects);
-                m_update_physics          = startupConfig.GetInt(   "UpdatePhysicsEveryNFrames",         m_update_physics);
-                m_update_presences        = startupConfig.GetInt(   "UpdateAgentsEveryNFrames",          m_update_presences);
-                m_update_terrain          = startupConfig.GetInt(   "UpdateTerrainEveryNFrames",         m_update_terrain);
-                m_update_temp_cleaning    = startupConfig.GetInt(   "UpdateTempCleaningEveryNFrames",    m_update_temp_cleaning);
+                        if (UUID.TryParse(tile, out tileID))
+                        {
+                            RegionInfo.RegionSettings.TerrainImageID = tileID;
+                        }
+                    }
 
-                SendPeriodicAppearanceUpdates = startupConfig.GetBoolean("SendPeriodicAppearanceUpdates", SendPeriodicAppearanceUpdates);
+                    MinFrameTime              = startupConfig.GetFloat( "MinFrameTime",                      MinFrameTime);
+                    m_update_backup           = startupConfig.GetInt(   "UpdateStorageEveryNFrames",         m_update_backup);
+                    m_update_coarse_locations = startupConfig.GetInt(   "UpdateCoarseLocationsEveryNFrames", m_update_coarse_locations);
+                    m_update_entitymovement   = startupConfig.GetInt(   "UpdateEntityMovementEveryNFrames",  m_update_entitymovement);
+                    m_update_events           = startupConfig.GetInt(   "UpdateEventsEveryNFrames",          m_update_events);
+                    m_update_objects          = startupConfig.GetInt(   "UpdateObjectsEveryNFrames",         m_update_objects);
+                    m_update_physics          = startupConfig.GetInt(   "UpdatePhysicsEveryNFrames",         m_update_physics);
+                    m_update_presences        = startupConfig.GetInt(   "UpdateAgentsEveryNFrames",          m_update_presences);
+                    m_update_terrain          = startupConfig.GetInt(   "UpdateTerrainEveryNFrames",         m_update_terrain);
+                    m_update_temp_cleaning    = startupConfig.GetInt(   "UpdateTempCleaningEveryNFrames",    m_update_temp_cleaning);
+                    SendPeriodicAppearanceUpdates = startupConfig.GetBoolean("SendPeriodicAppearanceUpdates", SendPeriodicAppearanceUpdates);
+                }
+            }
+            catch (Exception e)
+            {
+                m_log.Error("[SCENE]: Failed to load StartupConfig: " + e.ToString());
             }
 
             #endregion Region Config
@@ -1198,7 +1231,22 @@ namespace OpenSim.Region.Framework.Scenes
             //m_heartbeatTimer.Elapsed += new ElapsedEventHandler(Heartbeat);
             if (m_heartbeatThread != null)
             {
+                m_hbRestarts++;
+                if(m_hbRestarts > 10)
+                    Environment.Exit(1);
+                m_log.ErrorFormat("[SCENE]: Restarting heartbeat thread because it hasn't reported in in region {0}", RegionInfo.RegionName);
+
+//int pid = System.Diagnostics.Process.GetCurrentProcess().Id;
+//System.Diagnostics.Process proc = new System.Diagnostics.Process();
+//proc.EnableRaisingEvents=false; 
+//proc.StartInfo.FileName = "/bin/kill";
+//proc.StartInfo.Arguments = "-QUIT " + pid.ToString();
+//proc.Start();
+//proc.WaitForExit();
+//Thread.Sleep(1000);
+//Environment.Exit(1);
                 m_heartbeatThread.Abort();
+                Watchdog.AbortThread(m_heartbeatThread.ManagedThreadId);
                 m_heartbeatThread = null;
             }
 //            m_lastUpdate = Util.EnvironmentTickCount();
@@ -1511,6 +1559,8 @@ namespace OpenSim.Region.Framework.Scenes
                 maintc = Util.EnvironmentTickCountSubtract(m_lastFrameTick, maintc);
                 maintc = (int)(MinFrameTime * 1000) - maintc;
 
+                m_firstHeartbeat = false;
+
                 if (maintc > 0)
                     Thread.Sleep(maintc);
 
@@ -1540,9 +1590,9 @@ namespace OpenSim.Region.Framework.Scenes
 
         private void CheckAtTargets()
         {
-            Dictionary<UUID, SceneObjectGroup>.ValueCollection objs;
+            List<SceneObjectGroup> objs = new List<SceneObjectGroup>();
             lock (m_groupsWithTargets)
-                objs = m_groupsWithTargets.Values;
+                objs = new List<SceneObjectGroup>(m_groupsWithTargets.Values);
 
             foreach (SceneObjectGroup entry in objs)
                 entry.checkAtTargets();
@@ -1623,7 +1673,7 @@ namespace OpenSim.Region.Framework.Scenes
                     msg.fromAgentName = "Server";
                     msg.dialog = (byte)19; // Object msg
                     msg.fromGroup = false;
-                    msg.offline = (byte)0;
+                    msg.offline = (byte)1;
                     msg.ParentEstateID = RegionInfo.EstateSettings.ParentEstateID;
                     msg.Position = Vector3.Zero;
                     msg.RegionID = RegionInfo.RegionID.Guid;
@@ -1861,14 +1911,24 @@ namespace OpenSim.Region.Framework.Scenes
         /// <returns></returns>
         public Vector3 GetNewRezLocation(Vector3 RayStart, Vector3 RayEnd, UUID RayTargetID, Quaternion rot, byte bypassRayCast, byte RayEndIsIntersection, bool frontFacesOnly, Vector3 scale, bool FaceCenter)
         {
+        
+            float wheight = (float)RegionInfo.RegionSettings.WaterHeight;
+            Vector3 wpos = Vector3.Zero;
+            // Check for water surface intersection from above
+            if ( (RayStart.Z > wheight) && (RayEnd.Z < wheight) )
+            {
+                float ratio = (RayStart.Z - wheight) / (RayStart.Z - RayEnd.Z);
+                wpos.X = RayStart.X - (ratio * (RayStart.X - RayEnd.X));
+                wpos.Y = RayStart.Y - (ratio * (RayStart.Y - RayEnd.Y));
+                wpos.Z = wheight;
+            }                
+        
             Vector3 pos = Vector3.Zero;
             if (RayEndIsIntersection == (byte)1)
             {
                 pos = RayEnd;
-                return pos;
             }
-
-            if (RayTargetID != UUID.Zero)
+            else if (RayTargetID != UUID.Zero)
             {
                 SceneObjectPart target = GetSceneObjectPart(RayTargetID);
 
@@ -1890,7 +1950,7 @@ namespace OpenSim.Region.Framework.Scenes
                     EntityIntersection ei = target.TestIntersectionOBB(NewRay, Quaternion.Identity, frontFacesOnly, FaceCenter);
 
                     // Un-comment out the following line to Get Raytrace results printed to the console.
-                   // m_log.Info("[RAYTRACERESULTS]: Hit:" + ei.HitTF.ToString() + " Point: " + ei.ipoint.ToString() + " Normal: " + ei.normal.ToString());
+                    // m_log.Info("[RAYTRACERESULTS]: Hit:" + ei.HitTF.ToString() + " Point: " + ei.ipoint.ToString() + " Normal: " + ei.normal.ToString());
                     float ScaleOffset = 0.5f;
 
                     // If we hit something
@@ -1913,13 +1973,10 @@ namespace OpenSim.Region.Framework.Scenes
                         //pos.Z -= 0.25F; 
                        
                     }
-
-                    return pos;
                 }
                 else
                 {
                     // We don't have a target here, so we're going to raytrace all the objects in the scene.
-
                     EntityIntersection ei = m_sceneGraph.GetClosestIntersectingPrim(new Ray(AXOrigin, AXdirection), true, false);
 
                     // Un-comment the following line to print the raytrace results to the console.
@@ -1928,13 +1985,12 @@ namespace OpenSim.Region.Framework.Scenes
                     if (ei.HitTF)
                     {
                         pos = new Vector3(ei.ipoint.X, ei.ipoint.Y, ei.ipoint.Z);
-                    } else
+                    } 
+                    else
                     {
                         // fall back to our stupid functionality
                         pos = RayEnd;
                     }
-
-                    return pos;
                 }
             }
             else
@@ -1945,8 +2001,12 @@ namespace OpenSim.Region.Framework.Scenes
                 //increase height so its above the ground.
                 //should be getting the normal of the ground at the rez point and using that?
                 pos.Z += scale.Z / 2f;
-                return pos;
+//                return pos;
             }
+            
+            // check against posible water intercept
+            if (wpos.Z > pos.Z) pos = wpos;
+            return pos;
         }
 
 
@@ -2030,7 +2090,10 @@ namespace OpenSim.Region.Framework.Scenes
         public bool AddRestoredSceneObject(
             SceneObjectGroup sceneObject, bool attachToBackup, bool alreadyPersisted, bool sendClientUpdates)
         {
-            return m_sceneGraph.AddRestoredSceneObject(sceneObject, attachToBackup, alreadyPersisted, sendClientUpdates);
+            bool result =  m_sceneGraph.AddRestoredSceneObject(sceneObject, attachToBackup, alreadyPersisted, sendClientUpdates);
+            if (result)
+                sceneObject.IsDeleted = false;
+            return result;
         }
         
         /// <summary>
@@ -2122,6 +2185,15 @@ namespace OpenSim.Region.Framework.Scenes
         /// </summary>
         public void DeleteAllSceneObjects()
         {
+            DeleteAllSceneObjects(false);
+        }
+
+        /// <summary>
+        /// Delete every object from the scene.  This does not include attachments worn by avatars.
+        /// </summary>
+        public void DeleteAllSceneObjects(bool exceptNoCopy)
+        {
+            List<SceneObjectGroup> toReturn = new List<SceneObjectGroup>();
             lock (Entities)
             {
                 EntityBase[] entities = Entities.GetEntities();
@@ -2130,11 +2202,24 @@ namespace OpenSim.Region.Framework.Scenes
                     if (e is SceneObjectGroup)
                     {
                         SceneObjectGroup sog = (SceneObjectGroup)e;
-                        if (!sog.IsAttachment)
-                            DeleteSceneObject((SceneObjectGroup)e, false);
+                        if (sog != null && !sog.IsAttachment)
+                        {
+                            if (!exceptNoCopy || ((sog.GetEffectivePermissions() & (uint)PermissionMask.Copy) != 0))
+                            {
+                                DeleteSceneObject((SceneObjectGroup)e, false);
+                            }
+                            else
+                            {
+                                toReturn.Add((SceneObjectGroup)e);   
+                            }
+                        }
                     }
                 }
             }
+            if (toReturn.Count > 0)
+            {
+                returnObjects(toReturn.ToArray(), UUID.Zero);
+            }
         }
 
         /// <summary>
@@ -2175,6 +2260,8 @@ namespace OpenSim.Region.Framework.Scenes
             }
 
             group.DeleteGroupFromScene(silent);
+            if (!silent)
+                SendKillObject(new List<uint>() { group.LocalId });
 
 //            m_log.DebugFormat("[SCENE]: Exit DeleteSceneObject() for {0} {1}", group.Name, group.UUID);            
         }
@@ -2464,6 +2551,8 @@ namespace OpenSim.Region.Framework.Scenes
 
             if (newPosition != Vector3.Zero)
                 newObject.RootPart.GroupPosition = newPosition;
+            if (newObject.RootPart.KeyframeMotion != null)
+                newObject.RootPart.KeyframeMotion.UpdateSceneObject(newObject);
 
             if (!AddSceneObject(newObject))
             {
@@ -2532,10 +2621,17 @@ namespace OpenSim.Region.Framework.Scenes
         /// <returns>True if the SceneObjectGroup was added, False if it was not</returns>
         public bool AddSceneObject(SceneObjectGroup sceneObject)
         {
+            if (sceneObject.OwnerID == UUID.Zero)
+            {
+                m_log.ErrorFormat("[SCENE]: Owner ID for {0} was zero", sceneObject.UUID);
+                return false;
+            }
+
             // If the user is banned, we won't let any of their objects
             // enter. Period.
             //
-            if (m_regInfo.EstateSettings.IsBanned(sceneObject.OwnerID))
+            int flags = GetUserFlags(sceneObject.OwnerID);
+            if (m_regInfo.EstateSettings.IsBanned(sceneObject.OwnerID, flags))
             {
                 m_log.InfoFormat("[INTERREGION]: Denied prim crossing for banned avatar {0}", sceneObject.OwnerID);
 
@@ -2581,12 +2677,23 @@ namespace OpenSim.Region.Framework.Scenes
                 }
                 else
                 {
+                    m_log.DebugFormat("[SCENE]: Attachment {0} arrived and scene presence was not found, setting to temp", sceneObject.UUID);
                     RootPrim.RemFlag(PrimFlags.TemporaryOnRez);
                     RootPrim.AddFlag(PrimFlags.TemporaryOnRez);
                 }
+                if (sceneObject.OwnerID == UUID.Zero)
+                {
+                    m_log.ErrorFormat("[SCENE]: Owner ID for {0} was zero after attachment processing. BUG!", sceneObject.UUID);
+                    return false;
+                }
             }
             else
             {
+                if (sceneObject.OwnerID == UUID.Zero)
+                {
+                    m_log.ErrorFormat("[SCENE]: Owner ID for non-attachment {0} was zero", sceneObject.UUID);
+                    return false;
+                }
                 AddRestoredSceneObject(sceneObject, true, false);
 
                 if (!Permissions.CanObjectEntry(sceneObject.UUID,
@@ -2615,6 +2722,24 @@ namespace OpenSim.Region.Framework.Scenes
             return 2; // StateSource.PrimCrossing
         }
 
+        public int GetUserFlags(UUID user)
+        {
+            //Unfortunately the SP approach means that the value is cached until region is restarted
+            /*
+            ScenePresence sp;
+            if (TryGetScenePresence(user, out sp))
+            {
+                return sp.UserFlags;
+            }
+            else
+            {
+             */
+                UserAccount uac = UserAccountService.GetUserAccount(RegionInfo.ScopeID, user);
+                if (uac == null)
+                    return 0;
+                return uac.UserFlags;
+            //}
+        }
         #endregion
 
         #region Add/Remove Avatar Methods
@@ -2628,7 +2753,7 @@ namespace OpenSim.Region.Framework.Scenes
                 = (aCircuit.teleportFlags & (uint)Constants.TeleportFlags.ViaHGLogin) != 0
                     || (aCircuit.teleportFlags & (uint)Constants.TeleportFlags.ViaLogin) != 0;
 
-//            CheckHeartbeat();
+            CheckHeartbeat();
 
             ScenePresence sp = GetScenePresence(client.AgentId);
 
@@ -2685,7 +2810,13 @@ namespace OpenSim.Region.Framework.Scenes
 
             EventManager.TriggerOnNewClient(client);
             if (vialogin)
+            {
                 EventManager.TriggerOnClientLogin(client);
+                // Send initial parcel data
+                Vector3 pos = sp.AbsolutePosition;
+                ILandObject land = LandChannel.GetLandObject(pos.X, pos.Y);
+                land.SendLandUpdateToClient(client);
+            }
 
             return sp;
         }
@@ -2775,19 +2906,12 @@ namespace OpenSim.Region.Framework.Scenes
                     // and the scene presence and the client, if they exist
                     try
                     {
-                        // We need to wait for the client to make UDP contact first.
-                        // It's the UDP contact that creates the scene presence
-                        ScenePresence sp = WaitGetScenePresence(agentID);
+                        ScenePresence sp = GetScenePresence(agentID);
+                        PresenceService.LogoutAgent(sp.ControllingClient.SessionId);
+                        
                         if (sp != null)
-                        {
-                            PresenceService.LogoutAgent(sp.ControllingClient.SessionId);
-
                             sp.ControllingClient.Close();
-                        }
-                        else
-                        {
-                            m_log.WarnFormat("[SCENE]: Could not find scene presence for {0}", agentID);
-                        }
+
                         // BANG! SLASH!
                         m_authenticateHandler.RemoveCircuit(agentID);
 
@@ -2832,6 +2956,8 @@ namespace OpenSim.Region.Framework.Scenes
             client.OnUpdatePrimGroupPosition += m_sceneGraph.UpdatePrimGroupPosition;
             client.OnUpdatePrimSinglePosition += m_sceneGraph.UpdatePrimSinglePosition;
 
+            client.onClientChangeObject += m_sceneGraph.ClientChangeObject;
+
             client.OnUpdatePrimGroupRotation += m_sceneGraph.UpdatePrimGroupRotation;
             client.OnUpdatePrimGroupMouseRotation += m_sceneGraph.UpdatePrimGroupRotation;
             client.OnUpdatePrimSingleRotation += m_sceneGraph.UpdatePrimSingleRotation;
@@ -2888,6 +3014,7 @@ namespace OpenSim.Region.Framework.Scenes
             client.OnFetchInventory += m_asyncInventorySender.HandleFetchInventory;
             client.OnUpdateInventoryItem += UpdateInventoryItemAsset;
             client.OnCopyInventoryItem += CopyInventoryItem;
+            client.OnMoveItemsAndLeaveCopy += MoveInventoryItemsLeaveCopy;
             client.OnMoveInventoryItem += MoveInventoryItem;
             client.OnRemoveInventoryItem += RemoveInventoryItem;
             client.OnRemoveInventoryFolder += RemoveInventoryFolder;
@@ -2959,6 +3086,8 @@ namespace OpenSim.Region.Framework.Scenes
             client.OnUpdatePrimGroupPosition -= m_sceneGraph.UpdatePrimGroupPosition;
             client.OnUpdatePrimSinglePosition -= m_sceneGraph.UpdatePrimSinglePosition;
 
+            client.onClientChangeObject -= m_sceneGraph.ClientChangeObject;
+
             client.OnUpdatePrimGroupRotation -= m_sceneGraph.UpdatePrimGroupRotation;
             client.OnUpdatePrimGroupMouseRotation -= m_sceneGraph.UpdatePrimGroupRotation;
             client.OnUpdatePrimSingleRotation -= m_sceneGraph.UpdatePrimSingleRotation;
@@ -3061,15 +3190,16 @@ namespace OpenSim.Region.Framework.Scenes
         /// </summary>
         /// <param name="agentId">The avatar's Unique ID</param>
         /// <param name="client">The IClientAPI for the client</param>
-        public virtual void TeleportClientHome(UUID agentId, IClientAPI client)
+        public virtual bool TeleportClientHome(UUID agentId, IClientAPI client)
         {
             if (m_teleportModule != null)
-                m_teleportModule.TeleportHome(agentId, client);
+                return m_teleportModule.TeleportHome(agentId, client);
             else
             {
                 m_log.DebugFormat("[SCENE]: Unable to teleport user home: no AgentTransferModule is active");
                 client.SendTeleportFailed("Unable to perform teleports on this simulator.");
             }
+            return false;
         }
 
         /// <summary>
@@ -3179,6 +3309,16 @@ namespace OpenSim.Region.Framework.Scenes
         /// <param name="flags"></param>
         public virtual void SetHomeRezPoint(IClientAPI remoteClient, ulong regionHandle, Vector3 position, Vector3 lookAt, uint flags)
         {
+            //Add half the avatar's height so that the user doesn't fall through prims
+            ScenePresence presence;
+            if (TryGetScenePresence(remoteClient.AgentId, out presence))
+            {
+                if (presence.Appearance != null)
+                {
+                    position.Z = position.Z + (presence.Appearance.AvatarHeight / 2);
+                }
+            }
+
             if (GridUserService != null && GridUserService.SetHome(remoteClient.AgentId.ToString(), RegionInfo.RegionID, position, lookAt))
                 // FUBAR ALERT: this needs to be "Home position set." so the viewer saves a home-screenshot.
                 m_dialogModule.SendAlertToUser(remoteClient, "Home position set.");
@@ -3247,8 +3387,9 @@ namespace OpenSim.Region.Framework.Scenes
                         regions.Remove(RegionInfo.RegionHandle);
                         m_sceneGridService.SendCloseChildAgentConnections(agentID, regions);
                     }
-
+                    m_log.Debug("[Scene] Beginning ClientClosed");
                     m_eventManager.TriggerClientClosed(agentID, this);
+                    m_log.Debug("[Scene] Finished ClientClosed");
                 }
                 catch (NullReferenceException)
                 {
@@ -3310,9 +3451,10 @@ namespace OpenSim.Region.Framework.Scenes
                 {
                     m_log.ErrorFormat("[SCENE] Scene.cs:RemoveClient exception {0}{1}", e.Message, e.StackTrace);
                 }
-
+                m_log.Debug("[Scene] Done. Firing RemoveCircuit");
                 m_authenticateHandler.RemoveCircuit(avatar.ControllingClient.CircuitCode);
 //                CleanDroppedAttachments();
+                m_log.Debug("[Scene] The avatar has left the building");
                 //m_log.InfoFormat("[SCENE] Memory pre  GC {0}", System.GC.GetTotalMemory(false));
                 //m_log.InfoFormat("[SCENE] Memory post GC {0}", System.GC.GetTotalMemory(true));
             }
@@ -3434,13 +3576,16 @@ namespace OpenSim.Region.Framework.Scenes
                 sp = null;
             }
 
-            ILandObject land = LandChannel.GetLandObject(agent.startpos.X, agent.startpos.Y);
 
             //On login test land permisions
             if (vialogin)
             {
-                if (land != null && !TestLandRestrictions(agent, land, out reason))
+                IUserAccountCacheModule cache = RequestModuleInterface<IUserAccountCacheModule>();
+                if (cache != null)
+                    cache.Remove(agent.firstname + " " + agent.lastname);
+                if (!TestLandRestrictions(agent.AgentID, out reason, ref agent.startpos.X, ref agent.startpos.Y))
                 {
+                    m_log.DebugFormat("[CONNECTION BEGIN]: Denying access to {0} due to no land access", agent.AgentID.ToString());
                     return false;
                 }
             }
@@ -3464,8 +3609,13 @@ namespace OpenSim.Region.Framework.Scenes
 
                 try
                 {
-                    if (!AuthorizeUser(agent, out reason))
-                        return false;
+                    // Always check estate if this is a login. Always
+                    // check if banned regions are to be blacked out.
+                    if (vialogin || (!m_seeIntoBannedRegion))
+                    {
+                        if (!AuthorizeUser(agent, out reason))
+                            return false;
+                    }
                 }
                 catch (Exception e)
                 {
@@ -3591,6 +3741,8 @@ namespace OpenSim.Region.Framework.Scenes
                 }
 
                 // Honor parcel landing type and position.
+                /*
+                ILandObject land = LandChannel.GetLandObject(agent.startpos.X, agent.startpos.Y);
                 if (land != null)
                 {
                     if (land.LandData.LandingType == (byte)1 && land.LandData.UserLocation != Vector3.Zero)
@@ -3598,26 +3750,34 @@ namespace OpenSim.Region.Framework.Scenes
                         agent.startpos = land.LandData.UserLocation;
                     }
                 }
+                */// This is now handled properly in ScenePresence.MakeRootAgent
             }
 
             return true;
         }
 
-        private bool TestLandRestrictions(AgentCircuitData agent, ILandObject land,  out string reason)
+        public bool TestLandRestrictions(UUID agentID, out string reason, ref float posX, ref float posY)
         {
-      
-            bool banned = land.IsBannedFromLand(agent.AgentID);
-            bool restricted = land.IsRestrictedFromLand(agent.AgentID);
+            reason = String.Empty;
+            if (Permissions.IsGod(agentID))
+                return true;
+
+            ILandObject land = LandChannel.GetLandObject(posX, posY);
+            if (land == null)
+                return false;
+
+            bool banned = land.IsBannedFromLand(agentID);
+            bool restricted = land.IsRestrictedFromLand(agentID);
 
             if (banned || restricted)
             {
-                ILandObject nearestParcel = GetNearestAllowedParcel(agent.AgentID, agent.startpos.X, agent.startpos.Y);
+                ILandObject nearestParcel = GetNearestAllowedParcel(agentID, posX, posY);
                 if (nearestParcel != null)
                 {
                     //Move agent to nearest allowed
                     Vector3 newPosition = GetParcelCenterAtGround(nearestParcel);
-                    agent.startpos.X = newPosition.X;
-                    agent.startpos.Y = newPosition.Y;
+                    posX = newPosition.X;
+                    posY = newPosition.Y;
                 }
                 else
                 {
@@ -3679,7 +3839,7 @@ namespace OpenSim.Region.Framework.Scenes
 
             if (!m_strictAccessControl) return true;
             if (Permissions.IsGod(agent.AgentID)) return true;
-                      
+
             if (AuthorizationService != null)
             {
                 if (!AuthorizationService.IsAuthorizedForRegion(
@@ -3694,7 +3854,7 @@ namespace OpenSim.Region.Framework.Scenes
 
             if (m_regInfo.EstateSettings != null)
             {
-                if (m_regInfo.EstateSettings.IsBanned(agent.AgentID))
+                if (m_regInfo.EstateSettings.IsBanned(agent.AgentID,0))
                 {
                     m_log.WarnFormat("[CONNECTION BEGIN]: Denied access to: {0} ({1} {2}) at {3} because the user is on the banlist",
                                      agent.AgentID, agent.firstname, agent.lastname, RegionInfo.RegionName);
@@ -3886,6 +4046,13 @@ namespace OpenSim.Region.Framework.Scenes
 
             // We have to wait until the viewer contacts this region after receiving EAC.
             // That calls AddNewClient, which finally creates the ScenePresence
+            int flags = GetUserFlags(cAgentData.AgentID);
+            if (m_regInfo.EstateSettings.IsBanned(cAgentData.AgentID, flags))
+            {
+                m_log.DebugFormat("[SCENE]: Denying root agent entry to {0}: banned", cAgentData.AgentID);
+                return false;
+            }
+
             ILandObject nearestParcel = GetNearestAllowedParcel(cAgentData.AgentID, Constants.RegionSize / 2, Constants.RegionSize / 2);
             if (nearestParcel == null)
             {
@@ -3967,12 +4134,22 @@ namespace OpenSim.Region.Framework.Scenes
             return false;
         }
 
+        public bool IncomingCloseAgent(UUID agentID)
+        {
+            return IncomingCloseAgent(agentID, false);
+        }
+
+        public bool IncomingCloseChildAgent(UUID agentID)
+        {
+            return IncomingCloseAgent(agentID, true);
+        }
+
         /// <summary>
         /// Tell a single agent to disconnect from the region.
         /// </summary>
-        /// <param name="regionHandle"></param>
         /// <param name="agentID"></param>
-        public bool IncomingCloseAgent(UUID agentID)
+        /// <param name="childOnly"></param>
+        public bool IncomingCloseAgent(UUID agentID, bool childOnly)
         {
             //m_log.DebugFormat("[SCENE]: Processing incoming close agent for {0}", agentID);
 
@@ -3984,7 +4161,7 @@ namespace OpenSim.Region.Framework.Scenes
                 {
                    m_sceneGraph.removeUserCount(false);
                 }
-                else
+                else if (!childOnly)
                 {
                    m_sceneGraph.removeUserCount(true);
                 }
@@ -4000,9 +4177,12 @@ namespace OpenSim.Region.Framework.Scenes
                     }
                     else
                         presence.ControllingClient.SendShutdownConnectionNotice();
+                    presence.ControllingClient.Close(false);
+                }
+                else if (!childOnly)
+                {
+                    presence.ControllingClient.Close(true);
                 }
-
-                presence.ControllingClient.Close();
                 return true;
             }
 
@@ -4584,35 +4764,81 @@ namespace OpenSim.Region.Framework.Scenes
             SimulationDataService.RemoveObject(uuid, m_regInfo.RegionID);
         }
 
-        public int GetHealth()
+        public int GetHealth(out int flags, out string message)
         {
             // Returns:
             // 1 = sim is up and accepting http requests. The heartbeat has
             // stopped and the sim is probably locked up, but a remote
             // admin restart may succeed
-            //
+            // 
             // 2 = Sim is up and the heartbeat is running. The sim is likely
-            // usable for people within and logins _may_ work
+            // usable for people within
+            //
+            // 3 = Sim is up and one packet thread is running. Sim is
+            // unstable and will not accept new logins
             //
-            // 3 = We have seen a new user enter within the past 4 minutes
+            // 4 = Sim is up and both packet threads are running. Sim is
+            // likely usable
+            //
+            // 5 = We have seen a new user enter within the past 4 minutes
             // which can be seen as positive confirmation of sim health
             //
+
+            flags = 0;
+            message = String.Empty;
+
+            CheckHeartbeat();
+
+            if (m_firstHeartbeat || (m_lastIncoming == 0 && m_lastOutgoing == 0))
+            {
+                // We're still starting
+                // 0 means "in startup", it can't happen another way, since
+                // to get here, we must be able to accept http connections
+                return 0;
+            }
+
             int health=1; // Start at 1, means we're up
 
             if ((Util.EnvironmentTickCountSubtract(m_lastFrameTick)) < 1000)
-                health += 1;
+            {
+                health+=1;
+                flags |= 1;
+            }
+
+            if (Util.EnvironmentTickCountSubtract(m_lastIncoming) < 1000)
+            {
+                health+=1;
+                flags |= 2;
+            }
+
+            if (Util.EnvironmentTickCountSubtract(m_lastOutgoing) < 1000)
+            {
+                health+=1;
+                flags |= 4;
+            }
             else
+            {
+int pid = System.Diagnostics.Process.GetCurrentProcess().Id;
+System.Diagnostics.Process proc = new System.Diagnostics.Process();
+proc.EnableRaisingEvents=false; 
+proc.StartInfo.FileName = "/bin/kill";
+proc.StartInfo.Arguments = "-QUIT " + pid.ToString();
+proc.Start();
+proc.WaitForExit();
+Thread.Sleep(1000);
+Environment.Exit(1);
+            }
+
+            if (flags != 7)
                 return health;
 
             // A login in the last 4 mins? We can't be doing too badly
             //
-            if ((Util.EnvironmentTickCountSubtract(m_LastLogin)) < 240000)
+            if (Util.EnvironmentTickCountSubtract(m_LastLogin) < 240000)
                 health++;
             else
                 return health;
 
-//            CheckHeartbeat();
-
             return health;
         }
 
@@ -4700,7 +4926,7 @@ namespace OpenSim.Region.Framework.Scenes
             bool wasUsingPhysics = ((jointProxyObject.Flags & PrimFlags.Physics) != 0);
             if (wasUsingPhysics)
             {
-                jointProxyObject.UpdatePrimFlags(false, false, true, false); // FIXME: possible deadlock here; check to make sure all the scene alterations set into motion here won't deadlock
+                jointProxyObject.UpdatePrimFlags(false, false, true, false,false); // FIXME: possible deadlock here; check to make sure all the scene alterations set into motion here won't deadlock
             }
         }
 
@@ -4799,14 +5025,14 @@ namespace OpenSim.Region.Framework.Scenes
             return (((vsn.X * xdiff) + (vsn.Y * ydiff)) / (-1 * vsn.Z)) + p0.Z;
         }
 
-//        private void CheckHeartbeat()
-//        {
-//            if (m_firstHeartbeat)
-//                return;
-//
-//            if (Util.EnvironmentTickCountSubtract(m_lastFrameTick) > 2000)
-//                StartTimer();
-//        }
+        private void CheckHeartbeat()
+        {
+            if (m_firstHeartbeat)
+                return;
+
+            if ((Util.EnvironmentTickCountSubtract(m_lastFrameTick)) > 5000)
+                Start();
+        }
 
         public override ISceneObject DeserializeObject(string representation)
         {
@@ -4818,9 +5044,14 @@ namespace OpenSim.Region.Framework.Scenes
             get { return m_allowScriptCrossings; }
         }
 
-        public Vector3? GetNearestAllowedPosition(ScenePresence avatar)
+        public Vector3 GetNearestAllowedPosition(ScenePresence avatar)
+        {
+            return GetNearestAllowedPosition(avatar, null);
+        }
+
+        public Vector3 GetNearestAllowedPosition(ScenePresence avatar, ILandObject excludeParcel)
         {
-            ILandObject nearestParcel = GetNearestAllowedParcel(avatar.UUID, avatar.AbsolutePosition.X, avatar.AbsolutePosition.Y);
+            ILandObject nearestParcel = GetNearestAllowedParcel(avatar.UUID, avatar.AbsolutePosition.X, avatar.AbsolutePosition.Y, excludeParcel);
 
             if (nearestParcel != null)
             {
@@ -4829,10 +5060,7 @@ namespace OpenSim.Region.Framework.Scenes
                 Vector3? nearestPoint = GetNearestPointInParcelAlongDirectionFromPoint(avatar.AbsolutePosition, dir, nearestParcel);
                 if (nearestPoint != null)
                 {
-//                    m_log.DebugFormat(
-//                        "[SCENE]: Found a sane previous position based on velocity for {0}, sending them to {1} in {2}",
-//                        avatar.Name, nearestPoint, nearestParcel.LandData.Name);
-
+                    Debug.WriteLine("Found a sane previous position based on velocity, sending them to: " + nearestPoint.ToString());
                     return nearestPoint.Value;
                 }
 
@@ -4842,17 +5070,20 @@ namespace OpenSim.Region.Framework.Scenes
                 nearestPoint = GetNearestPointInParcelAlongDirectionFromPoint(avatar.AbsolutePosition, dir, nearestParcel);
                 if (nearestPoint != null)
                 {
-//                    m_log.DebugFormat(
-//                        "[SCENE]: {0} had a zero velocity, sending them to {1}", avatar.Name, nearestPoint);
-
+                    Debug.WriteLine("They had a zero velocity, sending them to: " + nearestPoint.ToString());
                     return nearestPoint.Value;
                 }
 
-                //Ultimate backup if we have no idea where they are
-//                m_log.DebugFormat(
-//                    "[SCENE]: No idea where {0} is, sending them to {1}", avatar.Name, avatar.lastKnownAllowedPosition);
+                ILandObject dest = LandChannel.GetLandObject(avatar.lastKnownAllowedPosition.X, avatar.lastKnownAllowedPosition.Y);
+                if (dest !=  excludeParcel)
+                {
+                    // Ultimate backup if we have no idea where they are and
+                    // the last allowed position was in another parcel
+                    Debug.WriteLine("Have no idea where they are, sending them to: " + avatar.lastKnownAllowedPosition.ToString());
+                    return avatar.lastKnownAllowedPosition;
+                }
 
-                return avatar.lastKnownAllowedPosition;
+                // else fall through to region edge
             }
 
             //Go to the edge, this happens in teleporting to a region with no available parcels
@@ -4886,13 +5117,18 @@ namespace OpenSim.Region.Framework.Scenes
 
         public ILandObject GetNearestAllowedParcel(UUID avatarId, float x, float y)
         {
+            return GetNearestAllowedParcel(avatarId, x, y, null);
+        }
+
+        public ILandObject GetNearestAllowedParcel(UUID avatarId, float x, float y, ILandObject excludeParcel)
+        {
             List<ILandObject> all = AllParcels();
             float minParcelDistance = float.MaxValue;
             ILandObject nearestParcel = null;
 
             foreach (var parcel in all)
             {
-                if (!parcel.IsEitherBannedOrRestricted(avatarId))
+                if (!parcel.IsEitherBannedOrRestricted(avatarId) && parcel != excludeParcel)
                 {
                     float parcelDistance = GetParcelDistancefromPoint(parcel, x, y);
                     if (parcelDistance < minParcelDistance)
@@ -5134,7 +5370,55 @@ namespace OpenSim.Region.Framework.Scenes
                 mapModule.GenerateMaptile();
         }
 
-        private void RegenerateMaptileAndReregister(object sender, ElapsedEventArgs e)
+//        public void CleanDroppedAttachments()
+//        {
+//            List<SceneObjectGroup> objectsToDelete =
+//                    new List<SceneObjectGroup>();
+//
+//            lock (m_cleaningAttachments)
+//            {
+//                ForEachSOG(delegate (SceneObjectGroup grp)
+//                        {
+//                            if (grp.RootPart.Shape.PCode == 0 && grp.RootPart.Shape.State != 0 && (!objectsToDelete.Contains(grp)))
+//                            {
+//                                UUID agentID = grp.OwnerID;
+//                                if (agentID == UUID.Zero)
+//                                {
+//                                    objectsToDelete.Add(grp);
+//                                    return;
+//                                }
+//
+//                                ScenePresence sp = GetScenePresence(agentID);
+//                                if (sp == null)
+//                                {
+//                                    objectsToDelete.Add(grp);
+//                                    return;
+//                                }
+//                            }
+//                        });
+//            }
+//
+//            foreach (SceneObjectGroup grp in objectsToDelete)
+//            {
+//                m_log.InfoFormat("[SCENE]: Deleting dropped attachment {0} of user {1}", grp.UUID, grp.OwnerID);
+//                DeleteSceneObject(grp, true);
+//            }
+//        }
+
+        public void ThreadAlive(int threadCode)
+        {
+            switch(threadCode)
+            {
+                case 1: // Incoming
+                    m_lastIncoming = Util.EnvironmentTickCount();
+                    break;
+                case 2: // Incoming
+                    m_lastOutgoing = Util.EnvironmentTickCount();
+                    break;
+            }
+        }
+
+        public void RegenerateMaptileAndReregister(object sender, ElapsedEventArgs e)
         {
             RegenerateMaptile();
 
@@ -5153,6 +5437,14 @@ namespace OpenSim.Region.Framework.Scenes
         // child agent creation, thereby emulating the SL behavior.
         public bool QueryAccess(UUID agentID, Vector3 position, out string reason)
         {
+            reason = "You are banned from the region";
+
+            if (Permissions.IsGod(agentID))
+            {
+                reason = String.Empty;
+                return true;
+            }
+
             int num = m_sceneGraph.GetNumberOfScenePresences();
 
             if (num >= RegionInfo.RegionSettings.AgentLimit)
@@ -5164,6 +5456,41 @@ namespace OpenSim.Region.Framework.Scenes
                 }
             }
 
+            ScenePresence presence = GetScenePresence(agentID);
+            IClientAPI client = null;
+            AgentCircuitData aCircuit = null;
+
+            if (presence != null)
+            {
+                client = presence.ControllingClient;
+                if (client != null)
+                    aCircuit = client.RequestClientInfo();
+            }
+
+            // We may be called before there is a presence or a client.
+            // Fake AgentCircuitData to keep IAuthorizationModule smiling
+            if (client == null)
+            {
+                aCircuit = new AgentCircuitData();
+                aCircuit.AgentID = agentID;
+                aCircuit.firstname = String.Empty;
+                aCircuit.lastname = String.Empty;
+            }
+
+            try
+            {
+                if (!AuthorizeUser(aCircuit, out reason))
+                {
+                    // m_log.DebugFormat("[SCENE]: Denying access for {0}", agentID);
+                    return false;
+                }
+            }
+            catch (Exception e)
+            {
+                m_log.DebugFormat("[SCENE]: Exception authorizing agent: {0} "+ e.StackTrace, e.Message);
+                return false;
+            }
+
             if (position == Vector3.Zero) // Teleport
             {
                 if (!RegionInfo.EstateSettings.AllowDirectTeleport)
@@ -5192,13 +5519,46 @@ namespace OpenSim.Region.Framework.Scenes
                         }
                     }
                 }
+
+                float posX = 128.0f;
+                float posY = 128.0f;
+
+                if (!TestLandRestrictions(agentID, out reason, ref posX, ref posY))
+                {
+                    // m_log.DebugFormat("[SCENE]: Denying {0} because they are banned on all parcels", agentID);
+                    return false;
+                }
+            }
+            else // Walking
+            {
+                ILandObject land = LandChannel.GetLandObject(position.X, position.Y);
+                if (land == null)
+                    return false;
+
+                bool banned = land.IsBannedFromLand(agentID);
+                bool restricted = land.IsRestrictedFromLand(agentID);
+
+                if (banned || restricted)
+                    return false;
             }
 
             reason = String.Empty;
             return true;
         }
 
-        /// <summary>
+                public void StartTimerWatchdog()
+        {
+            m_timerWatchdog.Interval = 1000;
+            m_timerWatchdog.Elapsed += TimerWatchdog;
+            m_timerWatchdog.AutoReset = true;
+            m_timerWatchdog.Start();
+        }
+
+        public void TimerWatchdog(object sender, ElapsedEventArgs e)
+        {
+            CheckHeartbeat();
+                }
+
         /// This method deals with movement when an avatar is automatically moving (but this is distinct from the
         /// autopilot that moves an avatar to a sit target!.
         /// </summary>
diff --git a/OpenSim/Region/Framework/Scenes/SceneBase.cs b/OpenSim/Region/Framework/Scenes/SceneBase.cs
index 9c6b884..9b8a3ae 100644
--- a/OpenSim/Region/Framework/Scenes/SceneBase.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneBase.cs
@@ -136,6 +136,8 @@ namespace OpenSim.Region.Framework.Scenes
             get { return m_permissions; }
         }
 
+        protected string m_datastore;
+
          /* Used by the loadbalancer plugin on GForge */
         protected RegionStatus m_regStatus;
         public RegionStatus RegionStatus
diff --git a/OpenSim/Region/Framework/Scenes/SceneCommunicationService.cs b/OpenSim/Region/Framework/Scenes/SceneCommunicationService.cs
index 4d98f00..b806d91 100644
--- a/OpenSim/Region/Framework/Scenes/SceneCommunicationService.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneCommunicationService.cs
@@ -88,7 +88,7 @@ namespace OpenSim.Region.Framework.Scenes
 
             if (neighbour != null)
             {
-                m_log.DebugFormat("[INTERGRID]: Successfully informed neighbour {0}-{1} that I'm here", x / Constants.RegionSize, y / Constants.RegionSize);
+              //  m_log.DebugFormat("[INTERGRID]: Successfully informed neighbour {0}-{1} that I'm here", x / Constants.RegionSize, y / Constants.RegionSize);
                 m_scene.EventManager.TriggerOnRegionUp(neighbour);
             }
             else
@@ -102,7 +102,7 @@ namespace OpenSim.Region.Framework.Scenes
             //m_log.Info("[INTER]: " + debugRegionName + ": SceneCommunicationService: Sending InterRegion Notification that region is up " + region.RegionName);
 
             List<GridRegion> neighbours = m_scene.GridService.GetNeighbours(m_scene.RegionInfo.ScopeID, m_scene.RegionInfo.RegionID);
-            m_log.DebugFormat("[INTERGRID]: Informing {0} neighbours that this region is up", neighbours.Count);
+            //m_log.DebugFormat("[INTERGRID]: Informing {0} neighbours that this region is up", neighbours.Count);
             foreach (GridRegion n in neighbours)
             {
                 InformNeighbourThatRegionUpDelegate d = InformNeighboursThatRegionIsUpAsync;
@@ -180,10 +180,13 @@ namespace OpenSim.Region.Framework.Scenes
             }
         }
 
+        public delegate void SendCloseChildAgentDelegate(UUID agentID, ulong regionHandle);
+
         /// <summary>
-        /// Closes a child agent on a given region
+        /// This Closes child agents on neighboring regions
+        /// Calls an asynchronous method to do so..  so it doesn't lag the sim.
         /// </summary>
-        protected void SendCloseChildAgent(UUID agentID, ulong regionHandle)
+        protected void SendCloseChildAgentAsync(UUID agentID, ulong regionHandle)
         {
             // let's do our best, but there's not much we can do if the neighbour doesn't accept.
 
@@ -192,31 +195,29 @@ namespace OpenSim.Region.Framework.Scenes
             Utils.LongToUInts(regionHandle, out x, out y);
 
             GridRegion destination = m_scene.GridService.GetRegionByPosition(m_regionInfo.ScopeID, (int)x, (int)y);
+            m_scene.SimulationService.CloseChildAgent(destination, agentID);
+        }
 
-            m_log.DebugFormat(
-                "[INTERGRID]: Sending close agent {0} to region at {1}-{2}",
-                agentID, destination.RegionCoordX, destination.RegionCoordY);
-
-            m_scene.SimulationService.CloseAgent(destination, agentID);
+        private void SendCloseChildAgentCompleted(IAsyncResult iar)
+        {
+            SendCloseChildAgentDelegate icon = (SendCloseChildAgentDelegate)iar.AsyncState;
+            icon.EndInvoke(iar);
         }
 
-        /// <summary>
-        /// Closes a child agents in a collection of regions. Does so asynchronously 
-        /// so that the caller doesn't wait.
-        /// </summary>
-        /// <param name="agentID"></param>
-        /// <param name="regionslst"></param>
         public void SendCloseChildAgentConnections(UUID agentID, List<ulong> regionslst)
         {
             foreach (ulong handle in regionslst)
             {
-                SendCloseChildAgent(agentID, handle);
+                SendCloseChildAgentDelegate d = SendCloseChildAgentAsync;
+                d.BeginInvoke(agentID, handle,
+                              SendCloseChildAgentCompleted,
+                              d);
             }
         }
-       
+
         public List<GridRegion> RequestNamedRegions(string name, int maxNumber)
         {
             return m_scene.GridService.GetRegionsByName(UUID.Zero, name, maxNumber);
         }
     }
-}
\ No newline at end of file
+}
diff --git a/OpenSim/Region/Framework/Scenes/SceneGraph.cs b/OpenSim/Region/Framework/Scenes/SceneGraph.cs
index 5c542d6..ccc3f32 100644
--- a/OpenSim/Region/Framework/Scenes/SceneGraph.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneGraph.cs
@@ -41,6 +41,12 @@ namespace OpenSim.Region.Framework.Scenes
 {
     public delegate void PhysicsCrash();
 
+    public delegate void AttachToBackupDelegate(SceneObjectGroup sog);
+
+    public delegate void DetachFromBackupDelegate(SceneObjectGroup sog);
+
+    public delegate void ChangedBackupDelegate(SceneObjectGroup sog);
+
     /// <summary>
     /// This class used to be called InnerScene and may not yet truly be a SceneGraph.  The non scene graph components
     /// should be migrated out over time.
@@ -54,11 +60,15 @@ namespace OpenSim.Region.Framework.Scenes
         protected internal event PhysicsCrash UnRecoverableError;
         private PhysicsCrash handlerPhysicsCrash = null;
 
+        public event AttachToBackupDelegate OnAttachToBackup;
+        public event DetachFromBackupDelegate OnDetachFromBackup;
+        public event ChangedBackupDelegate OnChangeBackup;
+
         #endregion
 
         #region Fields
 
-        protected object m_presenceLock = new object();
+        protected OpenMetaverse.ReaderWriterLockSlim m_scenePresencesLock = new OpenMetaverse.ReaderWriterLockSlim();
         protected Dictionary<UUID, ScenePresence> m_scenePresenceMap = new Dictionary<UUID, ScenePresence>();
         protected List<ScenePresence> m_scenePresenceArray = new List<ScenePresence>();
 
@@ -120,13 +130,18 @@ namespace OpenSim.Region.Framework.Scenes
 
         protected internal void Close()
         {
-            lock (m_presenceLock)
+            m_scenePresencesLock.EnterWriteLock();
+            try
             {
                 Dictionary<UUID, ScenePresence> newmap = new Dictionary<UUID, ScenePresence>();
                 List<ScenePresence> newlist = new List<ScenePresence>();
                 m_scenePresenceMap = newmap;
                 m_scenePresenceArray = newlist;
             }
+            finally
+            {
+                m_scenePresencesLock.ExitWriteLock();
+            }
 
             lock (SceneObjectGroupsByFullID)
                 SceneObjectGroupsByFullID.Clear();
@@ -247,6 +262,33 @@ namespace OpenSim.Region.Framework.Scenes
         protected internal bool AddRestoredSceneObject(
             SceneObjectGroup sceneObject, bool attachToBackup, bool alreadyPersisted, bool sendClientUpdates)
         {
+            if (!m_parentScene.CombineRegions)
+            {
+                // KF: Check for out-of-region, move inside and make static.
+                Vector3 npos = new Vector3(sceneObject.RootPart.GroupPosition.X,
+                                           sceneObject.RootPart.GroupPosition.Y,
+                                           sceneObject.RootPart.GroupPosition.Z);
+                if (!(((sceneObject.RootPart.Shape.PCode == (byte)PCode.Prim) && (sceneObject.RootPart.Shape.State != 0))) && (npos.X < 0.0 || npos.Y < 0.0 || npos.Z < 0.0 ||
+                    npos.X > Constants.RegionSize ||
+                    npos.Y > Constants.RegionSize))
+                {
+                    if (npos.X < 0.0) npos.X = 1.0f;
+                    if (npos.Y < 0.0) npos.Y = 1.0f;
+                    if (npos.Z < 0.0) npos.Z = 0.0f;
+                    if (npos.X > Constants.RegionSize) npos.X = Constants.RegionSize - 1.0f;
+                    if (npos.Y > Constants.RegionSize) npos.Y = Constants.RegionSize - 1.0f;
+     
+                    foreach (SceneObjectPart part in sceneObject.Parts)
+                    {
+                        part.GroupPosition = npos;
+                    }
+                    sceneObject.RootPart.Velocity = Vector3.Zero;
+                    sceneObject.RootPart.AngularVelocity = Vector3.Zero;
+                    sceneObject.RootPart.Acceleration = Vector3.Zero;
+                    sceneObject.RootPart.Velocity = Vector3.Zero;
+                }
+            }
+
             if (attachToBackup && (!alreadyPersisted))
             {
                 sceneObject.ForceInventoryPersistence();
@@ -336,6 +378,11 @@ namespace OpenSim.Region.Framework.Scenes
         /// </returns>
         protected bool AddSceneObject(SceneObjectGroup sceneObject, bool attachToBackup, bool sendClientUpdates)
         {
+            if (sceneObject == null)
+            {
+                m_log.ErrorFormat("[SCENEGRAPH]: Tried to add null scene object");
+                return false;
+            }
             if (sceneObject.UUID == UUID.Zero)
             {
                 m_log.ErrorFormat(
@@ -470,6 +517,30 @@ namespace OpenSim.Region.Framework.Scenes
                 m_updateList[obj.UUID] = obj;
         }
 
+        public void FireAttachToBackup(SceneObjectGroup obj)
+        {
+            if (OnAttachToBackup != null)
+            {
+                OnAttachToBackup(obj);
+            }
+        }
+
+        public void FireDetachFromBackup(SceneObjectGroup obj)
+        {
+            if (OnDetachFromBackup != null)
+            {
+                OnDetachFromBackup(obj);
+            }
+        }
+
+        public void FireChangeBackup(SceneObjectGroup obj)
+        {
+            if (OnChangeBackup != null)
+            {
+                OnChangeBackup(obj);
+            }
+        }
+
         /// <summary>
         /// Process all pending updates
         /// </summary>
@@ -587,7 +658,8 @@ namespace OpenSim.Region.Framework.Scenes
 
             Entities[presence.UUID] = presence;
 
-            lock (m_presenceLock)
+            m_scenePresencesLock.EnterWriteLock();
+            try
             {
                 Dictionary<UUID, ScenePresence> newmap = new Dictionary<UUID, ScenePresence>(m_scenePresenceMap);
                 List<ScenePresence> newlist = new List<ScenePresence>(m_scenePresenceArray);
@@ -611,6 +683,10 @@ namespace OpenSim.Region.Framework.Scenes
                 m_scenePresenceMap = newmap;
                 m_scenePresenceArray = newlist;
             }
+            finally
+            {
+                m_scenePresencesLock.ExitWriteLock();
+            }
         }
 
         /// <summary>
@@ -625,7 +701,8 @@ namespace OpenSim.Region.Framework.Scenes
                     agentID);
             }
 
-            lock (m_presenceLock)
+            m_scenePresencesLock.EnterWriteLock();
+            try
             {
                 Dictionary<UUID, ScenePresence> newmap = new Dictionary<UUID, ScenePresence>(m_scenePresenceMap);
                 List<ScenePresence> newlist = new List<ScenePresence>(m_scenePresenceArray);
@@ -647,6 +724,10 @@ namespace OpenSim.Region.Framework.Scenes
                     m_log.WarnFormat("[SCENE GRAPH]: Tried to remove non-existent scene presence with agent ID {0} from scene ScenePresences list", agentID);
                 }
             }
+            finally
+            {
+                m_scenePresencesLock.ExitWriteLock();
+            }
         }
 
         protected internal void SwapRootChildAgent(bool direction_RC_CR_T_F)
@@ -1179,6 +1260,25 @@ namespace OpenSim.Region.Framework.Scenes
 
         #region Client Event handlers
 
+        protected internal void ClientChangeObject(uint localID, object odata, IClientAPI remoteClient)
+        {
+            SceneObjectPart part = GetSceneObjectPart(localID);
+            ObjectChangeData data = (ObjectChangeData)odata;
+
+            if (part != null)
+            {
+                SceneObjectGroup grp = part.ParentGroup;
+                if (grp != null)
+                {
+                    if (m_parentScene.Permissions.CanEditObject(grp.UUID, remoteClient.AgentId))
+                    {
+                        part.StoreUndoState(data.change); // lets test only saving what we changed
+                        grp.doChangeObject(part, (ObjectChangeData)data);
+                    }
+                }
+            }
+        }
+
         /// <summary>
         /// Update the scale of an individual prim.
         /// </summary>
@@ -1193,7 +1293,17 @@ namespace OpenSim.Region.Framework.Scenes
             {
                 if (m_parentScene.Permissions.CanEditObject(part.ParentGroup.UUID, remoteClient.AgentId))
                 {
+                    bool physbuild = false;
+                    if (part.ParentGroup.RootPart.PhysActor != null)
+                    {
+                        part.ParentGroup.RootPart.PhysActor.Building = true;
+                        physbuild = true;
+                    }
+
                     part.Resize(scale);
+
+                    if (physbuild)
+                        part.ParentGroup.RootPart.PhysActor.Building = false;
                 }
             }
         }
@@ -1205,7 +1315,17 @@ namespace OpenSim.Region.Framework.Scenes
             {
                 if (m_parentScene.Permissions.CanEditObject(group.UUID, remoteClient.AgentId))
                 {
+                    bool physbuild = false;
+                    if (group.RootPart.PhysActor != null)
+                    {
+                        group.RootPart.PhysActor.Building = true;
+                        physbuild = true;
+                    }
+
                     group.GroupResize(scale);
+
+                    if (physbuild)
+                        group.RootPart.PhysActor.Building = false;
                 }
             }
         }
@@ -1333,8 +1453,13 @@ namespace OpenSim.Region.Framework.Scenes
             {
                 if (group.IsAttachment || (group.RootPart.Shape.PCode == 9 && group.RootPart.Shape.State != 0))
                 {
-                    if (m_parentScene.AttachmentsModule != null)
-                        m_parentScene.AttachmentsModule.UpdateAttachmentPosition(group, pos);
+                    // Set the new attachment point data in the object
+                    byte attachmentPoint = group.GetAttachmentPoint();
+                    group.UpdateGroupPosition(pos);
+                    group.IsAttachment = false;
+                    group.AbsolutePosition = group.RootPart.AttachedPos;
+                    group.AttachmentPoint = attachmentPoint;
+                    group.HasGroupChanged = true;
                 }
                 else
                 {
@@ -1382,7 +1507,7 @@ namespace OpenSim.Region.Framework.Scenes
         /// <param name="SetPhantom"></param>
         /// <param name="remoteClient"></param>
         protected internal void UpdatePrimFlags(
-            uint localID, bool UsePhysics, bool SetTemporary, bool SetPhantom, IClientAPI remoteClient)
+            uint localID, bool UsePhysics, bool SetTemporary, bool SetPhantom, ExtraPhysicsData PhysData, IClientAPI remoteClient)
         {
             SceneObjectGroup group = GetGroupByPrim(localID);
             if (group != null)
@@ -1390,7 +1515,18 @@ namespace OpenSim.Region.Framework.Scenes
                 if (m_parentScene.Permissions.CanEditObject(group.UUID, remoteClient.AgentId))
                 {
                     // VolumeDetect can't be set via UI and will always be off when a change is made there
-                    group.UpdatePrimFlags(localID, UsePhysics, SetTemporary, SetPhantom, false);
+                    if (PhysData.PhysShapeType == PhysShapeType.invalid)
+                        group.UpdatePrimFlags(localID, UsePhysics, SetTemporary, SetPhantom, false);
+                    else
+                    {
+                        SceneObjectPart part = GetSceneObjectPart(localID);
+                        if (part != null)
+                        {
+                            part.UpdateExtraPhysics(PhysData);
+                            if (part.UpdatePhysRequired)
+                                remoteClient.SendPartPhysicsProprieties(part);
+                        }
+                    }
                 }
             }
         }
@@ -1534,6 +1670,7 @@ namespace OpenSim.Region.Framework.Scenes
                     {
                         part.Material = Convert.ToByte(material);
                         group.HasGroupChanged = true;
+                        remoteClient.SendPartPhysicsProprieties(part);
                     }
                 }
             }
@@ -1598,6 +1735,12 @@ namespace OpenSim.Region.Framework.Scenes
         /// <param name="childPrims"></param>
         protected internal void LinkObjects(SceneObjectPart root, List<SceneObjectPart> children)
         {
+            if (root.KeyframeMotion != null)
+            {
+                root.KeyframeMotion.Stop();
+                root.KeyframeMotion = null;
+            }
+
             SceneObjectGroup parentGroup = root.ParentGroup;
             if (parentGroup == null) return;
 
@@ -1606,8 +1749,11 @@ namespace OpenSim.Region.Framework.Scenes
                 return;
 
             Monitor.Enter(m_updateLock);
+
             try
             {
+                parentGroup.areUpdatesSuspended = true;
+
                 List<SceneObjectGroup> childGroups = new List<SceneObjectGroup>();
 
                 // We do this in reverse to get the link order of the prims correct
@@ -1622,9 +1768,13 @@ namespace OpenSim.Region.Framework.Scenes
                     // Make sure no child prim is set for sale
                     // So that, on delink, no prims are unwittingly
                     // left for sale and sold off
-                    child.RootPart.ObjectSaleType = 0;
-                    child.RootPart.SalePrice = 10;
-                    childGroups.Add(child);
+                   
+                    if (child != null)
+                    {
+                        child.RootPart.ObjectSaleType = 0;
+                        child.RootPart.SalePrice = 10;
+                        childGroups.Add(child);
+                    }
                 }
 
                 foreach (SceneObjectGroup child in childGroups)
@@ -1651,6 +1801,16 @@ namespace OpenSim.Region.Framework.Scenes
             }
             finally
             {
+                lock (SceneObjectGroupsByLocalPartID)
+                {
+                    foreach (SceneObjectPart part in parentGroup.Parts)
+                        SceneObjectGroupsByLocalPartID[part.LocalId] = parentGroup;
+                }
+
+                parentGroup.areUpdatesSuspended = false;
+                parentGroup.HasGroupChanged = true;
+                parentGroup.ProcessBackup(m_parentScene.SimulationDataService, true);
+                parentGroup.ScheduleGroupForFullUpdate();
                 Monitor.Exit(m_updateLock);
             }
         }
@@ -1673,6 +1833,11 @@ namespace OpenSim.Region.Framework.Scenes
                 {
                     if (part != null)
                     {
+                        if (part.KeyframeMotion != null)
+                        {
+                            part.KeyframeMotion.Stop();
+                            part.KeyframeMotion = null;
+                        }
                         if (part.ParentGroup.PrimCount != 1) // Skip single
                         {
                             if (part.LinkNum < 2) // Root
@@ -1687,21 +1852,24 @@ namespace OpenSim.Region.Framework.Scenes
 
                             SceneObjectGroup group = part.ParentGroup;
                             if (!affectedGroups.Contains(group))
+                            {
+                                group.areUpdatesSuspended = true;
                                 affectedGroups.Add(group);
+                            }
                         }
                     }
                 }
 
-                foreach (SceneObjectPart child in childParts)
+                if (childParts.Count > 0)
                 {
-                    // Unlink all child parts from their groups
-                    //
-                    child.ParentGroup.DelinkFromGroup(child, true);
-
-                    // These are not in affected groups and will not be
-                    // handled further. Do the honors here.
-                    child.ParentGroup.HasGroupChanged = true;
-                    child.ParentGroup.ScheduleGroupForFullUpdate();
+                    foreach (SceneObjectPart child in childParts)
+                    {
+                        // Unlink all child parts from their groups
+                        //
+                        child.ParentGroup.DelinkFromGroup(child, true);
+                        child.ParentGroup.HasGroupChanged = true;
+                        child.ParentGroup.ScheduleGroupForFullUpdate();
+                    }
                 }
 
                 foreach (SceneObjectPart root in rootParts)
@@ -1711,56 +1879,68 @@ namespace OpenSim.Region.Framework.Scenes
                     // However, editing linked parts and unlinking may be different
                     //
                     SceneObjectGroup group = root.ParentGroup;
+                    group.areUpdatesSuspended = true;
                     
                     List<SceneObjectPart> newSet = new List<SceneObjectPart>(group.Parts);
                     int numChildren = newSet.Count;
 
+                    if (numChildren == 1)
+                        break;
+
                     // If there are prims left in a link set, but the root is
                     // slated for unlink, we need to do this
+                    // Unlink the remaining set
                     //
-                    if (numChildren != 1)
-                    {
-                        // Unlink the remaining set
-                        //
-                        bool sendEventsToRemainder = true;
-                        if (numChildren > 1)
-                            sendEventsToRemainder = false;
+                    bool sendEventsToRemainder = true;
+                    if (numChildren > 1)
+                        sendEventsToRemainder = false;
 
-                        foreach (SceneObjectPart p in newSet)
+                    foreach (SceneObjectPart p in newSet)
+                    {
+                        if (p != group.RootPart)
                         {
-                            if (p != group.RootPart)
-                                group.DelinkFromGroup(p, sendEventsToRemainder);
+                            group.DelinkFromGroup(p, sendEventsToRemainder);
+                            if (numChildren > 2)
+                            {
+                                p.ParentGroup.areUpdatesSuspended = true;
+                            }
+                            else
+                            {
+                                p.ParentGroup.HasGroupChanged = true;
+                                p.ParentGroup.ScheduleGroupForFullUpdate();
+                            }
                         }
+                    }
+
+                    // If there is more than one prim remaining, we
+                    // need to re-link
+                    //
+                    if (numChildren > 2)
+                    {
+                        // Remove old root
+                        //
+                        if (newSet.Contains(root))
+                            newSet.Remove(root);
 
-                        // If there is more than one prim remaining, we
-                        // need to re-link
+                        // Preserve link ordering
                         //
-                        if (numChildren > 2)
+                        newSet.Sort(delegate (SceneObjectPart a, SceneObjectPart b)
                         {
-                            // Remove old root
-                            //
-                            if (newSet.Contains(root))
-                                newSet.Remove(root);
-
-                            // Preserve link ordering
-                            //
-                            newSet.Sort(delegate (SceneObjectPart a, SceneObjectPart b)
-                            {
-                                return a.LinkNum.CompareTo(b.LinkNum);
-                            });
+                            return a.LinkNum.CompareTo(b.LinkNum);
+                        });
 
-                            // Determine new root
-                            //
-                            SceneObjectPart newRoot = newSet[0];
-                            newSet.RemoveAt(0);
+                        // Determine new root
+                        //
+                        SceneObjectPart newRoot = newSet[0];
+                        newSet.RemoveAt(0);
 
                             foreach (SceneObjectPart newChild in newSet)
                                 newChild.ClearUpdateSchedule();
 
-                            LinkObjects(newRoot, newSet);
-                            if (!affectedGroups.Contains(newRoot.ParentGroup))
-                                affectedGroups.Add(newRoot.ParentGroup);
-                        }
+                        newRoot.ParentGroup.areUpdatesSuspended = true;
+                        LinkObjects(newRoot, newSet);
+                        if (!affectedGroups.Contains(newRoot.ParentGroup))
+                            affectedGroups.Add(newRoot.ParentGroup);
                     }
                 }
 
@@ -1768,8 +1948,14 @@ namespace OpenSim.Region.Framework.Scenes
                 //
                 foreach (SceneObjectGroup g in affectedGroups)
                 {
+                    // Child prims that have been unlinked and deleted will
+                    // return unless the root is deleted. This will remove them
+                    // from the database. They will be rewritten immediately,
+                    // minus the rows for the unlinked child prims.
+                    m_parentScene.SimulationDataService.RemoveObject(g.UUID, m_parentScene.RegionInfo.RegionID);
                     g.TriggerScriptChangedEvent(Changed.LINK);
                     g.HasGroupChanged = true; // Persist
+                    g.areUpdatesSuspended = false;
                     g.ScheduleGroupForFullUpdate();
                 }
             }
@@ -1871,9 +2057,6 @@ namespace OpenSim.Region.Framework.Scenes
                                 child.ApplyNextOwnerPermissions();
                             }
                         }
-
-                        copy.RootPart.ObjectSaleType = 0;
-                        copy.RootPart.SalePrice = 10;
                     }
 
                     // FIXME: This section needs to be refactored so that it just calls AddSceneObject()
diff --git a/OpenSim/Region/Framework/Scenes/SceneManager.cs b/OpenSim/Region/Framework/Scenes/SceneManager.cs
index d73a959..e4eaf3a 100644
--- a/OpenSim/Region/Framework/Scenes/SceneManager.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneManager.cs
@@ -356,7 +356,7 @@ namespace OpenSim.Region.Framework.Scenes
 
         public bool TrySetCurrentScene(UUID regionID)
         {
-            m_log.Debug("Searching for Region: '" + regionID + "'");
+//            m_log.Debug("Searching for Region: '" + regionID + "'");
 
             lock (m_localScenes)
             {
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.Inventory.cs b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.Inventory.cs
index a73d9b6..f3660a5 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.Inventory.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.Inventory.cs
@@ -69,10 +69,6 @@ namespace OpenSim.Region.Framework.Scenes
         /// <summary>
         /// Stop the scripts contained in all the prims in this group
         /// </summary>
-        /// <param name="sceneObjectBeingDeleted">
-        /// Should be true if these scripts are being removed because the scene
-        /// object is being deleted.  This will prevent spurious updates to the client.
-        /// </param>
         public void RemoveScriptInstances(bool sceneObjectBeingDeleted)
         {
             SceneObjectPart[] parts = m_parts.GetArray();
@@ -227,6 +223,11 @@ namespace OpenSim.Region.Framework.Scenes
 
         public uint GetEffectivePermissions()
         {
+            return GetEffectivePermissions(false);
+        }
+
+        public uint GetEffectivePermissions(bool useBase)
+        {
             uint perms=(uint)(PermissionMask.Modify |
                               PermissionMask.Copy |
                               PermissionMask.Move |
@@ -238,7 +239,10 @@ namespace OpenSim.Region.Framework.Scenes
             for (int i = 0; i < parts.Length; i++)
             {
                 SceneObjectPart part = parts[i];
-                ownerMask &= part.OwnerMask;
+                if (useBase)
+                    ownerMask &= part.BaseMask;
+                else
+                    ownerMask &= part.OwnerMask;
                 perms &= part.Inventory.MaskEffectivePermissions();
             }
 
@@ -380,6 +384,9 @@ namespace OpenSim.Region.Framework.Scenes
 
         public void ResumeScripts()
         {
+            if (m_scene.RegionInfo.RegionSettings.DisableScripts)
+                return;
+
             SceneObjectPart[] parts = m_parts.GetArray();
             for (int i = 0; i < parts.Length; i++)
                 parts[i].Inventory.ResumeScripts();
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
index afb5ccf..90ad098 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
@@ -24,11 +24,12 @@
  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
-
+ 
 using System;
 using System.Collections.Generic;
 using System.Drawing;
 using System.IO;
+using System.Diagnostics;
 using System.Linq;
 using System.Threading;
 using System.Xml;
@@ -42,6 +43,7 @@ using OpenSim.Region.Framework.Scenes.Serialization;
 
 namespace OpenSim.Region.Framework.Scenes
 {
+    
     [Flags]
     public enum scriptEvents
     {
@@ -105,8 +107,29 @@ namespace OpenSim.Region.Framework.Scenes
         /// since the group's last persistent backup
         /// </summary>
         private bool m_hasGroupChanged = false;
-        private long timeFirstChanged;
-        private long timeLastChanged;
+        private long timeFirstChanged = 0;
+        private long timeLastChanged = 0;
+        private long m_maxPersistTime = 0;
+        private long m_minPersistTime = 0;
+        private Random m_rand;
+        private bool m_suspendUpdates;
+        private List<ScenePresence> m_linkedAvatars = new List<ScenePresence>();
+
+        public bool areUpdatesSuspended
+        {
+            get
+            {
+                return m_suspendUpdates;
+            }
+            set 
+            {
+                m_suspendUpdates = value;   
+                if (!value)
+                {
+                    QueueForUpdateCheck();
+                }               
+            }
+        }
 
         public bool HasGroupChanged
         {
@@ -114,9 +137,39 @@ namespace OpenSim.Region.Framework.Scenes
             {
                 if (value)
                 {
+                    if (m_isBackedUp)
+                    {
+                        m_scene.SceneGraph.FireChangeBackup(this);
+                    }
                     timeLastChanged = DateTime.Now.Ticks;
                     if (!m_hasGroupChanged)
                         timeFirstChanged = DateTime.Now.Ticks;
+                    if (m_rootPart != null && m_rootPart.UUID != null && m_scene != null)
+                    {
+                        if (m_rand == null)
+                        {
+                            byte[] val = new byte[16];
+                            m_rootPart.UUID.ToBytes(val, 0);
+                            m_rand = new Random(BitConverter.ToInt32(val, 0));
+                        }
+                       
+                        if (m_scene.GetRootAgentCount() == 0)
+                        {
+                            //If the region is empty, this change has been made by an automated process
+                            //and thus we delay the persist time by a random amount between 1.5 and 2.5.
+
+                            float factor = 1.5f + (float)(m_rand.NextDouble());
+                            m_maxPersistTime = (long)((float)m_scene.m_persistAfter * factor);
+                            m_minPersistTime = (long)((float)m_scene.m_dontPersistBefore * factor);
+                        }
+                        else
+                        {
+                            //If the region is not empty, we want to obey the minimum and maximum persist times
+                            //but add a random factor so we stagger the object persistance a little
+                            m_maxPersistTime = (long)((float)m_scene.m_persistAfter * (1.0d - (m_rand.NextDouble() / 5.0d))); //Multiply by 1.0-1.5
+                            m_minPersistTime = (long)((float)m_scene.m_dontPersistBefore * (1.0d + (m_rand.NextDouble() / 2.0d))); //Multiply by 0.8-1.0
+                        }
+                    }
                 }
                 m_hasGroupChanged = value;
                 
@@ -131,7 +184,7 @@ namespace OpenSim.Region.Framework.Scenes
         /// Has the group changed due to an unlink operation?  We record this in order to optimize deletion, since
         /// an unlinked group currently has to be persisted to the database before we can perform an unlink operation.
         /// </summary>
-        public bool HasGroupChangedDueToDelink { get; private set; }
+        public bool HasGroupChangedDueToDelink { get; set; }
 
         private bool isTimeToPersist()
         {
@@ -141,8 +194,19 @@ namespace OpenSim.Region.Framework.Scenes
                 return false;
             if (m_scene.ShuttingDown)
                 return true;
+
+            if (m_minPersistTime == 0 || m_maxPersistTime == 0)
+            {
+                m_maxPersistTime = m_scene.m_persistAfter;
+                m_minPersistTime = m_scene.m_dontPersistBefore;
+            }
+                
             long currentTime = DateTime.Now.Ticks;
-            if (currentTime - timeLastChanged > m_scene.m_dontPersistBefore || currentTime - timeFirstChanged > m_scene.m_persistAfter)
+
+            if (timeLastChanged == 0) timeLastChanged = currentTime;
+            if (timeFirstChanged == 0) timeFirstChanged = currentTime;
+
+            if (currentTime - timeLastChanged > m_minPersistTime || currentTime - timeFirstChanged > m_maxPersistTime)
                 return true;
             return false;
         }
@@ -245,10 +309,10 @@ namespace OpenSim.Region.Framework.Scenes
 
         private bool m_scriptListens_atTarget;
         private bool m_scriptListens_notAtTarget;
-
         private bool m_scriptListens_atRotTarget;
         private bool m_scriptListens_notAtRotTarget;
 
+        public bool m_dupeInProgress = false;
         internal Dictionary<UUID, string> m_savedScriptState;
 
         #region Properties
@@ -285,6 +349,16 @@ namespace OpenSim.Region.Framework.Scenes
             get { return m_parts.Count; }
         }
 
+//        protected Quaternion m_rotation = Quaternion.Identity;
+//
+//        public virtual Quaternion Rotation
+//        {
+//            get { return m_rotation; }
+//            set {
+//                m_rotation = value; 
+//            }
+//        }
+
         public Quaternion GroupRotation
         {
             get { return m_rootPart.RotationOffset; }
@@ -386,14 +460,99 @@ namespace OpenSim.Region.Framework.Scenes
 
                 if (Scene != null)
                 {
-                    if ((Scene.TestBorderCross(val - Vector3.UnitX, Cardinals.E) || Scene.TestBorderCross(val + Vector3.UnitX, Cardinals.W)
-                        || Scene.TestBorderCross(val - Vector3.UnitY, Cardinals.N) || Scene.TestBorderCross(val + Vector3.UnitY, Cardinals.S)) 
+                    //                    if ((Scene.TestBorderCross(val - Vector3.UnitX, Cardinals.E) || Scene.TestBorderCross(val + Vector3.UnitX, Cardinals.W)
+                    //                        || Scene.TestBorderCross(val - Vector3.UnitY, Cardinals.N) || Scene.TestBorderCross(val + Vector3.UnitY, Cardinals.S))
+                    //                        && !IsAttachmentCheckFull() && (!Scene.LoadingPrims))
+                    if ((Scene.TestBorderCross(val, Cardinals.E) || Scene.TestBorderCross(val, Cardinals.W)
+                        || Scene.TestBorderCross(val, Cardinals.N) || Scene.TestBorderCross(val, Cardinals.S))
                         && !IsAttachmentCheckFull() && (!Scene.LoadingPrims))
                     {
-                        m_scene.CrossPrimGroupIntoNewRegion(val, this, true);
+                        IEntityTransferModule entityTransfer = m_scene.RequestModuleInterface<IEntityTransferModule>();
+                        uint x = 0;
+                        uint y = 0;
+                        string version = String.Empty;
+                        Vector3 newpos = Vector3.Zero;
+                        OpenSim.Services.Interfaces.GridRegion destination = null;
+
+                        bool canCross = true;
+                        foreach (ScenePresence av in m_linkedAvatars)
+                        {
+                            // We need to cross these agents. First, let's find
+                            // out if any of them can't cross for some reason.
+                            // We have to deny the crossing entirely if any
+                            // of them are banned. Alternatively, we could
+                            // unsit banned agents....
+
+
+                            // We set the avatar position as being the object
+                            // position to get the region to send to
+                            if ((destination = entityTransfer.GetDestination(m_scene, av.UUID, val, out x, out y, out version, out newpos)) == null)
+                            {
+                                canCross = false;
+                                break;
+                            }
+
+                            m_log.DebugFormat("[SCENE OBJECT]: Avatar {0} needs to be crossed to {1}", av.Name, destination.RegionName);
+                        }
+
+                        if (canCross)
+                        {
+                            // We unparent the SP quietly so that it won't
+                            // be made to stand up
+                            foreach (ScenePresence av in m_linkedAvatars)
+                            {
+                                SceneObjectPart parentPart = m_scene.GetSceneObjectPart(av.ParentID);
+                                if (parentPart != null)
+                                    av.ParentUUID = parentPart.UUID;
+
+                                av.ParentID = 0;
+                            }
+
+                            m_scene.CrossPrimGroupIntoNewRegion(val, this, true);
+
+                            // Normalize
+                            if (val.X >= Constants.RegionSize)
+                                val.X -= Constants.RegionSize;
+                            if (val.Y >= Constants.RegionSize)
+                                val.Y -= Constants.RegionSize;
+                            if (val.X < 0)
+                                val.X += Constants.RegionSize;
+                            if (val.Y < 0)
+                                val.Y += Constants.RegionSize;
+
+                            // If it's deleted, crossing was successful
+                            if (IsDeleted)
+                            {
+                                foreach (ScenePresence av in m_linkedAvatars)
+                                {
+                                    m_log.DebugFormat("[SCENE OBJECT]: Crossing avatar {0} to {1}", av.Name, val);
+
+                                    av.IsInTransit = true;
+
+                                    CrossAgentToNewRegionDelegate d = entityTransfer.CrossAgentToNewRegionAsync;
+                                    d.BeginInvoke(av, val, x, y, destination, av.Flying, version, CrossAgentToNewRegionCompleted, d);
+                                }
+
+                                return;
+                            }
+                        }
+                        else if (RootPart.PhysActor != null)
+                        {
+                            RootPart.PhysActor.CrossingFailure();
+                        }
+
+                        Vector3 oldp = AbsolutePosition;
+                        val.X = Util.Clamp<float>(oldp.X, 0.5f, (float)Constants.RegionSize - 0.5f);
+                        val.Y = Util.Clamp<float>(oldp.Y, 0.5f, (float)Constants.RegionSize - 0.5f);
+                        val.Z = Util.Clamp<float>(oldp.Z, 0.5f, 4096.0f);
                     }
                 }
-                
+/* don't see the need but worse don't see where is restored to false if things stay in
+                foreach (SceneObjectPart part in m_parts.GetArray())
+                {
+                    part.IgnoreUndoUpdate = true;
+                }
+ */
                 if (RootPart.GetStatusSandbox())
                 {
                     if (Util.GetDistanceTo(RootPart.StatusSandboxPos, value) > 10)
@@ -407,10 +566,30 @@ namespace OpenSim.Region.Framework.Scenes
                         return;
                     }
                 }
-
                 SceneObjectPart[] parts = m_parts.GetArray();
-                for (int i = 0; i < parts.Length; i++)
-                    parts[i].GroupPosition = val;
+                bool triggerScriptEvent = m_rootPart.GroupPosition != val;
+                if (m_dupeInProgress)
+                    triggerScriptEvent = false;
+                foreach (SceneObjectPart part in parts)
+                {
+                    part.GroupPosition = val;
+                    if (triggerScriptEvent)
+                        part.TriggerScriptChangedEvent(Changed.POSITION);
+                }
+                if (!m_dupeInProgress)
+                {
+                    foreach (ScenePresence av in m_linkedAvatars)
+                    {
+                        SceneObjectPart p = m_scene.GetSceneObjectPart(av.ParentID);
+                        if (p != null && m_parts.TryGetValue(p.UUID, out p))
+                        {
+                            Vector3 offset = p.GetWorldPosition() - av.ParentPosition;
+                            av.AbsolutePosition += offset;
+                            av.ParentPosition = p.GetWorldPosition(); //ParentPosition gets cleared by AbsolutePosition
+                            av.SendAvatarDataToAllAgents();
+                        }
+                    }
+                }
 
                 //if (m_rootPart.PhysActor != null)
                 //{
@@ -425,6 +604,29 @@ namespace OpenSim.Region.Framework.Scenes
             }
         }
 
+        public override Vector3 Velocity
+        {
+            get { return RootPart.Velocity; }
+            set { RootPart.Velocity = value; }
+        }
+
+        private void CrossAgentToNewRegionCompleted(IAsyncResult iar)
+        {
+            CrossAgentToNewRegionDelegate icon = (CrossAgentToNewRegionDelegate)iar.AsyncState;
+            ScenePresence agent = icon.EndInvoke(iar);
+
+            //// If the cross was successful, this agent is a child agent
+            //if (agent.IsChildAgent)
+            //    agent.Reset();
+            //else // Not successful
+            //    agent.RestoreInCurrentScene();
+
+            // In any case
+            agent.IsInTransit = false;
+
+            m_log.DebugFormat("[SCENE OBJECT]: Crossing agent {0} {1} completed.", agent.Firstname, agent.Lastname);
+        }
+
         public override uint LocalId
         {
             get { return m_rootPart.LocalId; }
@@ -517,6 +719,8 @@ namespace OpenSim.Region.Framework.Scenes
                             child.PhysActor.Selected = value;
                     }
                 }
+                if (RootPart.KeyframeMotion != null)
+                    RootPart.KeyframeMotion.Selected = value;
             }
         }
 
@@ -576,6 +780,7 @@ namespace OpenSim.Region.Framework.Scenes
         /// </summary>
         public SceneObjectGroup()
         {
+            
         }
 
         /// <summary>
@@ -592,7 +797,7 @@ namespace OpenSim.Region.Framework.Scenes
         /// Constructor.  This object is added to the scene later via AttachToScene()
         /// </summary>
         public SceneObjectGroup(UUID ownerID, Vector3 pos, Quaternion rot, PrimitiveBaseShape shape)
-        { 
+        {
             SetRootPart(new SceneObjectPart(ownerID, shape, pos, rot, Vector3.Zero));
         }
 
@@ -640,6 +845,9 @@ namespace OpenSim.Region.Framework.Scenes
         /// </summary>
         public virtual void AttachToBackup()
         {
+            if (IsAttachment) return;
+            m_scene.SceneGraph.FireAttachToBackup(this);
+
             if (InSceneBackup)
             {
                 //m_log.DebugFormat(
@@ -682,6 +890,13 @@ namespace OpenSim.Region.Framework.Scenes
 
             ApplyPhysics();
 
+            if (RootPart.PhysActor != null)
+                RootPart.Force = RootPart.Force;
+            if (RootPart.PhysActor != null)
+                RootPart.Torque = RootPart.Torque;
+            if (RootPart.PhysActor != null)
+                RootPart.Buoyancy = RootPart.Buoyancy;
+
             // Don't trigger the update here - otherwise some client issues occur when multiple updates are scheduled
             // for the same object with very different properties.  The caller must schedule the update.
             //ScheduleGroupForFullUpdate();
@@ -697,6 +912,10 @@ namespace OpenSim.Region.Framework.Scenes
             EntityIntersection result = new EntityIntersection();
 
             SceneObjectPart[] parts = m_parts.GetArray();
+
+            // Find closest hit here
+            float idist = float.MaxValue;
+
             for (int i = 0; i < parts.Length; i++)
             {
                 SceneObjectPart part = parts[i];
@@ -711,11 +930,6 @@ namespace OpenSim.Region.Framework.Scenes
 
                 EntityIntersection inter = part.TestIntersectionOBB(hRay, parentrotation, frontFacesOnly, faceCenters);
 
-                // This may need to be updated to the maximum draw distance possible..
-                // We might (and probably will) be checking for prim creation from other sims
-                // when the camera crosses the border.
-                float idist = Constants.RegionSize;
-
                 if (inter.HitTF)
                 {
                     // We need to find the closest prim to return to the testcaller along the ray
@@ -726,10 +940,11 @@ namespace OpenSim.Region.Framework.Scenes
                         result.obj = part;
                         result.normal = inter.normal;
                         result.distance = inter.distance;
+
+                        idist = inter.distance;
                     }
                 }
             }
-
             return result;
         }
 
@@ -741,25 +956,27 @@ namespace OpenSim.Region.Framework.Scenes
         /// <returns></returns>
         public void GetAxisAlignedBoundingBoxRaw(out float minX, out float maxX, out float minY, out float maxY, out float minZ, out float maxZ)
         {
-            maxX = -256f;
-            maxY = -256f;
-            maxZ = -256f;
-            minX = 256f;
-            minY = 256f;
-            minZ = 8192f;
+            maxX = float.MinValue;
+            maxY = float.MinValue;
+            maxZ = float.MinValue;
+            minX = float.MaxValue;
+            minY = float.MaxValue;
+            minZ = float.MaxValue;
 
             SceneObjectPart[] parts = m_parts.GetArray();
-            for (int i = 0; i < parts.Length; i++)
+            foreach (SceneObjectPart part in parts)
             {
-                SceneObjectPart part = parts[i];
-
                 Vector3 worldPos = part.GetWorldPosition();
                 Vector3 offset = worldPos - AbsolutePosition;
                 Quaternion worldRot;
                 if (part.ParentID == 0)
+                {
                     worldRot = part.RotationOffset;
+                }
                 else
+                {
                     worldRot = part.GetWorldRotation();
+                }
 
                 Vector3 frontTopLeft;
                 Vector3 frontTopRight;
@@ -771,6 +988,8 @@ namespace OpenSim.Region.Framework.Scenes
                 Vector3 backBottomLeft;
                 Vector3 backBottomRight;
 
+               // Vector3[] corners = new Vector3[8];
+
                 Vector3 orig = Vector3.Zero;
 
                 frontTopLeft.X = orig.X - (part.Scale.X / 2);
@@ -805,6 +1024,38 @@ namespace OpenSim.Region.Framework.Scenes
                 backBottomRight.Y = orig.Y + (part.Scale.Y / 2);
                 backBottomRight.Z = orig.Z - (part.Scale.Z / 2);
 
+                
+
+                //m_log.InfoFormat("pre corner 1 is {0} {1} {2}", frontTopLeft.X, frontTopLeft.Y, frontTopLeft.Z);
+                //m_log.InfoFormat("pre corner 2 is {0} {1} {2}", frontTopRight.X, frontTopRight.Y, frontTopRight.Z);
+                //m_log.InfoFormat("pre corner 3 is {0} {1} {2}", frontBottomRight.X, frontBottomRight.Y, frontBottomRight.Z);
+                //m_log.InfoFormat("pre corner 4 is {0} {1} {2}", frontBottomLeft.X, frontBottomLeft.Y, frontBottomLeft.Z);
+                //m_log.InfoFormat("pre corner 5 is {0} {1} {2}", backTopLeft.X, backTopLeft.Y, backTopLeft.Z);
+                //m_log.InfoFormat("pre corner 6 is {0} {1} {2}", backTopRight.X, backTopRight.Y, backTopRight.Z);
+                //m_log.InfoFormat("pre corner 7 is {0} {1} {2}", backBottomRight.X, backBottomRight.Y, backBottomRight.Z);
+                //m_log.InfoFormat("pre corner 8 is {0} {1} {2}", backBottomLeft.X, backBottomLeft.Y, backBottomLeft.Z);
+
+                //for (int i = 0; i < 8; i++)
+                //{
+                //    corners[i] = corners[i] * worldRot;
+                //    corners[i] += offset;
+
+                //    if (corners[i].X > maxX)
+                //        maxX = corners[i].X;
+                //    if (corners[i].X < minX)
+                //        minX = corners[i].X;
+
+                //    if (corners[i].Y > maxY)
+                //        maxY = corners[i].Y;
+                //    if (corners[i].Y < minY)
+                //        minY = corners[i].Y;
+
+                //    if (corners[i].Z > maxZ)
+                //        maxZ = corners[i].Y;
+                //    if (corners[i].Z < minZ)
+                //        minZ = corners[i].Z;
+                //}
+
                 frontTopLeft = frontTopLeft * worldRot;
                 frontTopRight = frontTopRight * worldRot;
                 frontBottomLeft = frontBottomLeft * worldRot;
@@ -826,6 +1077,15 @@ namespace OpenSim.Region.Framework.Scenes
                 backTopLeft += offset;
                 backTopRight += offset;
 
+                //m_log.InfoFormat("corner 1 is {0} {1} {2}", frontTopLeft.X, frontTopLeft.Y, frontTopLeft.Z);
+                //m_log.InfoFormat("corner 2 is {0} {1} {2}", frontTopRight.X, frontTopRight.Y, frontTopRight.Z);
+                //m_log.InfoFormat("corner 3 is {0} {1} {2}", frontBottomRight.X, frontBottomRight.Y, frontBottomRight.Z);
+                //m_log.InfoFormat("corner 4 is {0} {1} {2}", frontBottomLeft.X, frontBottomLeft.Y, frontBottomLeft.Z);
+                //m_log.InfoFormat("corner 5 is {0} {1} {2}", backTopLeft.X, backTopLeft.Y, backTopLeft.Z);
+                //m_log.InfoFormat("corner 6 is {0} {1} {2}", backTopRight.X, backTopRight.Y, backTopRight.Z);
+                //m_log.InfoFormat("corner 7 is {0} {1} {2}", backBottomRight.X, backBottomRight.Y, backBottomRight.Z);
+                //m_log.InfoFormat("corner 8 is {0} {1} {2}", backBottomLeft.X, backBottomLeft.Y, backBottomLeft.Z);
+
                 if (frontTopRight.X > maxX)
                     maxX = frontTopRight.X;
                 if (frontTopLeft.X > maxX)
@@ -969,17 +1229,118 @@ namespace OpenSim.Region.Framework.Scenes
 
         #endregion
 
+        public void GetResourcesCosts(SceneObjectPart apart,
+            out float linksetResCost, out float linksetPhysCost, out float partCost, out float partPhysCost)
+        {
+            // this information may need to be cached
+
+            float cost;
+            float tmpcost;
+
+            bool ComplexCost = false;
+
+            SceneObjectPart p;
+            SceneObjectPart[] parts;
+
+            lock (m_parts)
+            {
+                parts = m_parts.GetArray();
+            }
+
+            int nparts = parts.Length;
+          
+
+            for (int i = 0; i < nparts; i++)
+            {
+                p = parts[i];
+
+                if (p.UsesComplexCost)
+                {
+                    ComplexCost = true;
+                    break;
+                }
+            }
+
+            if (ComplexCost)
+            {
+                linksetResCost = 0;
+                linksetPhysCost = 0;
+                partCost = 0; 
+                partPhysCost = 0;
+
+                for (int i = 0; i < nparts; i++)
+                {
+                    p = parts[i];
+
+                    cost = p.StreamingCost;
+                    tmpcost = p.SimulationCost;
+                    if (tmpcost > cost)
+                        cost = tmpcost;
+                    tmpcost = p.PhysicsCost;
+                    if (tmpcost > cost)
+                        cost = tmpcost;
+
+                    linksetPhysCost += tmpcost;
+                    linksetResCost += cost;
+
+                    if (p == apart)
+                    {
+                        partCost = cost;
+                        partPhysCost = tmpcost;
+                    }
+                }
+            }
+            else
+            {
+                partPhysCost = 1.0f;
+                partCost = 1.0f;
+                linksetResCost = (float)nparts;
+                linksetPhysCost = linksetResCost;
+            }
+        }
+
+        public void GetSelectedCosts(out float PhysCost, out float StreamCost, out float SimulCost)
+        {
+            SceneObjectPart p;
+            SceneObjectPart[] parts;
+
+            lock (m_parts)
+            {
+                parts = m_parts.GetArray();
+            }
+
+            int nparts = parts.Length;
+
+            PhysCost = 0;
+            StreamCost = 0;
+            SimulCost = 0;
+
+            for (int i = 0; i < nparts; i++)
+            {
+                p = parts[i];
+
+                StreamCost += p.StreamingCost;
+                SimulCost += p.SimulationCost;
+                PhysCost += p.PhysicsCost;
+            }
+        }
+
         public void SaveScriptedState(XmlTextWriter writer)
         {
+            SaveScriptedState(writer, false);
+        }
+
+        public void SaveScriptedState(XmlTextWriter writer, bool oldIDs)
+        {
             XmlDocument doc = new XmlDocument();
             Dictionary<UUID,string> states = new Dictionary<UUID,string>();
 
             SceneObjectPart[] parts = m_parts.GetArray();
             for (int i = 0; i < parts.Length; i++)
             {
-                Dictionary<UUID, string> pstates = parts[i].Inventory.GetScriptStates();
+                Dictionary<UUID, string> pstates = parts[i].Inventory.GetScriptStates(oldIDs);
                 foreach (KeyValuePair<UUID, string> kvp in pstates)
-                    states.Add(kvp.Key, kvp.Value);
+                    states[kvp.Key] = kvp.Value;
             }
 
             if (states.Count > 0)
@@ -999,6 +1360,169 @@ namespace OpenSim.Region.Framework.Scenes
         }
 
         /// <summary>
+        /// Add the avatar to this linkset (avatar is sat).
+        /// </summary>
+        /// <param name="agentID"></param>
+        public void AddAvatar(UUID agentID)
+        {
+            ScenePresence presence;
+            if (m_scene.TryGetScenePresence(agentID, out presence))
+            {
+                if (!m_linkedAvatars.Contains(presence))
+                {
+                    m_linkedAvatars.Add(presence);
+                }
+            }
+        }
+
+        /// <summary>
+        /// Delete the avatar from this linkset (avatar is unsat).
+        /// </summary>
+        /// <param name="agentID"></param>
+        public void DeleteAvatar(UUID agentID)
+        {
+            ScenePresence presence;
+            if (m_scene.TryGetScenePresence(agentID, out presence))
+            {
+                if (m_linkedAvatars.Contains(presence))
+                {
+                    m_linkedAvatars.Remove(presence);
+                }
+            }
+        }
+
+        /// <summary>
+        /// Returns the list of linked presences (avatars sat on this group)
+        /// </summary>
+        /// <param name="agentID"></param>
+        public List<ScenePresence> GetLinkedAvatars()
+        {
+            return m_linkedAvatars;
+        }
+
+        /// <summary>
+        /// Attach this scene object to the given avatar.
+        /// </summary>
+        /// <param name="agentID"></param>
+        /// <param name="attachmentpoint"></param>
+        /// <param name="AttachOffset"></param>
+        private void AttachToAgent(
+            ScenePresence avatar, SceneObjectGroup so, uint attachmentpoint, Vector3 attachOffset, bool silent)
+        {
+            if (avatar != null)
+            {
+                // don't attach attachments to child agents
+                if (avatar.IsChildAgent) return;
+
+                // Remove from database and parcel prim count
+                m_scene.DeleteFromStorage(so.UUID);
+                m_scene.EventManager.TriggerParcelPrimCountTainted();
+
+                so.AttachedAvatar = avatar.UUID;
+
+                if (so.RootPart.PhysActor != null)
+                {
+                    m_scene.PhysicsScene.RemovePrim(so.RootPart.PhysActor);
+                    so.RootPart.PhysActor = null;
+                }
+
+                so.AbsolutePosition = attachOffset;
+                so.RootPart.AttachedPos = attachOffset;
+                so.IsAttachment = true;
+                so.RootPart.SetParentLocalId(avatar.LocalId);
+                so.AttachmentPoint = attachmentpoint;
+
+                avatar.AddAttachment(this);
+
+                if (!silent)
+                {
+                    // Killing it here will cause the client to deselect it
+                    // It then reappears on the avatar, deselected
+                    // through the full update below
+                    //
+                    if (IsSelected)
+                    {
+                        m_scene.SendKillObject(new List<uint> { m_rootPart.LocalId });
+                    }
+
+                    IsSelected = false; // fudge....
+                    ScheduleGroupForFullUpdate();
+                }
+            }
+            else
+            {
+                m_log.WarnFormat(
+                    "[SOG]: Tried to add attachment {0} to avatar with UUID {1} in region {2} but the avatar is not present", 
+                    UUID, avatar.ControllingClient.AgentId, Scene.RegionInfo.RegionName);
+            }
+        }
+
+        public byte GetAttachmentPoint()
+        {
+            return m_rootPart.Shape.State;
+        }
+
+        public void DetachToGround()
+        {
+            ScenePresence avatar = m_scene.GetScenePresence(AttachedAvatar);
+            if (avatar == null)
+                return;
+
+            avatar.RemoveAttachment(this);
+
+            Vector3 detachedpos = new Vector3(127f,127f,127f);
+            if (avatar == null)
+                return;
+
+            detachedpos = avatar.AbsolutePosition;
+            RootPart.FromItemID = UUID.Zero;
+
+            AbsolutePosition = detachedpos;
+            AttachedAvatar = UUID.Zero;
+
+            //SceneObjectPart[] parts = m_parts.GetArray();
+            //for (int i = 0; i < parts.Length; i++)
+            //    parts[i].AttachedAvatar = UUID.Zero;
+
+            m_rootPart.SetParentLocalId(0);
+            AttachmentPoint = (byte)0;
+            // must check if buildind should be true or false here
+            m_rootPart.ApplyPhysics(m_rootPart.GetEffectiveObjectFlags(), m_rootPart.VolumeDetectActive,false);
+            HasGroupChanged = true;
+            RootPart.Rezzed = DateTime.Now;
+            RootPart.RemFlag(PrimFlags.TemporaryOnRez);
+            AttachToBackup();
+            m_scene.EventManager.TriggerParcelPrimCountTainted();
+            m_rootPart.ScheduleFullUpdate();
+            m_rootPart.ClearUndoState();
+        }
+
+        public void DetachToInventoryPrep()
+        {
+            ScenePresence avatar = m_scene.GetScenePresence(AttachedAvatar);
+            //Vector3 detachedpos = new Vector3(127f, 127f, 127f);
+            if (avatar != null)
+            {
+                //detachedpos = avatar.AbsolutePosition;
+                avatar.RemoveAttachment(this);
+            }
+
+            AttachedAvatar = UUID.Zero;
+
+            /*SceneObjectPart[] parts = m_parts.GetArray();
+            for (int i = 0; i < parts.Length; i++)
+                parts[i].AttachedAvatar = UUID.Zero;*/
+
+            m_rootPart.SetParentLocalId(0);
+            //m_rootPart.SetAttachmentPoint((byte)0);
+            IsAttachment = false;
+            AbsolutePosition = m_rootPart.AttachedPos;
+            //m_rootPart.ApplyPhysics(m_rootPart.GetEffectiveObjectFlags(), m_scene.m_physicalPrim);
+            //AttachToBackup();
+            //m_rootPart.ScheduleFullUpdate();
+        }
+
+        /// <summary>
         ///
         /// </summary>
         /// <param name="part"></param>
@@ -1048,7 +1572,10 @@ namespace OpenSim.Region.Framework.Scenes
         public void AddPart(SceneObjectPart part)
         {
             part.SetParent(this);
-            part.LinkNum = m_parts.Add(part.UUID, part);
+            m_parts.Add(part.UUID, part);
+
+            part.LinkNum = m_parts.Count;
+
             if (part.LinkNum == 2)
                 RootPart.LinkNum = 1;
         }
@@ -1136,7 +1663,7 @@ namespace OpenSim.Region.Framework.Scenes
 //                "[SCENE OBJECT GROUP]: Processing OnGrabPart for {0} on {1} {2}, offsetPos {3}",
 //                remoteClient.Name, part.Name, part.LocalId, offsetPos);
 
-            part.StoreUndoState();
+//            part.StoreUndoState();
             part.OnGrab(offsetPos, remoteClient);
         }
 
@@ -1156,6 +1683,11 @@ namespace OpenSim.Region.Framework.Scenes
         /// <param name="silent">If true then deletion is not broadcast to clients</param>
         public void DeleteGroupFromScene(bool silent)
         {
+            // We need to keep track of this state in case this group is still queued for backup.
+            IsDeleted = true;
+
+            DetachFromBackup();
+
             SceneObjectPart[] parts = m_parts.GetArray();
             for (int i = 0; i < parts.Length; i++)
             {
@@ -1178,6 +1710,8 @@ namespace OpenSim.Region.Framework.Scenes
                     }
                 });
             }
+            
+          
         }
 
         public void AddScriptLPS(int count)
@@ -1247,28 +1781,43 @@ namespace OpenSim.Region.Framework.Scenes
         /// </summary>
         public void ApplyPhysics()
         {
-            // Apply physics to the root prim
-            m_rootPart.ApplyPhysics(m_rootPart.GetEffectiveObjectFlags(), m_rootPart.VolumeDetectActive);
-            
-            // Apply physics to child prims
             SceneObjectPart[] parts = m_parts.GetArray();
             if (parts.Length > 1)
             {
+                ResetChildPrimPhysicsPositions();
+
+                // Apply physics to the root prim
+                m_rootPart.ApplyPhysics(m_rootPart.GetEffectiveObjectFlags(), m_rootPart.VolumeDetectActive, true);
+
+
                 for (int i = 0; i < parts.Length; i++)
                 {
                     SceneObjectPart part = parts[i];
                     if (part.LocalId != m_rootPart.LocalId)
-                        part.ApplyPhysics(m_rootPart.GetEffectiveObjectFlags(), part.VolumeDetectActive);
+                        part.ApplyPhysics(m_rootPart.GetEffectiveObjectFlags(), part.VolumeDetectActive, true);
                 }
-
                 // Hack to get the physics scene geometries in the right spot
-                ResetChildPrimPhysicsPositions();
+//                ResetChildPrimPhysicsPositions();
+                if (m_rootPart.PhysActor != null)
+                {
+                    m_rootPart.PhysActor.Building = false;
+                }
+                        }
+                        else
+                        {
+                // Apply physics to the root prim
+                m_rootPart.ApplyPhysics(m_rootPart.GetEffectiveObjectFlags(), m_rootPart.VolumeDetectActive, false);
             }
         }
 
         public void SetOwnerId(UUID userId)
         {
-            ForEachPart(delegate(SceneObjectPart part) { part.OwnerID = userId; });
+                ForEachPart(delegate(SceneObjectPart part) 
+                {
+                    
+                    part.OwnerID = userId;
+                    
+                });
         }
 
         public void ForEachPart(Action<SceneObjectPart> whatToDo)
@@ -1300,11 +1849,17 @@ namespace OpenSim.Region.Framework.Scenes
                 return;
             }
 
+            if ((RootPart.Flags & PrimFlags.TemporaryOnRez) != 0)
+                return;
+
             // Since this is the top of the section of call stack for backing up a particular scene object, don't let
             // any exception propogate upwards.
             try
             {
-                if (!m_scene.ShuttingDown) // if shutting down then there will be nothing to handle the return so leave till next restart
+                if (!m_scene.ShuttingDown || // if shutting down then there will be nothing to handle the return so leave till next restart
+                        m_scene.LoginsDisabled || // We're starting up or doing maintenance, don't mess with things
+                        m_scene.LoadingPrims) // Land may not be valid yet
+                
                 {
                     ILandObject parcel = m_scene.LandChannel.GetLandObject(
                             m_rootPart.GroupPosition.X, m_rootPart.GroupPosition.Y);
@@ -1331,6 +1886,7 @@ namespace OpenSim.Region.Framework.Scenes
                             }
                         }
                     }
+
                 }
 
                 if (m_scene.UseBackup && HasGroupChanged)
@@ -1338,6 +1894,20 @@ namespace OpenSim.Region.Framework.Scenes
                     // don't backup while it's selected or you're asking for changes mid stream.
                     if (isTimeToPersist() || forcedBackup)
                     {
+                        if (m_rootPart.PhysActor != null &&
+                            (!m_rootPart.PhysActor.IsPhysical))
+                        {
+                            // Possible ghost prim
+                            if (m_rootPart.PhysActor.Position != m_rootPart.GroupPosition)
+                            {
+                                foreach (SceneObjectPart part in m_parts.GetArray())
+                                {
+                                    // Re-set physics actor positions and
+                                    // orientations
+                                    part.GroupPosition = m_rootPart.GroupPosition;
+                                }
+                            }
+                        }
 //                        m_log.DebugFormat(
 //                            "[SCENE]: Storing {0}, {1} in {2}",
 //                            Name, UUID, m_scene.RegionInfo.RegionName);
@@ -1355,6 +1925,11 @@ namespace OpenSim.Region.Framework.Scenes
 
                         backup_group.ForEachPart(delegate(SceneObjectPart part) 
                         { 
+                            if (part.KeyframeMotion != null)
+                            {
+                                part.KeyframeMotion = KeyframeMotion.FromData(backup_group, part.KeyframeMotion.Serialize());
+                                part.KeyframeMotion.UpdateSceneObject(this);
+                            }
                             part.Inventory.ProcessInventoryBackup(datastore); 
                         });
 
@@ -1407,6 +1982,7 @@ namespace OpenSim.Region.Framework.Scenes
         /// <returns></returns>
         public SceneObjectGroup Copy(bool userExposed)
         {
+            m_dupeInProgress = true;
             SceneObjectGroup dupe = (SceneObjectGroup)MemberwiseClone();
             dupe.m_isBackedUp = false;
             dupe.m_parts = new MapAndArray<OpenMetaverse.UUID, SceneObjectPart>();
@@ -1421,7 +1997,7 @@ namespace OpenSim.Region.Framework.Scenes
             // This is only necessary when userExposed is false!
 
             bool previousAttachmentStatus = dupe.IsAttachment;
-            
+
             if (!userExposed)
                 dupe.IsAttachment = true;
 
@@ -1439,11 +2015,11 @@ namespace OpenSim.Region.Framework.Scenes
                 dupe.m_rootPart.TrimPermissions();
 
             List<SceneObjectPart> partList = new List<SceneObjectPart>(m_parts.GetArray());
-            
+
             partList.Sort(delegate(SceneObjectPart p1, SceneObjectPart p2)
-                {
-                    return p1.LinkNum.CompareTo(p2.LinkNum);
-                }
+            {
+                return p1.LinkNum.CompareTo(p2.LinkNum);
+            }
             );
 
             foreach (SceneObjectPart part in partList)
@@ -1453,40 +2029,53 @@ namespace OpenSim.Region.Framework.Scenes
                 {
                     newPart = dupe.CopyPart(part, OwnerID, GroupID, userExposed);
                     newPart.LinkNum = part.LinkNum;
-                }
+                    if (userExposed)
+                        newPart.ParentID = dupe.m_rootPart.LocalId;
+                 }
                 else
                 {
                     newPart = dupe.m_rootPart;
                 }
+/*
+                bool isphys = ((newPart.Flags & PrimFlags.Physics) != 0);
+                bool isphan = ((newPart.Flags & PrimFlags.Phantom) != 0);
 
                 // Need to duplicate the physics actor as well
-                if (part.PhysActor != null && userExposed)
+                if (userExposed && (isphys || !isphan || newPart.VolumeDetectActive))
                 {
                     PrimitiveBaseShape pbs = newPart.Shape;
-    
                     newPart.PhysActor
                         = m_scene.PhysicsScene.AddPrimShape(
                             string.Format("{0}/{1}", newPart.Name, newPart.UUID),
                             pbs,
                             newPart.AbsolutePosition,
                             newPart.Scale,
-                            newPart.RotationOffset,
-                            part.PhysActor.IsPhysical,
+                            newPart.GetWorldRotation(),
+                            isphys,
+                            isphan,
                             newPart.LocalId);
-    
-                    newPart.DoPhysicsPropertyUpdate(part.PhysActor.IsPhysical, true);
-                }
+
+                    newPart.DoPhysicsPropertyUpdate(isphys, true);
+ */
+                if (userExposed)
+                    newPart.ApplyPhysics((uint)newPart.Flags,newPart.VolumeDetectActive,true);
+//                }
             }
-            
+
             if (userExposed)
             {
-                dupe.UpdateParentIDs();
+// done above                dupe.UpdateParentIDs();
+
+                if (dupe.m_rootPart.PhysActor != null)
+                    dupe.m_rootPart.PhysActor.Building = false; // tell physics to finish building
+
                 dupe.HasGroupChanged = true;
                 dupe.AttachToBackup();
 
                 ScheduleGroupForFullUpdate();
             }
 
+            m_dupeInProgress = false;
             return dupe;
         }
 
@@ -1498,11 +2087,24 @@ namespace OpenSim.Region.Framework.Scenes
         /// <param name="cGroupID"></param>
         public void CopyRootPart(SceneObjectPart part, UUID cAgentID, UUID cGroupID, bool userExposed)
         {
-            SetRootPart(part.Copy(m_scene.AllocateLocalId(), OwnerID, GroupID, 0, userExposed));
+            //            SetRootPart(part.Copy(m_scene.AllocateLocalId(), OwnerID, GroupID, 0, userExposed));
+            // give newpart a new local ID lettng old part keep same
+            SceneObjectPart newpart = part.Copy(part.LocalId, OwnerID, GroupID, 0, userExposed);
+            newpart.LocalId = m_scene.AllocateLocalId();
+
+            SetRootPart(newpart);
+            if (userExposed)
+                RootPart.Velocity = Vector3.Zero; // In case source is moving
         }
 
         public void ScriptSetPhysicsStatus(bool usePhysics)
         {
+            if (usePhysics)
+            {
+                if (RootPart.KeyframeMotion != null)
+                    RootPart.KeyframeMotion.Stop();
+                RootPart.KeyframeMotion = null;
+            }
             UpdatePrimFlags(RootPart.LocalId, usePhysics, IsTemporary, IsPhantom, IsVolumeDetect);
         }
 
@@ -1566,32 +2168,12 @@ namespace OpenSim.Region.Framework.Scenes
             }
         }
 
-        public void setAngularImpulse(Vector3 impulse)
-        {
-            if (RootPart.PhysActor != null)
-            {
-                if (!IsAttachment)
-                {
-                    RootPart.PhysActor.Torque = impulse;
-                    m_scene.PhysicsScene.AddPhysicsActorTaint(RootPart.PhysActor);
-                }
-            }
-        }
-
         public Vector3 GetTorque()
         {
-            if (RootPart.PhysActor != null)
-            {
-                if (!IsAttachment)
-                {
-                    Vector3 torque = RootPart.PhysActor.Torque;
-                    return torque;
-                }
-            }
-
-            return Vector3.Zero;
+            return RootPart.Torque;
         }
 
+         // This is used by both Double-Click Auto-Pilot and llMoveToTarget() in an attached object
         public void moveToTarget(Vector3 target, float tau)
         {
             if (IsAttachment)
@@ -1619,6 +2201,46 @@ namespace OpenSim.Region.Framework.Scenes
                 RootPart.PhysActor.PIDActive = false;
         }
         
+        public void rotLookAt(Quaternion target, float strength, float damping)
+        {
+            SceneObjectPart rootpart = m_rootPart;
+            if (rootpart != null)
+            {
+                if (IsAttachment)
+                {
+                /*
+                    ScenePresence avatar = m_scene.GetScenePresence(rootpart.AttachedAvatar);
+                    if (avatar != null)
+                    {
+                    Rotate the Av?
+                    } */
+                }
+                else
+                {
+                    if (rootpart.PhysActor != null)
+                    {                                                                   // APID must be implemented in your physics system for this to function.
+                        rootpart.PhysActor.APIDTarget = new Quaternion(target.X, target.Y, target.Z, target.W);
+                        rootpart.PhysActor.APIDStrength = strength;
+                        rootpart.PhysActor.APIDDamping = damping;
+                        rootpart.PhysActor.APIDActive = true;
+                    }
+                }
+            }
+        }
+
+        public void stopLookAt()
+        {
+            SceneObjectPart rootpart = m_rootPart;
+            if (rootpart != null)
+            {
+                if (rootpart.PhysActor != null)
+                {                                                       // APID must be implemented in your physics system for this to function.
+                    rootpart.PhysActor.APIDActive = false;
+                }
+            }
+        
+        }
+
         /// <summary>
         /// Uses a PID to attempt to clamp the object on the Z axis at the given height over tau seconds.
         /// </summary>
@@ -1673,7 +2295,12 @@ namespace OpenSim.Region.Framework.Scenes
         /// <param name="cGroupID"></param>
         public SceneObjectPart CopyPart(SceneObjectPart part, UUID cAgentID, UUID cGroupID, bool userExposed)
         {
-            SceneObjectPart newPart = part.Copy(m_scene.AllocateLocalId(), OwnerID, GroupID, m_parts.Count, userExposed);
+            // give new ID to the new part, letting old keep original
+            //            SceneObjectPart newPart = part.Copy(m_scene.AllocateLocalId(), OwnerID, GroupID, m_parts.Count, userExposed);
+            SceneObjectPart newPart = part.Copy(part.LocalId, OwnerID, GroupID, m_parts.Count, userExposed);
+            newPart.LocalId = m_scene.AllocateLocalId();
+            newPart.SetParent(this);
+
             AddPart(newPart);
 
             SetPartAsNonRoot(newPart);
@@ -1802,11 +2429,11 @@ namespace OpenSim.Region.Framework.Scenes
         /// Immediately send a full update for this scene object.
         /// </summary>
         public void SendGroupFullUpdate()
-        {
+        {                       
             if (IsDeleted)
                 return;
 
-//            m_log.DebugFormat("[SOG]: Sending immediate full group update for {0} {1}", Name, UUID);
+//            m_log.DebugFormat("[SOG]: Sending immediate full group update for {0} {1}", Name, UUID);            
             
             RootPart.SendFullUpdateToAllClients();
 
@@ -1950,6 +2577,11 @@ namespace OpenSim.Region.Framework.Scenes
         /// <param name="objectGroup">The group of prims which should be linked to this group</param>
         public void LinkToGroup(SceneObjectGroup objectGroup)
         {
+            LinkToGroup(objectGroup, false);
+        }
+
+        public void LinkToGroup(SceneObjectGroup objectGroup, bool insert)
+        {
 //            m_log.DebugFormat(
 //                "[SCENE OBJECT GROUP]: Linking group with root part {0}, {1} to group with root part {2}, {3}",
 //                objectGroup.RootPart.Name, objectGroup.RootPart.UUID, RootPart.Name, RootPart.UUID);
@@ -1960,6 +2592,15 @@ namespace OpenSim.Region.Framework.Scenes
 
             SceneObjectPart linkPart = objectGroup.m_rootPart;
 
+            if (m_rootPart.PhysActor != null)
+                m_rootPart.PhysActor.Building = true;
+            if (linkPart.PhysActor != null)
+                linkPart.PhysActor.Building = true;
+
+            // physics flags from group to be applied to linked parts
+            bool grpusephys = UsesPhysics;
+            bool grptemporary = IsTemporary;
+
             Vector3 oldGroupPosition = linkPart.GroupPosition;
             Quaternion oldRootRotation = linkPart.RotationOffset;
 
@@ -1983,13 +2624,34 @@ namespace OpenSim.Region.Framework.Scenes
 
             lock (m_parts.SyncRoot)
             {
-                int linkNum = PrimCount + 1;
+                int linkNum;
+                if (insert)
+                {
+                    linkNum = 2;
+                    foreach (SceneObjectPart part in Parts)
+                    {
+                        if (part.LinkNum > 1)
+                            part.LinkNum++;
+                    }
+                }
+                else
+                {
+                    linkNum = PrimCount + 1;
+                }
 
                 m_parts.Add(linkPart.UUID, linkPart);
 
                 linkPart.SetParent(this);
                 linkPart.CreateSelected = true;
 
+                // let physics know preserve part volume dtc messy since UpdatePrimFlags doesn't look to parent changes for now
+                linkPart.UpdatePrimFlags(grpusephys, grptemporary, (IsPhantom || (linkPart.Flags & PrimFlags.Phantom) != 0), linkPart.VolumeDetectActive, true);
+                if (linkPart.PhysActor != null && m_rootPart.PhysActor != null && m_rootPart.PhysActor.IsPhysical)
+                {
+                    linkPart.PhysActor.link(m_rootPart.PhysActor);
+                    this.Scene.PhysicsScene.AddPhysicsActorTaint(linkPart.PhysActor);
+                }
+
                 linkPart.LinkNum = linkNum++;
 
                 SceneObjectPart[] ogParts = objectGroup.Parts;
@@ -2002,7 +2664,16 @@ namespace OpenSim.Region.Framework.Scenes
                 {
                     SceneObjectPart part = ogParts[i];
                     if (part.UUID != objectGroup.m_rootPart.UUID)
+                    {
                         LinkNonRootPart(part, oldGroupPosition, oldRootRotation, linkNum++);
+                        // let physics know
+                        part.UpdatePrimFlags(grpusephys, grptemporary, (IsPhantom || (part.Flags & PrimFlags.Phantom) != 0), part.VolumeDetectActive, true);
+                        if (part.PhysActor != null && m_rootPart.PhysActor != null && m_rootPart.PhysActor.IsPhysical)
+                        {
+                            part.PhysActor.link(m_rootPart.PhysActor);
+                            this.Scene.PhysicsScene.AddPhysicsActorTaint(part.PhysActor);
+                        }
+                    }
                     part.ClearUndoState();
                 }
             }
@@ -2011,7 +2682,7 @@ namespace OpenSim.Region.Framework.Scenes
             objectGroup.IsDeleted = true;
 
             objectGroup.m_parts.Clear();
-
+            
             // Can't do this yet since backup still makes use of the root part without any synchronization
 //            objectGroup.m_rootPart = null;
 
@@ -2022,6 +2693,9 @@ namespace OpenSim.Region.Framework.Scenes
             // unmoved prims!
             ResetChildPrimPhysicsPositions();
 
+            if (m_rootPart.PhysActor != null)
+                m_rootPart.PhysActor.Building = false;
+
             //HasGroupChanged = true;
             //ScheduleGroupForFullUpdate();
         }
@@ -2074,7 +2748,10 @@ namespace OpenSim.Region.Framework.Scenes
 //                m_log.DebugFormat(
 //                    "[SCENE OBJECT GROUP]: Delinking part {0}, {1} from group with root part {2}, {3}",
 //                    linkPart.Name, linkPart.UUID, RootPart.Name, RootPart.UUID);
-            
+
+            if (m_rootPart.PhysActor != null)
+                m_rootPart.PhysActor.Building = true;
+
             linkPart.ClearUndoState();
 
             Quaternion worldRot = linkPart.GetWorldRotation();
@@ -2134,6 +2811,14 @@ namespace OpenSim.Region.Framework.Scenes
 
             // When we delete a group, we currently have to force persist to the database if the object id has changed
             // (since delete works by deleting all rows which have a given object id)
+
+            // this is as it seems to be in sl now
+            if(linkPart.PhysicsShapeType == (byte)PhysShapeType.none)
+                linkPart.PhysicsShapeType = linkPart.DefaultPhysicsShapeType(); // root prims can't have type none for now
+
+            if (m_rootPart.PhysActor != null)
+                m_rootPart.PhysActor.Building = false;
+
             objectGroup.HasGroupChangedDueToDelink = true;
 
             return objectGroup;
@@ -2145,6 +2830,7 @@ namespace OpenSim.Region.Framework.Scenes
         /// <param name="objectGroup"></param>
         public virtual void DetachFromBackup()
         {
+            m_scene.SceneGraph.FireDetachFromBackup(this);
             if (m_isBackedUp && Scene != null)
                 m_scene.EventManager.OnBackup -= ProcessBackup;
             
@@ -2163,7 +2849,8 @@ namespace OpenSim.Region.Framework.Scenes
 
             axPos *= parentRot;
             part.OffsetPosition = axPos;
-            part.GroupPosition = oldGroupPosition + part.OffsetPosition;
+            Vector3 newPos = oldGroupPosition + part.OffsetPosition;
+            part.GroupPosition = newPos;
             part.OffsetPosition = Vector3.Zero;
             part.RotationOffset = worldRot;
 
@@ -2174,7 +2861,7 @@ namespace OpenSim.Region.Framework.Scenes
 
             part.LinkNum = linkNum;
 
-            part.OffsetPosition = part.GroupPosition - AbsolutePosition;
+            part.OffsetPosition = newPos - AbsolutePosition;
 
             Quaternion rootRotation = m_rootPart.RotationOffset;
 
@@ -2184,7 +2871,7 @@ namespace OpenSim.Region.Framework.Scenes
 
             parentRot = m_rootPart.RotationOffset;
             oldRot = part.RotationOffset;
-            Quaternion newRot = Quaternion.Inverse(parentRot) * oldRot;
+            Quaternion newRot = Quaternion.Inverse(parentRot) * worldRot;
             part.RotationOffset = newRot;
         }
 
@@ -2431,8 +3118,31 @@ namespace OpenSim.Region.Framework.Scenes
                     }
                 }
 
+/*
+                RootPart.UpdatePrimFlags(UsePhysics, SetTemporary, SetPhantom, SetVolumeDetect);
                 for (int i = 0; i < parts.Length; i++)
-                    parts[i].UpdatePrimFlags(UsePhysics, SetTemporary, SetPhantom, SetVolumeDetect);
+                {
+                    if (parts[i] != RootPart)
+                        parts[i].UpdatePrimFlags(UsePhysics, SetTemporary, SetPhantom, SetVolumeDetect);
+                }
+*/
+                if (parts.Length > 1)
+                {
+                    m_rootPart.UpdatePrimFlags(UsePhysics, SetTemporary, SetPhantom, SetVolumeDetect, true);
+
+                    for (int i = 0; i < parts.Length; i++)
+                    {
+
+                        if (parts[i].UUID != m_rootPart.UUID)
+                            parts[i].UpdatePrimFlags(UsePhysics, SetTemporary, SetPhantom, SetVolumeDetect, true);
+                    }
+
+                    if (m_rootPart.PhysActor != null)
+                        m_rootPart.PhysActor.Building = false;
+                }
+                else
+                    m_rootPart.UpdatePrimFlags(UsePhysics, SetTemporary, SetPhantom, SetVolumeDetect, false);
+ 
             }
         }
 
@@ -2445,6 +3155,17 @@ namespace OpenSim.Region.Framework.Scenes
             }
         }
 
+
+
+        /// <summary>
+        /// Gets the number of parts
+        /// </summary>
+        /// <returns></returns>
+        public int GetPartCount()
+        {
+            return Parts.Count();
+        }
+
         /// <summary>
         /// Update the texture entry for this part
         /// </summary>
@@ -2504,11 +3225,6 @@ namespace OpenSim.Region.Framework.Scenes
         /// <param name="scale"></param>
         public void GroupResize(Vector3 scale)
         {
-//            m_log.DebugFormat(
-//                "[SCENE OBJECT GROUP]: Group resizing {0} {1} from {2} to {3}", Name, LocalId, RootPart.Scale, scale);
-
-            RootPart.StoreUndoState(true);
-
             scale.X = Math.Min(scale.X, Scene.m_maxNonphys);
             scale.Y = Math.Min(scale.Y, Scene.m_maxNonphys);
             scale.Z = Math.Min(scale.Z, Scene.m_maxNonphys);
@@ -2533,7 +3249,6 @@ namespace OpenSim.Region.Framework.Scenes
                     SceneObjectPart obPart = parts[i];
                     if (obPart.UUID != m_rootPart.UUID)
                     {
-//                        obPart.IgnoreUndoUpdate = true;
                         Vector3 oldSize = new Vector3(obPart.Scale);
 
                         float f = 1.0f;
@@ -2597,8 +3312,6 @@ namespace OpenSim.Region.Framework.Scenes
                                 z *= a;
                             }
                         }
-
-//                        obPart.IgnoreUndoUpdate = false;
                     }
                 }
             }
@@ -2608,9 +3321,7 @@ namespace OpenSim.Region.Framework.Scenes
             prevScale.Y *= y;
             prevScale.Z *= z;
 
-//            RootPart.IgnoreUndoUpdate = true;
             RootPart.Resize(prevScale);
-//            RootPart.IgnoreUndoUpdate = false;
 
             parts = m_parts.GetArray();
             for (int i = 0; i < parts.Length; i++)
@@ -2619,8 +3330,6 @@ namespace OpenSim.Region.Framework.Scenes
 
                 if (obPart.UUID != m_rootPart.UUID)
                 {
-                    obPart.IgnoreUndoUpdate = true;
-
                     Vector3 currentpos = new Vector3(obPart.OffsetPosition);
                     currentpos.X *= x;
                     currentpos.Y *= y;
@@ -2633,16 +3342,12 @@ namespace OpenSim.Region.Framework.Scenes
 
                     obPart.Resize(newSize);
                     obPart.UpdateOffSet(currentpos);
-
-                    obPart.IgnoreUndoUpdate = false;                    
                 }
 
-//                obPart.IgnoreUndoUpdate = false;
-//                obPart.StoreUndoState();
+                HasGroupChanged = true;
+                m_rootPart.TriggerScriptChangedEvent(Changed.SCALE);
+                ScheduleGroupForTerseUpdate();
             }
-
-//            m_log.DebugFormat(
-//                "[SCENE OBJECT GROUP]: Finished group resizing {0} {1} to {2}", Name, LocalId, RootPart.Scale);
         }
 
         #endregion
@@ -2655,14 +3360,6 @@ namespace OpenSim.Region.Framework.Scenes
         /// <param name="pos"></param>
         public void UpdateGroupPosition(Vector3 pos)
         {
-//            m_log.DebugFormat("[SCENE OBJECT GROUP]: Updating group position on {0} {1} to {2}", Name, LocalId, pos);
-
-            RootPart.StoreUndoState(true);
-
-//            SceneObjectPart[] parts = m_parts.GetArray();
-//            for (int i = 0; i < parts.Length; i++)
-//                parts[i].StoreUndoState();
-
             if (m_scene.EventManager.TriggerGroupMove(UUID, pos))
             {
                 if (IsAttachment)
@@ -2694,21 +3391,17 @@ namespace OpenSim.Region.Framework.Scenes
         /// </summary>
         /// <param name="pos"></param>
         /// <param name="localID"></param>
+        /// 
+
         public void UpdateSinglePosition(Vector3 pos, uint localID)
         {
             SceneObjectPart part = GetChildPart(localID);
 
-//            SceneObjectPart[] parts = m_parts.GetArray();
-//            for (int i = 0; i < parts.Length; i++)
-//                parts[i].StoreUndoState();
-
             if (part != null)
             {
-//                m_log.DebugFormat(
-//                    "[SCENE OBJECT GROUP]: Updating single position of {0} {1} to {2}", part.Name, part.LocalId, pos);
-
-                part.StoreUndoState(false);
-                part.IgnoreUndoUpdate = true;
+// unlock parts position change
+                if (m_rootPart.PhysActor != null)
+                    m_rootPart.PhysActor.Building = true;
 
                 if (part.UUID == m_rootPart.UUID)
                 {
@@ -2719,8 +3412,10 @@ namespace OpenSim.Region.Framework.Scenes
                     part.UpdateOffSet(pos);
                 }
 
+                if (m_rootPart.PhysActor != null)
+                    m_rootPart.PhysActor.Building = false;
+
                 HasGroupChanged = true;
-                part.IgnoreUndoUpdate = false;
             }
         }
 
@@ -2730,13 +3425,7 @@ namespace OpenSim.Region.Framework.Scenes
         /// <param name="pos"></param>
         public void UpdateRootPosition(Vector3 pos)
         {
-//            m_log.DebugFormat(
-//                "[SCENE OBJECT GROUP]: Updating root position of {0} {1} to {2}", Name, LocalId, pos);
-
-//            SceneObjectPart[] parts = m_parts.GetArray();
-//            for (int i = 0; i < parts.Length; i++)
-//                parts[i].StoreUndoState();
-
+            // needs to be called with phys building true
             Vector3 newPos = new Vector3(pos.X, pos.Y, pos.Z);
             Vector3 oldPos =
                 new Vector3(AbsolutePosition.X + m_rootPart.OffsetPosition.X,
@@ -2759,7 +3448,14 @@ namespace OpenSim.Region.Framework.Scenes
             AbsolutePosition = newPos;
 
             HasGroupChanged = true;
-            ScheduleGroupForTerseUpdate();
+            if (m_rootPart.Undoing)
+            {
+                ScheduleGroupForFullUpdate();
+            }
+            else
+            {
+                ScheduleGroupForTerseUpdate();
+            }
         }
 
         #endregion
@@ -2772,17 +3468,6 @@ namespace OpenSim.Region.Framework.Scenes
         /// <param name="rot"></param>
         public void UpdateGroupRotationR(Quaternion rot)
         {
-//            m_log.DebugFormat(
-//                "[SCENE OBJECT GROUP]: Updating group rotation R of {0} {1} to {2}", Name, LocalId, rot);
-
-//            SceneObjectPart[] parts = m_parts.GetArray();
-//            for (int i = 0; i < parts.Length; i++)
-//                parts[i].StoreUndoState();
-
-            m_rootPart.StoreUndoState(true);
-
-            m_rootPart.UpdateRotation(rot);
-
             PhysicsActor actor = m_rootPart.PhysActor;
             if (actor != null)
             {
@@ -2801,16 +3486,6 @@ namespace OpenSim.Region.Framework.Scenes
         /// <param name="rot"></param>
         public void UpdateGroupRotationPR(Vector3 pos, Quaternion rot)
         {
-//            m_log.DebugFormat(
-//                "[SCENE OBJECT GROUP]: Updating group rotation PR of {0} {1} to {2}", Name, LocalId, rot);
-
-//            SceneObjectPart[] parts = m_parts.GetArray();
-//            for (int i = 0; i < parts.Length; i++)
-//                parts[i].StoreUndoState();
-
-            RootPart.StoreUndoState(true);
-            RootPart.IgnoreUndoUpdate = true;
-
             m_rootPart.UpdateRotation(rot);
 
             PhysicsActor actor = m_rootPart.PhysActor;
@@ -2824,8 +3499,6 @@ namespace OpenSim.Region.Framework.Scenes
 
             HasGroupChanged = true;
             ScheduleGroupForTerseUpdate();
-
-            RootPart.IgnoreUndoUpdate = false;
         }
 
         /// <summary>
@@ -2836,15 +3509,12 @@ namespace OpenSim.Region.Framework.Scenes
         public void UpdateSingleRotation(Quaternion rot, uint localID)
         {
             SceneObjectPart part = GetChildPart(localID);
-
             SceneObjectPart[] parts = m_parts.GetArray();
-            for (int i = 0; i < parts.Length; i++)
-                parts[i].StoreUndoState();
 
             if (part != null)
             {
-//                m_log.DebugFormat(
-//                    "[SCENE OBJECT GROUP]: Updating single rotation of {0} {1} to {2}", part.Name, part.LocalId, rot);
+                if (m_rootPart.PhysActor != null)
+                    m_rootPart.PhysActor.Building = true;
 
                 if (part.UUID == m_rootPart.UUID)
                 {
@@ -2854,6 +3524,9 @@ namespace OpenSim.Region.Framework.Scenes
                 {
                     part.UpdateRotation(rot);
                 }
+
+                if (m_rootPart.PhysActor != null)
+                    m_rootPart.PhysActor.Building = false;
             }
         }
 
@@ -2867,12 +3540,8 @@ namespace OpenSim.Region.Framework.Scenes
             SceneObjectPart part = GetChildPart(localID);
             if (part != null)
             {
-//                m_log.DebugFormat(
-//                    "[SCENE OBJECT GROUP]: Updating single position and rotation of {0} {1} to {2}",
-//                    part.Name, part.LocalId, rot);
-
-                part.StoreUndoState();
-                part.IgnoreUndoUpdate = true;
+                if (m_rootPart.PhysActor != null)
+                    m_rootPart.PhysActor.Building = true;
 
                 if (part.UUID == m_rootPart.UUID)
                 {
@@ -2885,7 +3554,8 @@ namespace OpenSim.Region.Framework.Scenes
                     part.OffsetPosition = pos;
                 }
 
-                part.IgnoreUndoUpdate = false;
+                if (m_rootPart.PhysActor != null)
+                    m_rootPart.PhysActor.Building = false;
             }
         }
 
@@ -2895,15 +3565,12 @@ namespace OpenSim.Region.Framework.Scenes
         /// <param name="rot"></param>
         public void UpdateRootRotation(Quaternion rot)
         {
-//            m_log.DebugFormat(
-//                "[SCENE OBJECT GROUP]: Updating root rotation of {0} {1} to {2}",
-//                Name, LocalId, rot);
-
+            // needs to be called with phys building true
             Quaternion axRot = rot;
             Quaternion oldParentRot = m_rootPart.RotationOffset;
-
-            m_rootPart.StoreUndoState();
-            m_rootPart.UpdateRotation(rot);
+            
+            //Don't use UpdateRotation because it schedules an update prematurely
+            m_rootPart.RotationOffset = rot;
             if (m_rootPart.PhysActor != null)
             {
                 m_rootPart.PhysActor.Orientation = m_rootPart.RotationOffset;
@@ -2916,35 +3583,135 @@ namespace OpenSim.Region.Framework.Scenes
                 SceneObjectPart prim = parts[i];
                 if (prim.UUID != m_rootPart.UUID)
                 {
-                    prim.IgnoreUndoUpdate = true;
+                    Quaternion NewRot = oldParentRot * prim.RotationOffset;
+                    NewRot = Quaternion.Inverse(axRot) * NewRot;
+                    prim.RotationOffset = NewRot;
+
                     Vector3 axPos = prim.OffsetPosition;
+
                     axPos *= oldParentRot;
                     axPos *= Quaternion.Inverse(axRot);
                     prim.OffsetPosition = axPos;
-                    Quaternion primsRot = prim.RotationOffset;
-                    Quaternion newRot = oldParentRot * primsRot;
-                    newRot = Quaternion.Inverse(axRot) * newRot;
-                    prim.RotationOffset = newRot;
-                    prim.ScheduleTerseUpdate();
-                    prim.IgnoreUndoUpdate = false;
-                }
-            }
-
-//            for (int i = 0; i < parts.Length; i++)
-//            {
-//                SceneObjectPart childpart = parts[i];
-//                if (childpart != m_rootPart)
-//                {
-////                    childpart.IgnoreUndoUpdate = false;
-////                    childpart.StoreUndoState();
-//                }
-//            }
+                }
+            }
 
-            m_rootPart.ScheduleTerseUpdate();
+            HasGroupChanged = true;
+            ScheduleGroupForFullUpdate();
+        }
 
-//            m_log.DebugFormat(
-//                "[SCENE OBJECT GROUP]: Updated root rotation of {0} {1} to {2}",
-//                Name, LocalId, rot);
+        private enum updatetype :int
+        {
+            none = 0,
+            partterse = 1,
+            partfull = 2,
+            groupterse = 3,
+            groupfull = 4
+        }
+
+        public void doChangeObject(SceneObjectPart part, ObjectChangeData data)
+        {
+            // TODO  this still as excessive *.Schedule*Update()s
+
+            if (part != null && part.ParentGroup != null)
+            {
+                ObjectChangeType change = data.change;
+                bool togroup = ((change & ObjectChangeType.Group) != 0);
+                //                bool uniform = ((what & ObjectChangeType.UniformScale) != 0);  not in use
+
+                SceneObjectGroup group = part.ParentGroup;
+                PhysicsActor pha = group.RootPart.PhysActor;
+
+                updatetype updateType = updatetype.none;
+
+                if (togroup)
+                {
+                    // related to group                  
+                    if ((change & ObjectChangeType.Position) != 0)
+                    {
+                        group.AbsolutePosition = data.position;
+                        updateType = updatetype.groupterse;
+                    }
+                    if ((change & ObjectChangeType.Rotation) != 0)
+                    {
+                        group.RootPart.UpdateRotation(data.rotation);
+                        updateType = updatetype.none;
+                    }
+                    if ((change & ObjectChangeType.Scale) != 0)
+                    {
+                        if (pha != null)
+                            pha.Building = true;
+
+                        group.GroupResize(data.scale);
+                        updateType = updatetype.none;
+
+                        if (pha != null)
+                            pha.Building = false;
+                    }
+                }
+                else
+                {
+                    // related to single prim in a link-set ( ie group)
+                    if (pha != null)
+                        pha.Building = true;
+
+                    // root part is special
+                    // parts offset positions or rotations need to change also
+
+                    if (part == group.RootPart)
+                    {
+                        if ((change & ObjectChangeType.Position) != 0)
+                            group.UpdateRootPosition(data.position);
+                        if ((change & ObjectChangeType.Rotation) != 0)
+                            group.UpdateRootRotation(data.rotation);
+                        if ((change & ObjectChangeType.Scale) != 0)
+                            part.Resize(data.scale);
+                    }
+                    else
+                    {
+                        if ((change & ObjectChangeType.Position) != 0)
+                        {
+                            part.OffsetPosition = data.position;
+                            updateType = updatetype.partterse;
+                        }
+                        if ((change & ObjectChangeType.Rotation) != 0)
+                        {
+                            part.UpdateRotation(data.rotation);
+                            updateType = updatetype.none;
+                        }
+                        if ((change & ObjectChangeType.Scale) != 0)
+                        {
+                            part.Resize(data.scale);
+                            updateType = updatetype.none;
+                        }
+                    }
+
+                    if (pha != null)
+                        pha.Building = false;
+                }
+
+                if (updateType != updatetype.none)
+                {
+                    group.HasGroupChanged = true;
+
+                    switch (updateType)
+                    {
+                        case updatetype.partterse:
+                            part.ScheduleTerseUpdate();
+                            break;
+                        case updatetype.partfull:
+                            part.ScheduleFullUpdate();
+                            break;
+                        case updatetype.groupterse:
+                            group.ScheduleGroupForTerseUpdate();
+                            break;
+                        case updatetype.groupfull:
+                            group.ScheduleGroupForFullUpdate();
+                            break;
+                        default:
+                            break;
+                    }
+                }
+            }
         }
 
         #endregion
@@ -3168,7 +3935,6 @@ namespace OpenSim.Region.Framework.Scenes
         public float GetMass()
         {
             float retmass = 0f;
-
             SceneObjectPart[] parts = m_parts.GetArray();
             for (int i = 0; i < parts.Length; i++)
                 retmass += parts[i].GetMass();
@@ -3264,6 +4030,14 @@ namespace OpenSim.Region.Framework.Scenes
             SetFromItemID(uuid);
         }
 
+        public void ResetOwnerChangeFlag()
+        {
+            ForEachPart(delegate(SceneObjectPart part)
+            {
+                part.ResetOwnerChangeFlag();
+            });
+        }
+
         #endregion
     }
 }
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
index 439b718..cfa3cd4 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
@@ -62,7 +62,8 @@ namespace OpenSim.Region.Framework.Scenes
         TELEPORT = 512,
         REGION_RESTART = 1024,
         MEDIA = 2048,
-        ANIMATION = 16384
+        ANIMATION = 16384,
+        POSITION = 32768
     }
 
     // I don't really know where to put this except here.
@@ -184,6 +185,15 @@ namespace OpenSim.Region.Framework.Scenes
 
         public UUID FromFolderID;
 
+        // The following two are to hold the attachment data
+        // while an object is inworld
+        [XmlIgnore]
+        public byte AttachPoint = 0;
+
+        [XmlIgnore]
+        public Vector3 AttachOffset = Vector3.Zero;
+
+        [XmlIgnore]
         public int STATUS_ROTATE_X;
 
         public int STATUS_ROTATE_Y;
@@ -210,8 +220,7 @@ namespace OpenSim.Region.Framework.Scenes
 
         public Vector3 RotationAxis = Vector3.One;
 
-        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
+        public bool VolumeDetectActive;
 
         public bool IsWaitingForFirstSpinUpdatePacket;
 
@@ -251,10 +260,10 @@ namespace OpenSim.Region.Framework.Scenes
         private Quaternion m_sitTargetOrientation = Quaternion.Identity;
         private Vector3 m_sitTargetPosition;
         private string m_sitAnimation = "SIT";
+        private bool m_occupied;                                        // KF if any av is sitting on this prim
         private string m_text = String.Empty;
         private string m_touchName = String.Empty;
-        private readonly Stack<UndoState> m_undo = new Stack<UndoState>(5);
-        private readonly Stack<UndoState> m_redo = new Stack<UndoState>(5);
+        private UndoRedoState m_UndoRedo = null;
 
         private bool m_passTouches;
 
@@ -283,7 +292,16 @@ namespace OpenSim.Region.Framework.Scenes
         protected Vector3 m_lastAcceleration;
         protected Vector3 m_lastAngularVelocity;
         protected int m_lastTerseSent;
-        
+        protected float m_buoyancy = 0.0f;
+        protected Vector3 m_force;
+        protected Vector3 m_torque;
+
+        protected byte m_physicsShapeType = (byte)PhysShapeType.prim;
+        protected float m_density = 1000.0f; // in kg/m^3
+        protected float m_gravitymod = 1.0f;
+        protected float m_friction = 0.6f; // wood
+        protected float m_bounce = 0.5f; // wood
+
         /// <summary>
         /// Stores media texture data
         /// </summary>
@@ -299,6 +317,17 @@ namespace OpenSim.Region.Framework.Scenes
         private UUID m_collisionSound;
         private float m_collisionSoundVolume;
 
+
+        private SOPVehicle m_vehicle = null;
+
+        private KeyframeMotion m_keyframeMotion = null;
+
+        public KeyframeMotion KeyframeMotion
+        {
+            get; set;
+        }
+
+
         #endregion Fields
 
 //        ~SceneObjectPart()
@@ -341,7 +370,7 @@ namespace OpenSim.Region.Framework.Scenes
             UUID ownerID, PrimitiveBaseShape shape, Vector3 groupPosition, 
             Quaternion rotationOffset, Vector3 offsetPosition) : this()
         {
-            m_name = "Primitive";
+            m_name = "Object";
 
             CreationDate = (int)Utils.DateTimeToUnixTime(Rezzed);
             LastOwnerID = CreatorID = OwnerID = ownerID;
@@ -381,7 +410,7 @@ namespace OpenSim.Region.Framework.Scenes
         private uint _ownerMask = (uint)PermissionMask.All;
         private uint _groupMask = (uint)PermissionMask.None;
         private uint _everyoneMask = (uint)PermissionMask.None;
-        private uint _nextOwnerMask = (uint)PermissionMask.All;
+        private uint _nextOwnerMask = (uint)(PermissionMask.Move | PermissionMask.Modify | PermissionMask.Transfer);
         private PrimFlags _flags = PrimFlags.None;
         private DateTime m_expires;
         private DateTime m_rezzed;
@@ -475,12 +504,16 @@ namespace OpenSim.Region.Framework.Scenes
         }
 
         /// <value>
-        /// Access should be via Inventory directly - this property temporarily remains for xml serialization purposes
+        /// Get the inventory list
         /// </value>
         public TaskInventoryDictionary TaskInventory
         {
-            get { return m_inventory.Items; }
-            set { m_inventory.Items = value; }
+            get {
+                return m_inventory.Items;
+            }
+            set {
+                m_inventory.Items = value;
+            }
         }
 
         /// <summary>
@@ -529,19 +562,6 @@ namespace OpenSim.Region.Framework.Scenes
             }
         }
 
-        public byte Material
-        {
-            get { return (byte) m_material; }
-            set
-            {
-                m_material = (Material)value;
-                if (PhysActor != null)
-                {
-                    PhysActor.SetMaterial((int)value);
-                }
-            }
-        }
-
         public bool PassTouches
         {
             get { return m_passTouches; }
@@ -624,14 +644,12 @@ namespace OpenSim.Region.Framework.Scenes
             set { m_LoopSoundSlavePrims = value; }
         }
 
-        
         public Byte[] TextureAnimation
         {
             get { return m_TextureAnimation; }
             set { m_TextureAnimation = value; }
         }
 
-        
         public Byte[] ParticleSystem
         {
             get { return m_particleSystem; }
@@ -668,9 +686,11 @@ namespace OpenSim.Region.Framework.Scenes
             {
                 // If this is a linkset, we don't want the physics engine mucking up our group position here.
                 PhysicsActor actor = PhysActor;
-                if (actor != null && ParentID == 0)
+                if (ParentID == 0)
                 {
-                    m_groupPosition = actor.Position;
+                    if (actor != null)
+                        m_groupPosition = actor.Position;
+                    return m_groupPosition;
                 }
 
                 if (ParentGroup.IsAttachment)
@@ -680,12 +700,14 @@ namespace OpenSim.Region.Framework.Scenes
                         return sp.AbsolutePosition;
                 }
 
+                // use root prim's group position. Physics may have updated it
+                if (ParentGroup.RootPart != this)
+                    m_groupPosition = ParentGroup.RootPart.GroupPosition;
                 return m_groupPosition;
             }
             set
             {
                 m_groupPosition = value;
-
                 PhysicsActor actor = PhysActor;
                 if (actor != null)
                 {
@@ -711,16 +733,6 @@ namespace OpenSim.Region.Framework.Scenes
                         m_log.Error("[SCENEOBJECTPART]: GROUP POSITION. " + e.Message);
                     }
                 }
-                
-                // TODO if we decide to do sitting in a more SL compatible way (multiple avatars per prim), this has to be fixed, too
-                if (SitTargetAvatar != UUID.Zero)
-                {
-                    ScenePresence avatar;
-                    if (ParentGroup.Scene.TryGetScenePresence(SitTargetAvatar, out avatar))
-                    {
-                        avatar.ParentPosition = GetWorldPosition();
-                    }
-                }
             }
         }
 
@@ -729,7 +741,7 @@ namespace OpenSim.Region.Framework.Scenes
             get { return m_offsetPosition; }
             set
             {
-//                StoreUndoState();
+                Vector3 oldpos = m_offsetPosition;
                 m_offsetPosition = value;
 
                 if (ParentGroup != null && !ParentGroup.IsDeleted)
@@ -744,7 +756,22 @@ namespace OpenSim.Region.Framework.Scenes
                         if (ParentGroup.Scene != null)
                             ParentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(actor);
                     }
+
+                    if (!m_parentGroup.m_dupeInProgress)
+                    {
+                        List<ScenePresence> avs = ParentGroup.GetLinkedAvatars();
+                        foreach (ScenePresence av in avs)
+                        {
+                            if (av.ParentID == m_localId)
+                            {
+                                Vector3 offset = (m_offsetPosition - oldpos);
+                                av.AbsolutePosition += offset;
+                                av.SendAvatarDataToAllAgents();
+                            }
+                        }
+                    }
                 }
+                TriggerScriptChangedEvent(Changed.POSITION);
             }
         }
 
@@ -793,7 +820,7 @@ namespace OpenSim.Region.Framework.Scenes
             
             set
             {
-                StoreUndoState();
+//                StoreUndoState();
                 m_rotationOffset = value;
 
                 PhysicsActor actor = PhysActor;
@@ -881,7 +908,7 @@ namespace OpenSim.Region.Framework.Scenes
             get
             {
                 PhysicsActor actor = PhysActor;
-                if ((actor != null) && actor.IsPhysical)
+                if ((actor != null) && actor.IsPhysical && ParentGroup.RootPart == this)
                 {
                     m_angularVelocity = actor.RotationalVelocity;
                 }
@@ -893,7 +920,16 @@ namespace OpenSim.Region.Framework.Scenes
         /// <summary></summary>
         public Vector3 Acceleration
         {
-            get { return m_acceleration; }
+                        get 
+                        { 
+                PhysicsActor actor = PhysActor;
+                if (actor != null)
+                                {
+                                        m_acceleration = actor.Acceleration;
+                                }
+                                return m_acceleration;
+                        } 
+            
             set { m_acceleration = value; }
         }
 
@@ -950,7 +986,10 @@ namespace OpenSim.Region.Framework.Scenes
         public PrimitiveBaseShape Shape
         {
             get { return m_shape; }
-            set { m_shape = value;}
+            set
+            {
+                m_shape = value;
+            }
         }
 
         /// <summary>
@@ -963,7 +1002,6 @@ namespace OpenSim.Region.Framework.Scenes
             {
                 if (m_shape != null)
                 {
-                    StoreUndoState();
 
                     m_shape.Scale = value;
 
@@ -990,6 +1028,7 @@ namespace OpenSim.Region.Framework.Scenes
         }
 
         public UpdateRequired UpdateFlag { get; set; }
+        public bool UpdatePhysRequired { get; set; }
         
         /// <summary>
         /// Used for media on a prim.
@@ -1030,10 +1069,7 @@ namespace OpenSim.Region.Framework.Scenes
         {
             get
             {
-                if (ParentGroup.IsAttachment)
-                    return GroupPosition;
-
-                return m_offsetPosition + m_groupPosition;
+                return GroupPosition + (m_offsetPosition * ParentGroup.RootPart.RotationOffset);
             }
         }
 
@@ -1203,6 +1239,13 @@ namespace OpenSim.Region.Framework.Scenes
                 _flags = value; 
             }
         }
+        
+        [XmlIgnore]
+        public bool IsOccupied                          // KF If an av is sittingon this prim
+        {
+                get { return m_occupied; }
+                set { m_occupied = value; }
+        }
 
         /// <summary>
         /// ID of the avatar that is sat on us.  If there is no such avatar then is UUID.Zero
@@ -1262,6 +1305,316 @@ namespace OpenSim.Region.Framework.Scenes
             set { m_collisionSoundVolume = value; }
         }
 
+        public float Buoyancy
+        {
+            get
+            {
+                if (ParentGroup.RootPart == this)
+                    return m_buoyancy;
+
+                return ParentGroup.RootPart.Buoyancy;
+            }
+            set
+            {
+                if (ParentGroup != null && ParentGroup.RootPart != null && ParentGroup.RootPart != this)
+                {
+                    ParentGroup.RootPart.Buoyancy = value;
+                    return;
+                }
+                m_buoyancy = value;
+                if (PhysActor != null)
+                    PhysActor.Buoyancy = value;
+            }
+        }
+
+        public Vector3 Force
+        {
+            get
+            {
+                if (ParentGroup.RootPart == this)
+                    return m_force;
+
+                return ParentGroup.RootPart.Force;
+            }
+
+            set
+            {
+                if (ParentGroup != null && ParentGroup.RootPart != null && ParentGroup.RootPart != this)
+                {
+                    ParentGroup.RootPart.Force = value;
+                    return;
+                }
+                m_force = value;
+                if (PhysActor != null)
+                    PhysActor.Force = value;
+            }
+        }
+
+        public Vector3 Torque
+        {
+            get
+            {
+                if (ParentGroup.RootPart == this)
+                    return m_torque;
+                
+                return ParentGroup.RootPart.Torque;
+            }
+
+            set
+            {
+                if (ParentGroup != null && ParentGroup.RootPart != null && ParentGroup.RootPart != this)
+                {
+                    ParentGroup.RootPart.Torque = value;
+                    return;
+                }
+                m_torque = value;
+                if (PhysActor != null)
+                    PhysActor.Torque = value;
+            }
+        }
+
+        public byte Material
+        {
+            get { return (byte)m_material; }
+            set
+            {
+                if (value >= 0 && value <= (byte)SOPMaterialData.MaxMaterial)
+                {
+                    bool update = false;
+
+                    if (m_material != (Material)value)
+                    {
+                        update = true;
+                        m_material = (Material)value;
+                    }
+
+                    if (m_friction != SOPMaterialData.friction(m_material))
+                    {
+                        update = true;
+                        m_friction = SOPMaterialData.friction(m_material);
+                    }
+
+                    if (m_bounce != SOPMaterialData.bounce(m_material))
+                    {
+                        update = true;
+                        m_bounce = SOPMaterialData.bounce(m_material);
+                    }
+
+                    if (update)
+                    {
+                        if (PhysActor != null)
+                        {
+                            PhysActor.SetMaterial((int)value);
+                        }
+                        if(ParentGroup != null)
+                            ParentGroup.HasGroupChanged = true;
+                        ScheduleFullUpdateIfNone();
+                        UpdatePhysRequired = true;
+                    }
+                }
+            }
+        }
+
+        // not a propriety to move to methods place later
+        private bool HasMesh()
+        {
+            if (Shape != null && (Shape.SculptType == (byte)SculptType.Mesh))
+                return true;
+            return false;
+        }
+
+        // not a propriety to move to methods place later
+        public byte DefaultPhysicsShapeType()
+        {
+            byte type;
+
+            if (Shape != null && (Shape.SculptType == (byte)SculptType.Mesh))
+                type = (byte)PhysShapeType.convex;
+            else
+                type = (byte)PhysShapeType.prim;
+
+            return type;
+        }
+
+        [XmlIgnore]
+        public bool UsesComplexCost
+        {
+            get
+            {
+                byte pst = PhysicsShapeType;
+                if(pst == (byte) PhysShapeType.none || pst == (byte) PhysShapeType.convex || HasMesh())
+                    return true;
+                return false;
+            }
+        }
+
+        [XmlIgnore]
+        public float PhysicsCost
+        {
+            get
+            {
+                if(PhysicsShapeType == (byte)PhysShapeType.none)
+                    return 0;
+
+                float cost = 0.1f;
+                if (PhysActor != null)
+//                    cost += PhysActor.Cost;
+
+                if ((Flags & PrimFlags.Physics) != 0)
+                    cost *= (1.0f + 0.01333f * Scale.LengthSquared()); // 0.01333 == 0.04/3
+                return cost;
+            }
+        }
+
+        [XmlIgnore]
+        public float StreamingCost
+        {
+            get
+            {
+
+
+                return 0.1f;
+            }
+        }
+
+        [XmlIgnore]
+        public float SimulationCost
+        {
+            get
+            {
+                // ignoring scripts. Don't like considering them for this
+                if((Flags & PrimFlags.Physics) != 0)
+                    return 1.0f;
+
+                return 0.5f;
+            }
+        }
+
+        public byte PhysicsShapeType
+        {
+            get { return m_physicsShapeType; }
+            set
+            {
+                byte oldv = m_physicsShapeType;
+
+                if (value >= 0 && value <= (byte)PhysShapeType.convex)
+                {
+                    if (value == (byte)PhysShapeType.none && ParentGroup != null && ParentGroup.RootPart == this)
+                        m_physicsShapeType = DefaultPhysicsShapeType();
+                    else
+                        m_physicsShapeType = value;
+                }
+                else
+                    m_physicsShapeType = DefaultPhysicsShapeType();
+
+                if (m_physicsShapeType != oldv && ParentGroup != null)
+                {
+                    if (m_physicsShapeType == (byte)PhysShapeType.none)
+                    {
+                        if (PhysActor != null)
+                        {
+                            Velocity = new Vector3(0, 0, 0);
+                            Acceleration = new Vector3(0, 0, 0);
+                            if (ParentGroup.RootPart == this)
+                                AngularVelocity = new Vector3(0, 0, 0);
+                            ParentGroup.Scene.RemovePhysicalPrim(1);
+                            RemoveFromPhysics();
+                        }
+                    }
+                    else if (PhysActor == null)
+                        ApplyPhysics((uint)Flags, VolumeDetectActive, false);
+                    else
+                    {
+                        PhysActor.PhysicsShapeType = m_physicsShapeType;
+                        if (Shape.SculptEntry)
+                            CheckSculptAndLoad();
+                    }
+
+                    if (ParentGroup != null)
+                        ParentGroup.HasGroupChanged = true;
+                }
+
+                if (m_physicsShapeType != value)
+                {
+                    UpdatePhysRequired = true;
+                }
+            }
+        }
+
+        public float Density // in kg/m^3
+        {
+            get { return m_density; }
+            set
+            {
+                if (value >=1 && value <= 22587.0)
+                {
+                    m_density = value;
+                    UpdatePhysRequired = true;
+                }
+
+                ScheduleFullUpdateIfNone();
+
+                if (ParentGroup != null)
+                    ParentGroup.HasGroupChanged = true;
+            }
+        }
+
+        public float GravityModifier
+        {
+            get { return m_gravitymod; }
+            set
+            {
+                if( value >= -1 && value <=28.0f)
+                {
+                    m_gravitymod = value;
+                    UpdatePhysRequired = true;
+                }
+
+                ScheduleFullUpdateIfNone();
+
+                if (ParentGroup != null)
+                    ParentGroup.HasGroupChanged = true;
+
+            }
+        }
+
+        public float Friction
+        {
+            get { return m_friction; }
+            set
+            {
+                if (value >= 0 && value <= 255.0f)
+                {
+                    m_friction = value;
+                    UpdatePhysRequired = true;
+                }
+
+                ScheduleFullUpdateIfNone();
+
+                if (ParentGroup != null)
+                    ParentGroup.HasGroupChanged = true;
+            }
+        }
+
+        public float Bounciness
+        {
+            get { return m_bounce; }
+            set
+            {
+                if (value >= 0 && value <= 1.0f)
+                {
+                    m_bounce = value;
+                    UpdatePhysRequired = true;
+                }
+
+                ScheduleFullUpdateIfNone();
+
+                if (ParentGroup != null)
+                    ParentGroup.HasGroupChanged = true;
+            }
+        }
+
+
         #endregion Public Properties with only Get
 
         private uint ApplyMask(uint val, bool set, uint mask)
@@ -1437,20 +1790,24 @@ namespace OpenSim.Region.Framework.Scenes
         /// </summary>
         /// <param name="impulsei">Vector force</param>
         /// <param name="localGlobalTF">true for the local frame, false for the global frame</param>
-        public void SetAngularImpulse(Vector3 impulsei, bool localGlobalTF)
+        
+        // this is actualy Set Torque.. keeping naming so not to edit lslapi also
+        public void SetAngularImpulse(Vector3 torquei, bool localGlobalTF)
         {
-            Vector3 impulse = impulsei;
+            Vector3 torque = torquei;
 
             if (localGlobalTF)
             {
+/*
                 Quaternion grot = GetWorldRotation();
                 Quaternion AXgrot = grot;
                 Vector3 AXimpulsei = impulsei;
                 Vector3 newimpulse = AXimpulsei * AXgrot;
-                impulse = newimpulse;
+ */
+                torque *= GetWorldRotation();
             }
 
-            ParentGroup.setAngularImpulse(impulse);
+            Torque = torque;
         }
 
         /// <summary>
@@ -1458,18 +1815,19 @@ namespace OpenSim.Region.Framework.Scenes
         /// </summary>
         /// <param name="rootObjectFlags"></param>
         /// <param name="VolumeDetectActive"></param>
-        public void ApplyPhysics(uint rootObjectFlags, bool VolumeDetectActive)
+
+                public void ApplyPhysics(uint rootObjectFlags, bool VolumeDetectActive, bool building)
         {
             if (!ParentGroup.Scene.CollidablePrims)
                 return;
 
-//            m_log.DebugFormat(
-//                "[SCENE OBJECT PART]: Applying physics to {0} {1}, m_physicalPrim {2}",
-//                Name, LocalId, UUID, m_physicalPrim);
+            if (PhysicsShapeType == (byte)PhysShapeType.none)
+                return;
 
             bool isPhysical = (rootObjectFlags & (uint) PrimFlags.Physics) != 0;
             bool isPhantom = (rootObjectFlags & (uint) PrimFlags.Phantom) != 0;
 
+
             if (IsJoint())
             {
                 DoPhysicsPropertyUpdate(isPhysical, true);
@@ -1477,16 +1835,19 @@ namespace OpenSim.Region.Framework.Scenes
             else
             {
                 // Special case for VolumeDetection: If VolumeDetection is set, the phantom flag is locally ignored
-                if (VolumeDetectActive)
-                    isPhantom = false;
+//                if (VolumeDetectActive)
+//                    isPhantom = false;
 
                 // Added clarification..   since A rigid body is an object that you can kick around, etc.
-                bool RigidBody = isPhysical && !isPhantom;
+//                bool RigidBody = isPhysical && !isPhantom;
 
                 // The only time the physics scene shouldn't know about the prim is if it's phantom or an attachment, which is phantom by definition
                 // or flexible
-                if (!isPhantom && !ParentGroup.IsAttachment && !(Shape.PathCurve == (byte)Extrusion.Flexible))
+                //                if (!isPhantom && !ParentGroup.IsAttachment && !(Shape.PathCurve == (byte)Extrusion.Flexible))
+                if ((!isPhantom || isPhysical || VolumeDetectActive) && !ParentGroup.IsAttachment && !(Shape.PathCurve == (byte)Extrusion.Flexible))
                 {
+                    Vector3 velocity = Velocity;
+                    Vector3 rotationalVelocity = AngularVelocity;
                     try
                     {
                         PhysActor = ParentGroup.Scene.PhysicsScene.AddPrimShape(
@@ -1494,8 +1855,10 @@ namespace OpenSim.Region.Framework.Scenes
                                 Shape,
                                 AbsolutePosition,
                                 Scale,
-                                RotationOffset,
-                                RigidBody,
+                                GetWorldRotation(),
+                                isPhysical,
+                                isPhantom,
+                                PhysicsShapeType,
                                 m_localId);
                     }
                     catch
@@ -1509,8 +1872,30 @@ namespace OpenSim.Region.Framework.Scenes
                     {
                         PhysActor.SOPName = this.Name; // save object into the PhysActor so ODE internals know the joint/body info
                         PhysActor.SetMaterial(Material);
-                        DoPhysicsPropertyUpdate(RigidBody, true);
-                        PhysActor.SetVolumeDetect(VolumeDetectActive ? 1 : 0);
+
+                        // if root part apply vehicle
+                        if (m_vehicle != null && LocalId == ParentGroup.RootPart.LocalId)
+                            m_vehicle.SetVehicle(PhysActor);
+
+                        DoPhysicsPropertyUpdate(isPhysical, true);
+                        if(VolumeDetectActive) // change if not the default only
+                            PhysActor.SetVolumeDetect(1);
+                     
+                        if (!building)
+                            PhysActor.Building = false;
+
+                        Velocity = velocity;
+                        AngularVelocity = rotationalVelocity;
+                        PhysActor.Velocity = velocity;
+                        PhysActor.RotationalVelocity = rotationalVelocity;
+
+                        // if not vehicle and root part apply force and torque
+                        if ((m_vehicle == null || m_vehicle.Type == Vehicle.TYPE_NONE)
+                                && LocalId == ParentGroup.RootPart.LocalId)
+                        {
+                            PhysActor.Force = Force;
+                            PhysActor.Torque = Torque;
+                        }
                     }
                 }
             }
@@ -1564,6 +1949,11 @@ namespace OpenSim.Region.Framework.Scenes
             dupe.Category = Category;
             dupe.m_rezzed = m_rezzed;
 
+            dupe.m_UndoRedo = null;
+
+            dupe.IgnoreUndoUpdate = false;
+            dupe.Undoing = false;
+
             dupe.m_inventory = new SceneObjectPartInventory(dupe);
             dupe.m_inventory.Items = (TaskInventoryDictionary)m_inventory.Items.Clone();
 
@@ -1579,6 +1969,7 @@ namespace OpenSim.Region.Framework.Scenes
 
             // Move afterwards ResetIDs as it clears the localID
             dupe.LocalId = localID;
+
             // This may be wrong...    it might have to be applied in SceneObjectGroup to the object that's being duplicated.
             dupe.LastOwnerID = OwnerID;
 
@@ -1598,6 +1989,9 @@ namespace OpenSim.Region.Framework.Scenes
                 dupe.DoPhysicsPropertyUpdate(UsePhysics, true);
             }
             
+            if (dupe.PhysActor != null)
+                dupe.PhysActor.LocalID = localID;
+
             ParentGroup.Scene.EventManager.TriggerOnSceneObjectPartCopy(dupe, this, userExposed);
 
 //            m_log.DebugFormat("[SCENE OBJECT PART]: Clone of {0} {1} finished", Name, UUID);
@@ -1735,63 +2129,63 @@ namespace OpenSim.Region.Framework.Scenes
                 {
                     if (UsePhysics != PhysActor.IsPhysical || isNew)
                     {
-                        if (PhysActor.IsPhysical) // implies UsePhysics==false for this block
+                        if (PhysActor.IsPhysical)
                         {
-                            if (!isNew)
+                            if (!isNew)  // implies UsePhysics==false for this block
+                            {
                                 ParentGroup.Scene.RemovePhysicalPrim(1);
 
-                            PhysActor.OnRequestTerseUpdate -= PhysicsRequestingTerseUpdate;
-                            PhysActor.OnOutOfBounds -= PhysicsOutOfBounds;
-                            PhysActor.delink();
+                                Velocity = new Vector3(0, 0, 0);
+                                Acceleration = new Vector3(0, 0, 0);
+                                if (ParentGroup.RootPart == this)
+                                    AngularVelocity = new Vector3(0, 0, 0);
 
-                            if (ParentGroup.Scene.PhysicsScene.SupportsNINJAJoints && (!isNew))
-                            {
-                                // destroy all joints connected to this now deactivated body
-                                ParentGroup.Scene.PhysicsScene.RemoveAllJointsConnectedToActorThreadLocked(PhysActor);
-                            }
+                                if (PhysActor.Phantom)
+                                {
+                                    RemoveFromPhysics();
+                                    return;
+                                }
 
-                            // stop client-side interpolation of all joint proxy objects that have just been deleted
-                            // this is done because RemoveAllJointsConnectedToActor invokes the OnJointDeactivated callback,
-                            // which stops client-side interpolation of deactivated joint proxy objects.
+                                PhysActor.IsPhysical = UsePhysics;
+                                PhysActor.OnRequestTerseUpdate -= PhysicsRequestingTerseUpdate;
+                                PhysActor.OnOutOfBounds -= PhysicsOutOfBounds;
+                                PhysActor.delink();
+                                if (ParentGroup.Scene.PhysicsScene.SupportsNINJAJoints)
+                                {
+                                    // destroy all joints connected to this now deactivated body
+                                    ParentGroup.Scene.PhysicsScene.RemoveAllJointsConnectedToActorThreadLocked(PhysActor);
+                                }
+                            }
                         }
 
-                        if (!UsePhysics && !isNew)
-                        {
-                            // reset velocity to 0 on physics switch-off. Without that, the client thinks the
-                            // prim still has velocity and continues to interpolate its position along the old
-                            // velocity-vector.
-                            Velocity = new Vector3(0, 0, 0);
-                            Acceleration = new Vector3(0, 0, 0);
-                            AngularVelocity = new Vector3(0, 0, 0);
-                            //RotationalVelocity = new Vector3(0, 0, 0);
-                        }
+                        if (PhysActor.IsPhysical != UsePhysics)
+                            PhysActor.IsPhysical = UsePhysics;
 
-                        PhysActor.IsPhysical = UsePhysics;
+                        if (UsePhysics)
+                        {
+                            if (ParentGroup.RootPart.KeyframeMotion != null)
+                                ParentGroup.RootPart.KeyframeMotion.Stop();
+                            ParentGroup.RootPart.KeyframeMotion = null;
+                            ParentGroup.Scene.AddPhysicalPrim(1);
 
-                        // If we're not what we're supposed to be in the physics scene, recreate ourselves.
-                        //m_parentGroup.Scene.PhysicsScene.RemovePrim(PhysActor);
-                        /// that's not wholesome.  Had to make Scene public
-                        //PhysActor = null;
+                            PhysActor.OnRequestTerseUpdate += PhysicsRequestingTerseUpdate;
+                            PhysActor.OnOutOfBounds += PhysicsOutOfBounds;
 
-                        if ((Flags & PrimFlags.Phantom) == 0)
-                        {
-                            if (UsePhysics)
+                            if (ParentID != 0 && ParentID != LocalId)
                             {
-                                ParentGroup.Scene.AddPhysicalPrim(1);
-
-                                PhysActor.OnRequestTerseUpdate += PhysicsRequestingTerseUpdate;
-                                PhysActor.OnOutOfBounds += PhysicsOutOfBounds;
-                                if (ParentID != 0 && ParentID != LocalId)
+                                if (ParentGroup.RootPart.PhysActor != null)
                                 {
-                                    if (ParentGroup.RootPart.PhysActor != null)
-                                    {
-                                        PhysActor.link(ParentGroup.RootPart.PhysActor);
-                                    }
+                                    PhysActor.link(ParentGroup.RootPart.PhysActor);
                                 }
                             }
-                        }
+                        }                           
                     }
 
+                    bool phan = ((Flags & PrimFlags.Phantom) != 0);
+                    if (PhysActor.Phantom != phan)
+                        PhysActor.Phantom = phan;
+
+
                     // If this part is a sculpt then delay the physics update until we've asynchronously loaded the
                     // mesh data.
                     if (Shape.SculptEntry)
@@ -1924,10 +2318,7 @@ namespace OpenSim.Region.Framework.Scenes
 
         public Vector3 GetForce()
         {
-            if (PhysActor != null)
-                return PhysActor.Force;
-            else
-                return Vector3.Zero;
+                return Force;
         }
 
         /// <summary>
@@ -2561,9 +2952,9 @@ namespace OpenSim.Region.Framework.Scenes
                 Vector3 newpos = new Vector3(PhysActor.Position.GetBytes(), 0);
                 
                 if (ParentGroup.Scene.TestBorderCross(newpos, Cardinals.N)
-                    | ParentGroup.Scene.TestBorderCross(newpos, Cardinals.S)
-                    | ParentGroup.Scene.TestBorderCross(newpos, Cardinals.E)
-                    | ParentGroup.Scene.TestBorderCross(newpos, Cardinals.W))
+                    || ParentGroup.Scene.TestBorderCross(newpos, Cardinals.S)
+                    || ParentGroup.Scene.TestBorderCross(newpos, Cardinals.E)
+                    || ParentGroup.Scene.TestBorderCross(newpos, Cardinals.W))
                 {
                     ParentGroup.AbsolutePosition = newpos;
                     return;
@@ -2584,17 +2975,18 @@ namespace OpenSim.Region.Framework.Scenes
                 //Trys to fetch sound id from prim's inventory.
                 //Prim's inventory doesn't support non script items yet
                 
-                lock (TaskInventory)
+                TaskInventory.LockItemsForRead(true);
+
+                foreach (KeyValuePair<UUID, TaskInventoryItem> item in TaskInventory)
                 {
-                    foreach (KeyValuePair<UUID, TaskInventoryItem> item in TaskInventory)
+                    if (item.Value.Name == sound)
                     {
-                        if (item.Value.Name == sound)
-                        {
-                            soundID = item.Value.ItemID;
-                            break;
-                        }
+                        soundID = item.Value.ItemID;
+                        break;
                     }
                 }
+
+                TaskInventory.LockItemsForRead(false);
             }
 
             ParentGroup.Scene.ForEachRootScenePresence(delegate(ScenePresence sp)
@@ -2715,6 +3107,19 @@ namespace OpenSim.Region.Framework.Scenes
             APIDTarget = Quaternion.Identity;
         }
 
+
+
+        public void ScheduleFullUpdateIfNone()
+        {
+            if (ParentGroup == null)
+                return;
+
+// ???            ParentGroup.HasGroupChanged = true;
+
+            if (UpdateFlag != UpdateRequired.FULL)
+                ScheduleFullUpdate();
+        }
+
         /// <summary>
         /// Schedules this prim for a full update
         /// </summary>
@@ -2914,8 +3319,8 @@ namespace OpenSim.Region.Framework.Scenes
         {
             const float ROTATION_TOLERANCE = 0.01f;
             const float VELOCITY_TOLERANCE = 0.001f;
-            const float POSITION_TOLERANCE = 0.05f;
-            const int TIME_MS_TOLERANCE = 3000;
+            const float POSITION_TOLERANCE = 0.05f; // I don't like this, but I suppose it's necessary
+            const int TIME_MS_TOLERANCE = 200; //llSetPos has a 200ms delay. This should NOT be 3 seconds.
 
             switch (UpdateFlag)
             {
@@ -2977,17 +3382,16 @@ namespace OpenSim.Region.Framework.Scenes
             if (!UUID.TryParse(sound, out soundID))
             {
                 // search sound file from inventory
-                lock (TaskInventory)
+                TaskInventory.LockItemsForRead(true);
+                foreach (KeyValuePair<UUID, TaskInventoryItem> item in TaskInventory)
                 {
-                    foreach (KeyValuePair<UUID, TaskInventoryItem> item in TaskInventory)
+                    if (item.Value.Name == sound && item.Value.Type == (int)AssetType.Sound)
                     {
-                        if (item.Value.Name == sound && item.Value.Type == (int)AssetType.Sound)
-                        {
-                            soundID = item.Value.ItemID;
-                            break;
-                        }
+                        soundID = item.Value.ItemID;
+                        break;
                     }
                 }
+                TaskInventory.LockItemsForRead(false);
             }
 
             if (soundID == UUID.Zero)
@@ -3072,10 +3476,13 @@ namespace OpenSim.Region.Framework.Scenes
 
         public void SetBuoyancy(float fvalue)
         {
+            Buoyancy = fvalue;
+/*            
             if (PhysActor != null)
             {
                 PhysActor.Buoyancy = fvalue;
             }
+ */
         }
 
         public void SetDieAtEdge(bool p)
@@ -3103,23 +3510,83 @@ namespace OpenSim.Region.Framework.Scenes
 
         public void SetForce(Vector3 force)
         {
+            Force = force;
+/*
             if (PhysActor != null)
             {
                 PhysActor.Force = force;
             }
+ */
+        }
+
+        public SOPVehicle sopVehicle
+        {
+            get
+            {
+                return m_vehicle;
+            }
+            set
+            {
+                m_vehicle = value;
+            }
+        }
+
+
+        public int VehicleType
+        {
+            get
+            {
+                if (m_vehicle == null)
+                    return (int)Vehicle.TYPE_NONE;
+                else
+                    return (int)m_vehicle.Type;
+            }
+            set
+            {
+                SetVehicleType(value);
+            }
         }
 
         public void SetVehicleType(int type)
         {
-            if (PhysActor != null)
+                m_vehicle = null;
+                
+                if (type == (int)Vehicle.TYPE_NONE)
+                {
+                    if (_parentID ==0 && PhysActor != null)
+                        PhysActor.VehicleType = (int)Vehicle.TYPE_NONE;
+                    return;
+                }
+                m_vehicle = new SOPVehicle();
+                m_vehicle.ProcessTypeChange((Vehicle)type);
+                {
+                    if (_parentID ==0 && PhysActor != null)
+                        PhysActor.VehicleType = type;
+                    return;
+                }
+        }
+
+        public void SetVehicleFlags(int param, bool remove)
+        {
+            if (m_vehicle == null)
+                return;
+
+            m_vehicle.ProcessVehicleFlags(param, remove);
+
+            if (_parentID ==0 && PhysActor != null)
             {
-                PhysActor.VehicleType = type;
+                PhysActor.VehicleFlags(param, remove);
             }
         }
 
         public void SetVehicleFloatParam(int param, float value)
         {
-            if (PhysActor != null)
+            if (m_vehicle == null)
+                return;
+
+            m_vehicle.ProcessFloatVehicleParam((Vehicle)param, value);
+
+            if (_parentID == 0 && PhysActor != null)
             {
                 PhysActor.VehicleFloatParam(param, value);
             }
@@ -3127,7 +3594,12 @@ namespace OpenSim.Region.Framework.Scenes
 
         public void SetVehicleVectorParam(int param, Vector3 value)
         {
-            if (PhysActor != null)
+            if (m_vehicle == null)
+                return;
+
+            m_vehicle.ProcessVectorVehicleParam((Vehicle)param, value);
+
+            if (_parentID == 0 && PhysActor != null)
             {
                 PhysActor.VehicleVectorParam(param, value);
             }
@@ -3135,7 +3607,12 @@ namespace OpenSim.Region.Framework.Scenes
 
         public void SetVehicleRotationParam(int param, Quaternion rotation)
         {
-            if (PhysActor != null)
+            if (m_vehicle == null)
+                return;
+
+            m_vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation);
+
+            if (_parentID == 0 && PhysActor != null)
             {
                 PhysActor.VehicleRotationParam(param, rotation);
             }
@@ -3322,13 +3799,6 @@ namespace OpenSim.Region.Framework.Scenes
             hasProfileCut = hasDimple; // is it the same thing?
         }
         
-        public void SetVehicleFlags(int param, bool remove)
-        {
-            if (PhysActor != null)
-            {
-                PhysActor.VehicleFlags(param, remove);
-            }
-        }
 
         public void SetGroup(UUID groupID, IClientAPI client)
         {
@@ -3431,68 +3901,18 @@ namespace OpenSim.Region.Framework.Scenes
             //ParentGroup.ScheduleGroupForFullUpdate();
         }
 
-        public void StoreUndoState()
+        public void StoreUndoState(ObjectChangeType change)
         {
-            StoreUndoState(false);
-        }
+            if (m_UndoRedo == null)
+                m_UndoRedo = new UndoRedoState(5);
 
-        public void StoreUndoState(bool forGroup)
-        {
-            if (!Undoing)
+            lock (m_UndoRedo)
             {
-                if (!IgnoreUndoUpdate)
+                if (!Undoing && !IgnoreUndoUpdate && ParentGroup != null) // just to read better  - undo is in progress, or suspended
                 {
-                    if (ParentGroup != null)
-                    {
-                        lock (m_undo)
-                        {
-                            if (m_undo.Count > 0)
-                            {
-                                UndoState last = m_undo.Peek();
-                                if (last != null)
-                                {
-                                    // TODO: May need to fix for group comparison
-                                    if (last.Compare(this))
-                                    {
-    //                                        m_log.DebugFormat(
-    //                                            "[SCENE OBJECT PART]: Not storing undo for {0} {1} since current state is same as last undo state, initial stack size {2}",
-    //                                            Name, LocalId, m_undo.Count);
-    
-                                        return;
-                                    }
-                                }
-                            }
-    
-    //                            m_log.DebugFormat(
-    //                                "[SCENE OBJECT PART]: Storing undo state for {0} {1}, forGroup {2}, initial stack size {3}",
-    //                                Name, LocalId, forGroup, m_undo.Count);
-    
-                            if (ParentGroup.GetSceneMaxUndo() > 0)
-                            {
-                                UndoState nUndo = new UndoState(this, forGroup);
-    
-                                m_undo.Push(nUndo);
-    
-                                if (m_redo.Count > 0)
-                                    m_redo.Clear();
-    
-    //                                m_log.DebugFormat(
-    //                                    "[SCENE OBJECT PART]: Stored undo state for {0} {1}, forGroup {2}, stack size now {3}",
-    //                                    Name, LocalId, forGroup, m_undo.Count);
-                            }
-                        }
-                    }
+                    m_UndoRedo.StoreUndo(this, change);
                 }
-//                else
-//                {
-//                    m_log.DebugFormat("[SCENE OBJECT PART]: Ignoring undo store for {0} {1}", Name, LocalId);
-//                }
             }
-//            else
-//            {
-//                m_log.DebugFormat(
-//                    "[SCENE OBJECT PART]: Ignoring undo store for {0} {1} since already undoing", Name, LocalId);
-//            }
         }
 
         /// <summary>
@@ -3502,84 +3922,46 @@ namespace OpenSim.Region.Framework.Scenes
         {
             get
             {
-                lock (m_undo)
-                    return m_undo.Count;
+                if (m_UndoRedo == null)
+                    return 0;
+                return m_UndoRedo.Count;
             }
         }
 
         public void Undo()
         {
-            lock (m_undo)
-            {
-//                m_log.DebugFormat(
-//                    "[SCENE OBJECT PART]: Handling undo request for {0} {1}, stack size {2}",
-//                    Name, LocalId, m_undo.Count);
-
-                if (m_undo.Count > 0)
-                {
-                    UndoState goback = m_undo.Pop();
-
-                    if (goback != null)
-                    {
-                        UndoState nUndo = null;
-        
-                        if (ParentGroup.GetSceneMaxUndo() > 0)
-                        {
-                            nUndo = new UndoState(this, goback.ForGroup);
-                        }
-
-                        goback.PlaybackState(this);
-
-                        if (nUndo != null)
-                            m_redo.Push(nUndo);
-                    }
-                }
+            if (m_UndoRedo == null || Undoing || ParentGroup == null)
+                return;
 
-//                m_log.DebugFormat(
-//                    "[SCENE OBJECT PART]: Handled undo request for {0} {1}, stack size now {2}",
-//                    Name, LocalId, m_undo.Count);
+            lock (m_UndoRedo)
+            {
+                Undoing = true;
+                m_UndoRedo.Undo(this);
+                Undoing = false;
             }
         }
 
         public void Redo()
         {
-            lock (m_undo)
-            {
-//                m_log.DebugFormat(
-//                    "[SCENE OBJECT PART]: Handling redo request for {0} {1}, stack size {2}",
-//                    Name, LocalId, m_redo.Count);
-
-                if (m_redo.Count > 0)
-                {
-                    UndoState gofwd = m_redo.Pop();
-    
-                    if (gofwd != null)
-                    {
-                        if (ParentGroup.GetSceneMaxUndo() > 0)
-                        {
-                            UndoState nUndo = new UndoState(this, gofwd.ForGroup);
-    
-                            m_undo.Push(nUndo);
-                        }
-    
-                        gofwd.PlayfwdState(this);
-                    }
+            if (m_UndoRedo == null || Undoing || ParentGroup == null)
+                return;
 
-//                m_log.DebugFormat(
-//                    "[SCENE OBJECT PART]: Handled redo request for {0} {1}, stack size now {2}",
-//                    Name, LocalId, m_redo.Count);
-                }
+            lock (m_UndoRedo)
+            {
+                Undoing = true;
+                m_UndoRedo.Redo(this);
+                Undoing = false;
             }
         }
 
         public void ClearUndoState()
         {
-//            m_log.DebugFormat("[SCENE OBJECT PART]: Clearing undo and redo stacks in {0} {1}", Name, LocalId);
+            if (m_UndoRedo == null || Undoing)
+                return;
 
-            lock (m_undo)
+            lock (m_UndoRedo)
             {
-                m_undo.Clear();
-                m_redo.Clear();
+                m_UndoRedo.Clear();
             }
         }
 
@@ -4209,6 +4591,27 @@ namespace OpenSim.Region.Framework.Scenes
             }
         }
 
+
+        public void UpdateExtraPhysics(ExtraPhysicsData physdata)
+        {
+            if (physdata.PhysShapeType == PhysShapeType.invalid || ParentGroup == null)
+                return;
+
+            if (PhysicsShapeType != (byte)physdata.PhysShapeType)
+            {
+                PhysicsShapeType = (byte)physdata.PhysShapeType;
+
+            }
+
+            if(Density != physdata.Density)
+                Density = physdata.Density;
+            if(GravityModifier != physdata.GravitationModifier)
+                GravityModifier = physdata.GravitationModifier;
+            if(Friction != physdata.Friction)
+                Friction = physdata.Friction;
+            if(Bounciness != physdata.Bounce)
+                Bounciness = physdata.Bounce;
+        }
         /// <summary>
         /// Update the flags on this prim.  This covers properties such as phantom, physics and temporary.
         /// </summary>
@@ -4216,7 +4619,8 @@ namespace OpenSim.Region.Framework.Scenes
         /// <param name="SetTemporary"></param>
         /// <param name="SetPhantom"></param>
         /// <param name="SetVD"></param>
-        public void UpdatePrimFlags(bool UsePhysics, bool SetTemporary, bool SetPhantom, bool SetVD)
+//        public void UpdatePrimFlags(bool UsePhysics, bool SetTemporary, bool SetPhantom, bool SetVD)
+        public void UpdatePrimFlags(bool UsePhysics, bool SetTemporary, bool SetPhantom, bool SetVD, bool building)
         {
             bool wasUsingPhysics = ((Flags & PrimFlags.Physics) != 0);
             bool wasTemporary = ((Flags & PrimFlags.TemporaryOnRez) != 0);
@@ -4226,41 +4630,58 @@ namespace OpenSim.Region.Framework.Scenes
             if ((UsePhysics == wasUsingPhysics) && (wasTemporary == SetTemporary) && (wasPhantom == SetPhantom) && (SetVD == wasVD))
                 return;
 
+            // do this first
+            if (building && PhysActor != null && PhysActor.Building != building)
+                PhysActor.Building = building;
+
             // Special cases for VD. VD can only be called from a script 
             // and can't be combined with changes to other states. So we can rely
             // that...
             // ... if VD is changed, all others are not.
             // ... if one of the others is changed, VD is not.
+
+/*
             if (SetVD) // VD is active, special logic applies
-            {
-                // State machine logic for VolumeDetect
-                // More logic below
-                bool phanReset = (SetPhantom != wasPhantom) && !SetPhantom;
 
-                if (phanReset) // Phantom changes from on to off switch VD off too
-                {
-                    SetVD = false;               // Switch it of for the course of this routine
-                    VolumeDetectActive = false; // and also permanently
-                    if (PhysActor != null)
-                        PhysActor.SetVolumeDetect(0);   // Let physics know about it too
-                }
-                else
-                {
-                    // If volumedetect is active we don't want phantom to be applied.
-                    // If this is a new call to VD out of the state "phantom"
-                    // this will also cause the prim to be visible to physics
+                 volume detection is now independent of phantom in sl
+
+                            {
+                                // State machine logic for VolumeDetect
+                                // More logic below
+
+
+                                bool phanReset = (SetPhantom != wasPhantom) && !SetPhantom;
+
+                                if (phanReset) // Phantom changes from on to off switch VD off too
+                                {
+                                    SetVD = false;               // Switch it of for the course of this routine
+                                    VolumeDetectActive = false; // and also permanently
+                                    if (PhysActor != null)
+                                        PhysActor.SetVolumeDetect(0);   // Let physics know about it too
+                                }
+                                else
+                                {
+                                    // If volumedetect is active we don't want phantom to be applied.
+                                    // If this is a new call to VD out of the state "phantom"
+                                    // this will also cause the prim to be visible to physics
                     SetPhantom = false;
-                }
+               }
+            }
+            else if (wasVD)
+            {
+                // Correspondingly, if VD is turned off, also turn off phantom
+                SetPhantom = false;
             }
 
             if (UsePhysics && IsJoint())
             {
                 SetPhantom = true;
             }
-
+*/
             if (UsePhysics)
             {
                 AddFlag(PrimFlags.Physics);
+/*
                 if (!wasUsingPhysics)
                 {
                     DoPhysicsPropertyUpdate(UsePhysics, false);
@@ -4273,78 +4694,100 @@ namespace OpenSim.Region.Framework.Scenes
                         }
                     }
                 }
+ */
             }
             else
             {
                 RemFlag(PrimFlags.Physics);
+/*
                 if (wasUsingPhysics)
                 {
                     DoPhysicsPropertyUpdate(UsePhysics, false);
                 }
-            }
+*/
+            }         
 
-            if (SetPhantom
-                || ParentGroup.IsAttachment
+            if (SetPhantom)
+                AddFlag(PrimFlags.Phantom);
+            else
+                RemFlag(PrimFlags.Phantom);
+
+            if ((SetPhantom && !UsePhysics) ||  ParentGroup.IsAttachment || PhysicsShapeType == (byte)PhysShapeType.none
                 || (Shape.PathCurve == (byte)Extrusion.Flexible)) // note: this may have been changed above in the case of joints
             {
-                AddFlag(PrimFlags.Phantom);
+//                AddFlag(PrimFlags.Phantom);
+
+                Velocity = new Vector3(0, 0, 0);
+                Acceleration = new Vector3(0, 0, 0);
+                if (ParentGroup.RootPart == this)
+                    AngularVelocity = new Vector3(0, 0, 0);
 
                 if (PhysActor != null)
+                {
+                    ParentGroup.Scene.RemovePhysicalPrim(1);
                     RemoveFromPhysics();
+                }
             }
-            else // Not phantom
+            else
             {
-                RemFlag(PrimFlags.Phantom);
-
                 if (ParentGroup.Scene == null)
                     return;
 
-                if (ParentGroup.Scene.CollidablePrims && PhysActor == null)
+                if (ParentGroup.Scene.CollidablePrims)
                 {
-                    // It's not phantom anymore. So make sure the physics engine get's knowledge of it
-                    PhysActor = ParentGroup.Scene.PhysicsScene.AddPrimShape(
-                        string.Format("{0}/{1}", Name, UUID),
-                        Shape,
-                        AbsolutePosition,
-                        Scale,
-                        RotationOffset,
-                        UsePhysics,
-                        m_localId);
-
-                    PhysActor.SetMaterial(Material);
-                    DoPhysicsPropertyUpdate(UsePhysics, true);
-
-                    if (!ParentGroup.IsDeleted)
+                    if (PhysActor == null)
                     {
-                        if (LocalId == ParentGroup.RootPart.LocalId)
+                        PhysActor = ParentGroup.Scene.PhysicsScene.AddPrimShape(
+                            string.Format("{0}/{1}", Name, UUID),
+                            Shape,
+                            AbsolutePosition,
+                            Scale,
+                            GetWorldRotation(), //physics wants world rotation like all other functions send
+                            UsePhysics,
+                            SetPhantom,
+                            PhysicsShapeType,
+                            m_localId);
+
+                        PhysActor.SetMaterial(Material);
+
+                        // if root part apply vehicle
+                        if (m_vehicle != null && LocalId == ParentGroup.RootPart.LocalId)
+                            m_vehicle.SetVehicle(PhysActor);
+
+                        DoPhysicsPropertyUpdate(UsePhysics, true);
+
+                        if (!ParentGroup.IsDeleted)
                         {
-                            ParentGroup.CheckSculptAndLoad();
+                            if (LocalId == ParentGroup.RootPart.LocalId)
+                            {
+                                ParentGroup.CheckSculptAndLoad();
+                            }
                         }
-                    }
 
-                    if (
-                        ((AggregateScriptEvents & scriptEvents.collision) != 0) ||
-                        ((AggregateScriptEvents & scriptEvents.collision_end) != 0) ||
-                        ((AggregateScriptEvents & scriptEvents.collision_start) != 0) ||
-                        ((AggregateScriptEvents & scriptEvents.land_collision_start) != 0) ||
-                        ((AggregateScriptEvents & scriptEvents.land_collision) != 0) ||
-                        ((AggregateScriptEvents & scriptEvents.land_collision_end) != 0) ||
-                        (CollisionSound != UUID.Zero)
-                        )
-                    {
-                        PhysActor.OnCollisionUpdate += PhysicsCollision;
-                        PhysActor.SubscribeEvents(1000);
+                        if (
+                            ((AggregateScriptEvents & scriptEvents.collision) != 0) ||
+                            ((AggregateScriptEvents & scriptEvents.collision_end) != 0) ||
+                            ((AggregateScriptEvents & scriptEvents.collision_start) != 0) ||
+                            ((AggregateScriptEvents & scriptEvents.land_collision_start) != 0) ||
+                            ((AggregateScriptEvents & scriptEvents.land_collision) != 0) ||
+                            ((AggregateScriptEvents & scriptEvents.land_collision_end) != 0) ||
+                            (CollisionSound != UUID.Zero)
+                            )
+                        {
+                            PhysActor.OnCollisionUpdate += PhysicsCollision;
+                            PhysActor.SubscribeEvents(1000);
+                        }
                     }
-                }
-                else // it already has a physical representation
-                {
-                    DoPhysicsPropertyUpdate(UsePhysics, false); // Update physical status. If it's phantom this will remove the prim
-
-                    if (!ParentGroup.IsDeleted)
+                    else // it already has a physical representation
                     {
-                        if (LocalId == ParentGroup.RootPart.LocalId)
+                        DoPhysicsPropertyUpdate(UsePhysics, false); // Update physical status.
+
+                        if (!ParentGroup.IsDeleted)
                         {
-                            ParentGroup.CheckSculptAndLoad();
+                            if (LocalId == ParentGroup.RootPart.LocalId)
+                            {
+                                ParentGroup.CheckSculptAndLoad();
+                            }
                         }
                     }
                 }
@@ -4360,7 +4803,7 @@ namespace OpenSim.Region.Framework.Scenes
                 if (this.PhysActor != null)
                 {
                     PhysActor.SetVolumeDetect(1);
-                    AddFlag(PrimFlags.Phantom); // We set this flag also if VD is active
+//                    AddFlag(PrimFlags.Phantom); // We set this flag also if VD is active
                     this.VolumeDetectActive = true;
                 }
             }
@@ -4368,8 +4811,7 @@ namespace OpenSim.Region.Framework.Scenes
             {
                 // Remove VolumeDetect in any case. Note, it's safe to call SetVolumeDetect as often as you like
                 // (mumbles, well, at least if you have infinte CPU powers :-))
-                PhysicsActor pa = this.PhysActor;
-                if (pa != null)
+                if (this.PhysActor != null)
                 {
                     PhysActor.SetVolumeDetect(0);
                 }
@@ -4387,12 +4829,15 @@ namespace OpenSim.Region.Framework.Scenes
             }
             //            m_log.Debug("Update:  PHY:" + UsePhysics.ToString() + ", T:" + IsTemporary.ToString() + ", PHA:" + IsPhantom.ToString() + " S:" + CastsShadows.ToString());
 
+           // and last in case we have a new actor and not building
+            if (PhysActor != null && PhysActor.Building != building)
+                PhysActor.Building = building;
             if (ParentGroup != null)
             {
                 ParentGroup.HasGroupChanged = true;
                 ScheduleFullUpdate();
             }
-
+            
 //            m_log.DebugFormat("[SCENE OBJECT PART]: Updated PrimFlags on {0} {1} to {2}", Name, LocalId, Flags);
         }
 
@@ -4750,5 +5195,17 @@ namespace OpenSim.Region.Framework.Scenes
             Color color = Color;
             return new Color4(color.R, color.G, color.B, (byte)(0xFF - color.A));
         }
+
+        public void ResetOwnerChangeFlag()
+        {
+            List<UUID> inv = Inventory.GetInventoryList();
+
+            foreach (UUID itemID in inv)
+            {
+                TaskInventoryItem item = Inventory.GetInventoryItem(itemID);
+                item.OwnerChanged = false;
+                Inventory.UpdateInventoryItem(item, false, false);
+            }
+        }
     }
 }
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectPartInventory.cs b/OpenSim/Region/Framework/Scenes/SceneObjectPartInventory.cs
index 71a9084..ac44ce9 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectPartInventory.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectPartInventory.cs
@@ -48,6 +48,9 @@ namespace OpenSim.Region.Framework.Scenes
         private string m_inventoryFileName = String.Empty;
         private byte[] m_inventoryFileData = new byte[0];
         private uint m_inventoryFileNameSerial = 0;
+        private bool m_inventoryPrivileged = false;
+
+        private Dictionary<UUID, ArrayList> m_scriptErrors = new Dictionary<UUID, ArrayList>();
         
         /// <value>
         /// The part to which the inventory belongs.
@@ -84,11 +87,14 @@ namespace OpenSim.Region.Framework.Scenes
         /// </value>
         protected internal TaskInventoryDictionary Items
         {
-            get { return m_items; }
+            get { 
+                return m_items; 
+            }
             set
             {
                 m_items = value;
                 m_inventorySerial++;
+                QueryScriptStates();
             }
         }
         
@@ -123,38 +129,45 @@ namespace OpenSim.Region.Framework.Scenes
         public void ResetInventoryIDs()
         {
             if (null == m_part)
-                return;
-            
-            lock (m_items)
+            m_items.LockItemsForWrite(true);
+
+            if (Items.Count == 0)
             {
-                if (0 == m_items.Count)
-                    return;
+                m_items.LockItemsForWrite(false);
+                return;
+            }
 
-                IList<TaskInventoryItem> items = GetInventoryItems();
-                m_items.Clear();
+            IList<TaskInventoryItem> items = new List<TaskInventoryItem>(Items.Values);
+            Items.Clear();
 
-                foreach (TaskInventoryItem item in items)
-                {
-                    item.ResetIDs(m_part.UUID);
-                    m_items.Add(item.ItemID, item);
-                }
+            foreach (TaskInventoryItem item in items)
+            {
+                item.ResetIDs(m_part.UUID);
+                Items.Add(item.ItemID, item);
             }
+            m_items.LockItemsForWrite(false);
         }
 
         public void ResetObjectID()
         {
-            lock (Items)
+            m_items.LockItemsForWrite(true);
+
+            if (Items.Count == 0)
             {
-                IList<TaskInventoryItem> items = new List<TaskInventoryItem>(Items.Values);
-                Items.Clear();
-    
-                foreach (TaskInventoryItem item in items)
-                {
-                    item.ParentPartID = m_part.UUID;
-                    item.ParentID = m_part.UUID;
-                    Items.Add(item.ItemID, item);
-                }
+                m_items.LockItemsForWrite(false);
+                return;
             }
+
+            IList<TaskInventoryItem> items = new List<TaskInventoryItem>(Items.Values);
+            Items.Clear();
+
+            foreach (TaskInventoryItem item in items)
+            {
+                item.ParentPartID = m_part.UUID;
+                item.ParentID = m_part.UUID;
+                Items.Add(item.ItemID, item);
+            }
+            m_items.LockItemsForWrite(false);
         }
 
         /// <summary>
@@ -163,12 +176,11 @@ namespace OpenSim.Region.Framework.Scenes
         /// <param name="ownerId"></param>
         public void ChangeInventoryOwner(UUID ownerId)
         {
-            lock (Items)
+            m_items.LockItemsForWrite(true);
+            if (0 == Items.Count)
             {
-                if (0 == Items.Count)
-                {
-                    return;
-                }
+                m_items.LockItemsForWrite(false);
+                return;
             }
 
             HasInventoryChanged = true;
@@ -184,6 +196,7 @@ namespace OpenSim.Region.Framework.Scenes
                 item.PermsGranter = UUID.Zero;
                 item.OwnerChanged = true;
             }
+            m_items.LockItemsForWrite(false);
         }
 
         /// <summary>
@@ -192,12 +205,11 @@ namespace OpenSim.Region.Framework.Scenes
         /// <param name="groupID"></param>
         public void ChangeInventoryGroup(UUID groupID)
         {
-            lock (Items)
+            m_items.LockItemsForWrite(true);
+            if (0 == Items.Count)
             {
-                if (0 == Items.Count)
-                {
-                    return;
-                }
+                m_items.LockItemsForWrite(false);
+                return;
             }
 
             // Don't let this set the HasGroupChanged flag for attachments
@@ -209,12 +221,45 @@ namespace OpenSim.Region.Framework.Scenes
                 m_part.ParentGroup.HasGroupChanged = true;
             }
 
-            List<TaskInventoryItem> items = GetInventoryItems();
+            IList<TaskInventoryItem> items = new List<TaskInventoryItem>(Items.Values);
             foreach (TaskInventoryItem item in items)
             {
                 if (groupID != item.GroupID)
+                {
                     item.GroupID = groupID;
+                }
             }
+            m_items.LockItemsForWrite(false);
+        }
+
+        private void QueryScriptStates()
+        {
+            if (m_part == null || m_part.ParentGroup == null)
+                return;
+
+            IScriptModule[] engines = m_part.ParentGroup.Scene.RequestModuleInterfaces<IScriptModule>();
+            if (engines == null) // No engine at all
+                return;
+
+            Items.LockItemsForRead(true);
+            foreach (TaskInventoryItem item in Items.Values)
+            {
+                if (item.InvType == (int)InventoryType.LSL)
+                {
+                    foreach (IScriptModule e in engines)
+                    {
+                        bool running;
+
+                        if (e.HasScript(item.ItemID, out running))
+                        {
+                            item.ScriptRunning = running;
+                            break;
+                        }
+                    }
+                }
+            }
+
+            Items.LockItemsForRead(false);
         }
 
         /// <summary>
@@ -222,9 +267,14 @@ namespace OpenSim.Region.Framework.Scenes
         /// </summary>
         public void CreateScriptInstances(int startParam, bool postOnRez, string engine, int stateSource)
         {
-            List<TaskInventoryItem> scripts = GetInventoryScripts();
-            foreach (TaskInventoryItem item in scripts)
-                CreateScriptInstance(item, startParam, postOnRez, engine, stateSource);
+            Items.LockItemsForRead(true);
+            IList<TaskInventoryItem> items = new List<TaskInventoryItem>(Items.Values);
+            Items.LockItemsForRead(false);
+            foreach (TaskInventoryItem item in items)
+            {
+                if ((int)InventoryType.LSL == item.InvType)
+                    CreateScriptInstance(item, startParam, postOnRez, engine, stateSource);
+            }
         }
 
         public ArrayList GetScriptErrors(UUID itemID)
@@ -255,9 +305,18 @@ namespace OpenSim.Region.Framework.Scenes
         /// </param>
         public void RemoveScriptInstances(bool sceneObjectBeingDeleted)
         {
-            List<TaskInventoryItem> scripts = GetInventoryScripts();
-            foreach (TaskInventoryItem item in scripts)
-                RemoveScriptInstance(item.ItemID, sceneObjectBeingDeleted);
+            Items.LockItemsForRead(true);
+            IList<TaskInventoryItem> items = new List<TaskInventoryItem>(Items.Values);
+            Items.LockItemsForRead(false);
+
+            foreach (TaskInventoryItem item in items)
+            {
+                if ((int)InventoryType.LSL == item.InvType)
+                {
+                    RemoveScriptInstance(item.ItemID, sceneObjectBeingDeleted);
+                    m_part.RemoveScriptEvents(item.ItemID);
+                }
+            }
         }
 
         /// <summary>
@@ -271,7 +330,10 @@ namespace OpenSim.Region.Framework.Scenes
 //                 item.Name, item.ItemID, m_part.Name, m_part.UUID, m_part.ParentGroup.Scene.RegionInfo.RegionName);
 
             if (!m_part.ParentGroup.Scene.Permissions.CanRunScript(item.ItemID, m_part.UUID, item.OwnerID))
+            {
+                StoreScriptError(item.ItemID, "no permission");
                 return;
+            }
 
             m_part.AddFlag(PrimFlags.Scripted);
 
@@ -280,14 +342,13 @@ namespace OpenSim.Region.Framework.Scenes
                 if (stateSource == 2 && // Prim crossing
                         m_part.ParentGroup.Scene.m_trustBinaries)
                 {
-                    lock (m_items)
-                    {
-                        m_items[item.ItemID].PermsMask = 0;
-                        m_items[item.ItemID].PermsGranter = UUID.Zero;
-                    }
-                    
+                    m_items.LockItemsForWrite(true);
+                    m_items[item.ItemID].PermsMask = 0;
+                    m_items[item.ItemID].PermsGranter = UUID.Zero;
+                    m_items.LockItemsForWrite(false);
                     m_part.ParentGroup.Scene.EventManager.TriggerRezScript(
                         m_part.LocalId, item.ItemID, String.Empty, startParam, postOnRez, engine, stateSource);
+                    StoreScriptErrors(item.ItemID, null);
                     m_part.ParentGroup.AddActiveScriptCount(1);
                     m_part.ScheduleFullUpdate();
                     return;
@@ -296,6 +357,8 @@ namespace OpenSim.Region.Framework.Scenes
                 AssetBase asset = m_part.ParentGroup.Scene.AssetService.Get(item.AssetID.ToString());
                 if (null == asset)
                 {
+                    string msg = String.Format("asset ID {0} could not be found", item.AssetID);
+                    StoreScriptError(item.ItemID, msg);
                     m_log.ErrorFormat(
                         "[PRIM INVENTORY]: Couldn't start script {0}, {1} at {2} in {3} since asset ID {4} could not be found",
                         item.Name, item.ItemID, m_part.AbsolutePosition, 
@@ -306,16 +369,21 @@ namespace OpenSim.Region.Framework.Scenes
                     if (m_part.ParentGroup.m_savedScriptState != null)
                         item.OldItemID = RestoreSavedScriptState(item.LoadedItemID, item.OldItemID, item.ItemID);
 
-                    lock (m_items)
-                    {
-                        m_items[item.ItemID].OldItemID = item.OldItemID;
-                        m_items[item.ItemID].PermsMask = 0;
-                        m_items[item.ItemID].PermsGranter = UUID.Zero;
-                    }
+                    m_items.LockItemsForWrite(true);
 
+                    m_items[item.ItemID].OldItemID = item.OldItemID;
+                    m_items[item.ItemID].PermsMask = 0;
+                    m_items[item.ItemID].PermsGranter = UUID.Zero;
+
+                    m_items.LockItemsForWrite(false);
+                
                     string script = Utils.BytesToString(asset.Data);
                     m_part.ParentGroup.Scene.EventManager.TriggerRezScript(
                         m_part.LocalId, item.ItemID, script, startParam, postOnRez, engine, stateSource);
+                    StoreScriptErrors(item.ItemID, null);
+                    if (!item.ScriptRunning)
+                        m_part.ParentGroup.Scene.EventManager.TriggerStopScript(
+                            m_part.LocalId, item.ItemID);
                     m_part.ParentGroup.AddActiveScriptCount(1);
                     m_part.ScheduleFullUpdate();
                 }
@@ -386,20 +454,146 @@ namespace OpenSim.Region.Framework.Scenes
 
         /// <summary>
         /// Start a script which is in this prim's inventory.
+        /// Some processing may occur in the background, but this routine returns asap.
         /// </summary>
         /// <param name="itemId">
         /// A <see cref="UUID"/>
         /// </param>
         public void CreateScriptInstance(UUID itemId, int startParam, bool postOnRez, string engine, int stateSource)
         {
-            TaskInventoryItem item = GetInventoryItem(itemId);
-            if (item != null)
-                CreateScriptInstance(item, startParam, postOnRez, engine, stateSource);
+            lock (m_scriptErrors)
+            {
+                // Indicate to CreateScriptInstanceInternal() we don't want it to wait for completion
+                m_scriptErrors.Remove(itemId);
+            }
+            CreateScriptInstanceInternal(itemId, startParam, postOnRez, engine, stateSource);
+        }
+
+        private void CreateScriptInstanceInternal(UUID itemId, int startParam, bool postOnRez, string engine, int stateSource)
+        {
+            m_items.LockItemsForRead(true);
+            if (m_items.ContainsKey(itemId))
+            {
+                if (m_items.ContainsKey(itemId))
+                {
+                    m_items.LockItemsForRead(false);
+                    CreateScriptInstance(m_items[itemId], startParam, postOnRez, engine, stateSource);
+                }
+                else
+                {
+                    m_items.LockItemsForRead(false);
+                    string msg = String.Format("couldn't be found for prim {0}, {1} at {2} in {3}", m_part.Name, m_part.UUID,
+                        m_part.AbsolutePosition, m_part.ParentGroup.Scene.RegionInfo.RegionName);
+                    StoreScriptError(itemId, msg);
+                    m_log.ErrorFormat(
+                        "[PRIM INVENTORY]: " +
+                        "Couldn't start script with ID {0} since it {1}", itemId, msg);
+                }
+            }
             else
+            {
+                m_items.LockItemsForRead(false);
+                string msg = String.Format("couldn't be found for prim {0}, {1}", m_part.Name, m_part.UUID);
+                StoreScriptError(itemId, msg);
                 m_log.ErrorFormat(
                     "[PRIM INVENTORY]: Couldn't start script with ID {0} since it couldn't be found for prim {1}, {2} at {3} in {4}",
                     itemId, m_part.Name, m_part.UUID, 
                     m_part.AbsolutePosition, m_part.ParentGroup.Scene.RegionInfo.RegionName);
+            }
+            
+        }
+
+        /// <summary>
+        /// Start a script which is in this prim's inventory and return any compilation error messages.
+        /// </summary>
+        /// <param name="itemId">
+        /// A <see cref="UUID"/>
+        /// </param>
+        public ArrayList CreateScriptInstanceEr(UUID itemId, int startParam, bool postOnRez, string engine, int stateSource)
+        {
+            ArrayList errors;
+
+            // Indicate to CreateScriptInstanceInternal() we want it to 
+            // post any compilation/loading error messages
+            lock (m_scriptErrors)
+            {
+                m_scriptErrors[itemId] = null;
+            }
+
+            // Perform compilation/loading
+            CreateScriptInstanceInternal(itemId, startParam, postOnRez, engine, stateSource);
+
+            // Wait for and retrieve any errors
+            lock (m_scriptErrors)
+            {
+                while ((errors = m_scriptErrors[itemId]) == null)
+                {
+                    if (!System.Threading.Monitor.Wait(m_scriptErrors, 15000))
+                    {
+                        m_log.ErrorFormat(
+                            "[PRIM INVENTORY]: " +
+                            "timedout waiting for script {0} errors", itemId);
+                        errors = m_scriptErrors[itemId];
+                        if (errors == null)
+                        {
+                            errors = new ArrayList(1);
+                            errors.Add("timedout waiting for errors");
+                        }
+                        break;
+                    }
+                }
+                m_scriptErrors.Remove(itemId);
+            }
+            return errors;
+        }
+
+        // Signal to CreateScriptInstanceEr() that compilation/loading is complete
+        private void StoreScriptErrors(UUID itemId, ArrayList errors)
+        {
+            lock (m_scriptErrors)
+            {
+                // If compilation/loading initiated via CreateScriptInstance(),
+                // it does not want the errors, so just get out
+                if (!m_scriptErrors.ContainsKey(itemId))
+                {
+                    return;
+                }
+
+                // Initiated via CreateScriptInstanceEr(), if we know what the
+                // errors are, save them and wake CreateScriptInstanceEr().
+                if (errors != null)
+                {
+                    m_scriptErrors[itemId] = errors;
+                    System.Threading.Monitor.PulseAll(m_scriptErrors);
+                    return;
+                }
+            }
+
+            // Initiated via CreateScriptInstanceEr() but we don't know what
+            // the errors are yet, so retrieve them from the script engine.
+            // This may involve some waiting internal to GetScriptErrors().
+            errors = GetScriptErrors(itemId);
+
+            // Get a default non-null value to indicate success.
+            if (errors == null)
+            {
+                errors = new ArrayList();
+            }
+
+            // Post to CreateScriptInstanceEr() and wake it up
+            lock (m_scriptErrors)
+            {
+                m_scriptErrors[itemId] = errors;
+                System.Threading.Monitor.PulseAll(m_scriptErrors);
+            }
+        }
+
+        // Like StoreScriptErrors(), but just posts a single string message
+        private void StoreScriptError(UUID itemId, string message)
+        {
+            ArrayList errors = new ArrayList(1);
+            errors.Add(message);
+            StoreScriptErrors(itemId, errors);
         }
 
         /// <summary>
@@ -412,15 +606,7 @@ namespace OpenSim.Region.Framework.Scenes
         /// </param>
         public void RemoveScriptInstance(UUID itemId, bool sceneObjectBeingDeleted)
         {
-            bool scriptPresent = false;
-
-            lock (m_items)
-            {
-                if (m_items.ContainsKey(itemId))
-                    scriptPresent = true;
-            }
-            
-            if (scriptPresent)
+            if (m_items.ContainsKey(itemId))
             {
                 if (!sceneObjectBeingDeleted)
                     m_part.RemoveScriptEvents(itemId);
@@ -445,14 +631,16 @@ namespace OpenSim.Region.Framework.Scenes
         /// <returns></returns>
         private bool InventoryContainsName(string name)
         {
-            lock (m_items)
+            m_items.LockItemsForRead(true);
+            foreach (TaskInventoryItem item in m_items.Values)
             {
-                foreach (TaskInventoryItem item in m_items.Values)
+                if (item.Name == name)
                 {
-                    if (item.Name == name)
-                        return true;
+                    m_items.LockItemsForRead(false);
+                    return true;
                 }
             }
+            m_items.LockItemsForRead(false);
             return false;
         }
 
@@ -494,8 +682,9 @@ namespace OpenSim.Region.Framework.Scenes
         /// <param name="item"></param>
         public void AddInventoryItemExclusive(TaskInventoryItem item, bool allowedDrop)
         {
-            List<TaskInventoryItem> il = GetInventoryItems();
-            
+            m_items.LockItemsForRead(true);
+            List<TaskInventoryItem> il = new List<TaskInventoryItem>(m_items.Values);
+            m_items.LockItemsForRead(false);
             foreach (TaskInventoryItem i in il)
             {
                 if (i.Name == item.Name)
@@ -533,14 +722,14 @@ namespace OpenSim.Region.Framework.Scenes
             item.Name = name;
             item.GroupID = m_part.GroupID;
 
-            lock (m_items)
-                m_items.Add(item.ItemID, item);
-
-            if (allowedDrop) 
-                m_part.TriggerScriptChangedEvent(Changed.ALLOWED_DROP);
-            else
-                m_part.TriggerScriptChangedEvent(Changed.INVENTORY);
-
+            m_items.LockItemsForWrite(true);
+            m_items.Add(item.ItemID, item);
+            m_items.LockItemsForWrite(false);
+                if (allowedDrop) 
+                    m_part.TriggerScriptChangedEvent(Changed.ALLOWED_DROP);
+                else
+                    m_part.TriggerScriptChangedEvent(Changed.INVENTORY);
+            
             m_inventorySerial++;
             //m_inventorySerial += 2;
             HasInventoryChanged = true;
@@ -556,15 +745,15 @@ namespace OpenSim.Region.Framework.Scenes
         /// <param name="items"></param>
         public void RestoreInventoryItems(ICollection<TaskInventoryItem> items)
         {
-            lock (m_items)
+            m_items.LockItemsForWrite(true);
+            foreach (TaskInventoryItem item in items)
             {
-                foreach (TaskInventoryItem item in items)
-                {
-                    m_items.Add(item.ItemID, item);
-//                    m_part.TriggerScriptChangedEvent(Changed.INVENTORY);
-                }
-                m_inventorySerial++;
+                m_items.Add(item.ItemID, item);
+//                m_part.TriggerScriptChangedEvent(Changed.INVENTORY);
             }
+            m_items.LockItemsForWrite(false);
+
+            m_inventorySerial++;
         }
 
         /// <summary>
@@ -575,10 +764,9 @@ namespace OpenSim.Region.Framework.Scenes
         public TaskInventoryItem GetInventoryItem(UUID itemId)
         {
             TaskInventoryItem item;
-
-            lock (m_items)
-                m_items.TryGetValue(itemId, out item);
-
+            m_items.LockItemsForRead(true);
+            m_items.TryGetValue(itemId, out item);
+            m_items.LockItemsForRead(false);
             return item;
         }
 
@@ -594,15 +782,16 @@ namespace OpenSim.Region.Framework.Scenes
         {
             List<TaskInventoryItem> items = new List<TaskInventoryItem>();
 
-            lock (m_items)
+            m_items.LockItemsForRead(true);
+
+            foreach (TaskInventoryItem item in m_items.Values)
             {
-                foreach (TaskInventoryItem item in m_items.Values)
-                {
-                    if (item.Name == name)
-                        items.Add(item);
-                }
+                if (item.Name == name)
+                    items.Add(item);
             }
 
+            m_items.LockItemsForRead(false);
+
             return items;
         }
         
@@ -621,6 +810,9 @@ namespace OpenSim.Region.Framework.Scenes
             string xmlData = Utils.BytesToString(rezAsset.Data);
             SceneObjectGroup group = SceneObjectSerializer.FromOriginalXmlFormat(xmlData);
 
+            group.RootPart.AttachPoint = group.RootPart.Shape.State;
+            group.RootPart.AttachOffset = group.AbsolutePosition;
+
             group.ResetIDs();
 
             SceneObjectPart rootPart = group.GetChildPart(group.UUID);
@@ -695,8 +887,9 @@ namespace OpenSim.Region.Framework.Scenes
 
         public bool UpdateInventoryItem(TaskInventoryItem item, bool fireScriptEvents, bool considerChanged)
         {
-            TaskInventoryItem it = GetInventoryItem(item.ItemID);
-            if (it != null)
+            m_items.LockItemsForWrite(true);
+
+            if (m_items.ContainsKey(item.ItemID))
             {
 //                m_log.DebugFormat("[PRIM INVENTORY]: Updating item {0} in {1}", item.Name, m_part.Name);
                 
@@ -709,14 +902,10 @@ namespace OpenSim.Region.Framework.Scenes
                     item.GroupID = m_part.GroupID;
 
                 if (item.AssetID == UUID.Zero)
-                    item.AssetID = it.AssetID;
+                    item.AssetID = m_items[item.ItemID].AssetID;
 
-                lock (m_items)
-                {
-                    m_items[item.ItemID] = item;
-                    m_inventorySerial++;
-                }
-                
+                m_items[item.ItemID] = item;
+                m_inventorySerial++;
                 if (fireScriptEvents)
                     m_part.TriggerScriptChangedEvent(Changed.INVENTORY);
                 
@@ -725,7 +914,7 @@ namespace OpenSim.Region.Framework.Scenes
                     HasInventoryChanged = true;
                     m_part.ParentGroup.HasGroupChanged = true;
                 }
-                
+                m_items.LockItemsForWrite(false);
                 return true;
             }
             else
@@ -736,8 +925,9 @@ namespace OpenSim.Region.Framework.Scenes
                     item.ItemID, m_part.Name, m_part.UUID, 
                     m_part.AbsolutePosition, m_part.ParentGroup.Scene.RegionInfo.RegionName);
             }
-            return false;
+            m_items.LockItemsForWrite(false);
 
+            return false;
         }
 
         /// <summary>
@@ -748,43 +938,59 @@ namespace OpenSim.Region.Framework.Scenes
         /// in this prim's inventory.</returns>
         public int RemoveInventoryItem(UUID itemID)
         {
-            TaskInventoryItem item = GetInventoryItem(itemID);
-            if (item != null)
+            m_items.LockItemsForRead(true);
+
+            if (m_items.ContainsKey(itemID))
             {
                 int type = m_items[itemID].InvType;
+                m_items.LockItemsForRead(false);
                 if (type == 10) // Script
                 {
-                    m_part.RemoveScriptEvents(itemID);
                     m_part.ParentGroup.Scene.EventManager.TriggerRemoveScript(m_part.LocalId, itemID);
                 }
+                m_items.LockItemsForWrite(true);
                 m_items.Remove(itemID);
+                m_items.LockItemsForWrite(false);
                 m_inventorySerial++;
                 m_part.TriggerScriptChangedEvent(Changed.INVENTORY);
 
                 HasInventoryChanged = true;
                 m_part.ParentGroup.HasGroupChanged = true;
 
-                if (!ContainsScripts())
+                int scriptcount = 0;
+                m_items.LockItemsForRead(true);
+                foreach (TaskInventoryItem item in m_items.Values)
+                {
+                    if (item.Type == 10)
+                    {
+                        scriptcount++;
+                    }
+                }
+                m_items.LockItemsForRead(false);
+                
+
+                if (scriptcount <= 0)
+                {
                     m_part.RemFlag(PrimFlags.Scripted);
+                }
 
                 m_part.ScheduleFullUpdate();
 
                 return type;
-                
             }
             else
             {
+                m_items.LockItemsForRead(false);
                 m_log.ErrorFormat(
                     "[PRIM INVENTORY]: " +
-                    "Tried to remove item ID {0} from prim {1}, {2} at {3} in {4} but the item does not exist in this inventory",
-                    itemID, m_part.Name, m_part.UUID,
-                    m_part.AbsolutePosition, m_part.ParentGroup.Scene.RegionInfo.RegionName);
+                    "Tried to remove item ID {0} from prim {1}, {2} but the item does not exist in this inventory",
+                    itemID, m_part.Name, m_part.UUID);
             }
 
             return -1;
         }
 
-        private bool CreateInventoryFile()
+        private bool CreateInventoryFileName()
         {
 //            m_log.DebugFormat(
 //                "[PRIM INVENTORY]: Creating inventory file for {0} {1} {2}, serial {3}",
@@ -793,116 +999,125 @@ namespace OpenSim.Region.Framework.Scenes
             if (m_inventoryFileName == String.Empty ||
                 m_inventoryFileNameSerial < m_inventorySerial)
             {
-                // Something changed, we need to create a new file
                 m_inventoryFileName = "inventory_" + UUID.Random().ToString() + ".tmp";
                 m_inventoryFileNameSerial = m_inventorySerial;
 
-                InventoryStringBuilder invString = new InventoryStringBuilder(m_part.UUID, UUID.Zero);
+                return true;
+            }
+
+            return false;
+        }
+
+        /// <summary>
+        /// Serialize all the metadata for the items in this prim's inventory ready for sending to the client
+        /// </summary>
+        /// <param name="xferManager"></param>
+        public void RequestInventoryFile(IClientAPI client, IXfer xferManager)
+        {
+            bool changed = CreateInventoryFileName();
+
+            bool includeAssets = false;
+            if (m_part.ParentGroup.Scene.Permissions.CanEditObjectInventory(m_part.UUID, client.AgentId))
+                includeAssets = true;
+
+            if (m_inventoryPrivileged != includeAssets)
+                changed = true;
+
+            InventoryStringBuilder invString = new InventoryStringBuilder(m_part.UUID, UUID.Zero);
+
+            Items.LockItemsForRead(true);
+
+            if (m_inventorySerial == 0) // No inventory
+            {
+                client.SendTaskInventory(m_part.UUID, 0, new byte[0]);
+                Items.LockItemsForRead(false);
+                return;
+            }
 
-                lock (m_items)
+                        if (m_items.Count == 0) // No inventory
+                        {
+                                client.SendTaskInventory(m_part.UUID, 0, new byte[0]);
+                Items.LockItemsForRead(false);
+                                return;
+                        }
+    
+            if (!changed)
+            {
+                if (m_inventoryFileData.Length > 2)
                 {
-                    foreach (TaskInventoryItem item in m_items.Values)
-                    {
-//                        m_log.DebugFormat(
-//                            "[PRIM INVENTORY]: Adding item {0} {1} for serial {2} on prim {3} {4} {5}",
-//                            item.Name, item.ItemID, m_inventorySerial, m_part.Name, m_part.UUID, m_part.LocalId);
+                    xferManager.AddNewFile(m_inventoryFileName,
+                            m_inventoryFileData);
+                    client.SendTaskInventory(m_part.UUID, (short)m_inventorySerial,
+                            Util.StringToBytes256(m_inventoryFileName));
 
-                        UUID ownerID = item.OwnerID;
-                        uint everyoneMask = 0;
-                        uint baseMask = item.BasePermissions;
-                        uint ownerMask = item.CurrentPermissions;
-                        uint groupMask = item.GroupPermissions;
+                    Items.LockItemsForRead(false);
+                    return;
+                }
+            }
 
-                        invString.AddItemStart();
-                        invString.AddNameValueLine("item_id", item.ItemID.ToString());
-                        invString.AddNameValueLine("parent_id", m_part.UUID.ToString());
+            m_inventoryPrivileged = includeAssets;
 
-                        invString.AddPermissionsStart();
+            foreach (TaskInventoryItem item in m_items.Values)
+            {
+                UUID ownerID = item.OwnerID;
+                uint everyoneMask = 0;
+                uint baseMask = item.BasePermissions;
+                uint ownerMask = item.CurrentPermissions;
+                uint groupMask = item.GroupPermissions;
 
-                        invString.AddNameValueLine("base_mask", Utils.UIntToHexString(baseMask));
-                        invString.AddNameValueLine("owner_mask", Utils.UIntToHexString(ownerMask));
-                        invString.AddNameValueLine("group_mask", Utils.UIntToHexString(groupMask));
-                        invString.AddNameValueLine("everyone_mask", Utils.UIntToHexString(everyoneMask));
-                        invString.AddNameValueLine("next_owner_mask", Utils.UIntToHexString(item.NextPermissions));
+                invString.AddItemStart();
+                invString.AddNameValueLine("item_id", item.ItemID.ToString());
+                invString.AddNameValueLine("parent_id", m_part.UUID.ToString());
 
-                        invString.AddNameValueLine("creator_id", item.CreatorID.ToString());
-                        invString.AddNameValueLine("owner_id", ownerID.ToString());
+                invString.AddPermissionsStart();
 
-                        invString.AddNameValueLine("last_owner_id", item.LastOwnerID.ToString());
+                invString.AddNameValueLine("base_mask", Utils.UIntToHexString(baseMask));
+                invString.AddNameValueLine("owner_mask", Utils.UIntToHexString(ownerMask));
+                invString.AddNameValueLine("group_mask", Utils.UIntToHexString(groupMask));
+                invString.AddNameValueLine("everyone_mask", Utils.UIntToHexString(everyoneMask));
+                invString.AddNameValueLine("next_owner_mask", Utils.UIntToHexString(item.NextPermissions));
 
-                        invString.AddNameValueLine("group_id", item.GroupID.ToString());
-                        invString.AddSectionEnd();
+                invString.AddNameValueLine("creator_id", item.CreatorID.ToString());
+                invString.AddNameValueLine("owner_id", ownerID.ToString());
 
-                        invString.AddNameValueLine("asset_id", item.AssetID.ToString());
-                        invString.AddNameValueLine("type", Utils.AssetTypeToString((AssetType)item.Type));
-                        invString.AddNameValueLine("inv_type", Utils.InventoryTypeToString((InventoryType)item.InvType));
-                        invString.AddNameValueLine("flags", Utils.UIntToHexString(item.Flags));
+                invString.AddNameValueLine("last_owner_id", item.LastOwnerID.ToString());
 
-                        invString.AddSaleStart();
-                        invString.AddNameValueLine("sale_type", "not");
-                        invString.AddNameValueLine("sale_price", "0");
-                        invString.AddSectionEnd();
+                invString.AddNameValueLine("group_id", item.GroupID.ToString());
+                invString.AddSectionEnd();
 
-                        invString.AddNameValueLine("name", item.Name + "|");
-                        invString.AddNameValueLine("desc", item.Description + "|");
+                if (includeAssets)
+                    invString.AddNameValueLine("asset_id", item.AssetID.ToString());
+                else
+                    invString.AddNameValueLine("asset_id", UUID.Zero.ToString());
+                invString.AddNameValueLine("type", Utils.AssetTypeToString((AssetType)item.Type));
+                invString.AddNameValueLine("inv_type", Utils.InventoryTypeToString((InventoryType)item.InvType));
+                invString.AddNameValueLine("flags", Utils.UIntToHexString(item.Flags));
 
-                        invString.AddNameValueLine("creation_date", item.CreationDate.ToString());
-                        invString.AddSectionEnd();
-                    }
-                }
+                invString.AddSaleStart();
+                invString.AddNameValueLine("sale_type", "not");
+                invString.AddNameValueLine("sale_price", "0");
+                invString.AddSectionEnd();
 
-                m_inventoryFileData = Utils.StringToBytes(invString.BuildString);
+                invString.AddNameValueLine("name", item.Name + "|");
+                invString.AddNameValueLine("desc", item.Description + "|");
 
-                return true;
+                invString.AddNameValueLine("creation_date", item.CreationDate.ToString());
+                invString.AddSectionEnd();
             }
 
-            // No need to recreate, the existing file is fine
-            return false;
-        }
-
-        /// <summary>
-        /// Serialize all the metadata for the items in this prim's inventory ready for sending to the client
-        /// </summary>
-        /// <param name="xferManager"></param>
-        public void RequestInventoryFile(IClientAPI client, IXfer xferManager)
-        {
-            lock (m_items)
-            {
-                // Don't send a inventory xfer name if there are no items.  Doing so causes viewer 3 to crash when rezzing
-                // a new script if any previous deletion has left the prim inventory empty.
-                if (m_items.Count == 0) // No inventory
-                {
-//                    m_log.DebugFormat(
-//                        "[PRIM INVENTORY]: Not sending inventory data for part {0} {1} {2} for {3} since no items",
-//                        m_part.Name, m_part.LocalId, m_part.UUID, client.Name);
+            Items.LockItemsForRead(false);
 
-                    client.SendTaskInventory(m_part.UUID, 0, new byte[0]);
-                    return;
-                }
+            m_inventoryFileData = Utils.StringToBytes(invString.BuildString);
 
-                CreateInventoryFile();
-    
-                // In principle, we should only do the rest if the inventory changed;
-                // by sending m_inventorySerial to the client, it ought to know
-                // that nothing changed and that it doesn't need to request the file. 
-                // Unfortunately, it doesn't look like the client optimizes this; 
-                // the client seems to always come back and request the Xfer, 
-                // no matter what value m_inventorySerial has.
-                // FIXME: Could probably be > 0 here rather than > 2
-                if (m_inventoryFileData.Length > 2)
-                {
-                    // Add the file for Xfer
-    //                m_log.DebugFormat(
-    //                    "[PRIM INVENTORY]: Adding inventory file {0} (length {1}) for transfer on {2} {3} {4}",
-    //                    m_inventoryFileName, m_inventoryFileData.Length, m_part.Name, m_part.UUID, m_part.LocalId);
-                    
-                    xferManager.AddNewFile(m_inventoryFileName, m_inventoryFileData);
-                }
-    
-                // Tell the client we're ready to Xfer the file
-                client.SendTaskInventory(m_part.UUID, (short)m_inventorySerial,
-                        Util.StringToBytes256(m_inventoryFileName));
+            if (m_inventoryFileData.Length > 2)
+            {
+                xferManager.AddNewFile(m_inventoryFileName, m_inventoryFileData);
+                                client.SendTaskInventory(m_part.UUID, (short)m_inventorySerial,
+                                                Util.StringToBytes256(m_inventoryFileName));
+                                return;
             }
+
+                        client.SendTaskInventory(m_part.UUID, 0, new byte[0]);
         }
 
         /// <summary>
@@ -911,13 +1126,19 @@ namespace OpenSim.Region.Framework.Scenes
         /// <param name="datastore"></param>
         public void ProcessInventoryBackup(ISimulationDataService datastore)
         {
-            if (HasInventoryChanged)
-            {
-                HasInventoryChanged = false;
-                List<TaskInventoryItem> items = GetInventoryItems();
-                datastore.StorePrimInventory(m_part.UUID, items);
+// Removed this because linking will cause an immediate delete of the new
+// child prim from the database and the subsequent storing of the prim sees
+// the inventory of it as unchanged and doesn't store it at all. The overhead
+// of storing prim inventory needlessly is much less than the aggravation
+// of prim inventory loss.
+//            if (HasInventoryChanged)
+//            {
+                Items.LockItemsForRead(true);
+                datastore.StorePrimInventory(m_part.UUID, Items.Values);
+                Items.LockItemsForRead(false);
 
-            }
+                HasInventoryChanged = false;
+//            }
         }
 
         public class InventoryStringBuilder
@@ -983,82 +1204,63 @@ namespace OpenSim.Region.Framework.Scenes
         {
             uint mask=0x7fffffff;
 
-            lock (m_items)
+            foreach (TaskInventoryItem item in m_items.Values)
             {
-                foreach (TaskInventoryItem item in m_items.Values)
+                if ((item.CurrentPermissions & item.NextPermissions & (uint)PermissionMask.Copy) == 0)
+                    mask &= ~((uint)PermissionMask.Copy >> 13);
+                if ((item.CurrentPermissions & item.NextPermissions & (uint)PermissionMask.Transfer) == 0)
+                    mask &= ~((uint)PermissionMask.Transfer >> 13);
+                if ((item.CurrentPermissions & item.NextPermissions & (uint)PermissionMask.Modify) == 0)
+                    mask &= ~((uint)PermissionMask.Modify >> 13);
+
+                if (item.InvType == (int)InventoryType.Object)
                 {
-                    if ((item.CurrentPermissions & item.NextPermissions & (uint)PermissionMask.Copy) == 0)
+                    if ((item.CurrentPermissions & ((uint)PermissionMask.Copy >> 13)) == 0)
                         mask &= ~((uint)PermissionMask.Copy >> 13);
-                    if ((item.CurrentPermissions & item.NextPermissions & (uint)PermissionMask.Transfer) == 0)
+                    if ((item.CurrentPermissions & ((uint)PermissionMask.Transfer >> 13)) == 0)
                         mask &= ~((uint)PermissionMask.Transfer >> 13);
-                    if ((item.CurrentPermissions & item.NextPermissions & (uint)PermissionMask.Modify) == 0)
+                    if ((item.CurrentPermissions & ((uint)PermissionMask.Modify >> 13)) == 0)
                         mask &= ~((uint)PermissionMask.Modify >> 13);
-
-                    if (item.InvType != (int)InventoryType.Object)
-                    {
-                        if ((item.CurrentPermissions & item.NextPermissions & (uint)PermissionMask.Copy) == 0)
-                            mask &= ~((uint)PermissionMask.Copy >> 13);
-                        if ((item.CurrentPermissions & item.NextPermissions & (uint)PermissionMask.Transfer) == 0)
-                            mask &= ~((uint)PermissionMask.Transfer >> 13);
-                        if ((item.CurrentPermissions & item.NextPermissions & (uint)PermissionMask.Modify) == 0)
-                            mask &= ~((uint)PermissionMask.Modify >> 13);
-                    }
-                    else
-                    {
-                        if ((item.CurrentPermissions & ((uint)PermissionMask.Copy >> 13)) == 0)
-                            mask &= ~((uint)PermissionMask.Copy >> 13);
-                        if ((item.CurrentPermissions & ((uint)PermissionMask.Transfer >> 13)) == 0)
-                            mask &= ~((uint)PermissionMask.Transfer >> 13);
-                        if ((item.CurrentPermissions & ((uint)PermissionMask.Modify >> 13)) == 0)
-                            mask &= ~((uint)PermissionMask.Modify >> 13);
-                    }
-    
-                    if ((item.CurrentPermissions & (uint)PermissionMask.Copy) == 0)
-                        mask &= ~(uint)PermissionMask.Copy;
-                    if ((item.CurrentPermissions & (uint)PermissionMask.Transfer) == 0)
-                        mask &= ~(uint)PermissionMask.Transfer;
-                    if ((item.CurrentPermissions & (uint)PermissionMask.Modify) == 0)
-                        mask &= ~(uint)PermissionMask.Modify;
                 }
+
+                if ((item.CurrentPermissions & (uint)PermissionMask.Copy) == 0)
+                    mask &= ~(uint)PermissionMask.Copy;
+                if ((item.CurrentPermissions & (uint)PermissionMask.Transfer) == 0)
+                    mask &= ~(uint)PermissionMask.Transfer;
+                if ((item.CurrentPermissions & (uint)PermissionMask.Modify) == 0)
+                    mask &= ~(uint)PermissionMask.Modify;
             }
-                
             return mask;
         }
 
         public void ApplyNextOwnerPermissions()
         {
-            lock (m_items)
+            foreach (TaskInventoryItem item in m_items.Values)
             {
-                foreach (TaskInventoryItem item in m_items.Values)
+                if (item.InvType == (int)InventoryType.Object && (item.CurrentPermissions & 7) != 0)
                 {
-                    if (item.InvType == (int)InventoryType.Object && (item.CurrentPermissions & 7) != 0)
-                    {
-                        if ((item.CurrentPermissions & ((uint)PermissionMask.Copy >> 13)) == 0)
-                            item.CurrentPermissions &= ~(uint)PermissionMask.Copy;
-                        if ((item.CurrentPermissions & ((uint)PermissionMask.Transfer >> 13)) == 0)
-                            item.CurrentPermissions &= ~(uint)PermissionMask.Transfer;
-                        if ((item.CurrentPermissions & ((uint)PermissionMask.Modify >> 13)) == 0)
-                            item.CurrentPermissions &= ~(uint)PermissionMask.Modify;
-                    }
-                    item.CurrentPermissions &= item.NextPermissions;
-                    item.BasePermissions &= item.NextPermissions;
-                    item.EveryonePermissions &= item.NextPermissions;
-                    item.OwnerChanged = true;
-                    item.PermsMask = 0;
-                    item.PermsGranter = UUID.Zero;
+                    if ((item.CurrentPermissions & ((uint)PermissionMask.Copy >> 13)) == 0)
+                        item.CurrentPermissions &= ~(uint)PermissionMask.Copy;
+                    if ((item.CurrentPermissions & ((uint)PermissionMask.Transfer >> 13)) == 0)
+                        item.CurrentPermissions &= ~(uint)PermissionMask.Transfer;
+                    if ((item.CurrentPermissions & ((uint)PermissionMask.Modify >> 13)) == 0)
+                        item.CurrentPermissions &= ~(uint)PermissionMask.Modify;
                 }
+                item.OwnerChanged = true;
+                item.CurrentPermissions &= item.NextPermissions;
+                item.BasePermissions &= item.NextPermissions;
+                item.EveryonePermissions &= item.NextPermissions;
+                item.PermsMask = 0;
+                item.PermsGranter = UUID.Zero;
             }
         }
 
         public void ApplyGodPermissions(uint perms)
         {
-            lock (m_items)
+            foreach (TaskInventoryItem item in m_items.Values)
             {
-                foreach (TaskInventoryItem item in m_items.Values)
-                {
-                    item.CurrentPermissions = perms;
-                    item.BasePermissions = perms;
-                }
+                item.CurrentPermissions = perms;
+                item.BasePermissions = perms;
             }
             
             m_inventorySerial++;
@@ -1071,17 +1273,13 @@ namespace OpenSim.Region.Framework.Scenes
         /// <returns></returns>
         public bool ContainsScripts()
         {
-            lock (m_items)
+            foreach (TaskInventoryItem item in m_items.Values)
             {
-                foreach (TaskInventoryItem item in m_items.Values)
+                if (item.InvType == (int)InventoryType.LSL)
                 {
-                    if (item.InvType == (int)InventoryType.LSL)
-                    {
-                        return true;
-                    }
+                    return true;
                 }
             }
-            
             return false;
         }
 
@@ -1089,11 +1287,8 @@ namespace OpenSim.Region.Framework.Scenes
         {
             List<UUID> ret = new List<UUID>();
 
-            lock (m_items)
-            {
-                foreach (TaskInventoryItem item in m_items.Values)
-                    ret.Add(item.ItemID);
-            }
+            foreach (TaskInventoryItem item in m_items.Values)
+                ret.Add(item.ItemID);
 
             return ret;
         }
@@ -1124,6 +1319,11 @@ namespace OpenSim.Region.Framework.Scenes
         
         public Dictionary<UUID, string> GetScriptStates()
         {
+            return GetScriptStates(false);
+        }
+
+        public Dictionary<UUID, string> GetScriptStates(bool oldIDs)
+        {
             Dictionary<UUID, string> ret = new Dictionary<UUID, string>();            
             
             if (m_part.ParentGroup.Scene == null) // Group not in a scene
@@ -1134,25 +1334,35 @@ namespace OpenSim.Region.Framework.Scenes
             if (engines.Length == 0) // No engine at all
                 return ret;
 
-            List<TaskInventoryItem> scripts = GetInventoryScripts();
-
-            foreach (TaskInventoryItem item in scripts)
+            Items.LockItemsForRead(true);
+            foreach (TaskInventoryItem item in m_items.Values)
             {
-                foreach (IScriptModule e in engines)
+                if (item.InvType == (int)InventoryType.LSL)
                 {
-                    if (e != null)
+                    foreach (IScriptModule e in engines)
                     {
-                        string n = e.GetXMLState(item.ItemID);
-                        if (n != String.Empty)
+                        if (e != null)
                         {
-                            if (!ret.ContainsKey(item.ItemID))
-                                ret[item.ItemID] = n;
-                            break;
+                            string n = e.GetXMLState(item.ItemID);
+                            if (n != String.Empty)
+                            {
+                                if (oldIDs)
+                                {
+                                    if (!ret.ContainsKey(item.OldItemID))
+                                        ret[item.OldItemID] = n;
+                                }
+                                else
+                                {
+                                    if (!ret.ContainsKey(item.ItemID))
+                                        ret[item.ItemID] = n;
+                                }
+                                break;
+                            }
                         }
                     }
                 }
             }
-            
+            Items.LockItemsForRead(false);
             return ret;
         }
         
@@ -1162,21 +1372,27 @@ namespace OpenSim.Region.Framework.Scenes
             if (engines.Length == 0)
                 return;
 
-            List<TaskInventoryItem> scripts = GetInventoryScripts();
 
-            foreach (TaskInventoryItem item in scripts)
+            Items.LockItemsForRead(true);
+
+            foreach (TaskInventoryItem item in m_items.Values)
             {
-                foreach (IScriptModule engine in engines)
+                if (item.InvType == (int)InventoryType.LSL)
                 {
-                    if (engine != null)
+                    foreach (IScriptModule engine in engines)
                     {
-                        if (item.OwnerChanged)
-                            engine.PostScriptEvent(item.ItemID, "changed", new Object[] { (int)Changed.OWNER });
-                        item.OwnerChanged = false;
-                        engine.ResumeScript(item.ItemID);
+                        if (engine != null)
+                        {
+                            if (item.OwnerChanged)
+                                engine.PostScriptEvent(item.ItemID, "changed", new Object[] { (int)Changed.OWNER });
+                            item.OwnerChanged = false;
+                            engine.ResumeScript(item.ItemID);
+                        }
                     }
                 }
             }
+
+            Items.LockItemsForRead(false);
         }
     }
 }
diff --git a/OpenSim/Region/Framework/Scenes/ScenePresence.cs b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
index cf60c69..a23dc31 100644
--- a/OpenSim/Region/Framework/Scenes/ScenePresence.cs
+++ b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
@@ -91,7 +91,7 @@ namespace OpenSim.Region.Framework.Scenes
         /// rotation, prim cut, prim twist, prim taper, and prim shear. See mantis
         /// issue #1716
         /// </summary>
-        public static readonly Vector3 SIT_TARGET_ADJUSTMENT = new Vector3(0.0f, 0.0f, 0.418f);
+        public static readonly Vector3 SIT_TARGET_ADJUSTMENT = new Vector3(0.0f, 0.0f, 0.4f);
 
         /// <summary>
         /// Movement updates for agents in neighboring regions are sent directly to clients.
@@ -168,6 +168,7 @@ namespace OpenSim.Region.Framework.Scenes
 //        private int m_lastColCount = -1;              //KF: Look for Collision chnages
 //        private int m_updateCount = 0;                        //KF: Update Anims for a while
 //        private static readonly int UPDATE_COUNT = 10;                // how many frames to update for
+        private List<uint> m_lastColliders = new List<uint>();
 
         private TeleportFlags m_teleportFlags;
         public TeleportFlags TeleportFlags
@@ -229,6 +230,13 @@ namespace OpenSim.Region.Framework.Scenes
         //private int m_moveToPositionStateStatus;
         //*****************************************************
 
+        private bool m_collisionEventFlag = false;
+        private object m_collisionEventLock = new Object();
+
+        private int m_movementAnimationUpdateCounter = 0;
+
+        private Vector3 m_prevSitOffset;
+
         protected AvatarAppearance m_appearance;
 
         public AvatarAppearance Appearance
@@ -568,6 +576,13 @@ namespace OpenSim.Region.Framework.Scenes
         /// </summary>
         public uint ParentID { get; set; }
 
+        public UUID ParentUUID
+        {
+            get { return m_parentUUID; }
+            set { m_parentUUID = value; }
+        }
+        private UUID m_parentUUID = UUID.Zero;
+
         /// <summary>
         /// If the avatar is sitting, the prim that it's sitting on.  If not sitting then null.
         /// </summary>
@@ -728,6 +743,26 @@ namespace OpenSim.Region.Framework.Scenes
             Appearance = appearance;
         }
 
+        private void RegionHeartbeatEnd(Scene scene)
+        {
+            if (IsChildAgent)
+                return;
+
+            m_movementAnimationUpdateCounter ++;
+            if (m_movementAnimationUpdateCounter >= 2)
+            {
+                m_movementAnimationUpdateCounter = 0;
+                if (Animator != null)
+                {
+                    Animator.UpdateMovementAnimations();
+                }
+                else
+                {
+                    m_scene.EventManager.OnRegionHeartbeatEnd -= RegionHeartbeatEnd;
+                }
+            }
+        }
+
         public void RegisterToEvents()
         {
             ControllingClient.OnCompleteMovementToRegion += CompleteMovement;
@@ -797,10 +832,38 @@ namespace OpenSim.Region.Framework.Scenes
                 "[SCENE]: Upgrading child to root agent for {0} in {1}",
                 Name, m_scene.RegionInfo.RegionName);
 
-            //m_log.DebugFormat("[SCENE]: known regions in {0}: {1}", Scene.RegionInfo.RegionName, KnownChildRegionHandles.Count);
-
             bool wasChild = IsChildAgent;
-            IsChildAgent = false;
+
+            if (ParentUUID != UUID.Zero)
+            {
+                m_log.DebugFormat("[SCENE PRESENCE]: Sitting avatar back on prim {0}", ParentUUID);
+                SceneObjectPart part = m_scene.GetSceneObjectPart(ParentUUID);
+                if (part == null)
+                {
+                    m_log.ErrorFormat("[SCENE PRESENCE]: Can't find prim {0} to sit on", ParentUUID);
+                }
+                else
+                {
+                    part.ParentGroup.AddAvatar(UUID);
+                    if (part.SitTargetPosition != Vector3.Zero)
+                        part.SitTargetAvatar = UUID;
+                    ParentPosition = part.GetWorldPosition();
+                    ParentID = part.LocalId;
+                    ParentPart = part;
+                    m_pos = m_prevSitOffset;
+                    pos = ParentPosition;
+                }
+                ParentUUID = UUID.Zero;
+
+                IsChildAgent = false;
+
+                Animator.TrySetMovementAnimation("SIT");
+            }
+            else
+            {
+                IsChildAgent = false;
+            }
+
 
             IGroupsModule gm = m_scene.RequestModuleInterface<IGroupsModule>();
             if (gm != null)
@@ -810,62 +873,64 @@ namespace OpenSim.Region.Framework.Scenes
 
             m_scene.EventManager.TriggerSetRootAgentScene(m_uuid, m_scene);
 
-            // Moved this from SendInitialData to ensure that Appearance is initialized
-            // before the inventory is processed in MakeRootAgent. This fixes a race condition
-            // related to the handling of attachments
-            //m_scene.GetAvatarAppearance(ControllingClient, out Appearance);
-            if (m_scene.TestBorderCross(pos, Cardinals.E))
+            if (ParentID == 0)
             {
-                Border crossedBorder = m_scene.GetCrossedBorder(pos, Cardinals.E);
-                pos.X = crossedBorder.BorderLine.Z - 1;
-            }
+                // Moved this from SendInitialData to ensure that Appearance is initialized
+                // before the inventory is processed in MakeRootAgent. This fixes a race condition
+                // related to the handling of attachments
+                //m_scene.GetAvatarAppearance(ControllingClient, out Appearance);
+                if (m_scene.TestBorderCross(pos, Cardinals.E))
+                {
+                    Border crossedBorder = m_scene.GetCrossedBorder(pos, Cardinals.E);
+                    pos.X = crossedBorder.BorderLine.Z - 1;
+                }
 
-            if (m_scene.TestBorderCross(pos, Cardinals.N))
-            {
-                Border crossedBorder = m_scene.GetCrossedBorder(pos, Cardinals.N);
-                pos.Y = crossedBorder.BorderLine.Z - 1;
-            }
+                if (m_scene.TestBorderCross(pos, Cardinals.N))
+                {
+                    Border crossedBorder = m_scene.GetCrossedBorder(pos, Cardinals.N);
+                    pos.Y = crossedBorder.BorderLine.Z - 1;
+                }
 
-            CheckAndAdjustLandingPoint(ref pos);
+                CheckAndAdjustLandingPoint(ref pos);
 
-            if (pos.X < 0f || pos.Y < 0f || pos.Z < 0f)
-            {
-                m_log.WarnFormat(
-                    "[SCENE PRESENCE]: MakeRootAgent() was given an illegal position of {0} for avatar {1}, {2}. Clamping",
-                    pos, Name, UUID);
+                if (pos.X < 0f || pos.Y < 0f || pos.Z < 0f)
+                {
+                    m_log.WarnFormat(
+                        "[SCENE PRESENCE]: MakeRootAgent() was given an illegal position of {0} for avatar {1}, {2}. Clamping",
+                        pos, Name, UUID);
 
-                if (pos.X < 0f) pos.X = 0f;
-                if (pos.Y < 0f) pos.Y = 0f;
-                if (pos.Z < 0f) pos.Z = 0f;
-            }
+                    if (pos.X < 0f) pos.X = 0f;
+                    if (pos.Y < 0f) pos.Y = 0f;
+                    if (pos.Z < 0f) pos.Z = 0f;
+                }
 
-            float localAVHeight = 1.56f;
-            if (Appearance.AvatarHeight > 0)
-                localAVHeight = Appearance.AvatarHeight;
+                float localAVHeight = 1.56f;
+                if (Appearance.AvatarHeight > 0)
+                    localAVHeight = Appearance.AvatarHeight;
 
-            float posZLimit = 0;
+                float posZLimit = 0;
 
-            if (pos.X < Constants.RegionSize && pos.Y < Constants.RegionSize)
-                posZLimit = (float)m_scene.Heightmap[(int)pos.X, (int)pos.Y];
-            
-            float newPosZ = posZLimit + localAVHeight / 2;
-            if (posZLimit >= (pos.Z - (localAVHeight / 2)) && !(Single.IsInfinity(newPosZ) || Single.IsNaN(newPosZ)))
-            {
-                pos.Z = newPosZ;
-            }
-            AbsolutePosition = pos;
+                if (pos.X < Constants.RegionSize && pos.Y < Constants.RegionSize)
+                    posZLimit = (float)m_scene.Heightmap[(int)pos.X, (int)pos.Y];
+                
+                float newPosZ = posZLimit + localAVHeight / 2;
+                if (posZLimit >= (pos.Z - (localAVHeight / 2)) && !(Single.IsInfinity(newPosZ) || Single.IsNaN(newPosZ)))
+                {
+                    pos.Z = newPosZ;
+                }
+                AbsolutePosition = pos;
 
-            AddToPhysicalScene(isFlying);
+                AddToPhysicalScene(isFlying);
 
-            if (ForceFly)
-            {
-                Flying = true;
-            }
-            else if (FlyDisabled)
-            {
-                Flying = false;
+                if (ForceFly)
+                {
+                    Flying = true;
+                }
+                else if (FlyDisabled)
+                {
+                    Flying = false;
+                }
             }
-
             // Don't send an animation pack here, since on a region crossing this will sometimes cause a flying 
             // avatar to return to the standing position in mid-air.  On login it looks like this is being sent
             // elsewhere anyway
@@ -883,14 +948,19 @@ namespace OpenSim.Region.Framework.Scenes
                 {
                     m_log.DebugFormat("[SCENE PRESENCE]: Restarting scripts in attachments...");
                     // Resume scripts
-                    foreach (SceneObjectGroup sog in m_attachments)
-                    {
-                        sog.RootPart.ParentGroup.CreateScriptInstances(0, false, m_scene.DefaultScriptEngine, GetStateSource());
-                        sog.ResumeScripts();
-                    }
+                    Util.FireAndForget(delegate(object x) {
+                        foreach (SceneObjectGroup sog in m_attachments)
+                        {
+                            sog.ScheduleGroupForFullUpdate();
+                            sog.RootPart.ParentGroup.CreateScriptInstances(0, false, m_scene.DefaultScriptEngine, GetStateSource());
+                            sog.ResumeScripts();
+                        }
+                    });
                 }
             }
 
+            SendAvatarDataToAllAgents();
+
             // send the animations of the other presences to me
             m_scene.ForEachRootScenePresence(delegate(ScenePresence presence)
             {
@@ -904,6 +974,8 @@ namespace OpenSim.Region.Framework.Scenes
             MovementFlag = 0;
 
             m_scene.EventManager.TriggerOnMakeRootAgent(this);
+
+            m_scene.EventManager.OnRegionHeartbeatEnd += RegionHeartbeatEnd;
         }
 
         public int GetStateSource()
@@ -931,6 +1003,8 @@ namespace OpenSim.Region.Framework.Scenes
         /// </remarks>
         public void MakeChildAgent()
         {
+            m_scene.EventManager.OnRegionHeartbeatEnd -= RegionHeartbeatEnd;
+
             m_log.DebugFormat("[SCENE PRESENCE]: Making {0} a child agent in {1}", Name, Scene.RegionInfo.RegionName);
 
             // Reset these so that teleporting in and walking out isn't seen
@@ -1687,9 +1761,9 @@ namespace OpenSim.Region.Framework.Scenes
             if (pos.Z - terrainHeight < 0.2)
                 pos.Z = terrainHeight;
 
-            m_log.DebugFormat(
-                "[SCENE PRESENCE]: Avatar {0} set move to target {1} (terrain height {2}) in {3}",
-                Name, pos, terrainHeight, m_scene.RegionInfo.RegionName);
+//            m_log.DebugFormat(
+//                "[SCENE PRESENCE]: Avatar {0} set move to target {1} (terrain height {2}) in {3}",
+//                Name, pos, terrainHeight, m_scene.RegionInfo.RegionName);
 
             if (noFly)
                 Flying = false;
@@ -1746,8 +1820,11 @@ namespace OpenSim.Region.Framework.Scenes
 //            m_log.DebugFormat("[SCENE PRESENCE]: StandUp() for {0}", Name);
 
             SitGround = false;
+
+/* move this down so avatar gets physical in the new position and not where it is siting
             if (PhysicsActor == null)
                 AddToPhysicalScene(false);
+ */
 
             if (ParentID != 0)
             {
@@ -1771,6 +1848,7 @@ namespace OpenSim.Region.Framework.Scenes
                 if (part.SitTargetAvatar == UUID)
                     part.SitTargetAvatar = UUID.Zero;
 
+                part.ParentGroup.DeleteAvatar(UUID);
                 ParentPosition = part.GetWorldPosition();
                 ControllingClient.SendClearFollowCamProperties(part.ParentUUID);
 
@@ -1779,6 +1857,10 @@ namespace OpenSim.Region.Framework.Scenes
 
                 ParentID = 0;
                 ParentPart = null;
+
+                if (PhysicsActor == null)
+                    AddToPhysicalScene(false);
+
                 SendAvatarDataToAllAgents();
                 m_requestedSitTargetID = 0;
 
@@ -1786,6 +1868,9 @@ namespace OpenSim.Region.Framework.Scenes
                     part.ParentGroup.TriggerScriptChangedEvent(Changed.LINK);
             }
 
+            else if (PhysicsActor == null)
+                AddToPhysicalScene(false);
+
             Animator.TrySetMovementAnimation("STAND");
         }
 
@@ -1909,7 +1994,7 @@ namespace OpenSim.Region.Framework.Scenes
                 forceMouselook = part.GetForceMouselook();
 
                 ControllingClient.SendSitResponse(
-                    targetID, offset, sitOrientation, false, cameraAtOffset, cameraEyeOffset, forceMouselook);
+                    part.UUID, offset, sitOrientation, false, cameraAtOffset, cameraEyeOffset, forceMouselook);
 
                 m_requestedSitTargetUUID = targetID;
 
@@ -2191,14 +2276,36 @@ namespace OpenSim.Region.Framework.Scenes
 
                     //Quaternion result = (sitTargetOrient * vq) * nq;
 
-                    m_pos = sitTargetPos + SIT_TARGET_ADJUSTMENT;
+                    double x, y, z, m;
+
+                    Quaternion r = sitTargetOrient;
+                    m = r.X * r.X + r.Y * r.Y + r.Z * r.Z + r.W * r.W;
+
+                    if (Math.Abs(1.0 - m) > 0.000001)
+                    {
+                        m = 1.0 / Math.Sqrt(m);
+                        r.X *= (float)m;
+                        r.Y *= (float)m;
+                        r.Z *= (float)m;
+                        r.W *= (float)m;
+                    }
+
+                    x = 2 * (r.X * r.Z + r.Y * r.W);
+                    y = 2 * (-r.X * r.W + r.Y * r.Z);
+                    z = -r.X * r.X - r.Y * r.Y + r.Z * r.Z + r.W * r.W;
+
+                    Vector3 up = new Vector3((float)x, (float)y, (float)z);
+                    Vector3 sitOffset = up * Appearance.AvatarHeight * 0.02638f;
+                    m_pos = sitTargetPos + sitOffset + SIT_TARGET_ADJUSTMENT;
                     Rotation = sitTargetOrient;
                     ParentPosition = part.AbsolutePosition;
+                    part.ParentGroup.AddAvatar(UUID);
                 }
                 else
                 {
                     m_pos -= part.AbsolutePosition;
                     ParentPosition = part.AbsolutePosition;
+                    part.ParentGroup.AddAvatar(UUID);
 
 //                        m_log.DebugFormat(
 //                            "[SCENE PRESENCE]: Sitting {0} at position {1} ({2} + {3}) on part {4} {5} without sit target",
@@ -2296,14 +2403,15 @@ namespace OpenSim.Region.Framework.Scenes
                         direc.Z *= 2.6f;
 
                         // TODO: PreJump and jump happen too quickly.  Many times prejump gets ignored.
-                        Animator.TrySetMovementAnimation("PREJUMP");
-                        Animator.TrySetMovementAnimation("JUMP");
+//                        Animator.TrySetMovementAnimation("PREJUMP");
+//                        Animator.TrySetMovementAnimation("JUMP");
                     }
                 }
             }
 
             // TODO: Add the force instead of only setting it to support multiple forces per frame?
             m_forceToApply = direc;
+            Animator.UpdateMovementAnimations();
         }
 
         #endregion
@@ -3037,6 +3145,9 @@ namespace OpenSim.Region.Framework.Scenes
             cAgent.AlwaysRun = SetAlwaysRun;
 
             cAgent.Appearance = new AvatarAppearance(Appearance);
+
+            cAgent.ParentPart = ParentUUID;
+            cAgent.SitOffset = m_pos;
             
             lock (scriptedcontrols)
             {
@@ -3096,6 +3207,8 @@ namespace OpenSim.Region.Framework.Scenes
             CameraAtAxis = cAgent.AtAxis;
             CameraLeftAxis = cAgent.LeftAxis;
             CameraUpAxis = cAgent.UpAxis;
+            ParentUUID = cAgent.ParentPart;
+            m_prevSitOffset = cAgent.SitOffset;
 
             // When we get to the point of re-computing neighbors everytime this
             // changes, then start using the agent's drawdistance rather than the 
@@ -3248,18 +3361,6 @@ namespace OpenSim.Region.Framework.Scenes
             if (IsChildAgent)
                 return;
             
-            //if ((Math.Abs(Velocity.X) > 0.1e-9f) || (Math.Abs(Velocity.Y) > 0.1e-9f))
-            // The Physics Scene will send updates every 500 ms grep: PhysicsActor.SubscribeEvents(
-            // as of this comment the interval is set in AddToPhysicalScene
-            if (Animator != null)
-            {
-//                if (m_updateCount > 0)
-//                {
-                    Animator.UpdateMovementAnimations();
-//                    m_updateCount--;
-//                }
-            }
-
             CollisionEventUpdate collisionData = (CollisionEventUpdate)e;
             Dictionary<uint, ContactPoint> coldata = collisionData.m_objCollisionList;
 
@@ -3302,6 +3403,8 @@ namespace OpenSim.Region.Framework.Scenes
                 }
             }
 
+            RaiseCollisionScriptEvents(coldata);
+
             if (Invulnerable)
                 return;
             
@@ -3813,6 +3916,12 @@ namespace OpenSim.Region.Framework.Scenes
 
         private void CheckAndAdjustLandingPoint(ref Vector3 pos)
         {
+            string reason;
+
+            // Honor bans
+            if (!m_scene.TestLandRestrictions(UUID, out reason, ref pos.X, ref pos.Y))
+                return;
+
             SceneObjectGroup telehub = null;
             if (m_scene.RegionInfo.RegionSettings.TelehubObject != UUID.Zero && (telehub = m_scene.GetSceneObjectGroup(m_scene.RegionInfo.RegionSettings.TelehubObject)) != null)
             {
@@ -3852,11 +3961,173 @@ namespace OpenSim.Region.Framework.Scenes
                         pos = land.LandData.UserLocation;
                     }
                 }
-
+                
                 land.SendLandUpdateToClient(ControllingClient);
             }
         }
 
+        private void RaiseCollisionScriptEvents(Dictionary<uint, ContactPoint> coldata)
+        {
+            lock(m_collisionEventLock)
+            {
+                if (m_collisionEventFlag)
+                    return;
+                m_collisionEventFlag = true;
+            }
+
+            Util.FireAndForget(delegate(object x)
+            {
+                try
+                {
+                    List<uint> thisHitColliders = new List<uint>();
+                    List<uint> endedColliders = new List<uint>();
+                    List<uint> startedColliders = new List<uint>();
+
+                    foreach (uint localid in coldata.Keys)
+                    {
+                        thisHitColliders.Add(localid);
+                        if (!m_lastColliders.Contains(localid))
+                        {
+                            startedColliders.Add(localid);
+                        }
+                        //m_log.Debug("[SCENE PRESENCE]: Collided with:" + localid.ToString() + " at depth of: " + collissionswith[localid].ToString());
+                    }
+                    
+                    // calculate things that ended colliding
+                    foreach (uint localID in m_lastColliders)
+                    {
+                        if (!thisHitColliders.Contains(localID))
+                        {
+                            endedColliders.Add(localID);
+                        }
+                    }
+                    //add the items that started colliding this time to the last colliders list.
+                    foreach (uint localID in startedColliders)
+                    {
+                        m_lastColliders.Add(localID);
+                    }
+                    // remove things that ended colliding from the last colliders list
+                    foreach (uint localID in endedColliders)
+                    {
+                        m_lastColliders.Remove(localID);
+                    }
+
+                    // do event notification
+                    if (startedColliders.Count > 0)
+                    {
+                        ColliderArgs StartCollidingMessage = new ColliderArgs();
+                        List<DetectedObject> colliding = new List<DetectedObject>();
+                        foreach (uint localId in startedColliders)
+                        {
+                            if (localId == 0)
+                                continue;
+
+                            SceneObjectPart obj = Scene.GetSceneObjectPart(localId);
+                            string data = "";
+                            if (obj != null)
+                            {
+                                DetectedObject detobj = new DetectedObject();
+                                detobj.keyUUID = obj.UUID;
+                                detobj.nameStr = obj.Name;
+                                detobj.ownerUUID = obj.OwnerID;
+                                detobj.posVector = obj.AbsolutePosition;
+                                detobj.rotQuat = obj.GetWorldRotation();
+                                detobj.velVector = obj.Velocity;
+                                detobj.colliderType = 0;
+                                detobj.groupUUID = obj.GroupID;
+                                colliding.Add(detobj);
+                            }
+                        }
+
+                        if (colliding.Count > 0)
+                        {
+                            StartCollidingMessage.Colliders = colliding;
+
+                            foreach (SceneObjectGroup att in GetAttachments())
+                                Scene.EventManager.TriggerScriptCollidingStart(att.LocalId, StartCollidingMessage);
+                        }
+                    }
+
+                    if (endedColliders.Count > 0)
+                    {
+                        ColliderArgs EndCollidingMessage = new ColliderArgs();
+                        List<DetectedObject> colliding = new List<DetectedObject>();
+                        foreach (uint localId in endedColliders)
+                        {
+                            if (localId == 0)
+                                continue;
+
+                            SceneObjectPart obj = Scene.GetSceneObjectPart(localId);
+                            string data = "";
+                            if (obj != null)
+                            {
+                                DetectedObject detobj = new DetectedObject();
+                                detobj.keyUUID = obj.UUID;
+                                detobj.nameStr = obj.Name;
+                                detobj.ownerUUID = obj.OwnerID;
+                                detobj.posVector = obj.AbsolutePosition;
+                                detobj.rotQuat = obj.GetWorldRotation();
+                                detobj.velVector = obj.Velocity;
+                                detobj.colliderType = 0;
+                                detobj.groupUUID = obj.GroupID;
+                                colliding.Add(detobj);
+                            }
+                        }
+
+                        if (colliding.Count > 0)
+                        {
+                            EndCollidingMessage.Colliders = colliding;
+
+                            foreach (SceneObjectGroup att in GetAttachments())
+                                Scene.EventManager.TriggerScriptCollidingEnd(att.LocalId, EndCollidingMessage);
+                        }
+                    }
+
+                    if (thisHitColliders.Count > 0)
+                    {
+                        ColliderArgs CollidingMessage = new ColliderArgs();
+                        List<DetectedObject> colliding = new List<DetectedObject>();
+                        foreach (uint localId in thisHitColliders)
+                        {
+                            if (localId == 0)
+                                continue;
+
+                            SceneObjectPart obj = Scene.GetSceneObjectPart(localId);
+                            string data = "";
+                            if (obj != null)
+                            {
+                                DetectedObject detobj = new DetectedObject();
+                                detobj.keyUUID = obj.UUID;
+                                detobj.nameStr = obj.Name;
+                                detobj.ownerUUID = obj.OwnerID;
+                                detobj.posVector = obj.AbsolutePosition;
+                                detobj.rotQuat = obj.GetWorldRotation();
+                                detobj.velVector = obj.Velocity;
+                                detobj.colliderType = 0;
+                                detobj.groupUUID = obj.GroupID;
+                                colliding.Add(detobj);
+                            }
+                        }
+
+                        if (colliding.Count > 0)
+                        {
+                            CollidingMessage.Colliders = colliding;
+
+                            lock (m_attachments)
+                            {
+                                foreach (SceneObjectGroup att in m_attachments)
+                                    Scene.EventManager.TriggerScriptColliding(att.LocalId, CollidingMessage);
+                            }
+                        }
+                    }
+                }
+                finally
+                {
+                    m_collisionEventFlag = false;
+                }
+            });
+        }
+
         private void TeleportFlagsDebug() {
     
             // Some temporary debugging help to show all the TeleportFlags we have...
@@ -3881,6 +4152,5 @@ namespace OpenSim.Region.Framework.Scenes
             m_log.InfoFormat("[SCENE PRESENCE]: TELEPORT ******************");
     
         }
-
     }
 }
diff --git a/OpenSim/Region/Framework/Scenes/Serialization/SceneObjectSerializer.cs b/OpenSim/Region/Framework/Scenes/Serialization/SceneObjectSerializer.cs
index e6b88a3..1cd8189 100644
--- a/OpenSim/Region/Framework/Scenes/Serialization/SceneObjectSerializer.cs
+++ b/OpenSim/Region/Framework/Scenes/Serialization/SceneObjectSerializer.cs
@@ -244,6 +244,12 @@ namespace OpenSim.Region.Framework.Scenes.Serialization
                     sr.Close();
                 }
 
+                XmlNodeList keymotion = doc.GetElementsByTagName("KeyframeMotion");
+                if (keymotion.Count > 0)
+                    sceneObject.RootPart.KeyframeMotion = KeyframeMotion.FromData(sceneObject, Convert.FromBase64String(keymotion[0].InnerText));
+                else
+                    sceneObject.RootPart.KeyframeMotion = null;
+
                 // Script state may, or may not, exist. Not having any, is NOT
                 // ever a problem.
                 sceneObject.LoadScriptState(doc);
@@ -347,6 +353,21 @@ namespace OpenSim.Region.Framework.Scenes.Serialization
             m_SOPXmlProcessors.Add("PayPrice2", ProcessPayPrice2);
             m_SOPXmlProcessors.Add("PayPrice3", ProcessPayPrice3);
             m_SOPXmlProcessors.Add("PayPrice4", ProcessPayPrice4);
+
+            m_SOPXmlProcessors.Add("Buoyancy", ProcessBuoyancy);
+            m_SOPXmlProcessors.Add("Force", ProcessForce);
+            m_SOPXmlProcessors.Add("Torque", ProcessTorque);
+            m_SOPXmlProcessors.Add("VolumeDetectActive", ProcessVolumeDetectActive);
+
+
+            m_SOPXmlProcessors.Add("Vehicle", ProcessVehicle);
+
+            m_SOPXmlProcessors.Add("PhysicsShapeType", ProcessPhysicsShapeType);
+            m_SOPXmlProcessors.Add("Density", ProcessDensity);
+            m_SOPXmlProcessors.Add("Friction", ProcessFriction);
+            m_SOPXmlProcessors.Add("Bounce", ProcessBounce);
+            m_SOPXmlProcessors.Add("GravityModifier", ProcessGravityModifier);
+
             #endregion
 
             #region TaskInventoryXmlProcessors initialization
@@ -374,7 +395,7 @@ namespace OpenSim.Region.Framework.Scenes.Serialization
             m_TaskInventoryXmlProcessors.Add("PermsMask", ProcessTIPermsMask);
             m_TaskInventoryXmlProcessors.Add("Type", ProcessTIType);
             m_TaskInventoryXmlProcessors.Add("OwnerChanged", ProcessTIOwnerChanged);
-            
+
             #endregion
 
             #region ShapeXmlProcessors initialization
@@ -569,6 +590,49 @@ namespace OpenSim.Region.Framework.Scenes.Serialization
             obj.ClickAction = (byte)reader.ReadElementContentAsInt("ClickAction", String.Empty);
         }
 
+        private static void ProcessPhysicsShapeType(SceneObjectPart obj, XmlTextReader reader)
+        {
+            obj.PhysicsShapeType = (byte)reader.ReadElementContentAsInt("PhysicsShapeType", String.Empty);
+        }
+
+        private static void ProcessDensity(SceneObjectPart obj, XmlTextReader reader)
+        {
+            obj.Density = reader.ReadElementContentAsFloat("Density", String.Empty);
+        }
+
+        private static void ProcessFriction(SceneObjectPart obj, XmlTextReader reader)
+        {
+            obj.Friction = reader.ReadElementContentAsFloat("Friction", String.Empty);
+        }
+
+        private static void ProcessBounce(SceneObjectPart obj, XmlTextReader reader)
+        {
+            obj.Bounciness = reader.ReadElementContentAsFloat("Bounce", String.Empty);
+        }
+
+        private static void ProcessGravityModifier(SceneObjectPart obj, XmlTextReader reader)
+        {
+            obj.GravityModifier = reader.ReadElementContentAsFloat("GravityModifier", String.Empty);
+        }
+
+        private static void ProcessVehicle(SceneObjectPart obj, XmlTextReader reader)
+        {
+            bool errors = false;
+            SOPVehicle _vehicle = new SOPVehicle();
+
+            _vehicle.FromXml2(reader, out errors);
+
+            if (errors)
+            {
+                obj.sopVehicle = null;
+                m_log.DebugFormat(
+                    "[SceneObjectSerializer]: Parsing Vehicle for object part {0} {1} encountered errors.  Please see earlier log entries.",
+                    obj.Name, obj.UUID);
+            }
+            else
+                obj.sopVehicle = _vehicle;
+        }
+                   
         private static void ProcessShape(SceneObjectPart obj, XmlTextReader reader)
         {
             List<string> errorNodeNames;
@@ -733,6 +797,25 @@ namespace OpenSim.Region.Framework.Scenes.Serialization
             obj.PayPrice[4] = (int)reader.ReadElementContentAsInt("PayPrice4", String.Empty);
         }
 
+        private static void ProcessBuoyancy(SceneObjectPart obj, XmlTextReader reader)
+        {
+            obj.Buoyancy = (float)reader.ReadElementContentAsFloat("Buoyancy", String.Empty);
+        }
+
+        private static void ProcessForce(SceneObjectPart obj, XmlTextReader reader)
+        {
+            obj.Force = Util.ReadVector(reader, "Force");
+        }
+        private static void ProcessTorque(SceneObjectPart obj, XmlTextReader reader)
+        {
+            obj.Torque = Util.ReadVector(reader, "Torque");
+        }
+
+        private static void ProcessVolumeDetectActive(SceneObjectPart obj, XmlTextReader reader)
+        {
+            obj.VolumeDetectActive = Util.ReadBoolean(reader);
+        }
+
         #endregion
 
         #region TaskInventoryXmlProcessors
@@ -1120,6 +1203,16 @@ namespace OpenSim.Region.Framework.Scenes.Serialization
             });
 
             writer.WriteEndElement();
+
+            if (sog.RootPart.KeyframeMotion != null)
+            {
+                Byte[] data = sog.RootPart.KeyframeMotion.Serialize();
+
+                writer.WriteStartElement(String.Empty, "KeyframeMotion", String.Empty);
+                writer.WriteBase64(data, 0, data.Length);
+                writer.WriteEndElement();
+            }
+
             writer.WriteEndElement();
         }
 
@@ -1218,6 +1311,27 @@ namespace OpenSim.Region.Framework.Scenes.Serialization
             writer.WriteElementString("PayPrice3", sop.PayPrice[3].ToString());
             writer.WriteElementString("PayPrice4", sop.PayPrice[4].ToString());
 
+            writer.WriteElementString("Buoyancy", sop.Buoyancy.ToString());
+
+            WriteVector(writer, "Force", sop.Force);
+            WriteVector(writer, "Torque", sop.Torque);
+
+            writer.WriteElementString("VolumeDetectActive", sop.VolumeDetectActive.ToString().ToLower());
+
+            if (sop.sopVehicle != null)
+                sop.sopVehicle.ToXml2(writer);
+
+            if(sop.PhysicsShapeType != sop.DefaultPhysicsShapeType())
+                writer.WriteElementString("PhysicsShapeType", sop.PhysicsShapeType.ToString().ToLower());
+            if (sop.Density != 1000.0f)
+                writer.WriteElementString("Density", sop.Density.ToString().ToLower());
+            if (sop.Friction != 0.6f)
+                writer.WriteElementString("Friction", sop.Friction.ToString().ToLower());
+            if (sop.Bounciness != 0.5f)
+                writer.WriteElementString("Bounce", sop.Bounciness.ToString().ToLower());
+            if (sop.GravityModifier != 1.0f)
+                writer.WriteElementString("GravityModifier", sop.GravityModifier.ToString().ToLower());
+
             writer.WriteEndElement();
         }
 
@@ -1487,12 +1601,6 @@ namespace OpenSim.Region.Framework.Scenes.Serialization
         {
             TaskInventoryDictionary tinv = new TaskInventoryDictionary();
 
-            if (reader.IsEmptyElement)
-            {
-                reader.Read();
-                return tinv;
-            }
-
             reader.ReadStartElement(name, String.Empty);
 
             while (reader.Name == "TaskInventoryItem")
diff --git a/OpenSim/Region/Framework/Scenes/UndoState.cs b/OpenSim/Region/Framework/Scenes/UndoState.cs
index 860172c..7bbf1bd 100644
--- a/OpenSim/Region/Framework/Scenes/UndoState.cs
+++ b/OpenSim/Region/Framework/Scenes/UndoState.cs
@@ -27,202 +27,307 @@
 
 using System;
 using System.Reflection;
+using System.Collections.Generic;
 using log4net;
 using OpenMetaverse;
+using OpenSim.Framework;
 using OpenSim.Region.Framework.Interfaces;
 
 namespace OpenSim.Region.Framework.Scenes
 {
     public class UndoState
     {
-//        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
-
-        public Vector3 Position = Vector3.Zero;
-        public Vector3 Scale = Vector3.Zero;
-        public Quaternion Rotation = Quaternion.Identity;
-
-        /// <summary>
-        /// Is this undo state for an entire group?
-        /// </summary>
-        public bool ForGroup;
+        const int UNDOEXPIRESECONDS = 300; // undo expire time   (nice to have it came from a ini later)
 
+        public ObjectChangeData data;
+        public DateTime creationtime;
         /// <summary>
         /// Constructor.
         /// </summary>
         /// <param name="part"></param>
-        /// <param name="forGroup">True if the undo is for an entire group</param>
-        public UndoState(SceneObjectPart part, bool forGroup)
+        /// <param name="change">bit field with what is changed</param>
+        /// 
+        public UndoState(SceneObjectPart part, ObjectChangeType change)
         {
-            if (part.ParentID == 0)
-            {
-                ForGroup = forGroup;
-
-//                    if (ForGroup)
-                    Position = part.ParentGroup.AbsolutePosition;
-//                    else
-//                        Position = part.OffsetPosition;
-
-//                    m_log.DebugFormat(
-//                        "[UNDO STATE]: Storing undo position {0} for root part", Position);
+            data = new ObjectChangeData();
+            data.change = change;
+            creationtime = DateTime.UtcNow;
 
-                Rotation = part.RotationOffset;
-
-//                    m_log.DebugFormat(
-//                        "[UNDO STATE]: Storing undo rotation {0} for root part", Rotation);
-
-                Scale = part.Shape.Scale;
-
-//                    m_log.DebugFormat(
-//                        "[UNDO STATE]: Storing undo scale {0} for root part", Scale);
+            if (part.ParentGroup.RootPart == part)
+            {
+                if ((change & ObjectChangeType.Position) != 0)
+                    data.position = part.ParentGroup.AbsolutePosition;
+                if ((change & ObjectChangeType.Rotation) != 0)
+                    data.rotation = part.RotationOffset;
+                if ((change & ObjectChangeType.Scale) != 0)
+                    data.scale = part.Shape.Scale;
             }
             else
             {
-                Position = part.OffsetPosition;
-//                    m_log.DebugFormat(
-//                        "[UNDO STATE]: Storing undo position {0} for child part", Position);
+                if ((change & ObjectChangeType.Position) != 0)
+                    data.position = part.OffsetPosition;
+                if ((change & ObjectChangeType.Rotation) != 0)
+                    data.rotation = part.RotationOffset;
+                if ((change & ObjectChangeType.Scale) != 0)
+                    data.scale = part.Shape.Scale;
+            }
+        }
+        /// <summary>
+        /// check if undo or redo is too old 
+        /// </summary>
 
-                Rotation = part.RotationOffset;
-//                    m_log.DebugFormat(
-//                        "[UNDO STATE]: Storing undo rotation {0} for child part", Rotation);
+        public bool checkExpire()
+        {
+            TimeSpan t = DateTime.UtcNow - creationtime;
+            if (t.Seconds > UNDOEXPIRESECONDS)
+                return true;
+            return false;
+        }
 
-                Scale = part.Shape.Scale;
-//                    m_log.DebugFormat(
-//                        "[UNDO STATE]: Storing undo scale {0} for child part", Scale);
-            }
+        /// <summary>
+        /// updates undo or redo creation time to now
+        /// </summary>
+        public void updateExpire()
+        {
+            creationtime = DateTime.UtcNow;
         }
 
         /// <summary>
         /// Compare the relevant state in the given part to this state.
         /// </summary>
         /// <param name="part"></param>
-        /// <returns>true if both the part's position, rotation and scale match those in this undo state.  False otherwise.</returns>
-        public bool Compare(SceneObjectPart part)
+        /// <returns>true what fiels and related data are equal, False otherwise.</returns>
+        /// 
+        public bool Compare(SceneObjectPart part, ObjectChangeType change)    
         {
+            if (data.change != change) // if diferent targets, then they are diferent
+                return false;
+
             if (part != null)
             {
                 if (part.ParentID == 0)
-                    return
-                        Position == part.ParentGroup.AbsolutePosition
-                            && Rotation == part.RotationOffset
-                            && Scale == part.Shape.Scale;
+                {
+                    if ((change & ObjectChangeType.Position) != 0 && data.position != part.ParentGroup.AbsolutePosition)
+                        return false;
+                }
                 else
-                    return
-                        Position == part.OffsetPosition
-                            && Rotation == part.RotationOffset
-                            && Scale == part.Shape.Scale;
-            }
+                {
+                    if ((change & ObjectChangeType.Position) != 0 && data.position != part.OffsetPosition)
+                        return false;
+                }
+
+                if ((change & ObjectChangeType.Rotation) != 0 && data.rotation != part.RotationOffset)
+                    return false;
+                if ((change & ObjectChangeType.Rotation) != 0 && data.scale == part.Shape.Scale)
+                    return false;
+                return true;
 
+            }
             return false;
         }
 
-        public void PlaybackState(SceneObjectPart part)
+        /// <summary>
+        /// executes the undo or redo to a part or its group
+        /// </summary>
+        /// <param name="part"></param>
+        /// 
+
+        public void PlayState(SceneObjectPart part)
         {
             part.Undoing = true;
 
-            if (part.ParentID == 0)
-            {
-//                    m_log.DebugFormat(
-//                        "[UNDO STATE]: Undoing position to {0} for root part {1} {2}",
-//                        Position, part.Name, part.LocalId);
+            SceneObjectGroup grp = part.ParentGroup;
 
-                if (Position != Vector3.Zero)
-                {
-                    if (ForGroup)
-                        part.ParentGroup.AbsolutePosition = Position;
-                    else
-                        part.ParentGroup.UpdateRootPosition(Position);
-                }
+            if (grp != null)
+            {
+                grp.doChangeObject(part, data);              
+            }
+            part.Undoing = false;
+        }
+    }
 
-//                    m_log.DebugFormat(
-//                        "[UNDO STATE]: Undoing rotation {0} to {1} for root part {2} {3}",
-//                        part.RotationOffset, Rotation, part.Name, part.LocalId);
+    public class UndoRedoState
+    {
+        int size;
+        public LinkedList<UndoState> m_redo = new LinkedList<UndoState>();
+        public LinkedList<UndoState> m_undo = new LinkedList<UndoState>();
 
-                if (ForGroup)
-                    part.UpdateRotation(Rotation);
-                else
-                    part.ParentGroup.UpdateRootRotation(Rotation);
+        /// <summary>
+        /// creates a new UndoRedoState with default states memory size
+        /// </summary>
 
-                if (Scale != Vector3.Zero)
-                {
-//                        m_log.DebugFormat(
-//                            "[UNDO STATE]: Undoing scale {0} to {1} for root part {2} {3}",
-//                            part.Shape.Scale, Scale, part.Name, part.LocalId);
+        public UndoRedoState()
+        {
+            size = 5;
+        }
 
-                    if (ForGroup)
-                        part.ParentGroup.GroupResize(Scale);
-                    else
-                        part.Resize(Scale);
-                }
+        /// <summary>
+        /// creates a new UndoRedoState with states memory having indicated size
+        /// </summary>
+        /// <param name="size"></param>
 
-                part.ParentGroup.ScheduleGroupForTerseUpdate();
-            }
+        public UndoRedoState(int _size)
+        {
+            if (_size < 3)
+                size = 3;
             else
-            {
-                // Note: Updating these properties on sop automatically schedules an update if needed
-                if (Position != Vector3.Zero)
-                {
-//                        m_log.DebugFormat(
-//                            "[UNDO STATE]: Undoing position {0} to {1} for child part {2} {3}",
-//                            part.OffsetPosition, Position, part.Name, part.LocalId);
+                size = _size;
+        }
 
-                    part.OffsetPosition = Position;
-                }
+        /// <summary>
+        /// returns number of undo entries in memory
+        /// </summary>
 
-//                    m_log.DebugFormat(
-//                        "[UNDO STATE]: Undoing rotation {0} to {1} for child part {2} {3}",
-//                        part.RotationOffset, Rotation, part.Name, part.LocalId);
+        public int Count
+        {
+            get { return m_undo.Count; }
+        }
 
-                part.UpdateRotation(Rotation);
+        /// <summary>
+        /// clears all undo and redo entries
+        /// </summary>
 
-                if (Scale != Vector3.Zero)
+        public void Clear()
+        {
+            m_undo.Clear();
+            m_redo.Clear();
+        }
+
+        /// <summary>
+        /// adds a new state undo to part or its group, with changes indicated by what bits
+        /// </summary>
+        /// <param name="part"></param>
+        /// <param name="change">bit field with what is changed</param>
+
+        public void StoreUndo(SceneObjectPart part, ObjectChangeType change)
+        {
+            lock (m_undo)
+            {
+                UndoState last;
+
+                if (m_redo.Count > 0) // last code seems to clear redo on every new undo
                 {
-//                        m_log.DebugFormat(
-//                            "[UNDO STATE]: Undoing scale {0} to {1} for child part {2} {3}",
-//                            part.Shape.Scale, Scale, part.Name, part.LocalId);
+                    m_redo.Clear();
+                }
 
-                    part.Resize(Scale);
+                if (m_undo.Count > 0)
+                {
+                    // check expired entry
+                    last = m_undo.First.Value;
+                    if (last != null && last.checkExpire())
+                        m_undo.Clear();
+                    else
+                    {
+                        // see if we actually have a change
+                        if (last != null)
+                        {
+                            if (last.Compare(part, change))
+                                return;
+                        }
+                    }
                 }
-            }
 
-            part.Undoing = false;
+                // limite size
+                while (m_undo.Count >= size)
+                    m_undo.RemoveLast();
+
+                UndoState nUndo = new UndoState(part, change);
+                m_undo.AddFirst(nUndo);
+            }
         }
 
-        public void PlayfwdState(SceneObjectPart part)
-        {
-            part.Undoing = true;
+        /// <summary>
+        /// executes last state undo to part or its group
+        /// current state is pushed into redo
+        /// </summary>
+        /// <param name="part"></param>
 
-            if (part.ParentID == 0)
+        public void Undo(SceneObjectPart part)
+        {
+            lock (m_undo)
             {
-                if (Position != Vector3.Zero)
-                    part.ParentGroup.AbsolutePosition = Position;
-
-                if (Rotation != Quaternion.Identity)
-                    part.UpdateRotation(Rotation);
+                UndoState nUndo;
 
-                if (Scale != Vector3.Zero)
+                // expire redo
+                if (m_redo.Count > 0)
                 {
-                    if (ForGroup)
-                        part.ParentGroup.GroupResize(Scale);
-                    else
-                        part.Resize(Scale);
+                    nUndo = m_redo.First.Value;
+                    if (nUndo != null && nUndo.checkExpire())
+                        m_redo.Clear();
                 }
 
-                part.ParentGroup.ScheduleGroupForTerseUpdate();
+                if (m_undo.Count > 0)
+                {
+                    UndoState goback = m_undo.First.Value;
+                    // check expired
+                    if (goback != null && goback.checkExpire())
+                    {
+                        m_undo.Clear();
+                        return;
+                    }
+
+                    if (goback != null)
+                    {
+                        m_undo.RemoveFirst();
+
+                        // redo limite size
+                        while (m_redo.Count >= size)
+                            m_redo.RemoveLast();
+
+                        nUndo = new UndoState(part, goback.data.change); // new value in part should it be full goback copy?
+                        m_redo.AddFirst(nUndo);
+
+                        goback.PlayState(part);
+                    }
+                }
             }
-            else
+        }
+
+        /// <summary>
+        /// executes last state redo to part or its group
+        /// current state is pushed into undo
+        /// </summary>
+        /// <param name="part"></param>
+
+        public void Redo(SceneObjectPart part)
+        {
+            lock (m_undo)
             {
-                // Note: Updating these properties on sop automatically schedules an update if needed
-                if (Position != Vector3.Zero)
-                    part.OffsetPosition = Position;
+                UndoState nUndo;
 
-                if (Rotation != Quaternion.Identity)
-                    part.UpdateRotation(Rotation);
+                // expire undo
+                if (m_undo.Count > 0)
+                {
+                    nUndo = m_undo.First.Value;
+                    if (nUndo != null && nUndo.checkExpire())
+                        m_undo.Clear();
+                }
 
-                if (Scale != Vector3.Zero)
-                    part.Resize(Scale);
+                if (m_redo.Count > 0)
+                {
+                    UndoState gofwd = m_redo.First.Value;
+                    // check expired
+                    if (gofwd != null && gofwd.checkExpire())
+                    {
+                        m_redo.Clear();
+                        return;
+                    }
+
+                    if (gofwd != null)
+                    {
+                        m_redo.RemoveFirst();
+
+                        // limite undo size
+                        while (m_undo.Count >= size)
+                            m_undo.RemoveLast();
+
+                        nUndo = new UndoState(part, gofwd.data.change);   // new value in part should it be full gofwd copy?
+                        m_undo.AddFirst(nUndo);
+
+                        gofwd.PlayState(part);
+                    }
+                }
             }
-
-            part.Undoing = false;
         }
     }
 
@@ -247,4 +352,4 @@ namespace OpenSim.Region.Framework.Scenes
             m_terrainModule.UndoTerrain(m_terrainChannel);
         }
     }
-}
\ No newline at end of file
+}
diff --git a/OpenSim/Region/Framework/Scenes/UuidGatherer.cs b/OpenSim/Region/Framework/Scenes/UuidGatherer.cs
index efb68a2..411e421 100644
--- a/OpenSim/Region/Framework/Scenes/UuidGatherer.cs
+++ b/OpenSim/Region/Framework/Scenes/UuidGatherer.cs
@@ -87,10 +87,6 @@ namespace OpenSim.Region.Framework.Scenes
         /// <param name="assetUuids">The assets gathered</param>
         public void GatherAssetUuids(UUID assetUuid, AssetType assetType, IDictionary<UUID, AssetType> assetUuids)
         {
-            // avoid infinite loops
-            if (assetUuids.ContainsKey(assetUuid))
-                return;
-
             try
             {               
                 assetUuids[assetUuid] = assetType;
diff --git a/OpenSim/Region/OptionalModules/Agent/InternetRelayClientView/Server/IRCClientView.cs b/OpenSim/Region/OptionalModules/Agent/InternetRelayClientView/Server/IRCClientView.cs
index 5cf478a..655f3a5 100644
--- a/OpenSim/Region/OptionalModules/Agent/InternetRelayClientView/Server/IRCClientView.cs
+++ b/OpenSim/Region/OptionalModules/Agent/InternetRelayClientView/Server/IRCClientView.cs
@@ -714,6 +714,7 @@ namespace OpenSim.Region.OptionalModules.Agent.InternetRelayClientView.Server
         public event RequestObjectPropertiesFamily OnRequestObjectPropertiesFamily;
         public event UpdatePrimFlags OnUpdatePrimFlags;
         public event UpdatePrimTexture OnUpdatePrimTexture;
+        public event ClientChangeObject onClientChangeObject;
         public event UpdateVector OnUpdatePrimGroupPosition;
         public event UpdateVector OnUpdatePrimSinglePosition;
         public event UpdatePrimRotation OnUpdatePrimGroupRotation;
@@ -818,6 +819,7 @@ namespace OpenSim.Region.OptionalModules.Agent.InternetRelayClientView.Server
         public event ObjectOwner OnObjectOwner;
         public event DirPlacesQuery OnDirPlacesQuery;
         public event DirFindQuery OnDirFindQuery;
+        public event MoveItemsAndLeaveCopy OnMoveItemsAndLeaveCopy;
         public event DirLandQuery OnDirLandQuery;
         public event DirPopularQuery OnDirPopularQuery;
         public event DirClassifiedQuery OnDirClassifiedQuery;
@@ -834,7 +836,7 @@ namespace OpenSim.Region.OptionalModules.Agent.InternetRelayClientView.Server
         public event ClassifiedInfoRequest OnClassifiedInfoRequest;
         public event ClassifiedInfoUpdate OnClassifiedInfoUpdate;
         public event ClassifiedDelete OnClassifiedDelete;
-        public event ClassifiedDelete OnClassifiedGodDelete;
+        public event ClassifiedGodDelete OnClassifiedGodDelete;
         public event EventNotificationAddRequest OnEventNotificationAddRequest;
         public event EventNotificationRemoveRequest OnEventNotificationRemoveRequest;
         public event EventGodDelete OnEventGodDelete;
@@ -864,6 +866,7 @@ namespace OpenSim.Region.OptionalModules.Agent.InternetRelayClientView.Server
         public event GroupVoteHistoryRequest OnGroupVoteHistoryRequest;
         public event SimWideDeletesDelegate OnSimWideDeletes;
         public event SendPostcard OnSendPostcard;
+        public event ChangeInventoryItemFlags OnChangeInventoryItemFlags;
         public event MuteListEntryUpdate OnUpdateMuteListEntry;
         public event MuteListEntryRemove OnRemoveMuteListEntry;
         public event GodlikeMessage onGodlikeMessage;
@@ -885,6 +888,11 @@ namespace OpenSim.Region.OptionalModules.Agent.InternetRelayClientView.Server
 
         public void Close()
         {
+            Close(true);
+        }
+
+        public void Close(bool sendStop)
+        {
             Disconnect();
         }
 
@@ -1690,5 +1698,10 @@ namespace OpenSim.Region.OptionalModules.Agent.InternetRelayClientView.Server
         public void SendPlacesReply(UUID queryID, UUID transactionID, PlacesReplyData[] data)
         {
         }
+
+        public void SendPartPhysicsProprieties(ISceneEntity entity)
+        {
+        }
+
     }
 }
diff --git a/OpenSim/Region/OptionalModules/Avatar/Voice/FreeSwitchVoice/FreeSwitchVoiceModule.cs b/OpenSim/Region/OptionalModules/Avatar/Voice/FreeSwitchVoice/FreeSwitchVoiceModule.cs
index 05678c0..8af3652 100644
--- a/OpenSim/Region/OptionalModules/Avatar/Voice/FreeSwitchVoice/FreeSwitchVoiceModule.cs
+++ b/OpenSim/Region/OptionalModules/Avatar/Voice/FreeSwitchVoice/FreeSwitchVoiceModule.cs
@@ -563,7 +563,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Voice.FreeSwitchVoice
 
         public Hashtable FreeSwitchSLVoiceGetPreloginHTTPHandler(Hashtable request)
         {
-            m_log.Debug("[FreeSwitchVoice]: FreeSwitchSLVoiceGetPreloginHTTPHandler called");
+//            m_log.Debug("[FreeSwitchVoice] FreeSwitchSLVoiceGetPreloginHTTPHandler called");
 
             Hashtable response = new Hashtable();
             response["content_type"] = "text/xml";
@@ -714,7 +714,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Voice.FreeSwitchVoice
         
         public Hashtable FreeSwitchSLVoiceSigninHTTPHandler(Hashtable request)
         {
-            m_log.Debug("[FreeSwitchVoice]: FreeSwitchSLVoiceSigninHTTPHandler called");
+            //m_log.Debug("[FreeSwitchVoice] FreeSwitchSLVoiceSigninHTTPHandler called");
 //            string requestbody = (string)request["body"];
 //            string uri = (string)request["uri"];
 //            string contenttype = (string)request["content-type"];
diff --git a/OpenSim/Region/OptionalModules/Avatar/Voice/VivoxVoice/VivoxVoiceModule.cs b/OpenSim/Region/OptionalModules/Avatar/Voice/VivoxVoice/VivoxVoiceModule.cs
index 738133c..4dbac1d 100644
--- a/OpenSim/Region/OptionalModules/Avatar/Voice/VivoxVoice/VivoxVoiceModule.cs
+++ b/OpenSim/Region/OptionalModules/Avatar/Voice/VivoxVoice/VivoxVoiceModule.cs
@@ -190,7 +190,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Voice.VivoxVoice
                         break;
                 }
 
-                m_vivoxVoiceAccountApi = String.Format("http://{0}/api2", m_vivoxServer);
+                m_vivoxVoiceAccountApi = String.Format("https://{0}/api2", m_vivoxServer);
 
                 // Admin interface required values
                 if (String.IsNullOrEmpty(m_vivoxServer) ||
@@ -732,7 +732,8 @@ namespace OpenSim.Region.OptionalModules.Avatar.Voice.VivoxVoice
             return channelUri;
         }
 
-        private static readonly string m_vivoxLoginPath = "http://{0}/api2/viv_signin.php?userid={1}&pwd={2}";
+
+        private static readonly string m_vivoxLoginPath = "https://{0}/api2/viv_signin.php?userid={1}&pwd={2}";
 
         /// <summary>
         /// Perform administrative login for Vivox.
@@ -744,7 +745,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Voice.VivoxVoice
             return VivoxCall(requrl, false);
         }
 
-        private static readonly string m_vivoxLogoutPath = "http://{0}/api2/viv_signout.php?auth_token={1}";
+        private static readonly string m_vivoxLogoutPath = "https://{0}/api2/viv_signout.php?auth_token={1}";
 
         /// <summary>
         /// Perform administrative logout for Vivox.
@@ -755,7 +756,8 @@ namespace OpenSim.Region.OptionalModules.Avatar.Voice.VivoxVoice
             return VivoxCall(requrl, false);
         }
 
-        private static readonly string m_vivoxGetAccountPath = "http://{0}/api2/viv_get_acct.php?auth_token={1}&user_name={2}";
+
+        private static readonly string m_vivoxGetAccountPath = "https://{0}/api2/viv_get_acct.php?auth_token={1}&user_name={2}";
 
         /// <summary>
         /// Retrieve account information for the specified user.
@@ -767,7 +769,8 @@ namespace OpenSim.Region.OptionalModules.Avatar.Voice.VivoxVoice
             return VivoxCall(requrl, true);
         }
 
-        private static readonly string m_vivoxNewAccountPath = "http://{0}/api2/viv_adm_acct_new.php?username={1}&pwd={2}&auth_token={3}";
+
+        private static readonly string m_vivoxNewAccountPath = "https://{0}/api2/viv_adm_acct_new.php?username={1}&pwd={2}&auth_token={3}";
 
         /// <summary>
         /// Creates a new account.
@@ -781,7 +784,8 @@ namespace OpenSim.Region.OptionalModules.Avatar.Voice.VivoxVoice
             return VivoxCall(requrl, true);
         }
 
-        private static readonly string m_vivoxPasswordPath = "http://{0}/api2/viv_adm_password.php?user_name={1}&new_pwd={2}&auth_token={3}";
+
+        private static readonly string m_vivoxPasswordPath = "https://{0}/api2/viv_adm_password.php?user_name={1}&new_pwd={2}&auth_token={3}";
 
         /// <summary>
         /// Change the user's password.
@@ -792,7 +796,8 @@ namespace OpenSim.Region.OptionalModules.Avatar.Voice.VivoxVoice
             return VivoxCall(requrl, true);
         }
 
-        private static readonly string m_vivoxChannelPath = "http://{0}/api2/viv_chan_mod.php?mode={1}&chan_name={2}&auth_token={3}";
+
+        private static readonly string m_vivoxChannelPath = "https://{0}/api2/viv_chan_mod.php?mode={1}&chan_name={2}&auth_token={3}";
 
         /// <summary>
         /// Create a channel.
@@ -864,7 +869,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Voice.VivoxVoice
             return false;
         }
 
-        private static readonly string m_vivoxChannelSearchPath = "http://{0}/api2/viv_chan_search.php?cond_channame={1}&auth_token={2}";
+        private static readonly string m_vivoxChannelSearchPath = "https://{0}/api2/viv_chan_search.php?cond_channame={1}&auth_token={2}";
 
         /// <summary>
         /// Retrieve a channel.
@@ -1007,7 +1012,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Voice.VivoxVoice
             return false;
         }
 
-        // private static readonly string m_vivoxChannelById = "http://{0}/api2/viv_chan_mod.php?mode={1}&chan_id={2}&auth_token={3}";
+        // private static readonly string m_vivoxChannelById = "https://{0}/api2/viv_chan_mod.php?mode={1}&chan_id={2}&auth_token={3}";
 
         // private XmlElement VivoxGetChannelById(string parent, string channelid)
         // {
@@ -1019,7 +1024,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Voice.VivoxVoice
         //         return VivoxCall(requrl, true);
         // }
 
-        private static readonly string m_vivoxChannelDel = "http://{0}/api2/viv_chan_mod.php?mode={1}&chan_id={2}&auth_token={3}";
+        private static readonly string m_vivoxChannelDel = "https://{0}/api2/viv_chan_mod.php?mode={1}&chan_id={2}&auth_token={3}";
 
         /// <summary>
         /// Delete a channel.
@@ -1032,6 +1037,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Voice.VivoxVoice
         /// are required in a later phase.
         /// In this case the call handles parent and description as optional values.
         /// </summary>
+
         private XmlElement VivoxDeleteChannel(string parent, string channelid)
         {
             string requrl = String.Format(m_vivoxChannelDel, m_vivoxServer, "delete", channelid, m_authToken);
@@ -1042,11 +1048,12 @@ namespace OpenSim.Region.OptionalModules.Avatar.Voice.VivoxVoice
             return VivoxCall(requrl, true);
         }
 
-        private static readonly string m_vivoxChannelSearch = "http://{0}/api2/viv_chan_search.php?&cond_chanparent={1}&auth_token={2}";
+        private static readonly string m_vivoxChannelSearch = "https://{0}/api2/viv_chan_search.php?&cond_chanparent={1}&auth_token={2}";
 
         /// <summary>
         /// Return information on channels in the given directory
         /// </summary>
+
         private XmlElement VivoxListChildren(string channelid)
         {
             string requrl = String.Format(m_vivoxChannelSearch, m_vivoxServer, channelid, m_authToken);
@@ -1308,4 +1315,4 @@ namespace OpenSim.Region.OptionalModules.Avatar.Voice.VivoxVoice
             return false;
         }
     }
-}
\ No newline at end of file
+}
diff --git a/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/GroupsModule.cs b/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/GroupsModule.cs
index 2a15e5d..9ff3652 100644
--- a/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/GroupsModule.cs
+++ b/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/GroupsModule.cs
@@ -892,7 +892,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
             msg.dialog = dialog;
             // msg.dialog = (byte)OpenMetaverse.InstantMessageDialog.GroupNotice;
             msg.fromGroup = true;
-            msg.offline = (byte)0;
+            msg.offline = (byte)1; // Allow this message to be stored for offline use
             msg.ParentEstateID = 0;
             msg.Position = Vector3.Zero;
             msg.RegionID = UUID.Zero.Guid;
diff --git a/OpenSim/Region/OptionalModules/PrimLimitsModule/PrimLimitsModule.cs b/OpenSim/Region/OptionalModules/PrimLimitsModule/PrimLimitsModule.cs
index c1957e2..59ff9b8 100644
--- a/OpenSim/Region/OptionalModules/PrimLimitsModule/PrimLimitsModule.cs
+++ b/OpenSim/Region/OptionalModules/PrimLimitsModule/PrimLimitsModule.cs
@@ -121,12 +121,18 @@ namespace OpenSim.Region.OptionalModules
 
         private bool CanObjectEnter(UUID objectID, bool enteringRegion, Vector3 newPoint, Scene scene)
         {
+            if ((newPoint.X > 257f || newPoint.X < -1f || newPoint.Y > 257f || newPoint.Y < -1f))
+                return true;
+
             SceneObjectPart obj = scene.GetSceneObjectPart(objectID);
             Vector3 oldPoint = obj.GroupPosition;
             int objectCount = obj.ParentGroup.PrimCount;
             ILandObject oldParcel = scene.LandChannel.GetLandObject(oldPoint.X, oldPoint.Y);
             ILandObject newParcel = scene.LandChannel.GetLandObject(newPoint.X, newPoint.Y);
 
+            if (newParcel == null)
+                return true;
+
             int usedPrims = newParcel.PrimCounts.Total;
             int simulatorCapacity = newParcel.GetSimulatorMaxPrimCount();
             
@@ -171,4 +177,4 @@ namespace OpenSim.Region.OptionalModules
             return true;
         }
     }
-}
\ No newline at end of file
+}
diff --git a/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcRouterModule.cs b/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcRouterModule.cs
index 32659c8..11c87f8 100644
--- a/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcRouterModule.cs
+++ b/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcRouterModule.cs
@@ -42,17 +42,22 @@ namespace OpenSim.Region.OptionalModules.Scripting.XmlRpcRouterModule
     public class XmlRpcRouter : IRegionModule, IXmlRpcRouter
     {
         //private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
-        
+        private bool m_enabled = false;
         public void Initialise(Scene scene, IConfigSource config)
         {
-            IConfig startupConfig = config.Configs["Startup"];
+            IConfig startupConfig = config.Configs["XMLRPC"];
             if (startupConfig == null)
                 return;
 
             if (startupConfig.GetString("XmlRpcRouterModule",
-                    "XmlRpcRouterModule") == "XmlRpcRouterModule")
+                    "") == "XmlRpcRouterModule")
             {
                 scene.RegisterModuleInterface<IXmlRpcRouter>(this);
+                m_enabled = true;
+            }
+            else
+            {
+                m_enabled = false;
             }
         }
 
@@ -76,7 +81,10 @@ namespace OpenSim.Region.OptionalModules.Scripting.XmlRpcRouterModule
 
         public void RegisterNewReceiver(IScriptModule scriptEngine, UUID channel, UUID objectID, UUID itemID, string uri)
         {
-            scriptEngine.PostScriptEvent(itemID, "xmlrpc_uri", new Object[] {uri});
+            if (m_enabled)
+            {
+                scriptEngine.PostScriptEvent(itemID, "xmlrpc_uri", new Object[] { uri });
+            }
         }
 
         public void ScriptRemoved(UUID itemID)
diff --git a/OpenSim/Region/OptionalModules/World/MoneyModule/SampleMoneyModule.cs b/OpenSim/Region/OptionalModules/World/MoneyModule/SampleMoneyModule.cs
index 9c838d0..d206f69 100644
--- a/OpenSim/Region/OptionalModules/World/MoneyModule/SampleMoneyModule.cs
+++ b/OpenSim/Region/OptionalModules/World/MoneyModule/SampleMoneyModule.cs
@@ -838,6 +838,10 @@ namespace OpenSim.Region.OptionalModules.World.MoneyModule
             if (module != null)
                 module.BuyObject(remoteClient, categoryID, localID, saleType, salePrice);
         }
+
+        public void MoveMoney(UUID fromAgentID, UUID toAgentID, int amount, string text)
+        {
+        }
     }
 
     public enum TransactionType : int
diff --git a/OpenSim/Region/OptionalModules/World/NPC/NPCAvatar.cs b/OpenSim/Region/OptionalModules/World/NPC/NPCAvatar.cs
index 16ec34f..a2375fe 100644
--- a/OpenSim/Region/OptionalModules/World/NPC/NPCAvatar.cs
+++ b/OpenSim/Region/OptionalModules/World/NPC/NPCAvatar.cs
@@ -47,7 +47,7 @@ namespace OpenSim.Region.OptionalModules.World.NPC
         private readonly string m_firstname;
         private readonly string m_lastname;
         private readonly Vector3 m_startPos;
-        private readonly UUID m_uuid = UUID.Random();
+        private UUID m_uuid = UUID.Random();
         private readonly Scene m_scene;
         private readonly UUID m_ownerID;
 
@@ -169,7 +169,7 @@ namespace OpenSim.Region.OptionalModules.World.NPC
 #pragma warning disable 67
         public event Action<IClientAPI> OnLogout;
         public event ObjectPermissions OnObjectPermissions;
-
+        public event MoveItemsAndLeaveCopy OnMoveItemsAndLeaveCopy;
         public event MoneyTransferRequest OnMoneyTransferRequest;
         public event ParcelBuy OnParcelBuy;
         public event Action<IClientAPI> OnConnectionClosed;
@@ -238,6 +238,7 @@ namespace OpenSim.Region.OptionalModules.World.NPC
         public event UpdatePrimTexture OnUpdatePrimTexture;
         public event UpdateVector OnUpdatePrimGroupPosition;
         public event UpdateVector OnUpdatePrimSinglePosition;
+        public event ClientChangeObject onClientChangeObject;
         public event UpdatePrimRotation OnUpdatePrimGroupRotation;
         public event UpdatePrimSingleRotationPosition OnUpdatePrimSingleRotationPosition;
         public event UpdatePrimSingleRotation OnUpdatePrimSingleRotation;
@@ -375,7 +376,7 @@ namespace OpenSim.Region.OptionalModules.World.NPC
         public event ClassifiedInfoRequest OnClassifiedInfoRequest;
         public event ClassifiedInfoUpdate OnClassifiedInfoUpdate;
         public event ClassifiedDelete OnClassifiedDelete;
-        public event ClassifiedDelete OnClassifiedGodDelete;
+        public event ClassifiedGodDelete OnClassifiedGodDelete;
 
         public event EventNotificationAddRequest OnEventNotificationAddRequest;
         public event EventNotificationRemoveRequest OnEventNotificationRemoveRequest;
@@ -414,6 +415,7 @@ namespace OpenSim.Region.OptionalModules.World.NPC
         public event GroupVoteHistoryRequest OnGroupVoteHistoryRequest;
         public event SimWideDeletesDelegate OnSimWideDeletes;
         public event SendPostcard OnSendPostcard;
+        public event ChangeInventoryItemFlags OnChangeInventoryItemFlags;
         public event MuteListEntryUpdate OnUpdateMuteListEntry;
         public event MuteListEntryRemove OnRemoveMuteListEntry;
         public event GodlikeMessage onGodlikeMessage;
@@ -441,6 +443,7 @@ namespace OpenSim.Region.OptionalModules.World.NPC
         public virtual UUID AgentId
         {
             get { return m_uuid; }
+            set { m_uuid = value; }
         }
 
         public UUID SessionId
@@ -849,8 +852,11 @@ namespace OpenSim.Region.OptionalModules.World.NPC
 
         public void Close()
         {
-            // Remove ourselves from the scene
-            m_scene.RemoveClient(AgentId, false);
+            Close(true);
+        }
+
+        public void Close(bool sendStop)
+        {
         }
 
         public void Start()
@@ -1184,5 +1190,10 @@ namespace OpenSim.Region.OptionalModules.World.NPC
         public void SendPlacesReply(UUID queryID, UUID transactionID, PlacesReplyData[] data)
         {
         }
+
+        public void SendPartPhysicsProprieties(ISceneEntity entity)
+        {
+        }
+
     }
 }
diff --git a/OpenSim/Region/OptionalModules/World/NPC/NPCModule.cs b/OpenSim/Region/OptionalModules/World/NPC/NPCModule.cs
index 2b8379d..68f21c8 100644
--- a/OpenSim/Region/OptionalModules/World/NPC/NPCModule.cs
+++ b/OpenSim/Region/OptionalModules/World/NPC/NPCModule.cs
@@ -144,29 +144,38 @@ namespace OpenSim.Region.OptionalModules.World.NPC
 //                    acd.AgentID, i, acd.Appearance.Texture.FaceTextures[i]);
 //            }
 
-            lock (m_avatars)
-            {
-                scene.AuthenticateHandler.AddNewCircuit(npcAvatar.CircuitCode, acd);
-                scene.AddNewClient(npcAvatar, PresenceType.Npc);
+            ManualResetEvent ev = new ManualResetEvent(false);
 
-                ScenePresence sp;
-                if (scene.TryGetScenePresence(npcAvatar.AgentId, out sp))
+            Util.FireAndForget(delegate(object x) {
+                lock (m_avatars)
                 {
-//                    m_log.DebugFormat(
-//                        "[NPC MODULE]: Successfully retrieved scene presence for NPC {0} {1}", sp.Name, sp.UUID);
+                    scene.AuthenticateHandler.AddNewCircuit(npcAvatar.CircuitCode, acd);
+                    scene.AddNewClient(npcAvatar, PresenceType.Npc);
 
-                    sp.CompleteMovement(npcAvatar, false);
-                    m_avatars.Add(npcAvatar.AgentId, npcAvatar);
-                    m_log.DebugFormat("[NPC MODULE]: Created NPC with id {0}", npcAvatar.AgentId);
+                    ScenePresence sp;
+                    if (scene.TryGetScenePresence(npcAvatar.AgentId, out sp))
+                    {
+                        m_log.DebugFormat(
+                            "[NPC MODULE]: Successfully retrieved scene presence for NPC {0} {1}", sp.Name, sp.UUID);
+
+                        sp.CompleteMovement(npcAvatar, false);
+                        m_avatars.Add(npcAvatar.AgentId, npcAvatar);
+                    }
+                    else
+                    {
+                        m_log.WarnFormat("[NPC MODULE]: Could not find scene presence for NPC {0} {1}", sp.Name, sp.UUID);
+                        npcAvatar.AgentId = UUID.Zero;
+                    }
 
-                    return npcAvatar.AgentId;
-                }
-                else
-                {
-                    m_log.WarnFormat("[NPC MODULE]: Could not find scene presence for NPC {0} {1}", sp.Name, sp.UUID);
-                    return UUID.Zero;
                 }
-            }
+                ev.Set();
+            });
+
+            ev.WaitOne();
+
+//            m_log.DebugFormat("[NPC MODULE]: Created NPC with id {0}", npcAvatar.AgentId);
+
+            return npcAvatar.AgentId;
         }
 
         public bool MoveToTarget(UUID agentID, Scene scene, Vector3 pos, bool noFly, bool landAtTarget)
diff --git a/OpenSim/Region/Physics/ChOdePlugin/AssemblyInfo.cs b/OpenSim/Region/Physics/ChOdePlugin/AssemblyInfo.cs
new file mode 100644
index 0000000..d65929a
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/AssemblyInfo.cs
@@ -0,0 +1,58 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System.Reflection;
+using System.Runtime.InteropServices;
+
+// Information about this assembly is defined by the following
+// attributes.
+//
+// change them to the information which is associated with the assembly
+// you compile.
+
+[assembly : AssemblyTitle("OdePlugin")]
+[assembly : AssemblyDescription("")]
+[assembly : AssemblyConfiguration("")]
+[assembly : AssemblyCompany("http://opensimulator.org")]
+[assembly : AssemblyProduct("OdePlugin")]
+[assembly : AssemblyCopyright("Copyright (c) OpenSimulator.org Developers 2007-2009")]
+[assembly : AssemblyTrademark("")]
+[assembly : AssemblyCulture("")]
+
+// This sets the default COM visibility of types in the assembly to invisible.
+// If you need to expose a type to COM, use [ComVisible(true)] on that type.
+
+[assembly : ComVisible(false)]
+
+// The assembly version has following format :
+//
+// Major.Minor.Build.Revision
+//
+// You can specify all values by your own or you can build default build and revision
+// numbers with the '*' character (the default):
+
+[assembly : AssemblyVersion("0.6.5.*")]
diff --git a/OpenSim/Region/Physics/ChOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/ChOdePlugin/ODECharacter.cs
new file mode 100644
index 0000000..2945199
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/ODECharacter.cs
@@ -0,0 +1,1438 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using OpenMetaverse;
+using Ode.NET;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+using log4net;
+
+namespace OpenSim.Region.Physics.OdePlugin
+{
+    /// <summary>
+    /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
+    /// </summary>
+
+    public enum dParam : int
+    {
+        LowStop = 0,
+        HiStop = 1,
+        Vel = 2,
+        FMax = 3,
+        FudgeFactor = 4,
+        Bounce = 5,
+        CFM = 6,
+        StopERP = 7,
+        StopCFM = 8,
+        LoStop2 = 256,
+        HiStop2 = 257,
+        Vel2 = 258,
+        FMax2 = 259,
+        StopERP2 = 7 + 256,
+        StopCFM2 = 8 + 256,
+        LoStop3 = 512,
+        HiStop3 = 513,
+        Vel3 = 514,
+        FMax3 = 515,
+        StopERP3 = 7 + 512,
+        StopCFM3 = 8 + 512
+    }
+    public class OdeCharacter : PhysicsActor
+    {
+        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+
+        private Vector3 _position;
+        private d.Vector3 _zeroPosition;
+        // private d.Matrix3 m_StandUpRotation;
+        private bool _zeroFlag = false;
+        private bool m_lastUpdateSent = false;
+        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;
+        public float PID_D = 800.0f;
+        public float PID_P = 900.0f;
+        //private static float POSTURE_SERVO = 10000.0f;
+        public float CAPSULE_RADIUS = 0.37f;
+        public float CAPSULE_LENGTH = 2.140599f;
+        public float m_tensor = 3800000f;
+        public float heightFudgeFactor = 0.52f;
+        public float walkDivisor = 1.3f;
+        public float runDivisor = 0.8f;
+        private bool flying = false;
+        private bool jumping = false;       // add for jumping
+        private bool m_iscolliding = false;
+        private bool m_iscollidingGround = false;
+        private bool m_wascolliding = false;
+        private bool m_wascollidingGround = false;
+        private bool m_iscollidingObj = false;
+        private bool m_alwaysRun = false;
+        private bool m_hackSentFall = false;
+        private bool m_hackSentFly = false;
+        private int m_requestedUpdateFrequency = 0;
+        private Vector3 m_taintPosition = Vector3.Zero;
+        public uint m_localID = 0;
+        public bool m_returnCollisions = false;
+        // taints and their non-tainted counterparts
+        public bool m_isPhysical = false; // the current physical status
+        public bool m_tainted_isPhysical = false; // set when the physical status is tainted (false=not existing in physics engine, true=existing)
+        public float MinimumGroundFlightOffset = 3f;
+
+        private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes. 
+        private float m_tiltMagnitudeWhenProjectedOnXYPlane = 0.1131371f; // used to introduce a fixed tilt because a straight-up capsule falls through terrain, probably a bug in terrain collider
+
+
+        private float m_buoyancy = 0f;
+
+        // private CollisionLocker ode;
+
+        private string m_name = String.Empty;
+
+        private bool[] m_colliderarr = new bool[11];
+        private bool[] m_colliderGroundarr = new bool[11];
+
+        // Default we're a Character
+        private CollisionCategories m_collisionCategories = (CollisionCategories.Character);
+
+        // Default, Collide with Other Geometries, spaces, bodies and characters.
+        private CollisionCategories m_collisionFlags = (CollisionCategories.Geom
+                                                        | CollisionCategories.Space
+                                                        | CollisionCategories.Body
+                                                        | CollisionCategories.Character
+                                                        | CollisionCategories.Land);
+        public IntPtr Body = IntPtr.Zero;
+        private OdeScene _parent_scene;
+        public IntPtr Shell = IntPtr.Zero;
+        public IntPtr Amotor = IntPtr.Zero;
+        public d.Mass ShellMass;
+        public bool collidelock = false;
+
+        public int m_eventsubscription = 0;
+        private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
+
+        // unique UUID of this character object
+        public UUID m_uuid;
+        public bool bad = false;
+        private Object m_syncRoot = new Object();
+        
+        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();
+
+            if (pos.IsFinite())
+            {
+                if (pos.Z > 9999999f)
+                {
+                    pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
+                }
+                if (pos.Z < -90000f)
+                {
+                    pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
+                }
+                _position = pos;
+                m_taintPosition.X = pos.X;
+                m_taintPosition.Y = pos.Y;
+                m_taintPosition.Z = pos.Z;
+            }
+            else
+            {
+                _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");
+            }
+
+            _parent_scene = parent_scene;
+
+            PID_D = pid_d;
+            PID_P = pid_p;
+            CAPSULE_RADIUS = capsule_radius;
+            m_tensor = tensor;
+            m_density = density;
+            heightFudgeFactor = height_fudge_factor;
+            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);
+
+            for (int i = 0; i < 11; i++)
+            {
+                m_colliderarr[i] = false;
+            }
+            CAPSULE_LENGTH = (size.Z * 1.15f) - CAPSULE_RADIUS * 2.0f;
+            //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
+            m_tainted_CAPSULE_LENGTH = CAPSULE_LENGTH;
+
+            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;
+        }
+
+        public override int PhysicsActorType
+        {
+            get { return (int) ActorTypes.Agent; }
+            set { return; }
+        }
+
+        /// <summary>
+        /// If this is set, the avatar will move faster
+        /// </summary>
+        public override bool SetAlwaysRun
+        {
+            get { return m_alwaysRun; }
+            set { m_alwaysRun = value; }
+        }
+
+        public override uint LocalID
+        {
+            set { m_localID = value; }
+        }
+
+        public override bool Grabbed
+        {
+            set { return; }
+        }
+
+        public override bool Selected
+        {
+//            set { return; }
+            set { jumping = value; }    // add for jumping flag
+        }
+
+        public override float Buoyancy
+        {
+            get { return m_buoyancy; }
+            set { m_buoyancy = value; }
+        }
+
+        public override bool FloatOnWater
+        {
+            set { return; }
+        }
+
+        public override bool IsPhysical
+        {
+            get { return false; }
+            set { return; }
+        }
+
+        public override bool ThrottleUpdates
+        {
+            get { return false; }
+            set { return; }
+        }
+
+        public override bool Flying
+        {
+            get { return flying; }
+            set { flying = value; }
+        }
+
+        /// <summary>
+        /// Returns if the avatar is colliding in general.
+        /// This includes the ground and objects and avatar.
+        /// </summary>
+        public override bool IsColliding
+        {
+//#@            get { return m_iscolliding; }
+            get {  //##
+//Console.WriteLine(">>>>>>>>>>>> IC get = {0}", m_iscolliding);  //##
+                return m_iscolliding; }  //##
+            set
+            {
+                int i;
+                int truecount = 0;
+                int falsecount = 0;
+
+                if (m_colliderarr.Length >= 10)
+                {
+                    for (i = 0; i < 10; i++)
+                    {
+                        m_colliderarr[i] = m_colliderarr[i + 1];
+                    }
+                }
+                m_colliderarr[10] = value;
+
+                for (i = 0; i < 11; i++)
+                {
+                    if (m_colliderarr[i])
+                    {
+                        truecount++;
+                    }
+                    else
+                    {
+                        falsecount++;
+                    }
+                }
+
+                // Equal truecounts and false counts means we're colliding with something.
+
+                if (falsecount > 1.2*truecount)
+                {
+                    m_iscolliding = false;
+                }
+                else
+                {
+                    m_iscolliding = true;
+                }
+// ## Console.WriteLine("IC SET = {0}   t{1}  f{2}  i {3}", value, truecount, falsecount, m_iscolliding);
+                if (m_wascolliding != m_iscolliding)
+                {
+                    //base.SendCollisionUpdate(new CollisionEventUpdate());
+                }
+                m_wascolliding = m_iscolliding;
+            }
+        }
+
+        /// <summary>
+        /// Returns if an avatar is colliding with the ground
+        /// </summary>
+        public override bool CollidingGround
+        {
+            get { return m_iscollidingGround; }
+            set
+            {
+                // Collisions against the ground are not really reliable
+                // So, to get a consistant value we have to average the current result over time
+                // Currently we use 1 second = 10 calls to this.
+                int i;
+                int truecount = 0;
+                int falsecount = 0;
+
+                if (m_colliderGroundarr.Length >= 10)
+                {
+                    for (i = 0; i < 10; i++)
+                    {
+                        m_colliderGroundarr[i] = m_colliderGroundarr[i + 1];
+                    }
+                }
+                m_colliderGroundarr[10] = value;
+
+                for (i = 0; i < 11; i++)
+                {
+                    if (m_colliderGroundarr[i])
+                    {
+                        truecount++;
+                    }
+                    else
+                    {
+                        falsecount++;
+                    }
+                }
+
+                // Equal truecounts and false counts means we're colliding with something.
+
+                if (falsecount > 1.2*truecount)
+                {
+                    m_iscollidingGround = false;
+                }
+                else
+                {
+                    m_iscollidingGround = true;
+                }
+                if (m_wascollidingGround != m_iscollidingGround)
+                {
+                    //base.SendCollisionUpdate(new CollisionEventUpdate());
+                }
+                m_wascollidingGround = m_iscollidingGround;
+            }
+        }
+
+        /// <summary>
+        /// Returns if the avatar is colliding with an object
+        /// </summary>
+        public override bool CollidingObj
+        {
+            get { return m_iscollidingObj; }
+            set
+            {
+                m_iscollidingObj = value;
+                if (value)
+                    m_pidControllerActive = false;
+                else
+                    m_pidControllerActive = true;
+            }
+        }
+
+        /// <summary>
+        /// turn the PID controller on or off.
+        /// The PID Controller will turn on all by itself in many situations
+        /// </summary>
+        /// <param name="status"></param>
+        public void SetPidStatus(bool status)
+        {
+            m_pidControllerActive = status;
+        }
+
+        public override bool Stopped
+        {
+            get { return _zeroFlag; }
+        }
+
+        /// <summary>
+        /// This 'puts' an avatar somewhere in the physics space.
+        /// Not really a good choice unless you 'know' it's a good
+        /// spot otherwise you're likely to orbit the avatar.
+        /// </summary>
+        public override Vector3 Position
+        {
+            get { return _position; }
+            set
+            {
+                if (Body == IntPtr.Zero || Shell == IntPtr.Zero)
+                {
+                    if (value.IsFinite())
+                    {
+                        if (value.Z > 9999999f)
+                        {
+                            value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
+                        }
+                        if (value.Z < -90000f)
+                        {
+                            value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
+                        }
+
+                        _position.X = value.X;
+                        _position.Y = value.Y;
+                        _position.Z = value.Z;
+
+                        m_taintPosition.X = value.X;
+                        m_taintPosition.Y = value.Y;
+                        m_taintPosition.Z = value.Z;
+                        _parent_scene.AddPhysicsActorTaint(this);
+                    }
+                    else
+                    {
+                        m_log.Warn("[PHYSICS]: Got a NaN Position from Scene on a Character");
+                    }
+                }
+            }
+        }
+
+        public override Vector3 RotationalVelocity
+        {
+            get { return m_rotationalVelocity; }
+            set { m_rotationalVelocity = value; }
+        }
+
+        /// <summary>
+        /// 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 Vector3 Size
+        {
+            get { return new Vector3(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
+            set
+            {
+                if (value.IsFinite())
+                {
+                    m_pidControllerActive = true;
+
+                    Vector3 SetSize = value;
+                    m_tainted_CAPSULE_LENGTH = (SetSize.Z*1.15f) - CAPSULE_RADIUS*2.0f;
+                    //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
+
+                    Velocity = Vector3.Zero;
+                                        m_taintPosition = _position; // update the stale taint position
+                    _parent_scene.AddPhysicsActorTaint(this);
+                }
+                else
+                {
+                    m_log.Warn("[PHYSICS]: Got a NaN Size from Scene on a Character");
+                }
+            }
+        }
+
+        private void AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3 movementVector)
+        {
+            movementVector.Z = 0f;
+            float magnitude = (float)Math.Sqrt((double)(movementVector.X * movementVector.X + movementVector.Y * movementVector.Y));
+            if (magnitude < 0.1f) return;
+
+            // normalize the velocity vector
+            float invMagnitude = 1.0f / magnitude;
+            movementVector.X *= invMagnitude;
+            movementVector.Y *= invMagnitude;
+
+            // if we change the capsule heading too often, the capsule can fall down
+            // therefore we snap movement vector to just 1 of 4 predefined directions (ne, nw, se, sw),
+            // meaning only 4 possible capsule tilt orientations
+            if (movementVector.X > 0)
+            {
+                // east
+                if (movementVector.Y > 0)
+                {
+                    // northeast
+                    movementVector.X = (float)Math.Sqrt(2.0);
+                    movementVector.Y = (float)Math.Sqrt(2.0);
+                }
+                else
+                {
+                    // southeast
+                    movementVector.X = (float)Math.Sqrt(2.0);
+                    movementVector.Y = -(float)Math.Sqrt(2.0);
+                }
+            }
+            else
+            {
+                // west
+                if (movementVector.Y > 0)
+                {
+                    // northwest
+                    movementVector.X = -(float)Math.Sqrt(2.0);
+                    movementVector.Y = (float)Math.Sqrt(2.0);
+                }
+                else
+                {
+                    // southwest
+                    movementVector.X = -(float)Math.Sqrt(2.0);
+                    movementVector.Y = -(float)Math.Sqrt(2.0);
+                }
+            }
+
+
+            // movementVector.Z is zero
+
+            // calculate tilt components based on desired amount of tilt and current (snapped) heading.
+            // the "-" sign is to force the tilt to be OPPOSITE the direction of movement.
+            float xTiltComponent = -movementVector.X * m_tiltMagnitudeWhenProjectedOnXYPlane;
+            float yTiltComponent = -movementVector.Y * m_tiltMagnitudeWhenProjectedOnXYPlane;
+
+            //m_log.Debug("[PHYSICS] changing avatar tilt");
+            d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, xTiltComponent);
+            d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, xTiltComponent); // must be same as lowstop, else a different, spurious tilt is introduced
+            d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, yTiltComponent);
+            d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, yTiltComponent); // same as lowstop
+            d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, 0f);
+            d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
+        }
+
+        /// <summary>
+        /// This creates the Avatar's physical Surrogate at the position supplied
+        /// </summary>
+        /// <param name="npositionX"></param>
+        /// <param name="npositionY"></param>
+        /// <param name="npositionZ"></param>
+
+        // WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
+        // to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only 
+        // place that is safe to call this routine AvatarGeomAndBodyCreation.
+        private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ, float tensor)
+        {
+            //CAPSULE_LENGTH = -5;
+            //CAPSULE_RADIUS = -5;
+            int dAMotorEuler = 1;
+            _parent_scene.waitForSpaceUnlock(_parent_scene.space);
+            if (CAPSULE_LENGTH <= 0)
+            {
+                m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid!  Setting it to the smallest possible size!");
+                CAPSULE_LENGTH = 0.01f;
+
+            }
+
+            if (CAPSULE_RADIUS <= 0)
+            {
+                m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid!  Setting it to the smallest possible size!");
+                CAPSULE_RADIUS = 0.01f;
+
+            }
+
+            if(Shell != IntPtr.Zero)
+            {
+                try
+                {
+                    d.GeomDestroy(Shell);
+                }
+                catch (System.AccessViolationException)
+                {
+                    m_log.Error("[PHYSICS]: PrimGeom dead");
+                }
+                // Remove any old entries
+//string tShell;
+//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
+//Console.WriteLine("**** Remove {0}", tShell);
+                if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
+                if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
+            }
+
+            Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
+            _parent_scene.geom_name_map[Shell] = m_name;
+            _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
+//Console.WriteLine("**** Create {2}    Dicts: actor={0}   name={1}  height={3} rad={4}", _parent_scene.actor_name_map.Count, _parent_scene.geom_name_map.Count, m_name, CAPSULE_LENGTH, CAPSULE_RADIUS);
+
+            d.GeomSetCategoryBits(Shell, (int)m_collisionCategories);
+            d.GeomSetCollideBits(Shell, (int)m_collisionFlags);
+
+            d.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH);
+            Body = d.BodyCreate(_parent_scene.world);
+            d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
+            
+            _position.X = npositionX;
+            _position.Y = npositionY;
+            _position.Z = npositionZ;
+
+            
+            m_taintPosition.X = npositionX;
+            m_taintPosition.Y = npositionY;
+            m_taintPosition.Z = npositionZ;
+
+            d.BodySetMass(Body, ref ShellMass);
+            d.Matrix3 m_caprot;
+            // 90 Stand up on the cap of the capped cyllinder
+            if (_parent_scene.IsAvCapsuleTilted)
+            {
+                d.RFromAxisAndAngle(out m_caprot, 1, 0, 1, (float)(Math.PI / 2));
+            }
+            else
+            {
+                d.RFromAxisAndAngle(out m_caprot, 0, 0, 1, (float)(Math.PI / 2));
+            }
+
+
+            d.GeomSetRotation(Shell, ref m_caprot);
+            d.BodySetRotation(Body, ref m_caprot);
+
+            d.GeomSetBody(Shell, Body);
+
+
+            // The purpose of the AMotor here is to keep the avatar's physical
+            // surrogate from rotating while moving
+            Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
+            d.JointAttach(Amotor, Body, IntPtr.Zero);
+            d.JointSetAMotorMode(Amotor, dAMotorEuler);
+            d.JointSetAMotorNumAxes(Amotor, 3);
+            d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
+            d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
+            d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
+            d.JointSetAMotorAngle(Amotor, 0, 0);
+            d.JointSetAMotorAngle(Amotor, 1, 0);
+            d.JointSetAMotorAngle(Amotor, 2, 0);
+
+            // These lowstops and high stops are effectively (no wiggle room)
+            if (_parent_scene.IsAvCapsuleTilted)
+            {
+                d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
+                d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
+                d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
+                d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
+                d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
+                d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f);
+            }
+            else
+            {
+                #region Documentation of capsule motor LowStop and HighStop parameters
+                // Intentionally introduce some tilt into the capsule by setting
+                // the motor stops to small epsilon values. This small tilt prevents
+                // the capsule from falling into the terrain; a straight-up capsule
+                // (with -0..0 motor stops) falls into the terrain for reasons yet
+                // to be comprehended in their entirety.
+                #endregion
+                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);
+                d.JointSetAMotorParam(Amotor, (int)dParam.HiStop,  0.08f); // must be same as lowstop, else a different, spurious tilt is introduced
+                d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
+                d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop
+            }
+
+            // Fudge factor is 1f by default, we're setting it to 0.  We don't want it to Fudge or the
+            // capped cyllinder will fall over
+            d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
+            d.JointSetAMotorParam(Amotor, (int)dParam.FMax, tensor);
+
+            //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
+            //d.QfromR(
+            //d.Matrix3 checkrotation = new d.Matrix3(0.7071068,0.5, -0.7071068,
+            //
+            //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
+            //standupStraight();
+        }
+
+        //
+        /// <summary>
+        /// Uses the capped cyllinder volume formula to calculate the avatar's mass.
+        /// This may be used in calculations in the scene/scenepresence
+        /// </summary>
+        public override float Mass
+        {
+            get
+            {
+                float AVvolume = (float) (Math.PI*Math.Pow(CAPSULE_RADIUS, 2)*CAPSULE_LENGTH);
+                return m_density*AVvolume;
+            }
+        }
+        public override void link(PhysicsActor obj)
+        {
+
+        }
+
+        public override void delink()
+        {
+
+        }
+
+        public override void LockAngularMotion(Vector3 axis)
+        {
+
+        }
+
+//      This code is very useful. Written by DanX0r. We're just not using it right now.
+//      Commented out to prevent a warning.
+//
+//         private void standupStraight()
+//         {
+//             // The purpose of this routine here is to quickly stabilize the Body while it's popped up in the air.
+//             // The amotor needs a few seconds to stabilize so without it, the avatar shoots up sky high when you
+//             // change appearance and when you enter the simulator
+//             // After this routine is done, the amotor stabilizes much quicker
+//             d.Vector3 feet;
+//             d.Vector3 head;
+//             d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
+//             d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
+//             float posture = head.Z - feet.Z;
+
+//             // restoring force proportional to lack of posture:
+//             float servo = (2.5f - posture) * POSTURE_SERVO;
+//             d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
+//             d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
+//             //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
+//             //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 Vector3 Force
+        {
+            get { return _target_velocity; }
+            set { return; }
+        }
+
+        public override int VehicleType
+        {
+            get { return 0; }
+            set { return; }
+        }
+
+        public override void VehicleFloatParam(int param, float value)
+        {
+
+        }
+
+        public override void VehicleVectorParam(int param, Vector3 value)
+        {
+
+        }
+
+        public override void VehicleRotationParam(int param, Quaternion rotation)
+        {
+
+        }
+        
+        public override void VehicleFlags(int flags, bool remove)
+        {
+        }
+
+        public override void SetVolumeDetect(int param)
+        {
+
+        }
+
+        public override Vector3 CenterOfMass
+        {
+            get { return Vector3.Zero; }
+        }
+
+        public override Vector3 GeometricCenter
+        {
+            get { return Vector3.Zero; }
+        }
+
+        public override PrimitiveBaseShape Shape
+        {
+            set { return; }
+        }
+
+        public override Vector3 Velocity
+        {
+            get {
+                // There's a problem with Vector3.Zero! Don't Use it Here!
+                if (_zeroFlag)
+                    return Vector3.Zero;
+                m_lastUpdateSent = false;
+                return _velocity;
+            }
+            set
+            {
+                if (value.IsFinite())
+                {
+                    m_pidControllerActive = true;
+                    _target_velocity = value;
+                }
+                else
+                {
+                    m_log.Warn("[PHYSICS]: Got a NaN velocity from Scene in a Character");
+                }
+            }
+        }
+
+        public override Vector3 Torque
+        {
+            get { return Vector3.Zero; }
+            set { return; }
+        }
+
+        public override float CollisionScore
+        {
+            get { return 0f; }
+            set { }
+        }
+
+        public override bool Kinematic
+        {
+            get { return false; }
+            set { }
+        }
+
+        public override Quaternion Orientation
+        {
+            get { return Quaternion.Identity; }
+            set {
+                //Matrix3 or = Orientation.ToRotationMatrix();
+                //d.Matrix3 ord = new d.Matrix3(or.m00, or.m10, or.m20, or.m01, or.m11, or.m21, or.m02, or.m12, or.m22);
+                //d.BodySetRotation(Body, ref ord);
+            }
+        }
+
+        public override Vector3 Acceleration
+        {
+            get { return _acceleration; }
+            set { _acceleration = value; }
+        }
+
+        public void SetAcceleration(Vector3 accel)
+        {
+            m_pidControllerActive = true;
+            _acceleration = accel;
+        }
+
+        /// <summary>
+        /// Adds the force supplied to the Target Velocity
+        /// The PID controller takes this target velocity and tries to make it a reality
+        /// </summary>
+        /// <param name="force"></param>
+        public override void AddForce(Vector3 force, bool pushforce)
+        {
+            if (force.IsFinite())
+            {
+                if (pushforce)
+                {
+                    m_pidControllerActive = false;
+                    force *= 100f;
+//Console.WriteLine("DF 1"); // ##
+                    if (!force.ApproxEquals(Vector3.Zero, 0.01f))
+                        doForce(force);
+                    // If uncommented, things get pushed off world
+                    //
+                    // m_log.Debug("Push!");
+                    // _target_velocity.X += force.X;
+                    // _target_velocity.Y += force.Y;
+                    // _target_velocity.Z += force.Z;
+                }
+                else
+                {
+                    m_pidControllerActive = true;
+                    _target_velocity.X += force.X;
+                    _target_velocity.Y += force.Y;
+                    _target_velocity.Z += force.Z;
+                }
+            }
+            else
+            {
+                m_log.Warn("[PHYSICS]: Got a NaN force applied to a Character");
+            }
+            //m_lastUpdateSent = false;
+        }
+
+        public override void AddAngularForce(Vector3 force, bool pushforce)
+        {
+
+        }
+
+        /// <summary>
+        /// After all of the forces add up with 'add force' we apply them with doForce
+        /// </summary>
+        /// <param name="force"></param>
+        public void doForce(Vector3 force)
+        {
+            if (!collidelock)
+            {
+                d.BodyAddForce(Body, force.X, force.Y, force.Z);
+                //d.BodySetRotation(Body, ref m_StandUpRotation);
+                //standupStraight();
+           d.Vector3 vel = d.BodyGetLinearVel(Body);  //##
+//Console.WriteLine("AvVel <{0},{1},{2}>", vel.X, vel.Y, vel.Z); //##
+            }
+        }
+
+        public override void SetMomentum(Vector3 momentum)
+        {
+        }
+
+
+        /// <summary>
+        /// Called from Simulate
+        /// This is the avatar's movement control + PID Controller
+        /// </summary>
+        /// <param name="timeStep"></param>
+        public void Move(float timeStep, List<OdeCharacter> defects)
+        {
+            //  no lock; for now it's only called from within Simulate()
+
+            // If the PID Controller isn't active then we set our force
+            // calculating base velocity to the current position
+                
+            if (Body == IntPtr.Zero)
+                return;
+
+            if (m_pidControllerActive == false)
+            {
+                _zeroPosition = d.BodyGetPosition(Body);
+            }
+            //PidStatus = true;
+
+            d.Vector3 localpos = d.BodyGetPosition(Body);
+            Vector3 localPos = new Vector3(localpos.X, localpos.Y, localpos.Z);
+            
+            if (!localPos.IsFinite())
+            {
+
+                m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
+                defects.Add(this);
+                // _parent_scene.RemoveCharacter(this);
+
+                // destroy avatar capsule and related ODE data
+                if (Amotor != IntPtr.Zero)
+                {
+                    // Kill the Amotor
+                    d.JointDestroy(Amotor);
+                    Amotor = IntPtr.Zero;
+                }
+
+                //kill the Geometry
+                _parent_scene.waitForSpaceUnlock(_parent_scene.space);
+
+                if (Body != IntPtr.Zero)
+                {
+                    //kill the body
+                    d.BodyDestroy(Body);
+
+                    Body = IntPtr.Zero;
+                }
+
+                    if(Shell != IntPtr.Zero)
+                {
+                    try
+                    {
+                        d.GeomDestroy(Shell);
+                    }
+                    catch (System.AccessViolationException)
+                    {
+                        m_log.Error("[PHYSICS]: PrimGeom dead");
+                    }
+                    // Remove any old entries
+//string tShell;
+//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
+//Console.WriteLine("**** Remove {0}", tShell);
+
+                    if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
+                    if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
+                    Shell = IntPtr.Zero;
+                }
+
+                return;
+            }
+
+            Vector3 vec = Vector3.Zero;
+            d.Vector3 vel = d.BodyGetLinearVel(Body);
+
+            float movementdivisor = 1f;
+
+            if (!m_alwaysRun)
+            {
+                movementdivisor = walkDivisor;
+            }
+            else
+            {
+                movementdivisor = runDivisor;
+            }
+
+            //  if velocity is zero, use position control; otherwise, velocity control
+            if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f && m_iscolliding)
+            {
+                //  keep track of where we stopped.  No more slippin' & slidin'
+                if (!_zeroFlag)
+                {
+                    _zeroFlag = true;
+                    _zeroPosition = d.BodyGetPosition(Body);
+                }
+                if (m_pidControllerActive)
+                {
+                    // We only want to deactivate the PID Controller if we think we want to have our surrogate
+                    // react to the physics scene by moving it's position.
+                    // Avatar to Avatar collisions
+                    // Prim to avatar collisions
+
+                    d.Vector3 pos = d.BodyGetPosition(Body);
+                    float errX = _zeroPosition.X - pos.X;
+                    float errY = _zeroPosition.Y - pos.Y;
+                    if( (Math.Abs(errX) > 0.1f) || (Math.Abs(errY) > 0.1f) )
+                    {
+                        vec.X = (_target_velocity.X - vel.X) * (PID_D) + (errX) * (PID_P * 2);
+                        vec.Y = (_target_velocity.Y - vel.Y) * (PID_D) + (errY) * (PID_P * 2);
+                    }
+                    else
+                    {   // close, jump to lateral destination
+                        d.BodySetPosition(Body, _zeroPosition.X, _zeroPosition.Y, pos.Z);
+                    }
+//                    if (flying)
+                    if (flying || jumping)  // add for jumping
+                    {
+                        vec.Z = (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
+                    }
+                }
+                //PidStatus = true;
+            }
+            else
+            {
+                m_pidControllerActive = true;
+                _zeroFlag = false;
+                if (m_iscolliding && !flying)
+                {
+                    // We're standing on something
+                    vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D);
+                    vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D);
+                }
+                else if (m_iscolliding && flying)
+                {
+                    // We're flying and colliding with something
+                    vec.X = ((_target_velocity.X/movementdivisor) - vel.X)*(PID_D / 16);
+                    vec.Y = ((_target_velocity.Y/movementdivisor) - vel.Y)*(PID_D / 16);
+                }
+                else if (!m_iscolliding && flying)
+                {
+                    // we're in mid air suspended
+                    vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D/6);
+                    vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D/6);
+                }
+
+                if (m_iscolliding && !flying && _target_velocity.Z > 0.0f)
+                {
+                    // We're colliding with something and we're not flying but we're moving
+                    // This means we're walking or running.
+                    d.Vector3 pos = d.BodyGetPosition(Body);
+                    vec.Z = (_target_velocity.Z - vel.Z)*PID_D + (_zeroPosition.Z - pos.Z)*PID_P;
+                    if (_target_velocity.X > 0)
+                    {
+                        vec.X = ((_target_velocity.X - vel.X)/1.2f)*PID_D;
+                    }
+                    if (_target_velocity.Y > 0)
+                    {
+                        vec.Y = ((_target_velocity.Y - vel.Y)/1.2f)*PID_D;
+                    }
+                }
+                else if (!m_iscolliding && !flying)
+                {
+                    // we're not colliding and we're not flying so that means we're falling!
+                    // m_iscolliding includes collisions with the ground.
+
+                    // d.Vector3 pos = d.BodyGetPosition(Body);
+                    if (Math.Abs(_target_velocity.X) > 0)
+                    {
+                        vec.X = ((_target_velocity.X - vel.X)/1.2f)*PID_D;
+                    }
+                    if (Math.Abs(_target_velocity.Y) > 0)
+                    {
+                        vec.Y = ((_target_velocity.Y - vel.Y)/1.2f)*PID_D;
+                    }
+                }
+
+                if (flying)
+                {
+                    vec.Z = (_target_velocity.Z - vel.Z) * (PID_D);
+                }
+            }
+            if (flying)
+            {
+                vec.Z += ((-1 * _parent_scene.gravityz)*m_mass);
+
+                //Added for auto fly height. Kitto Flora
+                //d.Vector3 pos = d.BodyGetPosition(Body);
+                float target_altitude = _parent_scene.GetTerrainHeightAtXY(_position.X, _position.Y) + MinimumGroundFlightOffset;
+                
+                if (_position.Z < target_altitude)
+                {
+                    vec.Z += (target_altitude - _position.Z) * PID_P * 5.0f;
+                }
+                // end add Kitto Flora
+            }
+            if (vec.IsFinite())
+            {
+                if (!vec.ApproxEquals(Vector3.Zero, 0.02f))     // 0.01 allows 0.002 !!
+                {
+//Console.WriteLine("DF 2"); // ##
+
+                        doForce(vec);
+                        if (!_zeroFlag)
+                        {
+//                        AlignAvatarTiltWithCurrentDirectionOfMovement(vec);
+                        }
+                    }
+            }
+            else
+            {
+                m_log.Warn("[PHYSICS]: Got a NaN force vector in Move()");
+                m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
+                defects.Add(this);
+                // _parent_scene.RemoveCharacter(this);
+                // destroy avatar capsule and related ODE data
+                if (Amotor != IntPtr.Zero)
+                {
+                    // Kill the Amotor
+                    d.JointDestroy(Amotor);
+                    Amotor = IntPtr.Zero;
+                }
+                //kill the Geometry
+                _parent_scene.waitForSpaceUnlock(_parent_scene.space);
+
+                if (Body != IntPtr.Zero)
+                {
+                    //kill the body
+                    d.BodyDestroy(Body);
+
+                    Body = IntPtr.Zero;
+                }
+    
+                    if(Shell != IntPtr.Zero)
+                {
+                    try
+                    {
+                        d.GeomDestroy(Shell);
+                    }
+                    catch (System.AccessViolationException)
+                    {
+                        m_log.Error("[PHYSICS]: PrimGeom dead");
+                    }
+                    // Remove any old entries
+//string tShell;
+//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
+//Console.WriteLine("**** Remove {0}", tShell);
+
+                    if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
+                    if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
+                    Shell = IntPtr.Zero;
+                }
+            }
+        }
+
+        /// <summary>
+        /// Updates the reported position and velocity.  This essentially sends the data up to ScenePresence.
+        /// </summary>
+        public void UpdatePositionAndVelocity()
+        {
+            //  no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
+            d.Vector3 vec;
+            try
+            {
+                vec = d.BodyGetPosition(Body);
+            }
+            catch (NullReferenceException)
+            {
+                bad = true;
+                _parent_scene.BadCharacter(this);
+                vec = new d.Vector3(_position.X, _position.Y, _position.Z);
+                base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
+                m_log.WarnFormat("[ODEPLUGIN]: Avatar Null reference for Avatar {0}, physical actor {1}", m_name, m_uuid);
+            }
+            
+
+            //  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 (vec.Y < 0.0f) vec.Y = 0.0f;
+            if (vec.X > (int)_parent_scene.WorldExtents.X - 0.05f) vec.X = (int)_parent_scene.WorldExtents.X - 0.05f;
+            if (vec.Y > (int)_parent_scene.WorldExtents.Y - 0.05f) vec.Y = (int)_parent_scene.WorldExtents.Y - 0.05f;
+
+            _position.X = vec.X;
+            _position.Y = vec.Y;
+            _position.Z = vec.Z;
+
+            // Did we move last? = zeroflag
+            // This helps keep us from sliding all over
+
+            if (_zeroFlag)
+            {
+                _velocity.X = 0.0f;
+                _velocity.Y = 0.0f;
+                _velocity.Z = 0.0f;
+
+                // Did we send out the 'stopped' message?
+                if (!m_lastUpdateSent)
+                {
+                    m_lastUpdateSent = true;
+                    //base.RequestPhysicsterseUpdate();
+
+                }
+            }
+            else
+            {
+                m_lastUpdateSent = false;
+                try
+                {
+                    vec = d.BodyGetLinearVel(Body);
+                }
+                catch (NullReferenceException)
+                {
+                    vec.X = _velocity.X;
+                    vec.Y = _velocity.Y;
+                    vec.Z = _velocity.Z;
+                }
+                _velocity.X = (vec.X);
+                _velocity.Y = (vec.Y);
+
+                _velocity.Z = (vec.Z);
+
+                if (_velocity.Z < -6 && !m_hackSentFall)
+                {
+                    m_hackSentFall = true;
+                    m_pidControllerActive = false;
+                }
+                else if (flying && !m_hackSentFly)
+                {
+                    //m_hackSentFly = true;
+                    //base.SendCollisionUpdate(new CollisionEventUpdate());
+                }
+                else
+                {
+                    m_hackSentFly = false;
+                    m_hackSentFall = false;
+                }
+            }
+        }
+
+        /// <summary>
+        /// Cleanup the things we use in the scene.
+        /// </summary>
+        public void Destroy()
+        {
+            m_tainted_isPhysical = false;
+            _parent_scene.AddPhysicsActorTaint(this);
+        }
+
+        public override void CrossingFailure()
+        {
+        }
+
+        public override Vector3 PIDTarget { set { return; } }
+        public override bool PIDActive { set { return; } }
+        public override float PIDTau { set { return; } }
+
+        public override float PIDHoverHeight { set { return; } }
+        public override bool PIDHoverActive { set { return; } }
+        public override PIDHoverType PIDHoverType { set { return; } }
+        public override float PIDHoverTau { set { return; } }
+
+        public override Quaternion APIDTarget{ set { return; } }
+
+        public override bool APIDActive{ set { return; } }
+
+        public override float APIDStrength{ set { return; } }
+
+        public override float APIDDamping{ set { return; } }
+
+                
+        public override void SubscribeEvents(int ms)
+        {
+            m_requestedUpdateFrequency = ms;
+            m_eventsubscription = ms;
+            _parent_scene.addCollisionEventReporting(this);
+        }
+        public override void UnSubscribeEvents()
+        {
+            _parent_scene.remCollisionEventReporting(this);
+            m_requestedUpdateFrequency = 0;
+            m_eventsubscription = 0;
+        }
+        public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
+        {
+            if (m_eventsubscription > 0)
+            {
+                CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
+            }
+        }
+
+        public void SendCollisions()
+        {
+            if (m_eventsubscription > m_requestedUpdateFrequency)
+            {
+                if (CollisionEventsThisFrame != null)
+                {
+                    base.SendCollisionUpdate(CollisionEventsThisFrame);
+                }
+                CollisionEventsThisFrame = new CollisionEventUpdate();
+                m_eventsubscription = 0;
+            }
+        }
+        public override bool SubscribedEvents()
+        {
+            if (m_eventsubscription > 0)
+                return true;
+            return false;
+        }
+
+        public void ProcessTaints(float timestep)
+        {
+            lock (m_syncRoot)
+            {
+
+                if (m_tainted_isPhysical != m_isPhysical)
+                {
+                    if (m_tainted_isPhysical)
+                    {
+                        // Create avatar capsule and related ODE data
+                        if (!(Shell == IntPtr.Zero && Body == IntPtr.Zero && Amotor == IntPtr.Zero))
+                        {
+                            m_log.Warn("[PHYSICS]: re-creating the following avatar ODE data, even though it already exists - "
+                                + (Shell!=IntPtr.Zero ? "Shell ":"")
+                                + (Body!=IntPtr.Zero ? "Body ":"")
+                                + (Amotor!=IntPtr.Zero ? "Amotor ":""));
+                        }
+                        AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z, m_tensor);
+                        _parent_scene.AddCharacter(this);
+                    }
+                    else
+                    {
+                        _parent_scene.RemoveCharacter(this);
+                        // destroy avatar capsule and related ODE data
+                        if (Amotor != IntPtr.Zero)
+                        {
+                            // Kill the Amotor
+                            d.JointDestroy(Amotor);
+                            Amotor = IntPtr.Zero;
+                        }
+                        //kill the Geometry
+                        _parent_scene.waitForSpaceUnlock(_parent_scene.space);
+
+                        if (Body != IntPtr.Zero)
+                        {
+                            //kill the body
+                            d.BodyDestroy(Body);
+                            Body = IntPtr.Zero;
+                        }
+
+                        if(Shell != IntPtr.Zero)
+                        {
+                            try
+                            {
+                                d.GeomDestroy(Shell);
+                            }
+                            catch (System.AccessViolationException)
+                            {
+                                m_log.Error("[PHYSICS]: PrimGeom dead");
+                            }
+                            // Remove any old entries
+    //string tShell;
+    //_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
+    //Console.WriteLine("**** Remove {0}", tShell);
+
+                            if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
+                            if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
+                            Shell = IntPtr.Zero;
+                        }
+                    }
+
+                    m_isPhysical = m_tainted_isPhysical;
+                }
+
+                if (m_tainted_CAPSULE_LENGTH != CAPSULE_LENGTH)
+                {
+                    if (Shell != IntPtr.Zero && Body != IntPtr.Zero && Amotor != IntPtr.Zero)
+                    {
+
+                        m_pidControllerActive = true;
+                        // no lock needed on _parent_scene.OdeLock because we are called from within the thread lock in OdePlugin's simulate()
+                        d.JointDestroy(Amotor);
+                        float prevCapsule = CAPSULE_LENGTH;
+                        CAPSULE_LENGTH = m_tainted_CAPSULE_LENGTH;
+                        //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
+                        d.BodyDestroy(Body);
+                        AvatarGeomAndBodyCreation(_position.X, _position.Y,
+                                          _position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2), m_tensor);
+                        Velocity = Vector3.Zero;
+                    }
+                    else
+                    {
+                        m_log.Warn("[PHYSICS]: trying to change capsule size, but the following ODE data is missing - " 
+                            + (Shell==IntPtr.Zero ? "Shell ":"")
+                            + (Body==IntPtr.Zero ? "Body ":"")
+                            + (Amotor==IntPtr.Zero ? "Amotor ":""));
+                    }
+                }
+
+                if (!m_taintPosition.ApproxEquals(_position, 0.05f))
+                {
+                    if (Body != IntPtr.Zero)
+                    {
+                        d.BodySetPosition(Body, m_taintPosition.X, m_taintPosition.Y, m_taintPosition.Z);
+
+                        _position.X = m_taintPosition.X;
+                        _position.Y = m_taintPosition.Y;
+                        _position.Z = m_taintPosition.Z;
+                    }
+                }
+
+            }
+        }
+
+        internal void AddCollisionFrameTime(int p)
+        {
+            // protect it from overflow crashing
+            if (m_eventsubscription + p >= int.MaxValue)
+                m_eventsubscription = 0;
+            m_eventsubscription += p;
+        }
+    }
+}
diff --git a/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
new file mode 100644
index 0000000..3e2b71c
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
@@ -0,0 +1,4082 @@
+/* Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ * Revised March 5th 2010 by Kitto Flora. ODEDynamics.cs
+ * Ubit 2012
+ * rolled into ODEPrim.cs
+ */
+
+using System;
+using System.IO;
+using System.Collections.Generic;
+using System.Reflection;
+using System.Runtime.InteropServices;
+using System.Threading;
+using log4net;
+using OpenMetaverse;
+using Ode.NET;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+
+namespace OpenSim.Region.Physics.OdePlugin
+{
+    /// <summary>
+    /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
+    /// </summary>
+
+    public class OdePrim : PhysicsActor
+    {
+        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+
+        public class SerialControl
+        {
+            public object alock = new object();
+            public byte[] data = new byte[0];
+        }
+        private Vector3 _position;
+        private Vector3 _velocity;
+        private Vector3 _torque;
+        private Vector3 m_lastVelocity;
+        private Vector3 m_lastposition;
+        private Quaternion m_lastorientation = new Quaternion();
+        private Vector3 m_rotationalVelocity;
+        private Vector3 _size;
+        private Vector3 _acceleration;
+        // private d.Vector3 _zeroPosition = new d.Vector3(0.0f, 0.0f, 0.0f);
+        private Quaternion _orientation;
+        private Vector3 m_taintposition;
+        private Vector3 m_taintsize;
+        private Vector3 m_taintVelocity;
+        private Vector3 m_taintTorque;
+        private Quaternion m_taintrot;
+        private Vector3 m_rotateEnable = Vector3.One;                           // Current setting
+        private Vector3 m_rotateEnableRequest = Vector3.One;                    // Request from LSL
+        private bool m_rotateEnableUpdate = false;
+        private Vector3 m_lockX;
+        private Vector3 m_lockY;
+        private Vector3 m_lockZ;
+        private IntPtr Amotor = IntPtr.Zero;
+        private IntPtr AmotorX = IntPtr.Zero;
+        private IntPtr AmotorY = IntPtr.Zero;
+        private IntPtr AmotorZ = IntPtr.Zero;
+
+        private Vector3 m_PIDTarget;
+        private float m_PIDTau;
+        private float PID_D = 35f;
+        private float PID_G = 25f;
+        private bool m_usePID = false;
+
+        private Quaternion m_APIDTarget = new Quaternion();
+        private float m_APIDStrength = 0.5f;
+        private float m_APIDDamping = 0.5f;
+        private bool m_useAPID = false;
+        private float m_APIDdamper = 1.0f;
+
+        // These next 7 params apply to llSetHoverHeight(float height, integer water, float tau),
+        // do not confuse with VEHICLE HOVER
+
+        private float m_PIDHoverHeight;
+        private float m_PIDHoverTau;
+        private bool m_useHoverPID;
+        private PIDHoverType m_PIDHoverType = PIDHoverType.Ground;
+        private float m_targetHoverHeight;
+        private float m_groundHeight;
+        private float m_waterHeight;
+        private float m_buoyancy;                               //m_buoyancy set by llSetBuoyancy() 
+
+        // private float m_tensor = 5f;
+        private int body_autodisable_frames = 20;
+
+
+        private const CollisionCategories m_default_collisionFlags = (CollisionCategories.Geom
+                                                        | CollisionCategories.Space
+                                                        | CollisionCategories.Body
+                                                        | CollisionCategories.Character
+                                                        );
+        private bool m_taintshape;
+        private bool m_taintPhysics;
+        private bool m_collidesLand = true;
+        private bool m_collidesWater;
+        //        public bool m_returnCollisions;
+
+        // Default we're a Geometry
+        private CollisionCategories m_collisionCategories = (CollisionCategories.Geom);
+
+        // Default, Collide with Other Geometries, spaces and Bodies
+        private CollisionCategories m_collisionFlags = m_default_collisionFlags;
+
+        public bool m_taintremove;
+        public bool m_taintdisable;
+        public bool m_disabled;
+        public bool m_taintadd;
+        public bool m_taintselected;
+        public bool m_taintphantom;
+        public bool m_taintCollidesWater;
+
+        public uint m_localID;
+
+        //public GCHandle gc;
+        private CollisionLocker ode;
+
+        private bool m_meshfailed = false;
+        private bool m_taintforce = false;
+        private bool m_taintaddangularforce = false;
+        private Vector3 m_force;
+        private List<Vector3> m_forcelist = new List<Vector3>();
+        private List<Vector3> m_angularforcelist = new List<Vector3>();
+
+        private IMesh _mesh;
+        private PrimitiveBaseShape _pbs;
+        private OdeScene _parent_scene;
+        public IntPtr m_targetSpace = IntPtr.Zero;
+        public IntPtr prim_geom;
+        //        public IntPtr prev_geom;
+        public IntPtr _triMeshData;
+
+        private IntPtr _linkJointGroup = IntPtr.Zero;
+        private PhysicsActor _parent;
+        private PhysicsActor m_taintparent;
+
+        private List<OdePrim> childrenPrim = new List<OdePrim>();
+
+        private bool iscolliding;
+        private bool m_isphysical;
+        private bool m_isphantom;
+        private bool m_isSelected;
+
+        private bool m_NoColide;  // for now only for internal use for bad meshs
+
+        internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively
+
+        private bool m_throttleUpdates;
+        private int throttleCounter;
+        public int m_interpenetrationcount;
+        public float m_collisionscore;
+        //        public int m_roundsUnderMotionThreshold;
+        //        private int m_crossingfailures;
+
+        public bool m_outofBounds;
+        private float m_density = 10.000006836f; // Aluminum g/cm3;
+
+        private byte m_shapetype;
+        private byte m_taintshapetype;
+
+        public bool _zeroFlag;                                   // if body has been stopped
+        private bool m_lastUpdateSent;
+
+        public IntPtr Body = IntPtr.Zero;
+        public String m_primName;
+        private Vector3 _target_velocity;
+        public d.Mass pMass;
+
+        public int m_eventsubscription;
+        private CollisionEventUpdate CollisionEventsThisFrame;
+
+        private IntPtr m_linkJoint = IntPtr.Zero;
+
+        public volatile bool childPrim;
+
+        internal int m_material = (int)Material.Wood;
+
+        private IntPtr m_body = IntPtr.Zero;
+
+        // Vehicle properties ============================================================================================
+        private Vehicle m_type = Vehicle.TYPE_NONE;                                             // If a 'VEHICLE', and what kind
+        // private Quaternion m_referenceFrame = Quaternion.Identity;   // Axis modifier
+        private VehicleFlag m_flags = (VehicleFlag)0;                                   // Bit settings:
+        // HOVER_TERRAIN_ONLY
+        // HOVER_GLOBAL_HEIGHT
+        // NO_DEFLECTION_UP
+        // HOVER_WATER_ONLY
+        // HOVER_UP_ONLY
+        // LIMIT_MOTOR_UP
+        // LIMIT_ROLL_ONLY
+
+        // Linear properties
+        private Vector3 m_linearMotorDirection = Vector3.Zero;                  // (was m_linearMotorDirectionLASTSET) the (local) Velocity 
+        //requested by LSL
+        private float m_linearMotorTimescale = 0;                                               // Motor Attack rate set by LSL
+        private float m_linearMotorDecayTimescale = 0;                          // Motor Decay rate set by LSL
+        private Vector3 m_linearFrictionTimescale = Vector3.Zero;               // General Friction set by LSL
+
+        private Vector3 m_lLinMotorDVel = Vector3.Zero;                                 // decayed motor
+        private Vector3 m_lLinObjectVel = Vector3.Zero;                                 // local frame object velocity
+        private Vector3 m_wLinObjectVel = Vector3.Zero;                                 // world frame object velocity
+
+        //Angular properties
+        private Vector3 m_angularMotorDirection = Vector3.Zero;                 // angular velocity requested by LSL motor 
+
+        private float m_angularMotorTimescale = 0;                                              // motor angular Attack rate set by LSL
+        private float m_angularMotorDecayTimescale = 0;                                 // motor angular Decay rate set by LSL
+        private Vector3 m_angularFrictionTimescale = Vector3.Zero;              // body angular Friction set by LSL
+
+        private Vector3 m_angularMotorDVel = Vector3.Zero;                              // decayed angular motor
+        //        private Vector3 m_angObjectVel = Vector3.Zero;                                        // current body angular velocity
+        private Vector3 m_lastAngularVelocity = Vector3.Zero;                   // what was last applied to body
+
+        //Deflection properties        
+        // private float m_angularDeflectionEfficiency = 0;
+        // private float m_angularDeflectionTimescale = 0;
+        // private float m_linearDeflectionEfficiency = 0;
+        // private float m_linearDeflectionTimescale = 0;
+
+        //Banking properties
+        // private float m_bankingEfficiency = 0;
+        // private float m_bankingMix = 0;
+        // private float m_bankingTimescale = 0;
+
+        //Hover and Buoyancy properties
+        private float m_VhoverHeight = 0f;
+        //        private float m_VhoverEfficiency = 0f;
+        private float m_VhoverTimescale = 0f;
+        private float m_VhoverTargetHeight = -1.0f;     // if <0 then no hover, else its the current target height 
+        private float m_VehicleBuoyancy = 0f;                   // Set by VEHICLE_BUOYANCY, for a vehicle.
+        // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity) 
+        // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
+        // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity. 
+
+        //Attractor properties                                                                                                  
+        private float m_verticalAttractionEfficiency = 1.0f;            // damped     
+        private float m_verticalAttractionTimescale = 500f;                     // Timescale > 300  means no vert attractor.
+
+//        SerialControl m_taintserial = null;
+        object m_taintvehicledata = null;
+
+        public void DoSetVehicle()
+        {
+            VehicleData vd = (VehicleData)m_taintvehicledata;
+
+        m_type = vd.m_type;
+        m_flags = vd.m_flags;
+
+        // Linear properties
+        m_linearMotorDirection = vd.m_linearMotorDirection;
+        m_linearFrictionTimescale = vd.m_linearFrictionTimescale;
+        m_linearMotorDecayTimescale = vd.m_linearMotorDecayTimescale;
+        m_linearMotorTimescale = vd.m_linearMotorTimescale;
+//        m_linearMotorOffset = vd.m_linearMotorOffset;
+
+        //Angular properties
+        m_angularMotorDirection = vd.m_angularMotorDirection;
+        m_angularMotorTimescale = vd.m_angularMotorTimescale;
+        m_angularMotorDecayTimescale = vd.m_angularMotorDecayTimescale;
+        m_angularFrictionTimescale = vd.m_angularFrictionTimescale;
+
+        //Deflection properties
+//        m_angularDeflectionEfficiency = vd.m_angularDeflectionEfficiency;
+//        m_angularDeflectionTimescale = vd.m_angularDeflectionTimescale;
+//        m_linearDeflectionEfficiency = vd.m_linearDeflectionEfficiency;
+//        m_linearDeflectionTimescale = vd.m_linearDeflectionTimescale;
+
+        //Banking properties
+//        m_bankingEfficiency = vd.m_bankingEfficiency;
+//        m_bankingMix = vd.m_bankingMix;
+//        m_bankingTimescale = vd.m_bankingTimescale;
+
+        //Hover and Buoyancy properties
+        m_VhoverHeight = vd.m_VhoverHeight;
+//        m_VhoverEfficiency = vd.m_VhoverEfficiency;
+        m_VhoverTimescale = vd.m_VhoverTimescale;
+        m_VehicleBuoyancy = vd.m_VehicleBuoyancy;
+
+        //Attractor properties
+        m_verticalAttractionEfficiency = vd.m_verticalAttractionEfficiency;
+        m_verticalAttractionTimescale = vd.m_verticalAttractionTimescale;
+
+        // Axis
+//        m_referenceFrame = vd.m_referenceFrame;
+
+
+            m_taintvehicledata = null;
+        }
+
+        public override void SetVehicle(object vdata)
+        {
+            m_taintvehicledata = vdata;
+            _parent_scene.AddPhysicsActorTaint(this);
+        }
+
+        public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size,
+                       Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical,
+                       bool pisPhantom,byte shapetype, CollisionLocker dode, uint localid)
+        {
+            m_localID = localid;
+            ode = dode;
+            if (!pos.IsFinite())
+            {
+                pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f),
+                    parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f);
+                m_log.Warn("[PHYSICS]: Got nonFinite Object create Position");
+            }
+
+            _position = pos;
+            m_taintposition = pos;
+            PID_D = parent_scene.bodyPIDD;
+            PID_G = parent_scene.bodyPIDG;
+            m_density = parent_scene.geomDefaultDensity;
+            // m_tensor = parent_scene.bodyMotorJointMaxforceTensor;
+            body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
+
+            prim_geom = IntPtr.Zero;
+            //            prev_geom = IntPtr.Zero;
+
+            if (!pos.IsFinite())
+            {
+                size = new Vector3(0.5f, 0.5f, 0.5f);
+                m_log.Warn("[PHYSICS]: Got nonFinite Object create Size");
+            }
+
+            if (size.X <= 0) size.X = 0.01f;
+            if (size.Y <= 0) size.Y = 0.01f;
+            if (size.Z <= 0) size.Z = 0.01f;
+
+            _size = size;
+            m_taintsize = _size;
+
+            if (!QuaternionIsFinite(rotation))
+            {
+                rotation = Quaternion.Identity;
+                m_log.Warn("[PHYSICS]: Got nonFinite Object create Rotation");
+            }
+
+            _orientation = rotation;
+            m_taintrot = _orientation;
+            _mesh = mesh;
+            _pbs = pbs;
+            m_shapetype = shapetype;
+            m_taintshapetype = shapetype;
+
+            _parent_scene = parent_scene;
+            m_targetSpace = (IntPtr)0;
+
+            //            if (pos.Z < 0)
+            if (pos.Z < parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y))
+                m_isphysical = false;
+            else
+            {
+                m_isphysical = pisPhysical;
+                // If we're physical, we need to be in the master space for now.
+                // linksets *should* be in a space together..  but are not currently
+                if (m_isphysical)
+                    m_targetSpace = _parent_scene.space;
+            }
+
+            m_isphantom = pisPhantom;
+            m_taintphantom = pisPhantom;
+
+            _triMeshData = IntPtr.Zero;
+            m_NoColide = false;
+
+//            m_taintserial = null;
+            m_primName = primName;
+            m_taintadd = true;
+            _parent_scene.AddPhysicsActorTaint(this);
+            //  don't do .add() here; old geoms get recycled with the same hash
+        }
+
+        public override int PhysicsActorType
+        {
+            get { return (int)ActorTypes.Prim; }
+            set { return; }
+        }
+
+        public override bool SetAlwaysRun
+        {
+            get { return false; }
+            set { return; }
+        }
+
+        public override uint LocalID
+        {
+            set
+            {
+                //m_log.Info("[PHYSICS]: Setting TrackerID: " + value);
+                m_localID = value;
+            }
+        }
+
+        public override bool Grabbed
+        {
+            set { return; }
+        }
+
+        public override bool Selected
+        {
+            set
+            {
+                //Console.WriteLine("Sel {0}  {1}  {2}", m_primName, value,   m_isphysical);        
+                // This only makes the object not collidable if the object
+                // is physical or the object is modified somehow *IN THE FUTURE*
+                // without this, if an avatar selects prim, they can walk right
+                // through it while it's selected
+                m_collisionscore = 0;
+                if ((m_isphysical && !_zeroFlag) || !value)
+                {
+                    m_taintselected = value;
+                    _parent_scene.AddPhysicsActorTaint(this);
+                }
+                else
+                {
+                    m_taintselected = value;
+                    m_isSelected = value;
+                }
+                if (m_isSelected) disableBodySoft();
+            }
+        }
+
+        public override bool IsPhysical
+        {
+            get { return m_isphysical; }
+            set
+            {
+                m_isphysical = value;
+                if (!m_isphysical)
+                {               // Zero the remembered last velocity
+                    m_lastVelocity = Vector3.Zero;
+                    if (m_type != Vehicle.TYPE_NONE) Halt();
+                }
+            }
+        }
+
+        public override bool Phantom
+        {
+            get { return m_isphantom; }
+            set
+            {
+                m_isphantom = value;
+            }
+        }
+
+        public void setPrimForRemoval()
+        {
+            m_taintremove = true;
+        }
+
+        public override bool Flying
+        {
+            // no flying prims for you
+            get { return false; }
+            set { }
+        }
+
+        public override bool IsColliding
+        {
+            get { return iscolliding; }
+            set { iscolliding = value; }
+        }
+
+        public override bool CollidingGround
+        {
+            get { return false; }
+            set { return; }
+        }
+
+        public override bool CollidingObj
+        {
+            get { return false; }
+            set { return; }
+        }
+
+        public override bool ThrottleUpdates
+        {
+            get { return m_throttleUpdates; }
+            set { m_throttleUpdates = value; }
+        }
+
+        public override bool Stopped
+        {
+            get { return _zeroFlag; }
+        }
+
+        public override Vector3 Position
+        {
+            get { return _position; }
+
+            set
+            {
+                _position = value;
+                //m_log.Info("[PHYSICS]: " + _position.ToString());
+            }
+        }
+
+        public override Vector3 Size
+        {
+            get { return _size; }
+            set
+            {
+                if (value.IsFinite())
+                {
+                    _size = value;
+                }
+                else
+                {
+                    m_log.Warn("[PHYSICS]: Got NaN Size on object");
+                }
+            }
+        }
+
+        public override float Mass
+        {
+            get { return CalculateMass(); }
+        }
+
+        public override Vector3 Force
+        {
+            //get { return Vector3.Zero; }
+            get { return m_force; }
+            set
+            {
+                if (value.IsFinite())
+                {
+                    m_force = value;
+                }
+                else
+                {
+                    m_log.Warn("[PHYSICS]: NaN in Force Applied to an Object");
+                }
+            }
+        }
+
+        public override int VehicleType
+        {
+            get { return (int)m_type; }
+            set { ProcessTypeChange((Vehicle)value); }
+        }
+
+        public override void VehicleFloatParam(int param, float value)
+        {
+            ProcessFloatVehicleParam((Vehicle)param, value);
+        }
+
+        public override void VehicleVectorParam(int param, Vector3 value)
+        {
+            ProcessVectorVehicleParam((Vehicle)param, value);
+        }
+
+        public override void VehicleRotationParam(int param, Quaternion rotation)
+        {
+            ProcessRotationVehicleParam((Vehicle)param, rotation);
+        }
+
+        public override void VehicleFlags(int param, bool remove)
+        {
+            ProcessVehicleFlags(param, remove);
+        }
+
+        public override void SetVolumeDetect(int param)
+        {
+            lock (_parent_scene.OdeLock)
+            {
+                m_isVolumeDetect = (param != 0);
+            }
+        }
+
+        public override Vector3 CenterOfMass
+        {
+            get { return Vector3.Zero; }
+        }
+
+        public override Vector3 GeometricCenter
+        {
+            get { return Vector3.Zero; }
+        }
+
+        public override PrimitiveBaseShape Shape
+        {
+            set
+            {
+                _pbs = value;
+                m_taintshape = true;
+            }
+        }
+
+        public override byte PhysicsShapeType
+        {
+            get
+            {
+                return m_shapetype;
+            }
+            set
+            {
+                m_taintshapetype = value;
+                _parent_scene.AddPhysicsActorTaint(this);
+            }
+        }
+
+        public override Vector3 Velocity
+        {
+            get
+            {
+                // Averate previous velocity with the new one so
+                // client object interpolation works a 'little' better
+                if (_zeroFlag)
+                    return Vector3.Zero;
+
+                Vector3 returnVelocity = Vector3.Zero;
+                returnVelocity.X = (m_lastVelocity.X + _velocity.X) / 2;
+                returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y) / 2;
+                returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z) / 2;
+                return returnVelocity;
+            }
+            set
+            {
+                if (value.IsFinite())
+                {
+                    _velocity = value;
+                    if (_velocity.ApproxEquals(Vector3.Zero, 0.001f))
+                        _acceleration = Vector3.Zero;
+
+                    m_taintVelocity = value;
+                    _parent_scene.AddPhysicsActorTaint(this);
+                }
+                else
+                {
+                    m_log.Warn("[PHYSICS]: Got NaN Velocity in Object");
+                }
+
+            }
+        }
+
+        public override Vector3 Torque
+        {
+            get
+            {
+                if (!m_isphysical || Body == IntPtr.Zero)
+                    return Vector3.Zero;
+
+                return _torque;
+            }
+
+            set
+            {
+                if (value.IsFinite())
+                {
+                    m_taintTorque = value;
+                    _parent_scene.AddPhysicsActorTaint(this);
+                }
+                else
+                {
+                    m_log.Warn("[PHYSICS]: Got NaN Torque in Object");
+                }
+            }
+        }
+
+        public override float CollisionScore
+        {
+            get { return m_collisionscore; }
+            set { m_collisionscore = value; }
+        }
+
+        public override bool Kinematic
+        {
+            get { return false; }
+            set { }
+        }
+
+        public override Quaternion Orientation
+        {
+            get { return _orientation; }
+            set
+            {
+                if (QuaternionIsFinite(value))
+                {
+                    _orientation = value;
+                }
+                else
+                    m_log.Warn("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object");
+
+            }
+        }
+
+        public override bool FloatOnWater
+        {
+            set
+            {
+                m_taintCollidesWater = value;
+                _parent_scene.AddPhysicsActorTaint(this);
+            }
+        }
+
+        public override void SetMomentum(Vector3 momentum)
+        {
+        }
+
+        public override Vector3 PIDTarget
+        {
+            set
+            {
+                if (value.IsFinite())
+                {
+                    m_PIDTarget = value;
+                }
+                else
+                    m_log.Warn("[PHYSICS]: Got NaN PIDTarget from Scene on Object");
+            }
+        }
+        public override bool PIDActive { set { m_usePID = value; } }
+        public override float PIDTau { set { m_PIDTau = value; } }
+
+        // For RotLookAt        
+        public override Quaternion APIDTarget { set { m_APIDTarget = value; } }
+        public override bool APIDActive { set { m_useAPID = value; } }
+        public override float APIDStrength { set { m_APIDStrength = value; } }
+        public override float APIDDamping { set { m_APIDDamping = value; } }
+
+        public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } }
+        public override bool PIDHoverActive { set { m_useHoverPID = value; } }
+        public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } }
+        public override float PIDHoverTau { set { m_PIDHoverTau = value; } }
+
+        internal static bool QuaternionIsFinite(Quaternion q)
+        {
+            if (Single.IsNaN(q.X) || Single.IsInfinity(q.X))
+                return false;
+            if (Single.IsNaN(q.Y) || Single.IsInfinity(q.Y))
+                return false;
+            if (Single.IsNaN(q.Z) || Single.IsInfinity(q.Z))
+                return false;
+            if (Single.IsNaN(q.W) || Single.IsInfinity(q.W))
+                return false;
+            return true;
+        }
+
+        public override Vector3 Acceleration            // client updates read data via here
+        {
+            get
+            {
+                if (_zeroFlag)
+                {
+                    return Vector3.Zero;
+                }
+                return _acceleration;
+            }
+            set { _acceleration = value; }
+        }
+
+
+        public void SetAcceleration(Vector3 accel) // No one calls this, and it would not do anything.
+        {
+            _acceleration = accel;
+        }
+
+        public override void AddForce(Vector3 force, bool pushforce)
+        {
+            if (force.IsFinite())
+            {
+                lock (m_forcelist)
+                    m_forcelist.Add(force);
+
+                m_taintforce = true;
+            }
+            else
+            {
+                m_log.Warn("[PHYSICS]: Got Invalid linear force vector from Scene in Object");
+            }
+            //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() +  " to prim at " + Position.ToString());
+        }
+
+        public override void AddAngularForce(Vector3 force, bool pushforce)
+        {
+            if (force.IsFinite())
+            {
+                m_angularforcelist.Add(force);
+                m_taintaddangularforce = true;
+            }
+            else
+            {
+                m_log.Warn("[PHYSICS]: Got Invalid Angular force vector from Scene in Object");
+            }
+        }
+
+        public override Vector3 RotationalVelocity
+        {
+            get
+            {
+                return m_rotationalVelocity;
+            }
+            set
+            {
+                if (value.IsFinite())
+                {
+                    m_rotationalVelocity = value;
+                }
+                else
+                {
+                    m_log.Warn("[PHYSICS]: Got NaN RotationalVelocity in Object");
+                }
+            }
+        }
+
+        public override void CrossingFailure()
+        {
+            if (m_outofBounds)
+            {
+                _position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f);
+                _position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f);
+                _position.Z = Util.Clip(_position.Z, -100f, 50000f);
+                d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
+
+                m_lastposition = _position;
+
+                _velocity = Vector3.Zero;
+                m_lastVelocity = _velocity;
+
+
+                if (m_type != Vehicle.TYPE_NONE)
+                    Halt();
+
+                d.BodySetLinearVel(Body, 0, 0, 0);
+                base.RequestPhysicsterseUpdate();
+                m_outofBounds = false;
+            }
+            /*
+                        int tmp = Interlocked.Increment(ref m_crossingfailures);
+                        if (tmp > _parent_scene.geomCrossingFailuresBeforeOutofbounds)
+                        {
+                            base.RaiseOutOfBounds(_position);
+                            return;
+                        }
+                        else if (tmp == _parent_scene.geomCrossingFailuresBeforeOutofbounds)
+                        {
+                            m_log.Warn("[PHYSICS]: Too many crossing failures for: " + m_primName);
+                        }
+             */
+        }
+
+        public override float Buoyancy
+        {
+            get { return m_buoyancy; }
+            set { m_buoyancy = value; }
+        }
+
+        public override void link(PhysicsActor obj)
+        {
+            m_taintparent = obj;
+        }
+
+        public override void delink()
+        {
+            m_taintparent = null;
+        }
+
+        public override void LockAngularMotion(Vector3 axis)
+        {
+            // This is actually ROTATION ENABLE, not a lock.
+            // default is <1,1,1> which is all enabled. 
+            // The lock value is updated inside Move(), no point in using the taint system.
+            // OS 'm_taintAngularLock' etc change to m_rotateEnable.
+            if (axis.IsFinite())
+            {
+                axis.X = (axis.X > 0) ? 1f : 0f;
+                axis.Y = (axis.Y > 0) ? 1f : 0f;
+                axis.Z = (axis.Z > 0) ? 1f : 0f;
+                m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z);
+                m_rotateEnableRequest = axis;
+                m_rotateEnableUpdate = true;
+            }
+            else
+            {
+                m_log.Warn("[PHYSICS]: Got NaN locking axis from Scene on Object");
+            }
+        }
+
+        public void SetGeom(IntPtr geom)
+        {
+            if (prim_geom != IntPtr.Zero)
+            {
+                // Remove any old entries
+                //string tPA;
+                //_parent_scene.geom_name_map.TryGetValue(prim_geom, out tPA);
+                //Console.WriteLine("**** Remove {0}", tPA);
+                if (_parent_scene.geom_name_map.ContainsKey(prim_geom)) _parent_scene.geom_name_map.Remove(prim_geom);
+                if (_parent_scene.actor_name_map.ContainsKey(prim_geom)) _parent_scene.actor_name_map.Remove(prim_geom);
+                d.GeomDestroy(prim_geom);
+            }
+
+            prim_geom = geom;
+            //Console.WriteLine("SetGeom to " + prim_geom + " for " + m_primName);     
+            if (prim_geom != IntPtr.Zero)
+            {
+                _parent_scene.geom_name_map[prim_geom] = this.m_primName;
+                _parent_scene.actor_name_map[prim_geom] = (PhysicsActor)this;
+                //Console.WriteLine("**** Create {2}    Dicts: actor={0}   name={1}", _parent_scene.actor_name_map.Count, _parent_scene.geom_name_map.Count, this.m_primName);
+                if (m_NoColide)
+                {
+                    d.GeomSetCategoryBits(prim_geom, 0);
+                    if (m_isphysical && !m_isVolumeDetect)
+                    {
+                        d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
+                    }
+                    else
+                    {
+                        d.GeomSetCollideBits(prim_geom, 0);
+                        d.GeomDisable(prim_geom);
+                    }
+                }
+                else
+                {
+                    d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
+                    d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+                }
+            }
+
+            if (childPrim)
+            {
+                if (_parent != null && _parent is OdePrim)
+                {
+                    OdePrim parent = (OdePrim)_parent;
+                    //Console.WriteLine("SetGeom calls ChildSetGeom");                    
+                    parent.ChildSetGeom(this);
+                }
+            }
+            //m_log.Warn("Setting Geom to: " + prim_geom);
+        }
+
+        public void enableBodySoft()
+        {
+            if (!childPrim)
+            {
+                if (m_isphysical && Body != IntPtr.Zero)
+                {
+                    d.BodyEnable(Body);
+                    if (m_type != Vehicle.TYPE_NONE)
+                        Enable(Body, _parent_scene);
+                }
+
+                m_disabled = false;
+            }
+        }
+
+        public void disableBodySoft()
+        {
+            m_disabled = true;
+
+            if (m_isphysical && Body != IntPtr.Zero)
+            {
+                d.BodyDisable(Body);
+                Halt();
+            }
+        }
+
+        public void enableBody()
+        {
+            // Don't enable this body if we're a child prim
+            // this should be taken care of in the parent function not here
+            if (!childPrim)
+            {
+                // Sets the geom to a body
+                Body = d.BodyCreate(_parent_scene.world);
+
+                setMass();
+                d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
+                d.Quaternion myrot = new d.Quaternion();
+                myrot.X = _orientation.X;
+                myrot.Y = _orientation.Y;
+                myrot.Z = _orientation.Z;
+                myrot.W = _orientation.W;
+                d.BodySetQuaternion(Body, ref myrot);
+                d.GeomSetBody(prim_geom, Body);
+
+                m_collisionCategories |= CollisionCategories.Body;
+                m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
+
+                if (m_NoColide)
+                {
+                    d.GeomSetCategoryBits(prim_geom, 0);
+                    d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
+                }
+                else
+                {
+                    d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
+                    d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+                }
+
+                d.BodySetAutoDisableFlag(Body, true);
+                d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
+
+                // disconnect from world gravity so we can apply buoyancy
+                d.BodySetGravityMode(Body, false);
+
+                m_interpenetrationcount = 0;
+                m_collisionscore = 0;
+                m_disabled = false;
+
+                if (m_type != Vehicle.TYPE_NONE)
+                {
+                    Enable(Body, _parent_scene);
+                }
+
+                _parent_scene.addActivePrim(this);
+            }
+        }
+
+        #region Mass Calculation
+
+        private float CalculateMass()
+        {
+            float volume = _size.X * _size.Y * _size.Z; // default
+            float tmp;
+
+            float returnMass = 0;
+            float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f;
+            float hollowVolume = hollowAmount * hollowAmount;
+
+            switch (_pbs.ProfileShape)
+            {
+                case ProfileShape.Square:
+                    // default box
+
+                    if (_pbs.PathCurve == (byte)Extrusion.Straight)
+                    {
+                        if (hollowAmount > 0.0)
+                        {
+                            switch (_pbs.HollowShape)
+                            {
+                                case HollowShape.Square:
+                                case HollowShape.Same:
+                                    break;
+
+                                case HollowShape.Circle:
+
+                                    hollowVolume *= 0.78539816339f;
+                                    break;
+
+                                case HollowShape.Triangle:
+
+                                    hollowVolume *= (0.5f * .5f);
+                                    break;
+
+                                default:
+                                    hollowVolume = 0;
+                                    break;
+                            }
+                            volume *= (1.0f - hollowVolume);
+                        }
+                    }
+
+                    else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
+                    {
+                        //a tube 
+
+                        volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX);
+                        tmp = 1.0f - 2.0e-2f * (float)(200 - _pbs.PathScaleY);
+                        volume -= volume * tmp * tmp;
+
+                        if (hollowAmount > 0.0)
+                        {
+                            hollowVolume *= hollowAmount;
+
+                            switch (_pbs.HollowShape)
+                            {
+                                case HollowShape.Square:
+                                case HollowShape.Same:
+                                    break;
+
+                                case HollowShape.Circle:
+                                    hollowVolume *= 0.78539816339f; ;
+                                    break;
+
+                                case HollowShape.Triangle:
+                                    hollowVolume *= 0.5f * 0.5f;
+                                    break;
+                                default:
+                                    hollowVolume = 0;
+                                    break;
+                            }
+                            volume *= (1.0f - hollowVolume);
+                        }
+                    }
+
+                    break;
+
+                case ProfileShape.Circle:
+
+                    if (_pbs.PathCurve == (byte)Extrusion.Straight)
+                    {
+                        volume *= 0.78539816339f; // elipse base
+
+                        if (hollowAmount > 0.0)
+                        {
+                            switch (_pbs.HollowShape)
+                            {
+                                case HollowShape.Same:
+                                case HollowShape.Circle:
+                                    break;
+
+                                case HollowShape.Square:
+                                    hollowVolume *= 0.5f * 2.5984480504799f;
+                                    break;
+
+                                case HollowShape.Triangle:
+                                    hollowVolume *= .5f * 1.27323954473516f;
+                                    break;
+
+                                default:
+                                    hollowVolume = 0;
+                                    break;
+                            }
+                            volume *= (1.0f - hollowVolume);
+                        }
+                    }
+
+                    else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
+                    {
+                        volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX);
+                        tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
+                        volume *= (1.0f - tmp * tmp);
+
+                        if (hollowAmount > 0.0)
+                        {
+
+                            // calculate the hollow volume by it's shape compared to the prim shape
+                            hollowVolume *= hollowAmount;
+
+                            switch (_pbs.HollowShape)
+                            {
+                                case HollowShape.Same:
+                                case HollowShape.Circle:
+                                    break;
+
+                                case HollowShape.Square:
+                                    hollowVolume *= 0.5f * 2.5984480504799f;
+                                    break;
+
+                                case HollowShape.Triangle:
+                                    hollowVolume *= .5f * 1.27323954473516f;
+                                    break;
+
+                                default:
+                                    hollowVolume = 0;
+                                    break;
+                            }
+                            volume *= (1.0f - hollowVolume);
+                        }
+                    }
+                    break;
+
+                case ProfileShape.HalfCircle:
+                    if (_pbs.PathCurve == (byte)Extrusion.Curve1)
+                    {
+                        volume *= 0.52359877559829887307710723054658f;
+                    }
+                    break;
+
+                case ProfileShape.EquilateralTriangle:
+
+                    if (_pbs.PathCurve == (byte)Extrusion.Straight)
+                    {
+                        volume *= 0.32475953f;
+
+                        if (hollowAmount > 0.0)
+                        {
+
+                            // calculate the hollow volume by it's shape compared to the prim shape
+                            switch (_pbs.HollowShape)
+                            {
+                                case HollowShape.Same:
+                                case HollowShape.Triangle:
+                                    hollowVolume *= .25f;
+                                    break;
+
+                                case HollowShape.Square:
+                                    hollowVolume *= 0.499849f * 3.07920140172638f;
+                                    break;
+
+                                case HollowShape.Circle:
+                                    // Hollow shape is a perfect cyllinder in respect to the cube's scale
+                                    // Cyllinder hollow volume calculation
+
+                                    hollowVolume *= 0.1963495f * 3.07920140172638f;
+                                    break;
+
+                                default:
+                                    hollowVolume = 0;
+                                    break;
+                            }
+                            volume *= (1.0f - hollowVolume);
+                        }
+                    }
+                    else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
+                    {
+                        volume *= 0.32475953f;
+                        volume *= 0.01f * (float)(200 - _pbs.PathScaleX);
+                        tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
+                        volume *= (1.0f - tmp * tmp);
+
+                        if (hollowAmount > 0.0)
+                        {
+
+                            hollowVolume *= hollowAmount;
+
+                            switch (_pbs.HollowShape)
+                            {
+                                case HollowShape.Same:
+                                case HollowShape.Triangle:
+                                    hollowVolume *= .25f;
+                                    break;
+
+                                case HollowShape.Square:
+                                    hollowVolume *= 0.499849f * 3.07920140172638f;
+                                    break;
+
+                                case HollowShape.Circle:
+
+                                    hollowVolume *= 0.1963495f * 3.07920140172638f;
+                                    break;
+
+                                default:
+                                    hollowVolume = 0;
+                                    break;
+                            }
+                            volume *= (1.0f - hollowVolume);
+                        }
+                    }
+                    break;
+
+                default:
+                    break;
+            }
+
+
+
+            float taperX1;
+            float taperY1;
+            float taperX;
+            float taperY;
+            float pathBegin;
+            float pathEnd;
+            float profileBegin;
+            float profileEnd;
+
+            if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible)
+            {
+                taperX1 = _pbs.PathScaleX * 0.01f;
+                if (taperX1 > 1.0f)
+                    taperX1 = 2.0f - taperX1;
+                taperX = 1.0f - taperX1;
+
+                taperY1 = _pbs.PathScaleY * 0.01f;
+                if (taperY1 > 1.0f)
+                    taperY1 = 2.0f - taperY1;
+                taperY = 1.0f - taperY1;
+            }
+            else
+            {
+                taperX = _pbs.PathTaperX * 0.01f;
+                if (taperX < 0.0f)
+                    taperX = -taperX;
+                taperX1 = 1.0f - taperX;
+
+                taperY = _pbs.PathTaperY * 0.01f;
+                if (taperY < 0.0f)
+                    taperY = -taperY;
+                taperY1 = 1.0f - taperY;
+
+            }
+
+
+            volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY);
+
+            pathBegin = (float)_pbs.PathBegin * 2.0e-5f;
+            pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f;
+            volume *= (pathEnd - pathBegin);
+
+            // this is crude aproximation
+            profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f;
+            profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f;
+            volume *= (profileEnd - profileBegin);
+
+            returnMass = m_density * volume;
+
+            if (returnMass <= 0)
+                returnMass = 0.0001f;//ckrinke: Mass must be greater then zero.
+            //            else if (returnMass > _parent_scene.maximumMassObject)
+            //                returnMass = _parent_scene.maximumMassObject;
+
+
+
+
+            // Recursively calculate mass
+            bool HasChildPrim = false;
+            lock (childrenPrim)
+            {
+                if (childrenPrim.Count > 0)
+                {
+                    HasChildPrim = true;
+                }
+
+            }
+            if (HasChildPrim)
+            {
+                OdePrim[] childPrimArr = new OdePrim[0];
+
+                lock (childrenPrim)
+                    childPrimArr = childrenPrim.ToArray();
+
+                for (int i = 0; i < childPrimArr.Length; i++)
+                {
+                    if (childPrimArr[i] != null && !childPrimArr[i].m_taintremove)
+                        returnMass += childPrimArr[i].CalculateMass();
+                    // failsafe, this shouldn't happen but with OpenSim, you never know :)
+                    if (i > 256)
+                        break;
+                }
+            }
+            if (returnMass > _parent_scene.maximumMassObject)
+                returnMass = _parent_scene.maximumMassObject;
+            return returnMass;
+        }// end CalculateMass
+
+        #endregion
+
+        public void setMass()
+        {
+            if (Body != (IntPtr)0)
+            {
+                float newmass = CalculateMass();
+
+                //m_log.Info("[PHYSICS]: New Mass: " + newmass.ToString());
+
+                d.MassSetBoxTotal(out pMass, newmass, _size.X, _size.Y, _size.Z);
+                d.BodySetMass(Body, ref pMass);
+            }
+        }
+
+        public void disableBody()
+        {
+            //this kills the body so things like 'mesh' can re-create it.
+            lock (this)
+            {
+                if (!childPrim)
+                {
+                    if (Body != IntPtr.Zero)
+                    {
+                        _parent_scene.remActivePrim(this);
+                        m_collisionCategories &= ~CollisionCategories.Body;
+                        m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
+
+                        if (prim_geom != IntPtr.Zero)
+                        {
+                            if (m_NoColide)
+                            {
+                                d.GeomSetCategoryBits(prim_geom, 0);
+                                d.GeomSetCollideBits(prim_geom, 0);
+                                d.GeomDisable(prim_geom);
+                            }
+                            else
+                            {
+                                d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
+                                d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+                            }
+                        }
+
+                        d.BodyDestroy(Body);
+                        lock (childrenPrim)
+                        {
+                            if (childrenPrim.Count > 0)
+                            {
+                                foreach (OdePrim prm in childrenPrim)
+                                {
+                                    if (prm.m_NoColide && prm.prim_geom != IntPtr.Zero)
+                                    {
+                                        d.GeomSetCategoryBits(prm.prim_geom, 0);
+                                        d.GeomSetCollideBits(prm.prim_geom, 0);
+                                        d.GeomDisable(prm.prim_geom);
+                                    }
+
+                                    _parent_scene.remActivePrim(prm);
+                                    prm.Body = IntPtr.Zero;
+                                }
+                            }
+                        }
+                        Body = IntPtr.Zero;
+                    }
+                }
+                else
+                {
+                    _parent_scene.remActivePrim(this);
+
+                    m_collisionCategories &= ~CollisionCategories.Body;
+                    m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
+
+                    if (prim_geom != IntPtr.Zero)
+                    {
+                        if (m_NoColide)
+                        {
+                            d.GeomSetCategoryBits(prim_geom, 0);
+                            d.GeomSetCollideBits(prim_geom, 0);
+                            d.GeomDisable(prim_geom);
+                        }
+                        else
+                        {
+                            d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
+                            d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+                        }
+                    }
+
+                    Body = IntPtr.Zero;
+                }
+            }
+            m_disabled = true;
+            m_collisionscore = 0;
+        }
+
+//        private static Dictionary<IMesh, IntPtr> m_MeshToTriMeshMap = new Dictionary<IMesh, IntPtr>();
+
+        public bool setMesh(OdeScene parent_scene, IMesh mesh)
+        {
+            //Kill Body so that mesh can re-make the geom
+            if (IsPhysical && Body != IntPtr.Zero)
+            {
+                if (childPrim)
+                {
+                    if (_parent != null)
+                    {
+                        OdePrim parent = (OdePrim)_parent;
+                        parent.ChildDelink(this);
+                    }
+                }
+                else
+                {
+                    disableBody();
+                }
+            }
+
+            IntPtr vertices, indices;
+            int vertexCount, indexCount;
+            int vertexStride, triStride;
+            mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); // Note, that vertices are fixed in unmanaged heap
+            mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); // Also fixed, needs release after usage
+
+            // warning this destroys the mesh for eventual future use. Only pinned float arrays stay valid
+            mesh.releaseSourceMeshData(); // free up the original mesh data to save memory
+
+            if (vertexCount == 0 || indexCount == 0)
+            {
+                m_log.WarnFormat("[PHYSICS]: Got invalid mesh on prim {0} at <{1},{2},{3}>. mesh UUID {4}", Name, _position.X, _position.Y, _position.Z, _pbs.SculptTexture.ToString());
+                return false;
+            }
+
+            IntPtr geo = IntPtr.Zero;
+            try
+            {
+                _triMeshData = d.GeomTriMeshDataCreate();
+                d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride);
+                d.GeomTriMeshDataPreprocess(_triMeshData);
+
+                _parent_scene.waitForSpaceUnlock(m_targetSpace);
+
+                 geo = d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null);
+            }
+            catch (Exception e)
+            {
+                m_log.ErrorFormat("[PHYSICS]: Create trimesh failed on prim {0} : {1}",Name,e.Message);
+
+                if (_triMeshData != IntPtr.Zero)
+                {
+                    d.GeomTriMeshDataDestroy(_triMeshData);
+                    _triMeshData = IntPtr.Zero;
+                }
+                return false;
+            }
+
+            SetGeom(geo);
+
+            return true;
+        }
+
+        public void ProcessTaints(float timestep) //=============================================================================
+        {
+            if (m_taintadd)
+            {
+                changeadd(timestep);
+            }
+
+            if (m_taintremove)
+                return;
+
+            if (prim_geom != IntPtr.Zero)
+            {
+                if (!_position.ApproxEquals(m_taintposition, 0f))
+                {
+                    changemove(timestep);
+                }
+                if (m_taintrot != _orientation)
+                {
+                    if (childPrim && IsPhysical)        // For physical child prim...
+                    {
+                        rotate(timestep);
+                        // KF: ODE will also rotate the parent prim!
+                        // so rotate the root back to where it was
+                        OdePrim parent = (OdePrim)_parent;
+                        parent.rotate(timestep);
+                    }
+                    else
+                    {
+                        //Just rotate the prim
+                        rotate(timestep);
+                    }
+                }
+                //
+                if (m_taintphantom != m_isphantom )
+                {
+                    changePhantomStatus();
+                }//
+
+                if (m_taintPhysics != m_isphysical && !(m_taintparent != _parent))
+                {
+                    changePhysicsStatus(timestep);
+                }//
+
+
+                if (!_size.ApproxEquals(m_taintsize, 0f))
+                    changesize(timestep);
+                //
+
+                if(m_taintshapetype != m_shapetype)
+                {
+                    m_shapetype = m_taintshapetype;
+                    changeshape(timestep);
+                }
+
+                if (m_taintshape)
+                    changeshape(timestep);
+                //
+
+                if (m_taintforce)
+                    changeAddForce(timestep);
+
+                if (m_taintaddangularforce)
+                    changeAddAngularForce(timestep);
+
+                if (!m_taintTorque.ApproxEquals(Vector3.Zero, 0.001f))
+                    changeSetTorque(timestep);
+
+                if (m_taintdisable)
+                    changedisable(timestep);
+
+                if (m_taintselected != m_isSelected)
+                    changeSelectedStatus();
+
+                if (!m_taintVelocity.ApproxEquals(Vector3.Zero, 0.001f))
+                    changevelocity(timestep);
+
+                if (m_taintparent != _parent)
+                    changelink(timestep);
+
+                if (m_taintCollidesWater != m_collidesWater)
+                    changefloatonwater(timestep);
+
+                if (m_taintvehicledata != null)
+                    DoSetVehicle();
+
+                /* obsolete                    
+                                if (!m_angularLock.ApproxEquals(m_taintAngularLock,0f))
+                                    changeAngularLock(timestep);
+                 */
+            }
+
+            else
+            {
+                m_log.Error("[PHYSICS]: prim {0} at <{1},{2},{3}> as invalid geom");
+
+                // not sure this will not flame...
+                m_taintremove = true;
+                _parent_scene.AddPhysicsActorTaint(this);
+            }
+
+        }
+
+        private void changelink(float timestep)
+        {
+            // If the newly set parent is not null
+            // create link
+            if (_parent == null && m_taintparent != null)
+            {
+                if (m_taintparent.PhysicsActorType == (int)ActorTypes.Prim)
+                {
+                    OdePrim obj = (OdePrim)m_taintparent;
+                    obj.ParentPrim(this);
+                }
+            }
+            // If the newly set parent is null
+            // destroy link
+            else if (_parent != null && m_taintparent == null)
+            {
+                if (_parent is OdePrim)
+                {
+                    OdePrim obj = (OdePrim)_parent;
+                    obj.ChildDelink(this);
+                    childPrim = false;
+                }
+            }
+
+            _parent = m_taintparent;
+            m_taintPhysics = m_isphysical;
+        }
+
+        // I'm the parent
+        // prim is the child
+        public void ParentPrim(OdePrim prim)
+        {
+            if (this.m_localID != prim.m_localID)
+            {
+                if (Body == IntPtr.Zero)
+                {
+                    Body = d.BodyCreate(_parent_scene.world);
+                    // disconnect from world gravity so we can apply buoyancy
+                    d.BodySetGravityMode(Body, false);
+
+                    setMass();
+                }
+                if (Body != IntPtr.Zero)
+                {
+                    lock (childrenPrim)
+                    {
+                        if (!childrenPrim.Contains(prim))
+                        {
+                            childrenPrim.Add(prim);
+
+                            foreach (OdePrim prm in childrenPrim)
+                            {
+                                d.Mass m2;
+                                d.MassSetZero(out m2);
+                                d.MassSetBoxTotal(out m2, prim.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z);
+
+
+                                d.Quaternion quat = new d.Quaternion();
+                                quat.W = prm._orientation.W;
+                                quat.X = prm._orientation.X;
+                                quat.Y = prm._orientation.Y;
+                                quat.Z = prm._orientation.Z;
+
+                                d.Matrix3 mat = new d.Matrix3();
+                                d.RfromQ(out mat, ref quat);
+                                d.MassRotate(ref m2, ref mat);
+                                d.MassTranslate(ref m2, Position.X - prm.Position.X, Position.Y - prm.Position.Y, Position.Z - prm.Position.Z);
+                                d.MassAdd(ref pMass, ref m2);
+                            }
+                            foreach (OdePrim prm in childrenPrim)
+                            {
+                                if (m_isphantom && !prm.m_isVolumeDetect)
+                                {
+                                    prm.m_collisionCategories = 0;
+                                    prm.m_collisionFlags = CollisionCategories.Land;
+                                }
+                                else
+                                {
+                                    prm.m_collisionCategories |= CollisionCategories.Body;
+                                    prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
+                                }
+                                if (prm.prim_geom == IntPtr.Zero)
+                                {
+                                    m_log.Warn("[PHYSICS]: Unable to link one of the linkset elements.  No geom yet");
+                                    continue;
+                                }
+
+                                if (prm.m_NoColide)
+                                {
+                                    d.GeomSetCategoryBits(prm.prim_geom, 0);
+                                    d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);
+                                }
+                                else
+                                {
+                                    d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories);
+                                    d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags);
+                                }
+
+                                d.Quaternion quat = new d.Quaternion();
+                                quat.W = prm._orientation.W;
+                                quat.X = prm._orientation.X;
+                                quat.Y = prm._orientation.Y;
+                                quat.Z = prm._orientation.Z;
+
+                                d.Matrix3 mat = new d.Matrix3();
+                                d.RfromQ(out mat, ref quat);
+                                if (Body != IntPtr.Zero)
+                                {
+                                    d.GeomSetBody(prm.prim_geom, Body);
+                                    prm.childPrim = true;
+                                    d.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X, prm.Position.Y, prm.Position.Z);
+                                    //d.GeomSetOffsetPosition(prim.prim_geom,
+                                    //    (Position.X - prm.Position.X) - pMass.c.X,
+                                    //    (Position.Y - prm.Position.Y) - pMass.c.Y,
+                                    //    (Position.Z - prm.Position.Z) - pMass.c.Z);
+                                    d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat);
+                                    //d.GeomSetOffsetRotation(prm.prim_geom, ref mat);
+                                    d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
+                                    d.BodySetMass(Body, ref pMass);
+                                }
+                                else
+                                {
+                                    m_log.Debug("[PHYSICS]:I ain't got no boooooooooddy, no body");
+                                }
+
+                                prm.m_interpenetrationcount = 0;
+                                prm.m_collisionscore = 0;
+                                prm.m_disabled = false;
+
+                                prm.Body = Body;
+
+                                    _parent_scene.addActivePrim(prm);
+                            }
+
+                            if (m_isphantom && !m_isVolumeDetect)
+                            {
+                                m_collisionCategories = 0;
+                                m_collisionFlags = CollisionCategories.Land;
+                            }
+                            else
+                            {
+                                m_collisionCategories |= CollisionCategories.Body;
+                                m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
+                            }
+
+                            if (m_NoColide)
+                            {
+                                d.GeomSetCategoryBits(prim_geom, 0);
+                                d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
+                            }
+                            else
+                            {
+                                d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
+                                d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+                            }
+
+                            d.Quaternion quat2 = new d.Quaternion();
+                            quat2.W = _orientation.W;
+                            quat2.X = _orientation.X;
+                            quat2.Y = _orientation.Y;
+                            quat2.Z = _orientation.Z;
+
+                            d.Matrix3 mat2 = new d.Matrix3();
+                            d.RfromQ(out mat2, ref quat2);
+                            d.GeomSetBody(prim_geom, Body);
+                            d.GeomSetOffsetWorldPosition(prim_geom, Position.X - pMass.c.X, Position.Y - pMass.c.Y, Position.Z - pMass.c.Z);
+                            //d.GeomSetOffsetPosition(prim.prim_geom,
+                            //    (Position.X - prm.Position.X) - pMass.c.X,
+                            //    (Position.Y - prm.Position.Y) - pMass.c.Y,
+                            //    (Position.Z - prm.Position.Z) - pMass.c.Z);
+                            //d.GeomSetOffsetRotation(prim_geom, ref mat2);
+                            d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
+                            d.BodySetMass(Body, ref pMass);
+
+                            d.BodySetAutoDisableFlag(Body, true);
+                            d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
+
+                            m_interpenetrationcount = 0;
+                            m_collisionscore = 0;
+                            m_disabled = false;
+
+                            d.BodySetPosition(Body, Position.X, Position.Y, Position.Z);
+                            if (m_type != Vehicle.TYPE_NONE) Enable(Body, _parent_scene);
+
+                            _parent_scene.addActivePrim(this);
+                        }
+                    }
+                }
+            }
+        }
+
+        private void ChildSetGeom(OdePrim odePrim)
+        {
+            lock (childrenPrim)
+            {
+                foreach (OdePrim prm in childrenPrim)
+                {
+                    prm.disableBody();
+                }
+            }
+            disableBody();
+
+            if (Body != IntPtr.Zero)
+            {
+                _parent_scene.remActivePrim(this);
+            }
+
+            lock (childrenPrim)
+            {
+                foreach (OdePrim prm in childrenPrim)
+                {
+                    ParentPrim(prm);
+                }
+            }
+        }
+
+        private void ChildDelink(OdePrim odePrim)
+        {
+            // Okay, we have a delinked child..   need to rebuild the body.
+            lock (childrenPrim)
+            {
+                foreach (OdePrim prm in childrenPrim)
+                {
+                    prm.childPrim = true;
+                    prm.disableBody();
+                }
+            }
+            disableBody();
+
+            lock (childrenPrim)
+            {
+                childrenPrim.Remove(odePrim);
+            }
+
+            if (Body != IntPtr.Zero)
+            {
+                _parent_scene.remActivePrim(this);
+            }
+
+            lock (childrenPrim)
+            {
+                foreach (OdePrim prm in childrenPrim)
+                {
+                    ParentPrim(prm);
+                }
+            }
+        }
+
+        private void changePhantomStatus()
+        {
+            m_taintphantom = m_isphantom;
+            changeSelectedStatus();
+        }
+
+/* not in use
+        private void SetCollider()
+        {
+            SetCollider(m_isSelected, m_isphysical, m_isphantom, m_isSelected);
+        }
+
+        private void SetCollider(bool sel, bool phys, bool phan, bool vdtc)
+        {
+            if (sel)
+            {
+                m_collisionCategories = CollisionCategories.Selected;
+                m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space);
+            }
+            else
+            {
+                if (phan && !vdtc)
+                {
+                    m_collisionCategories = 0;
+                    if (phys)
+                        m_collisionFlags = CollisionCategories.Land;
+                    else
+                        m_collisionFlags = 0; // this case should not happen non physical phantoms should not have physics
+                }
+                else
+                {
+                    m_collisionCategories = CollisionCategories.Geom;
+                    if (phys)
+                        m_collisionCategories |= CollisionCategories.Body;
+
+                    m_collisionFlags = m_default_collisionFlags;
+
+                    if (m_collidesLand)
+                        m_collisionFlags |= CollisionCategories.Land;
+                    if (m_collidesWater)
+                        m_collisionFlags |= CollisionCategories.Water;
+                }
+            }
+
+            if (prim_geom != IntPtr.Zero)
+            {
+                if (m_NoColide)
+                {
+                    d.GeomSetCategoryBits(prim_geom, 0);
+                    if (phys)
+                        d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
+                    else
+                    {
+                        d.GeomSetCollideBits(prim_geom, 0);
+                        d.GeomDisable(prim_geom);
+                    }
+                }
+                else
+                {
+                    d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
+                    d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+                }
+            }
+        }
+*/
+
+        private void changeSelectedStatus()
+        {
+            if (m_taintselected)
+            {
+                m_collisionCategories = CollisionCategories.Selected;
+                m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space);
+
+                // We do the body disable soft twice because 'in theory' a collision could have happened
+                // in between the disabling and the collision properties setting
+                // which would wake the physical body up from a soft disabling and potentially cause it to fall
+                // through the ground.
+
+                // NOTE FOR JOINTS: this doesn't always work for jointed assemblies because if you select
+                // just one part of the assembly, the rest of the assembly is non-selected and still simulating,
+                // so that causes the selected part to wake up and continue moving.
+
+                // even if you select all parts of a jointed assembly, it is not guaranteed that the entire
+                // assembly will stop simulating during the selection, because of the lack of atomicity
+                // of select operations (their processing could be interrupted by a thread switch, causing
+                // simulation to continue before all of the selected object notifications trickle down to
+                // the physics engine).
+
+                // e.g. we select 100 prims that are connected by joints. non-atomically, the first 50 are
+                // selected and disabled. then, due to a thread switch, the selection processing is
+                // interrupted and the physics engine continues to simulate, so the last 50 items, whose
+                // selection was not yet processed, continues to simulate. this wakes up ALL of the 
+                // first 50 again. then the last 50 are disabled. then the first 50, which were just woken
+                // up, start simulating again, which in turn wakes up the last 50.
+
+                if (m_isphysical)
+                {
+                    disableBodySoft();
+                }
+
+                if (prim_geom != IntPtr.Zero)
+                {
+                    d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
+                    d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+                    if (m_NoColide)
+                        d.GeomDisable(prim_geom);
+                }
+
+                if (m_isphysical)
+                {
+                    disableBodySoft();
+                }
+                if (Body != IntPtr.Zero)
+                {
+                    d.BodySetLinearVel(Body, 0f, 0f, 0f);
+                    d.BodySetForce(Body, 0f, 0f, 0f);
+                    d.BodySetAngularVel(Body, 0.0f, 0.0f, 0.0f);
+                    d.BodySetTorque(Body, 0.0f, 0.0f, 0.0f);
+                }
+            }
+            else
+            {
+                if (m_isphantom && !m_isVolumeDetect)
+                {
+                    m_collisionCategories = 0;
+                    if (m_isphysical)
+                        m_collisionFlags = CollisionCategories.Land;
+                    else
+                        m_collisionFlags = 0; // this case should not happen non physical phantoms should not have physics
+                }
+                else
+                {
+                    m_collisionCategories = CollisionCategories.Geom;
+                    if (m_isphysical)
+                        m_collisionCategories |= CollisionCategories.Body;
+
+                    m_collisionFlags = m_default_collisionFlags;
+
+                    if (m_collidesLand)
+                        m_collisionFlags |= CollisionCategories.Land;
+                    if (m_collidesWater)
+                        m_collisionFlags |= CollisionCategories.Water;
+                }
+
+                if (prim_geom != IntPtr.Zero)
+                {
+                    if (m_NoColide)
+                    {
+                        d.GeomSetCategoryBits(prim_geom, 0);
+                        if (m_isphysical)
+                            d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
+                        else
+                        {
+                            d.GeomSetCollideBits(prim_geom, 0);
+                            d.GeomDisable(prim_geom);
+                        }
+                    }
+                    else
+                    {
+                        d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
+                        d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+                    }
+                }
+                if (Body != IntPtr.Zero)
+                {
+                    d.BodySetLinearVel(Body, 0f, 0f, 0f);
+                    d.BodySetForce(Body, 0f, 0f, 0f);
+                    d.BodySetAngularVel(Body, 0.0f, 0.0f, 0.0f);
+                    d.BodySetTorque(Body, 0.0f, 0.0f, 0.0f);
+                }
+
+                if (m_isphysical)
+                {
+                    if (Body != IntPtr.Zero)
+                    {
+                        enableBodySoft();
+                    }
+                }
+            }
+
+            resetCollisionAccounting();
+            m_isSelected = m_taintselected;
+        }//end changeSelectedStatus
+
+        public void ResetTaints()
+        {
+            m_taintposition = _position;
+            m_taintrot = _orientation;
+            m_taintPhysics = m_isphysical;
+            m_taintselected = m_isSelected;
+            m_taintsize = _size;
+            m_taintshape = false;
+            m_taintforce = false;
+            m_taintdisable = false;
+            m_taintVelocity = Vector3.Zero;
+        }
+
+        public void CreateGeom(IntPtr m_targetSpace, IMesh _mesh)
+        {
+            bool gottrimesh = false;
+
+            m_NoColide = false; // assume all will go well
+
+            if (_triMeshData != IntPtr.Zero)
+            {
+                d.GeomTriMeshDataDestroy(_triMeshData);
+                _triMeshData = IntPtr.Zero;
+            }
+
+            if (_mesh != null)
+            {
+                gottrimesh = setMesh(_parent_scene, _mesh);
+                if (!gottrimesh)
+                {
+                    // getting a mesh failed,
+                    // lets go on having a basic box or sphere, with prim size but not coliding
+                    // physical colides with land, non with nothing
+
+                    m_NoColide = true;
+                }
+            }
+
+            if (!gottrimesh)
+            { // we will have a basic box or sphere
+                IntPtr geo = IntPtr.Zero;
+
+                if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1
+                    && _size.X == _size.Y && _size.X == _size.Z)
+                {
+                    // its a sphere
+                    _parent_scene.waitForSpaceUnlock(m_targetSpace);
+                    try
+                    {
+                        geo = d.CreateSphere(m_targetSpace, _size.X * 0.5f);
+                    }
+                    catch (Exception e)
+                    {
+                        m_log.WarnFormat("[PHYSICS]: Unable to create basic sphere for object {0}", e.Message);
+                        geo = IntPtr.Zero;
+                        ode.dunlock(_parent_scene.world);
+                    }
+                }
+                else // make it a box
+                {
+                    _parent_scene.waitForSpaceUnlock(m_targetSpace);
+                    try
+                    {
+                        geo = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
+                    }
+                    catch (Exception e)
+                    {
+                        m_log.WarnFormat("[PHYSICS]: Unable to create basic sphere for object {0}", e.Message);
+                        geo = IntPtr.Zero;
+                        ode.dunlock(_parent_scene.world);
+                    }
+                }
+
+                if (geo == IntPtr.Zero) // if this happens it must be fixed
+                {
+                    // if it does lets stop what we can
+                    // not sure this will not flame...
+
+                    m_taintremove = true;
+                    _parent_scene.AddPhysicsActorTaint(this);
+                    return;
+                }
+
+                SetGeom(geo); // this processes the m_NoColide
+            }
+        }
+
+        public void changeadd(float timestep)
+        {
+            int[] iprimspaceArrItem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
+            IntPtr targetspace = _parent_scene.calculateSpaceForGeom(_position);
+
+            if (targetspace == IntPtr.Zero)
+                targetspace = _parent_scene.createprimspace(iprimspaceArrItem[0], iprimspaceArrItem[1]);
+
+            m_targetSpace = targetspace;
+
+            if (_mesh == null) // && m_meshfailed == false)
+            {
+                if (_parent_scene.needsMeshing(_pbs))
+                {
+                    bool convex;
+                    if (m_shapetype == 2)
+                        convex = true;
+                    else
+                        convex = false;
+                    try
+                    {
+                        _mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size, (int)LevelOfDetail.High, true,convex);
+                    }
+                    catch
+                    {
+                        //Don't continuously try to mesh prims when meshing has failed
+                        m_meshfailed = true;
+                        _mesh = null;
+                        m_log.WarnFormat("[PHYSICS]: changeAdd CreateMesh fail on prim {0} at <{1},{2},{3}>", Name, _position.X, _position.Y, _position.Z);
+                    }
+                }
+            }
+
+            lock (_parent_scene.OdeLock)
+            {
+                CreateGeom(m_targetSpace, _mesh);
+
+                if (prim_geom != IntPtr.Zero)
+                {
+                    d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
+                    d.Quaternion myrot = new d.Quaternion();
+                    myrot.X = _orientation.X;
+                    myrot.Y = _orientation.Y;
+                    myrot.Z = _orientation.Z;
+                    myrot.W = _orientation.W;
+                    d.GeomSetQuaternion(prim_geom, ref myrot);
+                }
+
+                if (m_isphysical && Body == IntPtr.Zero)
+                {
+                    enableBody();
+                }
+            }
+
+            changeSelectedStatus();
+
+            m_taintadd = false;
+        }
+
+        public void changemove(float timestep)
+        {
+            if (m_isphysical)
+            {
+                //                if (!m_disabled && !m_taintremove && !childPrim)  After one edit m_disabled is sometimes set, disabling further edits!
+                if (!m_taintremove && !childPrim)
+                {
+                    if (Body == IntPtr.Zero)
+                        enableBody();
+                    //Prim auto disable after 20 frames,
+                    //if you move it, re-enable the prim manually.
+                    if (_parent != null)
+                    {
+                        if (m_linkJoint != IntPtr.Zero)
+                        {
+                            d.JointDestroy(m_linkJoint);
+                            m_linkJoint = IntPtr.Zero;
+                        }
+                    }
+                    if (Body != IntPtr.Zero)
+                    {
+                        d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
+
+                        if (_parent != null)
+                        {
+                            OdePrim odParent = (OdePrim)_parent;
+                            if (Body != (IntPtr)0 && odParent.Body != (IntPtr)0 && Body != odParent.Body)
+                            {
+                                // KF: Fixed Joints were removed? Anyway - this Console.WriteLine does not show up, so routine is not used??
+                                Console.WriteLine("ODEPrim JointCreateFixed !!!");
+                                m_linkJoint = d.JointCreateFixed(_parent_scene.world, _linkJointGroup);
+                                d.JointAttach(m_linkJoint, Body, odParent.Body);
+                                d.JointSetFixed(m_linkJoint);
+                            }
+                        }
+                        d.BodyEnable(Body);
+                        if (m_type != Vehicle.TYPE_NONE)
+                        {
+                            Enable(Body, _parent_scene);
+                        }
+                    }
+                    else
+                    {
+                        m_log.Warn("[PHYSICS]: Body Still null after enableBody().  This is a crash scenario.");
+                    }
+                }
+                //else
+                // {
+                //m_log.Debug("[BUG]: race!");
+                //}
+            }
+            else
+            {
+                // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
+                // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
+                _parent_scene.waitForSpaceUnlock(m_targetSpace);
+
+                IntPtr tempspace = _parent_scene.recalculateSpaceForGeom(prim_geom, _position, m_targetSpace);
+                m_targetSpace = tempspace;
+
+                _parent_scene.waitForSpaceUnlock(m_targetSpace);
+                if (prim_geom != IntPtr.Zero)
+                {
+                    d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
+
+                    _parent_scene.waitForSpaceUnlock(m_targetSpace);
+                    d.SpaceAdd(m_targetSpace, prim_geom);
+                }
+            }
+
+            changeSelectedStatus();
+
+            resetCollisionAccounting();
+            m_taintposition = _position;
+        }
+
+        public void rotate(float timestep)
+        {
+            d.Quaternion myrot = new d.Quaternion();
+            myrot.X = _orientation.X;
+            myrot.Y = _orientation.Y;
+            myrot.Z = _orientation.Z;
+            myrot.W = _orientation.W;
+            if (Body != IntPtr.Zero)
+            {
+                // KF: If this is a root prim do BodySet
+                d.BodySetQuaternion(Body, ref myrot);
+            }
+            else
+            {
+                // daughter prim, do Geom set
+                d.GeomSetQuaternion(prim_geom, ref myrot);
+            }
+
+            resetCollisionAccounting();
+            m_taintrot = _orientation;
+        }
+
+        private void resetCollisionAccounting()
+        {
+            m_collisionscore = 0;
+            m_interpenetrationcount = 0;
+            m_disabled = false;
+        }
+
+        public void changedisable(float timestep)
+        {
+            m_disabled = true;
+            if (Body != IntPtr.Zero)
+            {
+                d.BodyDisable(Body);
+                Body = IntPtr.Zero;
+            }
+
+            m_taintdisable = false;
+        }
+
+        public void changePhysicsStatus(float timestep)
+        {
+            if (m_isphysical == true)
+            {
+                if (Body == IntPtr.Zero)
+                {
+                    if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim)
+                    {
+                        changeshape(2f);
+                    }
+                    else
+                    {
+                        enableBody();
+                    }
+                }
+            }
+            else
+            {
+                if (Body != IntPtr.Zero)
+                {
+                    if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim)
+                    {
+                        _mesh = null;
+                        changeadd(2f);
+                    }
+                    if (childPrim)
+                    {
+                        if (_parent != null)
+                        {
+                            OdePrim parent = (OdePrim)_parent;
+                            parent.ChildDelink(this);
+                        }
+                    }
+                    else
+                    {
+                        disableBody();
+                    }
+                }
+            }
+
+            changeSelectedStatus();
+
+            resetCollisionAccounting();
+            m_taintPhysics = m_isphysical;
+        }
+
+        public void changesize(float timestamp)
+        {
+
+            string oldname = _parent_scene.geom_name_map[prim_geom];
+
+            if (_size.X <= 0) _size.X = 0.01f;
+            if (_size.Y <= 0) _size.Y = 0.01f;
+            if (_size.Z <= 0) _size.Z = 0.01f;
+
+            // Cleanup of old prim geometry
+            if (_mesh != null)
+            {
+                // Cleanup meshing here
+            }
+            //kill body to rebuild
+            if (IsPhysical && Body != IntPtr.Zero)
+            {
+                if (childPrim)
+                {
+                    if (_parent != null)
+                    {
+                        OdePrim parent = (OdePrim)_parent;
+                        parent.ChildDelink(this);
+                    }
+                }
+                else
+                {
+                    disableBody();
+                }
+            }
+            if (d.SpaceQuery(m_targetSpace, prim_geom))
+            {
+                _parent_scene.waitForSpaceUnlock(m_targetSpace);
+                d.SpaceRemove(m_targetSpace, prim_geom);
+            }
+            // we don't need to do space calculation because the client sends a position update also.
+
+            // Construction of new prim
+            if (_parent_scene.needsMeshing(_pbs))// && m_meshfailed == false)
+            {
+                float meshlod = _parent_scene.meshSculptLOD;
+
+                if (IsPhysical)
+                    meshlod = _parent_scene.MeshSculptphysicalLOD;
+                // Don't need to re-enable body..   it's done in SetMesh
+
+                IMesh mesh = null;
+
+                try
+                {
+                    if (_parent_scene.needsMeshing(_pbs))
+                        mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, (int)LevelOfDetail.High, true);
+                }
+                catch
+                {
+                    m_meshfailed = true;
+                    mesh = null;
+                    m_log.WarnFormat("[PHYSICS]: changeSize CreateMesh fail on prim {0} at <{1},{2},{3}>", Name, _position.X, _position.Y, _position.Z);
+                }
+
+                //IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical);
+                CreateGeom(m_targetSpace, mesh);
+            }
+            else
+            {
+                _mesh = null;
+                CreateGeom(m_targetSpace, _mesh);
+            }
+
+            d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
+            d.Quaternion myrot = new d.Quaternion();
+            myrot.X = _orientation.X;
+            myrot.Y = _orientation.Y;
+            myrot.Z = _orientation.Z;
+            myrot.W = _orientation.W;
+            d.GeomSetQuaternion(prim_geom, ref myrot);
+
+            //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
+            if (IsPhysical && Body == IntPtr.Zero && !childPrim)
+            {
+                // Re creates body on size.
+                // EnableBody also does setMass()
+                enableBody();
+                d.BodyEnable(Body);
+            }
+
+            _parent_scene.geom_name_map[prim_geom] = oldname;
+
+            changeSelectedStatus();
+            if (childPrim)
+            {
+                if (_parent is OdePrim)
+                {
+                    OdePrim parent = (OdePrim)_parent;
+                    parent.ChildSetGeom(this);
+                }
+            }
+            resetCollisionAccounting();
+            m_taintsize = _size;
+        }
+
+
+
+        public void changefloatonwater(float timestep)
+        {
+            m_collidesWater = m_taintCollidesWater;
+
+            if (prim_geom != IntPtr.Zero)
+            {
+                if (m_collidesWater)
+                {
+                    m_collisionFlags |= CollisionCategories.Water;
+                }
+                else
+                {
+                    m_collisionFlags &= ~CollisionCategories.Water;
+                }
+                d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+            }
+        }
+
+        public void changeshape(float timestamp)
+        {
+            string oldname = _parent_scene.geom_name_map[prim_geom];
+
+            // Cleanup of old prim geometry and Bodies
+            if (IsPhysical && Body != IntPtr.Zero)
+            {
+                if (childPrim)
+                {
+                    if (_parent != null)
+                    {
+                        OdePrim parent = (OdePrim)_parent;
+                        parent.ChildDelink(this);
+                    }
+                }
+                else
+                {
+                    disableBody();
+                }
+            }
+
+
+            // we don't need to do space calculation because the client sends a position update also.
+            if (_size.X <= 0) _size.X = 0.01f;
+            if (_size.Y <= 0) _size.Y = 0.01f;
+            if (_size.Z <= 0) _size.Z = 0.01f;
+            // Construction of new prim
+
+            if (_parent_scene.needsMeshing(_pbs))// && m_meshfailed == false)
+            {
+                // Don't need to re-enable body..   it's done in SetMesh
+                float meshlod = _parent_scene.meshSculptLOD;
+                IMesh mesh;
+
+                if (IsPhysical)
+                    meshlod = _parent_scene.MeshSculptphysicalLOD;
+
+                bool convex;
+                if (m_shapetype == 2)
+                    convex = true;
+                else
+                    convex = false;
+
+                try
+                {
+                    mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, (int)LevelOfDetail.High, true, convex);
+                }
+                catch
+                {
+                    mesh = null;
+                    m_meshfailed = true;
+                    m_log.WarnFormat("[PHYSICS]: changeAdd CreateMesh fail on prim {0} at <{1},{2},{3}>", Name, _position.X, _position.Y, _position.Z);
+                }
+
+                CreateGeom(m_targetSpace, mesh);
+
+                // createmesh returns null when it doesn't mesh.
+            }
+            else
+            {
+                _mesh = null;
+                CreateGeom(m_targetSpace, null);
+            }
+
+            d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
+            d.Quaternion myrot = new d.Quaternion();
+            //myrot.W = _orientation.w;
+            myrot.W = _orientation.W;
+            myrot.X = _orientation.X;
+            myrot.Y = _orientation.Y;
+            myrot.Z = _orientation.Z;
+            d.GeomSetQuaternion(prim_geom, ref myrot);
+
+            //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
+            if (IsPhysical && Body == IntPtr.Zero)
+            {
+                // Re creates body on size.
+                // EnableBody also does setMass()
+                enableBody();
+                if (Body != IntPtr.Zero)
+                {
+                    d.BodyEnable(Body);
+                }
+            }
+            _parent_scene.geom_name_map[prim_geom] = oldname;
+
+            changeSelectedStatus();
+            if (childPrim)
+            {
+                if (_parent is OdePrim)
+                {
+                    OdePrim parent = (OdePrim)_parent;
+                    parent.ChildSetGeom(this);
+                }
+            }
+            resetCollisionAccounting();
+            m_taintshape = false;
+        }
+
+        public void changeAddForce(float timestamp)
+        {
+            if (!m_isSelected)
+            {
+                lock (m_forcelist)
+                {
+                    //m_log.Info("[PHYSICS]: dequeing forcelist");
+                    if (IsPhysical)
+                    {
+                        Vector3 iforce = Vector3.Zero;
+                        int i = 0;
+                        try
+                        {
+                            for (i = 0; i < m_forcelist.Count; i++)
+                            {
+
+                                iforce = iforce + (m_forcelist[i] * 100);
+                            }
+                        }
+                        catch (IndexOutOfRangeException)
+                        {
+                            m_forcelist = new List<Vector3>();
+                            m_collisionscore = 0;
+                            m_interpenetrationcount = 0;
+                            m_taintforce = false;
+                            return;
+                        }
+                        catch (ArgumentOutOfRangeException)
+                        {
+                            m_forcelist = new List<Vector3>();
+                            m_collisionscore = 0;
+                            m_interpenetrationcount = 0;
+                            m_taintforce = false;
+                            return;
+                        }
+                        d.BodyEnable(Body);
+
+                        d.BodyAddForce(Body, iforce.X, iforce.Y, iforce.Z);
+                    }
+                    m_forcelist.Clear();
+                }
+
+                m_collisionscore = 0;
+                m_interpenetrationcount = 0;
+            }
+
+            m_taintforce = false;
+
+        }
+
+
+
+        public void changeSetTorque(float timestamp)
+        {
+            if (!m_isSelected)
+            {
+                if (IsPhysical && Body != IntPtr.Zero)
+                {
+                    d.BodySetTorque(Body, m_taintTorque.X, m_taintTorque.Y, m_taintTorque.Z);
+                }
+            }
+
+            m_taintTorque = Vector3.Zero;
+        }
+
+        public void changeAddAngularForce(float timestamp)
+        {
+            if (!m_isSelected)
+            {
+                lock (m_angularforcelist)
+                {
+                    //m_log.Info("[PHYSICS]: dequeing forcelist");
+                    if (IsPhysical)
+                    {
+                        Vector3 iforce = Vector3.Zero;
+                        for (int i = 0; i < m_angularforcelist.Count; i++)
+                        {
+                            iforce = iforce + (m_angularforcelist[i] * 100);
+                        }
+                        d.BodyEnable(Body);
+                        d.BodyAddTorque(Body, iforce.X, iforce.Y, iforce.Z);
+
+                    }
+                    m_angularforcelist.Clear();
+                }
+
+                m_collisionscore = 0;
+                m_interpenetrationcount = 0;
+            }
+
+            m_taintaddangularforce = false;
+        }
+
+        private void changevelocity(float timestep)
+        {
+            if (!m_isSelected)
+            {
+                Thread.Sleep(20);
+                if (IsPhysical)
+                {
+                    if (Body != IntPtr.Zero)
+                        d.BodySetLinearVel(Body, m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z);
+                }
+
+                //resetCollisionAccounting();
+            }
+            m_taintVelocity = Vector3.Zero;
+        }
+
+        public void UpdatePositionAndVelocity()
+        {
+            return;   // moved to the Move () method
+        }
+
+        public d.Mass FromMatrix4(Matrix4 pMat, ref d.Mass obj)
+        {
+            obj.I.M00 = pMat[0, 0];
+            obj.I.M01 = pMat[0, 1];
+            obj.I.M02 = pMat[0, 2];
+            obj.I.M10 = pMat[1, 0];
+            obj.I.M11 = pMat[1, 1];
+            obj.I.M12 = pMat[1, 2];
+            obj.I.M20 = pMat[2, 0];
+            obj.I.M21 = pMat[2, 1];
+            obj.I.M22 = pMat[2, 2];
+            return obj;
+        }
+
+        public override void SubscribeEvents(int ms)
+        {
+            m_eventsubscription = ms;
+            _parent_scene.addCollisionEventReporting(this);
+        }
+
+        public override void UnSubscribeEvents()
+        {
+            _parent_scene.remCollisionEventReporting(this);
+            m_eventsubscription = 0;
+        }
+
+        public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
+        {
+            if (CollisionEventsThisFrame == null)
+                CollisionEventsThisFrame = new CollisionEventUpdate();
+            CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
+        }
+
+        public void SendCollisions()
+        {
+            if (CollisionEventsThisFrame == null)
+                return;
+
+            base.SendCollisionUpdate(CollisionEventsThisFrame);
+
+            if (CollisionEventsThisFrame.m_objCollisionList.Count == 0)
+                CollisionEventsThisFrame = null;
+            else
+                CollisionEventsThisFrame = new CollisionEventUpdate();
+        }
+
+        public override bool SubscribedEvents()
+        {
+            if (m_eventsubscription > 0)
+                return true;
+            return false;
+        }
+
+        public static Matrix4 Inverse(Matrix4 pMat)
+        {
+            if (determinant3x3(pMat) == 0)
+            {
+                return Matrix4.Identity; // should probably throw an error.  singluar matrix inverse not possible
+            }
+
+
+
+            return (Adjoint(pMat) / determinant3x3(pMat));
+        }
+
+        public static Matrix4 Adjoint(Matrix4 pMat)
+        {
+            Matrix4 adjointMatrix = new Matrix4();
+            for (int i = 0; i < 4; i++)
+            {
+                for (int j = 0; j < 4; j++)
+                {
+                    Matrix4SetValue(ref adjointMatrix, i, j, (float)(Math.Pow(-1, i + j) * (determinant3x3(Minor(pMat, i, j)))));
+                }
+            }
+
+            adjointMatrix = Transpose(adjointMatrix);
+            return adjointMatrix;
+        }
+
+        public static Matrix4 Minor(Matrix4 matrix, int iRow, int iCol)
+        {
+            Matrix4 minor = new Matrix4();
+            int m = 0, n = 0;
+            for (int i = 0; i < 4; i++)
+            {
+                if (i == iRow)
+                    continue;
+                n = 0;
+                for (int j = 0; j < 4; j++)
+                {
+                    if (j == iCol)
+                        continue;
+                    Matrix4SetValue(ref minor, m, n, matrix[i, j]);
+                    n++;
+                }
+                m++;
+            }
+            return minor;
+        }
+
+        public static Matrix4 Transpose(Matrix4 pMat)
+        {
+            Matrix4 transposeMatrix = new Matrix4();
+            for (int i = 0; i < 4; i++)
+                for (int j = 0; j < 4; j++)
+                    Matrix4SetValue(ref transposeMatrix, i, j, pMat[j, i]);
+            return transposeMatrix;
+        }
+
+        public static void Matrix4SetValue(ref Matrix4 pMat, int r, int c, float val)
+        {
+            switch (r)
+            {
+                case 0:
+                    switch (c)
+                    {
+                        case 0:
+                            pMat.M11 = val;
+                            break;
+                        case 1:
+                            pMat.M12 = val;
+                            break;
+                        case 2:
+                            pMat.M13 = val;
+                            break;
+                        case 3:
+                            pMat.M14 = val;
+                            break;
+                    }
+
+                    break;
+                case 1:
+                    switch (c)
+                    {
+                        case 0:
+                            pMat.M21 = val;
+                            break;
+                        case 1:
+                            pMat.M22 = val;
+                            break;
+                        case 2:
+                            pMat.M23 = val;
+                            break;
+                        case 3:
+                            pMat.M24 = val;
+                            break;
+                    }
+
+                    break;
+                case 2:
+                    switch (c)
+                    {
+                        case 0:
+                            pMat.M31 = val;
+                            break;
+                        case 1:
+                            pMat.M32 = val;
+                            break;
+                        case 2:
+                            pMat.M33 = val;
+                            break;
+                        case 3:
+                            pMat.M34 = val;
+                            break;
+                    }
+
+                    break;
+                case 3:
+                    switch (c)
+                    {
+                        case 0:
+                            pMat.M41 = val;
+                            break;
+                        case 1:
+                            pMat.M42 = val;
+                            break;
+                        case 2:
+                            pMat.M43 = val;
+                            break;
+                        case 3:
+                            pMat.M44 = val;
+                            break;
+                    }
+
+                    break;
+            }
+        }
+        private static float determinant3x3(Matrix4 pMat)
+        {
+            float det = 0;
+            float diag1 = pMat[0, 0] * pMat[1, 1] * pMat[2, 2];
+            float diag2 = pMat[0, 1] * pMat[2, 1] * pMat[2, 0];
+            float diag3 = pMat[0, 2] * pMat[1, 0] * pMat[2, 1];
+            float diag4 = pMat[2, 0] * pMat[1, 1] * pMat[0, 2];
+            float diag5 = pMat[2, 1] * pMat[1, 2] * pMat[0, 0];
+            float diag6 = pMat[2, 2] * pMat[1, 0] * pMat[0, 1];
+
+            det = diag1 + diag2 + diag3 - (diag4 + diag5 + diag6);
+            return det;
+
+        }
+
+        private static void DMassCopy(ref d.Mass src, ref d.Mass dst)
+        {
+            dst.c.W = src.c.W;
+            dst.c.X = src.c.X;
+            dst.c.Y = src.c.Y;
+            dst.c.Z = src.c.Z;
+            dst.mass = src.mass;
+            dst.I.M00 = src.I.M00;
+            dst.I.M01 = src.I.M01;
+            dst.I.M02 = src.I.M02;
+            dst.I.M10 = src.I.M10;
+            dst.I.M11 = src.I.M11;
+            dst.I.M12 = src.I.M12;
+            dst.I.M20 = src.I.M20;
+            dst.I.M21 = src.I.M21;
+            dst.I.M22 = src.I.M22;
+        }
+
+        public override void SetMaterial(int pMaterial)
+        {
+            m_material = pMaterial;
+        }
+
+        internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
+        {
+            switch (pParam)
+            {
+                case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_angularDeflectionEfficiency = pValue;
+                    break;
+                case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
+                    if (pValue < 0.1f) pValue = 0.1f;
+                    // m_angularDeflectionTimescale = pValue;
+                    break;
+                case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
+                    if (pValue < 0.3f) pValue = 0.3f;
+                    m_angularMotorDecayTimescale = pValue;
+                    break;
+                case Vehicle.ANGULAR_MOTOR_TIMESCALE:
+                    if (pValue < 0.3f) pValue = 0.3f;
+                    m_angularMotorTimescale = pValue;
+                    break;
+                case Vehicle.BANKING_EFFICIENCY:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_bankingEfficiency = pValue;
+                    break;
+                case Vehicle.BANKING_MIX:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_bankingMix = pValue;
+                    break;
+                case Vehicle.BANKING_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_bankingTimescale = pValue;
+                    break;
+                case Vehicle.BUOYANCY:
+                    if (pValue < -1f) pValue = -1f;
+                    if (pValue > 1f) pValue = 1f;
+                    m_VehicleBuoyancy = pValue;
+                    break;
+                //                case Vehicle.HOVER_EFFICIENCY:
+                //                      if (pValue < 0f) pValue = 0f;
+                //                      if (pValue > 1f) pValue = 1f;
+                //                    m_VhoverEfficiency = pValue;
+                //                    break;
+                case Vehicle.HOVER_HEIGHT:
+                    m_VhoverHeight = pValue;
+                    break;
+                case Vehicle.HOVER_TIMESCALE:
+                    if (pValue < 0.1f) pValue = 0.1f;
+                    m_VhoverTimescale = pValue;
+                    break;
+                case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_linearDeflectionEfficiency = pValue;
+                    break;
+                case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_linearDeflectionTimescale = pValue;
+                    break;
+                case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
+                    if (pValue < 0.3f) pValue = 0.3f;
+                    m_linearMotorDecayTimescale = pValue;
+                    break;
+                case Vehicle.LINEAR_MOTOR_TIMESCALE:
+                    if (pValue < 0.1f) pValue = 0.1f;
+                    m_linearMotorTimescale = pValue;
+                    break;
+                case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
+                    if (pValue < 0.1f) pValue = 0.1f;   // Less goes unstable
+                    if (pValue > 1.0f) pValue = 1.0f;
+                    m_verticalAttractionEfficiency = pValue;
+                    break;
+                case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
+                    if (pValue < 0.1f) pValue = 0.1f;
+                    m_verticalAttractionTimescale = pValue;
+                    break;
+
+                // These are vector properties but the engine lets you use a single float value to 
+                // set all of the components to the same value
+                case Vehicle.ANGULAR_FRICTION_TIMESCALE:
+                    if (pValue > 30f) pValue = 30f;
+                    if (pValue < 0.1f) pValue = 0.1f;
+                    m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
+                    break;
+                case Vehicle.ANGULAR_MOTOR_DIRECTION:
+                    m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
+                    UpdateAngDecay();
+                    break;
+                case Vehicle.LINEAR_FRICTION_TIMESCALE:
+                    if (pValue < 0.1f) pValue = 0.1f;
+                    m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
+                    break;
+                case Vehicle.LINEAR_MOTOR_DIRECTION:
+                    m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
+                    UpdateLinDecay();
+                    break;
+                case Vehicle.LINEAR_MOTOR_OFFSET:
+                    // m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
+                    break;
+
+            }
+
+        }//end ProcessFloatVehicleParam
+
+        internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
+        {
+            switch (pParam)
+            {
+                case Vehicle.ANGULAR_FRICTION_TIMESCALE:
+                    if (pValue.X > 30f) pValue.X = 30f;
+                    if (pValue.X < 0.1f) pValue.X = 0.1f;
+                    if (pValue.Y > 30f) pValue.Y = 30f;
+                    if (pValue.Y < 0.1f) pValue.Y = 0.1f;
+                    if (pValue.Z > 30f) pValue.Z = 30f;
+                    if (pValue.Z < 0.1f) pValue.Z = 0.1f;
+                    m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    break;
+                case Vehicle.ANGULAR_MOTOR_DIRECTION:
+                    m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    // Limit requested angular speed to 2 rps= 4 pi rads/sec
+                    if (m_angularMotorDirection.X > 12.56f) m_angularMotorDirection.X = 12.56f;
+                    if (m_angularMotorDirection.X < -12.56f) m_angularMotorDirection.X = -12.56f;
+                    if (m_angularMotorDirection.Y > 12.56f) m_angularMotorDirection.Y = 12.56f;
+                    if (m_angularMotorDirection.Y < -12.56f) m_angularMotorDirection.Y = -12.56f;
+                    if (m_angularMotorDirection.Z > 12.56f) m_angularMotorDirection.Z = 12.56f;
+                    if (m_angularMotorDirection.Z < -12.56f) m_angularMotorDirection.Z = -12.56f;
+                    UpdateAngDecay();
+                    break;
+                case Vehicle.LINEAR_FRICTION_TIMESCALE:
+                    if (pValue.X < 0.1f) pValue.X = 0.1f;
+                    if (pValue.Y < 0.1f) pValue.Y = 0.1f;
+                    if (pValue.Z < 0.1f) pValue.Z = 0.1f;
+                    m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    break;
+                case Vehicle.LINEAR_MOTOR_DIRECTION:
+                    m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); // velocity requested by LSL, for max limiting
+                    UpdateLinDecay();
+                    break;
+                case Vehicle.LINEAR_MOTOR_OFFSET:
+                    // m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    break;
+            }
+
+        }//end ProcessVectorVehicleParam
+
+        internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
+        {
+            switch (pParam)
+            {
+                case Vehicle.REFERENCE_FRAME:
+                    // m_referenceFrame = pValue;
+                    break;
+            }
+
+        }//end ProcessRotationVehicleParam
+
+        internal void ProcessVehicleFlags(int pParam, bool remove)
+        {
+            if (remove)
+            {
+                m_flags &= ~((VehicleFlag)pParam);
+            }
+            else
+            {
+                m_flags |= (VehicleFlag)pParam;
+            }
+        }
+
+        internal void ProcessTypeChange(Vehicle pType)
+        {
+            // Set Defaults For Type
+            m_type = pType;
+            switch (pType)
+            {
+                case Vehicle.TYPE_SLED:
+                    m_linearFrictionTimescale = new Vector3(30, 1, 1000);
+                    m_angularFrictionTimescale = new Vector3(30, 30, 30);
+                    //                     m_lLinMotorVel = Vector3.Zero;
+                    m_linearMotorTimescale = 1000;
+                    m_linearMotorDecayTimescale = 120;
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorDVel = Vector3.Zero;
+                    m_angularMotorTimescale = 1000;
+                    m_angularMotorDecayTimescale = 120;
+                    m_VhoverHeight = 0;
+                    //                    m_VhoverEfficiency = 1;
+                    m_VhoverTimescale = 10;
+                    m_VehicleBuoyancy = 0;
+                    // m_linearDeflectionEfficiency = 1;
+                    // m_linearDeflectionTimescale = 1;
+                    // m_angularDeflectionEfficiency = 1;
+                    // m_angularDeflectionTimescale = 1000;
+                    // m_bankingEfficiency = 0;
+                    // m_bankingMix = 1;
+                    // m_bankingTimescale = 10;
+                    // m_referenceFrame = Quaternion.Identity;
+                    m_flags &=
+                        ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
+                          VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
+                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
+                    break;
+                case Vehicle.TYPE_CAR:
+                    m_linearFrictionTimescale = new Vector3(100, 2, 1000);
+                    m_angularFrictionTimescale = new Vector3(30, 30, 30);               // was 1000, but sl max frict time is 30.
+                    //                     m_lLinMotorVel = Vector3.Zero;
+                    m_linearMotorTimescale = 1;
+                    m_linearMotorDecayTimescale = 60;
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorDVel = Vector3.Zero;
+                    m_angularMotorTimescale = 1;
+                    m_angularMotorDecayTimescale = 0.8f;
+                    m_VhoverHeight = 0;
+                    //                    m_VhoverEfficiency = 0;
+                    m_VhoverTimescale = 1000;
+                    m_VehicleBuoyancy = 0;
+                    // // m_linearDeflectionEfficiency = 1;
+                    // // m_linearDeflectionTimescale = 2;
+                    // // m_angularDeflectionEfficiency = 0;
+                    // m_angularDeflectionTimescale = 10;
+                    m_verticalAttractionEfficiency = 1f;
+                    m_verticalAttractionTimescale = 10f;
+                    // m_bankingEfficiency = -0.2f;
+                    // m_bankingMix = 1;
+                    // m_bankingTimescale = 1;
+                    // m_referenceFrame = Quaternion.Identity;
+                    m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
+                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_UP_ONLY |
+                                VehicleFlag.LIMIT_MOTOR_UP);
+                    break;
+                case Vehicle.TYPE_BOAT:
+                    m_linearFrictionTimescale = new Vector3(10, 3, 2);
+                    m_angularFrictionTimescale = new Vector3(10, 10, 10);
+                    //                     m_lLinMotorVel = Vector3.Zero;
+                    m_linearMotorTimescale = 5;
+                    m_linearMotorDecayTimescale = 60;
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorDVel = Vector3.Zero;
+                    m_angularMotorTimescale = 4;
+                    m_angularMotorDecayTimescale = 4;
+                    m_VhoverHeight = 0;
+                    //                    m_VhoverEfficiency = 0.5f;
+                    m_VhoverTimescale = 2;
+                    m_VehicleBuoyancy = 1;
+                    // m_linearDeflectionEfficiency = 0.5f;
+                    // m_linearDeflectionTimescale = 3;
+                    // m_angularDeflectionEfficiency = 0.5f;
+                    // m_angularDeflectionTimescale = 5;
+                    m_verticalAttractionEfficiency = 0.5f;
+                    m_verticalAttractionTimescale = 5f;
+                    // m_bankingEfficiency = -0.3f;
+                    // m_bankingMix = 0.8f;
+                    // m_bankingTimescale = 1;
+                    // m_referenceFrame = Quaternion.Identity;
+                    m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.LIMIT_ROLL_ONLY |
+                            VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
+                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY |
+                                VehicleFlag.LIMIT_MOTOR_UP);
+                    break;
+                case Vehicle.TYPE_AIRPLANE:
+                    m_linearFrictionTimescale = new Vector3(200, 10, 5);
+                    m_angularFrictionTimescale = new Vector3(20, 20, 20);
+                    //                     m_lLinMotorVel = Vector3.Zero;
+                    m_linearMotorTimescale = 2;
+                    m_linearMotorDecayTimescale = 60;
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorDVel = Vector3.Zero;
+                    m_angularMotorTimescale = 4;
+                    m_angularMotorDecayTimescale = 4;
+                    m_VhoverHeight = 0;
+                    //                    m_VhoverEfficiency = 0.5f;
+                    m_VhoverTimescale = 1000;
+                    m_VehicleBuoyancy = 0;
+                    // m_linearDeflectionEfficiency = 0.5f;
+                    // m_linearDeflectionTimescale = 3;
+                    // m_angularDeflectionEfficiency = 1;
+                    // m_angularDeflectionTimescale = 2;
+                    m_verticalAttractionEfficiency = 0.9f;
+                    m_verticalAttractionTimescale = 2f;
+                    // m_bankingEfficiency = 1;
+                    // m_bankingMix = 0.7f;
+                    // m_bankingTimescale = 2;
+                    // m_referenceFrame = Quaternion.Identity;
+                    m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
+                        VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
+                    m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
+                    break;
+                case Vehicle.TYPE_BALLOON:
+                    m_linearFrictionTimescale = new Vector3(5, 5, 5);
+                    m_angularFrictionTimescale = new Vector3(10, 10, 10);
+                    m_linearMotorTimescale = 5;
+                    m_linearMotorDecayTimescale = 60;
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorDVel = Vector3.Zero;
+                    m_angularMotorTimescale = 6;
+                    m_angularMotorDecayTimescale = 10;
+                    m_VhoverHeight = 5;
+                    //                    m_VhoverEfficiency = 0.8f;
+                    m_VhoverTimescale = 10;
+                    m_VehicleBuoyancy = 1;
+                    // m_linearDeflectionEfficiency = 0;
+                    // m_linearDeflectionTimescale = 5;
+                    // m_angularDeflectionEfficiency = 0;
+                    // m_angularDeflectionTimescale = 5;
+                    m_verticalAttractionEfficiency = 1f;
+                    m_verticalAttractionTimescale = 100f;
+                    // m_bankingEfficiency = 0;
+                    // m_bankingMix = 0.7f;
+                    // m_bankingTimescale = 5;
+                    // m_referenceFrame = Quaternion.Identity;
+                    m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
+                        VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
+                    m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
+                    break;
+
+            }
+        }//end SetDefaultsForType
+
+        internal void Enable(IntPtr pBody, OdeScene pParentScene)
+        {
+            if (m_type == Vehicle.TYPE_NONE)
+                return;
+
+            m_body = pBody;
+        }
+
+
+        internal void Halt()
+        {       // Kill all motions, when non-physical
+            //  m_linearMotorDirection = Vector3.Zero;
+            m_lLinMotorDVel = Vector3.Zero;
+            m_lLinObjectVel = Vector3.Zero;
+            m_wLinObjectVel = Vector3.Zero;
+            m_angularMotorDirection = Vector3.Zero;
+            m_lastAngularVelocity = Vector3.Zero;
+            m_angularMotorDVel = Vector3.Zero;
+            _acceleration = Vector3.Zero;
+        }
+
+        private void UpdateLinDecay()
+        {
+            m_lLinMotorDVel.X = m_linearMotorDirection.X;
+            m_lLinMotorDVel.Y = m_linearMotorDirection.Y;
+            m_lLinMotorDVel.Z = m_linearMotorDirection.Z;
+        } // else let the motor decay on its own
+
+        private void UpdateAngDecay()
+        {
+            m_angularMotorDVel.X = m_angularMotorDirection.X;
+            m_angularMotorDVel.Y = m_angularMotorDirection.Y;
+            m_angularMotorDVel.Z = m_angularMotorDirection.Z;
+        } // else let the motor decay on its own
+
+        public void Move(float timestep)
+        {
+            float fx = 0;
+            float fy = 0;
+            float fz = 0;
+            Vector3 linvel;                             // velocity applied, including any reversal
+
+            // If geomCrossingFailuresBeforeOutofbounds is set to 0 in OpenSim.ini then phys objects bounce off region borders.
+            // This is a temp patch until proper region crossing is developed. 
+
+
+            if (IsPhysical && (Body != IntPtr.Zero) && !m_isSelected && !childPrim && !m_outofBounds)           // Only move root prims.
+            {
+                //  Old public void UpdatePositionAndVelocity(), more accuratley calculated here
+                bool lastZeroFlag = _zeroFlag;  // was it stopped
+
+                d.Vector3 vec = d.BodyGetPosition(Body);
+                Vector3 l_position = Vector3.Zero;
+                l_position.X = vec.X;
+                l_position.Y = vec.Y;
+                l_position.Z = vec.Z;
+                m_lastposition = _position;
+                _position = l_position;
+
+                d.Quaternion ori = d.BodyGetQuaternion(Body);
+                //       Quaternion l_orientation = Quaternion.Identity;
+                _orientation.X = ori.X;
+                _orientation.Y = ori.Y;
+                _orientation.Z = ori.Z;
+                _orientation.W = ori.W;
+                m_lastorientation = _orientation;
+
+                d.Vector3 vel = d.BodyGetLinearVel(Body);
+                m_lastVelocity = _velocity;
+                _velocity.X = vel.X;
+                _velocity.Y = vel.Y;
+                _velocity.Z = vel.Z;
+                _acceleration = ((_velocity - m_lastVelocity) / timestep);
+
+                d.Vector3 torque = d.BodyGetTorque(Body);
+                _torque = new Vector3(torque.X, torque.Y, torque.Z);
+
+
+                if (_position.X < 0f || _position.X > _parent_scene.WorldExtents.X
+                    || _position.Y < 0f || _position.Y > _parent_scene.WorldExtents.Y
+                    )
+                {
+                    // we are outside current region
+                    // clip position to a stop just outside region and stop it only internally
+                    // do it only once using m_crossingfailures as control
+                    _position.X = Util.Clip(l_position.X, -0.2f, _parent_scene.WorldExtents.X + .2f);
+                    _position.Y = Util.Clip(l_position.Y, -0.2f, _parent_scene.WorldExtents.Y + .2f);
+                    _position.Z = Util.Clip(l_position.Z, -100f, 50000f);
+                    d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
+                    d.BodySetLinearVel(Body, 0, 0, 0);
+                    m_outofBounds = true;
+                    base.RequestPhysicsterseUpdate();
+                    return;
+                }
+
+                base.RequestPhysicsterseUpdate();
+
+                if (l_position.Z < 0)
+                {
+                    // This is so prim that get lost underground don't fall forever and suck up
+                    //
+                    // Sim resources and memory.
+                    // Disables the prim's movement physics....
+                    // It's a hack and will generate a console message if it fails.
+
+                    //IsPhysical = false;
+                    if (_parent == null) base.RaiseOutOfBounds(_position);
+
+
+                    _acceleration.X = 0;                        // This stuff may stop client display but it has no
+                    _acceleration.Y = 0;                        // effect on the object in phys engine!
+                    _acceleration.Z = 0;
+
+                    _velocity.X = 0;
+                    _velocity.Y = 0;
+                    _velocity.Z = 0;
+                    m_lastVelocity = Vector3.Zero;
+                    m_rotationalVelocity.X = 0;
+                    m_rotationalVelocity.Y = 0;
+                    m_rotationalVelocity.Z = 0;
+
+                    if (_parent == null) base.RequestPhysicsterseUpdate();
+
+                    m_throttleUpdates = false;
+                    throttleCounter = 0;
+                    _zeroFlag = true;
+                    //outofBounds = true;
+                }  // end neg Z check
+
+                // Is it moving?
+                /*   if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02)
+                       && (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02)
+                       && (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02) */
+                if ((Vector3.Mag(_velocity) < 0.01) &&                         // moving very slowly
+                     (Vector3.Mag(_velocity) < Vector3.Mag(m_lastVelocity)) &&  // decelerating
+                     (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, _orientation)) < 0.0001))  // spinning very slowly
+                {
+                    _zeroFlag = true;
+                    m_throttleUpdates = false;
+                }
+                else
+                {
+                    //m_log.Debug(Math.Abs(m_lastposition.X - l_position.X).ToString());
+                    _zeroFlag = false;
+                    m_lastUpdateSent = false;
+                    //m_throttleUpdates = false;
+                }
+
+                if (_zeroFlag)
+                {               // Its stopped
+                    _velocity.X = 0.0f;
+                    _velocity.Y = 0.0f;
+                    //        _velocity.Z = 0.0f;
+
+                    _acceleration.X = 0;
+                    _acceleration.Y = 0;
+                    //        _acceleration.Z = 0;
+
+                    m_rotationalVelocity.X = 0;
+                    m_rotationalVelocity.Y = 0;
+                    m_rotationalVelocity.Z = 0;
+                    // Stop it in the phys engine
+                    d.BodySetLinearVel(Body, 0.0f, 0.0f, _velocity.Z);
+                    d.BodySetAngularVel(Body, 0.0f, 0.0f, 0.0f);
+                    d.BodySetForce(Body, 0f, 0f, 0f);
+
+                    if (!m_lastUpdateSent)
+                    {
+                        m_throttleUpdates = false;
+                        throttleCounter = 0;
+                        if (_parent == null)
+                        {
+                            base.RequestPhysicsterseUpdate();
+                        }
+
+                        m_lastUpdateSent = true;
+                    }
+                }
+                else
+                {                       // Its moving
+                    if (lastZeroFlag != _zeroFlag)
+                    {
+                        if (_parent == null)
+                        {
+                            base.RequestPhysicsterseUpdate();
+                        }
+                    }
+                    m_lastUpdateSent = false;
+                    if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate)
+                    {
+                        if (_parent == null)
+                        {
+                            base.RequestPhysicsterseUpdate();
+                        }
+                    }
+                    else
+                    {
+                        throttleCounter++;
+                    }
+                }
+                m_lastposition = l_position;
+
+                /// End UpdatePositionAndVelocity insert     
+
+
+                // Rotation lock  =====================================
+                if (m_rotateEnableUpdate)
+                {
+                    // Snapshot current angles, set up Amotor(s)
+                    m_rotateEnableUpdate = false;
+                    m_rotateEnable = m_rotateEnableRequest;
+                    //Console.WriteLine("RotEnable {0} = {1}",m_primName,  m_rotateEnable);
+
+                    if (Amotor != IntPtr.Zero)
+                    {
+                        d.JointDestroy(Amotor);
+                        Amotor = IntPtr.Zero;
+                        //Console.WriteLine("Old Amotor Destroyed");                        
+                    }
+
+                    if (!m_rotateEnable.ApproxEquals(Vector3.One, 0.003f))
+                    {   // not all are enabled
+                        d.Quaternion r = d.BodyGetQuaternion(Body);
+                        Quaternion locrot = new Quaternion(r.X, r.Y, r.Z, r.W);
+                        // extract the axes vectors
+                        Vector3 vX = new Vector3(1f, 0f, 0f);
+                        Vector3 vY = new Vector3(0f, 1f, 0f);
+                        Vector3 vZ = new Vector3(0f, 0f, 1f);
+                        vX = vX * locrot;
+                        vY = vY * locrot;
+                        vZ = vZ * locrot;
+                        // snapshot the current angle vectors
+                        m_lockX = vX;
+                        m_lockY = vY;
+                        m_lockZ = vZ;
+                        //           m_lockRot = locrot;
+                        Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
+                        d.JointAttach(Amotor, Body, IntPtr.Zero);
+                        d.JointSetAMotorMode(Amotor, 0);  // User mode??
+                        //Console.WriteLine("New Amotor Created for {0}", m_primName);                   
+
+                        float axisnum = 3;  // how many to lock
+                        axisnum = (axisnum - (m_rotateEnable.X + m_rotateEnable.Y + m_rotateEnable.Z));
+                        d.JointSetAMotorNumAxes(Amotor, (int)axisnum);
+                        //Console.WriteLine("AxisNum={0}",(int)axisnum);                       
+
+                        int i = 0;
+
+                        if (m_rotateEnable.X == 0)
+                        {
+                            d.JointSetAMotorAxis(Amotor, i, 0, m_lockX.X, m_lockX.Y, m_lockX.Z);
+                            //Console.WriteLine("AxisX {0} set to {1}", i,  m_lockX);                           
+                            i++;
+                        }
+
+                        if (m_rotateEnable.Y == 0)
+                        {
+                            d.JointSetAMotorAxis(Amotor, i, 0, m_lockY.X, m_lockY.Y, m_lockY.Z);
+                            //Console.WriteLine("AxisY {0} set to {1}", i,  m_lockY);                           
+                            i++;
+                        }
+
+                        if (m_rotateEnable.Z == 0)
+                        {
+                            d.JointSetAMotorAxis(Amotor, i, 0, m_lockZ.X, m_lockZ.Y, m_lockZ.Z);
+                            //Console.WriteLine("AxisZ {0} set to {1}", i,  m_lockZ);                           
+                            i++;
+                        }
+
+                        // These lowstops and high stops are effectively (no wiggle room)
+                        d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0f);
+                        d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, 0f);
+                        d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0f);
+                        d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0f);
+                        d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f);
+                        d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0f);
+                        d.JointSetAMotorParam(Amotor, (int)dParam.Vel, 0f);
+                        d.JointSetAMotorParam(Amotor, (int)dParam.Vel3, 0f);
+                        d.JointSetAMotorParam(Amotor, (int)dParam.Vel2, 0f);
+                        d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM, 0f);
+                        d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM3, 0f);
+                        d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM2, 0f);
+                    } // else none are locked
+                } // end Rotation Update  
+
+
+                // VEHICLE processing ==========================================            
+                if (m_type != Vehicle.TYPE_NONE)
+                {
+                    // get body attitude
+                    d.Quaternion rot = d.BodyGetQuaternion(Body);
+                    Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);       // rotq = rotation of object
+                    Quaternion irotq = Quaternion.Inverse(rotq);
+
+                    // VEHICLE Linear Motion
+                    d.Vector3 velnow = d.BodyGetLinearVel(Body);                                        // this is in world frame
+                    Vector3 vel_now = new Vector3(velnow.X, velnow.Y, velnow.Z);
+                    m_lLinObjectVel = vel_now * irotq;
+                    if (m_linearMotorDecayTimescale < 300.0f) //setting of 300 or more disables decay rate
+                    {
+                        if (Vector3.Mag(m_lLinMotorDVel) < 1.0f)
+                        {
+                            float decayfactor = m_linearMotorDecayTimescale / timestep;
+                            Vector3 decayAmount = (m_lLinMotorDVel / decayfactor);
+                            m_lLinMotorDVel -= decayAmount;
+                        }
+                        else
+                        {
+                            float decayfactor = 3.0f - (0.57f * (float)Math.Log((double)(m_linearMotorDecayTimescale)));
+                            Vector3 decel = Vector3.Normalize(m_lLinMotorDVel) * decayfactor * timestep;
+                            m_lLinMotorDVel -= decel;
+                        }
+                        if (m_lLinMotorDVel.ApproxEquals(Vector3.Zero, 0.01f))
+                        {
+                            m_lLinMotorDVel = Vector3.Zero;
+                        }
+
+                        /*      else
+                            {
+                                if (Math.Abs(m_lLinMotorDVel.X) <  Math.Abs(m_lLinObjectVel.X)) m_lLinObjectVel.X = m_lLinMotorDVel.X;
+                                if (Math.Abs(m_lLinMotorDVel.Y) <  Math.Abs(m_lLinObjectVel.Y)) m_lLinObjectVel.Y = m_lLinMotorDVel.Y;
+                                if (Math.Abs(m_lLinMotorDVel.Z) <  Math.Abs(m_lLinObjectVel.Z)) m_lLinObjectVel.Z = m_lLinMotorDVel.Z;  
+                            } */
+                    }  // end linear motor decay
+
+                    if ((!m_lLinMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) || (!m_lLinObjectVel.ApproxEquals(Vector3.Zero, 0.01f)))
+                    {
+                        if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body);
+                        if (m_linearMotorTimescale < 300.0f)
+                        {
+                            Vector3 attack_error = m_lLinMotorDVel - m_lLinObjectVel;
+                            float linfactor = m_linearMotorTimescale / timestep;
+                            Vector3 attackAmount = (attack_error / linfactor) * 1.3f;
+                            m_lLinObjectVel += attackAmount;
+                        }
+                        if (m_linearFrictionTimescale.X < 300.0f)
+                        {
+                            float fricfactor = m_linearFrictionTimescale.X / timestep;
+                            float fricX = m_lLinObjectVel.X / fricfactor;
+                            m_lLinObjectVel.X -= fricX;
+                        }
+                        if (m_linearFrictionTimescale.Y < 300.0f)
+                        {
+                            float fricfactor = m_linearFrictionTimescale.Y / timestep;
+                            float fricY = m_lLinObjectVel.Y / fricfactor;
+                            m_lLinObjectVel.Y -= fricY;
+                        }
+                        if (m_linearFrictionTimescale.Z < 300.0f)
+                        {
+                            float fricfactor = m_linearFrictionTimescale.Z / timestep;
+                            float fricZ = m_lLinObjectVel.Z / fricfactor;
+                            m_lLinObjectVel.Z -= fricZ;
+                        }
+                    }
+                    m_wLinObjectVel = m_lLinObjectVel * rotq;
+
+                    // Gravity and Buoyancy
+                    Vector3 grav = Vector3.Zero;
+                    if (m_VehicleBuoyancy < 1.0f)
+                    {
+                        // There is some gravity, make a gravity force vector
+                        // that is applied after object velocity.     
+                        d.Mass objMass;
+                        d.BodyGetMass(Body, out objMass);
+                        // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; 
+                        grav.Z = _parent_scene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy); // Applied later as a force
+                    } // else its 1.0, no gravity.
+
+                    // Hovering
+                    if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
+                    {
+                        // We should hover, get the target height
+                        d.Vector3 pos = d.BodyGetPosition(Body);
+                        if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) == VehicleFlag.HOVER_WATER_ONLY)
+                        {
+                            m_VhoverTargetHeight = _parent_scene.GetWaterLevel() + m_VhoverHeight;
+                        }
+                        else if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) == VehicleFlag.HOVER_TERRAIN_ONLY)
+                        {
+                            m_VhoverTargetHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
+                        }
+                        else if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == VehicleFlag.HOVER_GLOBAL_HEIGHT)
+                        {
+                            m_VhoverTargetHeight = m_VhoverHeight;
+                        }
+
+                        if ((m_flags & VehicleFlag.HOVER_UP_ONLY) == VehicleFlag.HOVER_UP_ONLY)
+                        {
+                            // If body is aready heigher, use its height as target height
+                            if (pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z;
+                        }
+
+                        //                  m_VhoverEfficiency = 0f;    // 0=boucy, 1=Crit.damped
+                        //                              m_VhoverTimescale = 0f;         // time to acheive height
+                        //                              timestep  is time since last frame,in secs 
+                        float herr0 = pos.Z - m_VhoverTargetHeight;
+                        // Replace Vertical speed with correction figure if significant
+                        if (Math.Abs(herr0) > 0.01f)
+                        {
+                            //?          d.Mass objMass;
+                            //?          d.BodyGetMass(Body, out objMass);
+                            m_wLinObjectVel.Z = -((herr0 * timestep * 50.0f) / m_VhoverTimescale);
+                            //KF: m_VhoverEfficiency is not yet implemented
+                        }
+                        else
+                        {
+                            m_wLinObjectVel.Z = 0f;
+                        }
+                    }
+                    else
+                    {   // not hovering
+                        if (m_wLinObjectVel.Z == 0f)
+                        {               // Gravity rules
+                            m_wLinObjectVel.Z = vel_now.Z;
+                        }  // else the motor has it
+                    }
+                    linvel = m_wLinObjectVel;
+
+                    // Vehicle Linear  Motion done =======================================
+                    // Apply velocity
+                    d.BodySetLinearVel(Body, linvel.X, linvel.Y, linvel.Z);
+                    // apply gravity force
+                    d.BodyAddForce(Body, grav.X, grav.Y, grav.Z);
+                    //if(frcount == 0) Console.WriteLine("Vel={0}    Force={1}",linvel ,  grav);
+                    // end MoveLinear()
+
+
+                    // MoveAngular
+                    /*
+                    private Vector3 m_angularMotorDirection = Vector3.Zero;                     // angular velocity requested by LSL motor 
+        
+                    private float m_angularMotorTimescale = 0;                                          // motor angular Attack rate set by LSL
+                    private float m_angularMotorDecayTimescale = 0;                                     // motor angular Decay rate set by LSL
+                    private Vector3 m_angularFrictionTimescale = Vector3.Zero;          // body angular Friction set by LSL
+
+                    private Vector3 m_angularMotorDVel = Vector3.Zero;                          // decayed angular motor
+                    private Vector3 m_angObjectVel = Vector3.Zero;                                      // what was last applied to body
+                    */
+                    //if(frcount == 0) Console.WriteLine("MoveAngular ");       
+
+                    d.Vector3 angularObjectVel = d.BodyGetAngularVel(Body);
+                    Vector3 angObjectVel = new Vector3(angularObjectVel.X, angularObjectVel.Y, angularObjectVel.Z);
+                    angObjectVel = angObjectVel * irotq;        // ============ Converts to LOCAL rotation
+
+                    //if(frcount == 0) Console.WriteLine("V0 = {0}", angObjectVel);             
+
+                    // Decay Angular Motor 1. In SL this also depends on attack rate! decay ~= 23/Attack.
+                    float atk_decayfactor = 23.0f / (m_angularMotorTimescale * timestep);
+                    m_angularMotorDVel -= m_angularMotorDVel / atk_decayfactor;
+                    // Decay Angular Motor 2.
+                    if (m_angularMotorDecayTimescale < 300.0f)
+                    {
+                        if (Vector3.Mag(m_angularMotorDVel) < 1.0f)
+                        {
+                            float decayfactor = (m_angularMotorDecayTimescale) / timestep;
+                            Vector3 decayAmount = (m_angularMotorDVel / decayfactor);
+                            m_angularMotorDVel -= decayAmount;
+                        }
+                        else
+                        {
+                            Vector3 decel = Vector3.Normalize(m_angularMotorDVel) * timestep / m_angularMotorDecayTimescale;
+                            m_angularMotorDVel -= decel;
+                        }
+
+                        if (m_angularMotorDVel.ApproxEquals(Vector3.Zero, 0.01f))
+                        {
+                            m_angularMotorDVel = Vector3.Zero;
+                        }
+                        else
+                        {
+                            if (Math.Abs(m_angularMotorDVel.X) < Math.Abs(angObjectVel.X)) angObjectVel.X = m_angularMotorDVel.X;
+                            if (Math.Abs(m_angularMotorDVel.Y) < Math.Abs(angObjectVel.Y)) angObjectVel.Y = m_angularMotorDVel.Y;
+                            if (Math.Abs(m_angularMotorDVel.Z) < Math.Abs(angObjectVel.Z)) angObjectVel.Z = m_angularMotorDVel.Z;
+                        }
+                    } // end decay angular motor
+                    //if(frcount == 0) Console.WriteLine("MotorDvel {0}    Obj {1}", m_angularMotorDVel, angObjectVel);
+
+                    //if(frcount == 0) Console.WriteLine("VA = {0}", angObjectVel);   
+
+                    if ((!m_angularMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) || (!angObjectVel.ApproxEquals(Vector3.Zero, 0.01f)))
+                    {  // if motor or object have motion
+                        if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body);
+
+                        if (m_angularMotorTimescale < 300.0f)
+                        {
+                            Vector3 attack_error = m_angularMotorDVel - angObjectVel;
+                            float angfactor = m_angularMotorTimescale / timestep;
+                            Vector3 attackAmount = (attack_error / angfactor);
+                            angObjectVel += attackAmount;
+                            //if(frcount == 0) Console.WriteLine("Accel {0}      Attk {1}",FrAaccel, attackAmount);                     
+                            //if(frcount == 0) Console.WriteLine("V2+= {0}", angObjectVel);             
+                        }
+
+                        angObjectVel.X -= angObjectVel.X / (m_angularFrictionTimescale.X * 0.7f / timestep);
+                        angObjectVel.Y -= angObjectVel.Y / (m_angularFrictionTimescale.Y * 0.7f / timestep);
+                        angObjectVel.Z -= angObjectVel.Z / (m_angularFrictionTimescale.Z * 0.7f / timestep);
+                    } // else no signif. motion
+
+                    //if(frcount == 0) Console.WriteLine("Dmotor {0}      Obj {1}", m_angularMotorDVel, angObjectVel);
+                    // Bank section tba
+                    // Deflection section tba
+                    //if(frcount == 0) Console.WriteLine("V3 = {0}", angObjectVel);             
+
+
+                    /*                  // Rotation Axis Disables:
+                                if (!m_angularEnable.ApproxEquals(Vector3.One, 0.003f))
+                                {
+                                    if (m_angularEnable.X == 0)
+                                        angObjectVel.X = 0f;
+                                    if (m_angularEnable.Y == 0)
+                                        angObjectVel.Y = 0f;
+                                    if (m_angularEnable.Z == 0)
+                                        angObjectVel.Z = 0f;
+                                }        
+                        */
+                    angObjectVel = angObjectVel * rotq; // ================ Converts to WORLD rotation
+
+                    // Vertical attractor section
+                    Vector3 vertattr = Vector3.Zero;
+
+                    if (m_verticalAttractionTimescale < 300)
+                    {
+                        float VAservo = 1.0f / (m_verticalAttractionTimescale * timestep);
+                        // make a vector pointing up
+                        Vector3 verterr = Vector3.Zero;
+                        verterr.Z = 1.0f;
+                        // rotate it to Body Angle
+                        verterr = verterr * rotq;
+                        // verterr.X and .Y are the World error ammounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1.
+                        // As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go
+                        // negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body.
+
+                        if (verterr.Z < 0.0f)
+                        {       // Deflection from vertical exceeds 90-degrees. This method will ensure stable return to
+                            // vertical, BUT for some reason a z-rotation is imparted to the object. TBI.
+                            //Console.WriteLine("InvertFlip");  
+                            verterr.X = 2.0f - verterr.X;
+                            verterr.Y = 2.0f - verterr.Y;
+                        }
+                        verterr *= 0.5f;
+                        // verterror is 0 (no error) to +/- 1 (max error at 180-deg tilt)
+                        Vector3 xyav = angObjectVel;
+                        xyav.Z = 0.0f;
+                        if ((!xyav.ApproxEquals(Vector3.Zero, 0.001f)) || (verterr.Z < 0.49f))
+                        {
+                            // As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so 
+                            // Change  Body angular velocity  X based on Y, and Y based on X. Z is not changed.
+                            vertattr.X = verterr.Y;
+                            vertattr.Y = -verterr.X;
+                            vertattr.Z = 0f;
+                            //if(frcount == 0) Console.WriteLine("VAerr=" + verterr);   
+
+                            // scaling appears better usingsquare-law
+                            float damped = m_verticalAttractionEfficiency * m_verticalAttractionEfficiency;
+                            float bounce = 1.0f - damped;
+                            // 0 = crit damp, 1 = bouncy
+                            float oavz = angObjectVel.Z;   // retain z velocity
+                            // time-scaled correction, which sums, therefore is bouncy:
+                            angObjectVel = (angObjectVel + (vertattr * VAservo * 0.0333f)) * bounce;
+                            // damped, good @ < 90:
+                            angObjectVel = angObjectVel + (vertattr * VAservo * 0.0667f * damped);
+                            angObjectVel.Z = oavz;
+                            //if(frcount == 0) Console.WriteLine("VA+");                                        
+                            //Console.WriteLine("VAttr {0}         OAvel {1}", vertattr, angObjectVel);
+                        }
+                        else
+                        {
+                            // else error is very small
+                            angObjectVel.X = 0f;
+                            angObjectVel.Y = 0f;
+                            //if(frcount == 0) Console.WriteLine("VA0");                                        
+                        }
+                    } // else vertical attractor is off
+                    //if(frcount == 0) Console.WriteLine("V1 = {0}", angObjectVel);             
+
+
+                    m_lastAngularVelocity = angObjectVel;
+                    // apply Angular Velocity to body
+                    d.BodySetAngularVel(Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z);
+                    //if(frcount == 0) Console.WriteLine("V4 = {0}", m_lastAngularVelocity);            
+
+                }  // end VEHICLES
+                else
+                {
+                    // Dyamics (NON-'VEHICLES') are dealt with here ================================================================                    
+
+                    if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body); // KF add 161009
+
+                    /// Dynamics Buoyancy
+                    //KF: m_buoyancy is set by llSetBuoyancy() and is for non-vehicle.
+                    // m_buoyancy: (unlimited value) <0=Falls fast; 0=1g; 1=0g; >1 = floats up 
+                    // NB Prims in ODE are no subject to global gravity
+                    // This should only affect gravity operations 
+
+                    float m_mass = CalculateMass();
+                    // calculate z-force due togravity on object.
+                    fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass; // force = acceleration * mass
+                    if ((m_usePID) && (m_PIDTau > 0.0f))  // Dynamics  llMoveToTarget.
+                    {
+                        fz = 0;     // llMoveToTarget ignores gravity.
+                        // it also ignores mass of object, and any physical resting on it.
+                        // Vector3 m_PIDTarget is where we are going
+                        // float m_PIDTau is time to get there
+                        fx = 0;
+                        fy = 0;
+                        d.Vector3 pos = d.BodyGetPosition(Body);
+                        Vector3 error = new Vector3(
+                                (m_PIDTarget.X - pos.X),
+                                (m_PIDTarget.Y - pos.Y),
+                                (m_PIDTarget.Z - pos.Z));
+                        if (error.ApproxEquals(Vector3.Zero, 0.01f))
+                        {   // Very close, Jump there and quit move
+
+                            d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
+                            _target_velocity = Vector3.Zero;
+                            d.BodySetLinearVel(Body, _target_velocity.X, _target_velocity.Y, _target_velocity.Z);
+                            d.BodySetForce(Body, 0f, 0f, 0f);
+                        }
+                        else
+                        {
+                            float scale = 50.0f * timestep / m_PIDTau;
+                            if ((error.ApproxEquals(Vector3.Zero, 0.5f)) && (_target_velocity != Vector3.Zero))
+                            {
+                                // Nearby, quit update of velocity
+                            }
+                            else
+                            {  // Far, calc damped velocity
+                                _target_velocity = error * scale;
+                            }
+                            d.BodySetLinearVel(Body, _target_velocity.X, _target_velocity.Y, _target_velocity.Z);
+                        }
+                    } // end PID MoveToTarget
+
+
+                    /// Dynamics Hover ===================================================================================
+                    // Hover PID Controller can only run if the PIDcontroller is not in use.
+                    if (m_useHoverPID && !m_usePID)
+                    {
+                        //Console.WriteLine("Hover " +  m_primName);            
+
+                        // If we're using the PID controller, then we have no gravity
+                        fz = (-1 * _parent_scene.gravityz) * m_mass;
+
+                        //  no lock; for now it's only called from within Simulate()
+
+                        // If the PID Controller isn't active then we set our force
+                        // calculating base velocity to the current position
+
+                        if ((m_PIDTau < 1))
+                        {
+                            PID_G = PID_G / m_PIDTau;
+                        }
+
+                        if ((PID_G - m_PIDTau) <= 0)
+                        {
+                            PID_G = m_PIDTau + 1;
+                        }
+
+
+                        // Where are we, and where are we headed?
+                        d.Vector3 pos = d.BodyGetPosition(Body);
+                        //                          d.Vector3 vel = d.BodyGetLinearVel(Body);
+
+
+                        //    Non-Vehicles have a limited set of Hover options.
+                        // determine what our target height really is based on HoverType
+                        switch (m_PIDHoverType)
+                        {
+                            case PIDHoverType.Ground:
+                                m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
+                                m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
+                                break;
+                            case PIDHoverType.GroundAndWater:
+                                m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
+                                m_waterHeight = _parent_scene.GetWaterLevel();
+                                if (m_groundHeight > m_waterHeight)
+                                {
+                                    m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
+                                }
+                                else
+                                {
+                                    m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight;
+                                }
+                                break;
+
+                        }       // end switch (m_PIDHoverType)
+
+
+                        _target_velocity =
+                            new Vector3(0.0f, 0.0f,
+                                (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep)
+                                );
+
+                        //  if velocity is zero, use position control; otherwise, velocity control
+
+                        if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
+                        {
+                            //  keep track of where we stopped.  No more slippin' & slidin'
+
+                            // We only want to deactivate the PID Controller if we think we want to have our surrogate
+                            // react to the physics scene by moving it's position.
+                            // Avatar to Avatar collisions
+                            // Prim to avatar collisions
+                            d.Vector3 dlinvel = vel;
+                            d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);
+                            d.BodySetLinearVel(Body, dlinvel.X, dlinvel.Y, dlinvel.Z);
+                            d.BodyAddForce(Body, 0, 0, fz);
+                            //KF this prevents furthur motions         return;
+                        }
+                        else
+                        {
+                            _zeroFlag = false;
+
+                            // We're flying and colliding with something
+                            fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass);
+                        }
+                    } // end m_useHoverPID && !m_usePID
+
+
+                    /// Dynamics Apply Forces ===================================================================================
+                    fx *= m_mass;
+                    fy *= m_mass;
+                    //fz *= m_mass;
+                    fx += m_force.X;
+                    fy += m_force.Y;
+                    fz += m_force.Z;
+
+                    //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString());
+                    if (fx != 0 || fy != 0 || fz != 0)
+                    {
+                        //m_taintdisable = true;
+                        //base.RaiseOutOfBounds(Position);
+                        //d.BodySetLinearVel(Body, fx, fy, 0f);
+                        if (!d.BodyIsEnabled(Body))
+                        {
+                            // A physical body at rest on a surface will auto-disable after a while,
+                            // this appears to re-enable it incase the surface it is upon vanishes,
+                            // and the body should fall again. 
+                            d.BodySetLinearVel(Body, 0f, 0f, 0f);
+                            d.BodySetForce(Body, 0f, 0f, 0f);
+                            enableBodySoft();
+                        }
+
+                        // 35x10 = 350n times the mass per second applied maximum.
+                        float nmax = 35f * m_mass;
+                        float nmin = -35f * m_mass;
+
+
+                        if (fx > nmax)
+                            fx = nmax;
+                        if (fx < nmin)
+                            fx = nmin;
+                        if (fy > nmax)
+                            fy = nmax;
+                        if (fy < nmin)
+                            fy = nmin;
+                        d.BodyAddForce(Body, fx, fy, fz);
+                    }  // end apply forces
+                } // end Vehicle/Dynamics
+
+                /// RotLookAt / LookAt =================================================================================
+                if (m_useAPID)
+                {
+                    // RotLookAt, apparently overrides all other rotation sources. Inputs:
+                    // Quaternion m_APIDTarget
+                    // float m_APIDStrength             // From SL experiments, this is the time to get there
+                    // float m_APIDDamping              // From SL experiments, this is damping, 1.0 = damped, 0.1 = wobbly
+                    // Also in SL the mass of the object has no effect on time to get there.
+                    // Factors:
+                    // get present body rotation
+                    float limit = 1.0f;
+                    float rscaler = 50f;                // adjusts rotation damping time
+                    float lscaler = 10f;                // adjusts linear damping time in llLookAt
+                    float RLAservo = 0f;
+                    Vector3 diff_axis;
+                    float diff_angle;
+                    d.Quaternion rot = d.BodyGetQuaternion(Body);                                               // prim present rotation
+                    Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
+                    Quaternion rtarget = new Quaternion();
+
+                    if (m_APIDTarget.W == -99.9f)
+                    {
+                        // this is really a llLookAt(), x,y,z is the target vector
+                        Vector3 target = new Vector3(m_APIDTarget.X, m_APIDTarget.Y, m_APIDTarget.Z);
+                        Vector3 ospin = new Vector3(1.0f, 0.0f, 0.0f) * rotq;
+                        Vector3 error = new Vector3(0.0f, 0.0f, 0.0f);
+                        float twopi = 2.0f * (float)Math.PI;
+                        Vector3 dir = target - _position;
+                        dir.Normalize();
+                        float tzrot = (float)Math.Atan2(dir.Y, dir.X);
+                        float txy = (float)Math.Sqrt((dir.X * dir.X) + (dir.Y * dir.Y));
+                        float terot = (float)Math.Atan2(dir.Z, txy);
+                        float ozrot = (float)Math.Atan2(ospin.Y, ospin.X);
+                        float oxy = (float)Math.Sqrt((ospin.X * ospin.X) + (ospin.Y * ospin.Y));
+                        float oerot = (float)Math.Atan2(ospin.Z, oxy);
+                        float ra = 2.0f * ((rotq.W * rotq.X) + (rotq.Y * rotq.Z));
+                        float rb = 1.0f - 2.0f * ((rotq.Y * rotq.Y) + (rotq.X * rotq.X));
+                        float roll = (float)Math.Atan2(ra, rb);
+                        float errorz = tzrot - ozrot;
+                        if (errorz > (float)Math.PI) errorz -= twopi;
+                        else if (errorz < -(float)Math.PI) errorz += twopi;
+                        float errory = oerot - terot;
+                        if (errory > (float)Math.PI) errory -= twopi;
+                        else if (errory < -(float)Math.PI) errory += twopi;
+                        diff_angle = Math.Abs(errorz) + Math.Abs(errory) + Math.Abs(roll);
+                        if (diff_angle > 0.01f * m_APIDdamper)
+                        {
+                            m_APIDdamper = 1.0f;
+                            RLAservo = timestep / m_APIDStrength * rscaler;
+                            errorz *= RLAservo;
+                            errory *= RLAservo;
+                            error.X = -roll * 8.0f;
+                            error.Y = errory;
+                            error.Z = errorz;
+                            error *= rotq;
+                            d.BodySetAngularVel(Body, error.X, error.Y, error.Z);
+                        }
+                        else
+                        {
+                            d.BodySetAngularVel(Body, 0.0f, 0.0f, 0.0f);
+                            m_APIDdamper = 2.0f;
+                        }
+                    }
+                    else
+                    {
+                        // this is a llRotLookAt()
+                        rtarget = m_APIDTarget;
+
+                        Quaternion rot_diff = Quaternion.Inverse(rotq) * rtarget;               // difference to desired rot
+                        rot_diff.GetAxisAngle(out diff_axis, out diff_angle);                           // convert to axis to point at & error angle
+                        //if(frcount == 0) Console.WriteLine("axis {0}   angle {1}",diff_axis * 57.3f, diff_angle);
+
+                        //   diff_axis.Normalize(); it already is!
+                        if (diff_angle > 0.01f * m_APIDdamper)                  // diff_angle is always +ve                     // if there is enough error
+                        {
+                            m_APIDdamper = 1.0f;
+                            Vector3 rotforce = new Vector3(diff_axis.X, diff_axis.Y, diff_axis.Z);
+                            rotforce = rotforce * rotq;
+                            if (diff_angle > limit) diff_angle = limit;         // cap the rotate rate
+                            RLAservo = timestep / m_APIDStrength * lscaler;
+                            rotforce = rotforce * RLAservo * diff_angle;
+                            d.BodySetAngularVel(Body, rotforce.X, rotforce.Y, rotforce.Z);
+                            //Console.WriteLine("axis= " + diff_axis + "    angle= " + diff_angle + "servo= " + RLAservo);                                                      
+                        }
+                        else
+                        {       // close enough
+                            d.BodySetAngularVel(Body, 0.0f, 0.0f, 0.0f);
+                            m_APIDdamper = 2.0f;
+                        }
+                    } // end llLookAt/llRotLookAt
+                    //if(frcount == 0) Console.WriteLine("mass= " + m_mass + "  servo= " + RLAservo + "   angle= " + diff_angle);
+                } // end m_useAPID
+            } // end root prims
+        }  // end Move()
+    } // end class
+}
diff --git a/OpenSim/Region/Physics/ChOdePlugin/ODERayCastRequestManager.cs b/OpenSim/Region/Physics/ChOdePlugin/ODERayCastRequestManager.cs
new file mode 100644
index 0000000..712029e
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/ODERayCastRequestManager.cs
@@ -0,0 +1,384 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using System.Runtime.InteropServices;
+using System.Text;
+using OpenMetaverse;
+using OpenSim.Region.Physics.Manager;
+using Ode.NET;
+using log4net;
+
+namespace OpenSim.Region.Physics.OdePlugin
+{
+    /// <summary>
+    /// Processes raycast requests as ODE is in a state to be able to do them.
+    /// This ensures that it's thread safe and there will be no conflicts.
+    /// Requests get returned by a different thread then they were requested by.
+    /// </summary>
+    public class ODERayCastRequestManager
+    {
+        /// <summary>
+        /// Pending Raycast Requests
+        /// </summary>
+        protected List<ODERayCastRequest> m_PendingRequests = new List<ODERayCastRequest>();
+
+        /// <summary>
+        /// Scene that created this object.
+        /// </summary>
+        private OdeScene m_scene;
+
+        /// <summary>
+        /// ODE contact array to be filled by the collision testing
+        /// </summary>
+        d.ContactGeom[] contacts = new d.ContactGeom[5];
+
+        /// <summary>
+        /// ODE near callback delegate
+        /// </summary>
+        private d.NearCallback nearCallback;
+        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+        private List<ContactResult> m_contactResults = new List<ContactResult>();
+
+
+        public ODERayCastRequestManager(OdeScene pScene)
+        {
+            m_scene = pScene;
+            nearCallback = near;
+            
+        }
+
+        /// <summary>
+        /// Queues a raycast
+        /// </summary>
+        /// <param name="position">Origin of Ray</param>
+        /// <param name="direction">Ray normal</param>
+        /// <param name="length">Ray length</param>
+        /// <param name="retMethod">Return method to send the results</param>
+        public void QueueRequest(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
+        {
+            lock (m_PendingRequests)
+            {
+                ODERayCastRequest req = new ODERayCastRequest();
+                req.callbackMethod = retMethod;
+                req.length = length;
+                req.Normal = direction;
+                req.Origin = position;
+
+                m_PendingRequests.Add(req);
+            }
+        }
+
+        /// <summary>
+        /// Process all queued raycast requests
+        /// </summary>
+        /// <returns>Time in MS the raycasts took to process.</returns>
+        public int ProcessQueuedRequests()
+        {
+            int time = System.Environment.TickCount;
+            lock (m_PendingRequests)
+            {
+                if (m_PendingRequests.Count > 0)
+                {
+                    ODERayCastRequest[] reqs = m_PendingRequests.ToArray();
+                    for (int i = 0; i < reqs.Length; i++)
+                    {
+                        try
+                        {
+                            if (reqs[i].callbackMethod != null) // quick optimization here, don't raycast 
+                                RayCast(reqs[i]);               // if there isn't anyone to send results   
+                        }
+                        catch
+                        {
+                            //Fail silently
+                            //This can genuinely happen because raycast requests are queued, and the actor may have
+                            //been removed from the scene since it was queued
+                        }
+                    }
+                    /*
+                    foreach (ODERayCastRequest req in m_PendingRequests)
+                    {
+                        if (req.callbackMethod != null) // quick optimization here, don't raycast 
+                            RayCast(req);               // if there isn't anyone to send results to
+                            
+                    }
+                    */
+                    m_PendingRequests.Clear();
+                }
+            }
+
+            lock (m_contactResults)
+                m_contactResults.Clear();
+
+            return System.Environment.TickCount - time;
+        }
+
+        /// <summary>
+        /// Method that actually initiates the raycast
+        /// </summary>
+        /// <param name="req"></param>
+        private void RayCast(ODERayCastRequest req)
+        {
+            // Create the ray
+            IntPtr ray = d.CreateRay(m_scene.space, req.length);
+            d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
+
+            // Collide test
+            d.SpaceCollide2(m_scene.space, ray, IntPtr.Zero, nearCallback);
+
+            // Remove Ray
+            d.GeomDestroy(ray);
+
+
+            // Define default results
+            bool hitYN = false;
+            uint hitConsumerID = 0;
+            float distance = 999999999999f;
+            Vector3 closestcontact = new Vector3(99999f, 99999f, 99999f);
+            Vector3 snormal = Vector3.Zero;
+
+            // Find closest contact and object.
+            lock (m_contactResults)
+            {
+                foreach (ContactResult cResult in m_contactResults)
+                {
+                    if (Vector3.Distance(req.Origin, cResult.Pos) < Vector3.Distance(req.Origin, closestcontact))
+                    {
+                        closestcontact = cResult.Pos;
+                        hitConsumerID = cResult.ConsumerID;
+                        distance = cResult.Depth;
+                        hitYN = true;
+                        snormal = cResult.Normal;
+                    }
+                }
+
+                m_contactResults.Clear();
+            }
+
+            // Return results
+            if (req.callbackMethod != null)
+                req.callbackMethod(hitYN, closestcontact, hitConsumerID, distance, snormal);
+        }
+
+        // This is the standard Near.   Uses space AABBs to speed up detection.
+        private void near(IntPtr space, IntPtr g1, IntPtr g2)
+        {
+
+            //Don't test against heightfield Geom, or you'll be sorry!
+            
+            /*
+             terminate called after throwing an instance of 'std::bad_alloc'
+                  what():  std::bad_alloc
+                Stacktrace:
+                 
+                  at (wrapper managed-to-native) Ode.NET.d.Collide (intptr,intptr,int,Ode.NET.d/ContactGeom[],int) <0x00004>
+                  at (wrapper managed-to-native) Ode.NET.d.Collide (intptr,intptr,int,Ode.NET.d/ContactGeom[],int) <0xffffffff>
+                  at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.near (intptr,intptr,intptr) <0x00280>
+                  at (wrapper native-to-managed) OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.near (intptr,intptr,intptr) <0xfff
+                fffff>
+                  at (wrapper managed-to-native) Ode.NET.d.SpaceCollide2 (intptr,intptr,intptr,Ode.NET.d/NearCallback) <0x00004>
+                  at (wrapper managed-to-native) Ode.NET.d.SpaceCollide2 (intptr,intptr,intptr,Ode.NET.d/NearCallback) <0xffffffff>
+                  at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.RayCast (OpenSim.Region.Physics.OdePlugin.ODERayCastRequest) <
+                0x00114>
+                  at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.ProcessQueuedRequests () <0x000eb>
+                  at OpenSim.Region.Physics.OdePlugin.OdeScene.Simulate (single) <0x017e6>
+                  at OpenSim.Region.Framework.Scenes.SceneGraph.UpdatePhysics (double) <0x00042>
+                  at OpenSim.Region.Framework.Scenes.Scene.Update () <0x0039e>
+                  at OpenSim.Region.Framework.Scenes.Scene.Heartbeat (object) <0x00019>
+                  at (wrapper runtime-invoke) object.runtime_invoke_void__this___object (object,intptr,intptr,intptr) <0xffffffff>
+                 
+                Native stacktrace:
+                 
+                        mono [0x80d2a42]
+                        [0xb7f5840c]
+                        /lib/i686/cmov/libc.so.6(abort+0x188) [0xb7d1a018]
+                        /usr/lib/libstdc++.so.6(_ZN9__gnu_cxx27__verbose_terminate_handlerEv+0x158) [0xb45fc988]
+                        /usr/lib/libstdc++.so.6 [0xb45fa865]
+                        /usr/lib/libstdc++.so.6 [0xb45fa8a2]
+                        /usr/lib/libstdc++.so.6 [0xb45fa9da]
+                        /usr/lib/libstdc++.so.6(_Znwj+0x83) [0xb45fb033]
+                        /usr/lib/libstdc++.so.6(_Znaj+0x1d) [0xb45fb11d]
+                        libode.so(_ZN13dxHeightfield23dCollideHeightfieldZoneEiiiiP6dxGeomiiP12dContactGeomi+0xd04) [0xb46678e4]
+                        libode.so(_Z19dCollideHeightfieldP6dxGeomS0_iP12dContactGeomi+0x54b) [0xb466832b]
+                        libode.so(dCollide+0x102) [0xb46571b2]
+                        [0x95cfdec9]
+                        [0x8ea07fe1]
+                        [0xab260146]
+                        libode.so [0xb465a5c4]
+                        libode.so(_ZN11dxHashSpace8collide2EPvP6dxGeomPFvS0_S2_S2_E+0x75) [0xb465bcf5]
+                        libode.so(dSpaceCollide2+0x177) [0xb465ac67]
+                        [0x95cf978e]
+                        [0x8ea07945]
+                        [0x95cf2bbc]
+                        [0xab2787e7]
+                        [0xab419fb3]
+                        [0xab416657]
+                        [0xab415bda]
+                        [0xb609b08e]
+                        mono(mono_runtime_delegate_invoke+0x34) [0x8192534]
+                        mono [0x81a2f0f]
+                        mono [0x81d28b6]
+                        mono [0x81ea2c6]
+                        /lib/i686/cmov/libpthread.so.0 [0xb7e744c0]
+                        /lib/i686/cmov/libc.so.6(clone+0x5e) [0xb7dcd6de]
+             */
+
+            // Exclude heightfield geom
+
+            if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
+                return;
+            if (d.GeomGetClass(g1) == d.GeomClassID.HeightfieldClass || d.GeomGetClass(g2) == d.GeomClassID.HeightfieldClass)
+                return;
+
+            // Raytest against AABBs of spaces first, then dig into the spaces it hits for actual geoms.
+            if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
+            {
+                if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
+                    return;
+                
+                // Separating static prim geometry spaces.
+                // We'll be calling near recursivly if one
+                // of them is a space to find all of the
+                // contact points in the space
+                try
+                {
+                    d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
+                }
+                catch (AccessViolationException)
+                {
+                    m_log.Warn("[PHYSICS]: Unable to collide test a space");
+                    return;
+                }
+                //Colliding a space or a geom with a space or a geom. so drill down
+
+                //Collide all geoms in each space..
+                //if (d.GeomIsSpace(g1)) d.SpaceCollide(g1, IntPtr.Zero, nearCallback);
+                //if (d.GeomIsSpace(g2)) d.SpaceCollide(g2, IntPtr.Zero, nearCallback);
+                return;
+            }
+
+            if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
+                return;
+
+            int count = 0;
+            try
+            {
+                
+                if (g1 == g2)
+                    return; // Can't collide with yourself
+
+                lock (contacts)
+                {
+                    count = d.Collide(g1, g2, contacts.GetLength(0), contacts, d.ContactGeom.SizeOf);
+                }
+            }
+            catch (SEHException)
+            {
+                m_log.Error("[PHYSICS]: The Operating system shut down ODE because of corrupt memory.  This could be a result of really irregular terrain.  If this repeats continuously, restart using Basic Physics and terrain fill your terrain.  Restarting the sim.");
+            }
+            catch (Exception e)
+            {
+                m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message);
+                return;
+            }
+
+            PhysicsActor p1 = null;
+            PhysicsActor p2 = null;
+
+            if (g1 != IntPtr.Zero)
+                m_scene.actor_name_map.TryGetValue(g1, out p1);
+
+            if (g2 != IntPtr.Zero)
+                m_scene.actor_name_map.TryGetValue(g1, out p2);
+
+            // Loop over contacts, build results.
+            for (int i = 0; i < count; i++)
+            {
+                if (p1 != null) { 
+                    if (p1 is OdePrim)
+                    {
+                        ContactResult collisionresult = new ContactResult();
+                    
+                        collisionresult.ConsumerID = ((OdePrim)p1).m_localID;
+                        collisionresult.Pos = new Vector3(contacts[i].pos.X, contacts[i].pos.Y, contacts[i].pos.Z);
+                        collisionresult.Depth = contacts[i].depth;
+                        collisionresult.Normal = new Vector3(contacts[i].normal.X, contacts[i].normal.Y,
+                                                             contacts[i].normal.Z);
+                        lock (m_contactResults)
+                            m_contactResults.Add(collisionresult);
+                    }
+                }
+
+                if (p2 != null)
+                {
+                    if (p2 is OdePrim)
+                    {
+                        ContactResult collisionresult = new ContactResult();
+
+                        collisionresult.ConsumerID = ((OdePrim)p2).m_localID;
+                        collisionresult.Pos = new Vector3(contacts[i].pos.X, contacts[i].pos.Y, contacts[i].pos.Z);
+                        collisionresult.Depth = contacts[i].depth;
+                        collisionresult.Normal = new Vector3(contacts[i].normal.X, contacts[i].normal.Y,
+                                      contacts[i].normal.Z);
+
+                        lock (m_contactResults)
+                            m_contactResults.Add(collisionresult);
+                    }
+                }
+
+                
+            }
+
+        }
+
+        /// <summary>
+        /// Dereference the creator scene so that it can be garbage collected if needed.
+        /// </summary>
+        internal void Dispose()
+        {
+            m_scene = null;
+        }
+    }
+
+    public struct ODERayCastRequest
+    {
+        public Vector3 Origin;
+        public Vector3 Normal;
+        public float length;
+        public RaycastCallback callbackMethod;
+    }
+
+    public struct ContactResult
+    {
+        public Vector3 Pos;
+        public float Depth;
+        public uint ConsumerID;
+        public Vector3 Normal;
+    }
+}
diff --git a/OpenSim/Region/Physics/ChOdePlugin/OdePhysicsJoint.cs b/OpenSim/Region/Physics/ChOdePlugin/OdePhysicsJoint.cs
new file mode 100644
index 0000000..b4a3c48
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/OdePhysicsJoint.cs
@@ -0,0 +1,48 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using OpenMetaverse;
+using Ode.NET;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+using OpenSim.Region.Physics.OdePlugin;
+
+namespace OpenSim.Region.Physics.OdePlugin
+{
+    class OdePhysicsJoint : PhysicsJoint
+    {
+        public override bool IsInPhysicsEngine
+        {
+            get
+            {
+                return (jointID != IntPtr.Zero);
+            }
+        }
+        public IntPtr jointID;
+    }
+}
diff --git a/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs
new file mode 100644
index 0000000..00f5122
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs
@@ -0,0 +1,3887 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+//#define USE_DRAWSTUFF
+
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using System.Runtime.InteropServices;
+using System.Threading;
+using System.IO;
+using System.Diagnostics;
+using log4net;
+using Nini.Config;
+using Ode.NET;
+#if USE_DRAWSTUFF
+using Drawstuff.NET;
+#endif 
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+using OpenMetaverse;
+
+//using OpenSim.Region.Physics.OdePlugin.Meshing;
+
+namespace OpenSim.Region.Physics.OdePlugin
+{
+    /// <summary>
+    /// ODE plugin
+    /// </summary>
+    public class OdePlugin : IPhysicsPlugin
+    {
+        //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
+
+        private CollisionLocker ode;
+        private OdeScene _mScene;
+
+        public OdePlugin()
+        {
+            ode = new CollisionLocker();
+        }
+
+        public bool Init()
+        {
+            return true;
+        }
+
+        public PhysicsScene GetScene(String sceneIdentifier)
+        {
+            if (_mScene == null)
+            {
+                if (Util.IsWindows())
+                    Util.LoadArchSpecificWindowsDll("ode.dll");
+
+                // Initializing ODE only when a scene is created allows alternative ODE plugins to co-habit (according to
+                // http://opensimulator.org/mantis/view.php?id=2750).
+                d.InitODE();
+                
+                _mScene = new OdeScene(ode, sceneIdentifier);
+            }
+            return (_mScene);
+        }
+
+        public string GetName()
+        {
+            return ("ChODE");
+        }
+
+        public void Dispose()
+        {
+        }
+    }
+
+    public enum StatusIndicators : int
+    {
+        Generic = 0,
+        Start = 1,
+        End = 2
+    }
+
+    public struct sCollisionData
+    {
+        public uint ColliderLocalId;
+        public uint CollidedWithLocalId;
+        public int NumberOfCollisions;
+        public int CollisionType;
+        public int StatusIndicator;
+        public int lastframe;
+    }
+
+    [Flags]
+    public enum CollisionCategories : int
+    {
+        Disabled = 0,
+        Geom = 0x00000001,
+        Body = 0x00000002,
+        Space = 0x00000004,
+        Character = 0x00000008,
+        Land = 0x00000010,
+        Water = 0x00000020,
+        Wind = 0x00000040,
+        Sensor = 0x00000080,
+        Selected = 0x00000100
+    }
+
+    /// <summary>
+    /// Material type for a primitive
+    /// </summary>
+    public enum Material : int
+    {
+        /// <summary></summary>
+        Stone = 0,
+        /// <summary></summary>
+        Metal = 1,
+        /// <summary></summary>
+        Glass = 2,
+        /// <summary></summary>
+        Wood = 3,
+        /// <summary></summary>
+        Flesh = 4,
+        /// <summary></summary>
+        Plastic = 5,
+        /// <summary></summary>
+        Rubber = 6
+
+    }
+
+    public sealed class OdeScene : PhysicsScene
+    {
+        private readonly ILog m_log;
+        // private Dictionary<string, sCollisionData> m_storedCollisions = new Dictionary<string, sCollisionData>();
+
+        CollisionLocker ode;
+
+        private Random fluidRandomizer = new Random(Environment.TickCount);
+
+        private const uint m_regionWidth = Constants.RegionSize;
+        private const uint m_regionHeight = Constants.RegionSize;
+
+        private float ODE_STEPSIZE = 0.020f;
+        private float metersInSpace = 29.9f;
+        private float m_timeDilation = 1.0f;
+
+        public float gravityx = 0f;
+        public float gravityy = 0f;
+        public float gravityz = -9.8f;
+
+        private float contactsurfacelayer = 0.001f;
+
+        private int worldHashspaceLow = -4;
+        private int worldHashspaceHigh = 128;
+
+        private int smallHashspaceLow = -4;
+        private int smallHashspaceHigh = 66;
+
+        private float waterlevel = 0f;
+        private int framecount = 0;
+        //private int m_returncollisions = 10;
+
+        private readonly IntPtr contactgroup;
+
+        internal IntPtr LandGeom;
+        internal IntPtr WaterGeom;
+
+        private float nmTerrainContactFriction = 255.0f;
+        private float nmTerrainContactBounce = 0.1f;
+        private float nmTerrainContactERP = 0.1025f;
+
+        private float mTerrainContactFriction = 75f;
+        private float mTerrainContactBounce = 0.1f;
+        private float mTerrainContactERP = 0.05025f;
+
+        private float nmAvatarObjectContactFriction = 250f;
+        private float nmAvatarObjectContactBounce = 0.1f;
+
+        private float mAvatarObjectContactFriction = 75f;
+        private float mAvatarObjectContactBounce = 0.1f;
+
+        private float avPIDD = 3200f;
+        private float avPIDP = 1400f;
+        private float avCapRadius = 0.37f;
+        private float avStandupTensor = 2000000f;
+        private bool avCapsuleTilted = true; // true = old compatibility mode with leaning capsule; false = new corrected mode
+        public bool IsAvCapsuleTilted { get { return avCapsuleTilted; } set { avCapsuleTilted = value; } }
+        private float avDensity = 80f;
+        private float avHeightFudgeFactor = 0.52f;
+        private float avMovementDivisorWalk = 1.3f;
+        private float avMovementDivisorRun = 0.8f;
+        private float minimumGroundFlightOffset = 3f;
+        public float maximumMassObject = 10000.01f;
+
+        public bool meshSculptedPrim = true;
+        public bool forceSimplePrimMeshing = false;
+
+        public float meshSculptLOD = 32;
+        public float MeshSculptphysicalLOD = 16;
+
+        public float geomDefaultDensity = 10.000006836f;
+
+        public int geomContactPointsStartthrottle = 3;
+        public int geomUpdatesPerThrottledUpdate = 15;
+
+        public float bodyPIDD = 35f;
+        public float bodyPIDG = 25;
+
+        public int geomCrossingFailuresBeforeOutofbounds = 5;
+        public float geomRegionFence = 0.0f;
+
+        public float bodyMotorJointMaxforceTensor = 2;
+
+        public int bodyFramesAutoDisable = 20;
+
+        private DateTime m_lastframe = DateTime.UtcNow;
+
+        private float[] _watermap;
+        private bool m_filterCollisions = true;
+
+        private d.NearCallback nearCallback;
+        public d.TriCallback triCallback;
+        public d.TriArrayCallback triArrayCallback;
+        private readonly HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>();
+        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>();
+        private readonly List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>();
+        private readonly HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>();
+        public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
+        public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
+        private bool m_NINJA_physics_joints_enabled = false;
+        //private Dictionary<String, IntPtr> jointpart_name_map = new Dictionary<String,IntPtr>();
+        private readonly Dictionary<String, List<PhysicsJoint>> joints_connecting_actor = new Dictionary<String, List<PhysicsJoint>>();
+        private d.ContactGeom[] contacts;
+        private readonly List<PhysicsJoint> requestedJointsToBeCreated = new List<PhysicsJoint>(); // lock only briefly. accessed by external code (to request new joints) and by OdeScene.Simulate() to move those joints into pending/active
+        private readonly List<PhysicsJoint> pendingJoints = new List<PhysicsJoint>(); // can lock for longer. accessed only by OdeScene.
+        private readonly List<PhysicsJoint> activeJoints = new List<PhysicsJoint>(); // can lock for longer. accessed only by OdeScene.
+        private readonly List<string> requestedJointsToBeDeleted = new List<string>(); // lock only briefly. accessed by external code (to request deletion of joints) and by OdeScene.Simulate() to move those joints out of pending/active
+        private Object externalJointRequestsLock = new Object();
+        private readonly Dictionary<String, PhysicsJoint> SOPName_to_activeJoint = new Dictionary<String, PhysicsJoint>();
+        private readonly Dictionary<String, PhysicsJoint> SOPName_to_pendingJoint = new Dictionary<String, PhysicsJoint>();
+        private readonly DoubleDictionary<Vector3, IntPtr, IntPtr> RegionTerrain = new DoubleDictionary<Vector3, IntPtr, IntPtr>();
+        private readonly Dictionary<IntPtr,float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>();
+
+        private d.Contact ContactCopy;                  // local copy that can be modified
+        private d.Contact TerrainContact;
+        private d.Contact AvatarStaticprimContact;      // was 'contact'
+        private d.Contact AvatarMovementprimContact;
+        private d.Contact AvatarMovementTerrainContact;
+        private d.Contact WaterContact;
+        private d.Contact[,] m_materialContacts;
+
+//Ckrinke: Comment out until used. We declare it, initialize it, but do not use it
+//Ckrinke        private int m_randomizeWater = 200;
+        private int m_physicsiterations = 10;
+        private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
+        private readonly PhysicsActor PANull = new NullPhysicsActor();
+        private float step_time = 0.0f;
+//Ckrinke: Comment out until used. We declare it, initialize it, but do not use it
+//Ckrinke        private int ms = 0;
+        public IntPtr world;
+        //private bool returncollisions = false;
+        // private uint obj1LocalID = 0;
+        private uint obj2LocalID = 0;
+        //private int ctype = 0;
+        private OdeCharacter cc1;
+        private OdePrim cp1;
+        private OdeCharacter cc2;
+        private OdePrim cp2;
+        //private int cStartStop = 0;
+        //private string cDictKey = "";
+
+        public IntPtr space;
+
+        //private IntPtr tmpSpace;
+        // split static geometry collision handling into spaces of 30 meters
+        public IntPtr[,] staticPrimspace;
+
+        public Object OdeLock;
+
+        public IMesher mesher;
+
+        private IConfigSource m_config;
+
+        public bool physics_logging = false;
+        public int physics_logging_interval = 0;
+        public bool physics_logging_append_existing_logfile = false;
+
+        public d.Vector3 xyz = new d.Vector3(128.1640f, 128.3079f, 25.7600f);
+        public d.Vector3 hpr = new d.Vector3(125.5000f, -17.0000f, 0.0000f);
+
+        // TODO: unused: private uint heightmapWidth = m_regionWidth + 1;
+        // TODO: unused: private uint heightmapHeight = m_regionHeight + 1;
+        // TODO: unused: private uint heightmapWidthSamples;
+        // TODO: unused: private uint heightmapHeightSamples;
+
+        private volatile int m_global_contactcount = 0;
+
+        private Vector3 m_worldOffset = Vector3.Zero;
+        public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
+        private PhysicsScene m_parentScene = null;
+
+        private ODERayCastRequestManager m_rayCastManager;
+
+        /// <summary>
+        /// Initiailizes the scene
+        /// Sets many properties that ODE requires to be stable
+        /// These settings need to be tweaked 'exactly' right or weird stuff happens.
+        /// </summary>
+        public OdeScene(CollisionLocker dode, string sceneIdentifier)
+        {
+            m_log 
+                = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString() + "." + sceneIdentifier);
+
+            OdeLock = new Object();
+            ode = dode;
+            nearCallback = near;
+            triCallback = TriCallback;
+            triArrayCallback = TriArrayCallback;
+            m_rayCastManager = new ODERayCastRequestManager(this);
+            lock (OdeLock)
+            {
+                // Create the world and the first space
+                world = d.WorldCreate();
+                space = d.HashSpaceCreate(IntPtr.Zero);
+                
+
+                contactgroup = d.JointGroupCreate(0);
+                //contactgroup
+
+                d.WorldSetAutoDisableFlag(world, false);
+                #if USE_DRAWSTUFF
+                
+                Thread viewthread = new Thread(new ParameterizedThreadStart(startvisualization));
+                viewthread.Start();
+                #endif
+            }
+
+
+            _watermap = new float[258 * 258];
+
+            // Zero out the prim spaces array (we split our space into smaller spaces so
+            // we can hit test less.
+        }
+
+#if USE_DRAWSTUFF
+        public void startvisualization(object o)
+        {
+            ds.Functions fn;
+            fn.version = ds.VERSION;
+            fn.start = new ds.CallbackFunction(start);
+            fn.step = new ds.CallbackFunction(step);
+            fn.command = new ds.CallbackFunction(command);
+            fn.stop = null;
+            fn.path_to_textures = "./textures";
+            string[] args = new string[0];
+            ds.SimulationLoop(args.Length, args, 352, 288, ref fn);
+        }
+#endif
+
+        // Initialize the mesh plugin
+        public override void Initialise(IMesher meshmerizer, IConfigSource config)
+        {
+            mesher = meshmerizer;
+            m_config = config;
+            // Defaults
+
+            if (Environment.OSVersion.Platform == PlatformID.Unix)
+            {
+                avPIDD = 3200.0f;
+                avPIDP = 1400.0f;
+                avStandupTensor = 2000000f;
+            }
+            else
+            {
+                avPIDD = 2200.0f;
+                avPIDP = 900.0f;
+                avStandupTensor = 550000f;
+            }
+
+            int contactsPerCollision = 80;
+
+            if (m_config != null)
+            {
+                IConfig physicsconfig = m_config.Configs["ODEPhysicsSettings"];
+                if (physicsconfig != null)
+                {
+                    gravityx = physicsconfig.GetFloat("world_gravityx", 0f);
+                    gravityy = physicsconfig.GetFloat("world_gravityy", 0f);
+                    gravityz = physicsconfig.GetFloat("world_gravityz", -9.8f);
+
+                    worldHashspaceLow = physicsconfig.GetInt("world_hashspace_size_low", -4);
+                    worldHashspaceHigh = physicsconfig.GetInt("world_hashspace_size_high", 128);
+
+                    metersInSpace = physicsconfig.GetFloat("meters_in_small_space", 29.9f);
+                    smallHashspaceLow = physicsconfig.GetInt("small_hashspace_size_low", -4);
+                    smallHashspaceHigh = physicsconfig.GetInt("small_hashspace_size_high", 66);
+
+                    contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", 0.001f);
+
+                    nmTerrainContactFriction = physicsconfig.GetFloat("nm_terraincontact_friction", 255.0f);
+                    nmTerrainContactBounce = physicsconfig.GetFloat("nm_terraincontact_bounce", 0.1f);
+                    nmTerrainContactERP = physicsconfig.GetFloat("nm_terraincontact_erp", 0.1025f);
+
+                    mTerrainContactFriction = physicsconfig.GetFloat("m_terraincontact_friction", 75f);
+                    mTerrainContactBounce = physicsconfig.GetFloat("m_terraincontact_bounce", 0.05f);
+                    mTerrainContactERP = physicsconfig.GetFloat("m_terraincontact_erp", 0.05025f);
+
+                    nmAvatarObjectContactFriction = physicsconfig.GetFloat("objectcontact_friction", 250f);
+                    nmAvatarObjectContactBounce = physicsconfig.GetFloat("objectcontact_bounce", 0.2f);
+
+                    mAvatarObjectContactFriction = physicsconfig.GetFloat("m_avatarobjectcontact_friction", 75f);
+                    mAvatarObjectContactBounce = physicsconfig.GetFloat("m_avatarobjectcontact_bounce", 0.1f);
+
+                    ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", 0.020f);
+                    m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", 10);
+
+                    avDensity = physicsconfig.GetFloat("av_density", 80f);
+                    avHeightFudgeFactor = physicsconfig.GetFloat("av_height_fudge_factor", 0.52f);
+                    avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", 1.3f);
+                    avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", 0.8f);
+                    avCapRadius = physicsconfig.GetFloat("av_capsule_radius", 0.37f);
+                    avCapsuleTilted = physicsconfig.GetBoolean("av_capsule_tilted", false);
+
+                    contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", 80);
+
+                    geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3);
+                    geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15);
+                    geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5);
+                    geomRegionFence = physicsconfig.GetFloat("region_border_fence", 0.0f);
+
+                    geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", 10.000006836f);
+                    bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", 20);
+
+                    bodyPIDD = physicsconfig.GetFloat("body_pid_derivative", 35f);
+                    bodyPIDG = physicsconfig.GetFloat("body_pid_gain", 25f);
+
+                    forceSimplePrimMeshing = physicsconfig.GetBoolean("force_simple_prim_meshing", forceSimplePrimMeshing);
+                    meshSculptedPrim = physicsconfig.GetBoolean("mesh_sculpted_prim", true);
+                    meshSculptLOD = physicsconfig.GetFloat("mesh_lod", 32f);
+                    MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", 16f);
+                    m_filterCollisions = physicsconfig.GetBoolean("filter_collisions", false);
+
+                    if (Environment.OSVersion.Platform == PlatformID.Unix)
+                    {
+                        avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", 2200.0f);
+                        avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", 900.0f);
+                        avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_linux", 550000f);
+                        bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_linux", 5f);
+                    }
+                    else
+                    {
+                        avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", 2200.0f);
+                        avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", 900.0f);
+                        avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_win", 550000f);
+                        bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_win", 5f);
+                    }
+
+                    physics_logging = physicsconfig.GetBoolean("physics_logging", false);
+                    physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0);
+                    physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false);
+
+                    m_NINJA_physics_joints_enabled = physicsconfig.GetBoolean("use_NINJA_physics_joints", false);
+                    minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", 3f);
+                    maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", 10000.01f);
+                }
+            }
+
+            contacts = new d.ContactGeom[contactsPerCollision];
+
+            staticPrimspace = new IntPtr[(int)(300 / metersInSpace), (int)(300 / metersInSpace)];
+
+            // Avatar static on a Prim parameters
+            AvatarStaticprimContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            AvatarStaticprimContact.surface.mu = 255.0f;
+            AvatarStaticprimContact.surface.bounce = 0.0f;
+            AvatarStaticprimContact.surface.soft_cfm = 0.0f;
+            AvatarStaticprimContact.surface.soft_erp = 0.30f;   // If this is too small static Av will fall through a sloping prim. 1.0 prevents fall-thru
+
+            // Avatar moving on a Prim parameters
+            AvatarMovementprimContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            AvatarMovementprimContact.surface.mu = 255.0f;
+            AvatarMovementprimContact.surface.bounce = 0.0f;
+            AvatarMovementprimContact.surface.soft_cfm = 0.0f; // if this is 0.01 then prims become phantom to Avs!
+            AvatarMovementprimContact.surface.soft_erp = 0.3f;
+
+            // Static Avatar on Terrain parameters
+            // Keeps Avatar in place better
+            TerrainContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            TerrainContact.surface.mu = 255.0f;
+            TerrainContact.surface.bounce = 0.0f;
+            TerrainContact.surface.soft_cfm = 0.0f;
+            TerrainContact.surface.soft_erp = 0.05f;
+
+            // Moving Avatar on Terrain parameters
+            AvatarMovementTerrainContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            AvatarMovementTerrainContact.surface.mu = 75f;
+            AvatarMovementTerrainContact.surface.bounce = 0.0f;
+            AvatarMovementTerrainContact.surface.soft_cfm = 0.0f;
+            AvatarMovementTerrainContact.surface.soft_erp = 0.05f;
+
+            // Avatar or prim the the water, this may not be used, possibly water is same as air?
+            WaterContact.surface.mode |= (d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM);
+            WaterContact.surface.mu = 0.0f; // No friction
+            WaterContact.surface.bounce = 0.0f; // No bounce
+            WaterContact.surface.soft_cfm = 0.010f;
+            WaterContact.surface.soft_erp = 0.010f;
+
+
+            // Prim static or moving on a prim, depends on material type
+            m_materialContacts = new d.Contact[7,2];
+                                                //  V  1 = Sliding; 0 = static or fell onto
+            m_materialContacts[(int)Material.Stone, 0] = new d.Contact();
+            m_materialContacts[(int)Material.Stone, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            m_materialContacts[(int)Material.Stone, 0].surface.mu = 60f;           // friction, 1 = slippery, 255 = no slip
+            m_materialContacts[(int)Material.Stone, 0].surface.bounce = 0.0f;       
+            m_materialContacts[(int)Material.Stone, 0].surface.soft_cfm = 0.0f;
+            m_materialContacts[(int)Material.Stone, 0].surface.soft_erp = 0.50f;    // erp also changes friction, more erp=less friction
+
+            m_materialContacts[(int)Material.Stone, 1] = new d.Contact();
+            m_materialContacts[(int)Material.Stone, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            m_materialContacts[(int)Material.Stone, 1].surface.mu = 40f;
+            m_materialContacts[(int)Material.Stone, 1].surface.bounce = 0.0f;
+            m_materialContacts[(int)Material.Stone, 1].surface.soft_cfm = 0.0f;
+            m_materialContacts[(int)Material.Stone, 1].surface.soft_erp = 0.50f;
+
+            m_materialContacts[(int)Material.Metal, 0] = new d.Contact();
+            m_materialContacts[(int)Material.Metal, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            m_materialContacts[(int)Material.Metal, 0].surface.mu = 15f;
+            m_materialContacts[(int)Material.Metal, 0].surface.bounce = 0.2f;
+            m_materialContacts[(int)Material.Metal, 0].surface.soft_cfm = 0.0f;
+            m_materialContacts[(int)Material.Metal, 0].surface.soft_erp = 0.50f;
+
+            m_materialContacts[(int)Material.Metal, 1] = new d.Contact();
+            m_materialContacts[(int)Material.Metal, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            m_materialContacts[(int)Material.Metal, 1].surface.mu = 10f;
+            m_materialContacts[(int)Material.Metal, 1].surface.bounce = 0.2f;
+            m_materialContacts[(int)Material.Metal, 1].surface.soft_cfm = 0.0f;
+            m_materialContacts[(int)Material.Metal, 1].surface.soft_erp = 0.50f;
+
+            m_materialContacts[(int)Material.Glass, 0] = new d.Contact();
+            m_materialContacts[(int)Material.Glass, 0].surface.mode  = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            m_materialContacts[(int)Material.Glass, 0].surface.mu = 7.5f;
+            m_materialContacts[(int)Material.Glass, 0].surface.bounce = 0.0f;
+            m_materialContacts[(int)Material.Glass, 0].surface.soft_cfm = 0.0f;
+            m_materialContacts[(int)Material.Glass, 0].surface.soft_erp = 0.50f;
+
+            m_materialContacts[(int)Material.Glass, 1] = new d.Contact();
+            m_materialContacts[(int)Material.Glass, 1].surface.mode  = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            m_materialContacts[(int)Material.Glass, 1].surface.mu = 5f;
+            m_materialContacts[(int)Material.Glass, 1].surface.bounce = 0.0f;
+            m_materialContacts[(int)Material.Glass, 1].surface.soft_cfm = 0.0f;
+            m_materialContacts[(int)Material.Glass, 1].surface.soft_erp = 0.50f;
+
+            m_materialContacts[(int)Material.Wood, 0] = new d.Contact();
+            m_materialContacts[(int)Material.Wood, 0].surface.mode  = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            m_materialContacts[(int)Material.Wood, 0].surface.mu = 45f;
+            m_materialContacts[(int)Material.Wood, 0].surface.bounce = 0.1f;
+            m_materialContacts[(int)Material.Wood, 0].surface.soft_cfm = 0.0f;
+            m_materialContacts[(int)Material.Wood, 0].surface.soft_erp = 0.50f;
+
+            m_materialContacts[(int)Material.Wood, 1] = new d.Contact();
+            m_materialContacts[(int)Material.Wood, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            m_materialContacts[(int)Material.Wood, 1].surface.mu = 30f;
+            m_materialContacts[(int)Material.Wood, 1].surface.bounce = 0.1f;
+            m_materialContacts[(int)Material.Wood, 1].surface.soft_cfm = 0.0f;
+            m_materialContacts[(int)Material.Wood, 1].surface.soft_erp = 0.50f;
+
+            m_materialContacts[(int)Material.Flesh, 0] = new d.Contact();
+            m_materialContacts[(int)Material.Flesh, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            m_materialContacts[(int)Material.Flesh, 0].surface.mu = 150f;
+            m_materialContacts[(int)Material.Flesh, 0].surface.bounce = 0.0f;
+            m_materialContacts[(int)Material.Flesh, 0].surface.soft_cfm = 0.0f;
+            m_materialContacts[(int)Material.Flesh, 0].surface.soft_erp = 0.50f;
+
+            m_materialContacts[(int)Material.Flesh, 1] = new d.Contact();
+            m_materialContacts[(int)Material.Flesh, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            m_materialContacts[(int)Material.Flesh, 1].surface.mu = 100f;
+            m_materialContacts[(int)Material.Flesh, 1].surface.bounce = 0.0f;
+            m_materialContacts[(int)Material.Flesh, 1].surface.soft_cfm = 0.0f;
+            m_materialContacts[(int)Material.Flesh, 1].surface.soft_erp = 0.50f;
+
+            m_materialContacts[(int)Material.Plastic, 0] = new d.Contact();
+            m_materialContacts[(int)Material.Plastic, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            m_materialContacts[(int)Material.Plastic, 0].surface.mu = 30f;
+            m_materialContacts[(int)Material.Plastic, 0].surface.bounce = 0.2f;
+            m_materialContacts[(int)Material.Plastic, 0].surface.soft_cfm = 0.0f;
+            m_materialContacts[(int)Material.Plastic, 0].surface.soft_erp = 0.50f;
+
+            m_materialContacts[(int)Material.Plastic, 1] = new d.Contact();
+            m_materialContacts[(int)Material.Plastic, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            m_materialContacts[(int)Material.Plastic, 1].surface.mu = 20f;
+            m_materialContacts[(int)Material.Plastic, 1].surface.bounce = 0.2f;
+            m_materialContacts[(int)Material.Plastic, 1].surface.soft_cfm = 0.0f;
+            m_materialContacts[(int)Material.Plastic, 1].surface.soft_erp = 0.50f;
+
+            m_materialContacts[(int)Material.Rubber, 0] = new d.Contact();
+            m_materialContacts[(int)Material.Rubber, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            m_materialContacts[(int)Material.Rubber, 0].surface.mu = 150f;
+            m_materialContacts[(int)Material.Rubber, 0].surface.bounce = 0.7f;
+            m_materialContacts[(int)Material.Rubber, 0].surface.soft_cfm = 0.0f;
+            m_materialContacts[(int)Material.Rubber, 0].surface.soft_erp = 0.50f;
+
+            m_materialContacts[(int)Material.Rubber, 1] = new d.Contact();
+            m_materialContacts[(int)Material.Rubber, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            m_materialContacts[(int)Material.Rubber, 1].surface.mu = 100f;
+            m_materialContacts[(int)Material.Rubber, 1].surface.bounce = 0.7f;
+            m_materialContacts[(int)Material.Rubber, 1].surface.soft_cfm = 0.0f;
+            m_materialContacts[(int)Material.Rubber, 1].surface.soft_erp = 0.50f;
+
+            d.HashSpaceSetLevels(space, worldHashspaceLow, worldHashspaceHigh);
+
+            // Set the gravity,, don't disable things automatically (we set it explicitly on some things)
+
+            d.WorldSetGravity(world, gravityx, gravityy, gravityz);
+            d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
+
+
+            d.WorldSetLinearDampingThreshold(world, 256f);
+            d.WorldSetLinearDamping(world, 256f);
+//            d.WorldSetLinearDampingThreshold(world, 0.01f);
+//            d.WorldSetLinearDamping(world, 0.1f);
+            d.WorldSetAngularDampingThreshold(world, 256f);
+            d.WorldSetAngularDamping(world, 256f);
+            d.WorldSetMaxAngularSpeed(world, 256f);
+
+            // Set how many steps we go without running collision testing
+            // This is in addition to the step size.
+            // Essentially Steps * m_physicsiterations
+            d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
+            //d.WorldSetContactMaxCorrectingVel(world, 1000.0f);
+
+            
+
+            for (int i = 0; i < staticPrimspace.GetLength(0); i++)
+            {
+                for (int j = 0; j < staticPrimspace.GetLength(1); j++)
+                {
+                    staticPrimspace[i, j] = IntPtr.Zero;
+                }
+            }
+        }
+
+        internal void waitForSpaceUnlock(IntPtr space)
+        {
+            //if (space != IntPtr.Zero)
+                //while (d.SpaceLockQuery(space)) { } // Wait and do nothing
+        }
+
+        /// <summary>
+        /// Debug space message for printing the space that a prim/avatar is in.
+        /// </summary>
+        /// <param name="pos"></param>
+        /// <returns>Returns which split up space the given position is in.</returns>
+        public string whichspaceamIin(Vector3 pos)
+        {
+            return calculateSpaceForGeom(pos).ToString();
+        }
+
+        #region Collision Detection
+
+        /// <summary>
+        /// This is our near callback.  A geometry is near a body
+        /// </summary>
+        /// <param name="space">The space that contains the geoms.  Remember, spaces are also geoms</param>
+        /// <param name="g1">a geometry or space</param>
+        /// <param name="g2">another geometry or space</param>
+        private void near(IntPtr space, IntPtr g1, IntPtr g2)
+        {
+            //  no lock here!  It's invoked from within Simulate(), which is thread-locked
+
+            // Test if we're colliding a geom with a space.
+            // If so we have to drill down into the space recursively
+//Console.WriteLine("near -----------");  //##
+            if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
+            {
+                if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
+                    return;
+                
+                // Separating static prim geometry spaces.
+                // We'll be calling near recursivly if one
+                // of them is a space to find all of the
+                // contact points in the space
+                try
+                {
+                    d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
+                }
+                catch (AccessViolationException)
+                {
+                    m_log.Warn("[PHYSICS]: Unable to collide test a space");
+                    return;
+                }
+                //Colliding a space or a geom with a space or a geom. so drill down
+
+                //Collide all geoms in each space..
+                //if (d.GeomIsSpace(g1)) d.SpaceCollide(g1, IntPtr.Zero, nearCallback);
+                //if (d.GeomIsSpace(g2)) d.SpaceCollide(g2, IntPtr.Zero, nearCallback);
+                return;
+            }
+
+            if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
+                return;
+
+            IntPtr b1 = d.GeomGetBody(g1);
+            IntPtr b2 = d.GeomGetBody(g2);
+
+            // d.GeomClassID id = d.GeomGetClass(g1);
+
+            String name1 = null;
+            String name2 = null;
+
+            if (!geom_name_map.TryGetValue(g1, out name1))
+            {
+                name1 = "null";
+            }
+            if (!geom_name_map.TryGetValue(g2, out name2))
+            {
+                name2 = "null";
+            }
+
+            //if (id == d.GeomClassId.TriMeshClass)
+            //{
+                //               m_log.InfoFormat("near: A collision was detected between {1} and {2}", 0, name1, name2);
+                //m_log.Debug("near: A collision was detected between {1} and {2}", 0, name1, name2);
+            //}
+
+            // Figure out how many contact points we have
+            int count = 0;
+            try
+            {
+                // Colliding Geom To Geom
+                // This portion of the function 'was' blatantly ripped off from BoxStack.cs
+
+                if (g1 == g2)
+                    return; // Can't collide with yourself
+
+                if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
+                    return;
+
+                lock (contacts)
+                {
+                    count = d.Collide(g1, g2, contacts.Length, contacts, d.ContactGeom.SizeOf);
+                    if (count > contacts.Length)
+                        m_log.Error("[PHYSICS]: Got " + count + " contacts when we asked for a maximum of " + contacts.Length);
+                }
+            }
+            catch (SEHException)
+            {
+                m_log.Error("[PHYSICS]: The Operating system shut down ODE because of corrupt memory.  This could be a result of really irregular terrain.  If this repeats continuously, restart using Basic Physics and terrain fill your terrain.  Restarting the sim.");
+                ode.drelease(world);
+                base.TriggerPhysicsBasedRestart();
+            }
+            catch (Exception e)
+            {
+                m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message);
+                return;
+            }
+
+            PhysicsActor p1;
+            PhysicsActor p2;
+
+            if (!actor_name_map.TryGetValue(g1, out p1))
+            {
+                p1 = PANull;
+            }
+
+            if (!actor_name_map.TryGetValue(g2, out p2))
+            {
+                p2 = PANull;
+            }
+
+            ContactPoint maxDepthContact = new ContactPoint();
+            if (p1.CollisionScore + count >= float.MaxValue)
+                p1.CollisionScore = 0;
+            p1.CollisionScore += count;
+
+            if (p2.CollisionScore + count >= float.MaxValue)
+                p2.CollisionScore = 0;
+            p2.CollisionScore += count;
+            for (int i = 0; i < count; i++)
+            {
+                d.ContactGeom curContact = contacts[i];
+
+                if (curContact.depth > maxDepthContact.PenetrationDepth)
+                {
+                    maxDepthContact = new ContactPoint(
+                        new Vector3(curContact.pos.X, curContact.pos.Y, curContact.pos.Z),
+                        new Vector3(curContact.normal.X, curContact.normal.Y, curContact.normal.Z),
+                        curContact.depth
+                    );
+                }
+
+                //m_log.Warn("[CCOUNT]: " + count);
+                IntPtr joint;
+                // If we're colliding with terrain, use 'TerrainContact' instead of AvatarStaticprimContact.
+                // allows us to have different settings
+                
+                // We only need to test p2 for 'jump crouch purposes'
+                if (p2 is OdeCharacter && p1.PhysicsActorType == (int)ActorTypes.Prim)
+                {
+                    // Testing if the collision is at the feet of the avatar
+
+                    //m_log.DebugFormat("[PHYSICS]: {0} - {1} - {2} - {3}", curContact.pos.Z, p2.Position.Z, (p2.Position.Z - curContact.pos.Z), (p2.Size.Z * 0.6f));
+//#@                    if ((p2.Position.Z - curContact.pos.Z) > (p2.Size.Z * 0.6f))
+//#@                        p2.IsColliding = true;
+                    if ((p2.Position.Z - curContact.pos.Z) > (p2.Size.Z * 0.6f)){       //##
+                        p2.IsColliding = true;       //##
+                    }else{
+
+                    }  //##   
+                 }
+                else
+                {
+                    p2.IsColliding = true;
+                }
+                
+                //if ((framecount % m_returncollisions) == 0)
+
+                switch (p1.PhysicsActorType)
+                {
+                    case (int)ActorTypes.Agent:
+                        p2.CollidingObj = true;
+                        break;
+                    case (int)ActorTypes.Prim:
+                        if (p2.Velocity.LengthSquared() > 0.0f)
+                            p2.CollidingObj = true;
+                        break;
+                    case (int)ActorTypes.Unknown:
+                        p2.CollidingGround = true;
+                        break;
+                    default:
+                        p2.CollidingGround = true;
+                        break;
+                }
+
+                // we don't want prim or avatar to explode
+
+                #region InterPenetration Handling - Unintended physics explosions
+# region disabled code1
+
+                if (curContact.depth >= 0.08f)
+                {
+                    //This is disabled at the moment only because it needs more tweaking
+                    //It will eventually be uncommented
+                    /*
+                    if (AvatarStaticprimContact.depth >= 1.00f)
+                    {
+                        //m_log.Debug("[PHYSICS]: " + AvatarStaticprimContact.depth.ToString());
+                    }
+
+                    //If you interpenetrate a prim with an agent
+                    if ((p2.PhysicsActorType == (int) ActorTypes.Agent &&
+                         p1.PhysicsActorType == (int) ActorTypes.Prim) ||
+                        (p1.PhysicsActorType == (int) ActorTypes.Agent &&
+                         p2.PhysicsActorType == (int) ActorTypes.Prim))
+                    {
+                        
+                        //AvatarStaticprimContact.depth = AvatarStaticprimContact.depth * 4.15f;
+                        /*
+                        if (p2.PhysicsActorType == (int) ActorTypes.Agent)
+                        {
+                            p2.CollidingObj = true;
+                            AvatarStaticprimContact.depth = 0.003f;
+                            p2.Velocity = p2.Velocity + new PhysicsVector(0, 0, 2.5f);
+                            OdeCharacter character = (OdeCharacter) p2;
+                            character.SetPidStatus(true);
+                            AvatarStaticprimContact.pos = new d.Vector3(AvatarStaticprimContact.pos.X + (p1.Size.X / 2), AvatarStaticprimContact.pos.Y + (p1.Size.Y / 2), AvatarStaticprimContact.pos.Z + (p1.Size.Z / 2));
+
+                        }
+                        else
+                        {
+
+                            //AvatarStaticprimContact.depth = 0.0000000f;
+                        }
+                        if (p1.PhysicsActorType == (int) ActorTypes.Agent)
+                        {
+
+                            p1.CollidingObj = true;
+                            AvatarStaticprimContact.depth = 0.003f;
+                            p1.Velocity = p1.Velocity + new PhysicsVector(0, 0, 2.5f);
+                            AvatarStaticprimContact.pos = new d.Vector3(AvatarStaticprimContact.pos.X + (p2.Size.X / 2), AvatarStaticprimContact.pos.Y + (p2.Size.Y / 2), AvatarStaticprimContact.pos.Z + (p2.Size.Z / 2));
+                            OdeCharacter character = (OdeCharacter)p1;
+                            character.SetPidStatus(true);
+                        }
+                        else
+                        {
+
+                            //AvatarStaticprimContact.depth = 0.0000000f;
+                        }
+                          
+                        
+                     
+                    }
+*/
+                    // If you interpenetrate a prim with another prim
+                /*
+                    if (p1.PhysicsActorType == (int) ActorTypes.Prim && p2.PhysicsActorType == (int) ActorTypes.Prim)
+                    {
+                        #region disabledcode2
+                        //OdePrim op1 = (OdePrim)p1;
+                        //OdePrim op2 = (OdePrim)p2;
+                        //op1.m_collisionscore++;
+                        //op2.m_collisionscore++;
+
+                        //if (op1.m_collisionscore > 8000 || op2.m_collisionscore > 8000)
+                        //{
+                            //op1.m_taintdisable = true;
+                            //AddPhysicsActorTaint(p1);
+                            //op2.m_taintdisable = true;
+                            //AddPhysicsActorTaint(p2);
+                        //}
+
+                        //if (AvatarStaticprimContact.depth >= 0.25f)
+                        //{
+                            // Don't collide, one or both prim will expld.
+
+                            //op1.m_interpenetrationcount++;
+                            //op2.m_interpenetrationcount++;
+                            //interpenetrations_before_disable = 200;
+                            //if (op1.m_interpenetrationcount >= interpenetrations_before_disable)
+                            //{
+                                //op1.m_taintdisable = true;
+                                //AddPhysicsActorTaint(p1);
+                            //}
+                            //if (op2.m_interpenetrationcount >= interpenetrations_before_disable)
+                            //{
+                               // op2.m_taintdisable = true;
+                                //AddPhysicsActorTaint(p2);
+                            //}
+
+                            //AvatarStaticprimContact.depth = AvatarStaticprimContact.depth / 8f;
+                            //AvatarStaticprimContact.normal = new d.Vector3(0, 0, 1);
+                        //}
+                        //if (op1.m_disabled || op2.m_disabled)
+                        //{
+                            //Manually disabled objects stay disabled
+                            //AvatarStaticprimContact.depth = 0f;
+                        //}
+                        #endregion
+                    }
+                    */
+#endregion
+                    if (curContact.depth >= 1.00f)
+                    {
+                        //m_log.Info("[P]: " + AvatarStaticprimContact.depth.ToString());
+                        if ((p2.PhysicsActorType == (int) ActorTypes.Agent &&
+                             p1.PhysicsActorType == (int) ActorTypes.Unknown) ||
+                            (p1.PhysicsActorType == (int) ActorTypes.Agent &&
+                             p2.PhysicsActorType == (int) ActorTypes.Unknown))
+                        {
+                            if (p2.PhysicsActorType == (int) ActorTypes.Agent)
+                            {
+                                if (p2 is OdeCharacter)
+                                {
+                                    OdeCharacter character = (OdeCharacter) p2;
+
+                                    //p2.CollidingObj = true;
+                                    curContact.depth = 0.00000003f;
+                                    p2.Velocity = p2.Velocity + new Vector3(0f, 0f, 0.5f);
+                                    curContact.pos =
+                                        new d.Vector3(curContact.pos.X + (p1.Size.X/2),
+                                                      curContact.pos.Y + (p1.Size.Y/2),
+                                                      curContact.pos.Z + (p1.Size.Z/2));
+                                    character.SetPidStatus(true);
+                                }
+                            }
+                            
+
+                            if (p1.PhysicsActorType == (int) ActorTypes.Agent)
+                            {
+                                if (p1 is OdeCharacter)
+                                {
+                                    OdeCharacter character = (OdeCharacter) p1;
+
+                                    //p2.CollidingObj = true;
+                                    curContact.depth = 0.00000003f;
+                                    p1.Velocity = p1.Velocity + new Vector3(0f, 0f, 0.5f);
+                                    curContact.pos =
+                                        new d.Vector3(curContact.pos.X + (p1.Size.X/2),
+                                                      curContact.pos.Y + (p1.Size.Y/2),
+                                                      curContact.pos.Z + (p1.Size.Z/2));
+                                    character.SetPidStatus(true);
+                                }
+                            }
+                        }
+                    }
+                }
+
+                #endregion
+
+                // Logic for collision handling
+                // Note, that if *all* contacts are skipped (VolumeDetect)
+                // The prim still detects (and forwards) collision events but 
+                // appears to be phantom for the world
+                Boolean skipThisContact = false;
+
+                if ((p1 is OdePrim) && (((OdePrim)p1).m_isVolumeDetect))
+                    skipThisContact = true;   // No collision on volume detect prims
+
+                if (!skipThisContact && (p2 is OdePrim) && (((OdePrim)p2).m_isVolumeDetect))
+                    skipThisContact = true;   // No collision on volume detect prims
+
+                if (!skipThisContact && curContact.depth < 0f)
+                    skipThisContact = true;
+
+                if (!skipThisContact && checkDupe(curContact, p2.PhysicsActorType))
+                    skipThisContact = true;
+
+                const int maxContactsbeforedeath = 4000;
+                joint = IntPtr.Zero;
+
+                if (!skipThisContact)
+                {
+                    //   Add contact joints with materials params----------------------------------
+                    // p1 is what is being hit, p2 is the physical object doing the hitting
+                    int material = (int) Material.Wood;
+                    int movintYN = 0;  // 1 = Sliding; 0 = static or fell onto
+                    if (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f) movintYN = 1;
+
+                    // If we're colliding against terrain
+                    if (name1 == "Terrain" || name2 == "Terrain")
+                    {
+                        // If we're moving
+                        if ((p2.PhysicsActorType == (int) ActorTypes.Agent) && (movintYN == 1))
+                        {
+                            //$ Av walk/run on terrain (not falling) Use the Avatar movement terrain contact
+                            AvatarMovementTerrainContact.geom = curContact;
+                            _perloopContact.Add(curContact);
+                            if (m_global_contactcount < maxContactsbeforedeath)
+                            {
+                                joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementTerrainContact);
+                                m_global_contactcount++;
+                            }
+                        }
+                        else
+                        {
+                            if (p2.PhysicsActorType == (int)ActorTypes.Agent)
+                            {
+                                //$ Av standing on terrain, Use the non moving Avata terrain contact
+                                TerrainContact.geom = curContact;
+                                _perloopContact.Add(curContact);
+                                if (m_global_contactcount < maxContactsbeforedeath)
+                                {
+                                    joint = d.JointCreateContact(world, contactgroup, ref TerrainContact);
+                                    m_global_contactcount++;
+                                }
+                            }
+                            else
+                            {
+                                if (p2.PhysicsActorType == (int)ActorTypes.Prim && p1.PhysicsActorType == (int)ActorTypes.Prim)
+                                {
+                                    //& THIS NEVER HAPPENS? prim prim contact In terrain contact?
+                                    // int pj294950 = 0;
+                                    // prim terrain contact
+
+                                    if (p2 is OdePrim)
+                                        material = ((OdePrim)p2).m_material;
+                                    //m_log.DebugFormat("Material: {0}", material);
+                                    m_materialContacts[material, movintYN].geom = curContact;
+                                    _perloopContact.Add(curContact);
+
+                                    if (m_global_contactcount < maxContactsbeforedeath)
+                                    {
+                                        joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
+                                        m_global_contactcount++;
+
+                                    }
+                                    
+                                }
+                                else
+                                {
+                                   //$ prim on terrain contact
+                                    if (p2 is OdePrim)
+                                        material = ((OdePrim)p2).m_material;
+                                    //m_log.DebugFormat("Material: {0}", material);
+                                    m_materialContacts[material, movintYN].geom = curContact;
+                                    _perloopContact.Add(curContact);
+
+                                    ContactCopy = m_materialContacts[material, movintYN];
+                                    if(movintYN == 1)
+                                    {
+                                        // prevent excessive slide on terrain
+                                        ContactCopy.surface.mu = m_materialContacts[material, movintYN].surface.mu * 30.0f;
+                                    }
+
+                                    if (m_global_contactcount < maxContactsbeforedeath)
+                                    {
+                                        joint = d.JointCreateContact(world, contactgroup, ref ContactCopy);
+                                        m_global_contactcount++;
+                                    }
+                                }
+                            }
+                        }
+                    }
+                    else if (name1 == "Water" || name2 == "Water")
+                    {
+                        //$ This never happens! Perhaps water is treated like air?
+                        /*
+                        if ((p2.PhysicsActorType == (int) ActorTypes.Prim))
+                        {
+                        }
+                        else
+                        {
+                        }
+                        */
+                        //WaterContact.surface.soft_cfm = 0.0000f;
+                        //WaterContact.surface.soft_erp = 0.00000f;
+                        if (curContact.depth > 0.1f)
+                        {
+                            curContact.depth *= 52;
+                            //AvatarStaticprimContact.normal = new d.Vector3(0, 0, 1);
+                            //AvatarStaticprimContact.pos = new d.Vector3(0, 0, contact.pos.Z - 5f);
+                        }
+                        WaterContact.geom = curContact;
+                        _perloopContact.Add(curContact);
+                        if (m_global_contactcount < maxContactsbeforedeath)
+                        {
+                            joint = d.JointCreateContact(world, contactgroup, ref WaterContact);
+                            m_global_contactcount++;
+                        }
+                        //m_log.Info("[PHYSICS]: Prim Water Contact" + AvatarStaticprimContact.depth);
+                    }
+                    else
+                    {
+
+                        // no terrain and no water, we're colliding with prim or avatar
+                        // check if we're moving
+                        if ((p2.PhysicsActorType == (int)ActorTypes.Agent))
+                        {
+                            //$ Avatar on Prim or other Avatar
+                            if (movintYN == 1)
+                            {
+                                // Use the AV Movement / prim contact
+                                AvatarMovementprimContact.geom = curContact;
+                                _perloopContact.Add(curContact);
+                                if (m_global_contactcount < maxContactsbeforedeath)
+                                {
+                                    joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementprimContact);
+                                    m_global_contactcount++;
+                                }
+                            }
+                            else
+                            {
+                                // Use the Av non movement / prim contact
+                                AvatarStaticprimContact.geom = curContact;
+                                _perloopContact.Add(curContact);
+                                ContactCopy = AvatarStaticprimContact;   // local copy so we can change locally
+
+                                if (m_global_contactcount < maxContactsbeforedeath)
+                                {
+                                    if (curContact.depth > 0.2)
+                                    {   // embedded, eject slowly
+                                        ContactCopy.surface.soft_erp = 0.1f;
+                                        ContactCopy.surface.soft_cfm = 0.1f;
+                                    }
+                                    else 
+                                    {   // keep on the surface
+                                        ContactCopy.surface.soft_erp = 0.3f;
+                                        ContactCopy.surface.soft_cfm = 0.0f;
+                                    }
+                                    joint = d.JointCreateContact(world, contactgroup, ref ContactCopy);
+                                    m_global_contactcount++;
+                                }
+                            }
+                        }
+                        else if (p2.PhysicsActorType == (int)ActorTypes.Prim)
+                        {
+                            //$ Prim on Prim
+                            //p1.PhysicsActorType
+
+                            if (p2 is OdePrim) material = ((OdePrim)p2).m_material;
+                            //m_log.DebugFormat("Material: {0}", material);
+                            
+                            m_materialContacts[material, movintYN].geom = curContact;
+                            _perloopContact.Add(curContact);
+
+                           if (m_global_contactcount < maxContactsbeforedeath)
+                            {
+                                joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
+                                m_global_contactcount++;
+                            }
+                        }
+                    }
+
+                    if (m_global_contactcount < maxContactsbeforedeath && joint != IntPtr.Zero) // stack collide!
+                    {
+                        d.JointAttach(joint, b1, b2);
+                        m_global_contactcount++;
+                    }
+
+                }
+                collision_accounting_events(p1, p2, maxDepthContact);
+                if (count > geomContactPointsStartthrottle)
+                {
+                    // If there are more then 3 contact points, it's likely
+                    // that we've got a pile of objects, so ...
+                    // We don't want to send out hundreds of terse updates over and over again
+                    // so lets throttle them and send them again after it's somewhat sorted out.
+                    p2.ThrottleUpdates = true;
+                }
+                //m_log.Debug(count.ToString());
+                //m_log.Debug("near: A collision was detected between {1} and {2}", 0, name1, name2);
+            } // end for i.. loop
+        } // end near
+
+        private bool checkDupe(d.ContactGeom contactGeom, int atype)
+        {
+            bool result = false;
+            //return result;
+            if (!m_filterCollisions)
+                return false;
+
+            ActorTypes at = (ActorTypes)atype;
+            lock (_perloopContact)
+            {
+                foreach (d.ContactGeom contact in _perloopContact)
+                {
+                    //if ((contact.g1 == contactGeom.g1 && contact.g2 == contactGeom.g2))
+                    //{
+                        // || (contact.g2 == contactGeom.g1 && contact.g1 == contactGeom.g2)
+                    if (at == ActorTypes.Agent)
+                    {
+                            if (((Math.Abs(contactGeom.normal.X - contact.normal.X) < 1.026f) && (Math.Abs(contactGeom.normal.Y - contact.normal.Y) < 0.303f) && (Math.Abs(contactGeom.normal.Z - contact.normal.Z) < 0.065f)) && contactGeom.g1 != LandGeom && contactGeom.g2 != LandGeom)
+                            {
+                                
+                                if (Math.Abs(contact.depth - contactGeom.depth) < 0.052f)
+                                {
+                                    //contactGeom.depth *= .00005f;
+                                   //m_log.DebugFormat("[Collsion]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth));
+                                    // m_log.DebugFormat("[Collision]: <{0},{1},{2}>", Math.Abs(contactGeom.normal.X - contact.normal.X), Math.Abs(contactGeom.normal.Y - contact.normal.Y), Math.Abs(contactGeom.normal.Z - contact.normal.Z));
+                                    result = true;
+                                    break;
+                                }
+                                else
+                                {
+                                    //m_log.DebugFormat("[Collsion]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth));
+                                }
+                            }
+                            else
+                            {
+                                //m_log.DebugFormat("[Collision]: <{0},{1},{2}>", Math.Abs(contactGeom.normal.X - contact.normal.X), Math.Abs(contactGeom.normal.Y - contact.normal.Y), Math.Abs(contactGeom.normal.Z - contact.normal.Z));
+                                //int i = 0;
+                            }
+                    } 
+                    else if (at == ActorTypes.Prim)
+                    {
+                            //d.AABB aabb1 = new d.AABB();
+                            //d.AABB aabb2 = new d.AABB();
+
+                            //d.GeomGetAABB(contactGeom.g2, out aabb2);
+                            //d.GeomGetAABB(contactGeom.g1, out aabb1);
+                            //aabb1.
+                            if (((Math.Abs(contactGeom.normal.X - contact.normal.X) < 1.026f) && (Math.Abs(contactGeom.normal.Y - contact.normal.Y) < 0.303f) && (Math.Abs(contactGeom.normal.Z - contact.normal.Z) < 0.065f)) && contactGeom.g1 != LandGeom && contactGeom.g2 != LandGeom)
+                            {
+                                if (contactGeom.normal.X == contact.normal.X && contactGeom.normal.Y == contact.normal.Y && contactGeom.normal.Z == contact.normal.Z)
+                                {
+                                    if (Math.Abs(contact.depth - contactGeom.depth) < 0.272f)
+                                    {
+                                        result = true;
+                                        break;
+                                    }
+                                }
+                                //m_log.DebugFormat("[Collsion]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth));
+                                //m_log.DebugFormat("[Collision]: <{0},{1},{2}>", Math.Abs(contactGeom.normal.X - contact.normal.X), Math.Abs(contactGeom.normal.Y - contact.normal.Y), Math.Abs(contactGeom.normal.Z - contact.normal.Z));
+                            }
+                            
+                    }
+                    
+                    //}
+
+                }
+            }
+            return result;
+        }
+
+        private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact)
+        {
+            // obj1LocalID = 0;
+            //returncollisions = false;
+            obj2LocalID = 0;
+            //ctype = 0;
+            //cStartStop = 0;
+            if (!p2.SubscribedEvents() && !p1.SubscribedEvents())
+                return;
+
+            switch ((ActorTypes)p2.PhysicsActorType)
+            {
+                case ActorTypes.Agent:
+                    cc2 = (OdeCharacter)p2;
+
+                    // obj1LocalID = cc2.m_localID;
+                    switch ((ActorTypes)p1.PhysicsActorType)
+                    {
+                        case ActorTypes.Agent:
+                            cc1 = (OdeCharacter)p1;
+                            obj2LocalID = cc1.m_localID;
+                            cc1.AddCollisionEvent(cc2.m_localID, contact);
+                            //ctype = (int)CollisionCategories.Character;
+
+                            //if (cc1.CollidingObj)
+                            //cStartStop = (int)StatusIndicators.Generic;
+                            //else
+                            //cStartStop = (int)StatusIndicators.Start;
+
+                            //returncollisions = true;
+                            break;
+                        case ActorTypes.Prim:
+                            if (p1 is OdePrim)
+                            {
+                                cp1 = (OdePrim) p1;
+                                obj2LocalID = cp1.m_localID;
+                                cp1.AddCollisionEvent(cc2.m_localID, contact);
+                            }
+                            //ctype = (int)CollisionCategories.Geom;
+
+                            //if (cp1.CollidingObj)
+                            //cStartStop = (int)StatusIndicators.Generic;
+                            //else
+                            //cStartStop = (int)StatusIndicators.Start;
+
+                            //returncollisions = true;
+                            break;
+
+                        case ActorTypes.Ground:
+                        case ActorTypes.Unknown:
+                            obj2LocalID = 0;
+                            //ctype = (int)CollisionCategories.Land;
+                            //returncollisions = true;
+                            break;
+                    }
+
+                    cc2.AddCollisionEvent(obj2LocalID, contact);
+                    break;
+                case ActorTypes.Prim:
+
+                    if (p2 is OdePrim)
+                    {
+                        cp2 = (OdePrim) p2;
+
+                        // obj1LocalID = cp2.m_localID;
+                        switch ((ActorTypes) p1.PhysicsActorType)
+                        {
+                            case ActorTypes.Agent:
+                                if (p1 is OdeCharacter)
+                                {
+                                    cc1 = (OdeCharacter) p1;
+                                    obj2LocalID = cc1.m_localID;
+                                    cc1.AddCollisionEvent(cp2.m_localID, contact);
+                                    //ctype = (int)CollisionCategories.Character;
+
+                                    //if (cc1.CollidingObj)
+                                    //cStartStop = (int)StatusIndicators.Generic;
+                                    //else
+                                    //cStartStop = (int)StatusIndicators.Start;
+                                    //returncollisions = true;
+                                }
+                                break;
+                            case ActorTypes.Prim:
+
+                                if (p1 is OdePrim)
+                                {
+                                    cp1 = (OdePrim) p1;
+                                    obj2LocalID = cp1.m_localID;
+                                    cp1.AddCollisionEvent(cp2.m_localID, contact);
+                                    //ctype = (int)CollisionCategories.Geom;
+
+                                    //if (cp1.CollidingObj)
+                                    //cStartStop = (int)StatusIndicators.Generic;
+                                    //else
+                                    //cStartStop = (int)StatusIndicators.Start;
+
+                                    //returncollisions = true;
+                                }
+                                break;
+
+                            case ActorTypes.Ground:
+                            case ActorTypes.Unknown:
+                                obj2LocalID = 0;
+                                //ctype = (int)CollisionCategories.Land;
+
+                                //returncollisions = true;
+                                break;
+                        }
+
+                        cp2.AddCollisionEvent(obj2LocalID, contact);
+                    }
+                    break;
+            }
+            //if (returncollisions)
+            //{
+
+                //lock (m_storedCollisions)
+                //{
+                    //cDictKey = obj1LocalID.ToString() + obj2LocalID.ToString() + cStartStop.ToString() + ctype.ToString();
+                    //if (m_storedCollisions.ContainsKey(cDictKey))
+                    //{
+                        //sCollisionData objd = m_storedCollisions[cDictKey];
+                        //objd.NumberOfCollisions += 1;
+                        //objd.lastframe = framecount;
+                        //m_storedCollisions[cDictKey] = objd;
+                    //}
+                    //else
+                    //{
+                        //sCollisionData objd = new sCollisionData();
+                        //objd.ColliderLocalId = obj1LocalID;
+                        //objd.CollidedWithLocalId = obj2LocalID;
+                        //objd.CollisionType = ctype;
+                        //objd.NumberOfCollisions = 1;
+                        //objd.lastframe = framecount;
+                        //objd.StatusIndicator = cStartStop;
+                        //m_storedCollisions.Add(cDictKey, objd);
+                    //}
+                //}
+           // }
+        }
+
+        public int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount)
+        {
+            /*            String name1 = null;
+                        String name2 = null;
+
+                        if (!geom_name_map.TryGetValue(trimesh, out name1))
+                        {
+                            name1 = "null";
+                        }
+                        if (!geom_name_map.TryGetValue(refObject, out name2))
+                        {
+                            name2 = "null";
+                        }
+
+                        m_log.InfoFormat("TriArrayCallback: A collision was detected between {1} and {2}", 0, name1, name2);
+            */
+            return 1;
+        }
+
+        public int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex)
+        {
+            String name1 = null;
+            String name2 = null;
+
+            if (!geom_name_map.TryGetValue(trimesh, out name1))
+            {
+                name1 = "null";
+            }
+
+            if (!geom_name_map.TryGetValue(refObject, out name2))
+            {
+                name2 = "null";
+            }
+
+            //            m_log.InfoFormat("TriCallback: A collision was detected between {1} and {2}. Index was {3}", 0, name1, name2, triangleIndex);
+
+            d.Vector3 v0 = new d.Vector3();
+            d.Vector3 v1 = new d.Vector3();
+            d.Vector3 v2 = new d.Vector3();
+
+            d.GeomTriMeshGetTriangle(trimesh, 0, ref v0, ref v1, ref v2);
+            //            m_log.DebugFormat("Triangle {0} is <{1},{2},{3}>, <{4},{5},{6}>, <{7},{8},{9}>", triangleIndex, v0.X, v0.Y, v0.Z, v1.X, v1.Y, v1.Z, v2.X, v2.Y, v2.Z);
+
+            return 1;
+        }
+
+        /// <summary>
+        /// This is our collision testing routine in ODE
+        /// </summary>
+        /// <param name="timeStep"></param>
+        private void collision_optimized(float timeStep)
+        {
+            _perloopContact.Clear();
+
+            lock (_characters)
+            {
+                foreach (OdeCharacter chr in _characters)
+                {
+                    // Reset the collision values to false
+                    // since we don't know if we're colliding yet
+                    
+                    // For some reason this can happen. Don't ask...
+                    //
+                    if (chr == null)
+                        continue;
+                    
+                    if (chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero)
+                        continue;
+                    
+                    chr.IsColliding = false;
+                    chr.CollidingGround = false;
+                    chr.CollidingObj = false;
+                    
+                    // test the avatar's geometry for collision with the space
+                    // This will return near and the space that they are the closest to
+                    // And we'll run this again against the avatar and the space segment
+                    // This will return with a bunch of possible objects in the space segment
+                    // and we'll run it again on all of them.
+                    try
+                    {
+                        d.SpaceCollide2(space, chr.Shell, IntPtr.Zero, nearCallback);
+                    }
+                    catch (AccessViolationException)
+                    {
+                        m_log.Warn("[PHYSICS]: Unable to space collide");
+                    }
+                    //float terrainheight = GetTerrainHeightAtXY(chr.Position.X, chr.Position.Y);
+                    //if (chr.Position.Z + (chr.Velocity.Z * timeStep) < terrainheight + 10)
+                    //{
+                    //chr.Position.Z = terrainheight + 10.0f;
+                    //forcedZ = true;
+                    //}
+                }
+            }
+
+            lock (_activeprims)
+            {
+                List<OdePrim> removeprims = null;
+                foreach (OdePrim chr in _activeprims)
+                {
+                    if (chr.Body != IntPtr.Zero && d.BodyIsEnabled(chr.Body) && (!chr.m_disabled) && !chr.m_outofBounds)
+                    {
+                        try
+                        {
+                            lock (chr)
+                            {
+                                if (space != IntPtr.Zero && chr.prim_geom != IntPtr.Zero && chr.m_taintremove == false)
+                                {
+                                    d.SpaceCollide2(space, chr.prim_geom, IntPtr.Zero, nearCallback);
+                                }
+                                else
+                                {
+                                    if (removeprims == null)
+                                    {
+                                        removeprims = new List<OdePrim>();
+                                    }
+                                    removeprims.Add(chr);
+                                    /// Commented this because it triggers on every bullet
+                                    //m_log.Debug("[PHYSICS]: unable to collide test active prim against space.  The space was zero, the geom was zero or it was in the process of being removed.  Removed it from the active prim list.  This needs to be fixed!");
+                                }
+                            }
+                        }
+                        catch (AccessViolationException)
+                        {
+                            m_log.Warn("[PHYSICS]: Unable to space collide");
+                        }
+                    }
+                }
+                if (removeprims != null)
+                {
+                    foreach (OdePrim chr in removeprims)
+                    {
+                        _activeprims.Remove(chr);
+                    }
+                }
+            }
+
+            _perloopContact.Clear();
+        }
+
+        #endregion
+
+        public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
+        {
+            m_worldOffset = offset;
+            WorldExtents = new Vector2(extents.X, extents.Y);
+            m_parentScene = pScene;
+            
+        }
+        
+        // Recovered for use by fly height. Kitto Flora
+        public float GetTerrainHeightAtXY(float x, float y)
+        {
+
+            int offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
+            int offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
+
+            IntPtr heightFieldGeom = IntPtr.Zero;
+
+            if (RegionTerrain.TryGetValue(new Vector3(offsetX,offsetY,0), out heightFieldGeom))
+            {
+                if (heightFieldGeom != IntPtr.Zero)
+                {
+                    if (TerrainHeightFieldHeights.ContainsKey(heightFieldGeom))
+                    {
+                        
+                        int index;
+
+
+                        if ((int)x > WorldExtents.X || (int)y > WorldExtents.Y ||
+                            (int)x < 0.001f || (int)y < 0.001f)
+                            return 0;
+
+                        x = x - offsetX;
+                        y = y - offsetY;
+
+                        index = (int)((int)x * ((int)Constants.RegionSize + 2) + (int)y);
+
+                        if (index < TerrainHeightFieldHeights[heightFieldGeom].Length)
+                        {
+                            //m_log.DebugFormat("x{0} y{1} = {2}", x, y, (float)TerrainHeightFieldHeights[heightFieldGeom][index]);
+                            return (float)TerrainHeightFieldHeights[heightFieldGeom][index];
+                        }
+                            
+                        else
+                            return 0f;
+                    }
+                    else
+                    {
+                        return 0f;
+                    }
+
+                }
+                else
+                {
+                    return 0f;
+                }
+
+            }
+            else
+            {
+                return 0f;
+            }
+
+
+        } 
+// End recovered. Kitto Flora
+
+        public void addCollisionEventReporting(PhysicsActor obj)
+        {
+            lock (_collisionEventPrim)
+            {
+                if (!_collisionEventPrim.Contains(obj))
+                    _collisionEventPrim.Add(obj);
+            }
+        }
+
+        public void remCollisionEventReporting(PhysicsActor obj)
+        {
+            lock (_collisionEventPrim)
+            {
+                if (!_collisionEventPrim.Contains(obj))
+                    _collisionEventPrim.Remove(obj);
+            }
+        }
+
+        #region Add/Remove Entities
+
+        public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
+        {
+            Vector3 pos;
+            pos.X = position.X;
+            pos.Y = position.Y;
+            pos.Z = position.Z;
+            OdeCharacter newAv = new OdeCharacter(avName, this, pos, ode, size, avPIDD, avPIDP, avCapRadius, avStandupTensor, avDensity, avHeightFudgeFactor, avMovementDivisorWalk, avMovementDivisorRun);
+            newAv.Flying = isFlying;
+            newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset;
+            
+            return newAv;
+        }
+
+        public void AddCharacter(OdeCharacter chr)
+        {
+            lock (_characters)
+            {
+                if (!_characters.Contains(chr))
+                {
+                    _characters.Add(chr);
+                    if (chr.bad)
+                        m_log.DebugFormat("[PHYSICS] Added BAD actor {0} to characters list", chr.m_uuid);
+                }
+            }
+        }
+
+        public void RemoveCharacter(OdeCharacter chr)
+        {
+            lock (_characters)
+            {
+                if (_characters.Contains(chr))
+                {
+                    _characters.Remove(chr);
+                }
+            }
+        }
+        public void BadCharacter(OdeCharacter chr)
+        {
+            lock (_badCharacter)
+            {
+                if (!_badCharacter.Contains(chr))
+                    _badCharacter.Add(chr);
+            }
+        }
+
+        public override void RemoveAvatar(PhysicsActor actor)
+        {
+            //m_log.Debug("[PHYSICS]:ODELOCK");
+            ((OdeCharacter) actor).Destroy();
+            
+        }
+
+        private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
+                             IMesh mesh, PrimitiveBaseShape pbs, bool isphysical, bool isphantom, byte shapetype, uint localid)
+        {
+
+            Vector3 pos = position;
+            Vector3 siz = size;
+            Quaternion rot = rotation;
+
+            OdePrim newPrim;
+            lock (OdeLock)
+            {
+                newPrim = new OdePrim(name, this, pos, siz, rot, mesh, pbs, isphysical, isphantom, shapetype, ode, localid);
+
+                lock (_prims)
+                    _prims.Add(newPrim);
+            }
+
+            return newPrim;
+        }
+
+
+        public void addActivePrim(OdePrim activatePrim)
+        {
+            // adds active prim..   (ones that should be iterated over in collisions_optimized
+            lock (_activeprims)
+            {
+                if (!_activeprims.Contains(activatePrim))
+                    _activeprims.Add(activatePrim);
+                //else
+                  //  m_log.Warn("[PHYSICS]: Double Entry in _activeprims detected, potential crash immenent");
+            }
+        }
+
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                                  Vector3 size, Quaternion rotation, bool isPhysical, uint localid)
+        {
+            PhysicsActor result;
+            IMesh mesh = null;
+
+            if (needsMeshing(pbs))
+                mesh = mesher.CreateMesh(primName, pbs, size, (int)LevelOfDetail.High, true);
+
+            result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical,false,0, localid);
+
+            return result;
+        }
+
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                                  Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, uint localid)
+        {
+            PhysicsActor result;
+            IMesh mesh = null;
+
+            if (needsMeshing(pbs))
+                mesh = mesher.CreateMesh(primName, pbs, size, (int)LevelOfDetail.High, true);
+
+            result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical, isPhantom,0, localid);
+
+            return result;
+        }
+
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                                  Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, byte shapetype, uint localid)
+        {
+            PhysicsActor result;
+            IMesh mesh = null;
+
+            if (needsMeshing(pbs))
+                mesh = mesher.CreateMesh(primName, pbs, size, (int)LevelOfDetail.High, true);
+
+            result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical, isPhantom, shapetype, localid);
+
+            return result;
+        }
+
+        public override float TimeDilation
+        {
+            get { return m_timeDilation; }
+        }
+
+        public override bool SupportsNINJAJoints
+        {
+            get { return m_NINJA_physics_joints_enabled; }
+        }
+
+        // internal utility function: must be called within a lock (OdeLock)
+        private void InternalAddActiveJoint(PhysicsJoint joint)
+        {
+            activeJoints.Add(joint);
+            SOPName_to_activeJoint.Add(joint.ObjectNameInScene, joint);
+        }
+
+        // internal utility function: must be called within a lock (OdeLock)
+        private void InternalAddPendingJoint(OdePhysicsJoint joint)
+        {
+            pendingJoints.Add(joint);
+            SOPName_to_pendingJoint.Add(joint.ObjectNameInScene, joint);
+        }
+
+        // internal utility function: must be called within a lock (OdeLock)
+        private void InternalRemovePendingJoint(PhysicsJoint joint)
+        {
+            pendingJoints.Remove(joint);
+            SOPName_to_pendingJoint.Remove(joint.ObjectNameInScene);
+        }
+
+        // internal utility function: must be called within a lock (OdeLock)
+        private void InternalRemoveActiveJoint(PhysicsJoint joint)
+        {
+            activeJoints.Remove(joint);
+            SOPName_to_activeJoint.Remove(joint.ObjectNameInScene);
+        }
+
+        public override void DumpJointInfo()
+        {
+            string hdr = "[NINJA] JOINTINFO: ";
+            foreach (PhysicsJoint j in pendingJoints)
+            {
+                m_log.Debug(hdr + " pending joint, Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams);
+            }
+            m_log.Debug(hdr + pendingJoints.Count + " total pending joints");
+            foreach (string jointName in SOPName_to_pendingJoint.Keys)
+            {
+                m_log.Debug(hdr + " pending joints dict contains Name: " + jointName);
+            }
+            m_log.Debug(hdr + SOPName_to_pendingJoint.Keys.Count + " total pending joints dict entries");
+            foreach (PhysicsJoint j in activeJoints)
+            {
+                m_log.Debug(hdr + " active joint, Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams);
+            }
+            m_log.Debug(hdr + activeJoints.Count + " total active joints");
+            foreach (string jointName in SOPName_to_activeJoint.Keys)
+            {
+                m_log.Debug(hdr + " active joints dict contains Name: " + jointName);
+            }
+            m_log.Debug(hdr + SOPName_to_activeJoint.Keys.Count + " total active joints dict entries");
+
+            m_log.Debug(hdr + " Per-body joint connectivity information follows.");
+            m_log.Debug(hdr + joints_connecting_actor.Keys.Count + " bodies are connected by joints.");
+            foreach (string actorName in joints_connecting_actor.Keys)
+            {
+                m_log.Debug(hdr + " Actor " + actorName + " has the following joints connecting it");
+                foreach (PhysicsJoint j in joints_connecting_actor[actorName])
+                {
+                    m_log.Debug(hdr + " * joint Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams);
+                }
+                m_log.Debug(hdr + joints_connecting_actor[actorName].Count + " connecting joints total for this actor");
+            }
+        }
+
+        public override void RequestJointDeletion(string ObjectNameInScene)
+        {
+            lock (externalJointRequestsLock)
+            {
+                if (!requestedJointsToBeDeleted.Contains(ObjectNameInScene)) // forbid same deletion request from entering twice to prevent spurious deletions processed asynchronously
+                {
+                    requestedJointsToBeDeleted.Add(ObjectNameInScene);
+                }
+            }
+        }
+
+        private void DeleteRequestedJoints()
+        {
+            List<string> myRequestedJointsToBeDeleted;
+            lock (externalJointRequestsLock)
+            {
+                // make a local copy of the shared list for processing (threading issues)
+                myRequestedJointsToBeDeleted = new List<string>(requestedJointsToBeDeleted);
+            }
+
+            foreach (string jointName in myRequestedJointsToBeDeleted)
+            {
+                lock (OdeLock)
+                {
+                    //m_log.Debug("[NINJA] trying to deleting requested joint " + jointName);
+                    if (SOPName_to_activeJoint.ContainsKey(jointName) || SOPName_to_pendingJoint.ContainsKey(jointName))
+                    {
+                        OdePhysicsJoint joint = null;
+                        if (SOPName_to_activeJoint.ContainsKey(jointName))
+                        {
+                            joint = SOPName_to_activeJoint[jointName] as OdePhysicsJoint;
+                            InternalRemoveActiveJoint(joint);
+                        }
+                        else if (SOPName_to_pendingJoint.ContainsKey(jointName))
+                        {
+                            joint = SOPName_to_pendingJoint[jointName] as OdePhysicsJoint;
+                            InternalRemovePendingJoint(joint);
+                        }
+
+                        if (joint != null)
+                        {
+                            //m_log.Debug("joint.BodyNames.Count is " + joint.BodyNames.Count + " and contents " + joint.BodyNames);
+                            for (int iBodyName = 0; iBodyName < 2; iBodyName++)
+                            {
+                                string bodyName = joint.BodyNames[iBodyName];
+                                if (bodyName != "NULL")
+                                {
+                                    joints_connecting_actor[bodyName].Remove(joint);
+                                    if (joints_connecting_actor[bodyName].Count == 0)
+                                    {
+                                        joints_connecting_actor.Remove(bodyName);
+                                    }
+                                }
+                            }
+
+                            DoJointDeactivated(joint);
+                            if (joint.jointID != IntPtr.Zero)
+                            {
+                                d.JointDestroy(joint.jointID);
+                                joint.jointID = IntPtr.Zero;
+                                //DoJointErrorMessage(joint, "successfully destroyed joint " + jointName);
+                            }
+                            else
+                            {
+                                //m_log.Warn("[NINJA] Ignoring re-request to destroy joint " + jointName);
+                            }
+                        }
+                        else
+                        {
+                            // DoJointErrorMessage(joint, "coult not find joint to destroy based on name " + jointName);
+                        }
+                    }
+                    else
+                    {
+                        // DoJointErrorMessage(joint, "WARNING - joint removal failed, joint " + jointName);
+                    }
+                }
+            }
+
+            // remove processed joints from the shared list
+            lock (externalJointRequestsLock)
+            {
+                foreach (string jointName in myRequestedJointsToBeDeleted)
+                {
+                    requestedJointsToBeDeleted.Remove(jointName);
+                }
+            }
+        }
+
+        // for pending joints we don't know if their associated bodies exist yet or not.
+        // the joint is actually created during processing of the taints
+        private void CreateRequestedJoints()
+        {
+            List<PhysicsJoint> myRequestedJointsToBeCreated;
+            lock (externalJointRequestsLock)
+            {
+                // make a local copy of the shared list for processing (threading issues)
+                myRequestedJointsToBeCreated = new List<PhysicsJoint>(requestedJointsToBeCreated);
+            }
+
+            foreach (PhysicsJoint joint in myRequestedJointsToBeCreated)
+            {
+                lock (OdeLock)
+                {
+                    if (SOPName_to_pendingJoint.ContainsKey(joint.ObjectNameInScene) && SOPName_to_pendingJoint[joint.ObjectNameInScene] != null)
+                    {
+                        DoJointErrorMessage(joint, "WARNING: ignoring request to re-add already pending joint Name:" + joint.ObjectNameInScene + " type:" + joint.Type + " parms: " + joint.RawParams + " pos: " + joint.Position + " rot:" + joint.Rotation);
+                        continue;
+                    }
+                    if (SOPName_to_activeJoint.ContainsKey(joint.ObjectNameInScene) && SOPName_to_activeJoint[joint.ObjectNameInScene] != null)
+                    {
+                        DoJointErrorMessage(joint, "WARNING: ignoring request to re-add already active joint Name:" + joint.ObjectNameInScene + " type:" + joint.Type + " parms: " + joint.RawParams + " pos: " + joint.Position + " rot:" + joint.Rotation);
+                        continue;
+                    }
+
+                    InternalAddPendingJoint(joint as OdePhysicsJoint);
+
+                    if (joint.BodyNames.Count >= 2)
+                    {
+                        for (int iBodyName = 0; iBodyName < 2; iBodyName++)
+                        {
+                            string bodyName = joint.BodyNames[iBodyName];
+                            if (bodyName != "NULL")
+                            {
+                                if (!joints_connecting_actor.ContainsKey(bodyName))
+                                {
+                                    joints_connecting_actor.Add(bodyName, new List<PhysicsJoint>());
+                                }
+                                joints_connecting_actor[bodyName].Add(joint);
+                            }
+                        }
+                    }
+                }
+            }
+
+            // remove processed joints from shared list
+            lock (externalJointRequestsLock)
+            {
+                foreach (PhysicsJoint joint in myRequestedJointsToBeCreated)
+                {
+                    requestedJointsToBeCreated.Remove(joint);
+                }
+            }
+
+        }
+
+        // public function to add an request for joint creation
+        // 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, Vector3 position,
+                                            Quaternion rotation, string parms, List<string> bodyNames, string trackedBodyName, Quaternion localRotation)
+
+        {
+
+            OdePhysicsJoint joint = new OdePhysicsJoint();
+            joint.ObjectNameInScene = objectNameInScene;
+            joint.Type = jointType;
+            joint.Position = position;
+            joint.Rotation = rotation;
+            joint.RawParams = parms;
+            joint.BodyNames = new List<string>(bodyNames);
+            joint.TrackedBodyName = trackedBodyName; 
+            joint.LocalRotation = localRotation;
+            joint.jointID = IntPtr.Zero;
+            joint.ErrorMessageCount = 0;
+
+            lock (externalJointRequestsLock)
+            {
+                if (!requestedJointsToBeCreated.Contains(joint)) // forbid same creation request from entering twice 
+                {
+                    requestedJointsToBeCreated.Add(joint);
+                }
+            }
+            return joint;
+        }
+
+        private void RemoveAllJointsConnectedToActor(PhysicsActor actor)
+        {
+            //m_log.Debug("RemoveAllJointsConnectedToActor: start");
+            if (actor.SOPName != null && joints_connecting_actor.ContainsKey(actor.SOPName) && joints_connecting_actor[actor.SOPName] != null)
+            {
+
+                List<PhysicsJoint> jointsToRemove = new List<PhysicsJoint>();
+                //TODO: merge these 2 loops (originally it was needed to avoid altering a list being iterated over, but it is no longer needed due to the joint request queue mechanism)
+                foreach (PhysicsJoint j in joints_connecting_actor[actor.SOPName])
+                {
+                    jointsToRemove.Add(j);
+                }
+                foreach (PhysicsJoint j in jointsToRemove)
+                {
+                    //m_log.Debug("RemoveAllJointsConnectedToActor: about to request deletion of " + j.ObjectNameInScene);
+                    RequestJointDeletion(j.ObjectNameInScene);
+                    //m_log.Debug("RemoveAllJointsConnectedToActor: done request deletion of " + j.ObjectNameInScene);
+                    j.TrackedBodyName = null; // *IMMEDIATELY* prevent any further movement of this joint (else a deleted actor might cause spurious tracking motion of the joint for a few frames, leading to the joint proxy object disappearing)
+                }
+            }
+        }
+
+        public override void RemoveAllJointsConnectedToActorThreadLocked(PhysicsActor actor)
+        {
+            //m_log.Debug("RemoveAllJointsConnectedToActorThreadLocked: start");
+            lock (OdeLock)
+            {
+                //m_log.Debug("RemoveAllJointsConnectedToActorThreadLocked: got lock");
+                RemoveAllJointsConnectedToActor(actor);
+            }
+        }
+
+        // normally called from within OnJointMoved, which is called from within a lock (OdeLock)
+        public override Vector3 GetJointAnchor(PhysicsJoint joint)
+        {
+            Debug.Assert(joint.IsInPhysicsEngine);
+            d.Vector3 pos = new d.Vector3();
+
+            if (!(joint is OdePhysicsJoint))
+            {
+                DoJointErrorMessage(joint, "warning: non-ODE joint requesting anchor: " + joint.ObjectNameInScene);
+            }
+            else
+            {
+                OdePhysicsJoint odeJoint = (OdePhysicsJoint)joint;
+                switch (odeJoint.Type)
+                {
+                    case PhysicsJointType.Ball:
+                        d.JointGetBallAnchor(odeJoint.jointID, out pos);
+                        break;
+                    case PhysicsJointType.Hinge:
+                        d.JointGetHingeAnchor(odeJoint.jointID, out pos);
+                        break;
+                }
+            }
+            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 Vector3 GetJointAxis(PhysicsJoint joint)
+        {
+            Debug.Assert(joint.IsInPhysicsEngine);
+            d.Vector3 axis = new d.Vector3();
+
+            if (!(joint is OdePhysicsJoint))
+            {
+                DoJointErrorMessage(joint, "warning: non-ODE joint requesting anchor: " + joint.ObjectNameInScene);
+            }
+            else
+            {
+                OdePhysicsJoint odeJoint = (OdePhysicsJoint)joint;
+                switch (odeJoint.Type)
+                {
+                    case PhysicsJointType.Ball:
+                        DoJointErrorMessage(joint, "warning - axis requested for ball joint: " + joint.ObjectNameInScene);
+                        break;
+                    case PhysicsJointType.Hinge:
+                        d.JointGetHingeAxis(odeJoint.jointID, out axis);
+                        break;
+                }
+            }
+            return new Vector3(axis.X, axis.Y, axis.Z);
+        }
+
+
+        public void remActivePrim(OdePrim deactivatePrim)
+        {
+            lock (_activeprims)
+            {
+                _activeprims.Remove(deactivatePrim);
+            }
+        }
+
+        public override void RemovePrim(PhysicsActor prim)
+        {
+            if (prim is OdePrim)
+            {
+                lock (OdeLock)
+                {
+                    OdePrim p = (OdePrim) prim;
+
+                    p.setPrimForRemoval();
+                    AddPhysicsActorTaint(prim);
+                    //RemovePrimThreadLocked(p);
+                }
+            }
+        }
+
+        /// <summary>
+        /// This is called from within simulate but outside the locked portion
+        /// We need to do our own locking here
+        /// Essentially, we need to remove the prim from our space segment, whatever segment it's in.
+        ///
+        /// If there are no more prim in the segment, we need to empty (spacedestroy)the segment and reclaim memory
+        /// that the space was using.
+        /// </summary>
+        /// <param name="prim"></param>
+        public void RemovePrimThreadLocked(OdePrim prim)
+        {
+//Console.WriteLine("RemovePrimThreadLocked " +  prim.m_primName);            
+            lock (prim)
+            {
+                remCollisionEventReporting(prim);
+                lock (ode)
+                {
+                    if (prim.prim_geom != IntPtr.Zero)
+                    {
+                        prim.ResetTaints();
+
+                        try
+                        {
+                            if (prim._triMeshData != IntPtr.Zero)
+                            {
+                                d.GeomTriMeshDataDestroy(prim._triMeshData);
+                                prim._triMeshData = IntPtr.Zero;
+                            }
+                        }
+                        catch { };
+
+                        if (prim.IsPhysical)
+                        {
+                            prim.disableBody();
+                            if (prim.childPrim)
+                            {
+                                prim.childPrim = false;
+                                prim.Body = IntPtr.Zero;
+                                prim.m_disabled = true;
+                                prim.IsPhysical = false;
+                            }
+
+                        }
+                        // we don't want to remove the main space
+
+                        // If the geometry is in the targetspace, remove it from the target space
+                        //m_log.Warn(prim.m_targetSpace);
+
+                        //if (prim.m_targetSpace != IntPtr.Zero)
+                        //{
+                        //if (d.SpaceQuery(prim.m_targetSpace, prim.prim_geom))
+                        //{
+
+                        //if (d.GeomIsSpace(prim.m_targetSpace))
+                        //{
+                        //waitForSpaceUnlock(prim.m_targetSpace);
+                        //d.SpaceRemove(prim.m_targetSpace, prim.prim_geom);
+                        prim.m_targetSpace = IntPtr.Zero;
+                        //}
+                        //else
+                        //{
+                        // m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" +
+                        //((OdePrim)prim).m_targetSpace.ToString());
+                        //}
+
+                        //}
+                        //}
+                        //m_log.Warn(prim.prim_geom);
+                        try
+                        {
+                            if (prim.prim_geom != IntPtr.Zero)
+                            {
+
+//string tPA;
+//geom_name_map.TryGetValue(prim.prim_geom, out tPA);
+//Console.WriteLine("**** Remove {0}", tPA);
+                                if(geom_name_map.ContainsKey(prim.prim_geom)) geom_name_map.Remove(prim.prim_geom);
+                                if(actor_name_map.ContainsKey(prim.prim_geom)) actor_name_map.Remove(prim.prim_geom);
+                                d.GeomDestroy(prim.prim_geom);
+                                prim.prim_geom = IntPtr.Zero;
+                            }
+                            else
+                            {
+                                m_log.Warn("[PHYSICS]: Unable to remove prim from physics scene");
+                            }
+                        }
+                        catch (AccessViolationException)
+                        {
+                            m_log.Info("[PHYSICS]: Couldn't remove prim from physics scene, it was already be removed.");
+                        }
+                        lock (_prims)
+                        _prims.Remove(prim);
+
+                        //If there are no more geometries in the sub-space, we don't need it in the main space anymore
+                        //if (d.SpaceGetNumGeoms(prim.m_targetSpace) == 0)
+                        //{
+                        //if (prim.m_targetSpace != null)
+                        //{
+                        //if (d.GeomIsSpace(prim.m_targetSpace))
+                        //{
+                        //waitForSpaceUnlock(prim.m_targetSpace);
+                        //d.SpaceRemove(space, prim.m_targetSpace);
+                        // free up memory used by the space.
+                        //d.SpaceDestroy(prim.m_targetSpace);
+                        //int[] xyspace = calculateSpaceArrayItemFromPos(prim.Position);
+                        //resetSpaceArrayItemToZero(xyspace[0], xyspace[1]);
+                        //}
+                        //else
+                        //{
+                        //m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" +
+                        //((OdePrim) prim).m_targetSpace.ToString());
+                        //}
+                        //}
+                        //}
+
+                        if (SupportsNINJAJoints)
+                        {
+                            RemoveAllJointsConnectedToActorThreadLocked(prim);
+                        }
+                    }
+                }
+            }
+        }
+
+        #endregion
+
+        #region Space Separation Calculation
+
+        /// <summary>
+        /// Takes a space pointer and zeros out the array we're using to hold the spaces
+        /// </summary>
+        /// <param name="pSpace"></param>
+        public void resetSpaceArrayItemToZero(IntPtr pSpace)
+        {
+            for (int x = 0; x < staticPrimspace.GetLength(0); x++)
+            {
+                for (int y = 0; y < staticPrimspace.GetLength(1); y++)
+                {
+                    if (staticPrimspace[x, y] == pSpace)
+                        staticPrimspace[x, y] = IntPtr.Zero;
+                }
+            }
+        }
+
+        public void resetSpaceArrayItemToZero(int arrayitemX, int arrayitemY)
+        {
+            staticPrimspace[arrayitemX, arrayitemY] = IntPtr.Zero;
+        }
+
+        /// <summary>
+        /// Called when a static prim moves.  Allocates a space for the prim based on its position
+        /// </summary>
+        /// <param name="geom">the pointer to the geom that moved</param>
+        /// <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, Vector3 pos, IntPtr currentspace)
+        {
+            // Called from setting the Position and Size of an ODEPrim so
+            // it's already in locked space.
+
+            // we don't want to remove the main space
+            // we don't need to test physical here because this function should
+            // never be called if the prim is physical(active)
+
+            // All physical prim end up in the root space
+            //Thread.Sleep(20);
+            if (currentspace != space)
+            {
+                //m_log.Info("[SPACE]: C:" + currentspace.ToString() + " g:" + geom.ToString());
+                //if (currentspace == IntPtr.Zero)
+               //{
+                    //int adfadf = 0;
+                //}
+                if (d.SpaceQuery(currentspace, geom) && currentspace != IntPtr.Zero)
+                {
+                    if (d.GeomIsSpace(currentspace))
+                    {
+                        waitForSpaceUnlock(currentspace);
+                        d.SpaceRemove(currentspace, geom);
+                    }
+                    else
+                    {
+                        m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" + currentspace +
+                                   " Geom:" + geom);
+                    }
+                }
+                else
+                {
+                    IntPtr sGeomIsIn = d.GeomGetSpace(geom);
+                    if (sGeomIsIn != IntPtr.Zero)
+                    {
+                        if (d.GeomIsSpace(currentspace))
+                        {
+                            waitForSpaceUnlock(sGeomIsIn);
+                            d.SpaceRemove(sGeomIsIn, geom);
+                        }
+                        else
+                        {
+                            m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
+                                       sGeomIsIn + " Geom:" + geom);
+                        }
+                    }
+                }
+
+                //If there are no more geometries in the sub-space, we don't need it in the main space anymore
+                if (d.SpaceGetNumGeoms(currentspace) == 0)
+                {
+                    if (currentspace != IntPtr.Zero)
+                    {
+                        if (d.GeomIsSpace(currentspace))
+                        {
+                            waitForSpaceUnlock(currentspace);
+                            waitForSpaceUnlock(space);
+                            d.SpaceRemove(space, currentspace);
+                            // free up memory used by the space.
+
+                            //d.SpaceDestroy(currentspace);
+                            resetSpaceArrayItemToZero(currentspace);
+                        }
+                        else
+                        {
+                            m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
+                                       currentspace + " Geom:" + geom);
+                        }
+                    }
+                }
+            }
+            else
+            {
+                // this is a physical object that got disabled. ;.;
+                if (currentspace != IntPtr.Zero && geom != IntPtr.Zero)
+                {
+                    if (d.SpaceQuery(currentspace, geom))
+                    {
+                        if (d.GeomIsSpace(currentspace))
+                        {
+                            waitForSpaceUnlock(currentspace);
+                            d.SpaceRemove(currentspace, geom);
+                        }
+                        else
+                        {
+                            m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
+                                       currentspace + " Geom:" + geom);
+                        }
+                    }
+                    else
+                    {
+                        IntPtr sGeomIsIn = d.GeomGetSpace(geom);
+                        if (sGeomIsIn != IntPtr.Zero)
+                        {
+                            if (d.GeomIsSpace(sGeomIsIn))
+                            {
+                                waitForSpaceUnlock(sGeomIsIn);
+                                d.SpaceRemove(sGeomIsIn, geom);
+                            }
+                            else
+                            {
+                                m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
+                                           sGeomIsIn + " Geom:" + geom);
+                            }
+                        }
+                    }
+                }
+            }
+
+            // The routines in the Position and Size sections do the 'inserting' into the space,
+            // so all we have to do is make sure that the space that we're putting the prim into
+            // is in the 'main' space.
+            int[] iprimspaceArrItem = calculateSpaceArrayItemFromPos(pos);
+            IntPtr newspace = calculateSpaceForGeom(pos);
+
+            if (newspace == IntPtr.Zero)
+            {
+                newspace = createprimspace(iprimspaceArrItem[0], iprimspaceArrItem[1]);
+                d.HashSpaceSetLevels(newspace, smallHashspaceLow, smallHashspaceHigh);
+            }
+
+            return newspace;
+        }
+
+        /// <summary>
+        /// Creates a new space at X Y
+        /// </summary>
+        /// <param name="iprimspaceArrItemX"></param>
+        /// <param name="iprimspaceArrItemY"></param>
+        /// <returns>A pointer to the created space</returns>
+        public IntPtr createprimspace(int iprimspaceArrItemX, int iprimspaceArrItemY)
+        {
+            // creating a new space for prim and inserting it into main space.
+            staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY] = d.HashSpaceCreate(IntPtr.Zero);
+            d.GeomSetCategoryBits(staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY], (int)CollisionCategories.Space);
+            waitForSpaceUnlock(space);
+            d.SpaceSetSublevel(space, 1);
+            d.SpaceAdd(space, staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY]);
+            return staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY];
+        }
+
+        /// <summary>
+        /// Calculates the space the prim should be in by its position
+        /// </summary>
+        /// <param name="pos"></param>
+        /// <returns>a pointer to the space. This could be a new space or reused space.</returns>
+        public IntPtr calculateSpaceForGeom(Vector3 pos)
+        {
+            int[] xyspace = calculateSpaceArrayItemFromPos(pos);
+            //m_log.Info("[Physics]: Attempting to use arrayItem: " + xyspace[0].ToString() + "," + xyspace[1].ToString());
+            return staticPrimspace[xyspace[0], xyspace[1]];
+        }
+
+        /// <summary>
+        /// Holds the space allocation logic
+        /// </summary>
+        /// <param name="pos"></param>
+        /// <returns>an array item based on the position</returns>
+        public int[] calculateSpaceArrayItemFromPos(Vector3 pos)
+        {
+            int[] returnint = new int[2];
+
+            returnint[0] = (int) (pos.X/metersInSpace);
+
+            if (returnint[0] > ((int) (259f/metersInSpace)))
+                returnint[0] = ((int) (259f/metersInSpace));
+            if (returnint[0] < 0)
+                returnint[0] = 0;
+
+            returnint[1] = (int) (pos.Y/metersInSpace);
+            if (returnint[1] > ((int) (259f/metersInSpace)))
+                returnint[1] = ((int) (259f/metersInSpace));
+            if (returnint[1] < 0)
+                returnint[1] = 0;
+
+            return returnint;
+        }
+
+        #endregion
+
+        /// <summary>
+        /// Routine to figure out if we need to mesh this prim with our mesher
+        /// </summary>
+        /// <param name="pbs"></param>
+        /// <returns></returns>
+        public bool needsMeshing(PrimitiveBaseShape pbs)
+        {
+            // most of this is redundant now as the mesher will return null if it cant mesh a prim
+            // but we still need to check for sculptie meshing being enabled so this is the most
+            // convenient place to do it for now...
+
+        //    //if (pbs.PathCurve == (byte)Primitive.PathCurve.Circle && pbs.ProfileCurve == (byte)Primitive.ProfileCurve.Circle && pbs.PathScaleY <= 0.75f)
+        //    //m_log.Debug("needsMeshing: " + " pathCurve: " + pbs.PathCurve.ToString() + " profileCurve: " + pbs.ProfileCurve.ToString() + " pathScaleY: " + Primitive.UnpackPathScale(pbs.PathScaleY).ToString());
+            int iPropertiesNotSupportedDefault = 0;
+
+            if (pbs.SculptEntry && !meshSculptedPrim)
+            {
+#if SPAM
+                m_log.Warn("NonMesh");
+#endif
+                return false;
+            }
+
+            // if it's a standard box or sphere with no cuts, hollows, twist or top shear, return false since ODE can use an internal representation for the prim
+            if (!forceSimplePrimMeshing && !pbs.SculptEntry)
+            {
+                if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
+                    || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1
+                    && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z))
+                {
+
+                    if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
+                        && pbs.ProfileHollow == 0
+                        && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
+                        && pbs.PathBegin == 0 && pbs.PathEnd == 0
+                        && pbs.PathTaperX == 0 && pbs.PathTaperY == 0
+                        && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
+                        && pbs.PathShearX == 0 && pbs.PathShearY == 0)
+                    {
+#if SPAM
+                    m_log.Warn("NonMesh");
+#endif
+                        return false;
+                    }
+                }
+            }
+
+            if (forceSimplePrimMeshing)
+                return true;
+
+            if (pbs.ProfileHollow != 0)
+                iPropertiesNotSupportedDefault++;
+
+            if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0))
+                iPropertiesNotSupportedDefault++; 
+
+            if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0)
+                iPropertiesNotSupportedDefault++;
+
+            if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100))
+                iPropertiesNotSupportedDefault++;
+
+            if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0))
+                iPropertiesNotSupportedDefault++;
+
+            if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight)
+                iPropertiesNotSupportedDefault++;
+
+            if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 && (pbs.Scale.X != pbs.Scale.Y || pbs.Scale.Y != pbs.Scale.Z || pbs.Scale.Z != pbs.Scale.X))
+                iPropertiesNotSupportedDefault++;
+
+            if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte) Extrusion.Curve1)
+                iPropertiesNotSupportedDefault++;
+
+            // test for torus
+            if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square)
+            {
+                if (pbs.PathCurve == (byte)Extrusion.Curve1)
+                {
+                    iPropertiesNotSupportedDefault++;
+                }
+            }
+            else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle)
+            {
+                if (pbs.PathCurve == (byte)Extrusion.Straight)
+                {
+                    iPropertiesNotSupportedDefault++;
+                }
+
+                // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits
+                else if (pbs.PathCurve == (byte)Extrusion.Curve1)
+                {
+                    iPropertiesNotSupportedDefault++;
+                }
+            }
+            else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle)
+            {
+                if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2)
+                {
+                    iPropertiesNotSupportedDefault++;
+                }
+            }
+            else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle)
+            {
+                if (pbs.PathCurve == (byte)Extrusion.Straight)
+                {
+                    iPropertiesNotSupportedDefault++;
+                }
+                else if (pbs.PathCurve == (byte)Extrusion.Curve1)
+                {
+                    iPropertiesNotSupportedDefault++;
+                }
+            }
+
+            if (pbs.SculptEntry && meshSculptedPrim)
+                iPropertiesNotSupportedDefault++;
+
+            if (iPropertiesNotSupportedDefault == 0)
+            {
+#if SPAM
+                m_log.Warn("NonMesh");
+#endif
+                return false;
+            }
+#if SPAM
+            m_log.Debug("Mesh");
+#endif
+            return true; 
+        }
+
+        /// <summary>
+        /// Called after our prim properties are set Scale, position etc.
+        /// We use this event queue like method to keep changes to the physical scene occuring in the threadlocked mutex
+        /// This assures us that we have no race conditions
+        /// </summary>
+        /// <param name="prim"></param>
+        public override void AddPhysicsActorTaint(PhysicsActor prim)
+        {
+            
+            if (prim is OdePrim)
+            {
+                OdePrim taintedprim = ((OdePrim) prim);
+                lock (_taintedPrimLock)
+                {
+                    if (!(_taintedPrimH.Contains(taintedprim))) 
+                                {
+//Console.WriteLine("AddPhysicsActorTaint to " +  taintedprim.m_primName);                              
+                        _taintedPrimH.Add(taintedprim);                                 // HashSet for searching
+                        _taintedPrimL.Add(taintedprim);                                 // List for ordered readout
+                                        }
+                                }
+                return;
+            }
+            else if (prim is OdeCharacter)
+            {
+                OdeCharacter taintedchar = ((OdeCharacter)prim);
+                lock (_taintedActors)
+                {
+                    if (!(_taintedActors.Contains(taintedchar)))
+                    {
+                        _taintedActors.Add(taintedchar);
+                        if (taintedchar.bad)
+                            m_log.DebugFormat("[PHYSICS]: Added BAD actor {0} to tainted actors", taintedchar.m_uuid);
+                    }
+                }
+            }
+        }
+
+        /// <summary>
+        /// This is our main simulate loop
+        /// It's thread locked by a Mutex in the scene.
+        /// It holds Collisions, it instructs ODE to step through the physical reactions
+        /// It moves the objects around in memory
+        /// It calls the methods that report back to the object owners.. (scenepresence, SceneObjectGroup)
+        /// </summary>
+        /// <param name="timeStep"></param>
+        /// <returns></returns>
+        public override float Simulate(float timeStep)
+        {
+            if (framecount >= int.MaxValue)
+                framecount = 0;
+            //if (m_worldOffset != Vector3.Zero)
+            //    return 0;
+
+            framecount++;
+            
+            DateTime now = DateTime.UtcNow;
+                        TimeSpan SinceLastFrame = now - m_lastframe;
+                        m_lastframe = now;
+                        float realtime = (float)SinceLastFrame.TotalSeconds;
+// Console.WriteLine("ts={0}    rt={1}",        timeStep,       realtime);      
+                        timeStep = realtime;
+                        
+  //          float fps = 1.0f / realtime;
+            float fps = 0.0f;           // number of ODE steps in this Simulate step
+            //m_log.Info(timeStep.ToString());
+            step_time += timeStep;
+            
+            // If We're loaded down by something else,
+            // or debugging with the Visual Studio project on pause
+            // skip a few frames to catch up gracefully.
+            // without shooting the physicsactors all over the place
+
+            if (step_time >= m_SkipFramesAtms)
+            {
+                // Instead of trying to catch up, it'll do 5 physics frames only
+                step_time = ODE_STEPSIZE;
+                m_physicsiterations = 5;
+            }
+            else
+            {
+                m_physicsiterations = 10;
+            }
+
+            if (SupportsNINJAJoints)
+            {
+                DeleteRequestedJoints(); // this must be outside of the lock (OdeLock) to avoid deadlocks
+                CreateRequestedJoints(); // this must be outside of the lock (OdeLock) to avoid deadlocks
+            }
+
+            lock (OdeLock)
+            {
+                // Process 10 frames if the sim is running normal..
+                // process 5 frames if the sim is running slow
+                //try
+                //{
+                    //d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
+                //}
+                //catch (StackOverflowException)
+                //{
+                   // m_log.Error("[PHYSICS]: The operating system wasn't able to allocate enough memory for the simulation.  Restarting the sim.");
+                   // ode.drelease(world);
+                    //base.TriggerPhysicsBasedRestart();
+                //}
+
+                int i = 0;
+
+                // Figure out the Frames Per Second we're going at.
+                //(step_time == 0.004f, there's 250 of those per second.   Times the step time/step size
+
+ //               fps = (step_time / ODE_STEPSIZE) * 1000;
+                // HACK: Using a time dilation of 1.0 to debug rubberbanding issues
+                //m_timeDilation = Math.Min((step_time / ODE_STEPSIZE) / (0.09375f / ODE_STEPSIZE), 1.0f);
+
+ //               step_time = 0.09375f;
+
+                while (step_time > 0.0f)
+                {
+                    //lock (ode)
+                    //{
+                        //if (!ode.lockquery())
+                        //{
+                           // ode.dlock(world);
+                            try
+                            { 
+                                // Insert, remove Characters
+                                bool processedtaints = false;
+
+                                lock (_taintedActors)
+                                {
+                                    if (_taintedActors.Count > 0)
+                                    {
+                                        foreach (OdeCharacter character in _taintedActors)
+                                        {
+
+                                            character.ProcessTaints(ODE_STEPSIZE);
+
+                                            processedtaints = true;
+                                            //character.m_collisionscore = 0;
+                                        }
+
+                                        if (processedtaints)
+                                            _taintedActors.Clear();
+                                    }
+                                } // end lock _taintedActors
+
+                                // Modify other objects in the scene.
+                                processedtaints = false;
+
+                                lock (_taintedPrimLock)
+                                {
+                                    foreach (OdePrim prim in _taintedPrimL)
+                                    {
+                                        if (prim.m_taintremove)
+                                        {
+                                            //Console.WriteLine("Simulate calls RemovePrimThreadLocked");                                          
+                                            RemovePrimThreadLocked(prim);
+                                        }
+                                        else
+                                        {
+                                            //Console.WriteLine("Simulate calls ProcessTaints");                                        
+                                            prim.ProcessTaints(ODE_STEPSIZE);
+                                        }
+                                        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)
+                                    {
+                                        // Create pending joints, if possible
+
+                                        // joints can only be processed after ALL bodies are processed (and exist in ODE), since creating
+                                        // a joint requires specifying the body id of both involved bodies
+                                        if (pendingJoints.Count > 0)
+                                        {
+                                            List<PhysicsJoint> successfullyProcessedPendingJoints = new List<PhysicsJoint>();
+                                            //DoJointErrorMessage(joints_connecting_actor, "taint: " + pendingJoints.Count + " pending joints");
+                                            foreach (PhysicsJoint joint in pendingJoints)
+                                            {
+                                                //DoJointErrorMessage(joint, "taint: time to create joint with parms: " + joint.RawParams);
+                                                string[] jointParams = joint.RawParams.Split(" ".ToCharArray(), 
+                                                                                                System.StringSplitOptions.RemoveEmptyEntries);
+                                                List<IntPtr> jointBodies = new List<IntPtr>();
+                                                bool allJointBodiesAreReady = true;
+                                                foreach (string jointParam in jointParams)
+                                                {
+                                                    if (jointParam == "NULL")
+                                                    {
+                                                        //DoJointErrorMessage(joint, "attaching NULL joint to world");
+                                                        jointBodies.Add(IntPtr.Zero);
+                                                    }
+                                                    else
+                                                    {
+                                                        //DoJointErrorMessage(joint, "looking for prim name: " + jointParam);
+                                                        bool foundPrim = false;
+                                                        lock (_prims)
+                                                        {
+                                                            foreach (OdePrim prim in _prims) // FIXME: inefficient
+                                                            {
+                                                                if (prim.SOPName == jointParam)
+                                                                {
+                                                                    //DoJointErrorMessage(joint, "found for prim name: " + jointParam);
+                                                                    if (prim.IsPhysical && prim.Body != IntPtr.Zero)
+                                                                    {
+                                                                        jointBodies.Add(prim.Body);
+                                                                        foundPrim = true;
+                                                                        break;
+                                                                    }
+                                                                    else
+                                                                    {
+                                                                        DoJointErrorMessage(joint, "prim name " + jointParam +
+                                                                            " exists but is not (yet) physical; deferring joint creation. " +
+                                                                            "IsPhysical property is " + prim.IsPhysical +
+                                                                            " and body is " + prim.Body);
+                                                                        foundPrim = false;
+                                                                        break;
+                                                                    }
+                                                                }
+                                                            }
+                                                        }
+                                                        if (foundPrim)
+                                                        {
+                                                            // all is fine
+                                                        }
+                                                        else
+                                                        {
+                                                            allJointBodiesAreReady = false;
+                                                            break;
+                                                        }
+                                                    }
+                                                }
+                                                if (allJointBodiesAreReady)
+                                                {
+                                                    //DoJointErrorMessage(joint, "allJointBodiesAreReady for " + joint.ObjectNameInScene + " with parms " + joint.RawParams);
+                                                    if (jointBodies[0] == jointBodies[1])
+                                                    {
+                                                        DoJointErrorMessage(joint, "ERROR: joint cannot be created; the joint bodies are the same, body1==body2. Raw body is " + jointBodies[0] + ". raw parms: " + joint.RawParams);
+                                                    }
+                                                    else
+                                                    {
+                                                        switch (joint.Type)
+                                                        {
+                                                            case PhysicsJointType.Ball:
+                                                                {
+                                                                    IntPtr odeJoint;
+                                                                    //DoJointErrorMessage(joint, "ODE creating ball joint ");
+                                                                    odeJoint = d.JointCreateBall(world, IntPtr.Zero);
+                                                                    //DoJointErrorMessage(joint, "ODE attaching ball joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
+                                                                    d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
+                                                                    //DoJointErrorMessage(joint, "ODE setting ball anchor: " + odeJoint + " to vec:" + joint.Position);
+                                                                    d.JointSetBallAnchor(odeJoint,
+                                                                                        joint.Position.X,
+                                                                                        joint.Position.Y,
+                                                                                        joint.Position.Z);
+                                                                    //DoJointErrorMessage(joint, "ODE joint setting OK");
+                                                                    //DoJointErrorMessage(joint, "The ball joint's bodies are here: b0: ");
+                                                                    //DoJointErrorMessage(joint, "" + (jointBodies[0] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[0]) : "fixed environment"));
+                                                                    //DoJointErrorMessage(joint, "The ball joint's bodies are here: b1: ");
+                                                                    //DoJointErrorMessage(joint, "" + (jointBodies[1] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[1]) : "fixed environment"));
+
+                                                                    if (joint is OdePhysicsJoint)
+                                                                    {
+                                                                        ((OdePhysicsJoint)joint).jointID = odeJoint;
+                                                                    }
+                                                                    else
+                                                                    {
+                                                                        DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
+                                                                    }
+                                                                }
+                                                                break;
+                                                            case PhysicsJointType.Hinge:
+                                                                {
+                                                                    IntPtr odeJoint;
+                                                                    //DoJointErrorMessage(joint, "ODE creating hinge joint ");
+                                                                    odeJoint = d.JointCreateHinge(world, IntPtr.Zero);
+                                                                    //DoJointErrorMessage(joint, "ODE attaching hinge joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
+                                                                    d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
+                                                                    //DoJointErrorMessage(joint, "ODE setting hinge anchor: " + odeJoint + " to vec:" + joint.Position);
+                                                                    d.JointSetHingeAnchor(odeJoint,
+                                                                                          joint.Position.X,
+                                                                                          joint.Position.Y,
+                                                                                          joint.Position.Z);
+                                                                    // We use the orientation of the x-axis of the joint's coordinate frame
+                                                                    // as the axis for the hinge. 
+
+                                                                    // Therefore, we must get the joint's coordinate frame based on the
+                                                                    // joint.Rotation field, which originates from the orientation of the 
+                                                                    // joint's proxy object in the scene.
+
+                                                                    // The joint's coordinate frame is defined as the transformation matrix
+                                                                    // that converts a vector from joint-local coordinates into world coordinates.
+                                                                    // World coordinates are defined as the XYZ coordinate system of the sim,
+                                                                    // as shown in the top status-bar of the viewer.
+
+                                                                    // Once we have the joint's coordinate frame, we extract its X axis (AtAxis)
+                                                                    // and use that as the hinge axis.
+
+                                                                    //joint.Rotation.Normalize();
+                                                                    Matrix4 proxyFrame = Matrix4.CreateFromQuaternion(joint.Rotation);
+
+                                                                    // Now extract the X axis of the joint's coordinate frame.
+
+                                                                    // Do not try to use proxyFrame.AtAxis or you will become mired in the
+                                                                    // tar pit of transposed, inverted, and generally messed-up orientations.
+                                                                    // (In other words, Matrix4.AtAxis() is borked.)
+                                                                    // Vector3 jointAxis = proxyFrame.AtAxis; <--- this path leadeth to madness
+
+                                                                    // Instead, compute the X axis of the coordinate frame by transforming
+                                                                    // the (1,0,0) vector. At least that works.
+
+                                                                    //m_log.Debug("PHY: making axis: complete matrix is " + proxyFrame);
+                                                                    Vector3 jointAxis = Vector3.Transform(Vector3.UnitX, proxyFrame);
+                                                                    //m_log.Debug("PHY: making axis: hinge joint axis is " + jointAxis); 
+                                                                    //DoJointErrorMessage(joint, "ODE setting hinge axis: " + odeJoint + " to vec:" + jointAxis);
+                                                                    d.JointSetHingeAxis(odeJoint,
+                                                                                        jointAxis.X,
+                                                                                        jointAxis.Y,
+                                                                                        jointAxis.Z);
+                                                                    //d.JointSetHingeParam(odeJoint, (int)dParam.CFM, 0.1f);
+                                                                    if (joint is OdePhysicsJoint)
+                                                                    {
+                                                                        ((OdePhysicsJoint)joint).jointID = odeJoint;
+                                                                    }
+                                                                    else
+                                                                    {
+                                                                        DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
+                                                                    }
+                                                                }
+                                                                break;
+                                                        }
+                                                        successfullyProcessedPendingJoints.Add(joint);
+                                                    }
+                                                }
+                                                else
+                                                {
+                                                    DoJointErrorMessage(joint, "joint could not yet be created; still pending");
+                                                }
+                                            }
+                                            foreach (PhysicsJoint successfullyProcessedJoint in successfullyProcessedPendingJoints)
+                                            {
+                                                //DoJointErrorMessage(successfullyProcessedJoint, "finalizing succesfully procsssed joint " + successfullyProcessedJoint.ObjectNameInScene + " parms " + successfullyProcessedJoint.RawParams);
+                                                //DoJointErrorMessage(successfullyProcessedJoint, "removing from pending");
+                                                InternalRemovePendingJoint(successfullyProcessedJoint);
+                                                //DoJointErrorMessage(successfullyProcessedJoint, "adding to active");
+                                                InternalAddActiveJoint(successfullyProcessedJoint);
+                                                //DoJointErrorMessage(successfullyProcessedJoint, "done");
+                                            }
+                                        }
+                                    } // end SupportsNINJAJoints 
+
+                                    if (processedtaints)
+//Console.WriteLine("Simulate calls Clear of _taintedPrim list");                                      
+                                        _taintedPrimH.Clear();                          // ??? if this only ???
+                                        _taintedPrimL.Clear();
+                                } // end lock _taintedPrimLock
+
+                                // Move characters
+                                lock (_characters)
+                                {
+                                    List<OdeCharacter> defects = new List<OdeCharacter>();
+                                    foreach (OdeCharacter actor in _characters)
+                                    {
+                                        if (actor != null)
+                                            actor.Move(ODE_STEPSIZE, defects);
+                                    }
+                                    if (0 != defects.Count)
+                                    {
+                                        foreach (OdeCharacter defect in defects)
+                                        {
+                                            RemoveCharacter(defect);
+                                        }
+                                    }
+                                } // end lock _characters
+
+                                // Move other active objects
+                                lock (_activeprims)
+                                {
+                                    foreach (OdePrim prim in _activeprims)
+                                    {
+                                        prim.m_collisionscore = 0;
+                                        prim.Move(ODE_STEPSIZE);
+                                    }
+                                } // end lock _activeprims
+
+                                //if ((framecount % m_randomizeWater) == 0)
+                                   // randomizeWater(waterlevel);
+
+                                //int RayCastTimeMS = m_rayCastManager.ProcessQueuedRequests();
+                                m_rayCastManager.ProcessQueuedRequests();
+
+                                collision_optimized(ODE_STEPSIZE);
+
+                                lock (_collisionEventPrim)
+                                {
+                                    foreach (PhysicsActor obj in _collisionEventPrim)
+                                    {
+                                        if (obj == null)
+                                            continue;
+
+                                        switch ((ActorTypes)obj.PhysicsActorType)
+                                        {
+                                            case ActorTypes.Agent:
+                                                OdeCharacter cobj = (OdeCharacter)obj;
+                                                cobj.AddCollisionFrameTime(100);
+                                                cobj.SendCollisions();
+                                                break;
+                                            case ActorTypes.Prim:
+                                                OdePrim pobj = (OdePrim)obj;
+                                                pobj.SendCollisions();
+                                                break;
+                                        }
+                                    }
+                                } // end lock _collisionEventPrim
+
+                                //if (m_global_contactcount > 5)
+                                //{
+                                //    m_log.DebugFormat("[PHYSICS]: Contacts:{0}", m_global_contactcount);
+                                //}
+
+                                m_global_contactcount = 0;
+                                
+                                d.WorldQuickStep(world, ODE_STEPSIZE);
+                                d.JointGroupEmpty(contactgroup);
+                                fps++;
+                                //ode.dunlock(world);
+                            } // end try
+                            catch (Exception e)
+                            {
+                                m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e);
+                                ode.dunlock(world);
+                            }
+
+                            step_time -= ODE_STEPSIZE;
+                            i++;
+                        //}
+                        //else
+                        //{
+                            //fps = 0;
+                        //}
+                    //}
+                }  // end while (step_time > 0.0f)
+
+                lock (_characters)
+                {
+                    foreach (OdeCharacter actor in _characters)
+                    {
+                        if (actor != null)
+                        {
+                            if (actor.bad)
+                                m_log.WarnFormat("[PHYSICS]: BAD Actor {0} in _characters list was not removed?", actor.m_uuid);
+                            actor.UpdatePositionAndVelocity();
+                        }
+                    }
+                }
+
+                lock (_badCharacter)
+                {
+                    if (_badCharacter.Count > 0)
+                    {
+                        foreach (OdeCharacter chr in _badCharacter)
+                        {
+                            RemoveCharacter(chr);
+                        }
+                        _badCharacter.Clear();
+                    }
+                }
+
+                lock (_activeprims)
+                {
+                    //if (timeStep < 0.2f)
+                    {
+                        foreach (OdePrim actor in _activeprims)
+                        {
+                            if (actor.IsPhysical && (d.BodyIsEnabled(actor.Body) || !actor._zeroFlag))
+                            {
+                                actor.UpdatePositionAndVelocity();
+
+                                if (SupportsNINJAJoints)
+                                {
+                                    // If an actor moved, move its joint proxy objects as well.
+                                    // There seems to be an event PhysicsActor.OnPositionUpdate that could be used
+                                    // for this purpose but it is never called! So we just do the joint
+                                    // movement code here.
+
+                                    if (actor.SOPName != null &&
+                                        joints_connecting_actor.ContainsKey(actor.SOPName) &&
+                                        joints_connecting_actor[actor.SOPName] != null &&
+                                        joints_connecting_actor[actor.SOPName].Count > 0)
+                                    {
+                                        foreach (PhysicsJoint affectedJoint in joints_connecting_actor[actor.SOPName])
+                                        {
+                                            if (affectedJoint.IsInPhysicsEngine)
+                                            {
+                                                DoJointMoved(affectedJoint);
+                                            }
+                                            else
+                                            {
+                                                DoJointErrorMessage(affectedJoint, "a body connected to a joint was moved, but the joint doesn't exist yet! this will lead to joint error. joint was: " + affectedJoint.ObjectNameInScene + " parms:" + affectedJoint.RawParams);
+                                            }
+                                        }
+                                    }
+                                }
+                            }
+                        }
+                    }
+                } // end lock _activeprims
+
+                //DumpJointInfo();
+
+                // Finished with all sim stepping. If requested, dump world state to file for debugging.
+                // TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed?
+                // TODO: This overwrites all dump files in-place. Should this be a growing logfile, or separate snapshots?
+                if (physics_logging && (physics_logging_interval>0) && (framecount % physics_logging_interval == 0))
+                {
+                    string fname = "state-" + world.ToString() + ".DIF"; // give each physics world a separate filename
+                    string prefix = "world" + world.ToString(); // prefix for variable names in exported .DIF file
+
+                    if (physics_logging_append_existing_logfile)
+                    {
+                        string header = "-------------- START OF PHYSICS FRAME " + framecount.ToString() + " --------------";
+                        TextWriter fwriter = File.AppendText(fname);
+                        fwriter.WriteLine(header);
+                        fwriter.Close();
+                    }
+                    d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix);
+                }
+            } // end lock OdeLock
+            
+            return fps * 1000.0f;               //NB This is a FRAME COUNT, not a time! AND is divide by 1000 in SimStatusReporter!
+        } // end Simulate
+
+        public override void GetResults()
+        {
+        }
+
+        public override bool IsThreaded
+        {
+            // for now we won't be multithreaded
+            get { return (false); }
+        }
+
+        #region ODE Specific Terrain Fixes
+        public float[] ResizeTerrain512NearestNeighbour(float[] heightMap)
+        {
+            float[] returnarr = new float[262144];
+            float[,] resultarr = new float[(int)WorldExtents.X, (int)WorldExtents.Y];
+
+            // Filling out the array into its multi-dimensional components
+            for (int y = 0; y < WorldExtents.Y; y++)
+            {
+                for (int x = 0; x < WorldExtents.X; x++)
+                {
+                    resultarr[y, x] = heightMap[y * (int)WorldExtents.Y + x];
+                }
+            }
+
+            // Resize using Nearest Neighbour
+
+            // This particular way is quick but it only works on a multiple of the original
+
+            // The idea behind this method can be described with the following diagrams
+            // second pass and third pass happen in the same loop really..  just separated
+            // them to show what this does.
+
+            // First Pass
+            // ResultArr:
+            // 1,1,1,1,1,1
+            // 1,1,1,1,1,1
+            // 1,1,1,1,1,1
+            // 1,1,1,1,1,1
+            // 1,1,1,1,1,1
+            // 1,1,1,1,1,1
+
+            // Second Pass
+            // ResultArr2:
+            // 1,,1,,1,,1,,1,,1,
+            // ,,,,,,,,,,
+            // 1,,1,,1,,1,,1,,1,
+            // ,,,,,,,,,,
+            // 1,,1,,1,,1,,1,,1,
+            // ,,,,,,,,,,
+            // 1,,1,,1,,1,,1,,1,
+            // ,,,,,,,,,,
+            // 1,,1,,1,,1,,1,,1,
+            // ,,,,,,,,,,
+            // 1,,1,,1,,1,,1,,1,
+
+            // Third pass fills in the blanks
+            // ResultArr2:
+            // 1,1,1,1,1,1,1,1,1,1,1,1
+            // 1,1,1,1,1,1,1,1,1,1,1,1
+            // 1,1,1,1,1,1,1,1,1,1,1,1
+            // 1,1,1,1,1,1,1,1,1,1,1,1
+            // 1,1,1,1,1,1,1,1,1,1,1,1
+            // 1,1,1,1,1,1,1,1,1,1,1,1
+            // 1,1,1,1,1,1,1,1,1,1,1,1
+            // 1,1,1,1,1,1,1,1,1,1,1,1
+            // 1,1,1,1,1,1,1,1,1,1,1,1
+            // 1,1,1,1,1,1,1,1,1,1,1,1
+            // 1,1,1,1,1,1,1,1,1,1,1,1
+
+            // X,Y = .
+            // X+1,y = ^
+            // X,Y+1 = *
+            // X+1,Y+1 = #
+
+            // Filling in like this;
+            // .*
+            // ^#
+            // 1st .
+            // 2nd *
+            // 3rd ^
+            // 4th #
+            // on single loop.
+
+            float[,] resultarr2 = new float[512, 512];
+            for (int y = 0; y < WorldExtents.Y; y++)
+            {
+                for (int x = 0; x < WorldExtents.X; x++)
+                {
+                    resultarr2[y * 2, x * 2] = resultarr[y, x];
+
+                    if (y < WorldExtents.Y)
+                    {
+                        resultarr2[(y * 2) + 1, x * 2] = resultarr[y, x];
+                    }
+                    if (x < WorldExtents.X)
+                    {
+                        resultarr2[y * 2, (x * 2) + 1] = resultarr[y, x];
+                    }
+                    if (x < WorldExtents.X && y < WorldExtents.Y)
+                    {
+                        resultarr2[(y * 2) + 1, (x * 2) + 1] = resultarr[y, x];
+                    }
+                }
+            }
+
+            //Flatten out the array
+            int i = 0;
+            for (int y = 0; y < 512; y++)
+            {
+                for (int x = 0; x < 512; x++)
+                {
+                    if (resultarr2[y, x] <= 0)
+                        returnarr[i] = 0.0000001f;
+                    else
+                        returnarr[i] = resultarr2[y, x];
+
+                    i++;
+                }
+            }
+
+            return returnarr;
+        }
+
+        public float[] ResizeTerrain512Interpolation(float[] heightMap)
+        {
+            float[] returnarr = new float[262144];
+            float[,] resultarr = new float[512,512];
+
+            // Filling out the array into its multi-dimensional components
+            for (int y = 0; y < 256; y++)
+            {
+                for (int x = 0; x < 256; x++)
+                {
+                    resultarr[y, x] = heightMap[y * 256 + x];
+                }
+            }
+
+            // Resize using interpolation
+
+            // This particular way is quick but it only works on a multiple of the original
+
+            // The idea behind this method can be described with the following diagrams
+            // second pass and third pass happen in the same loop really..  just separated
+            // them to show what this does.
+
+            // First Pass
+            // ResultArr:
+            // 1,1,1,1,1,1
+            // 1,1,1,1,1,1
+            // 1,1,1,1,1,1
+            // 1,1,1,1,1,1
+            // 1,1,1,1,1,1
+            // 1,1,1,1,1,1
+
+            // Second Pass
+            // ResultArr2:
+            // 1,,1,,1,,1,,1,,1,
+            // ,,,,,,,,,,
+            // 1,,1,,1,,1,,1,,1,
+            // ,,,,,,,,,,
+            // 1,,1,,1,,1,,1,,1,
+            // ,,,,,,,,,,
+            // 1,,1,,1,,1,,1,,1,
+            // ,,,,,,,,,,
+            // 1,,1,,1,,1,,1,,1,
+            // ,,,,,,,,,,
+            // 1,,1,,1,,1,,1,,1,
+
+            // Third pass fills in the blanks
+            // ResultArr2:
+            // 1,1,1,1,1,1,1,1,1,1,1,1
+            // 1,1,1,1,1,1,1,1,1,1,1,1
+            // 1,1,1,1,1,1,1,1,1,1,1,1
+            // 1,1,1,1,1,1,1,1,1,1,1,1
+            // 1,1,1,1,1,1,1,1,1,1,1,1
+            // 1,1,1,1,1,1,1,1,1,1,1,1
+            // 1,1,1,1,1,1,1,1,1,1,1,1
+            // 1,1,1,1,1,1,1,1,1,1,1,1
+            // 1,1,1,1,1,1,1,1,1,1,1,1
+            // 1,1,1,1,1,1,1,1,1,1,1,1
+            // 1,1,1,1,1,1,1,1,1,1,1,1
+
+            // X,Y = .
+            // X+1,y = ^
+            // X,Y+1 = *
+            // X+1,Y+1 = #
+
+            // Filling in like this;
+            // .*
+            // ^#
+            // 1st .
+            // 2nd *
+            // 3rd ^
+            // 4th #
+            // on single loop.
+
+            float[,] resultarr2 = new float[512,512];
+            for (int y = 0; y < (int)Constants.RegionSize; y++)
+            {
+                for (int x = 0; x < (int)Constants.RegionSize; x++)
+                {
+                    resultarr2[y*2, x*2] = resultarr[y, x];
+
+                    if (y < (int)Constants.RegionSize)
+                    {
+                        if (y + 1 < (int)Constants.RegionSize)
+                        {
+                            if (x + 1 < (int)Constants.RegionSize)
+                            {
+                                resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x] +
+                                                               resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
+                            }
+                            else
+                            {
+                                resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x])/2);
+                            }
+                        }
+                        else
+                        {
+                            resultarr2[(y*2) + 1, x*2] = resultarr[y, x];
+                        }
+                    }
+                    if (x < (int)Constants.RegionSize)
+                    {
+                        if (x + 1 < (int)Constants.RegionSize)
+                        {
+                            if (y + 1 < (int)Constants.RegionSize)
+                            {
+                                resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] +
+                                                               resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
+                            }
+                            else
+                            {
+                                resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y, x + 1])/2);
+                            }
+                        }
+                        else
+                        {
+                            resultarr2[y*2, (x*2) + 1] = resultarr[y, x];
+                        }
+                    }
+                    if (x < (int)Constants.RegionSize && y < (int)Constants.RegionSize)
+                    {
+                        if ((x + 1 < (int)Constants.RegionSize) && (y + 1 < (int)Constants.RegionSize))
+                        {
+                            resultarr2[(y*2) + 1, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] +
+                                                                 resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
+                        }
+                        else
+                        {
+                            resultarr2[(y*2) + 1, (x*2) + 1] = resultarr[y, x];
+                        }
+                    }
+                }
+            }
+            //Flatten out the array
+            int i = 0;
+            for (int y = 0; y < 512; y++)
+            {
+                for (int x = 0; x < 512; x++)
+                {
+                    if (Single.IsNaN(resultarr2[y, x]) || Single.IsInfinity(resultarr2[y, x]))
+                    {
+                        m_log.Warn("[PHYSICS]: Non finite heightfield element detected.  Setting it to 0");
+                        resultarr2[y, x] = 0;
+                    }
+                    returnarr[i] = resultarr2[y, x];
+                    i++;
+                }
+            }
+
+            return returnarr;
+        }
+
+        #endregion
+
+        public override void SetTerrain(float[] heightMap)
+        {
+            if (m_worldOffset != Vector3.Zero && m_parentScene != null)
+            {
+                if (m_parentScene is OdeScene)
+                {
+                    ((OdeScene)m_parentScene).SetTerrain(heightMap, m_worldOffset);
+                }
+            }
+            else
+            {
+                SetTerrain(heightMap, m_worldOffset);
+            }
+        }
+
+        public void SetTerrain(float[] heightMap, Vector3 pOffset)
+        {
+           
+            int regionsize = (int) Constants.RegionSize;                // visible region size eg. 256(M)
+            
+            int heightmapWidth = regionsize + 2;                                // ODE map size 257 x 257 (Meters) (1 extra 
+            int heightmapHeight = regionsize + 2;
+            
+            int heightmapWidthSamples = (int)regionsize + 2;            // Sample file size, 258 x 258 samples
+            int heightmapHeightSamples = (int)regionsize + 2;
+            
+            // Array of height samples for ODE 
+            float[] _heightmap;
+            _heightmap = new float[(heightmapWidthSamples * heightmapHeightSamples)];   // loaded samples 258 x 258
+
+                        // Other ODE parameters
+            const float scale = 1.0f;
+            const float offset = 0.0f;
+            const float thickness = 2.0f; // Was 0.2f, Larger appears to prevent Av fall-through
+            const int wrap = 0;
+
+            float hfmin = 2000f;
+            float hfmax = -2000f;
+            float minele = 0.0f;        // Dont allow -ve heights
+            
+            int x = 0;
+            int y = 0;
+            int xx = 0;
+            int yy = 0;
+            
+            // load the height samples array from the heightMap    
+            for ( x = 0; x < heightmapWidthSamples; x++)                                // 0 to 257
+            {
+                for ( y = 0; y < heightmapHeightSamples; y++)                   // 0 to 257
+                {
+                        xx = x - 1;
+                        if (xx < 0) xx = 0;                                                     
+                        if (xx > (regionsize - 1)) xx = regionsize - 1;                                  
+                    
+                        yy = y - 1;
+                        if (yy < 0) yy = 0;                                                     
+                        if (yy > (regionsize - 1)) yy = regionsize - 1;
+                                        // Input xx = 0  0  1  2  ..... 254  255  255      256 total in
+                                // Output x = 0  1  2  3  ..... 255  256  257      258 total out
+                    float val= heightMap[(yy * regionsize) + xx];  // input from heightMap,  <0-255 * 256> <0-255>
+                    if (val < minele) val = minele;
+                    _heightmap[x * (regionsize + 2) + y] = val; // samples output to _heightmap,  <0-257 * 258> <0-257>
+                    hfmin = (val < hfmin) ? val : hfmin;
+                    hfmax = (val > hfmax) ? val : hfmax;
+                }
+            }
+                
+            lock (OdeLock)
+            {
+                IntPtr GroundGeom = IntPtr.Zero;
+                if (RegionTerrain.TryGetValue(pOffset, out GroundGeom))
+                {
+                    RegionTerrain.Remove(pOffset);
+                    if (GroundGeom != IntPtr.Zero)
+                    {
+                        if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
+                        {
+                            TerrainHeightFieldHeights.Remove(GroundGeom);
+                        }
+                        d.SpaceRemove(space, GroundGeom);
+                        d.GeomDestroy(GroundGeom);
+                    }
+                }
+                IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
+                d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0, 
+                        heightmapWidth, heightmapHeight, (int)heightmapWidthSamples, 
+                    (int)heightmapHeightSamples, scale, offset, thickness, wrap);
+                d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
+                GroundGeom = d.CreateHeightfield(space, HeightmapData, 1);
+                if (GroundGeom != IntPtr.Zero)
+                {
+                    d.GeomSetCategoryBits(GroundGeom, (int)(CollisionCategories.Land));
+                    d.GeomSetCollideBits(GroundGeom, (int)(CollisionCategories.Space));
+                }
+                geom_name_map[GroundGeom] = "Terrain";
+
+                d.Matrix3 R = new d.Matrix3();
+
+                Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
+                Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
+                //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
+
+                q1 = q1 * q2;
+                //q1 = q1 * q3;
+                Vector3 v3;
+                float angle;
+                q1.GetAxisAngle(out v3, out angle);
+
+                d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
+                d.GeomSetRotation(GroundGeom, ref R);
+                d.GeomSetPosition(GroundGeom, (pOffset.X + (regionsize * 0.5f)) - 0.5f, (pOffset.Y + (regionsize * 0.5f)) - 0.5f, 0);
+                IntPtr testGround = IntPtr.Zero;
+                if (RegionTerrain.TryGetValue(pOffset, out testGround))
+                {
+                    RegionTerrain.Remove(pOffset);
+                }
+                RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
+                TerrainHeightFieldHeights.Add(GroundGeom,_heightmap);
+            }
+        }
+
+        public override void DeleteTerrain()
+        {
+        }
+
+        public float GetWaterLevel()
+        {
+            return waterlevel;
+        }
+
+        public override bool SupportsCombining()
+        {
+            return true;
+        }
+
+        public override void UnCombine(PhysicsScene pScene)
+        {
+            IntPtr localGround = IntPtr.Zero;
+//            float[] localHeightfield;
+            bool proceed = false;
+            List<IntPtr> geomDestroyList = new List<IntPtr>();
+
+            lock (OdeLock)
+            {
+                if (RegionTerrain.TryGetValue(Vector3.Zero, out localGround))
+                {
+                    foreach (IntPtr geom in TerrainHeightFieldHeights.Keys)
+                    {
+                        if (geom == localGround)
+                        {
+//                            localHeightfield = TerrainHeightFieldHeights[geom];
+                            proceed = true;
+                        }
+                        else
+                        {
+                            geomDestroyList.Add(geom);
+                        }
+                    }
+
+                    if (proceed)
+                    {
+                        m_worldOffset = Vector3.Zero;
+                        WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
+                        m_parentScene = null;
+
+                        foreach (IntPtr g in geomDestroyList)
+                        {
+                            // removingHeightField needs to be done or the garbage collector will
+                            // collect the terrain data before we tell ODE to destroy it causing 
+                            // memory corruption
+                            if (TerrainHeightFieldHeights.ContainsKey(g))
+                            {
+//                                float[] removingHeightField = TerrainHeightFieldHeights[g];
+                                TerrainHeightFieldHeights.Remove(g);
+
+                                if (RegionTerrain.ContainsKey(g))
+                                {
+                                    RegionTerrain.Remove(g);
+                                }
+
+                                d.GeomDestroy(g);
+                                //removingHeightField = new float[0];
+                            }
+                        }
+
+                    }
+                    else
+                    {
+                        m_log.Warn("[PHYSICS]: Couldn't proceed with UnCombine.  Region has inconsistant data.");
+
+                    }
+                }
+            }
+        }
+
+        public override void SetWaterLevel(float baseheight)
+        {
+            waterlevel = baseheight;
+            randomizeWater(waterlevel);
+        }
+
+        public void randomizeWater(float baseheight)
+        {
+            const uint heightmapWidth = m_regionWidth + 2;
+            const uint heightmapHeight = m_regionHeight + 2;
+            const uint heightmapWidthSamples = m_regionWidth + 2;
+            const uint heightmapHeightSamples = m_regionHeight + 2;
+            const float scale = 1.0f;
+            const float offset = 0.0f;
+            const float thickness = 2.9f;
+            const int wrap = 0;
+
+            for (int i = 0; i < (258 * 258); i++)
+            {
+                _watermap[i] = (baseheight-0.1f) + ((float)fluidRandomizer.Next(1,9) / 10f);
+               // m_log.Info((baseheight - 0.1f) + ((float)fluidRandomizer.Next(1, 9) / 10f));
+            }
+
+            lock (OdeLock)
+            {
+                if (WaterGeom != IntPtr.Zero)
+                {
+                    d.SpaceRemove(space, WaterGeom);
+                }
+                IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
+                d.GeomHeightfieldDataBuildSingle(HeightmapData, _watermap, 0, heightmapWidth, heightmapHeight,
+                                                 (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
+                                                 offset, thickness, wrap);
+                d.GeomHeightfieldDataSetBounds(HeightmapData, m_regionWidth, m_regionHeight);
+                WaterGeom = d.CreateHeightfield(space, HeightmapData, 1);
+                if (WaterGeom != IntPtr.Zero)
+                {
+                    d.GeomSetCategoryBits(WaterGeom, (int)(CollisionCategories.Water));
+                    d.GeomSetCollideBits(WaterGeom, (int)(CollisionCategories.Space));
+
+                }
+                geom_name_map[WaterGeom] = "Water";
+
+                d.Matrix3 R = new d.Matrix3();
+
+                Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
+                Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
+                //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
+
+                q1 = q1 * q2;
+                //q1 = q1 * q3;
+                Vector3 v3;
+                float angle;
+                q1.GetAxisAngle(out v3, out angle);
+
+                d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
+                d.GeomSetRotation(WaterGeom, ref R);
+                d.GeomSetPosition(WaterGeom, 128, 128, 0);
+                
+            }
+
+        }
+
+        public override void Dispose()
+        {
+            m_rayCastManager.Dispose();
+            m_rayCastManager = null;
+
+            lock (OdeLock)
+            {
+                lock (_prims)
+                {
+                    foreach (OdePrim prm in _prims)
+                    {
+                        RemovePrim(prm);
+                    }
+                }
+
+                //foreach (OdeCharacter act in _characters)
+                //{
+                    //RemoveAvatar(act);
+                //}
+                d.WorldDestroy(world);
+                //d.CloseODE();
+            }
+        }
+        public override Dictionary<uint, float> GetTopColliders()
+        {
+            Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();
+            int cnt = 0;
+            lock (_prims)
+            {
+                foreach (OdePrim prm in _prims)
+                {
+                    if (prm.CollisionScore > 0)
+                    {
+                        returncolliders.Add(prm.m_localID, prm.CollisionScore);
+                        cnt++;
+                        prm.CollisionScore = 0f;
+                        if (cnt > 25)
+                        {
+                            break;
+                        }
+                    }
+                }
+            }
+            return returncolliders;
+        }
+
+        public override bool SupportsRayCast()
+        {
+            return true;
+        }
+
+        public override void RaycastWorld(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
+        {
+            if (retMethod != null)
+            {
+                m_rayCastManager.QueueRequest(position, direction, length, retMethod);
+            }
+        }
+
+#if USE_DRAWSTUFF
+        // Keyboard callback
+        public void command(int cmd)
+        {
+            IntPtr geom;
+            d.Mass mass;
+            d.Vector3 sides = new d.Vector3(d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f);
+
+            
+
+            Char ch = Char.ToLower((Char)cmd);
+            switch ((Char)ch)
+            {
+                case 'w':
+                    try
+                    {
+                        Vector3 rotate = (new Vector3(1, 0, 0) * Quaternion.CreateFromEulers(hpr.Z * Utils.DEG_TO_RAD, hpr.Y * Utils.DEG_TO_RAD, hpr.X * Utils.DEG_TO_RAD));
+
+                        xyz.X += rotate.X; xyz.Y += rotate.Y; xyz.Z += rotate.Z;
+                        ds.SetViewpoint(ref xyz, ref hpr);
+                    }
+                    catch (ArgumentException)
+                    { hpr.X = 0; }
+                    break;
+
+                case 'a':
+                    hpr.X++;
+                    ds.SetViewpoint(ref xyz, ref hpr);
+                    break;
+
+                case 's':
+                    try
+                    {
+                        Vector3 rotate2 = (new Vector3(-1, 0, 0) * Quaternion.CreateFromEulers(hpr.Z * Utils.DEG_TO_RAD, hpr.Y * Utils.DEG_TO_RAD, hpr.X * Utils.DEG_TO_RAD));
+
+                        xyz.X += rotate2.X; xyz.Y += rotate2.Y; xyz.Z += rotate2.Z;
+                        ds.SetViewpoint(ref xyz, ref hpr);
+                    }
+                    catch (ArgumentException)
+                    { hpr.X = 0; }
+                    break;
+                case 'd':
+                    hpr.X--;
+                    ds.SetViewpoint(ref xyz, ref hpr);
+                    break;
+                case 'r':
+                    xyz.Z++;
+                    ds.SetViewpoint(ref xyz, ref hpr);
+                    break;
+                case 'f':
+                    xyz.Z--;
+                    ds.SetViewpoint(ref xyz, ref hpr);
+                    break;
+                case 'e':
+                    xyz.Y++;
+                    ds.SetViewpoint(ref xyz, ref hpr);
+                    break;
+                case 'q':
+                    xyz.Y--;
+                    ds.SetViewpoint(ref xyz, ref hpr);
+                    break;
+            }
+        }
+
+        public void step(int pause)
+        {
+            
+            ds.SetColor(1.0f, 1.0f, 0.0f);
+            ds.SetTexture(ds.Texture.Wood);
+            lock (_prims)
+            {
+                foreach (OdePrim prm in _prims)
+                {
+                    //IntPtr body = d.GeomGetBody(prm.prim_geom);
+                    if (prm.prim_geom != IntPtr.Zero)
+                    {
+                        d.Vector3 pos;
+                        d.GeomCopyPosition(prm.prim_geom, out pos);
+                        //d.BodyCopyPosition(body, out pos);
+
+                        d.Matrix3 R;
+                        d.GeomCopyRotation(prm.prim_geom, out R);
+                        //d.BodyCopyRotation(body, out R);
+
+
+                        d.Vector3 sides = new d.Vector3();
+                        sides.X = prm.Size.X;
+                        sides.Y = prm.Size.Y;
+                        sides.Z = prm.Size.Z;
+
+                        ds.DrawBox(ref pos, ref R, ref sides);
+                    }
+                }
+            }
+            ds.SetColor(1.0f, 0.0f, 0.0f);
+            lock (_characters)
+            {
+                foreach (OdeCharacter chr in _characters)
+                {
+                    if (chr.Shell != IntPtr.Zero)
+                    {
+                        IntPtr body = d.GeomGetBody(chr.Shell);
+
+                        d.Vector3 pos;
+                        d.GeomCopyPosition(chr.Shell, out pos);
+                        //d.BodyCopyPosition(body, out pos);
+
+                        d.Matrix3 R;
+                        d.GeomCopyRotation(chr.Shell, out R);
+                        //d.BodyCopyRotation(body, out R);
+
+                        ds.DrawCapsule(ref pos, ref R, chr.Size.Z, 0.35f);
+                        d.Vector3 sides = new d.Vector3();
+                        sides.X = 0.5f;
+                        sides.Y = 0.5f;
+                        sides.Z = 0.5f;
+
+                        ds.DrawBox(ref pos, ref R, ref sides);
+                    }
+                }
+            }
+        }
+
+        public void start(int unused)
+        {
+            ds.SetViewpoint(ref xyz, ref hpr);
+        }
+#endif
+    }
+}
diff --git a/OpenSim/Region/Physics/ChOdePlugin/OdeUtils.cs b/OpenSim/Region/Physics/ChOdePlugin/OdeUtils.cs
new file mode 100644
index 0000000..e7e7bb3
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/OdeUtils.cs
@@ -0,0 +1,353 @@
+/* Ubit 2012
+  * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+// no endian conversion. So can't be use to pass information around diferent cpus with diferent endian
+
+using System;
+using System.IO;
+using OpenMetaverse;
+
+namespace OpenSim.Region.Physics.OdePlugin
+{
+   
+    unsafe public class wstreamer
+    {
+        byte[] buf;
+        int index;
+        byte* src;
+
+        public wstreamer()
+        {
+            buf = new byte[1024];
+            index = 0;
+        }
+        public wstreamer(int size)
+        {
+            buf = new byte[size];
+            index = 0;
+        }
+
+        public byte[] close()
+        {
+            byte[] data = new byte[index];
+            Buffer.BlockCopy(buf, 0, data, 0, index); 
+            return data;
+        }
+
+        public void Seek(int pos)
+        {
+            index = pos;
+        }
+
+        public void Seekrel(int pos)
+        {
+            index += pos;
+        }
+
+        public void Wbyte(byte value)
+        {
+            buf[index++] = value;
+        }
+        public void Wshort(short value)
+        {
+            src = (byte*)&value;
+            buf[index++] = *src++;
+            buf[index++] = *src;
+        }
+        public void Wushort(ushort value)
+        {
+            src = (byte*)&value;
+            buf[index++] = *src++;
+            buf[index++] = *src;
+        }
+        public void Wint(int value)
+        {
+            src = (byte*)&value;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src;
+        }
+        public void Wuint(uint value)
+        {
+            src = (byte*)&value;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src;
+        }
+        public void Wlong(long value)
+        {
+            src = (byte*)&value;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src;
+        }
+        public void Wulong(ulong value)
+        {
+            src = (byte*)&value;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src;
+        }
+
+        public void Wfloat(float value)
+        {
+            src = (byte*)&value;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src;
+        }
+
+        public void Wdouble(double value)
+        {
+            src = (byte*)&value;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src;
+        }
+
+        public void Wvector3(Vector3 value)
+        {
+            src = (byte*)&value.X;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src;
+            src = (byte*)&value.Y; // it may have padding ??
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src;
+            src = (byte*)&value.Z;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src;
+        }
+        public void Wquat(Quaternion value)
+        {
+            src = (byte*)&value.X;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src;
+            src = (byte*)&value.Y; // it may have padding ??
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src;
+            src = (byte*)&value.Z;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src;
+            src = (byte*)&value.W;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src++;
+            buf[index++] = *src;
+        }
+    }
+
+    unsafe public class rstreamer
+    {
+        private byte[] rbuf;
+        private int ptr;
+        private byte* dst;
+
+        public rstreamer(byte[] data)
+        {
+            rbuf = data;
+            ptr = 0;
+        }
+
+        public void close()
+        {
+        }
+
+        public void Seek(int pos)
+        {
+            ptr = pos;
+        }
+
+        public void Seekrel(int pos)
+        {
+            ptr += pos;
+        }
+
+        public byte Rbyte()
+        {
+            return (byte)rbuf[ptr++];
+        }
+
+        public short Rshort()
+        {
+            short v;
+            dst = (byte*)&v;
+            *dst++ = rbuf[ptr++];
+            *dst = rbuf[ptr++];
+            return v;
+        }
+        public ushort Rushort()
+        {
+            ushort v;
+            dst = (byte*)&v;
+            *dst++ = rbuf[ptr++];
+            *dst = rbuf[ptr++];
+            return v;
+        }
+        public int Rint()
+        {
+            int v;
+            dst = (byte*)&v;
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst = rbuf[ptr++];
+            return v;
+        }
+        public uint Ruint()
+        {
+            uint v;
+            dst = (byte*)&v;
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst = rbuf[ptr++];
+            return v;
+        }
+        public long Rlong()
+        {
+            long v;
+            dst = (byte*)&v;
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst = rbuf[ptr++];
+            return v;
+        }
+        public ulong Rulong()
+        {
+            ulong v;
+            dst = (byte*)&v;
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst = rbuf[ptr++];
+            return v;
+        }
+        public float Rfloat()
+        {
+            float v;
+            dst = (byte*)&v;
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst = rbuf[ptr++];
+            return v;
+        }
+
+        public double Rdouble()
+        {
+            double v;
+            dst = (byte*)&v;
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst = rbuf[ptr++];
+            return v;
+        }
+
+        public Vector3 Rvector3()
+        {
+            Vector3 v;
+            dst = (byte*)&v.X;
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst = rbuf[ptr++];
+
+            dst = (byte*)&v.Y;
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst = rbuf[ptr++];
+
+            dst = (byte*)&v.Z;
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst = rbuf[ptr++];
+            return v;
+        }
+
+        public Quaternion Rquat()
+        {
+            Quaternion v;
+            dst = (byte*)&v.X;
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst = rbuf[ptr++];
+
+            dst = (byte*)&v.Y;
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst = rbuf[ptr++];
+
+            dst = (byte*)&v.Z;
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst = rbuf[ptr++];
+
+            dst = (byte*)&v.W;
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst++ = rbuf[ptr++];
+            *dst = rbuf[ptr++];
+
+            return v;
+        }
+    }
+}
diff --git a/OpenSim/Region/Physics/ChOdePlugin/Tests/ODETestClass.cs b/OpenSim/Region/Physics/ChOdePlugin/Tests/ODETestClass.cs
new file mode 100644
index 0000000..69e2d03
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/Tests/ODETestClass.cs
@@ -0,0 +1,122 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using Nini.Config;
+using NUnit.Framework;
+using OpenMetaverse;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+using log4net;
+using System.Reflection;
+
+namespace OpenSim.Region.Physics.OdePlugin
+{
+    [TestFixture]
+    public class ODETestClass
+    {
+        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+
+        private OdePlugin cbt;
+        private PhysicsScene ps;
+        private IMeshingPlugin imp;
+
+        [SetUp]
+        public void Initialize()
+        {
+            // Loading ODEPlugin
+            cbt = new OdePlugin();
+            // Loading Zero Mesher
+            imp = new ZeroMesherPlugin();
+            // Getting Physics Scene
+            ps = cbt.GetScene("test");
+            // Initializing Physics Scene.
+            ps.Initialise(imp.GetMesher(),null);
+            float[] _heightmap = new float[(int)Constants.RegionSize * (int)Constants.RegionSize];
+            for (int i = 0; i < ((int)Constants.RegionSize * (int)Constants.RegionSize); i++)
+            {
+                _heightmap[i] = 21f;
+            }
+            ps.SetTerrain(_heightmap);
+        }
+
+        [TearDown]
+        public void Terminate()
+        {
+            ps.DeleteTerrain();
+            ps.Dispose();
+
+        }
+
+        [Test]
+        public void CreateAndDropPhysicalCube()
+        {
+            PrimitiveBaseShape newcube = PrimitiveBaseShape.CreateBox();
+            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;
+            OdeScene pscene = (OdeScene) ps;
+
+            Assert.That(oprim.m_taintadd);
+
+            prim.LocalID = 5;
+
+            for (int i = 0; i < 58; i++)
+            {
+                ps.Simulate(0.133f);
+
+                Assert.That(oprim.prim_geom != (IntPtr)0);
+
+                Assert.That(oprim.m_targetSpace != (IntPtr)0);
+
+                //Assert.That(oprim.m_targetSpace == pscene.space);
+                m_log.Info("TargetSpace: " + oprim.m_targetSpace + " - SceneMainSpace: " + pscene.space);
+
+                Assert.That(!oprim.m_taintadd);
+                m_log.Info("Prim Position (" + oprim.m_localID + "): " + prim.Position.ToString());
+
+                // Make sure we're above the ground
+                //Assert.That(prim.Position.Z > 20f);
+                //m_log.Info("PrimCollisionScore (" + oprim.m_localID + "): " + oprim.m_collisionscore);
+
+                // Make sure we've got a Body
+                Assert.That(oprim.Body != (IntPtr)0);
+                //m_log.Info(
+            }
+
+            // Make sure we're not somewhere above the ground
+            Assert.That(prim.Position.Z < 21.5f);
+
+            ps.RemovePrim(prim);
+            Assert.That(oprim.m_taintremove);
+            ps.Simulate(0.133f);
+            Assert.That(oprim.Body == (IntPtr)0);
+        }
+    }
+}
diff --git a/OpenSim/Region/Physics/ChOdePlugin/drawstuff.cs b/OpenSim/Region/Physics/ChOdePlugin/drawstuff.cs
new file mode 100644
index 0000000..87ca446
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/drawstuff.cs
@@ -0,0 +1,98 @@
+/*
+ * Copyright ODE
+ * Ode.NET - .NET bindings for ODE
+ *  Jason Perkins (starkos@industriousone.com)
+ *  Licensed under the New BSD
+ *  Part of the OpenDynamicsEngine
+Open Dynamics Engine
+Copyright (c) 2001-2007, Russell L. Smith.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+Redistributions of source code must retain the above copyright notice,
+this list of conditions and the following disclaimer.
+
+Redistributions in binary form must reproduce the above copyright notice,
+this list of conditions and the following disclaimer in the documentation
+and/or other materials provided with the distribution.
+
+Neither the names of ODE's copyright owner nor the names of its
+contributors may be used to endorse or promote products derived from
+this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ * 
+ * 
+ */
+
+using System;
+using System.Runtime.InteropServices;
+using Ode.NET;
+
+namespace Drawstuff.NET
+{
+#if dDOUBLE
+    using dReal = System.Double;
+#else
+    using dReal = System.Single;
+#endif
+
+    public static class ds
+    {
+        public const int VERSION = 2;
+
+        public enum Texture
+        {
+            None,
+            Wood
+        }
+
+        [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
+        public delegate void CallbackFunction(int arg);
+
+        [StructLayout(LayoutKind.Sequential)]
+        public struct Functions
+        {
+            public int version;
+            public CallbackFunction start;
+            public CallbackFunction step;
+            public CallbackFunction command;
+            public CallbackFunction stop;
+            public string path_to_textures;
+        }
+
+        [DllImport("drawstuff", EntryPoint = "dsDrawBox")]
+        public static extern void DrawBox(ref d.Vector3 pos, ref d.Matrix3 R, ref d.Vector3 sides);
+
+        [DllImport("drawstuff", EntryPoint = "dsDrawCapsule")]
+        public static extern void DrawCapsule(ref d.Vector3 pos, ref d.Matrix3 R, dReal length, dReal radius);
+
+        [DllImport("drawstuff", EntryPoint = "dsDrawConvex")]
+        public static extern void DrawConvex(ref d.Vector3 pos, ref d.Matrix3 R, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
+
+        [DllImport("drawstuff", EntryPoint = "dsSetColor")]
+        public static extern void SetColor(float red, float green, float blue);
+
+        [DllImport("drawstuff", EntryPoint = "dsSetTexture")]
+        public static extern void SetTexture(Texture texture);
+
+        [DllImport("drawstuff", EntryPoint = "dsSetViewpoint")]
+        public static extern void SetViewpoint(ref d.Vector3 xyz, ref d.Vector3 hpr);
+
+        [DllImport("drawstuff", EntryPoint = "dsSimulationLoop")]
+        public static extern void SimulationLoop(int argc, string[] argv, int window_width, int window_height, ref Functions fn);
+    }
+}
diff --git a/OpenSim/Region/Physics/Manager/IMesher.cs b/OpenSim/Region/Physics/Manager/IMesher.cs
index 3a9ca1b..c32cf38 100644
--- a/OpenSim/Region/Physics/Manager/IMesher.cs
+++ b/OpenSim/Region/Physics/Manager/IMesher.cs
@@ -36,6 +36,7 @@ namespace OpenSim.Region.Physics.Manager
     {
         IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod);
         IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical);
+        IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical,bool convex);
     }
 
     // Values for level of detail to be passed to the mesher.
@@ -65,5 +66,6 @@ namespace OpenSim.Region.Physics.Manager
         void releasePinned();
         void Append(IMesh newMesh);
         void TransformLinear(float[,] matrix, float[] offset);
+        Vector3 GetCentroid();
     }
 }
diff --git a/OpenSim/Region/Physics/Manager/PhysicsActor.cs b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
index 0587054..be67204 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsActor.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
@@ -68,6 +68,19 @@ namespace OpenSim.Region.Physics.Manager
         }
     }
 
+    public struct ContactData
+    {
+        public float mu;
+        public float bounce;
+        public bool softcolide;
+
+        public ContactData(float _mu, float _bounce, bool _softcolide)
+        {
+            mu = _mu;
+            bounce = _bounce;
+            softcolide = _softcolide;
+        }
+    }
     /// <summary>
     /// Used to pass collision information to OnCollisionUpdate listeners.
     /// </summary>
@@ -135,6 +148,8 @@ namespace OpenSim.Region.Physics.Manager
         /// </summary>
         public event CollisionUpdate OnCollisionUpdate;
 
+        public virtual void SetVehicle(object vdata) { }
+
         public event OutOfBounds OnOutOfBounds;
 #pragma warning restore 67
 
@@ -142,11 +157,23 @@ namespace OpenSim.Region.Physics.Manager
         {
             get { return new NullPhysicsActor(); }
         }
+   
+        public virtual bool Building { get; set; }
+
+        public virtual void getContactData(ref ContactData cdata)
+        {
+            cdata.mu = 0;
+            cdata.bounce = 0;
+        }
 
         public abstract bool Stopped { get; }
 
         public abstract Vector3 Size { get; set; }
 
+        public virtual bool Phantom { get; set; }
+
+        public virtual byte PhysicsShapeType { get; set; }
+
         public abstract PrimitiveBaseShape Shape { set; }
 
         uint m_baseLocalID;
@@ -195,6 +222,11 @@ namespace OpenSim.Region.Physics.Manager
             }
         }
 
+        public virtual byte[] Serialize(bool PhysIsRunning)
+        {
+            return new byte[0];
+        }
+
         public virtual void RaiseOutOfBounds(Vector3 pos)
         {
             // Make a temporary copy of the event to avoid possibility of
@@ -222,6 +254,11 @@ namespace OpenSim.Region.Physics.Manager
         {
         }
 
+        public virtual float Density { get; set; }
+        public virtual float GravModifier { get; set; }
+        public virtual float Friction { get; set; }
+        public virtual float Bounce { get; set; }
+
         /// <summary>
         /// Position of this actor.
         /// </summary>
@@ -554,5 +591,6 @@ namespace OpenSim.Region.Physics.Manager
         {
             return false;
         }
+
     }
 }
diff --git a/OpenSim/Region/Physics/Manager/PhysicsScene.cs b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
index 2a6163c..f2c0c28 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsScene.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
@@ -125,6 +125,25 @@ namespace OpenSim.Region.Physics.Manager
         public abstract PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
                                                   Vector3 size, Quaternion rotation, bool isPhysical, uint localid);
 
+        public virtual PhysicsActor AddPrimShape(string primName, PhysicsActor parent, PrimitiveBaseShape pbs, Vector3 position,
+                                                  uint localid, byte[] sdata)
+        {
+            return null;
+        }
+
+        public virtual PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                                  Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, uint localid)
+        {
+            return AddPrimShape(primName, pbs, position, size, rotation, isPhysical, localid);
+        }
+
+                           
+        public virtual PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                                  Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, byte shapetype, uint localid)
+        {
+            return AddPrimShape(primName, pbs, position, size, rotation, isPhysical, localid);
+        }
+
         public virtual float TimeDilation
         {
             get { return 1.0f; }
@@ -222,7 +241,7 @@ namespace OpenSim.Region.Physics.Manager
         }
 
         public virtual void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents) {}
-
+        public virtual void CombineTerrain(float[] heightMap, Vector3 pOffset) {}
         public virtual void UnCombine(PhysicsScene pScene) {}
 
         /// <summary>
@@ -260,5 +279,13 @@ namespace OpenSim.Region.Physics.Manager
         {
             return new List<ContactResult>();
         }
+
+        public virtual void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, RaycastCallback retMethod){}
+        public virtual void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod) { }
+        public virtual List<ContactResult> RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count)
+        {
+            return new List<ContactResult>();
+        }
+
     }
 }
diff --git a/OpenSim/Region/Physics/Manager/VehicleConstants.cs b/OpenSim/Region/Physics/Manager/VehicleConstants.cs
index f0775c1..8e24b4c 100644
--- a/OpenSim/Region/Physics/Manager/VehicleConstants.cs
+++ b/OpenSim/Region/Physics/Manager/VehicleConstants.cs
@@ -26,6 +26,7 @@
  */
 
 using System;
+using OpenMetaverse;
 
 namespace OpenSim.Region.Physics.Manager
 {
@@ -117,5 +118,47 @@ namespace OpenSim.Region.Physics.Manager
         NO_DEFLECTION = 16392,
         LOCK_ROTATION = 32784
     }
-        
+
+    public struct VehicleData
+    {
+        public Vehicle m_type;
+        public VehicleFlag m_flags;
+
+        // Linear properties
+        public Vector3 m_linearMotorDirection;
+        public Vector3 m_linearFrictionTimescale;
+        public float m_linearMotorDecayTimescale;
+        public float m_linearMotorTimescale;
+        public Vector3 m_linearMotorOffset;
+
+        //Angular properties
+        public Vector3 m_angularMotorDirection;
+        public float m_angularMotorTimescale;
+        public float m_angularMotorDecayTimescale;
+        public Vector3 m_angularFrictionTimescale;
+
+        //Deflection properties
+        public float m_angularDeflectionEfficiency;
+        public float m_angularDeflectionTimescale;
+        public float m_linearDeflectionEfficiency;
+        public float m_linearDeflectionTimescale;
+
+        //Banking properties
+        public float m_bankingEfficiency;
+        public float m_bankingMix;
+        public float m_bankingTimescale;
+
+        //Hover and Buoyancy properties
+        public float m_VhoverHeight;
+        public float m_VhoverEfficiency;
+        public float m_VhoverTimescale;
+        public float m_VehicleBuoyancy;
+
+        //Attractor properties
+        public float m_verticalAttractionEfficiency;
+        public float m_verticalAttractionTimescale;
+
+        // Axis
+        public Quaternion m_referenceFrame;
+    }
 }
diff --git a/OpenSim/Region/Physics/Manager/ZeroMesher.cs b/OpenSim/Region/Physics/Manager/ZeroMesher.cs
index ba19db6..8a3b50b 100644
--- a/OpenSim/Region/Physics/Manager/ZeroMesher.cs
+++ b/OpenSim/Region/Physics/Manager/ZeroMesher.cs
@@ -67,6 +67,11 @@ namespace OpenSim.Region.Physics.Manager
             return CreateMesh(primName, primShape, size, lod, false);
         }
 
+        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex)
+        {
+            return CreateMesh(primName, primShape, size, lod, false);
+        }
+
         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
diff --git a/OpenSim/Region/Physics/Meshing/Mesh.cs b/OpenSim/Region/Physics/Meshing/Mesh.cs
index f781ff9..c715642 100644
--- a/OpenSim/Region/Physics/Meshing/Mesh.cs
+++ b/OpenSim/Region/Physics/Meshing/Mesh.cs
@@ -46,11 +46,36 @@ namespace OpenSim.Region.Physics.Meshing
         IntPtr m_indicesPtr = IntPtr.Zero;
         int m_indexCount = 0;
         public float[] m_normals;
+        Vector3 _centroid;
+        int _centroidDiv;
+
+        private class vertexcomp : IEqualityComparer<Vertex>
+        {
+            public bool Equals(Vertex v1, Vertex v2)
+            {
+                if (v1.X == v2.X && v1.Y == v2.Y && v1.Z == v2.Z)
+                    return true;
+                else
+                    return false;
+            }
+            public int GetHashCode(Vertex v)
+            {
+                int a = v.X.GetHashCode();
+                int b = v.Y.GetHashCode();
+                int c = v.Z.GetHashCode();
+                return (a << 16) ^ (b << 8) ^ c;
+            }
+
+        }
 
         public Mesh()
         {
-            m_vertices = new Dictionary<Vertex, int>();
+            vertexcomp vcomp = new vertexcomp();
+
+            m_vertices = new Dictionary<Vertex, int>(vcomp);
             m_triangles = new List<Triangle>();
+            _centroid = Vector3.Zero;
+            _centroidDiv = 0;
         }
 
         public Mesh Clone()
@@ -61,7 +86,8 @@ namespace OpenSim.Region.Physics.Meshing
             {
                 result.Add(new Triangle(t.v1.Clone(), t.v2.Clone(), t.v3.Clone()));
             }
-
+            result._centroid = _centroid;
+            result._centroidDiv = _centroidDiv;
             return result;
         }
 
@@ -71,15 +97,57 @@ namespace OpenSim.Region.Physics.Meshing
                 throw new NotSupportedException("Attempt to Add to a pinned Mesh");
             // If a vertex of the triangle is not yet in the vertices list,
             // add it and set its index to the current index count
+            // vertex == seems broken
+            // skip colapsed triangles
+            if ((triangle.v1.X == triangle.v2.X && triangle.v1.Y == triangle.v2.Y && triangle.v1.Z == triangle.v2.Z)
+                || (triangle.v1.X == triangle.v3.X && triangle.v1.Y == triangle.v3.Y && triangle.v1.Z == triangle.v3.Z)
+                || (triangle.v2.X == triangle.v3.X && triangle.v2.Y == triangle.v3.Y && triangle.v2.Z == triangle.v3.Z)
+                )               
+            {               
+                return;
+            }
+
+            if (m_vertices.Count == 0)
+            {
+                _centroidDiv = 0;
+                _centroid = Vector3.Zero;
+            }
+
             if (!m_vertices.ContainsKey(triangle.v1))
+            {
                 m_vertices[triangle.v1] = m_vertices.Count;
+                _centroid.X += triangle.v1.X;
+                _centroid.Y += triangle.v1.Y;
+                _centroid.Z += triangle.v1.Z;
+                _centroidDiv++;
+            }
             if (!m_vertices.ContainsKey(triangle.v2))
+            {
                 m_vertices[triangle.v2] = m_vertices.Count;
+                _centroid.X += triangle.v2.X;
+                _centroid.Y += triangle.v2.Y;
+                _centroid.Z += triangle.v2.Z;
+                _centroidDiv++;
+            }
             if (!m_vertices.ContainsKey(triangle.v3))
+            {
                 m_vertices[triangle.v3] = m_vertices.Count;
+                _centroid.X += triangle.v3.X;
+                _centroid.Y += triangle.v3.Y;
+                _centroid.Z += triangle.v3.Z;
+                _centroidDiv++;
+            }
             m_triangles.Add(triangle);
         }
 
+        public Vector3 GetCentroid()
+        {
+            if (_centroidDiv > 0)
+                return new Vector3(_centroid.X / _centroidDiv, _centroid.Y / _centroidDiv, _centroid.Z / _centroidDiv);
+            else
+                return Vector3.Zero;
+        }
+
         public void CalcNormals()
         {
             int iTriangles = m_triangles.Count;
diff --git a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
index 3bd15ce..75fa1ef 100644
--- a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
+++ b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
@@ -74,6 +74,8 @@ namespace OpenSim.Region.Physics.Meshing
 #endif
 
         private bool cacheSculptMaps = true;
+        private bool cacheSculptAlphaMaps = true;
+
         private string decodedSculptMapPath = null;
         private bool useMeshiesPhysicsMesh = false;
 
@@ -87,7 +89,16 @@ namespace OpenSim.Region.Physics.Meshing
             IConfig mesh_config = config.Configs["Mesh"];
 
             decodedSculptMapPath = start_config.GetString("DecodedSculptMapPath","j2kDecodeCache");
+
             cacheSculptMaps = start_config.GetBoolean("CacheSculptMaps", cacheSculptMaps);
+
+            if (Environment.OSVersion.Platform == PlatformID.Unix)
+            {
+                cacheSculptAlphaMaps = false;
+            }
+            else
+                cacheSculptAlphaMaps = cacheSculptMaps;      
+
             if(mesh_config != null)
                 useMeshiesPhysicsMesh = mesh_config.GetBoolean("UseMeshiesPhysicsMesh", useMeshiesPhysicsMesh);
 
@@ -268,15 +279,18 @@ namespace OpenSim.Region.Physics.Meshing
                 {
                     if (!GenerateCoordsAndFacesFromPrimSculptData(primName, primShape, size, lod, out coords, out faces))
                         return null;
+                    // Remove the reference to any JPEG2000 sculpt data so it can be GCed
+                    // don't loose it
+                    //            primShape.SculptData = Utils.EmptyBytes;
                 }
+//                primShape.SculptDataLoaded = true;
             }
             else
             {
                 if (!GenerateCoordsAndFacesFromPrimShapeData(primName, primShape, size, lod, out coords, out faces))
                     return null;
             }
-
-            // Remove the reference to any JPEG2000 sculpt data so it can be GCed
+            // keep compatible
             primShape.SculptData = Utils.EmptyBytes;
 
             int numCoords = coords.Count;
@@ -482,7 +496,8 @@ namespace OpenSim.Region.Physics.Meshing
 
                     //idata = CSJ2K.J2kImage.FromBytes(primShape.SculptData);
 
-                    if (cacheSculptMaps)
+                    if (cacheSculptMaps && (cacheSculptAlphaMaps || (((ImageFlags)(idata.Flags) & ImageFlags.HasAlpha) ==0)))
+                        // don't cache images with alpha channel in linux since mono can't load them correctly)
                     {
                         try { idata.Save(decodedSculptFileName, ImageFormat.MemoryBmp); }
                         catch (Exception e) { m_log.Error("[SCULPT]: unable to cache sculpt map " + decodedSculptFileName + " " + e.Message); }
@@ -702,6 +717,11 @@ namespace OpenSim.Region.Physics.Meshing
             return CreateMesh(primName, primShape, size, lod, false);
         }
 
+        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex)
+        {
+            return CreateMesh(primName, primShape, size, lod, false);
+        }
+
         public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical)
         {
 #if SPAM
diff --git a/OpenSim/Region/Physics/Meshing/SculptMap.cs b/OpenSim/Region/Physics/Meshing/SculptMap.cs
index 740424e..b3d9cb6 100644
--- a/OpenSim/Region/Physics/Meshing/SculptMap.cs
+++ b/OpenSim/Region/Physics/Meshing/SculptMap.cs
@@ -58,28 +58,24 @@ namespace PrimMesher
             if (bmW == 0 || bmH == 0)
                 throw new Exception("SculptMap: bitmap has no data");
 
-            int numLodPixels = lod * 2 * lod * 2;  // (32 * 2)^2  = 64^2 pixels for default sculpt map image
+            int numLodPixels = lod * lod;  // (32 * 2)^2  = 64^2 pixels for default sculpt map image
 
+            bool smallMap = bmW * bmH <= numLodPixels;
             bool needsScaling = false;
 
-            bool smallMap = bmW * bmH <= lod * lod;
-
             width = bmW;
             height = bmH;
-            while (width * height > numLodPixels)
+            while (width * height > numLodPixels * 4)
             {
                 width >>= 1;
                 height >>= 1;
                 needsScaling = true;
             }
 
-
-
             try
             {
                 if (needsScaling)
-                    bm = ScaleImage(bm, width, height,
-                        System.Drawing.Drawing2D.InterpolationMode.NearestNeighbor);
+                    bm = ScaleImage(bm, width, height);
             }
 
             catch (Exception e)
@@ -87,7 +83,7 @@ namespace PrimMesher
                 throw new Exception("Exception in ScaleImage(): e: " + e.ToString());
             }
 
-            if (width * height > lod * lod)
+            if (width * height > numLodPixels)
             {
                 width >>= 1;
                 height >>= 1;
@@ -144,15 +140,17 @@ namespace PrimMesher
             int rowNdx, colNdx;
             int smNdx = 0;
 
+
             for (rowNdx = 0; rowNdx < numRows; rowNdx++)
             {
                 List<Coord> row = new List<Coord>(numCols);
                 for (colNdx = 0; colNdx < numCols; colNdx++)
                 {
+
                     if (mirror)
-                        row.Add(new Coord(-(redBytes[smNdx] * pixScale - 0.5f), (greenBytes[smNdx] * pixScale - 0.5f), blueBytes[smNdx] * pixScale - 0.5f));
+                        row.Add(new Coord(-((float)redBytes[smNdx] * pixScale - 0.5f), ((float)greenBytes[smNdx] * pixScale - 0.5f), (float)blueBytes[smNdx] * pixScale - 0.5f));
                     else
-                        row.Add(new Coord(redBytes[smNdx] * pixScale - 0.5f, greenBytes[smNdx] * pixScale - 0.5f, blueBytes[smNdx] * pixScale - 0.5f));
+                        row.Add(new Coord((float)redBytes[smNdx] * pixScale - 0.5f, (float)greenBytes[smNdx] * pixScale - 0.5f, (float)blueBytes[smNdx] * pixScale - 0.5f));
 
                     ++smNdx;
                 }
@@ -161,23 +159,39 @@ namespace PrimMesher
             return rows;
         }
 
-        private Bitmap ScaleImage(Bitmap srcImage, int destWidth, int destHeight,
-                System.Drawing.Drawing2D.InterpolationMode interpMode)
+        private Bitmap ScaleImage(Bitmap srcImage, int destWidth, int destHeight)
         {
-            Bitmap scaledImage = new Bitmap(srcImage, destWidth, destHeight);
-            scaledImage.SetResolution(96.0f, 96.0f);
-
-            Graphics grPhoto = Graphics.FromImage(scaledImage);
-            grPhoto.InterpolationMode = interpMode;
 
-            grPhoto.DrawImage(srcImage,
-                new Rectangle(0, 0, destWidth, destHeight),
-                new Rectangle(0, 0, srcImage.Width, srcImage.Height),
-                GraphicsUnit.Pixel);
+            Bitmap scaledImage = new Bitmap(destWidth, destHeight, PixelFormat.Format24bppRgb);
+            
+            Color c;
+            float xscale = srcImage.Width / destWidth;
+            float yscale = srcImage.Height / destHeight;
+            
+            float sy = 0.5f;
+            for (int y = 0; y < destHeight; y++)
+            {
+                float sx = 0.5f;
+                for (int x = 0; x < destWidth; x++)
+                {
+                    try
+                    {
+                        c = srcImage.GetPixel((int)(sx), (int)(sy));
+                        scaledImage.SetPixel(x, y, Color.FromArgb(c.R, c.G, c.B));
+                    }
+                    catch (IndexOutOfRangeException)
+                    {
+                    }
 
-            grPhoto.Dispose();
+                    sx += xscale;
+                }
+                sy += yscale;
+            }
+            srcImage.Dispose();
             return scaledImage;
         }
+
+    }        
+    
     }
-}
 #endif
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
index 1f79cd8..6f37347 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
@@ -595,8 +595,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                                     break;
 
                                 case HollowShape.Circle:
-                                    // Hollow shape is a perfect cyllinder in respect to the cube's scale
-                                    // Cyllinder hollow volume calculation
+                                    // Hollow shape is a perfect cylinder in respect to the cube's scale
+                                    // Cylinder hollow volume calculation
 
                                     hollowVolume *= 0.1963495f * 3.07920140172638f;
                                     break;
@@ -2845,7 +2845,7 @@ Console.WriteLine(" JointCreateFixed");
         }
         public override bool PIDActive { set { m_usePID = value; } }
         public override float PIDTau { set { m_PIDTau = value; } }
-
+        
         public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } }
         public override bool PIDHoverActive { set { m_useHoverPID = value; } }
         public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } }
diff --git a/OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs b/OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs
index 8d7d3b3..7e3ec63 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs
@@ -137,8 +137,15 @@ namespace OpenSim.Region.Physics.OdePlugin
                     ODERayCastRequest[] reqs = m_PendingRequests.ToArray();
                     for (int i = 0; i < reqs.Length; i++)
                     {
-                        if (reqs[i].callbackMethod != null) // quick optimization here, don't raycast 
-                            RayCast(reqs[i]);               // if there isn't anyone to send results
+                        try
+                        {
+                            if (reqs[i].callbackMethod != null) // quick optimization here, don't raycast 
+                                RayCast(reqs[i]);               // if there isn't anyone to send results
+                        }
+                        catch
+                        {
+                            //Fail silently
+                        }
                     }
 
                     m_PendingRequests.Clear();
diff --git a/OpenSim/Region/Physics/POSPlugin/POSPrim.cs b/OpenSim/Region/Physics/POSPlugin/POSPrim.cs
index e4fd7eb..2ea8bfc 100644
--- a/OpenSim/Region/Physics/POSPlugin/POSPrim.cs
+++ b/OpenSim/Region/Physics/POSPlugin/POSPrim.cs
@@ -297,7 +297,7 @@ namespace OpenSim.Region.Physics.POSPlugin
         {
             set { return; }
         }
-        
+
         public override Quaternion APIDTarget
         {
             set { return; }
diff --git a/OpenSim/Region/Physics/UbitMeshing/HelperTypes.cs b/OpenSim/Region/Physics/UbitMeshing/HelperTypes.cs
new file mode 100644
index 0000000..2938257
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitMeshing/HelperTypes.cs
@@ -0,0 +1,340 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.Globalization;
+using OpenMetaverse;
+using OpenSim.Region.Physics.Manager;
+using OpenSim.Region.Physics.Meshing;
+
+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)
+    {
+        vector.X = x;
+        vector.Y = y;
+        vector.Z = z;
+    }
+
+    public Vertex normalize()
+    {
+        float tlength = vector.Length();
+        if (tlength != 0f)
+        {
+            float mul = 1.0f / tlength;
+            return new Vertex(vector.X * mul, vector.Y * mul, vector.Z * mul);
+        }
+        else
+        {
+            return new Vertex(0f, 0f, 0f);
+        }
+    }
+
+    public Vertex cross(Vertex v)
+    {
+        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
+    // operators hiding base operator but should not according to C#
+    // language spec
+#pragma warning disable 0108
+    public static Vertex operator *(Vertex v, Quaternion q)
+    {
+        // From http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/transforms/
+
+        Vertex v2 = new Vertex(0f, 0f, 0f);
+
+        v2.X =   q.W * q.W * v.X +
+            2f * q.Y * q.W * v.Z -
+            2f * q.Z * q.W * v.Y +
+                 q.X * q.X * v.X +
+            2f * q.Y * q.X * v.Y +
+            2f * q.Z * q.X * v.Z -
+                 q.Z * q.Z * v.X -
+                 q.Y * q.Y * v.X;
+
+        v2.Y =
+            2f * q.X * q.Y * v.X +
+                 q.Y * q.Y * v.Y +
+            2f * q.Z * q.Y * v.Z +
+            2f * q.W * q.Z * v.X -
+                 q.Z * q.Z * v.Y +
+                 q.W * q.W * v.Y -
+            2f * q.X * q.W * v.Z -
+                 q.X * q.X * v.Y;
+
+        v2.Z =
+            2f * q.X * q.Z * v.X +
+            2f * q.Y * q.Z * v.Y +
+                 q.Z * q.Z * v.Z -
+            2f * q.W * q.Y * v.X -
+                 q.Y * q.Y * v.Z +
+            2f * q.W * q.X * v.Y -
+                 q.X * q.X * v.Z +
+                 q.W * q.W * v.Z;
+
+        return v2;
+    }
+
+    public static Vertex operator +(Vertex v1, Vertex v2)
+    {
+        return new Vertex(v1.X + v2.X, v1.Y + v2.Y, v1.Z + v2.Z);
+    }
+
+    public static Vertex operator -(Vertex v1, Vertex v2)
+    {
+        return new Vertex(v1.X - v2.X, v1.Y - v2.Y, v1.Z - v2.Z);
+    }
+
+    public static Vertex operator *(Vertex v1, Vertex v2)
+    {
+        return new Vertex(v1.X * v2.X, v1.Y * v2.Y, v1.Z * v2.Z);
+    }
+
+    public static Vertex operator +(Vertex v1, float am)
+    {
+        v1.X += am;
+        v1.Y += am;
+        v1.Z += am;
+        return v1;
+    }
+
+    public static Vertex operator -(Vertex v1, float am)
+    {
+        v1.X -= am;
+        v1.Y -= am;
+        v1.Z -= am;
+        return v1;
+    }
+
+    public static Vertex operator *(Vertex v1, float am)
+    {
+        v1.X *= am;
+        v1.Y *= am;
+        v1.Z *= am;
+        return v1;
+    }
+
+    public static Vertex operator /(Vertex v1, float am)
+    {
+        if (am == 0f)
+        {
+            return new Vertex(0f,0f,0f);
+        }
+        float mul = 1.0f / am;
+        v1.X *= mul;
+        v1.Y *= mul;
+        v1.Z *= mul;
+        return v1;
+    }
+#pragma warning restore 0108
+
+
+    public float dot(Vertex v)
+    {
+        return X * v.X + Y * v.Y + Z * v.Z;
+    }
+
+    public Vertex(Vector3 v)
+    {
+        vector = v;
+    }
+
+    public Vertex Clone()
+    {
+        return new Vertex(X, Y, Z);
+    }
+
+    public static Vertex FromAngle(double angle)
+    {
+        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)
+    {
+        Vertex diff = this - v;
+        float d = diff.Length();
+        if (d < tolerance)
+            return true;
+
+        return false;
+    }
+
+
+    public int CompareTo(Vertex other)
+    {
+        if (X < other.X)
+            return -1;
+
+        if (X > other.X)
+            return 1;
+
+        if (Y < other.Y)
+            return -1;
+
+        if (Y > other.Y)
+            return 1;
+
+        if (Z < other.Z)
+            return -1;
+
+        if (Z > other.Z)
+            return 1;
+
+        return 0;
+    }
+
+    public static bool operator >(Vertex me, Vertex other)
+    {
+        return me.CompareTo(other) > 0;
+    }
+
+    public static bool operator <(Vertex me, Vertex other)
+    {
+        return me.CompareTo(other) < 0;
+    }
+
+    public String ToRaw()
+    {
+        // Why this stuff with the number formatter?
+        // Well, the raw format uses the english/US notation of numbers
+        // where the "," separates groups of 1000 while the "." marks the border between 1 and 10E-1.
+        // The german notation uses these characters exactly vice versa!
+        // The Float.ToString() routine is a localized one, giving different results depending on the country
+        // settings your machine works with. Unusable for a machine readable file format :-(
+        NumberFormatInfo nfi = new NumberFormatInfo();
+        nfi.NumberDecimalSeparator = ".";
+        nfi.NumberDecimalDigits = 3;
+
+        String s1 = X.ToString("N2", nfi) + " " + Y.ToString("N2", nfi) + " " + Z.ToString("N2", nfi);
+
+        return s1;
+    }
+}
+
+public class Triangle
+{
+    public Vertex v1;
+    public Vertex v2;
+    public Vertex v3;
+
+    public Triangle(Vertex _v1, Vertex _v2, Vertex _v3)
+    {
+        v1 = _v1;
+        v2 = _v2;
+        v3 = _v3;
+    }
+
+    public Triangle(float _v1x,float _v1y,float _v1z,
+                    float _v2x,float _v2y,float _v2z,
+                    float _v3x,float _v3y,float _v3z)
+    {
+        v1 = new Vertex(_v1x, _v1y, _v1z);
+        v2 = new Vertex(_v2x, _v2y, _v2z);
+        v3 = new Vertex(_v3x, _v3y, _v3z);
+    }
+
+    public override String ToString()
+    {
+        NumberFormatInfo nfi = new NumberFormatInfo();
+        nfi.CurrencyDecimalDigits = 2;
+        nfi.CurrencyDecimalSeparator = ".";
+
+        String s1 = "<" + v1.X.ToString(nfi) + "," + v1.Y.ToString(nfi) + "," + v1.Z.ToString(nfi) + ">";
+        String s2 = "<" + v2.X.ToString(nfi) + "," + v2.Y.ToString(nfi) + "," + v2.Z.ToString(nfi) + ">";
+        String s3 = "<" + v3.X.ToString(nfi) + "," + v3.Y.ToString(nfi) + "," + v3.Z.ToString(nfi) + ">";
+
+        return s1 + ";" + s2 + ";" + s3;
+    }
+
+    public Vector3 getNormal()
+    {
+        // Vertices
+
+        // Vectors for edges
+        Vector3 e1;
+        Vector3 e2;
+
+        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
+        Vector3 n = Vector3.Cross(e1, e2);
+
+        // Length
+        float l = n.Length();
+
+        // Normalized "normal"
+        n = n/l;
+
+        return n;
+    }
+
+    public void invertNormal()
+    {
+        Vertex vt;
+        vt = v1;
+        v1 = v2;
+        v2 = vt;
+    }
+
+    // Dumps a triangle in the "raw faces" format, blender can import. This is for visualisation and
+    // debugging purposes
+    public String ToStringRaw()
+    {
+        String output = v1.ToRaw() + " " + v2.ToRaw() + " " + v3.ToRaw();
+        return output;
+    }
+}
diff --git a/OpenSim/Region/Physics/UbitMeshing/Mesh.cs b/OpenSim/Region/Physics/UbitMeshing/Mesh.cs
new file mode 100644
index 0000000..c715642
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitMeshing/Mesh.cs
@@ -0,0 +1,401 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.IO;
+using System.Runtime.InteropServices;
+using OpenSim.Region.Physics.Manager;
+using PrimMesher;
+using OpenMetaverse;
+
+namespace OpenSim.Region.Physics.Meshing
+{
+    public class Mesh : IMesh
+    {
+        private Dictionary<Vertex, int> m_vertices;
+        private List<Triangle> m_triangles;
+        GCHandle m_pinnedVertexes;
+        GCHandle m_pinnedIndex;
+        IntPtr m_verticesPtr = IntPtr.Zero;
+        int m_vertexCount = 0;
+        IntPtr m_indicesPtr = IntPtr.Zero;
+        int m_indexCount = 0;
+        public float[] m_normals;
+        Vector3 _centroid;
+        int _centroidDiv;
+
+        private class vertexcomp : IEqualityComparer<Vertex>
+        {
+            public bool Equals(Vertex v1, Vertex v2)
+            {
+                if (v1.X == v2.X && v1.Y == v2.Y && v1.Z == v2.Z)
+                    return true;
+                else
+                    return false;
+            }
+            public int GetHashCode(Vertex v)
+            {
+                int a = v.X.GetHashCode();
+                int b = v.Y.GetHashCode();
+                int c = v.Z.GetHashCode();
+                return (a << 16) ^ (b << 8) ^ c;
+            }
+
+        }
+
+        public Mesh()
+        {
+            vertexcomp vcomp = new vertexcomp();
+
+            m_vertices = new Dictionary<Vertex, int>(vcomp);
+            m_triangles = new List<Triangle>();
+            _centroid = Vector3.Zero;
+            _centroidDiv = 0;
+        }
+
+        public Mesh Clone()
+        {
+            Mesh result = new Mesh();
+
+            foreach (Triangle t in m_triangles)
+            {
+                result.Add(new Triangle(t.v1.Clone(), t.v2.Clone(), t.v3.Clone()));
+            }
+            result._centroid = _centroid;
+            result._centroidDiv = _centroidDiv;
+            return result;
+        }
+
+        public void Add(Triangle triangle)
+        {
+            if (m_pinnedIndex.IsAllocated || m_pinnedVertexes.IsAllocated || m_indicesPtr != IntPtr.Zero || m_verticesPtr != IntPtr.Zero)
+                throw new NotSupportedException("Attempt to Add to a pinned Mesh");
+            // If a vertex of the triangle is not yet in the vertices list,
+            // add it and set its index to the current index count
+            // vertex == seems broken
+            // skip colapsed triangles
+            if ((triangle.v1.X == triangle.v2.X && triangle.v1.Y == triangle.v2.Y && triangle.v1.Z == triangle.v2.Z)
+                || (triangle.v1.X == triangle.v3.X && triangle.v1.Y == triangle.v3.Y && triangle.v1.Z == triangle.v3.Z)
+                || (triangle.v2.X == triangle.v3.X && triangle.v2.Y == triangle.v3.Y && triangle.v2.Z == triangle.v3.Z)
+                )               
+            {               
+                return;
+            }
+
+            if (m_vertices.Count == 0)
+            {
+                _centroidDiv = 0;
+                _centroid = Vector3.Zero;
+            }
+
+            if (!m_vertices.ContainsKey(triangle.v1))
+            {
+                m_vertices[triangle.v1] = m_vertices.Count;
+                _centroid.X += triangle.v1.X;
+                _centroid.Y += triangle.v1.Y;
+                _centroid.Z += triangle.v1.Z;
+                _centroidDiv++;
+            }
+            if (!m_vertices.ContainsKey(triangle.v2))
+            {
+                m_vertices[triangle.v2] = m_vertices.Count;
+                _centroid.X += triangle.v2.X;
+                _centroid.Y += triangle.v2.Y;
+                _centroid.Z += triangle.v2.Z;
+                _centroidDiv++;
+            }
+            if (!m_vertices.ContainsKey(triangle.v3))
+            {
+                m_vertices[triangle.v3] = m_vertices.Count;
+                _centroid.X += triangle.v3.X;
+                _centroid.Y += triangle.v3.Y;
+                _centroid.Z += triangle.v3.Z;
+                _centroidDiv++;
+            }
+            m_triangles.Add(triangle);
+        }
+
+        public Vector3 GetCentroid()
+        {
+            if (_centroidDiv > 0)
+                return new Vector3(_centroid.X / _centroidDiv, _centroid.Y / _centroidDiv, _centroid.Z / _centroidDiv);
+            else
+                return Vector3.Zero;
+        }
+
+        public void CalcNormals()
+        {
+            int iTriangles = m_triangles.Count;
+
+            this.m_normals = new float[iTriangles * 3];
+
+            int i = 0;
+            foreach (Triangle t in m_triangles)
+            {
+                float ux, uy, uz;
+                float vx, vy, vz;
+                float wx, wy, wz;
+
+                ux = t.v1.X;
+                uy = t.v1.Y;
+                uz = t.v1.Z;
+
+                vx = t.v2.X;
+                vy = t.v2.Y;
+                vz = t.v2.Z;
+
+                wx = t.v3.X;
+                wy = t.v3.Y;
+                wz = t.v3.Z;
+
+
+                // Vectors for edges
+                float e1x, e1y, e1z;
+                float e2x, e2y, e2z;
+
+                e1x = ux - vx;
+                e1y = uy - vy;
+                e1z = uz - vz;
+
+                e2x = ux - wx;
+                e2y = uy - wy;
+                e2z = uz - wz;
+
+
+                // Cross product for normal
+                float nx, ny, nz;
+                nx = e1y * e2z - e1z * e2y;
+                ny = e1z * e2x - e1x * e2z;
+                nz = e1x * e2y - e1y * e2x;
+
+                // Length
+                float l = (float)Math.Sqrt(nx * nx + ny * ny + nz * nz);
+                float lReciprocal = 1.0f / l;
+
+                // Normalized "normal"
+                //nx /= l;
+                //ny /= l;
+                //nz /= l;
+
+                m_normals[i] = nx * lReciprocal;
+                m_normals[i + 1] = ny * lReciprocal;
+                m_normals[i + 2] = nz * lReciprocal;
+
+                i += 3;
+            }
+        }
+
+        public List<Vector3> getVertexList()
+        {
+            List<Vector3> result = new List<Vector3>();
+            foreach (Vertex v in m_vertices.Keys)
+            {
+                result.Add(new Vector3(v.X, v.Y, v.Z));
+            }
+            return result;
+        }
+
+        private float[] getVertexListAsFloat()
+        {
+            if (m_vertices == null)
+                throw new NotSupportedException();
+            float[] result = new float[m_vertices.Count * 3];
+            foreach (KeyValuePair<Vertex, int> kvp in m_vertices)
+            {
+                Vertex v = kvp.Key;
+                int i = kvp.Value;
+                result[3 * i + 0] = v.X;
+                result[3 * i + 1] = v.Y;
+                result[3 * i + 2] = v.Z;
+            }
+            return result;
+        }
+
+        public float[] getVertexListAsFloatLocked()
+        {
+            if (m_pinnedVertexes.IsAllocated)
+                return (float[])(m_pinnedVertexes.Target);
+
+            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;
+        }
+
+        public void getVertexListAsPtrToFloatArray(out IntPtr vertices, out int vertexStride, out int vertexCount)
+        {
+            // A vertex is 3 floats
+            vertexStride = 3 * sizeof(float);
+
+            // If there isn't an unmanaged array allocated yet, do it now
+            if (m_verticesPtr == IntPtr.Zero)
+            {
+                float[] vertexList = getVertexListAsFloat();
+                // Each vertex is 3 elements (floats)
+                m_vertexCount = vertexList.Length / 3;
+                int byteCount = m_vertexCount * vertexStride;
+                m_verticesPtr = System.Runtime.InteropServices.Marshal.AllocHGlobal(byteCount);
+                System.Runtime.InteropServices.Marshal.Copy(vertexList, 0, m_verticesPtr, m_vertexCount * 3);
+            }
+            vertices = m_verticesPtr;
+            vertexCount = m_vertexCount;
+        }
+
+        public int[] getIndexListAsInt()
+        {
+            if (m_triangles == null)
+                throw new NotSupportedException();
+            int[] result = new int[m_triangles.Count * 3];
+            for (int i = 0; i < m_triangles.Count; i++)
+            {
+                Triangle t = m_triangles[i];
+                result[3 * i + 0] = m_vertices[t.v1];
+                result[3 * i + 1] = m_vertices[t.v2];
+                result[3 * i + 2] = m_vertices[t.v3];
+            }
+            return result;
+        }
+
+        /// <summary>
+        /// creates a list of index values that defines triangle faces. THIS METHOD FREES ALL NON-PINNED MESH DATA
+        /// </summary>
+        /// <returns></returns>
+        public int[] getIndexListAsIntLocked()
+        {
+            if (m_pinnedIndex.IsAllocated)
+                return (int[])(m_pinnedIndex.Target);
+        
+            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;
+        }
+
+        public void getIndexListAsPtrToIntArray(out IntPtr indices, out int triStride, out int indexCount)
+        {
+            // If there isn't an unmanaged array allocated yet, do it now
+            if (m_indicesPtr == IntPtr.Zero)
+            {
+                int[] indexList = getIndexListAsInt();
+                m_indexCount = indexList.Length;
+                int byteCount = m_indexCount * sizeof(int);
+                m_indicesPtr = System.Runtime.InteropServices.Marshal.AllocHGlobal(byteCount);
+                System.Runtime.InteropServices.Marshal.Copy(indexList, 0, m_indicesPtr, m_indexCount);
+            }
+            // A triangle is 3 ints (indices)
+            triStride = 3 * sizeof(int);
+            indices = m_indicesPtr;
+            indexCount = m_indexCount;
+        }
+
+        public void releasePinned()
+        {
+            if (m_pinnedVertexes.IsAllocated)
+                m_pinnedVertexes.Free();
+            if (m_pinnedIndex.IsAllocated)
+                m_pinnedIndex.Free();
+            if (m_verticesPtr != IntPtr.Zero)
+            {
+                System.Runtime.InteropServices.Marshal.FreeHGlobal(m_verticesPtr);
+                m_verticesPtr = IntPtr.Zero;
+            }
+            if (m_indicesPtr != IntPtr.Zero)
+            {
+                System.Runtime.InteropServices.Marshal.FreeHGlobal(m_indicesPtr);
+                m_indicesPtr = IntPtr.Zero;
+            }
+        }
+
+        /// <summary>
+        /// frees up the source mesh data to minimize memory - call this method after calling get*Locked() functions
+        /// </summary>
+        public void releaseSourceMeshData()
+        {
+            m_triangles = null;
+            m_vertices = null;
+        }
+
+        public void Append(IMesh newMesh)
+        {
+            if (m_pinnedIndex.IsAllocated || m_pinnedVertexes.IsAllocated || m_indicesPtr != IntPtr.Zero || m_verticesPtr != IntPtr.Zero)
+                throw new NotSupportedException("Attempt to Append to a pinned Mesh");
+        
+            if (!(newMesh is Mesh))
+                return;
+
+            foreach (Triangle t in ((Mesh)newMesh).m_triangles)
+                Add(t);
+        }
+
+        // Do a linear transformation of  mesh.
+        public void TransformLinear(float[,] matrix, float[] offset)
+        {
+            if (m_pinnedIndex.IsAllocated || m_pinnedVertexes.IsAllocated || m_indicesPtr != IntPtr.Zero || m_verticesPtr != IntPtr.Zero)
+                throw new NotSupportedException("Attempt to TransformLinear a pinned Mesh");
+        
+            foreach (Vertex v in m_vertices.Keys)
+            {
+                if (v == null)
+                    continue;
+                float x, y, z;
+                x = v.X*matrix[0, 0] + v.Y*matrix[1, 0] + v.Z*matrix[2, 0];
+                y = v.X*matrix[0, 1] + v.Y*matrix[1, 1] + v.Z*matrix[2, 1];
+                z = v.X*matrix[0, 2] + v.Y*matrix[1, 2] + v.Z*matrix[2, 2];
+                v.X = x + offset[0];
+                v.Y = y + offset[1];
+                v.Z = z + offset[2];
+            }
+        }
+
+        public void DumpRaw(String path, String name, String title)
+        {
+            if (path == null)
+                return;
+            String fileName = name + "_" + title + ".raw";
+            String completePath = System.IO.Path.Combine(path, fileName);
+            StreamWriter sw = new StreamWriter(completePath);
+            foreach (Triangle t in m_triangles)
+            {
+                String s = t.ToStringRaw();
+                sw.WriteLine(s);
+            }
+            sw.Close();
+        }
+
+        public void TrimExcess()
+        {
+            m_triangles.TrimExcess();
+        }
+    }
+}
diff --git a/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs b/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs
new file mode 100644
index 0000000..8e903e8
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs
@@ -0,0 +1,1026 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+//#define SPAM
+
+using System;
+using System.Collections.Generic;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+using OpenMetaverse;
+using OpenMetaverse.StructuredData;
+using System.Drawing;
+using System.Drawing.Imaging;
+using System.IO.Compression;
+using PrimMesher;
+using log4net;
+using Nini.Config;
+using System.Reflection;
+using System.IO;
+using ComponentAce.Compression.Libs.zlib;
+using OpenSim.Region.Physics.ConvexDecompositionDotNet;
+
+namespace OpenSim.Region.Physics.Meshing
+{
+    public class MeshmerizerPlugin : IMeshingPlugin
+    {
+        public MeshmerizerPlugin()
+        {
+        }
+
+        public string GetName()
+        {
+            return "UbitMeshmerizer";
+        }
+
+        public IMesher GetMesher(IConfigSource config)
+        {
+            return new Meshmerizer(config);
+        }
+    }
+
+    public class Meshmerizer : IMesher
+    {
+        private static readonly ILog m_log = LogManager.GetLogger(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
+#if SPAM
+        const string baseDir = "rawFiles";
+#else
+        private const string baseDir = null; //"rawFiles";
+#endif
+
+        private bool cacheSculptMaps = true;
+        private bool cacheSculptAlphaMaps = true;
+
+        private string decodedSculptMapPath = null;
+        private bool useMeshiesPhysicsMesh = false;
+
+        private float minSizeForComplexMesh = 0.2f; // prims with all dimensions smaller than this will have a bounding box mesh
+
+        private Dictionary<ulong, Mesh> m_uniqueMeshes = new Dictionary<ulong, Mesh>();
+
+        public Meshmerizer(IConfigSource config)
+        {
+            IConfig start_config = config.Configs["Startup"];
+            IConfig mesh_config = config.Configs["Mesh"];
+
+            decodedSculptMapPath = start_config.GetString("DecodedSculptMapPath","j2kDecodeCache");
+
+            cacheSculptMaps = start_config.GetBoolean("CacheSculptMaps", cacheSculptMaps);
+
+            if (Environment.OSVersion.Platform == PlatformID.Unix)
+            {
+                cacheSculptAlphaMaps = false;
+            }
+            else
+                cacheSculptAlphaMaps = cacheSculptMaps;      
+
+            if(mesh_config != null)
+                useMeshiesPhysicsMesh = mesh_config.GetBoolean("UseMeshiesPhysicsMesh", useMeshiesPhysicsMesh);
+
+            try
+            {
+                if (!Directory.Exists(decodedSculptMapPath))
+                    Directory.CreateDirectory(decodedSculptMapPath);
+            }
+            catch (Exception e)
+            {
+                m_log.WarnFormat("[SCULPT]: Unable to create {0} directory: ", decodedSculptMapPath, e.Message);
+            }
+        }
+
+        /// <summary>
+        /// creates a simple box mesh of the specified size. This mesh is of very low vertex count and may
+        /// be useful as a backup proxy when level of detail is not needed or when more complex meshes fail
+        /// for some reason
+        /// </summary>
+        /// <param name="minX"></param>
+        /// <param name="maxX"></param>
+        /// <param name="minY"></param>
+        /// <param name="maxY"></param>
+        /// <param name="minZ"></param>
+        /// <param name="maxZ"></param>
+        /// <returns></returns>
+        private static Mesh CreateSimpleBoxMesh(float minX, float maxX, float minY, float maxY, float minZ, float maxZ)
+        {
+            Mesh box = new Mesh();
+            List<Vertex> vertices = new List<Vertex>();
+            // bottom
+
+            vertices.Add(new Vertex(minX, maxY, minZ));
+            vertices.Add(new Vertex(maxX, maxY, minZ));
+            vertices.Add(new Vertex(maxX, minY, minZ));
+            vertices.Add(new Vertex(minX, minY, minZ));
+
+            box.Add(new Triangle(vertices[0], vertices[1], vertices[2]));
+            box.Add(new Triangle(vertices[0], vertices[2], vertices[3]));
+
+            // top
+
+            vertices.Add(new Vertex(maxX, maxY, maxZ));
+            vertices.Add(new Vertex(minX, maxY, maxZ));
+            vertices.Add(new Vertex(minX, minY, maxZ));
+            vertices.Add(new Vertex(maxX, minY, maxZ));
+
+            box.Add(new Triangle(vertices[4], vertices[5], vertices[6]));
+            box.Add(new Triangle(vertices[4], vertices[6], vertices[7]));
+
+            // sides
+
+            box.Add(new Triangle(vertices[5], vertices[0], vertices[3]));
+            box.Add(new Triangle(vertices[5], vertices[3], vertices[6]));
+
+            box.Add(new Triangle(vertices[1], vertices[0], vertices[5]));
+            box.Add(new Triangle(vertices[1], vertices[5], vertices[4]));
+
+            box.Add(new Triangle(vertices[7], vertices[1], vertices[4]));
+            box.Add(new Triangle(vertices[7], vertices[2], vertices[1]));
+
+            box.Add(new Triangle(vertices[3], vertices[2], vertices[7]));
+            box.Add(new Triangle(vertices[3], vertices[7], vertices[6]));
+
+            return box;
+        }
+
+        /// <summary>
+        /// Creates a simple bounding box mesh for a complex input mesh
+        /// </summary>
+        /// <param name="meshIn"></param>
+        /// <returns></returns>
+        private static Mesh CreateBoundingBoxMesh(Mesh meshIn)
+        {
+            float minX = float.MaxValue;
+            float maxX = float.MinValue;
+            float minY = float.MaxValue;
+            float maxY = float.MinValue;
+            float minZ = float.MaxValue;
+            float maxZ = float.MinValue;
+
+            foreach (Vector3 v in meshIn.getVertexList())
+            {
+                if (v.X < minX) minX = v.X;
+                if (v.Y < minY) minY = v.Y;
+                if (v.Z < minZ) minZ = v.Z;
+
+                if (v.X > maxX) maxX = v.X;
+                if (v.Y > maxY) maxY = v.Y;
+                if (v.Z > maxZ) maxZ = v.Z;
+            }
+
+            return CreateSimpleBoxMesh(minX, maxX, minY, maxY, minZ, maxZ);
+        }
+
+        private void ReportPrimError(string message, string primName, PrimMesh primMesh)
+        {
+            m_log.Error(message);
+            m_log.Error("\nPrim Name: " + primName);
+            m_log.Error("****** PrimMesh Parameters ******\n" + primMesh.ParamsToDisplayString());
+        }
+
+        /// <summary>
+        /// Add a submesh to an existing list of coords and faces.
+        /// </summary>
+        /// <param name="subMeshData"></param>
+        /// <param name="size">Size of entire object</param>
+        /// <param name="coords"></param>
+        /// <param name="faces"></param>
+        private void AddSubMesh(OSDMap subMeshData, Vector3 size, List<Coord> coords, List<Face> faces)
+        {
+    //                                    Console.WriteLine("subMeshMap for {0} - {1}", primName, Util.GetFormattedXml((OSD)subMeshMap));
+    
+            // As per http://wiki.secondlife.com/wiki/Mesh/Mesh_Asset_Format, some Mesh Level
+            // of Detail Blocks (maps) contain just a NoGeometry key to signal there is no
+            // geometry for this submesh.
+            if (subMeshData.ContainsKey("NoGeometry") && ((OSDBoolean)subMeshData["NoGeometry"]))
+                return;
+
+            OpenMetaverse.Vector3 posMax;
+            OpenMetaverse.Vector3 posMin;
+            if (subMeshData.ContainsKey("PositionDomain"))
+            {
+                posMax = ((OSDMap)subMeshData["PositionDomain"])["Max"].AsVector3();
+                posMin = ((OSDMap)subMeshData["PositionDomain"])["Min"].AsVector3();
+            }
+            else
+            {
+                posMax = new Vector3(0.5f, 0.5f, 0.5f);
+                posMin = new Vector3(-0.5f, -0.5f, -0.5f);
+            }
+
+            ushort faceIndexOffset = (ushort)coords.Count;
+
+            byte[] posBytes = subMeshData["Position"].AsBinary();
+            for (int i = 0; i < posBytes.Length; i += 6)
+            {
+                ushort uX = Utils.BytesToUInt16(posBytes, i);
+                ushort uY = Utils.BytesToUInt16(posBytes, i + 2);
+                ushort uZ = Utils.BytesToUInt16(posBytes, i + 4);
+    
+                Coord c = new Coord(
+                Utils.UInt16ToFloat(uX, posMin.X, posMax.X) * size.X,
+                Utils.UInt16ToFloat(uY, posMin.Y, posMax.Y) * size.Y,
+                Utils.UInt16ToFloat(uZ, posMin.Z, posMax.Z) * size.Z);
+    
+                coords.Add(c);
+            }
+    
+            byte[] triangleBytes = subMeshData["TriangleList"].AsBinary();
+            for (int i = 0; i < triangleBytes.Length; i += 6)
+            {
+                ushort v1 = (ushort)(Utils.BytesToUInt16(triangleBytes, i) + faceIndexOffset);
+                ushort v2 = (ushort)(Utils.BytesToUInt16(triangleBytes, i + 2) + faceIndexOffset);
+                ushort v3 = (ushort)(Utils.BytesToUInt16(triangleBytes, i + 4) + faceIndexOffset);
+                Face f = new Face(v1, v2, v3);
+                faces.Add(f);
+            }
+        }
+
+        /// <summary>
+        /// Create a physics mesh from data that comes with the prim.  The actual data used depends on the prim type.
+        /// </summary>
+        /// <param name="primName"></param>
+        /// <param name="primShape"></param>
+        /// <param name="size"></param>
+        /// <param name="lod"></param>
+        /// <returns></returns>
+        private Mesh CreateMeshFromPrimMesher(string primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool convex)
+        {
+//            m_log.DebugFormat(
+//                "[MESH]: Creating physics proxy for {0}, shape {1}",
+//                primName, (OpenMetaverse.SculptType)primShape.SculptType);
+
+            List<Coord> coords;
+            List<Face> faces;
+
+            if (primShape.SculptEntry)
+            {
+                if (((OpenMetaverse.SculptType)primShape.SculptType) == SculptType.Mesh)
+                {
+                    if (!useMeshiesPhysicsMesh)
+                        return null;
+
+                    if (!GenerateCoordsAndFacesFromPrimMeshData(primName, primShape, size, out coords, out faces, convex))
+                        return null;
+                }
+                else
+                {
+                    if (!GenerateCoordsAndFacesFromPrimSculptData(primName, primShape, size, lod, out coords, out faces))
+                        return null;
+                }
+            }
+            else
+            {
+                if (!GenerateCoordsAndFacesFromPrimShapeData(primName, primShape, size, lod, out coords, out faces))
+                    return null;
+            }
+
+            primShape.SculptData = Utils.EmptyBytes;
+
+            int numCoords = coords.Count;
+            int numFaces = faces.Count;
+
+            Mesh mesh = new Mesh();
+            // Add the corresponding triangles to the mesh
+            for (int i = 0; i < numFaces; i++)
+            {
+                Face f = faces[i];
+                mesh.Add(new Triangle(coords[f.v1].X, coords[f.v1].Y, coords[f.v1].Z,
+                                        coords[f.v2].X, coords[f.v2].Y, coords[f.v2].Z,
+                                        coords[f.v3].X, coords[f.v3].Y, coords[f.v3].Z));
+            }
+
+            return mesh;
+        }
+
+        /// <summary>
+        /// Generate the co-ords and faces necessary to construct a mesh from the mesh data the accompanies a prim.
+        /// </summary>
+        /// <param name="primName"></param>
+        /// <param name="primShape"></param>
+        /// <param name="size"></param>
+        /// <param name="coords">Coords are added to this list by the method.</param>
+        /// <param name="faces">Faces are added to this list by the method.</param>
+        /// <returns>true if coords and faces were successfully generated, false if not</returns>
+        private bool GenerateCoordsAndFacesFromPrimMeshData(
+            string primName, PrimitiveBaseShape primShape, Vector3 size, out List<Coord> coords, out List<Face> faces, bool convex)
+        {
+//            m_log.DebugFormat("[MESH]: experimental mesh proxy generation for {0}", primName);
+
+            bool usemesh = false;
+
+            coords = new List<Coord>();
+            faces = new List<Face>();
+            OSD meshOsd = null;
+
+            if (primShape.SculptData.Length <= 0)
+            {
+                m_log.ErrorFormat("[MESH]: asset data for {0} is zero length", primName);
+                return false;
+            }
+
+            long start = 0;
+            using (MemoryStream data = new MemoryStream(primShape.SculptData))
+            {
+                try
+                {
+                    OSD osd = OSDParser.DeserializeLLSDBinary(data);
+                    if (osd is OSDMap)
+                        meshOsd = (OSDMap)osd;
+                    else
+                    {
+                        m_log.Warn("[Mesh}: unable to cast mesh asset to OSDMap");
+                        return false;
+                    }
+                }
+                catch (Exception e)
+                {
+                    m_log.Error("[MESH]: Exception deserializing mesh asset header:" + e.ToString());
+                }
+
+                start = data.Position;
+            }
+
+            if (meshOsd is OSDMap)
+            {
+                OSDMap physicsParms = null;
+                OSDMap map = (OSDMap)meshOsd;
+
+                if (!convex)
+                {
+                    if (map.ContainsKey("physics_shape"))
+                        physicsParms = (OSDMap)map["physics_shape"]; // old asset format
+                    else if (map.ContainsKey("physics_mesh"))
+                        physicsParms = (OSDMap)map["physics_mesh"]; // new asset format
+
+                    if (physicsParms != null)
+                        usemesh = true;
+                }
+                
+                if(!usemesh && (map.ContainsKey("physics_convex")))
+                        physicsParms = (OSDMap)map["physics_convex"];
+              
+
+                if (physicsParms == null)
+                {
+                    m_log.Warn("[MESH]: unknown mesh type");
+                    return false;
+                }
+
+                int physOffset = physicsParms["offset"].AsInteger() + (int)start;
+                int physSize = physicsParms["size"].AsInteger();
+
+                if (physOffset < 0 || physSize == 0)
+                    return false; // no mesh data in asset
+
+                OSD decodedMeshOsd = new OSD();
+                byte[] meshBytes = new byte[physSize];
+                System.Buffer.BlockCopy(primShape.SculptData, physOffset, meshBytes, 0, physSize);
+//                        byte[] decompressed = new byte[physSize * 5];
+                try
+                {
+                    using (MemoryStream inMs = new MemoryStream(meshBytes))
+                    {
+                        using (MemoryStream outMs = new MemoryStream())
+                        {
+                            using (ZOutputStream zOut = new ZOutputStream(outMs))
+                            {
+                                byte[] readBuffer = new byte[2048];
+                                int readLen = 0;
+                                while ((readLen = inMs.Read(readBuffer, 0, readBuffer.Length)) > 0)
+                                {
+                                    zOut.Write(readBuffer, 0, readLen);
+                                }
+                                zOut.Flush();
+                                outMs.Seek(0, SeekOrigin.Begin);
+
+                                byte[] decompressedBuf = outMs.GetBuffer();
+
+                                decodedMeshOsd = OSDParser.DeserializeLLSDBinary(decompressedBuf);
+                            }
+                        }
+                    }
+                }
+                catch (Exception e)
+                {
+                    m_log.Error("[MESH]: exception decoding physical mesh: " + e.ToString());
+                    return false;
+                }
+
+                if (usemesh)
+                {
+                    OSDArray decodedMeshOsdArray = null;
+
+                    // physics_shape is an array of OSDMaps, one for each submesh
+                    if (decodedMeshOsd is OSDArray)
+                    {
+                        //                            Console.WriteLine("decodedMeshOsd for {0} - {1}", primName, Util.GetFormattedXml(decodedMeshOsd));
+
+                        decodedMeshOsdArray = (OSDArray)decodedMeshOsd;
+                        foreach (OSD subMeshOsd in decodedMeshOsdArray)
+                        {
+                            if (subMeshOsd is OSDMap)
+                                AddSubMesh(subMeshOsd as OSDMap, size, coords, faces);
+                        }
+                    }
+                }
+                else
+                {
+                    OSDMap cmap = (OSDMap)decodedMeshOsd;
+                    if (cmap == null)
+                        return false;
+
+                    byte[] data;
+
+                    List<float3> vs = new List<float3>();
+                    PHullResult hullr = new PHullResult();
+                    float3 f3;
+                    Coord c;
+                    Face f;
+                    Vector3 range;
+                    Vector3 min;
+
+                    const float invMaxU16 = 1.0f / 65535f;
+                    int t1;
+                    int t2;
+                    int t3;
+                    int i;
+                    int nverts;
+                    int nindexs;
+
+                    if (cmap.ContainsKey("Max"))
+                        range = cmap["Max"].AsVector3();
+                    else
+                        range = new Vector3(0.5f, 0.5f, 0.5f);
+
+                    if (cmap.ContainsKey("Min"))
+                        min = cmap["Min"].AsVector3();
+                    else
+                        min = new Vector3(-0.5f, -0.5f, -0.5f);
+
+                    range = range - min;
+                    range *= invMaxU16;
+
+                    if (!convex && cmap.ContainsKey("HullList") && cmap.ContainsKey("Positions"))
+                    {
+                        List<int> hsizes = new List<int>();
+                        int totalpoints = 0;
+                        data = cmap["HullList"].AsBinary();
+                        for (i = 0; i < data.Length; i++)
+                        {
+                            t1 = data[i];
+                            if (t1 == 0)
+                                t1 = 256;
+                            totalpoints += t1;
+                            hsizes.Add(t1);
+                        }
+
+                        data = cmap["Positions"].AsBinary();
+                        int ptr = 0;
+                        int vertsoffset = 0;
+
+                        if (totalpoints == data.Length / 6) // 2 bytes per coord, 3 coords per point
+                        {
+                            foreach (int hullsize in hsizes)
+                            {
+                                for (i = 0; i < hullsize; i++ )
+                                {
+                                    t1 = data[ptr++];
+                                    t1 += data[ptr++] << 8;
+                                    t2 = data[ptr++];
+                                    t2 += data[ptr++] << 8;
+                                    t3 = data[ptr++];
+                                    t3 += data[ptr++] << 8;
+
+                                    f3 = new float3((t1 * range.X + min.X) * size.X,
+                                              (t2 * range.Y + min.Y) * size.Y,
+                                              (t3 * range.Z + min.Z) * size.Z);
+                                    vs.Add(f3);
+                                }
+
+                                if(hullsize <3)
+                                {
+                                    vs.Clear();
+                                    continue;
+                                }
+
+                                if (hullsize <5)
+                                {
+                                    foreach (float3 point in vs)
+                                    {
+                                        c.X = point.x;
+                                        c.Y = point.y;
+                                        c.Z = point.z;
+                                        coords.Add(c);
+                                    }
+                                    f = new Face(vertsoffset, vertsoffset + 1, vertsoffset + 2);
+                                    faces.Add(f);
+
+                                    if (hullsize == 4)
+                                    {
+                                        // not sure about orientation..
+                                        f = new Face(vertsoffset, vertsoffset + 2, vertsoffset + 3);
+                                        faces.Add(f);
+                                        f = new Face(vertsoffset, vertsoffset + 3, vertsoffset + 1);
+                                        faces.Add(f);
+                                        f = new Face(vertsoffset + 3, vertsoffset + 2, vertsoffset + 1);
+                                        faces.Add(f);
+                                    }
+                                    vertsoffset += vs.Count;
+                                    vs.Clear(); 
+                                    continue;
+                                }
+
+                                if (!HullUtils.ComputeHull(vs, ref hullr, 0, 0.0f))
+                                {
+                                    vs.Clear();
+                                    continue;
+                                }
+
+                                nverts = hullr.Vertices.Count;
+                                nindexs = hullr.Indices.Count;
+
+                                if (nindexs % 3 != 0)
+                                {
+                                    vs.Clear();
+                                    continue;
+                                }
+
+                                for (i = 0; i < nverts; i++)
+                                {
+                                    c.X = hullr.Vertices[i].x;
+                                    c.Y = hullr.Vertices[i].y;
+                                    c.Z = hullr.Vertices[i].z;
+                                    coords.Add(c);
+                                }
+                               
+                                for (i = 0; i < nindexs; i += 3)
+                                {
+                                    t1 = hullr.Indices[i];
+                                    if (t1 > nverts)
+                                        break;
+                                    t2 = hullr.Indices[i + 1];
+                                    if (t2 > nverts)
+                                        break;
+                                    t3 = hullr.Indices[i + 2];
+                                    if (t3 > nverts)
+                                        break;
+                                    f = new Face(vertsoffset + t1, vertsoffset + t2, vertsoffset + t3);
+                                    faces.Add(f);
+                                }
+                                vertsoffset += nverts;
+                                vs.Clear();
+                            }
+                        }
+                        if (coords.Count > 0 && faces.Count > 0)
+                            return true;                      
+                    }
+
+                    vs.Clear();
+
+                    if (cmap.ContainsKey("BoundingVerts"))
+                    {
+                        data = cmap["BoundingVerts"].AsBinary();
+
+                        for (i = 0; i < data.Length; )
+                        {
+                            t1 = data[i++];
+                            t1 += data[i++] << 8;
+                            t2 = data[i++];
+                            t2 += data[i++] << 8;
+                            t3 = data[i++];
+                            t3 += data[i++] << 8;
+
+                            f3 = new float3((t1 * range.X + min.X) * size.X,
+                                      (t2 * range.Y + min.Y) * size.Y,
+                                      (t3 * range.Z + min.Z) * size.Z);
+                            vs.Add(f3);
+                        }
+
+                        if (vs.Count < 3)
+                        {
+                            vs.Clear();
+                            return false;
+                        }
+
+                        if (vs.Count < 5)
+                        {
+                            foreach (float3 point in vs)
+                            {
+                                c.X = point.x;
+                                c.Y = point.y;
+                                c.Z = point.z;
+                                coords.Add(c);
+                            }
+                            f = new Face(0, 1, 2);
+                            faces.Add(f);
+
+                            if (vs.Count == 4)
+                            {
+                                f = new Face(0, 2, 3);
+                                faces.Add(f);
+                                f = new Face(0, 3, 1);
+                                faces.Add(f);
+                                f = new Face( 3, 2, 1);
+                                faces.Add(f);
+                            }
+                            vs.Clear();
+                            return true;
+                        }
+
+                        if (!HullUtils.ComputeHull(vs, ref hullr, 0, 0.0f))
+                            return false;
+
+                        nverts = hullr.Vertices.Count;
+                        nindexs = hullr.Indices.Count;
+
+                        if (nindexs % 3 != 0)
+                            return false;
+
+                        for (i = 0; i < nverts; i++)
+                        {
+                            c.X = hullr.Vertices[i].x;
+                            c.Y = hullr.Vertices[i].y;
+                            c.Z = hullr.Vertices[i].z;
+                            coords.Add(c);
+                        }
+                        for (i = 0; i < nindexs; i += 3)
+                        {
+                            t1 = hullr.Indices[i];
+                            if (t1 > nverts)
+                                break;
+                            t2 = hullr.Indices[i + 1];
+                            if (t2 > nverts)
+                                break;
+                            t3 = hullr.Indices[i + 2];
+                            if (t3 > nverts)
+                                break;
+                            f = new Face(t1, t2, t3);
+                            faces.Add(f);
+                        }
+
+                        if (coords.Count > 0 && faces.Count > 0)
+                            return true;
+                    }
+                    else
+                        return false;
+                }
+            }
+
+            return true;
+        }
+
+        /// <summary>
+        /// Generate the co-ords and faces necessary to construct a mesh from the sculpt data the accompanies a prim.
+        /// </summary>
+        /// <param name="primName"></param>
+        /// <param name="primShape"></param>
+        /// <param name="size"></param>
+        /// <param name="lod"></param>
+        /// <param name="coords">Coords are added to this list by the method.</param>
+        /// <param name="faces">Faces are added to this list by the method.</param>
+        /// <returns>true if coords and faces were successfully generated, false if not</returns>
+        private bool GenerateCoordsAndFacesFromPrimSculptData(
+            string primName, PrimitiveBaseShape primShape, Vector3 size, float lod, out List<Coord> coords, out List<Face> faces)
+        {
+            coords = new List<Coord>();
+            faces = new List<Face>();
+            PrimMesher.SculptMesh sculptMesh;
+            Image idata = null;
+            string decodedSculptFileName = "";
+
+            if (cacheSculptMaps && primShape.SculptTexture != UUID.Zero)
+            {
+                decodedSculptFileName = System.IO.Path.Combine(decodedSculptMapPath, "smap_" + primShape.SculptTexture.ToString());
+                try
+                {
+                    if (File.Exists(decodedSculptFileName))
+                    {
+                        idata = Image.FromFile(decodedSculptFileName);
+                    }
+                }
+                catch (Exception e)
+                {
+                    m_log.Error("[SCULPT]: unable to load cached sculpt map " + decodedSculptFileName + " " + e.Message);
+
+                }
+                //if (idata != null)
+                //    m_log.Debug("[SCULPT]: loaded cached map asset for map ID: " + primShape.SculptTexture.ToString());
+            }
+
+            if (idata == null)
+            {
+                if (primShape.SculptData == null || primShape.SculptData.Length == 0)
+                    return false;
+
+                try
+                {
+                    OpenMetaverse.Imaging.ManagedImage unusedData;
+                    OpenMetaverse.Imaging.OpenJPEG.DecodeToImage(primShape.SculptData, out unusedData, out idata);
+
+                    if (idata == null)
+                    {
+                        // In some cases it seems that the decode can return a null bitmap without throwing
+                        // an exception
+                        m_log.WarnFormat("[PHYSICS]: OpenJPEG decoded sculpt data for {0} to a null bitmap.  Ignoring.", primName);
+
+                        return false;
+                    }
+
+                    unusedData = null;
+
+                    //idata = CSJ2K.J2kImage.FromBytes(primShape.SculptData);
+
+                    if (cacheSculptMaps && (cacheSculptAlphaMaps || (((ImageFlags)(idata.Flags) & ImageFlags.HasAlpha) ==0)))
+                        // don't cache images with alpha channel in linux since mono can't load them correctly)
+                    {
+                        try { idata.Save(decodedSculptFileName, ImageFormat.MemoryBmp); }
+                        catch (Exception e) { m_log.Error("[SCULPT]: unable to cache sculpt map " + decodedSculptFileName + " " + e.Message); }
+                    }
+                }
+                catch (DllNotFoundException)
+                {
+                    m_log.Error("[PHYSICS]: OpenJpeg is not installed correctly on this system. Physics Proxy generation failed.  Often times this is because of an old version of GLIBC.  You must have version 2.4 or above!");
+                    return false;
+                }
+                catch (IndexOutOfRangeException)
+                {
+                    m_log.Error("[PHYSICS]: OpenJpeg was unable to decode this. Physics Proxy generation failed");
+                    return false;
+                }
+                catch (Exception ex)
+                {
+                    m_log.Error("[PHYSICS]: Unable to generate a Sculpty physics proxy. Sculpty texture decode failed: " + ex.Message);
+                    return false;
+                }
+            }
+
+            PrimMesher.SculptMesh.SculptType sculptType;
+            switch ((OpenMetaverse.SculptType)primShape.SculptType)
+            {
+                case OpenMetaverse.SculptType.Cylinder:
+                    sculptType = PrimMesher.SculptMesh.SculptType.cylinder;
+                    break;
+                case OpenMetaverse.SculptType.Plane:
+                    sculptType = PrimMesher.SculptMesh.SculptType.plane;
+                    break;
+                case OpenMetaverse.SculptType.Torus:
+                    sculptType = PrimMesher.SculptMesh.SculptType.torus;
+                    break;
+                case OpenMetaverse.SculptType.Sphere:
+                    sculptType = PrimMesher.SculptMesh.SculptType.sphere;
+                    break;
+                default:
+                    sculptType = PrimMesher.SculptMesh.SculptType.plane;
+                    break;
+            }
+
+            bool mirror = ((primShape.SculptType & 128) != 0);
+            bool invert = ((primShape.SculptType & 64) != 0);
+
+            sculptMesh = new PrimMesher.SculptMesh((Bitmap)idata, sculptType, (int)lod, false, mirror, invert);
+
+            idata.Dispose();
+
+            sculptMesh.DumpRaw(baseDir, primName, "primMesh");
+
+            sculptMesh.Scale(size.X, size.Y, size.Z);
+
+            coords = sculptMesh.coords;
+            faces = sculptMesh.faces;
+
+            return true;
+        }
+
+        /// <summary>
+        /// Generate the co-ords and faces necessary to construct a mesh from the shape data the accompanies a prim.
+        /// </summary>
+        /// <param name="primName"></param>
+        /// <param name="primShape"></param>
+        /// <param name="size"></param>
+        /// <param name="coords">Coords are added to this list by the method.</param>
+        /// <param name="faces">Faces are added to this list by the method.</param>
+        /// <returns>true if coords and faces were successfully generated, false if not</returns>
+        private bool GenerateCoordsAndFacesFromPrimShapeData(
+            string primName, PrimitiveBaseShape primShape, Vector3 size, float lod, out List<Coord> coords, out List<Face> faces)
+        {
+            PrimMesh primMesh;
+            coords = new List<Coord>();
+            faces = new List<Face>();            
+
+            float pathShearX = primShape.PathShearX < 128 ? (float)primShape.PathShearX * 0.01f : (float)(primShape.PathShearX - 256) * 0.01f;
+            float pathShearY = primShape.PathShearY < 128 ? (float)primShape.PathShearY * 0.01f : (float)(primShape.PathShearY - 256) * 0.01f;
+            float pathBegin = (float)primShape.PathBegin * 2.0e-5f;
+            float pathEnd = 1.0f - (float)primShape.PathEnd * 2.0e-5f;
+            float pathScaleX = (float)(primShape.PathScaleX - 100) * 0.01f;
+            float pathScaleY = (float)(primShape.PathScaleY - 100) * 0.01f;
+
+            float profileBegin = (float)primShape.ProfileBegin * 2.0e-5f;
+            float profileEnd = 1.0f - (float)primShape.ProfileEnd * 2.0e-5f;
+            float profileHollow = (float)primShape.ProfileHollow * 2.0e-5f;
+            if (profileHollow > 0.95f)
+                profileHollow = 0.95f;
+
+            int sides = 4;
+            LevelOfDetail iLOD = (LevelOfDetail)lod;
+            if ((primShape.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle)
+                sides = 3;
+            else if ((primShape.ProfileCurve & 0x07) == (byte)ProfileShape.Circle)
+            {
+                switch (iLOD)
+                {
+                    case LevelOfDetail.High:    sides = 24;     break;
+                    case LevelOfDetail.Medium:  sides = 12;     break;
+                    case LevelOfDetail.Low:     sides = 6;      break;
+                    case LevelOfDetail.VeryLow: sides = 3;      break;
+                    default:                    sides = 24;     break;
+                }
+            }
+            else if ((primShape.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle)
+            { // half circle, prim is a sphere
+                switch (iLOD)
+                {
+                    case LevelOfDetail.High:    sides = 24;     break;
+                    case LevelOfDetail.Medium:  sides = 12;     break;
+                    case LevelOfDetail.Low:     sides = 6;      break;
+                    case LevelOfDetail.VeryLow: sides = 3;      break;
+                    default:                    sides = 24;     break;
+                }
+
+                profileBegin = 0.5f * profileBegin + 0.5f;
+                profileEnd = 0.5f * profileEnd + 0.5f;
+            }
+
+            int hollowSides = sides;
+            if (primShape.HollowShape == HollowShape.Circle)
+            {
+                switch (iLOD)
+                {
+                    case LevelOfDetail.High:    hollowSides = 24;     break;
+                    case LevelOfDetail.Medium:  hollowSides = 12;     break;
+                    case LevelOfDetail.Low:     hollowSides = 6;      break;
+                    case LevelOfDetail.VeryLow: hollowSides = 3;      break;
+                    default:                    hollowSides = 24;     break;
+                }
+            }
+            else if (primShape.HollowShape == HollowShape.Square)
+                hollowSides = 4;
+            else if (primShape.HollowShape == HollowShape.Triangle)
+                hollowSides = 3;
+
+            primMesh = new PrimMesh(sides, profileBegin, profileEnd, profileHollow, hollowSides);
+
+            if (primMesh.errorMessage != null)
+                if (primMesh.errorMessage.Length > 0)
+                    m_log.Error("[ERROR] " + primMesh.errorMessage);
+
+            primMesh.topShearX = pathShearX;
+            primMesh.topShearY = pathShearY;
+            primMesh.pathCutBegin = pathBegin;
+            primMesh.pathCutEnd = pathEnd;
+
+            if (primShape.PathCurve == (byte)Extrusion.Straight || primShape.PathCurve == (byte) Extrusion.Flexible)
+            {
+                primMesh.twistBegin = primShape.PathTwistBegin * 18 / 10;
+                primMesh.twistEnd = primShape.PathTwist * 18 / 10;
+                primMesh.taperX = pathScaleX;
+                primMesh.taperY = pathScaleY;
+
+                if (profileBegin < 0.0f || profileBegin >= profileEnd || profileEnd > 1.0f)
+                {
+                    ReportPrimError("*** CORRUPT PRIM!! ***", primName, primMesh);
+                    if (profileBegin < 0.0f) profileBegin = 0.0f;
+                    if (profileEnd > 1.0f) profileEnd = 1.0f;
+                }
+#if SPAM
+            m_log.Debug("****** PrimMesh Parameters (Linear) ******\n" + primMesh.ParamsToDisplayString());
+#endif
+                try
+                {
+                    primMesh.ExtrudeLinear();
+                }
+                catch (Exception ex)
+                {
+                    ReportPrimError("Extrusion failure: exception: " + ex.ToString(), primName, primMesh);
+                    return false;
+                }
+            }
+            else
+            {
+                primMesh.holeSizeX = (200 - primShape.PathScaleX) * 0.01f;
+                primMesh.holeSizeY = (200 - primShape.PathScaleY) * 0.01f;
+                primMesh.radius = 0.01f * primShape.PathRadiusOffset;
+                primMesh.revolutions = 1.0f + 0.015f * primShape.PathRevolutions;
+                primMesh.skew = 0.01f * primShape.PathSkew;
+                primMesh.twistBegin = primShape.PathTwistBegin * 36 / 10;
+                primMesh.twistEnd = primShape.PathTwist * 36 / 10;
+                primMesh.taperX = primShape.PathTaperX * 0.01f;
+                primMesh.taperY = primShape.PathTaperY * 0.01f;
+
+                if (profileBegin < 0.0f || profileBegin >= profileEnd || profileEnd > 1.0f)
+                {
+                    ReportPrimError("*** CORRUPT PRIM!! ***", primName, primMesh);
+                    if (profileBegin < 0.0f) profileBegin = 0.0f;
+                    if (profileEnd > 1.0f) profileEnd = 1.0f;
+                }
+#if SPAM
+            m_log.Debug("****** PrimMesh Parameters (Circular) ******\n" + primMesh.ParamsToDisplayString());
+#endif
+                try
+                {
+                    primMesh.ExtrudeCircular();
+                }
+                catch (Exception ex)
+                {
+                    ReportPrimError("Extrusion failure: exception: " + ex.ToString(), primName, primMesh);
+                    return false;
+                }
+            }
+
+            primMesh.DumpRaw(baseDir, primName, "primMesh");
+
+            primMesh.Scale(size.X, size.Y, size.Z);
+
+            coords = primMesh.coords;
+            faces = primMesh.faces;
+
+            return true;
+        }
+
+        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod)
+        {
+            return CreateMesh(primName, primShape, size, lod, false,false);
+        }
+
+        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical)
+        {
+            return CreateMesh(primName, primShape, size, lod, false,false);
+        }
+
+        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex)
+        {
+#if SPAM
+            m_log.DebugFormat("[MESH]: Creating mesh for {0}", primName);
+#endif
+
+            Mesh mesh = null;
+            ulong key = 0;
+
+            // If this mesh has been created already, return it instead of creating another copy
+            // For large regions with 100k+ prims and hundreds of copies of each, this can save a GB or more of memory
+            key = primShape.GetMeshKey(size, lod, convex);
+            if (m_uniqueMeshes.TryGetValue(key, out mesh))
+                return mesh;
+
+            if (size.X < 0.01f) size.X = 0.01f;
+            if (size.Y < 0.01f) size.Y = 0.01f;
+            if (size.Z < 0.01f) size.Z = 0.01f;
+
+            mesh = CreateMeshFromPrimMesher(primName, primShape, size, lod,convex);
+
+            if (mesh != null)
+            {
+                if ((!isPhysical) && size.X < minSizeForComplexMesh && size.Y < minSizeForComplexMesh && size.Z < minSizeForComplexMesh)
+                {
+#if SPAM
+                m_log.Debug("Meshmerizer: prim " + primName + " has a size of " + size.ToString() + " which is below threshold of " + 
+                            minSizeForComplexMesh.ToString() + " - creating simple bounding box");
+#endif
+                    mesh = CreateBoundingBoxMesh(mesh);
+                    mesh.DumpRaw(baseDir, primName, "Z extruded");
+                }
+
+                // trim the vertex and triangle lists to free up memory
+                mesh.TrimExcess();
+
+                m_uniqueMeshes.Add(key, mesh);
+            }
+
+            return mesh;
+        }
+    }
+}
diff --git a/OpenSim/Region/Physics/UbitMeshing/PrimMesher.cs b/OpenSim/Region/Physics/UbitMeshing/PrimMesher.cs
new file mode 100644
index 0000000..53022ad
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitMeshing/PrimMesher.cs
@@ -0,0 +1,2284 @@
+/*
+ * Copyright (c) Contributors
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Text;
+using System.IO;
+
+namespace PrimMesher
+{
+    public struct Quat
+    {
+        /// <summary>X value</summary>
+        public float X;
+        /// <summary>Y value</summary>
+        public float Y;
+        /// <summary>Z value</summary>
+        public float Z;
+        /// <summary>W value</summary>
+        public float W;
+
+        public Quat(float x, float y, float z, float w)
+        {
+            X = x;
+            Y = y;
+            Z = z;
+            W = w;
+        }
+
+        public Quat(Coord axis, float angle)
+        {
+            axis = axis.Normalize();
+
+            angle *= 0.5f;
+            float c = (float)Math.Cos(angle);
+            float s = (float)Math.Sin(angle);
+
+            X = axis.X * s;
+            Y = axis.Y * s;
+            Z = axis.Z * s;
+            W = c;
+
+            Normalize();
+        }
+
+        public float Length()
+        {
+            return (float)Math.Sqrt(X * X + Y * Y + Z * Z + W * W);
+        }
+
+        public Quat Normalize()
+        {
+            const float MAG_THRESHOLD = 0.0000001f;
+            float mag = Length();
+
+            // Catch very small rounding errors when normalizing
+            if (mag > MAG_THRESHOLD)
+            {
+                float oomag = 1f / mag;
+                X *= oomag;
+                Y *= oomag;
+                Z *= oomag;
+                W *= oomag;
+            }
+            else
+            {
+                X = 0f;
+                Y = 0f;
+                Z = 0f;
+                W = 1f;
+            }
+
+            return this;
+        }
+
+        public static Quat operator *(Quat q1, Quat q2)
+        {
+            float x = q1.W * q2.X + q1.X * q2.W + q1.Y * q2.Z - q1.Z * q2.Y;
+            float y = q1.W * q2.Y - q1.X * q2.Z + q1.Y * q2.W + q1.Z * q2.X;
+            float z = q1.W * q2.Z + q1.X * q2.Y - q1.Y * q2.X + q1.Z * q2.W;
+            float w = q1.W * q2.W - q1.X * q2.X - q1.Y * q2.Y - q1.Z * q2.Z;
+            return new Quat(x, y, z, w);
+        }
+
+        public override string ToString()
+        {
+            return "< X: " + this.X.ToString() + ", Y: " + this.Y.ToString() + ", Z: " + this.Z.ToString() + ", W: " + this.W.ToString() + ">";
+        }
+    }
+
+    public struct Coord
+    {
+        public float X;
+        public float Y;
+        public float Z;
+
+        public Coord(float x, float y, float z)
+        {
+            this.X = x;
+            this.Y = y;
+            this.Z = z;
+        }
+
+        public float Length()
+        {
+            return (float)Math.Sqrt(this.X * this.X + this.Y * this.Y + this.Z * this.Z);
+        }
+
+        public Coord Invert()
+        {
+            this.X = -this.X;
+            this.Y = -this.Y;
+            this.Z = -this.Z;
+
+            return this;
+        }
+
+        public Coord Normalize()
+        {
+            const float MAG_THRESHOLD = 0.0000001f;
+            float mag = Length();
+
+            // Catch very small rounding errors when normalizing
+            if (mag > MAG_THRESHOLD)
+            {
+                float oomag = 1.0f / mag;
+                this.X *= oomag;
+                this.Y *= oomag;
+                this.Z *= oomag;
+            }
+            else
+            {
+                this.X = 0.0f;
+                this.Y = 0.0f;
+                this.Z = 0.0f;
+            }
+
+            return this;
+        }
+
+        public override string ToString()
+        {
+            return this.X.ToString() + " " + this.Y.ToString() + " " + this.Z.ToString();
+        }
+
+        public static Coord Cross(Coord c1, Coord c2)
+        {
+            return new Coord(
+                c1.Y * c2.Z - c2.Y * c1.Z,
+                c1.Z * c2.X - c2.Z * c1.X,
+                c1.X * c2.Y - c2.X * c1.Y
+                );
+        }
+
+        public static Coord operator +(Coord v, Coord a)
+        {
+            return new Coord(v.X + a.X, v.Y + a.Y, v.Z + a.Z);
+        }
+
+        public static Coord operator *(Coord v, Coord m)
+        {
+            return new Coord(v.X * m.X, v.Y * m.Y, v.Z * m.Z);
+        }
+
+        public static Coord operator *(Coord v, Quat q)
+        {
+            // From http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/transforms/
+
+            Coord c2 = new Coord(0.0f, 0.0f, 0.0f);
+
+            c2.X = q.W * q.W * v.X +
+                2f * q.Y * q.W * v.Z -
+                2f * q.Z * q.W * v.Y +
+                     q.X * q.X * v.X +
+                2f * q.Y * q.X * v.Y +
+                2f * q.Z * q.X * v.Z -
+                     q.Z * q.Z * v.X -
+                     q.Y * q.Y * v.X;
+
+            c2.Y =
+                2f * q.X * q.Y * v.X +
+                     q.Y * q.Y * v.Y +
+                2f * q.Z * q.Y * v.Z +
+                2f * q.W * q.Z * v.X -
+                     q.Z * q.Z * v.Y +
+                     q.W * q.W * v.Y -
+                2f * q.X * q.W * v.Z -
+                     q.X * q.X * v.Y;
+
+            c2.Z =
+                2f * q.X * q.Z * v.X +
+                2f * q.Y * q.Z * v.Y +
+                     q.Z * q.Z * v.Z -
+                2f * q.W * q.Y * v.X -
+                     q.Y * q.Y * v.Z +
+                2f * q.W * q.X * v.Y -
+                     q.X * q.X * v.Z +
+                     q.W * q.W * v.Z;
+
+            return c2;
+        }
+    }
+
+    public struct UVCoord
+    {
+        public float U;
+        public float V;
+
+
+        public UVCoord(float u, float v)
+        {
+            this.U = u;
+            this.V = v;
+        }
+    }
+
+    public struct Face
+    {
+        public int primFace;
+
+        // vertices
+        public int v1;
+        public int v2;
+        public int v3;
+
+        //normals
+        public int n1;
+        public int n2;
+        public int n3;
+
+        // uvs
+        public int uv1;
+        public int uv2;
+        public int uv3;
+
+        public Face(int v1, int v2, int v3)
+        {
+            primFace = 0;
+
+            this.v1 = v1;
+            this.v2 = v2;
+            this.v3 = v3;
+
+            this.n1 = 0;
+            this.n2 = 0;
+            this.n3 = 0;
+
+            this.uv1 = 0;
+            this.uv2 = 0;
+            this.uv3 = 0;
+
+        }
+
+        public Face(int v1, int v2, int v3, int n1, int n2, int n3)
+        {
+            primFace = 0;
+
+            this.v1 = v1;
+            this.v2 = v2;
+            this.v3 = v3;
+
+            this.n1 = n1;
+            this.n2 = n2;
+            this.n3 = n3;
+
+            this.uv1 = 0;
+            this.uv2 = 0;
+            this.uv3 = 0;
+        }
+
+        public Coord SurfaceNormal(List<Coord> coordList)
+        {
+            Coord c1 = coordList[this.v1];
+            Coord c2 = coordList[this.v2];
+            Coord c3 = coordList[this.v3];
+
+            Coord edge1 = new Coord(c2.X - c1.X, c2.Y - c1.Y, c2.Z - c1.Z);
+            Coord edge2 = new Coord(c3.X - c1.X, c3.Y - c1.Y, c3.Z - c1.Z);
+
+            return Coord.Cross(edge1, edge2).Normalize();
+        }
+    }
+
+    public struct ViewerFace
+    {
+        public int primFaceNumber;
+
+        public Coord v1;
+        public Coord v2;
+        public Coord v3;
+
+        public int coordIndex1;
+        public int coordIndex2;
+        public int coordIndex3;
+
+        public Coord n1;
+        public Coord n2;
+        public Coord n3;
+
+        public UVCoord uv1;
+        public UVCoord uv2;
+        public UVCoord uv3;
+
+        public ViewerFace(int primFaceNumber)
+        {
+            this.primFaceNumber = primFaceNumber;
+
+            this.v1 = new Coord();
+            this.v2 = new Coord();
+            this.v3 = new Coord();
+
+            this.coordIndex1 = this.coordIndex2 = this.coordIndex3 = -1; // -1 means not assigned yet
+
+            this.n1 = new Coord();
+            this.n2 = new Coord();
+            this.n3 = new Coord();
+
+            this.uv1 = new UVCoord();
+            this.uv2 = new UVCoord();
+            this.uv3 = new UVCoord();
+        }
+
+        public void Scale(float x, float y, float z)
+        {
+            this.v1.X *= x;
+            this.v1.Y *= y;
+            this.v1.Z *= z;
+
+            this.v2.X *= x;
+            this.v2.Y *= y;
+            this.v2.Z *= z;
+
+            this.v3.X *= x;
+            this.v3.Y *= y;
+            this.v3.Z *= z;
+        }
+
+        public void AddPos(float x, float y, float z)
+        {
+            this.v1.X += x;
+            this.v2.X += x;
+            this.v3.X += x;
+
+            this.v1.Y += y;
+            this.v2.Y += y;
+            this.v3.Y += y;
+
+            this.v1.Z += z;
+            this.v2.Z += z;
+            this.v3.Z += z;
+        }
+
+        public void AddRot(Quat q)
+        {
+            this.v1 *= q;
+            this.v2 *= q;
+            this.v3 *= q;
+
+            this.n1 *= q;
+            this.n2 *= q;
+            this.n3 *= q;
+        }
+
+        public void CalcSurfaceNormal()
+        {
+
+            Coord edge1 = new Coord(this.v2.X - this.v1.X, this.v2.Y - this.v1.Y, this.v2.Z - this.v1.Z);
+            Coord edge2 = new Coord(this.v3.X - this.v1.X, this.v3.Y - this.v1.Y, this.v3.Z - this.v1.Z);
+
+            this.n1 = this.n2 = this.n3 = Coord.Cross(edge1, edge2).Normalize();
+        }
+    }
+
+    internal struct Angle
+    {
+        internal float angle;
+        internal float X;
+        internal float Y;
+
+        internal Angle(float angle, float x, float y)
+        {
+            this.angle = angle;
+            this.X = x;
+            this.Y = y;
+        }
+    }
+
+    internal class AngleList
+    {
+        private float iX, iY; // intersection point
+
+        private static Angle[] angles3 =
+        {
+            new Angle(0.0f, 1.0f, 0.0f),
+            new Angle(0.33333333333333333f, -0.5f, 0.86602540378443871f),
+            new Angle(0.66666666666666667f, -0.5f, -0.86602540378443837f),
+            new Angle(1.0f, 1.0f, 0.0f)
+        };
+
+        private static Coord[] normals3 =
+        {
+            new Coord(0.25f, 0.4330127019f, 0.0f).Normalize(),
+            new Coord(-0.5f, 0.0f, 0.0f).Normalize(),
+            new Coord(0.25f, -0.4330127019f, 0.0f).Normalize(),
+            new Coord(0.25f, 0.4330127019f, 0.0f).Normalize()
+        };
+
+        private static Angle[] angles4 =
+        {
+            new Angle(0.0f, 1.0f, 0.0f),
+            new Angle(0.25f, 0.0f, 1.0f),
+            new Angle(0.5f, -1.0f, 0.0f),
+            new Angle(0.75f, 0.0f, -1.0f),
+            new Angle(1.0f, 1.0f, 0.0f)
+        };
+
+        private static Coord[] normals4 = 
+        {
+            new Coord(0.5f, 0.5f, 0.0f).Normalize(),
+            new Coord(-0.5f, 0.5f, 0.0f).Normalize(),
+            new Coord(-0.5f, -0.5f, 0.0f).Normalize(),
+            new Coord(0.5f, -0.5f, 0.0f).Normalize(),
+            new Coord(0.5f, 0.5f, 0.0f).Normalize()
+        };
+
+        private static Angle[] angles24 =
+        {
+            new Angle(0.0f, 1.0f, 0.0f),
+            new Angle(0.041666666666666664f, 0.96592582628906831f, 0.25881904510252074f),
+            new Angle(0.083333333333333329f, 0.86602540378443871f, 0.5f),
+            new Angle(0.125f, 0.70710678118654757f, 0.70710678118654746f),
+            new Angle(0.16666666666666667f, 0.5f, 0.8660254037844386f),
+            new Angle(0.20833333333333331f, 0.25881904510252096f, 0.9659258262890682f),
+            new Angle(0.25f, 0.0f, 1.0f),
+            new Angle(0.29166666666666663f, -0.25881904510252063f, 0.96592582628906831f),
+            new Angle(0.33333333333333333f, -0.5f, 0.86602540378443871f),
+            new Angle(0.375f, -0.70710678118654746f, 0.70710678118654757f),
+            new Angle(0.41666666666666663f, -0.86602540378443849f, 0.5f),
+            new Angle(0.45833333333333331f, -0.9659258262890682f, 0.25881904510252102f),
+            new Angle(0.5f, -1.0f, 0.0f),
+            new Angle(0.54166666666666663f, -0.96592582628906842f, -0.25881904510252035f),
+            new Angle(0.58333333333333326f, -0.86602540378443882f, -0.5f),
+            new Angle(0.62499999999999989f, -0.70710678118654791f, -0.70710678118654713f),
+            new Angle(0.66666666666666667f, -0.5f, -0.86602540378443837f),
+            new Angle(0.70833333333333326f, -0.25881904510252152f, -0.96592582628906809f),
+            new Angle(0.75f, 0.0f, -1.0f),
+            new Angle(0.79166666666666663f, 0.2588190451025203f, -0.96592582628906842f),
+            new Angle(0.83333333333333326f, 0.5f, -0.86602540378443904f),
+            new Angle(0.875f, 0.70710678118654735f, -0.70710678118654768f),
+            new Angle(0.91666666666666663f, 0.86602540378443837f, -0.5f),
+            new Angle(0.95833333333333326f, 0.96592582628906809f, -0.25881904510252157f),
+            new Angle(1.0f, 1.0f, 0.0f)
+        };
+
+        private Angle interpolatePoints(float newPoint, Angle p1, Angle p2)
+        {
+            float m = (newPoint - p1.angle) / (p2.angle - p1.angle);
+            return new Angle(newPoint, p1.X + m * (p2.X - p1.X), p1.Y + m * (p2.Y - p1.Y));
+        }
+
+        private void intersection(double x1, double y1, double x2, double y2, double x3, double y3, double x4, double y4)
+        { // ref: http://local.wasp.uwa.edu.au/~pbourke/geometry/lineline2d/
+            double denom = (y4 - y3) * (x2 - x1) - (x4 - x3) * (y2 - y1);
+            double uaNumerator = (x4 - x3) * (y1 - y3) - (y4 - y3) * (x1 - x3);
+
+            if (denom != 0.0)
+            {
+                double ua = uaNumerator / denom;
+                iX = (float)(x1 + ua * (x2 - x1));
+                iY = (float)(y1 + ua * (y2 - y1));
+            }
+        }
+
+        internal List<Angle> angles;
+        internal List<Coord> normals;
+
+        internal void makeAngles(int sides, float startAngle, float stopAngle)
+        {
+            angles = new List<Angle>();
+            normals = new List<Coord>();
+
+            double twoPi = System.Math.PI * 2.0;
+            float twoPiInv = 1.0f / (float)twoPi;
+
+            if (sides < 1)
+                throw new Exception("number of sides not greater than zero");
+            if (stopAngle <= startAngle)
+                throw new Exception("stopAngle not greater than startAngle");
+
+            if ((sides == 3 || sides == 4 || sides == 24))
+            {
+                startAngle *= twoPiInv;
+                stopAngle *= twoPiInv;
+
+                Angle[] sourceAngles;
+                if (sides == 3)
+                    sourceAngles = angles3;
+                else if (sides == 4)
+                    sourceAngles = angles4;
+                else sourceAngles = angles24;
+
+                int startAngleIndex = (int)(startAngle * sides);
+                int endAngleIndex = sourceAngles.Length - 1;
+                if (stopAngle < 1.0f)
+                    endAngleIndex = (int)(stopAngle * sides) + 1;
+                if (endAngleIndex == startAngleIndex)
+                    endAngleIndex++;
+
+                for (int angleIndex = startAngleIndex; angleIndex < endAngleIndex + 1; angleIndex++)
+                {
+                    angles.Add(sourceAngles[angleIndex]);
+                    if (sides == 3)
+                        normals.Add(normals3[angleIndex]);
+                    else if (sides == 4)
+                        normals.Add(normals4[angleIndex]);
+                }
+
+                if (startAngle > 0.0f)
+                    angles[0] = interpolatePoints(startAngle, angles[0], angles[1]);
+
+                if (stopAngle < 1.0f)
+                {
+                    int lastAngleIndex = angles.Count - 1;
+                    angles[lastAngleIndex] = interpolatePoints(stopAngle, angles[lastAngleIndex - 1], angles[lastAngleIndex]);
+                }
+            }
+            else
+            {
+                double stepSize = twoPi / sides;
+
+                int startStep = (int)(startAngle / stepSize);
+                double angle = stepSize * startStep;
+                int step = startStep;
+                double stopAngleTest = stopAngle;
+                if (stopAngle < twoPi)
+                {
+                    stopAngleTest = stepSize * ((int)(stopAngle / stepSize) + 1);
+                    if (stopAngleTest < stopAngle)
+                        stopAngleTest += stepSize;
+                    if (stopAngleTest > twoPi)
+                        stopAngleTest = twoPi;
+                }
+
+                while (angle <= stopAngleTest)
+                {
+                    Angle newAngle;
+                    newAngle.angle = (float)angle;
+                    newAngle.X = (float)System.Math.Cos(angle);
+                    newAngle.Y = (float)System.Math.Sin(angle);
+                    angles.Add(newAngle);
+                    step += 1;
+                    angle = stepSize * step;
+                }
+
+                if (startAngle > angles[0].angle)
+                {
+                    Angle newAngle;
+                    intersection(angles[0].X, angles[0].Y, angles[1].X, angles[1].Y, 0.0f, 0.0f, (float)Math.Cos(startAngle), (float)Math.Sin(startAngle));
+                    newAngle.angle = startAngle;
+                    newAngle.X = iX;
+                    newAngle.Y = iY;
+                    angles[0] = newAngle;
+                }
+
+                int index = angles.Count - 1;
+                if (stopAngle < angles[index].angle)
+                {
+                    Angle newAngle;
+                    intersection(angles[index - 1].X, angles[index - 1].Y, angles[index].X, angles[index].Y, 0.0f, 0.0f, (float)Math.Cos(stopAngle), (float)Math.Sin(stopAngle));
+                    newAngle.angle = stopAngle;
+                    newAngle.X = iX;
+                    newAngle.Y = iY;
+                    angles[index] = newAngle;
+                }
+            }
+        }
+    }
+
+    /// <summary>
+    /// generates a profile for extrusion
+    /// </summary>
+    internal class Profile
+    {
+        private const float twoPi = 2.0f * (float)Math.PI;
+
+        internal string errorMessage = null;
+
+        internal List<Coord> coords;
+        internal List<Face> faces;
+        internal List<Coord> vertexNormals;
+        internal List<float> us;
+        internal List<UVCoord> faceUVs;
+        internal List<int> faceNumbers;
+
+        // use these for making individual meshes for each prim face
+        internal List<int> outerCoordIndices = null;
+        internal List<int> hollowCoordIndices = null;
+        internal List<int> cut1CoordIndices = null;
+        internal List<int> cut2CoordIndices = null;
+
+        internal Coord faceNormal = new Coord(0.0f, 0.0f, 1.0f);
+        internal Coord cutNormal1 = new Coord();
+        internal Coord cutNormal2 = new Coord();
+
+        internal int numOuterVerts = 0;
+        internal int numHollowVerts = 0;
+
+        internal int outerFaceNumber = -1;
+        internal int hollowFaceNumber = -1;
+
+        internal bool calcVertexNormals = false;
+        internal int bottomFaceNumber = 0;
+        internal int numPrimFaces = 0;
+
+        internal Profile()
+        {
+            this.coords = new List<Coord>();
+            this.faces = new List<Face>();
+            this.vertexNormals = new List<Coord>();
+            this.us = new List<float>();
+            this.faceUVs = new List<UVCoord>();
+            this.faceNumbers = new List<int>();
+        }
+
+        internal Profile(int sides, float profileStart, float profileEnd, float hollow, int hollowSides, bool createFaces, bool calcVertexNormals)
+        {
+            this.calcVertexNormals = calcVertexNormals;
+            this.coords = new List<Coord>();
+            this.faces = new List<Face>();
+            this.vertexNormals = new List<Coord>();
+            this.us = new List<float>();
+            this.faceUVs = new List<UVCoord>();
+            this.faceNumbers = new List<int>();
+
+            Coord center = new Coord(0.0f, 0.0f, 0.0f);
+            //bool hasCenter = false;
+
+            List<Coord> hollowCoords = new List<Coord>();
+            List<Coord> hollowNormals = new List<Coord>();
+            List<float> hollowUs = new List<float>();
+
+            if (calcVertexNormals)
+            {
+                this.outerCoordIndices = new List<int>();
+                this.hollowCoordIndices = new List<int>();
+                this.cut1CoordIndices = new List<int>();
+                this.cut2CoordIndices = new List<int>();
+            }
+
+            bool hasHollow = (hollow > 0.0f);
+
+            bool hasProfileCut = (profileStart > 0.0f || profileEnd < 1.0f);
+
+            AngleList angles = new AngleList();
+            AngleList hollowAngles = new AngleList();
+
+            float xScale = 0.5f;
+            float yScale = 0.5f;
+            if (sides == 4)  // corners of a square are sqrt(2) from center
+            {
+                xScale = 0.707f;
+                yScale = 0.707f;
+            }
+
+            float startAngle = profileStart * twoPi;
+            float stopAngle = profileEnd * twoPi;
+
+            try { angles.makeAngles(sides, startAngle, stopAngle); }
+            catch (Exception ex)
+            {
+
+                errorMessage = "makeAngles failed: Exception: " + ex.ToString()
+                + "\nsides: " + sides.ToString() + " startAngle: " + startAngle.ToString() + " stopAngle: " + stopAngle.ToString();
+
+                return;
+            }
+
+            this.numOuterVerts = angles.angles.Count;
+
+            // flag to create as few triangles as possible for 3 or 4 side profile
+            bool simpleFace = (sides < 5 && !hasHollow && !hasProfileCut);
+
+            if (hasHollow)
+            {
+                if (sides == hollowSides)
+                    hollowAngles = angles;
+                else
+                {
+                    try { hollowAngles.makeAngles(hollowSides, startAngle, stopAngle); }
+                    catch (Exception ex)
+                    {
+                        errorMessage = "makeAngles failed: Exception: " + ex.ToString()
+                        + "\nsides: " + sides.ToString() + " startAngle: " + startAngle.ToString() + " stopAngle: " + stopAngle.ToString();
+
+                        return;
+                    }
+                }
+                this.numHollowVerts = hollowAngles.angles.Count;
+            }
+            else if (!simpleFace)
+            {
+                this.coords.Add(center);
+                //hasCenter = true;
+                if (this.calcVertexNormals)
+                    this.vertexNormals.Add(new Coord(0.0f, 0.0f, 1.0f));
+                this.us.Add(0.0f);
+            }
+
+            float z = 0.0f;
+
+            Angle angle;
+            Coord newVert = new Coord();
+            if (hasHollow && hollowSides != sides)
+            {
+                int numHollowAngles = hollowAngles.angles.Count;
+                for (int i = 0; i < numHollowAngles; i++)
+                {
+                    angle = hollowAngles.angles[i];
+                    newVert.X = hollow * xScale * angle.X;
+                    newVert.Y = hollow * yScale * angle.Y;
+                    newVert.Z = z;
+
+                    hollowCoords.Add(newVert);
+                    if (this.calcVertexNormals)
+                    {
+                        if (hollowSides < 5)
+                            hollowNormals.Add(hollowAngles.normals[i].Invert());
+                        else
+                            hollowNormals.Add(new Coord(-angle.X, -angle.Y, 0.0f));
+
+                        hollowUs.Add(angle.angle * hollow);
+                    }
+                }
+            }
+
+            int index = 0;
+            int numAngles = angles.angles.Count;
+
+            for (int i = 0; i < numAngles; i++)
+            {
+                angle = angles.angles[i];
+                newVert.X = angle.X * xScale;
+                newVert.Y = angle.Y * yScale;
+                newVert.Z = z;
+                this.coords.Add(newVert);
+                if (this.calcVertexNormals)
+                {
+                    this.outerCoordIndices.Add(this.coords.Count - 1);
+
+                    if (sides < 5)
+                    {
+                        this.vertexNormals.Add(angles.normals[i]);
+                        float u = angle.angle;
+                        this.us.Add(u);
+                    }
+                    else
+                    {
+                        this.vertexNormals.Add(new Coord(angle.X, angle.Y, 0.0f));
+                        this.us.Add(angle.angle);
+                    }
+                }
+
+                if (hasHollow)
+                {
+                    if (hollowSides == sides)
+                    {
+                        newVert.X *= hollow;
+                        newVert.Y *= hollow;
+                        newVert.Z = z;
+                        hollowCoords.Add(newVert);
+                        if (this.calcVertexNormals)
+                        {
+                            if (sides < 5)
+                            {
+                                hollowNormals.Add(angles.normals[i].Invert());
+                            }
+
+                            else
+                                hollowNormals.Add(new Coord(-angle.X, -angle.Y, 0.0f));
+
+                            hollowUs.Add(angle.angle * hollow);
+                        }
+                    }
+                }
+                else if (!simpleFace && createFaces && angle.angle > 0.0001f)
+                {
+                    Face newFace = new Face();
+                    newFace.v1 = 0;
+                    newFace.v2 = index;
+                    newFace.v3 = index + 1;
+
+                    this.faces.Add(newFace);
+                }
+                index += 1;
+            }
+
+            if (hasHollow)
+            {
+                hollowCoords.Reverse();
+                if (this.calcVertexNormals)
+                {
+                    hollowNormals.Reverse();
+                    hollowUs.Reverse();
+                }
+
+                if (createFaces)
+                {
+                    //int numOuterVerts = this.coords.Count;
+                    //numOuterVerts = this.coords.Count;
+                    //int numHollowVerts = hollowCoords.Count;
+                    int numTotalVerts = this.numOuterVerts + this.numHollowVerts;
+
+                    if (this.numOuterVerts == this.numHollowVerts)
+                    {
+                        Face newFace = new Face();
+
+                        for (int coordIndex = 0; coordIndex < this.numOuterVerts - 1; coordIndex++)
+                        {
+                            newFace.v1 = coordIndex;
+                            newFace.v2 = coordIndex + 1;
+                            newFace.v3 = numTotalVerts - coordIndex - 1;
+                            this.faces.Add(newFace);
+
+                            newFace.v1 = coordIndex + 1;
+                            newFace.v2 = numTotalVerts - coordIndex - 2;
+                            newFace.v3 = numTotalVerts - coordIndex - 1;
+                            this.faces.Add(newFace);
+                        }
+                    }
+                    else
+                    {
+                        if (this.numOuterVerts < this.numHollowVerts)
+                        {
+                            Face newFace = new Face();
+                            int j = 0; // j is the index for outer vertices
+                            int maxJ = this.numOuterVerts - 1;
+                            for (int i = 0; i < this.numHollowVerts; i++) // i is the index for inner vertices
+                            {
+                                if (j < maxJ)
+                                    if (angles.angles[j + 1].angle - hollowAngles.angles[i].angle < hollowAngles.angles[i].angle - angles.angles[j].angle + 0.000001f)
+                                    {
+                                        newFace.v1 = numTotalVerts - i - 1;
+                                        newFace.v2 = j;
+                                        newFace.v3 = j + 1;
+
+                                        this.faces.Add(newFace);
+                                        j += 1;
+                                    }
+
+                                newFace.v1 = j;
+                                newFace.v2 = numTotalVerts - i - 2;
+                                newFace.v3 = numTotalVerts - i - 1;
+
+                                this.faces.Add(newFace);
+                            }
+                        }
+                        else // numHollowVerts < numOuterVerts
+                        {
+                            Face newFace = new Face();
+                            int j = 0; // j is the index for inner vertices
+                            int maxJ = this.numHollowVerts - 1;
+                            for (int i = 0; i < this.numOuterVerts; i++)
+                            {
+                                if (j < maxJ)
+                                    if (hollowAngles.angles[j + 1].angle - angles.angles[i].angle < angles.angles[i].angle - hollowAngles.angles[j].angle + 0.000001f)
+                                    {
+                                        newFace.v1 = i;
+                                        newFace.v2 = numTotalVerts - j - 2;
+                                        newFace.v3 = numTotalVerts - j - 1;
+
+                                        this.faces.Add(newFace);
+                                        j += 1;
+                                    }
+
+                                newFace.v1 = numTotalVerts - j - 1;
+                                newFace.v2 = i;
+                                newFace.v3 = i + 1;
+
+                                this.faces.Add(newFace);
+                            }
+                        }
+                    }
+                }
+
+                if (calcVertexNormals)
+                {
+                    foreach (Coord hc in hollowCoords)
+                    {
+                        this.coords.Add(hc);
+                        hollowCoordIndices.Add(this.coords.Count - 1);
+                    }
+                }
+                else
+                    this.coords.AddRange(hollowCoords);
+
+                if (this.calcVertexNormals)
+                {
+                    this.vertexNormals.AddRange(hollowNormals);
+                    this.us.AddRange(hollowUs);
+
+                }
+            }
+
+            if (simpleFace && createFaces)
+            {
+                if (sides == 3)
+                    this.faces.Add(new Face(0, 1, 2));
+                else if (sides == 4)
+                {
+                    this.faces.Add(new Face(0, 1, 2));
+                    this.faces.Add(new Face(0, 2, 3));
+                }
+            }
+
+            if (calcVertexNormals && hasProfileCut)
+            {
+                int lastOuterVertIndex = this.numOuterVerts - 1;
+
+                if (hasHollow)
+                {
+                    this.cut1CoordIndices.Add(0);
+                    this.cut1CoordIndices.Add(this.coords.Count - 1);
+
+                    this.cut2CoordIndices.Add(lastOuterVertIndex + 1);
+                    this.cut2CoordIndices.Add(lastOuterVertIndex);
+
+                    this.cutNormal1.X = this.coords[0].Y - this.coords[this.coords.Count - 1].Y;
+                    this.cutNormal1.Y = -(this.coords[0].X - this.coords[this.coords.Count - 1].X);
+
+                    this.cutNormal2.X = this.coords[lastOuterVertIndex + 1].Y - this.coords[lastOuterVertIndex].Y;
+                    this.cutNormal2.Y = -(this.coords[lastOuterVertIndex + 1].X - this.coords[lastOuterVertIndex].X);
+                }
+
+                else
+                {
+                    this.cut1CoordIndices.Add(0);
+                    this.cut1CoordIndices.Add(1);
+
+                    this.cut2CoordIndices.Add(lastOuterVertIndex);
+                    this.cut2CoordIndices.Add(0);
+
+                    this.cutNormal1.X = this.vertexNormals[1].Y;
+                    this.cutNormal1.Y = -this.vertexNormals[1].X;
+
+                    this.cutNormal2.X = -this.vertexNormals[this.vertexNormals.Count - 2].Y;
+                    this.cutNormal2.Y = this.vertexNormals[this.vertexNormals.Count - 2].X;
+
+                }
+                this.cutNormal1.Normalize();
+                this.cutNormal2.Normalize();
+            }
+
+            this.MakeFaceUVs();
+
+            hollowCoords = null;
+            hollowNormals = null;
+            hollowUs = null;
+
+            if (calcVertexNormals)
+            { // calculate prim face numbers
+
+                // face number order is top, outer, hollow, bottom, start cut, end cut
+                // I know it's ugly but so is the whole concept of prim face numbers
+
+                int faceNum = 1; // start with outer faces
+                this.outerFaceNumber = faceNum;
+
+                int startVert = hasProfileCut && !hasHollow ? 1 : 0;
+                if (startVert > 0)
+                    this.faceNumbers.Add(-1);
+                for (int i = 0; i < this.numOuterVerts - 1; i++)
+                    //this.faceNumbers.Add(sides < 5 ? faceNum++ : faceNum);
+                    this.faceNumbers.Add(sides < 5 && i < sides ? faceNum++ : faceNum);
+
+                //if (!hasHollow && !hasProfileCut)
+                //    this.bottomFaceNumber = faceNum++;
+
+                this.faceNumbers.Add(hasProfileCut ? -1 : faceNum++);
+
+                if (sides > 4 && (hasHollow || hasProfileCut))
+                    faceNum++;
+
+                if (sides < 5 && (hasHollow || hasProfileCut) && this.numOuterVerts < sides)
+                    faceNum++;
+
+                if (hasHollow)
+                {
+                    for (int i = 0; i < this.numHollowVerts; i++)
+                        this.faceNumbers.Add(faceNum);
+
+                    this.hollowFaceNumber = faceNum++;
+                }
+                //if (hasProfileCut || hasHollow)
+                //    this.bottomFaceNumber = faceNum++;
+                this.bottomFaceNumber = faceNum++;
+
+                if (hasHollow && hasProfileCut)
+                    this.faceNumbers.Add(faceNum++);
+
+                for (int i = 0; i < this.faceNumbers.Count; i++)
+                    if (this.faceNumbers[i] == -1)
+                        this.faceNumbers[i] = faceNum++;
+
+                this.numPrimFaces = faceNum;
+            }
+
+        }
+
+        internal void MakeFaceUVs()
+        {
+            this.faceUVs = new List<UVCoord>();
+            foreach (Coord c in this.coords)
+                this.faceUVs.Add(new UVCoord(0.5f + c.X, 0.5f - c.Y));
+        }
+
+        internal Profile Copy()
+        {
+            return this.Copy(true);
+        }
+
+        internal Profile Copy(bool needFaces)
+        {
+            Profile copy = new Profile();
+
+            copy.coords.AddRange(this.coords);
+            copy.faceUVs.AddRange(this.faceUVs);
+
+            if (needFaces)
+                copy.faces.AddRange(this.faces);
+            if ((copy.calcVertexNormals = this.calcVertexNormals) == true)
+            {
+                copy.vertexNormals.AddRange(this.vertexNormals);
+                copy.faceNormal = this.faceNormal;
+                copy.cutNormal1 = this.cutNormal1;
+                copy.cutNormal2 = this.cutNormal2;
+                copy.us.AddRange(this.us);
+                copy.faceNumbers.AddRange(this.faceNumbers);
+
+                copy.cut1CoordIndices = new List<int>(this.cut1CoordIndices);
+                copy.cut2CoordIndices = new List<int>(this.cut2CoordIndices);
+                copy.hollowCoordIndices = new List<int>(this.hollowCoordIndices);
+                copy.outerCoordIndices = new List<int>(this.outerCoordIndices);
+            }
+            copy.numOuterVerts = this.numOuterVerts;
+            copy.numHollowVerts = this.numHollowVerts;
+
+            return copy;
+        }
+
+        internal void AddPos(Coord v)
+        {
+            this.AddPos(v.X, v.Y, v.Z);
+        }
+
+        internal void AddPos(float x, float y, float z)
+        {
+            int i;
+            int numVerts = this.coords.Count;
+            Coord vert;
+
+            for (i = 0; i < numVerts; i++)
+            {
+                vert = this.coords[i];
+                vert.X += x;
+                vert.Y += y;
+                vert.Z += z;
+                this.coords[i] = vert;
+            }
+        }
+
+        internal void AddRot(Quat q)
+        {
+            int i;
+            int numVerts = this.coords.Count;
+
+            for (i = 0; i < numVerts; i++)
+                this.coords[i] *= q;
+
+            if (this.calcVertexNormals)
+            {
+                int numNormals = this.vertexNormals.Count;
+                for (i = 0; i < numNormals; i++)
+                    this.vertexNormals[i] *= q;
+
+                this.faceNormal *= q;
+                this.cutNormal1 *= q;
+                this.cutNormal2 *= q;
+
+            }
+        }
+
+        internal void Scale(float x, float y)
+        {
+            int i;
+            int numVerts = this.coords.Count;
+            Coord vert;
+
+            for (i = 0; i < numVerts; i++)
+            {
+                vert = this.coords[i];
+                vert.X *= x;
+                vert.Y *= y;
+                this.coords[i] = vert;
+            }
+        }
+
+        /// <summary>
+        /// Changes order of the vertex indices and negates the center vertex normal. Does not alter vertex normals of radial vertices
+        /// </summary>
+        internal void FlipNormals()
+        {
+            int i;
+            int numFaces = this.faces.Count;
+            Face tmpFace;
+            int tmp;
+
+            for (i = 0; i < numFaces; i++)
+            {
+                tmpFace = this.faces[i];
+                tmp = tmpFace.v3;
+                tmpFace.v3 = tmpFace.v1;
+                tmpFace.v1 = tmp;
+                this.faces[i] = tmpFace;
+            }
+
+            if (this.calcVertexNormals)
+            {
+                int normalCount = this.vertexNormals.Count;
+                if (normalCount > 0)
+                {
+                    Coord n = this.vertexNormals[normalCount - 1];
+                    n.Z = -n.Z;
+                    this.vertexNormals[normalCount - 1] = n;
+                }
+            }
+
+            this.faceNormal.X = -this.faceNormal.X;
+            this.faceNormal.Y = -this.faceNormal.Y;
+            this.faceNormal.Z = -this.faceNormal.Z;
+
+            int numfaceUVs = this.faceUVs.Count;
+            for (i = 0; i < numfaceUVs; i++)
+            {
+                UVCoord uv = this.faceUVs[i];
+                uv.V = 1.0f - uv.V;
+                this.faceUVs[i] = uv;
+            }
+        }
+
+        internal void AddValue2FaceVertexIndices(int num)
+        {
+            int numFaces = this.faces.Count;
+            Face tmpFace;
+            for (int i = 0; i < numFaces; i++)
+            {
+                tmpFace = this.faces[i];
+                tmpFace.v1 += num;
+                tmpFace.v2 += num;
+                tmpFace.v3 += num;
+
+                this.faces[i] = tmpFace;
+            }
+        }
+
+        internal void AddValue2FaceNormalIndices(int num)
+        {
+            if (this.calcVertexNormals)
+            {
+                int numFaces = this.faces.Count;
+                Face tmpFace;
+                for (int i = 0; i < numFaces; i++)
+                {
+                    tmpFace = this.faces[i];
+                    tmpFace.n1 += num;
+                    tmpFace.n2 += num;
+                    tmpFace.n3 += num;
+
+                    this.faces[i] = tmpFace;
+                }
+            }
+        }
+
+        internal void DumpRaw(String path, String name, String title)
+        {
+            if (path == null)
+                return;
+            String fileName = name + "_" + title + ".raw";
+            String completePath = System.IO.Path.Combine(path, fileName);
+            StreamWriter sw = new StreamWriter(completePath);
+
+            for (int i = 0; i < this.faces.Count; i++)
+            {
+                string s = this.coords[this.faces[i].v1].ToString();
+                s += " " + this.coords[this.faces[i].v2].ToString();
+                s += " " + this.coords[this.faces[i].v3].ToString();
+
+                sw.WriteLine(s);
+            }
+
+            sw.Close();
+        }
+    }
+
+    public struct PathNode
+    {
+        public Coord position;
+        public Quat rotation;
+        public float xScale;
+        public float yScale;
+        public float percentOfPath;
+    }
+
+    public enum PathType { Linear = 0, Circular = 1, Flexible = 2 }
+
+    public class Path
+    {
+        public List<PathNode> pathNodes = new List<PathNode>();
+
+        public float twistBegin = 0.0f;
+        public float twistEnd = 0.0f;
+        public float topShearX = 0.0f;
+        public float topShearY = 0.0f;
+        public float pathCutBegin = 0.0f;
+        public float pathCutEnd = 1.0f;
+        public float dimpleBegin = 0.0f;
+        public float dimpleEnd = 1.0f;
+        public float skew = 0.0f;
+        public float holeSizeX = 1.0f; // called pathScaleX in pbs
+        public float holeSizeY = 0.25f;
+        public float taperX = 0.0f;
+        public float taperY = 0.0f;
+        public float radius = 0.0f;
+        public float revolutions = 1.0f;
+        public int stepsPerRevolution = 24;
+
+        private const float twoPi = 2.0f * (float)Math.PI;
+
+        public void Create(PathType pathType, int steps)
+        {
+            if (pathType == PathType.Linear || pathType == PathType.Flexible)
+            {
+                int step = 0;
+
+                float length = this.pathCutEnd - this.pathCutBegin;
+                float twistTotal = twistEnd - twistBegin;
+                float twistTotalAbs = Math.Abs(twistTotal);
+                if (twistTotalAbs > 0.01f)
+                    steps += (int)(twistTotalAbs * 3.66); //  dahlia's magic number
+
+                float start = -0.5f;
+                float stepSize = length / (float)steps;
+                float percentOfPathMultiplier = stepSize;
+                float xOffset = 0.0f;
+                float yOffset = 0.0f;
+                float zOffset = start;
+                float xOffsetStepIncrement = this.topShearX / steps;
+                float yOffsetStepIncrement = this.topShearY / steps;
+
+                float percentOfPath = this.pathCutBegin;
+                zOffset += percentOfPath;
+
+                // sanity checks
+
+                bool done = false;
+
+                while (!done)
+                {
+                    PathNode newNode = new PathNode();
+
+                    newNode.xScale = 1.0f;
+                    if (this.taperX == 0.0f)
+                        newNode.xScale = 1.0f;
+                    else if (this.taperX > 0.0f)
+                        newNode.xScale = 1.0f - percentOfPath * this.taperX;
+                    else newNode.xScale = 1.0f + (1.0f - percentOfPath) * this.taperX;
+
+                    newNode.yScale = 1.0f;
+                    if (this.taperY == 0.0f)
+                        newNode.yScale = 1.0f;
+                    else if (this.taperY > 0.0f)
+                        newNode.yScale = 1.0f - percentOfPath * this.taperY;
+                    else newNode.yScale = 1.0f + (1.0f - percentOfPath) * this.taperY;
+
+                    float twist = twistBegin + twistTotal * percentOfPath;
+
+                    newNode.rotation = new Quat(new Coord(0.0f, 0.0f, 1.0f), twist);
+                    newNode.position = new Coord(xOffset, yOffset, zOffset);
+                    newNode.percentOfPath = percentOfPath;
+
+                    pathNodes.Add(newNode);
+
+                    if (step < steps)
+                    {
+                        step += 1;
+                        percentOfPath += percentOfPathMultiplier;
+                        xOffset += xOffsetStepIncrement;
+                        yOffset += yOffsetStepIncrement;
+                        zOffset += stepSize;
+                        if (percentOfPath > this.pathCutEnd)
+                            done = true;
+                    }
+                    else done = true;
+                }
+            } // end of linear path code
+
+            else // pathType == Circular
+            {
+                float twistTotal = twistEnd - twistBegin;
+
+                // if the profile has a lot of twist, add more layers otherwise the layers may overlap
+                // and the resulting mesh may be quite inaccurate. This method is arbitrary and doesn't
+                // accurately match the viewer
+                float twistTotalAbs = Math.Abs(twistTotal);
+                if (twistTotalAbs > 0.01f)
+                {
+                    if (twistTotalAbs > Math.PI * 1.5f)
+                        steps *= 2;
+                    if (twistTotalAbs > Math.PI * 3.0f)
+                        steps *= 2;
+                }
+
+                float yPathScale = this.holeSizeY * 0.5f;
+                float pathLength = this.pathCutEnd - this.pathCutBegin;
+                float totalSkew = this.skew * 2.0f * pathLength;
+                float skewStart = this.pathCutBegin * 2.0f * this.skew - this.skew;
+                float xOffsetTopShearXFactor = this.topShearX * (0.25f + 0.5f * (0.5f - this.holeSizeY));
+                float yShearCompensation = 1.0f + Math.Abs(this.topShearY) * 0.25f;
+
+                // It's not quite clear what pushY (Y top shear) does, but subtracting it from the start and end
+                // angles appears to approximate it's effects on path cut. Likewise, adding it to the angle used
+                // to calculate the sine for generating the path radius appears to approximate it's effects there
+                // too, but there are some subtle differences in the radius which are noticeable as the prim size
+                // increases and it may affect megaprims quite a bit. The effect of the Y top shear parameter on
+                // the meshes generated with this technique appear nearly identical in shape to the same prims when
+                // displayed by the viewer.
+
+                float startAngle = (twoPi * this.pathCutBegin * this.revolutions) - this.topShearY * 0.9f;
+                float endAngle = (twoPi * this.pathCutEnd * this.revolutions) - this.topShearY * 0.9f;
+                float stepSize = twoPi / this.stepsPerRevolution;
+
+                int step = (int)(startAngle / stepSize);
+                float angle = startAngle;
+
+                bool done = false;
+                while (!done) // loop through the length of the path and add the layers
+                {
+                    PathNode newNode = new PathNode();
+
+                    float xProfileScale = (1.0f - Math.Abs(this.skew)) * this.holeSizeX;
+                    float yProfileScale = this.holeSizeY;
+
+                    float percentOfPath = angle / (twoPi * this.revolutions);
+                    float percentOfAngles = (angle - startAngle) / (endAngle - startAngle);
+
+                    if (this.taperX > 0.01f)
+                        xProfileScale *= 1.0f - percentOfPath * this.taperX;
+                    else if (this.taperX < -0.01f)
+                        xProfileScale *= 1.0f + (1.0f - percentOfPath) * this.taperX;
+
+                    if (this.taperY > 0.01f)
+                        yProfileScale *= 1.0f - percentOfPath * this.taperY;
+                    else if (this.taperY < -0.01f)
+                        yProfileScale *= 1.0f + (1.0f - percentOfPath) * this.taperY;
+
+                    newNode.xScale = xProfileScale;
+                    newNode.yScale = yProfileScale;
+
+                    float radiusScale = 1.0f;
+                    if (this.radius > 0.001f)
+                        radiusScale = 1.0f - this.radius * percentOfPath;
+                    else if (this.radius < 0.001f)
+                        radiusScale = 1.0f + this.radius * (1.0f - percentOfPath);
+
+                    float twist = twistBegin + twistTotal * percentOfPath;
+
+                    float xOffset = 0.5f * (skewStart + totalSkew * percentOfAngles);
+                    xOffset += (float)Math.Sin(angle) * xOffsetTopShearXFactor;
+
+                    float yOffset = yShearCompensation * (float)Math.Cos(angle) * (0.5f - yPathScale) * radiusScale;
+
+                    float zOffset = (float)Math.Sin(angle + this.topShearY) * (0.5f - yPathScale) * radiusScale;
+
+                    newNode.position = new Coord(xOffset, yOffset, zOffset);
+
+                    // now orient the rotation of the profile layer relative to it's position on the path
+                    // adding taperY to the angle used to generate the quat appears to approximate the viewer
+
+                    newNode.rotation = new Quat(new Coord(1.0f, 0.0f, 0.0f), angle + this.topShearY);
+
+                    // next apply twist rotation to the profile layer
+                    if (twistTotal != 0.0f || twistBegin != 0.0f)
+                        newNode.rotation *= new Quat(new Coord(0.0f, 0.0f, 1.0f), twist);
+
+                    newNode.percentOfPath = percentOfPath;
+
+                    pathNodes.Add(newNode);
+
+                    // calculate terms for next iteration
+                    // calculate the angle for the next iteration of the loop
+
+                    if (angle >= endAngle - 0.01)
+                        done = true;
+                    else
+                    {
+                        step += 1;
+                        angle = stepSize * step;
+                        if (angle > endAngle)
+                            angle = endAngle;
+                    }
+                }
+            }
+        }
+    }
+
+    public class PrimMesh
+    {
+        public string errorMessage = "";
+        private const float twoPi = 2.0f * (float)Math.PI;
+
+        public List<Coord> coords;
+        public List<Coord> normals;
+        public List<Face> faces;
+
+        public List<ViewerFace> viewerFaces;
+
+        private int sides = 4;
+        private int hollowSides = 4;
+        private float profileStart = 0.0f;
+        private float profileEnd = 1.0f;
+        private float hollow = 0.0f;
+        public int twistBegin = 0;
+        public int twistEnd = 0;
+        public float topShearX = 0.0f;
+        public float topShearY = 0.0f;
+        public float pathCutBegin = 0.0f;
+        public float pathCutEnd = 1.0f;
+        public float dimpleBegin = 0.0f;
+        public float dimpleEnd = 1.0f;
+        public float skew = 0.0f;
+        public float holeSizeX = 1.0f; // called pathScaleX in pbs
+        public float holeSizeY = 0.25f;
+        public float taperX = 0.0f;
+        public float taperY = 0.0f;
+        public float radius = 0.0f;
+        public float revolutions = 1.0f;
+        public int stepsPerRevolution = 24;
+
+        private int profileOuterFaceNumber = -1;
+        private int profileHollowFaceNumber = -1;
+
+        private bool hasProfileCut = false;
+        private bool hasHollow = false;
+        public bool calcVertexNormals = false;
+        private bool normalsProcessed = false;
+        public bool viewerMode = false;
+        public bool sphereMode = false;
+
+        public int numPrimFaces = 0;
+
+        /// <summary>
+        /// Human readable string representation of the parameters used to create a mesh.
+        /// </summary>
+        /// <returns></returns>
+        public string ParamsToDisplayString()
+        {
+            string s = "";
+            s += "sides..................: " + this.sides.ToString();
+            s += "\nhollowSides..........: " + this.hollowSides.ToString();
+            s += "\nprofileStart.........: " + this.profileStart.ToString();
+            s += "\nprofileEnd...........: " + this.profileEnd.ToString();
+            s += "\nhollow...............: " + this.hollow.ToString();
+            s += "\ntwistBegin...........: " + this.twistBegin.ToString();
+            s += "\ntwistEnd.............: " + this.twistEnd.ToString();
+            s += "\ntopShearX............: " + this.topShearX.ToString();
+            s += "\ntopShearY............: " + this.topShearY.ToString();
+            s += "\npathCutBegin.........: " + this.pathCutBegin.ToString();
+            s += "\npathCutEnd...........: " + this.pathCutEnd.ToString();
+            s += "\ndimpleBegin..........: " + this.dimpleBegin.ToString();
+            s += "\ndimpleEnd............: " + this.dimpleEnd.ToString();
+            s += "\nskew.................: " + this.skew.ToString();
+            s += "\nholeSizeX............: " + this.holeSizeX.ToString();
+            s += "\nholeSizeY............: " + this.holeSizeY.ToString();
+            s += "\ntaperX...............: " + this.taperX.ToString();
+            s += "\ntaperY...............: " + this.taperY.ToString();
+            s += "\nradius...............: " + this.radius.ToString();
+            s += "\nrevolutions..........: " + this.revolutions.ToString();
+            s += "\nstepsPerRevolution...: " + this.stepsPerRevolution.ToString();
+            s += "\nsphereMode...........: " + this.sphereMode.ToString();
+            s += "\nhasProfileCut........: " + this.hasProfileCut.ToString();
+            s += "\nhasHollow............: " + this.hasHollow.ToString();
+            s += "\nviewerMode...........: " + this.viewerMode.ToString();
+
+            return s;
+        }
+
+        public int ProfileOuterFaceNumber
+        {
+            get { return profileOuterFaceNumber; }
+        }
+
+        public int ProfileHollowFaceNumber
+        {
+            get { return profileHollowFaceNumber; }
+        }
+
+        public bool HasProfileCut
+        {
+            get { return hasProfileCut; }
+        }
+
+        public bool HasHollow
+        {
+            get { return hasHollow; }
+        }
+
+
+        /// <summary>
+        /// Constructs a PrimMesh object and creates the profile for extrusion.
+        /// </summary>
+        /// <param name="sides"></param>
+        /// <param name="profileStart"></param>
+        /// <param name="profileEnd"></param>
+        /// <param name="hollow"></param>
+        /// <param name="hollowSides"></param>
+        public PrimMesh(int sides, float profileStart, float profileEnd, float hollow, int hollowSides)
+        {
+            this.coords = new List<Coord>();
+            this.faces = new List<Face>();
+
+            this.sides = sides;
+            this.profileStart = profileStart;
+            this.profileEnd = profileEnd;
+            this.hollow = hollow;
+            this.hollowSides = hollowSides;
+
+            if (sides < 3)
+                this.sides = 3;
+            if (hollowSides < 3)
+                this.hollowSides = 3;
+            if (profileStart < 0.0f)
+                this.profileStart = 0.0f;
+            if (profileEnd > 1.0f)
+                this.profileEnd = 1.0f;
+            if (profileEnd < 0.02f)
+                this.profileEnd = 0.02f;
+            if (profileStart >= profileEnd)
+                this.profileStart = profileEnd - 0.02f;
+            if (hollow > 0.99f)
+                this.hollow = 0.99f;
+            if (hollow < 0.0f)
+                this.hollow = 0.0f;
+
+            //if (sphereMode)
+            //    this.hasProfileCut = this.profileEnd - this.profileStart < 0.4999f;
+            //else
+            //    //this.hasProfileCut = (this.profileStart > 0.0f || this.profileEnd < 1.0f);
+            //    this.hasProfileCut = this.profileEnd - this.profileStart < 0.9999f;
+            //this.hasHollow = (this.hollow > 0.001f);
+        }
+
+        /// <summary>
+        /// Extrudes a profile along a path.
+        /// </summary>
+        public void Extrude(PathType pathType)
+        {
+            bool needEndFaces = false;
+
+            this.coords = new List<Coord>();
+            this.faces = new List<Face>();
+
+            if (this.viewerMode)
+            {
+                this.viewerFaces = new List<ViewerFace>();
+                this.calcVertexNormals = true;
+            }
+
+            if (this.calcVertexNormals)
+                this.normals = new List<Coord>();
+
+            int steps = 1;
+
+            float length = this.pathCutEnd - this.pathCutBegin;
+            normalsProcessed = false;
+
+            if (this.viewerMode && this.sides == 3)
+            {
+                // prisms don't taper well so add some vertical resolution
+                // other prims may benefit from this but just do prisms for now
+                if (Math.Abs(this.taperX) > 0.01 || Math.Abs(this.taperY) > 0.01)
+                    steps = (int)(steps * 4.5 * length);
+            }
+
+            if (sphereMode)
+                this.hasProfileCut = this.profileEnd - this.profileStart < 0.4999f;
+            else
+                //this.hasProfileCut = (this.profileStart > 0.0f || this.profileEnd < 1.0f);
+                this.hasProfileCut = this.profileEnd - this.profileStart < 0.9999f;
+            this.hasHollow = (this.hollow > 0.001f);
+
+            float twistBegin = this.twistBegin / 360.0f * twoPi;
+            float twistEnd = this.twistEnd / 360.0f * twoPi;
+            float twistTotal = twistEnd - twistBegin;
+            float twistTotalAbs = Math.Abs(twistTotal);
+            if (twistTotalAbs > 0.01f)
+                steps += (int)(twistTotalAbs * 3.66); //  dahlia's magic number
+
+            float hollow = this.hollow;
+
+            // sanity checks
+            float initialProfileRot = 0.0f;
+            if (pathType == PathType.Circular)
+            {
+                if (this.sides == 3)
+                {
+                    initialProfileRot = (float)Math.PI;
+                    if (this.hollowSides == 4)
+                    {
+                        if (hollow > 0.7f)
+                            hollow = 0.7f;
+                        hollow *= 0.707f;
+                    }
+                    else hollow *= 0.5f;
+                }
+                else if (this.sides == 4)
+                {
+                    initialProfileRot = 0.25f * (float)Math.PI;
+                    if (this.hollowSides != 4)
+                        hollow *= 0.707f;
+                }
+                else if (this.sides > 4)
+                {
+                    initialProfileRot = (float)Math.PI;
+                    if (this.hollowSides == 4)
+                    {
+                        if (hollow > 0.7f)
+                            hollow = 0.7f;
+                        hollow /= 0.7f;
+                    }
+                }
+            }
+            else
+            {
+                if (this.sides == 3)
+                {
+                    if (this.hollowSides == 4)
+                    {
+                        if (hollow > 0.7f)
+                            hollow = 0.7f;
+                        hollow *= 0.707f;
+                    }
+                    else hollow *= 0.5f;
+                }
+                else if (this.sides == 4)
+                {
+                    initialProfileRot = 1.25f * (float)Math.PI;
+                    if (this.hollowSides != 4)
+                        hollow *= 0.707f;
+                }
+                else if (this.sides == 24 && this.hollowSides == 4)
+                    hollow *= 1.414f;
+            }
+
+            Profile profile = new Profile(this.sides, this.profileStart, this.profileEnd, hollow, this.hollowSides, true, calcVertexNormals);
+            this.errorMessage = profile.errorMessage;
+
+            this.numPrimFaces = profile.numPrimFaces;
+
+            //profileOuterFaceNumber = profile.faceNumbers[0];
+            //if (!needEndFaces)
+            //    profileOuterFaceNumber--;
+            //profileOuterFaceNumber = needEndFaces ? 1 : 0;
+
+
+            //if (hasHollow)
+            //{
+            //    if (needEndFaces)
+            //        profileHollowFaceNumber = profile.faceNumbers[profile.numOuterVerts + 1];
+            //    else
+            //        profileHollowFaceNumber = profile.faceNumbers[profile.numOuterVerts] - 1;
+            //}
+
+
+            profileOuterFaceNumber = profile.outerFaceNumber;
+            if (!needEndFaces)
+                profileOuterFaceNumber--;
+
+            if (hasHollow)
+            {
+                profileHollowFaceNumber = profile.hollowFaceNumber;
+                if (!needEndFaces)
+                    profileHollowFaceNumber--;
+            }
+
+            int cut1Vert = -1;
+            int cut2Vert = -1;
+            if (hasProfileCut)
+            {
+                cut1Vert = hasHollow ? profile.coords.Count - 1 : 0;
+                cut2Vert = hasHollow ? profile.numOuterVerts - 1 : profile.numOuterVerts;
+            }
+
+            if (initialProfileRot != 0.0f)
+            {
+                profile.AddRot(new Quat(new Coord(0.0f, 0.0f, 1.0f), initialProfileRot));
+                if (viewerMode)
+                    profile.MakeFaceUVs();
+            }
+
+            Coord lastCutNormal1 = new Coord();
+            Coord lastCutNormal2 = new Coord();
+            float lastV = 1.0f;
+
+            Path path = new Path();
+            path.twistBegin = twistBegin;
+            path.twistEnd = twistEnd;
+            path.topShearX = topShearX;
+            path.topShearY = topShearY;
+            path.pathCutBegin = pathCutBegin;
+            path.pathCutEnd = pathCutEnd;
+            path.dimpleBegin = dimpleBegin;
+            path.dimpleEnd = dimpleEnd;
+            path.skew = skew;
+            path.holeSizeX = holeSizeX;
+            path.holeSizeY = holeSizeY;
+            path.taperX = taperX;
+            path.taperY = taperY;
+            path.radius = radius;
+            path.revolutions = revolutions;
+            path.stepsPerRevolution = stepsPerRevolution;
+
+            path.Create(pathType, steps);
+
+
+            if (pathType == PathType.Circular)
+            {
+                needEndFaces = false;
+                if (this.pathCutBegin != 0.0f || this.pathCutEnd != 1.0f)
+                    needEndFaces = true;
+                else if (this.taperX != 0.0f || this.taperY != 0.0f)
+                    needEndFaces = true;
+                else if (this.skew != 0.0f)
+                    needEndFaces = true;
+                else if (twistTotal != 0.0f)
+                    needEndFaces = true;
+                else if (this.radius != 0.0f)
+                    needEndFaces = true;
+            }
+            else needEndFaces = true;
+
+            for (int nodeIndex = 0; nodeIndex < path.pathNodes.Count; nodeIndex++)
+            {
+                PathNode node = path.pathNodes[nodeIndex];
+                Profile newLayer = profile.Copy();
+                newLayer.Scale(node.xScale, node.yScale);
+
+                newLayer.AddRot(node.rotation);
+                newLayer.AddPos(node.position);
+
+                if (needEndFaces && nodeIndex == 0)
+                {
+                    newLayer.FlipNormals();
+
+                    // add the top faces to the viewerFaces list here
+                    if (this.viewerMode)
+                    {
+                        Coord faceNormal = newLayer.faceNormal;
+                        ViewerFace newViewerFace = new ViewerFace(profile.bottomFaceNumber);
+                        int numFaces = newLayer.faces.Count;
+                        List<Face> faces = newLayer.faces;
+
+                        for (int i = 0; i < numFaces; i++)
+                        {
+                            Face face = faces[i];
+                            newViewerFace.v1 = newLayer.coords[face.v1];
+                            newViewerFace.v2 = newLayer.coords[face.v2];
+                            newViewerFace.v3 = newLayer.coords[face.v3];
+
+                            newViewerFace.coordIndex1 = face.v1;
+                            newViewerFace.coordIndex2 = face.v2;
+                            newViewerFace.coordIndex3 = face.v3;
+
+                            newViewerFace.n1 = faceNormal;
+                            newViewerFace.n2 = faceNormal;
+                            newViewerFace.n3 = faceNormal;
+
+                            newViewerFace.uv1 = newLayer.faceUVs[face.v1];
+                            newViewerFace.uv2 = newLayer.faceUVs[face.v2];
+                            newViewerFace.uv3 = newLayer.faceUVs[face.v3];
+
+                            this.viewerFaces.Add(newViewerFace);
+                        }
+                    }
+                } // if (nodeIndex == 0)
+
+                // append this layer
+
+                int coordsLen = this.coords.Count;
+                newLayer.AddValue2FaceVertexIndices(coordsLen);
+
+                this.coords.AddRange(newLayer.coords);
+
+                if (this.calcVertexNormals)
+                {
+                    newLayer.AddValue2FaceNormalIndices(this.normals.Count);
+                    this.normals.AddRange(newLayer.vertexNormals);
+                }
+
+                if (node.percentOfPath < this.pathCutBegin + 0.01f || node.percentOfPath > this.pathCutEnd - 0.01f)
+                    this.faces.AddRange(newLayer.faces);
+
+                // fill faces between layers
+
+                int numVerts = newLayer.coords.Count;
+                Face newFace = new Face();
+
+                if (nodeIndex > 0)
+                {
+                    int startVert = coordsLen + 1;
+                    int endVert = this.coords.Count;
+
+                    if (sides < 5 || this.hasProfileCut || this.hasHollow)
+                        startVert--;
+
+                    for (int i = startVert; i < endVert; i++)
+                    {
+                        int iNext = i + 1;
+                        if (i == endVert - 1)
+                            iNext = startVert;
+
+                        int whichVert = i - startVert;
+
+                        newFace.v1 = i;
+                        newFace.v2 = i - numVerts;
+                        newFace.v3 = iNext - numVerts;
+                        this.faces.Add(newFace);
+
+                        newFace.v2 = iNext - numVerts;
+                        newFace.v3 = iNext;
+                        this.faces.Add(newFace);
+
+                        if (this.viewerMode)
+                        {
+                            // add the side faces to the list of viewerFaces here
+
+                            int primFaceNum = profile.faceNumbers[whichVert];
+                            if (!needEndFaces)
+                                primFaceNum -= 1;
+
+                            ViewerFace newViewerFace1 = new ViewerFace(primFaceNum);
+                            ViewerFace newViewerFace2 = new ViewerFace(primFaceNum);
+
+                            float u1 = newLayer.us[whichVert];
+                            float u2 = 1.0f;
+                            if (whichVert < newLayer.us.Count - 1)
+                                u2 = newLayer.us[whichVert + 1];
+
+                            if (whichVert == cut1Vert || whichVert == cut2Vert)
+                            {
+                                u1 = 0.0f;
+                                u2 = 1.0f;
+                            }
+                            else if (sides < 5)
+                            {
+                                if (whichVert < profile.numOuterVerts)
+                                { // boxes and prisms have one texture face per side of the prim, so the U values have to be scaled
+                                    // to reflect the entire texture width
+                                    u1 *= sides;
+                                    u2 *= sides;
+                                    u2 -= (int)u1;
+                                    u1 -= (int)u1;
+                                    if (u2 < 0.1f)
+                                        u2 = 1.0f;
+                                    //this.profileOuterFaceNumber = primFaceNum;
+                                }
+                                else if (whichVert > profile.coords.Count - profile.numHollowVerts - 1)
+                                {
+                                    u1 *= 2.0f;
+                                    u2 *= 2.0f;
+                                    //this.profileHollowFaceNumber = primFaceNum;
+                                }
+                            }
+
+                            newViewerFace1.uv1.U = u1;
+                            newViewerFace1.uv2.U = u1;
+                            newViewerFace1.uv3.U = u2;
+
+                            newViewerFace1.uv1.V = 1.0f - node.percentOfPath;
+                            newViewerFace1.uv2.V = lastV;
+                            newViewerFace1.uv3.V = lastV;
+
+                            newViewerFace2.uv1.U = u1;
+                            newViewerFace2.uv2.U = u2;
+                            newViewerFace2.uv3.U = u2;
+
+                            newViewerFace2.uv1.V = 1.0f - node.percentOfPath;
+                            newViewerFace2.uv2.V = lastV;
+                            newViewerFace2.uv3.V = 1.0f - node.percentOfPath;
+
+                            newViewerFace1.v1 = this.coords[i];
+                            newViewerFace1.v2 = this.coords[i - numVerts];
+                            newViewerFace1.v3 = this.coords[iNext - numVerts];
+
+                            newViewerFace2.v1 = this.coords[i];
+                            newViewerFace2.v2 = this.coords[iNext - numVerts];
+                            newViewerFace2.v3 = this.coords[iNext];
+
+                            newViewerFace1.coordIndex1 = i;
+                            newViewerFace1.coordIndex2 = i - numVerts;
+                            newViewerFace1.coordIndex3 = iNext - numVerts;
+
+                            newViewerFace2.coordIndex1 = i;
+                            newViewerFace2.coordIndex2 = iNext - numVerts;
+                            newViewerFace2.coordIndex3 = iNext;
+
+                            // profile cut faces
+                            if (whichVert == cut1Vert)
+                            {
+                                newViewerFace1.n1 = newLayer.cutNormal1;
+                                newViewerFace1.n2 = newViewerFace1.n3 = lastCutNormal1;
+
+                                newViewerFace2.n1 = newViewerFace2.n3 = newLayer.cutNormal1;
+                                newViewerFace2.n2 = lastCutNormal1;
+                            }
+                            else if (whichVert == cut2Vert)
+                            {
+                                newViewerFace1.n1 = newLayer.cutNormal2;
+                                newViewerFace1.n2 = newViewerFace1.n3 = lastCutNormal2;
+
+                                newViewerFace2.n1 = newViewerFace2.n3 = newLayer.cutNormal2;
+                                newViewerFace2.n2 = lastCutNormal2;
+                            }
+
+                            else // outer and hollow faces
+                            {
+                                if ((sides < 5 && whichVert < newLayer.numOuterVerts) || (hollowSides < 5 && whichVert >= newLayer.numOuterVerts))
+                                { // looks terrible when path is twisted... need vertex normals here
+                                    newViewerFace1.CalcSurfaceNormal();
+                                    newViewerFace2.CalcSurfaceNormal();
+                                }
+                                else
+                                {
+                                    newViewerFace1.n1 = this.normals[i];
+                                    newViewerFace1.n2 = this.normals[i - numVerts];
+                                    newViewerFace1.n3 = this.normals[iNext - numVerts];
+
+                                    newViewerFace2.n1 = this.normals[i];
+                                    newViewerFace2.n2 = this.normals[iNext - numVerts];
+                                    newViewerFace2.n3 = this.normals[iNext];
+                                }
+                            }
+
+                            this.viewerFaces.Add(newViewerFace1);
+                            this.viewerFaces.Add(newViewerFace2);
+
+                        }
+                    }
+                }
+
+                lastCutNormal1 = newLayer.cutNormal1;
+                lastCutNormal2 = newLayer.cutNormal2;
+                lastV = 1.0f - node.percentOfPath;
+
+                if (needEndFaces && nodeIndex == path.pathNodes.Count - 1 && viewerMode)
+                {
+                    // add the top faces to the viewerFaces list here
+                    Coord faceNormal = newLayer.faceNormal;
+                    ViewerFace newViewerFace = new ViewerFace();
+                    newViewerFace.primFaceNumber = 0;
+                    int numFaces = newLayer.faces.Count;
+                    List<Face> faces = newLayer.faces;
+
+                    for (int i = 0; i < numFaces; i++)
+                    {
+                        Face face = faces[i];
+                        newViewerFace.v1 = newLayer.coords[face.v1 - coordsLen];
+                        newViewerFace.v2 = newLayer.coords[face.v2 - coordsLen];
+                        newViewerFace.v3 = newLayer.coords[face.v3 - coordsLen];
+
+                        newViewerFace.coordIndex1 = face.v1 - coordsLen;
+                        newViewerFace.coordIndex2 = face.v2 - coordsLen;
+                        newViewerFace.coordIndex3 = face.v3 - coordsLen;
+
+                        newViewerFace.n1 = faceNormal;
+                        newViewerFace.n2 = faceNormal;
+                        newViewerFace.n3 = faceNormal;
+
+                        newViewerFace.uv1 = newLayer.faceUVs[face.v1 - coordsLen];
+                        newViewerFace.uv2 = newLayer.faceUVs[face.v2 - coordsLen];
+                        newViewerFace.uv3 = newLayer.faceUVs[face.v3 - coordsLen];
+
+                        this.viewerFaces.Add(newViewerFace);
+                    }
+                }
+
+
+            } // for (int nodeIndex = 0; nodeIndex < path.pathNodes.Count; nodeIndex++)
+
+        }
+
+
+        /// <summary>
+        /// DEPRICATED - use Extrude(PathType.Linear) instead
+        /// Extrudes a profile along a straight line path. Used for prim types box, cylinder, and prism.
+        /// </summary>
+        /// 
+        public void ExtrudeLinear()
+        {
+            this.Extrude(PathType.Linear);
+        }
+
+
+        /// <summary>
+        /// DEPRICATED - use Extrude(PathType.Circular) instead
+        /// Extrude a profile into a circular path prim mesh. Used for prim types torus, tube, and ring.
+        /// </summary>
+        /// 
+        public void ExtrudeCircular()
+        {
+            this.Extrude(PathType.Circular);
+        }
+
+
+        private Coord SurfaceNormal(Coord c1, Coord c2, Coord c3)
+        {
+            Coord edge1 = new Coord(c2.X - c1.X, c2.Y - c1.Y, c2.Z - c1.Z);
+            Coord edge2 = new Coord(c3.X - c1.X, c3.Y - c1.Y, c3.Z - c1.Z);
+
+            Coord normal = Coord.Cross(edge1, edge2);
+
+            normal.Normalize();
+
+            return normal;
+        }
+
+        private Coord SurfaceNormal(Face face)
+        {
+            return SurfaceNormal(this.coords[face.v1], this.coords[face.v2], this.coords[face.v3]);
+        }
+
+        /// <summary>
+        /// Calculate the surface normal for a face in the list of faces
+        /// </summary>
+        /// <param name="faceIndex"></param>
+        /// <returns></returns>
+        public Coord SurfaceNormal(int faceIndex)
+        {
+            int numFaces = this.faces.Count;
+            if (faceIndex < 0 || faceIndex >= numFaces)
+                throw new Exception("faceIndex out of range");
+
+            return SurfaceNormal(this.faces[faceIndex]);
+        }
+
+        /// <summary>
+        /// Duplicates a PrimMesh object. All object properties are copied by value, including lists.
+        /// </summary>
+        /// <returns></returns>
+        public PrimMesh Copy()
+        {
+            PrimMesh copy = new PrimMesh(this.sides, this.profileStart, this.profileEnd, this.hollow, this.hollowSides);
+            copy.twistBegin = this.twistBegin;
+            copy.twistEnd = this.twistEnd;
+            copy.topShearX = this.topShearX;
+            copy.topShearY = this.topShearY;
+            copy.pathCutBegin = this.pathCutBegin;
+            copy.pathCutEnd = this.pathCutEnd;
+            copy.dimpleBegin = this.dimpleBegin;
+            copy.dimpleEnd = this.dimpleEnd;
+            copy.skew = this.skew;
+            copy.holeSizeX = this.holeSizeX;
+            copy.holeSizeY = this.holeSizeY;
+            copy.taperX = this.taperX;
+            copy.taperY = this.taperY;
+            copy.radius = this.radius;
+            copy.revolutions = this.revolutions;
+            copy.stepsPerRevolution = this.stepsPerRevolution;
+            copy.calcVertexNormals = this.calcVertexNormals;
+            copy.normalsProcessed = this.normalsProcessed;
+            copy.viewerMode = this.viewerMode;
+            copy.numPrimFaces = this.numPrimFaces;
+            copy.errorMessage = this.errorMessage;
+
+            copy.coords = new List<Coord>(this.coords);
+            copy.faces = new List<Face>(this.faces);
+            copy.viewerFaces = new List<ViewerFace>(this.viewerFaces);
+            copy.normals = new List<Coord>(this.normals);
+
+            return copy;
+        }
+
+        /// <summary>
+        /// Calculate surface normals for all of the faces in the list of faces in this mesh
+        /// </summary>
+        public void CalcNormals()
+        {
+            if (normalsProcessed)
+                return;
+
+            normalsProcessed = true;
+
+            int numFaces = faces.Count;
+
+            if (!this.calcVertexNormals)
+                this.normals = new List<Coord>();
+
+            for (int i = 0; i < numFaces; i++)
+            {
+                Face face = faces[i];
+
+                this.normals.Add(SurfaceNormal(i).Normalize());
+
+                int normIndex = normals.Count - 1;
+                face.n1 = normIndex;
+                face.n2 = normIndex;
+                face.n3 = normIndex;
+
+                this.faces[i] = face;
+            }
+        }
+
+        /// <summary>
+        /// Adds a value to each XYZ vertex coordinate in the mesh
+        /// </summary>
+        /// <param name="x"></param>
+        /// <param name="y"></param>
+        /// <param name="z"></param>
+        public void AddPos(float x, float y, float z)
+        {
+            int i;
+            int numVerts = this.coords.Count;
+            Coord vert;
+
+            for (i = 0; i < numVerts; i++)
+            {
+                vert = this.coords[i];
+                vert.X += x;
+                vert.Y += y;
+                vert.Z += z;
+                this.coords[i] = vert;
+            }
+
+            if (this.viewerFaces != null)
+            {
+                int numViewerFaces = this.viewerFaces.Count;
+
+                for (i = 0; i < numViewerFaces; i++)
+                {
+                    ViewerFace v = this.viewerFaces[i];
+                    v.AddPos(x, y, z);
+                    this.viewerFaces[i] = v;
+                }
+            }
+        }
+
+        /// <summary>
+        /// Rotates the mesh
+        /// </summary>
+        /// <param name="q"></param>
+        public void AddRot(Quat q)
+        {
+            int i;
+            int numVerts = this.coords.Count;
+
+            for (i = 0; i < numVerts; i++)
+                this.coords[i] *= q;
+
+            if (this.normals != null)
+            {
+                int numNormals = this.normals.Count;
+                for (i = 0; i < numNormals; i++)
+                    this.normals[i] *= q;
+            }
+
+            if (this.viewerFaces != null)
+            {
+                int numViewerFaces = this.viewerFaces.Count;
+
+                for (i = 0; i < numViewerFaces; i++)
+                {
+                    ViewerFace v = this.viewerFaces[i];
+                    v.v1 *= q;
+                    v.v2 *= q;
+                    v.v3 *= q;
+
+                    v.n1 *= q;
+                    v.n2 *= q;
+                    v.n3 *= q;
+                    this.viewerFaces[i] = v;
+                }
+            }
+        }
+
+#if VERTEX_INDEXER
+        public VertexIndexer GetVertexIndexer()
+        {
+            if (this.viewerMode && this.viewerFaces.Count > 0)
+                return new VertexIndexer(this);
+            return null;
+        }
+#endif
+
+        /// <summary>
+        /// Scales the mesh
+        /// </summary>
+        /// <param name="x"></param>
+        /// <param name="y"></param>
+        /// <param name="z"></param>
+        public void Scale(float x, float y, float z)
+        {
+            int i;
+            int numVerts = this.coords.Count;
+            //Coord vert;
+
+            Coord m = new Coord(x, y, z);
+            for (i = 0; i < numVerts; i++)
+                this.coords[i] *= m;
+
+            if (this.viewerFaces != null)
+            {
+                int numViewerFaces = this.viewerFaces.Count;
+                for (i = 0; i < numViewerFaces; i++)
+                {
+                    ViewerFace v = this.viewerFaces[i];
+                    v.v1 *= m;
+                    v.v2 *= m;
+                    v.v3 *= m;
+                    this.viewerFaces[i] = v;
+                }
+
+            }
+
+        }
+
+        /// <summary>
+        /// Dumps the mesh to a Blender compatible "Raw" format file
+        /// </summary>
+        /// <param name="path"></param>
+        /// <param name="name"></param>
+        /// <param name="title"></param>
+        public void DumpRaw(String path, String name, String title)
+        {
+            if (path == null)
+                return;
+            String fileName = name + "_" + title + ".raw";
+            String completePath = System.IO.Path.Combine(path, fileName);
+            StreamWriter sw = new StreamWriter(completePath);
+
+            for (int i = 0; i < this.faces.Count; i++)
+            {
+                string s = this.coords[this.faces[i].v1].ToString();
+                s += " " + this.coords[this.faces[i].v2].ToString();
+                s += " " + this.coords[this.faces[i].v3].ToString();
+
+                sw.WriteLine(s);
+            }
+
+            sw.Close();
+        }
+    }
+}
diff --git a/OpenSim/Region/Physics/UbitMeshing/SculptMap.cs b/OpenSim/Region/Physics/UbitMeshing/SculptMap.cs
new file mode 100644
index 0000000..b3d9cb6
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitMeshing/SculptMap.cs
@@ -0,0 +1,197 @@
+/*
+ * Copyright (c) Contributors
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+// to build without references to System.Drawing, comment this out
+#define SYSTEM_DRAWING
+
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+#if SYSTEM_DRAWING
+using System.Drawing;
+using System.Drawing.Imaging;
+
+namespace PrimMesher
+{
+    public class SculptMap
+    {
+        public int width;
+        public int height;
+        public byte[] redBytes;
+        public byte[] greenBytes;
+        public byte[] blueBytes;
+
+        public SculptMap()
+        {
+        }
+
+        public SculptMap(Bitmap bm, int lod)
+        {
+            int bmW = bm.Width;
+            int bmH = bm.Height;
+
+            if (bmW == 0 || bmH == 0)
+                throw new Exception("SculptMap: bitmap has no data");
+
+            int numLodPixels = lod * lod;  // (32 * 2)^2  = 64^2 pixels for default sculpt map image
+
+            bool smallMap = bmW * bmH <= numLodPixels;
+            bool needsScaling = false;
+
+            width = bmW;
+            height = bmH;
+            while (width * height > numLodPixels * 4)
+            {
+                width >>= 1;
+                height >>= 1;
+                needsScaling = true;
+            }
+
+            try
+            {
+                if (needsScaling)
+                    bm = ScaleImage(bm, width, height);
+            }
+
+            catch (Exception e)
+            {
+                throw new Exception("Exception in ScaleImage(): e: " + e.ToString());
+            }
+
+            if (width * height > numLodPixels)
+            {
+                width >>= 1;
+                height >>= 1;
+            }
+
+            int numBytes = (width + 1) * (height + 1);
+            redBytes = new byte[numBytes];
+            greenBytes = new byte[numBytes];
+            blueBytes = new byte[numBytes];
+
+            int byteNdx = 0;
+
+            try
+            {
+                for (int y = 0; y <= height; y++)
+                {
+                    for (int x = 0; x <= width; x++)
+                    {
+                        Color c;
+
+                        if (smallMap)
+                            c = bm.GetPixel(x < width ? x : x - 1,
+                                            y < height ? y : y - 1);
+                        else
+                            c = bm.GetPixel(x < width ? x * 2 : x * 2 - 1,
+                                            y < height ? y * 2 : y * 2 - 1);
+
+                        redBytes[byteNdx] = c.R;
+                        greenBytes[byteNdx] = c.G;
+                        blueBytes[byteNdx] = c.B;
+
+                        ++byteNdx;
+                    }
+                }
+            }
+            catch (Exception e)
+            {
+                throw new Exception("Caught exception processing byte arrays in SculptMap(): e: " + e.ToString());
+            }
+
+            width++;
+            height++;
+        }
+
+        public List<List<Coord>> ToRows(bool mirror)
+        {
+            int numRows = height;
+            int numCols = width;
+
+            List<List<Coord>> rows = new List<List<Coord>>(numRows);
+
+            float pixScale = 1.0f / 255;
+
+            int rowNdx, colNdx;
+            int smNdx = 0;
+
+
+            for (rowNdx = 0; rowNdx < numRows; rowNdx++)
+            {
+                List<Coord> row = new List<Coord>(numCols);
+                for (colNdx = 0; colNdx < numCols; colNdx++)
+                {
+
+                    if (mirror)
+                        row.Add(new Coord(-((float)redBytes[smNdx] * pixScale - 0.5f), ((float)greenBytes[smNdx] * pixScale - 0.5f), (float)blueBytes[smNdx] * pixScale - 0.5f));
+                    else
+                        row.Add(new Coord((float)redBytes[smNdx] * pixScale - 0.5f, (float)greenBytes[smNdx] * pixScale - 0.5f, (float)blueBytes[smNdx] * pixScale - 0.5f));
+
+                    ++smNdx;
+                }
+                rows.Add(row);
+            }
+            return rows;
+        }
+
+        private Bitmap ScaleImage(Bitmap srcImage, int destWidth, int destHeight)
+        {
+
+            Bitmap scaledImage = new Bitmap(destWidth, destHeight, PixelFormat.Format24bppRgb);
+            
+            Color c;
+            float xscale = srcImage.Width / destWidth;
+            float yscale = srcImage.Height / destHeight;
+            
+            float sy = 0.5f;
+            for (int y = 0; y < destHeight; y++)
+            {
+                float sx = 0.5f;
+                for (int x = 0; x < destWidth; x++)
+                {
+                    try
+                    {
+                        c = srcImage.GetPixel((int)(sx), (int)(sy));
+                        scaledImage.SetPixel(x, y, Color.FromArgb(c.R, c.G, c.B));
+                    }
+                    catch (IndexOutOfRangeException)
+                    {
+                    }
+
+                    sx += xscale;
+                }
+                sy += yscale;
+            }
+            srcImage.Dispose();
+            return scaledImage;
+        }
+
+    }        
+    
+    }
+#endif
diff --git a/OpenSim/Region/Physics/UbitMeshing/SculptMesh.cs b/OpenSim/Region/Physics/UbitMeshing/SculptMesh.cs
new file mode 100644
index 0000000..4a7f3ad
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitMeshing/SculptMesh.cs
@@ -0,0 +1,646 @@
+/*
+ * Copyright (c) Contributors
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+// to build without references to System.Drawing, comment this out
+#define SYSTEM_DRAWING
+
+using System;
+using System.Collections.Generic;
+using System.Text;
+using System.IO;
+
+#if SYSTEM_DRAWING
+using System.Drawing;
+using System.Drawing.Imaging;
+#endif
+
+namespace PrimMesher
+{
+
+    public class SculptMesh
+    {
+        public List<Coord> coords;
+        public List<Face> faces;
+
+        public List<ViewerFace> viewerFaces;
+        public List<Coord> normals;
+        public List<UVCoord> uvs;
+
+        public enum SculptType { sphere = 1, torus = 2, plane = 3, cylinder = 4 };
+
+#if SYSTEM_DRAWING
+
+        public SculptMesh SculptMeshFromFile(string fileName, SculptType sculptType, int lod, bool viewerMode)
+        {
+            Bitmap bitmap = (Bitmap)Bitmap.FromFile(fileName);
+            SculptMesh sculptMesh = new SculptMesh(bitmap, sculptType, lod, viewerMode);
+            bitmap.Dispose();
+            return sculptMesh;
+        }
+
+
+        public SculptMesh(string fileName, int sculptType, int lod, int viewerMode, int mirror, int invert)
+        {
+            Bitmap bitmap = (Bitmap)Bitmap.FromFile(fileName);
+            _SculptMesh(bitmap, (SculptType)sculptType, lod, viewerMode != 0, mirror != 0, invert != 0);
+            bitmap.Dispose();
+        }
+#endif
+
+        /// <summary>
+        /// ** Experimental ** May disappear from future versions ** not recommeneded for use in applications
+        /// Construct a sculpt mesh from a 2D array of floats
+        /// </summary>
+        /// <param name="zMap"></param>
+        /// <param name="xBegin"></param>
+        /// <param name="xEnd"></param>
+        /// <param name="yBegin"></param>
+        /// <param name="yEnd"></param>
+        /// <param name="viewerMode"></param>
+        public SculptMesh(float[,] zMap, float xBegin, float xEnd, float yBegin, float yEnd, bool viewerMode)
+        {
+            float xStep, yStep;
+            float uStep, vStep;
+
+            int numYElements = zMap.GetLength(0);
+            int numXElements = zMap.GetLength(1);
+
+            try
+            {
+                xStep = (xEnd - xBegin) / (float)(numXElements - 1);
+                yStep = (yEnd - yBegin) / (float)(numYElements - 1);
+
+                uStep = 1.0f / (numXElements - 1);
+                vStep = 1.0f / (numYElements - 1);
+            }
+            catch (DivideByZeroException)
+            {
+                return;
+            }
+
+            coords = new List<Coord>();
+            faces = new List<Face>();
+            normals = new List<Coord>();
+            uvs = new List<UVCoord>();
+
+            viewerFaces = new List<ViewerFace>();
+
+            int p1, p2, p3, p4;
+
+            int x, y;
+            int xStart = 0, yStart = 0;
+
+            for (y = yStart; y < numYElements; y++)
+            {
+                int rowOffset = y * numXElements;
+
+                for (x = xStart; x < numXElements; x++)
+                {
+                    /*
+                    *   p1-----p2
+                    *   | \ f2 |
+                    *   |   \  |
+                    *   | f1  \|
+                    *   p3-----p4
+                    */
+
+                    p4 = rowOffset + x;
+                    p3 = p4 - 1;
+
+                    p2 = p4 - numXElements;
+                    p1 = p3 - numXElements;
+
+                    Coord c = new Coord(xBegin + x * xStep, yBegin + y * yStep, zMap[y, x]);
+                    this.coords.Add(c);
+                    if (viewerMode)
+                    {
+                        this.normals.Add(new Coord());
+                        this.uvs.Add(new UVCoord(uStep * x, 1.0f - vStep * y));
+                    }
+
+                    if (y > 0 && x > 0)
+                    {
+                        Face f1, f2;
+
+                        if (viewerMode)
+                        {
+                            f1 = new Face(p1, p4, p3, p1, p4, p3);
+                            f1.uv1 = p1;
+                            f1.uv2 = p4;
+                            f1.uv3 = p3;
+
+                            f2 = new Face(p1, p2, p4, p1, p2, p4);
+                            f2.uv1 = p1;
+                            f2.uv2 = p2;
+                            f2.uv3 = p4;
+                        }
+                        else
+                        {
+                            f1 = new Face(p1, p4, p3);
+                            f2 = new Face(p1, p2, p4);
+                        }
+
+                        this.faces.Add(f1);
+                        this.faces.Add(f2);
+                    }
+                }
+            }
+
+            if (viewerMode)
+                calcVertexNormals(SculptType.plane, numXElements, numYElements);
+        }
+
+#if SYSTEM_DRAWING
+        public SculptMesh(Bitmap sculptBitmap, SculptType sculptType, int lod, bool viewerMode)
+        {
+            _SculptMesh(sculptBitmap, sculptType, lod, viewerMode, false, false);
+        }
+
+        public SculptMesh(Bitmap sculptBitmap, SculptType sculptType, int lod, bool viewerMode, bool mirror, bool invert)
+        {
+            _SculptMesh(sculptBitmap, sculptType, lod, viewerMode, mirror, invert);
+        }
+#endif
+
+        public SculptMesh(List<List<Coord>> rows, SculptType sculptType, bool viewerMode, bool mirror, bool invert)
+        {
+            _SculptMesh(rows, sculptType, viewerMode, mirror, invert);
+        }
+
+#if SYSTEM_DRAWING
+        /// <summary>
+        /// converts a bitmap to a list of lists of coords, while scaling the image.
+        /// the scaling is done in floating point so as to allow for reduced vertex position
+        /// quantization as the position will be averaged between pixel values. this routine will
+        /// likely fail if the bitmap width and height are not powers of 2.
+        /// </summary>
+        /// <param name="bitmap"></param>
+        /// <param name="scale"></param>
+        /// <param name="mirror"></param>
+        /// <returns></returns>
+        private List<List<Coord>> bitmap2Coords(Bitmap bitmap, int scale, bool mirror)
+        {
+            int numRows = bitmap.Height / scale;
+            int numCols = bitmap.Width / scale;
+            List<List<Coord>> rows = new List<List<Coord>>(numRows);
+
+            float pixScale = 1.0f / (scale * scale);
+            pixScale /= 255;
+
+            int imageX, imageY = 0;
+
+            int rowNdx, colNdx;
+
+            for (rowNdx = 0; rowNdx < numRows; rowNdx++)
+            {
+                List<Coord> row = new List<Coord>(numCols);
+                for (colNdx = 0; colNdx < numCols; colNdx++)
+                {
+                    imageX = colNdx * scale;
+                    int imageYStart = rowNdx * scale;
+                    int imageYEnd = imageYStart + scale;
+                    int imageXEnd = imageX + scale;
+                    float rSum = 0.0f;
+                    float gSum = 0.0f;
+                    float bSum = 0.0f;
+                    for (; imageX < imageXEnd; imageX++)
+                    {
+                        for (imageY = imageYStart; imageY < imageYEnd; imageY++)
+                        {
+                            Color c = bitmap.GetPixel(imageX, imageY);
+                            if (c.A != 255)
+                            {
+                                bitmap.SetPixel(imageX, imageY, Color.FromArgb(255, c.R, c.G, c.B));
+                                c = bitmap.GetPixel(imageX, imageY);
+                            }
+                            rSum += c.R;
+                            gSum += c.G;
+                            bSum += c.B;
+                        }
+                    }
+                    if (mirror)
+                        row.Add(new Coord(-(rSum * pixScale - 0.5f), gSum * pixScale - 0.5f, bSum * pixScale - 0.5f));
+                    else
+                        row.Add(new Coord(rSum * pixScale - 0.5f, gSum * pixScale - 0.5f, bSum * pixScale - 0.5f));
+
+                }
+                rows.Add(row);
+            }
+            return rows;
+        }
+
+        private List<List<Coord>> bitmap2CoordsSampled(Bitmap bitmap, int scale, bool mirror)
+        {
+            int numRows = bitmap.Height / scale;
+            int numCols = bitmap.Width / scale;
+            List<List<Coord>> rows = new List<List<Coord>>(numRows);
+
+            float pixScale = 1.0f / 256.0f;
+
+            int imageX, imageY = 0;
+
+            int rowNdx, colNdx;
+
+            for (rowNdx = 0; rowNdx <= numRows; rowNdx++)
+            {
+                List<Coord> row = new List<Coord>(numCols);
+                imageY = rowNdx * scale;
+                if (rowNdx == numRows) imageY--;
+                for (colNdx = 0; colNdx <= numCols; colNdx++)
+                {
+                    imageX = colNdx * scale;
+                    if (colNdx == numCols) imageX--;
+
+                    Color c = bitmap.GetPixel(imageX, imageY);
+                    if (c.A != 255)
+                    {
+                        bitmap.SetPixel(imageX, imageY, Color.FromArgb(255, c.R, c.G, c.B));
+                        c = bitmap.GetPixel(imageX, imageY);
+                    }
+
+                    if (mirror)
+                        row.Add(new Coord(-(c.R * pixScale - 0.5f), c.G * pixScale - 0.5f, c.B * pixScale - 0.5f));
+                    else
+                        row.Add(new Coord(c.R * pixScale - 0.5f, c.G * pixScale - 0.5f, c.B * pixScale - 0.5f));
+
+                }
+                rows.Add(row);
+            }
+            return rows;
+        }
+
+
+        void _SculptMesh(Bitmap sculptBitmap, SculptType sculptType, int lod, bool viewerMode, bool mirror, bool invert)
+        {
+            _SculptMesh(new SculptMap(sculptBitmap, lod).ToRows(mirror), sculptType, viewerMode, mirror, invert);
+        }
+#endif
+
+        void _SculptMesh(List<List<Coord>> rows, SculptType sculptType, bool viewerMode, bool mirror, bool invert)
+        {
+            coords = new List<Coord>();
+            faces = new List<Face>();
+            normals = new List<Coord>();
+            uvs = new List<UVCoord>();
+
+            sculptType = (SculptType)(((int)sculptType) & 0x07);
+
+            if (mirror)
+                invert = !invert;
+
+            viewerFaces = new List<ViewerFace>();
+
+            int width = rows[0].Count;
+
+            int p1, p2, p3, p4;
+
+            int imageX, imageY;
+
+            if (sculptType != SculptType.plane)
+            {
+                if (rows.Count % 2 == 0)
+                {
+                    for (int rowNdx = 0; rowNdx < rows.Count; rowNdx++)
+                        rows[rowNdx].Add(rows[rowNdx][0]);
+                }
+                else
+                {
+                    int lastIndex = rows[0].Count - 1;
+
+                    for (int i = 0; i < rows.Count; i++)
+                        rows[i][0] = rows[i][lastIndex];
+                }
+            }
+
+            Coord topPole = rows[0][width / 2];
+            Coord bottomPole = rows[rows.Count - 1][width / 2];
+
+            if (sculptType == SculptType.sphere)
+            {
+                if (rows.Count % 2 == 0)
+                {
+                    int count = rows[0].Count;
+                    List<Coord> topPoleRow = new List<Coord>(count);
+                    List<Coord> bottomPoleRow = new List<Coord>(count);
+
+                    for (int i = 0; i < count; i++)
+                    {
+                        topPoleRow.Add(topPole);
+                        bottomPoleRow.Add(bottomPole);
+                    }
+                    rows.Insert(0, topPoleRow);
+                    rows.Add(bottomPoleRow);
+                }
+                else
+                {
+                    int count = rows[0].Count;
+
+                    List<Coord> topPoleRow = rows[0];
+                    List<Coord> bottomPoleRow = rows[rows.Count - 1];
+
+                    for (int i = 0; i < count; i++)
+                    {
+                        topPoleRow[i] = topPole;
+                        bottomPoleRow[i] = bottomPole;
+                    }
+                }
+            }
+
+            if (sculptType == SculptType.torus)
+                rows.Add(rows[0]);
+
+            int coordsDown = rows.Count;
+            int coordsAcross = rows[0].Count;
+//            int lastColumn = coordsAcross - 1;
+
+            float widthUnit = 1.0f / (coordsAcross - 1);
+            float heightUnit = 1.0f / (coordsDown - 1);
+
+            for (imageY = 0; imageY < coordsDown; imageY++)
+            {
+                int rowOffset = imageY * coordsAcross;
+
+                for (imageX = 0; imageX < coordsAcross; imageX++)
+                {
+                    /*
+                    *   p1-----p2
+                    *   | \ f2 |
+                    *   |   \  |
+                    *   | f1  \|
+                    *   p3-----p4
+                    */
+
+                    p4 = rowOffset + imageX;
+                    p3 = p4 - 1;
+
+                    p2 = p4 - coordsAcross;
+                    p1 = p3 - coordsAcross;
+
+                    this.coords.Add(rows[imageY][imageX]);
+                    if (viewerMode)
+                    {
+                        this.normals.Add(new Coord());
+                        this.uvs.Add(new UVCoord(widthUnit * imageX, heightUnit * imageY));
+                    }
+
+                    if (imageY > 0 && imageX > 0)
+                    {
+                        Face f1, f2;
+
+                        if (viewerMode)
+                        {
+                            if (invert)
+                            {
+                                f1 = new Face(p1, p4, p3, p1, p4, p3);
+                                f1.uv1 = p1;
+                                f1.uv2 = p4;
+                                f1.uv3 = p3;
+
+                                f2 = new Face(p1, p2, p4, p1, p2, p4);
+                                f2.uv1 = p1;
+                                f2.uv2 = p2;
+                                f2.uv3 = p4;
+                            }
+                            else
+                            {
+                                f1 = new Face(p1, p3, p4, p1, p3, p4);
+                                f1.uv1 = p1;
+                                f1.uv2 = p3;
+                                f1.uv3 = p4;
+
+                                f2 = new Face(p1, p4, p2, p1, p4, p2);
+                                f2.uv1 = p1;
+                                f2.uv2 = p4;
+                                f2.uv3 = p2;
+                            }
+                        }
+                        else
+                        {
+                            if (invert)
+                            {
+                                f1 = new Face(p1, p4, p3);
+                                f2 = new Face(p1, p2, p4);
+                            }
+                            else
+                            {
+                                f1 = new Face(p1, p3, p4);
+                                f2 = new Face(p1, p4, p2);
+                            }
+                        }
+
+                        this.faces.Add(f1);
+                        this.faces.Add(f2);
+                    }
+                }
+            }
+
+            if (viewerMode)
+                calcVertexNormals(sculptType, coordsAcross, coordsDown);
+        }
+
+        /// <summary>
+        /// Duplicates a SculptMesh object. All object properties are copied by value, including lists.
+        /// </summary>
+        /// <returns></returns>
+        public SculptMesh Copy()
+        {
+            return new SculptMesh(this);
+        }
+
+        public SculptMesh(SculptMesh sm)
+        {
+            coords = new List<Coord>(sm.coords);
+            faces = new List<Face>(sm.faces);
+            viewerFaces = new List<ViewerFace>(sm.viewerFaces);
+            normals = new List<Coord>(sm.normals);
+            uvs = new List<UVCoord>(sm.uvs);
+        }
+
+        private void calcVertexNormals(SculptType sculptType, int xSize, int ySize)
+        {  // compute vertex normals by summing all the surface normals of all the triangles sharing
+            // each vertex and then normalizing
+            int numFaces = this.faces.Count;
+            for (int i = 0; i < numFaces; i++)
+            {
+                Face face = this.faces[i];
+                Coord surfaceNormal = face.SurfaceNormal(this.coords);
+                this.normals[face.n1] += surfaceNormal;
+                this.normals[face.n2] += surfaceNormal;
+                this.normals[face.n3] += surfaceNormal;
+            }
+
+            int numNormals = this.normals.Count;
+            for (int i = 0; i < numNormals; i++)
+                this.normals[i] = this.normals[i].Normalize();
+
+            if (sculptType != SculptType.plane)
+            { // blend the vertex normals at the cylinder seam
+                for (int y = 0; y < ySize; y++)
+                {
+                    int rowOffset = y * xSize;
+
+                    this.normals[rowOffset] = this.normals[rowOffset + xSize - 1] = (this.normals[rowOffset] + this.normals[rowOffset + xSize - 1]).Normalize();
+                }
+            }
+
+            foreach (Face face in this.faces)
+            {
+                ViewerFace vf = new ViewerFace(0);
+                vf.v1 = this.coords[face.v1];
+                vf.v2 = this.coords[face.v2];
+                vf.v3 = this.coords[face.v3];
+
+                vf.coordIndex1 = face.v1;
+                vf.coordIndex2 = face.v2;
+                vf.coordIndex3 = face.v3;
+
+                vf.n1 = this.normals[face.n1];
+                vf.n2 = this.normals[face.n2];
+                vf.n3 = this.normals[face.n3];
+
+                vf.uv1 = this.uvs[face.uv1];
+                vf.uv2 = this.uvs[face.uv2];
+                vf.uv3 = this.uvs[face.uv3];
+
+                this.viewerFaces.Add(vf);
+            }
+        }
+
+        /// <summary>
+        /// Adds a value to each XYZ vertex coordinate in the mesh
+        /// </summary>
+        /// <param name="x"></param>
+        /// <param name="y"></param>
+        /// <param name="z"></param>
+        public void AddPos(float x, float y, float z)
+        {
+            int i;
+            int numVerts = this.coords.Count;
+            Coord vert;
+
+            for (i = 0; i < numVerts; i++)
+            {
+                vert = this.coords[i];
+                vert.X += x;
+                vert.Y += y;
+                vert.Z += z;
+                this.coords[i] = vert;
+            }
+
+            if (this.viewerFaces != null)
+            {
+                int numViewerFaces = this.viewerFaces.Count;
+
+                for (i = 0; i < numViewerFaces; i++)
+                {
+                    ViewerFace v = this.viewerFaces[i];
+                    v.AddPos(x, y, z);
+                    this.viewerFaces[i] = v;
+                }
+            }
+        }
+
+        /// <summary>
+        /// Rotates the mesh
+        /// </summary>
+        /// <param name="q"></param>
+        public void AddRot(Quat q)
+        {
+            int i;
+            int numVerts = this.coords.Count;
+
+            for (i = 0; i < numVerts; i++)
+                this.coords[i] *= q;
+
+            int numNormals = this.normals.Count;
+            for (i = 0; i < numNormals; i++)
+                this.normals[i] *= q;
+
+            if (this.viewerFaces != null)
+            {
+                int numViewerFaces = this.viewerFaces.Count;
+
+                for (i = 0; i < numViewerFaces; i++)
+                {
+                    ViewerFace v = this.viewerFaces[i];
+                    v.v1 *= q;
+                    v.v2 *= q;
+                    v.v3 *= q;
+
+                    v.n1 *= q;
+                    v.n2 *= q;
+                    v.n3 *= q;
+
+                    this.viewerFaces[i] = v;
+                }
+            }
+        }
+
+        public void Scale(float x, float y, float z)
+        {
+            int i;
+            int numVerts = this.coords.Count;
+
+            Coord m = new Coord(x, y, z);
+            for (i = 0; i < numVerts; i++)
+                this.coords[i] *= m;
+
+            if (this.viewerFaces != null)
+            {
+                int numViewerFaces = this.viewerFaces.Count;
+                for (i = 0; i < numViewerFaces; i++)
+                {
+                    ViewerFace v = this.viewerFaces[i];
+                    v.v1 *= m;
+                    v.v2 *= m;
+                    v.v3 *= m;
+                    this.viewerFaces[i] = v;
+                }
+            }
+        }
+
+        public void DumpRaw(String path, String name, String title)
+        {
+            if (path == null)
+                return;
+            String fileName = name + "_" + title + ".raw";
+            String completePath = System.IO.Path.Combine(path, fileName);
+            StreamWriter sw = new StreamWriter(completePath);
+
+            for (int i = 0; i < this.faces.Count; i++)
+            {
+                string s = this.coords[this.faces[i].v1].ToString();
+                s += " " + this.coords[this.faces[i].v2].ToString();
+                s += " " + this.coords[this.faces[i].v3].ToString();
+
+                sw.WriteLine(s);
+            }
+
+            sw.Close();
+        }
+    }
+}
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/AssemblyInfo.cs b/OpenSim/Region/Physics/UbitOdePlugin/AssemblyInfo.cs
new file mode 100644
index 0000000..d46341b
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/AssemblyInfo.cs
@@ -0,0 +1,58 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System.Reflection;
+using System.Runtime.InteropServices;
+
+// Information about this assembly is defined by the following
+// attributes.
+//
+// change them to the information which is associated with the assembly
+// you compile.
+
+[assembly : AssemblyTitle("OdePlugin")]
+[assembly : AssemblyDescription("Ubit Variation")]
+[assembly : AssemblyConfiguration("")]
+[assembly : AssemblyCompany("http://opensimulator.org")]
+[assembly : AssemblyProduct("OdePlugin")]
+[assembly : AssemblyCopyright("Copyright (c) OpenSimulator.org Developers 2007-2009")]
+[assembly : AssemblyTrademark("")]
+[assembly : AssemblyCulture("")]
+
+// This sets the default COM visibility of types in the assembly to invisible.
+// If you need to expose a type to COM, use [ComVisible(true)] on that type.
+
+[assembly : ComVisible(false)]
+
+// The assembly version has following format :
+//
+// Major.Minor.Build.Revision
+//
+// You can specify all values by your own or you can build default build and revision
+// numbers with the '*' character (the default):
+
+[assembly : AssemblyVersion("0.6.5.*")]
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
new file mode 100644
index 0000000..9a22331
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
@@ -0,0 +1,1454 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+
+// Revision by Ubit 2011/12
+
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using OpenMetaverse;
+using OdeAPI;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+using log4net;
+
+namespace OpenSim.Region.Physics.OdePlugin
+{
+    /// <summary>
+    /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
+    /// </summary>
+
+    public enum dParam : int
+    {
+        LowStop = 0,
+        HiStop = 1,
+        Vel = 2,
+        FMax = 3,
+        FudgeFactor = 4,
+        Bounce = 5,
+        CFM = 6,
+        StopERP = 7,
+        StopCFM = 8,
+        LoStop2 = 256,
+        HiStop2 = 257,
+        Vel2 = 258,
+        FMax2 = 259,
+        StopERP2 = 7 + 256,
+        StopCFM2 = 8 + 256,
+        LoStop3 = 512,
+        HiStop3 = 513,
+        Vel3 = 514,
+        FMax3 = 515,
+        StopERP3 = 7 + 512,
+        StopCFM3 = 8 + 512
+    }
+ 
+    public class OdeCharacter : PhysicsActor
+    {
+        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+
+        private Vector3 _position;
+        private Vector3 _zeroPosition;
+        private bool _zeroFlag = false;
+        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;
+        public float PID_D = 800.0f;
+        public float PID_P = 900.0f;
+        //private static float POSTURE_SERVO = 10000.0f;
+        public float CAPSULE_RADIUS = 0.37f;
+        public float CAPSULE_LENGTH = 2.140599f;
+        public float walkDivisor = 1.3f;
+        public float runDivisor = 0.8f;
+        private bool flying = false;
+        private bool m_iscolliding = false;
+        private bool m_iscollidingGround = false;
+        private bool m_iscollidingObj = false;
+        private bool m_alwaysRun = false;
+        private int m_requestedUpdateFrequency = 0;
+        public uint m_localID = 0;
+        public bool m_returnCollisions = false;
+        // taints and their non-tainted counterparts
+        public bool m_isPhysical = false; // the current physical status
+        public float MinimumGroundFlightOffset = 3f;
+
+        private float m_buoyancy = 0f;
+
+        // private CollisionLocker ode;
+
+        private string m_name = String.Empty;
+        // other filter control
+        int m_colliderfilter = 0;
+        //        int m_colliderGroundfilter = 0;
+        int m_colliderObjectfilter = 0;
+
+        // Default we're a Character
+        private CollisionCategories m_collisionCategories = (CollisionCategories.Character);
+
+        // Default, Collide with Other Geometries, spaces, bodies and characters.
+        private CollisionCategories m_collisionFlags = (CollisionCategories.Geom
+                                                        | CollisionCategories.Space
+                                                        | CollisionCategories.Body
+                                                        | CollisionCategories.Character
+                                                        );
+        // we do land collisions not ode                                                       | CollisionCategories.Land);
+        public IntPtr Body = IntPtr.Zero;
+        private OdeScene _parent_scene;
+        public IntPtr Shell = IntPtr.Zero;
+        public IntPtr Amotor = IntPtr.Zero;
+        public d.Mass ShellMass;
+//        public bool collidelock = false;
+
+        private bool m_haseventsubscription = false;
+        public int m_eventsubscription = 0;
+        private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
+
+        // unique UUID of this character object
+        public UUID m_uuid;
+        public bool bad = false;
+
+        float mu;
+        float bounce;
+
+        public OdeCharacter(String avName, OdeScene parent_scene, Vector3 pos, Vector3 size, float pid_d, float pid_p, float capsule_radius, float density, float walk_divisor, float rundivisor)
+        {
+            m_uuid = UUID.Random();
+
+            if (pos.IsFinite())
+            {
+                if (pos.Z > 99999f)
+                {
+                    pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
+                }
+                if (pos.Z < -100f) // shouldn't this be 0 ?
+                {
+                    pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
+                }
+                _position = pos;
+            }
+            else
+            {
+                _position = new Vector3(((float)_parent_scene.WorldExtents.X * 0.5f), ((float)_parent_scene.WorldExtents.Y * 0.5f), parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f);
+                m_log.Warn("[PHYSICS]: Got NaN Position on Character Create");
+            }
+
+            _parent_scene = parent_scene;
+
+            PID_D = pid_d;
+            PID_P = pid_p;
+            CAPSULE_RADIUS = capsule_radius;
+            m_density = density;
+            m_mass = 80f; // sure we have a default
+
+            mu = parent_scene.AvatarFriction;
+            bounce = parent_scene.AvatarBounce;
+
+            walkDivisor = walk_divisor;
+            runDivisor = rundivisor;
+
+            CAPSULE_LENGTH = size.Z * 1.15f - CAPSULE_RADIUS * 2.0f;
+            //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
+
+            m_isPhysical = false; // current status: no ODE information exists
+
+            m_name = avName;
+
+            AddChange(changes.Add, null);
+        }
+
+        public override int PhysicsActorType
+        {
+            get { return (int)ActorTypes.Agent; }
+            set { return; }
+        }
+
+        public override void getContactData(ref ContactData cdata)
+        {
+            cdata.mu = mu;
+            cdata.bounce = bounce;
+            cdata.softcolide = false;
+        }
+
+        public override bool Building { get; set; }
+
+        /// <summary>
+        /// If this is set, the avatar will move faster
+        /// </summary>
+        public override bool SetAlwaysRun
+        {
+            get { return m_alwaysRun; }
+            set { m_alwaysRun = value; }
+        }
+
+        public override uint LocalID
+        {
+            set { m_localID = value; }
+        }
+
+        public override bool Grabbed
+        {
+            set { return; }
+        }
+
+        public override bool Selected
+        {
+            set { return; }
+        }
+
+        public override float Buoyancy
+        {
+            get { return m_buoyancy; }
+            set { m_buoyancy = value; }
+        }
+
+        public override bool FloatOnWater
+        {
+            set { return; }
+        }
+
+        public override bool IsPhysical
+        {
+            get { return false; }
+            set { return; }
+        }
+
+        public override bool ThrottleUpdates
+        {
+            get { return false; }
+            set { return; }
+        }
+
+        public override bool Flying
+        {
+            get { return flying; }
+            set
+            {
+                flying = value;
+                //                m_log.DebugFormat("[PHYSICS]: Set OdeCharacter Flying to {0}", flying);
+            }
+        }
+
+        /// <summary>
+        /// Returns if the avatar is colliding in general.
+        /// This includes the ground and objects and avatar.
+        /// </summary>
+        public override bool IsColliding
+        {
+            get { return (m_iscolliding || m_iscollidingGround); }
+            set
+            {
+                if (value)
+                {
+                    m_colliderfilter += 2;
+                    if (m_colliderfilter > 2)
+                        m_colliderfilter = 2;
+                }
+                else
+                {
+                    m_colliderfilter--;
+                    if (m_colliderfilter < 0)
+                        m_colliderfilter = 0;
+                }
+
+                if (m_colliderfilter == 0)
+                    m_iscolliding = false;
+                else
+                {
+//                    SetPidStatus(false);
+                    m_pidControllerActive = true;
+                    m_iscolliding = true;
+                }
+            }
+        }
+
+        /// <summary>
+        /// Returns if an avatar is colliding with the ground
+        /// </summary>
+        public override bool CollidingGround
+        {
+            get { return m_iscollidingGround; }
+            set
+            {
+                /*  we now control this
+                                if (value)
+                                    {
+                                    m_colliderGroundfilter += 2;
+                                    if (m_colliderGroundfilter > 2)
+                                        m_colliderGroundfilter = 2;
+                                    }
+                                else
+                                    {
+                                    m_colliderGroundfilter--;
+                                    if (m_colliderGroundfilter < 0)
+                                        m_colliderGroundfilter = 0;
+                                    }
+
+                                if (m_colliderGroundfilter == 0)
+                                    m_iscollidingGround = false;
+                                else
+                                    m_iscollidingGround = true;
+                 */
+            }
+
+        }
+
+        /// <summary>
+        /// Returns if the avatar is colliding with an object
+        /// </summary>
+        public override bool CollidingObj
+        {
+            get { return m_iscollidingObj; }
+            set
+            {
+                // Ubit filter this also
+                if (value)
+                {
+                    m_colliderObjectfilter += 2;
+                    if (m_colliderObjectfilter > 2)
+                        m_colliderObjectfilter = 2;
+                }
+                else
+                {
+                    m_colliderObjectfilter--;
+                    if (m_colliderObjectfilter < 0)
+                        m_colliderObjectfilter = 0;
+                }
+
+                if (m_colliderObjectfilter == 0)
+                    m_iscollidingObj = false;
+                else
+                    m_iscollidingObj = true;
+
+                //            m_iscollidingObj = value;
+/*
+                if (m_iscollidingObj)
+                    m_pidControllerActive = false;
+                else
+                    m_pidControllerActive = true;
+ */
+            }
+        }
+
+        /// <summary>
+        /// turn the PID controller on or off.
+        /// The PID Controller will turn on all by itself in many situations
+        /// </summary>
+        /// <param name="status"></param>
+        public void SetPidStatus(bool status)
+        {
+            m_pidControllerActive = status;
+        }
+
+        public override bool Stopped
+        {
+            get { return _zeroFlag; }
+        }
+
+        /// <summary>
+        /// This 'puts' an avatar somewhere in the physics space.
+        /// Not really a good choice unless you 'know' it's a good
+        /// spot otherwise you're likely to orbit the avatar.
+        /// </summary>
+        public override Vector3 Position
+        {
+            get { return _position; }
+            set
+            {
+                if (Body == IntPtr.Zero || Shell == IntPtr.Zero)
+                {
+                    if (value.IsFinite())
+                    {
+                        if (value.Z > 9999999f)
+                        {
+                            value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
+                        }
+                        if (value.Z < -100f)
+                        {
+                            value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
+                        }
+                        AddChange(changes.Position, value);
+                    }
+                    else
+                    {
+                        m_log.Warn("[PHYSICS]: Got a NaN Position from Scene on a Character");
+                    }
+                }
+            }
+        }
+
+        public override Vector3 RotationalVelocity
+        {
+            get { return m_rotationalVelocity; }
+            set { m_rotationalVelocity = value; }
+        }
+
+        /// <summary>
+        /// 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 Vector3 Size
+        {
+            get {
+                float d = CAPSULE_RADIUS * 2;
+                return new Vector3(d, d, (CAPSULE_LENGTH +d)/1.15f); }
+            set
+            {
+                if (value.IsFinite())
+                {
+                    AddChange(changes.Size, value);
+                }
+                else
+                {
+                    m_log.Warn("[PHYSICS]: Got a NaN Size from Scene on a Character");
+                }
+            }
+        }
+
+        /// <summary>
+        /// This creates the Avatar's physical Surrogate at the position supplied
+        /// </summary>
+        /// <param name="npositionX"></param>
+        /// <param name="npositionY"></param>
+        /// <param name="npositionZ"></param>
+
+        //
+        /// <summary>
+        /// Uses the capped cyllinder volume formula to calculate the avatar's mass.
+        /// This may be used in calculations in the scene/scenepresence
+        /// </summary>
+        public override float Mass
+        {
+            get
+            {
+                float AVvolume = (float)(Math.PI * CAPSULE_RADIUS * CAPSULE_RADIUS * (1.3333333333f * CAPSULE_RADIUS + CAPSULE_LENGTH));
+                return m_density * AVvolume;
+            }
+        }
+        public override void link(PhysicsActor obj)
+        {
+
+        }
+
+        public override void delink()
+        {
+
+        }
+
+        public override void LockAngularMotion(Vector3 axis)
+        {
+
+        }
+
+
+        public override Vector3 Force
+        {
+            get { return _target_velocity; }
+            set { return; }
+        }
+
+        public override int VehicleType
+        {
+            get { return 0; }
+            set { return; }
+        }
+
+        public override void VehicleFloatParam(int param, float value)
+        {
+
+        }
+
+        public override void VehicleVectorParam(int param, Vector3 value)
+        {
+
+        }
+
+        public override void VehicleRotationParam(int param, Quaternion rotation)
+        {
+
+        }
+
+        public override void VehicleFlags(int param, bool remove)
+        {
+
+        }
+
+        public override void SetVolumeDetect(int param)
+        {
+
+        }
+
+        public override Vector3 CenterOfMass
+        {
+            get
+            {
+                Vector3 pos = _position;
+                return pos;
+            }
+        }
+
+        public override Vector3 GeometricCenter
+        {
+            get
+            {
+                Vector3 pos = _position;
+                return pos;
+            }
+        }
+
+        //UBit mess
+        /* for later use
+                public override Vector3 PrimOOBsize
+                    {
+                    get
+                        {
+                        Vector3 s=Size;
+                        s.X *=0.5f;
+                        s.Y *=0.5f;
+                        s.Z *=0.5f;
+                        return s;
+                        }
+                    }
+ 
+                public override Vector3 PrimOOBoffset
+                    {
+                    get
+                        {
+                        return Vector3.Zero;
+                        }
+                    }
+        */
+
+        public override PrimitiveBaseShape Shape
+        {
+            set { return; }
+        }
+
+        public override Vector3 Velocity
+        {
+            get
+            {
+                return _velocity;
+            }
+            set
+            {
+                if (value.IsFinite())
+                {
+                    AddChange(changes.Velocity, value);
+                }
+                else
+                {
+                    m_log.Warn("[PHYSICS]: Got a NaN velocity from Scene in a Character");
+                }
+            }
+        }
+
+        public override Vector3 Torque
+        {
+            get { return Vector3.Zero; }
+            set { return; }
+        }
+
+        public override float CollisionScore
+        {
+            get { return 0f; }
+            set { }
+        }
+
+        public override bool Kinematic
+        {
+            get { return false; }
+            set { }
+        }
+
+        public override Quaternion Orientation
+        {
+            get { return Quaternion.Identity; }
+            set
+            {
+            }
+        }
+
+        public override Vector3 Acceleration
+        {
+            get { return _acceleration; }
+            set { }
+        }
+
+        public void SetAcceleration(Vector3 accel)
+        {
+            m_pidControllerActive = true;
+            _acceleration = accel;
+        }
+
+        /// <summary>
+        /// Adds the force supplied to the Target Velocity
+        /// The PID controller takes this target velocity and tries to make it a reality
+        /// </summary>
+        /// <param name="force"></param>
+        public override void AddForce(Vector3 force, bool pushforce)
+        {
+            if (force.IsFinite())
+            {
+                if (pushforce)
+                {
+                    AddChange(changes.Force, force * m_density / _parent_scene.ODE_STEPSIZE / 28f);
+                }
+                else
+                {
+                    AddChange(changes.Velocity, force);
+                }
+            }
+            else
+            {
+                m_log.Warn("[PHYSICS]: Got a NaN force applied to a Character");
+            }
+            //m_lastUpdateSent = false;
+        }
+
+        public override void AddAngularForce(Vector3 force, bool pushforce)
+        {
+
+        }
+
+        public override void SetMomentum(Vector3 momentum)
+        {
+        }
+
+
+        // WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
+        // to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only 
+        // place that is safe to call this routine AvatarGeomAndBodyCreation.
+        private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ)
+        {
+            _parent_scene.waitForSpaceUnlock(_parent_scene.ActiveSpace);
+            if (CAPSULE_LENGTH <= 0)
+            {
+                m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid!  Setting it to the smallest possible size!");
+                CAPSULE_LENGTH = 0.01f;
+
+            }
+
+            if (CAPSULE_RADIUS <= 0)
+            {
+                m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid!  Setting it to the smallest possible size!");
+                CAPSULE_RADIUS = 0.01f;
+
+            }
+            Shell = d.CreateCapsule(_parent_scene.ActiveSpace, CAPSULE_RADIUS, CAPSULE_LENGTH);
+
+            d.GeomSetCategoryBits(Shell, (int)m_collisionCategories);
+            d.GeomSetCollideBits(Shell, (int)m_collisionFlags);
+
+            d.MassSetCapsule(out ShellMass, m_density, 3, CAPSULE_RADIUS, CAPSULE_LENGTH);
+
+            m_mass = ShellMass.mass;  // update mass
+
+            // rescale PID parameters 
+            PID_D = _parent_scene.avPIDD;
+            PID_P = _parent_scene.avPIDP;
+
+            // rescale PID parameters so that this aren't affected by mass
+            // and so don't get unstable for some masses
+            // also scale by ode time step so you don't need to refix them
+
+            PID_D /= 50 * 80; //scale to original mass of around 80 and 50 ODE fps
+            PID_D *= m_mass / _parent_scene.ODE_STEPSIZE;
+            PID_P /= 50 * 80;
+            PID_P *= m_mass / _parent_scene.ODE_STEPSIZE;
+
+            Body = d.BodyCreate(_parent_scene.world);
+
+            d.BodySetAutoDisableFlag(Body, false);
+            d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
+
+            _position.X = npositionX;
+            _position.Y = npositionY;
+            _position.Z = npositionZ;
+
+            d.BodySetMass(Body, ref ShellMass);
+            d.GeomSetBody(Shell, Body);
+
+            // The purpose of the AMotor here is to keep the avatar's physical
+            // surrogate from rotating while moving
+            Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
+            d.JointAttach(Amotor, Body, IntPtr.Zero);
+
+            d.JointSetAMotorMode(Amotor, 0);
+            d.JointSetAMotorNumAxes(Amotor, 3);
+            d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
+            d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
+            d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
+
+            d.JointSetAMotorAngle(Amotor, 0, 0);
+            d.JointSetAMotorAngle(Amotor, 1, 0);
+            d.JointSetAMotorAngle(Amotor, 2, 0);
+
+            d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM, 0f); // make it HARD
+            d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM2, 0f);
+            d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM3, 0f);
+            d.JointSetAMotorParam(Amotor, (int)dParam.StopERP, 0.8f);
+            d.JointSetAMotorParam(Amotor, (int)dParam.StopERP2, 0.8f);
+            d.JointSetAMotorParam(Amotor, (int)dParam.StopERP3, 0.8f);
+
+            // These lowstops and high stops are effectively (no wiggle room)
+            d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -1e-5f);
+            d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 1e-5f);
+            d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -1e-5f);
+            d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 1e-5f);
+            d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -1e-5f);
+            d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 1e-5f);
+
+            d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0);
+            d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel2, 0);
+            d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel3, 0);
+
+            d.JointSetAMotorParam(Amotor, (int)dParam.FMax, 5e6f);
+            d.JointSetAMotorParam(Amotor, (int)dParam.FMax2, 5e6f);
+            d.JointSetAMotorParam(Amotor, (int)dParam.FMax3, 5e6f);
+        }
+
+        /// <summary>
+        /// Destroys the avatar body and geom
+
+        private void AvatarGeomAndBodyDestroy()
+        {
+            // Kill the Amotor
+            if (Amotor != IntPtr.Zero)
+            {
+                d.JointDestroy(Amotor);
+                Amotor = IntPtr.Zero;
+            }
+
+            if (Body != IntPtr.Zero)
+            {
+                //kill the body
+                d.BodyDestroy(Body);
+                Body = IntPtr.Zero;
+            }
+
+            //kill the Geometry
+            if (Shell != IntPtr.Zero)
+            {
+                _parent_scene.geom_name_map.Remove(Shell);
+                _parent_scene.waitForSpaceUnlock(_parent_scene.ActiveSpace);
+                d.GeomDestroy(Shell);
+                _parent_scene.geom_name_map.Remove(Shell);
+                Shell = IntPtr.Zero;
+            }
+        }
+
+        /// <summary>
+        /// Called from Simulate
+        /// This is the avatar's movement control + PID Controller
+        /// </summary>
+        /// <param name="timeStep"></param>
+        public void Move(float timeStep, List<OdeCharacter> defects)
+        {
+            //  no lock; for now it's only called from within Simulate()
+
+            // If the PID Controller isn't active then we set our force
+            // calculating base velocity to the current position
+
+            if (Body == IntPtr.Zero)
+                return;
+
+            d.Vector3 dtmp;
+            d.BodyCopyPosition(Body, out dtmp);
+            Vector3 localpos = new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
+
+            // the Amotor still lets avatar rotation to drift during colisions
+            // so force it back to identity
+            
+            d.Quaternion qtmp;
+            qtmp.W = 1;
+            qtmp.X = 0;
+            qtmp.Y = 0;
+            qtmp.Z = 0;
+            d.BodySetQuaternion(Body, ref qtmp);
+
+            if (m_pidControllerActive == false)
+            {
+                _zeroPosition = localpos;
+            }
+            //PidStatus = true;
+
+
+            if (!localpos.IsFinite())
+            {
+
+                m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
+                defects.Add(this);
+                // _parent_scene.RemoveCharacter(this);
+
+                // destroy avatar capsule and related ODE data
+                AvatarGeomAndBodyDestroy();
+
+                return;
+            }
+
+            Vector3 vec = Vector3.Zero;
+            dtmp = d.BodyGetLinearVel(Body);
+            Vector3 vel = new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
+
+            float movementdivisor = 1f;
+            //Ubit change divisions into multiplications below
+            if (!m_alwaysRun)
+            {
+                movementdivisor = 1 / walkDivisor;
+            }
+            else
+            {
+                movementdivisor = 1 / runDivisor;
+            }
+
+            // colide with land
+
+            d.AABB aabb;
+            d.GeomGetAABB(Shell, out aabb);
+            float chrminZ = aabb.MinZ;
+
+            Vector3 posch = localpos;
+
+            float ftmp;
+
+            if (flying)
+            {
+                ftmp = timeStep;
+                posch.X += vel.X * ftmp;
+                posch.Y += vel.Y * ftmp;
+            }
+
+            float terrainheight = _parent_scene.GetTerrainHeightAtXY(posch.X, posch.Y);
+            if (chrminZ < terrainheight)
+            {
+                float depth = terrainheight - chrminZ;
+                if (!flying)
+                {
+                    vec.Z = -vel.Z * PID_D * 1.5f + depth * PID_P * 50;
+                }
+                else
+                    vec.Z = depth * PID_P * 50;
+
+                /*
+                                Vector3 vtmp;
+                                vtmp.X = _target_velocity.X * timeStep;
+                                vtmp.Y = _target_velocity.Y * timeStep;
+                                // fake and avoid squares
+                                float k = (Math.Abs(vtmp.X) + Math.Abs(vtmp.Y));
+                                if (k > 0)
+                                    {
+                                    posch.X += vtmp.X;
+                                    posch.Y += vtmp.Y;
+                                    terrainheight -= _parent_scene.GetTerrainHeightAtXY(posch.X, posch.Y);
+                                    k = 1 + Math.Abs(terrainheight) / k;
+                                    movementdivisor /= k;
+
+                                    if (k < 1)
+                                        k = 1;
+                                    }
+                */
+
+
+                if (depth < 0.1f)
+                {
+                    m_iscolliding = true;
+                    m_colliderfilter = 2;
+                    m_iscollidingGround = true;
+
+                    ContactPoint contact = new ContactPoint();
+                    contact.PenetrationDepth = depth;
+                    contact.Position.X = localpos.X;
+                    contact.Position.Y = localpos.Y;
+                    contact.Position.Z = chrminZ;
+                    contact.SurfaceNormal.X = 0f;
+                    contact.SurfaceNormal.Y = 0f;
+                    contact.SurfaceNormal.Z = -1f;
+                    AddCollisionEvent(0, contact);
+
+                    vec.Z *= 0.5f;
+                }
+
+                else
+                    m_iscollidingGround = false;
+            }
+            else
+                m_iscollidingGround = false;
+
+
+            //  if velocity is zero, use position control; otherwise, velocity control
+            if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f
+                && m_iscolliding)
+            {
+                //  keep track of where we stopped.  No more slippin' & slidin'
+                if (!_zeroFlag)
+                {
+                    _zeroFlag = true;
+                    _zeroPosition = localpos;
+                }
+                if (m_pidControllerActive)
+                {
+                    // We only want to deactivate the PID Controller if we think we want to have our surrogate
+                    // react to the physics scene by moving it's position.
+                    // Avatar to Avatar collisions
+                    // Prim to avatar collisions
+
+                    vec.X = -vel.X * PID_D + (_zeroPosition.X - localpos.X) * (PID_P * 2);
+                    vec.Y = -vel.Y * PID_D + (_zeroPosition.Y - localpos.Y) * (PID_P * 2);
+                    if (flying)
+                    {
+                        vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P;
+                    }
+                }
+                //PidStatus = true;
+            }
+            else
+            {
+                m_pidControllerActive = true;
+                _zeroFlag = false;
+
+                if (m_iscolliding)
+                {
+                    if (!flying)
+                    {
+                        if (_target_velocity.Z > 0.0f)
+                        {
+                            // We're colliding with something and we're not flying but we're moving
+                            // This means we're walking or running. JUMPING
+                            vec.Z += (_target_velocity.Z - vel.Z) * PID_D * 1.2f;// +(_zeroPosition.Z - localpos.Z) * PID_P;
+                        }
+                        // We're standing on something
+                        vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D);
+                        vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D);
+                    }
+                    else
+                    {
+                        // We're flying and colliding with something
+                        vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 0.0625f);
+                        vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 0.0625f);
+                        vec.Z += (_target_velocity.Z - vel.Z) * (PID_D);
+                    }
+                }
+                else // ie not colliding
+                {
+                    if (flying) //(!m_iscolliding && flying)
+                    {
+                        // we're in mid air suspended
+                        vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 1.667f);
+                        vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 1.667f);
+                        vec.Z += (_target_velocity.Z - vel.Z) * (PID_D);
+                    }
+
+                    else
+                    {
+                        // we're not colliding and we're not flying so that means we're falling!
+                        // m_iscolliding includes collisions with the ground.
+
+                        // d.Vector3 pos = d.BodyGetPosition(Body);
+                        vec.X = (_target_velocity.X - vel.X) * PID_D * 0.833f;
+                        vec.Y = (_target_velocity.Y - vel.Y) * PID_D * 0.833f;
+                    }
+                }
+            }
+
+            if (flying)
+            {
+                vec.Z -= _parent_scene.gravityz * m_mass;
+
+                //Added for auto fly height. Kitto Flora
+                float target_altitude = _parent_scene.GetTerrainHeightAtXY(localpos.X, localpos.Y) + MinimumGroundFlightOffset;
+
+                if (localpos.Z < target_altitude)
+                {
+                    vec.Z += (target_altitude - localpos.Z) * PID_P * 5.0f;
+                }
+                // end add Kitto Flora
+            }
+
+            if (vec.IsFinite())
+            {
+                if (vec.X != 0 || vec.Y !=0 || vec.Z !=0)
+                    d.BodyAddForce(Body, vec.X, vec.Y, vec.Z);
+            }
+            else
+            {
+                m_log.Warn("[PHYSICS]: Got a NaN force vector in Move()");
+                m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
+                defects.Add(this);
+                // _parent_scene.RemoveCharacter(this);
+                // destroy avatar capsule and related ODE data
+                AvatarGeomAndBodyDestroy();
+            }
+        }
+
+        /// <summary>
+        /// Updates the reported position and velocity.  This essentially sends the data up to ScenePresence.
+        /// </summary>
+        public void UpdatePositionAndVelocity()
+        {
+            //  no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
+            if (Body == IntPtr.Zero)
+                return;
+
+            d.Vector3 vec;
+            try
+            {
+                d.BodyCopyPosition(Body, out vec);
+            }
+            catch (NullReferenceException)
+            {
+                bad = true;
+                _parent_scene.BadCharacter(this);
+                vec = new d.Vector3(_position.X, _position.Y, _position.Z);
+                base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
+                m_log.WarnFormat("[ODEPLUGIN]: Avatar Null reference for Avatar {0}, physical actor {1}", m_name, m_uuid);
+            }
+
+            _position.X = vec.X;
+            _position.Y = vec.Y;
+            _position.Z = vec.Z;
+
+            bool fixbody = false;
+
+            if (_position.X < 0.0f)
+            {
+                fixbody = true;
+                _position.X = 0.1f;
+            }
+            else if (_position.X > (int)_parent_scene.WorldExtents.X - 0.1f)
+            {
+                fixbody = true;
+                _position.X = (int)_parent_scene.WorldExtents.X - 0.1f;
+            }
+
+            if (_position.Y < 0.0f)
+            {
+                fixbody = true;
+                _position.Y = 0.1f;
+            }
+            else if (_position.Y > (int)_parent_scene.WorldExtents.Y - 0.1)
+            {
+                fixbody = true;
+                _position.Y = (int)_parent_scene.WorldExtents.Y - 0.1f;
+            }
+
+            if (fixbody)
+                d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
+
+            // Did we move last? = zeroflag
+            // This helps keep us from sliding all over
+/*
+            if (_zeroFlag)
+            {
+                _velocity.X = 0.0f;
+                _velocity.Y = 0.0f;
+                _velocity.Z = 0.0f;
+
+                // Did we send out the 'stopped' message?
+                if (!m_lastUpdateSent)
+                {
+                    m_lastUpdateSent = true;
+                    base.RequestPhysicsterseUpdate();
+                }
+            }
+            else
+            {
+                m_lastUpdateSent = false;
+ */
+                try
+                {
+                    vec = d.BodyGetLinearVel(Body);
+                }
+                catch (NullReferenceException)
+                {
+                    vec.X = _velocity.X;
+                    vec.Y = _velocity.Y;
+                    vec.Z = _velocity.Z;
+                }
+                _velocity.X = (vec.X);
+                _velocity.Y = (vec.Y);
+                _velocity.Z = (vec.Z);
+ //           }
+        }
+
+        /// <summary>
+        /// Cleanup the things we use in the scene.
+        /// </summary>
+        public void Destroy()
+        {
+            AddChange(changes.Remove, null);
+        }
+
+        public override void CrossingFailure()
+        {
+        }
+
+        public override Vector3 PIDTarget { set { return; } }
+        public override bool PIDActive { set { return; } }
+        public override float PIDTau { set { return; } }
+
+        public override float PIDHoverHeight { set { return; } }
+        public override bool PIDHoverActive { set { return; } }
+        public override PIDHoverType PIDHoverType { set { return; } }
+        public override float PIDHoverTau { set { return; } }
+
+        public override Quaternion APIDTarget { set { return; } }
+
+        public override bool APIDActive { set { return; } }
+
+        public override float APIDStrength { set { return; } }
+
+        public override float APIDDamping { set { return; } }
+
+
+        public override void SubscribeEvents(int ms)
+        {
+            m_requestedUpdateFrequency = ms;
+            m_eventsubscription = ms;
+            _parent_scene.AddCollisionEventReporting(this);
+            m_haseventsubscription = true;
+        }
+
+        public override void UnSubscribeEvents()
+        {
+            m_haseventsubscription = false;
+            _parent_scene.RemoveCollisionEventReporting(this);
+            m_requestedUpdateFrequency = 0;
+            m_eventsubscription = 0;
+        }
+
+        public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
+        {
+            if (m_haseventsubscription)
+            {
+                //                m_log.DebugFormat(
+                //                    "[PHYSICS]: Adding collision event for {0}, collidedWith {1}, contact {2}", "", CollidedWith, contact);
+
+                CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
+            }
+        }
+
+        public void SendCollisions()
+        {
+            if (m_haseventsubscription && m_eventsubscription > m_requestedUpdateFrequency)
+            {
+                if (CollisionEventsThisFrame != null)
+                {
+                    base.SendCollisionUpdate(CollisionEventsThisFrame);
+                }
+                CollisionEventsThisFrame = new CollisionEventUpdate();
+                m_eventsubscription = 0;
+            }
+        }
+
+        public override bool SubscribedEvents()
+        {
+            return m_haseventsubscription;
+        }
+
+        private void changePhysicsStatus(bool NewStatus)
+        {
+            if (NewStatus != m_isPhysical)
+            {
+                if (NewStatus)
+                {
+                    // Create avatar capsule and related ODE data
+                    if ((Shell != IntPtr.Zero))
+                    {
+                        // a lost shell ?
+                        m_log.Warn("[PHYSICS]: re-creating the following avatar ODE data, even though it already exists - "
+                            + (Shell != IntPtr.Zero ? "Shell " : "")
+                            + (Body != IntPtr.Zero ? "Body " : "")
+                            + (Amotor != IntPtr.Zero ? "Amotor " : ""));
+                        AvatarGeomAndBodyDestroy();
+                    }
+
+                    AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z);
+                    _parent_scene.geom_name_map[Shell] = m_name;
+                    _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
+                    _parent_scene.AddCharacter(this);
+                }
+                else
+                {
+                    _parent_scene.RemoveCharacter(this);
+                    // destroy avatar capsule and related ODE data
+                    AvatarGeomAndBodyDestroy();
+                }
+
+                m_isPhysical = NewStatus;
+            }
+        }
+
+        private void changeAdd()
+        {
+            changePhysicsStatus(true);
+        }
+
+        private void changeRemove()
+        {
+            changePhysicsStatus(false);
+        }
+
+        private void changeShape(PrimitiveBaseShape arg)
+        {
+        }
+
+        private void changeSize(Vector3 Size)
+        {
+            if (Size.IsFinite())
+            {
+                float caplen = Size.Z;
+
+                caplen = caplen * 1.15f - CAPSULE_RADIUS * 2.0f;
+
+                if (caplen != CAPSULE_LENGTH)
+                {
+                    if (Shell != IntPtr.Zero && Body != IntPtr.Zero && Amotor != IntPtr.Zero)
+                    {
+                        AvatarGeomAndBodyDestroy();
+
+                        float prevCapsule = CAPSULE_LENGTH;
+                        CAPSULE_LENGTH = caplen;
+
+                        AvatarGeomAndBodyCreation(_position.X, _position.Y,
+                                          _position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2));
+
+                        Velocity = Vector3.Zero;
+
+                        _parent_scene.geom_name_map[Shell] = m_name;
+                        _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
+                    }
+                    else
+                    {
+                        m_log.Warn("[PHYSICS]: trying to change capsule size, but the following ODE data is missing - "
+                            + (Shell == IntPtr.Zero ? "Shell " : "")
+                            + (Body == IntPtr.Zero ? "Body " : "")
+                            + (Amotor == IntPtr.Zero ? "Amotor " : ""));
+                    }
+                }
+
+                m_pidControllerActive = true;
+            }
+            else
+            {
+                m_log.Warn("[PHYSICS]: Got a NaN Size from Scene on a Character");
+            }
+        }
+
+        private void changePosition( Vector3 newPos)
+            {
+                if (Body != IntPtr.Zero)
+                    d.BodySetPosition(Body, newPos.X, newPos.Y, newPos.Z);
+                _position = newPos;
+            }
+
+        private void changeOrientation(Quaternion newOri)
+        {
+        }
+
+        private void changeVelocity(Vector3 newVel)
+        {
+            m_pidControllerActive = true;
+            _target_velocity = newVel;
+        }
+
+        private void changeSetTorque(Vector3 newTorque)
+        {
+        }                                 
+
+        private void changeAddForce(Vector3 newForce)
+        {
+        }                                 
+
+        private void changeAddAngularForce(Vector3 arg)
+        {
+        }                                 
+
+        private void changeAngularLock(Vector3 arg)
+        {
+        }                                 
+
+        private void changeFloatOnWater(bool arg)
+        {
+        }                                 
+
+        private void changeVolumedetetion(bool arg)
+        {
+        }                                 
+
+        private void changeSelectedStatus(bool arg)
+        {
+        }                                 
+
+        private void changeDisable(bool arg)
+        {
+        }                                 
+
+        private void changeBuilding(bool arg)
+        {
+        }                                 
+
+        private void changeForce(Vector3 newForce)
+        {
+            m_pidControllerActive = false;
+            if (Body != IntPtr.Zero)
+            {
+                if (newForce.X != 0f || newForce.Y != 0f || newForce.Z != 0)
+                    d.BodyAddForce(Body, newForce.X, newForce.Y, newForce.Z);
+            }
+        }
+
+        private void donullchange()
+        {
+        }
+
+        public bool DoAChange(changes what, object arg)
+        {
+            if (Shell == IntPtr.Zero && what != changes.Add && what != changes.Remove)
+            {
+                return false;
+            }
+
+            // nasty switch
+            switch (what)
+            {
+                case changes.Add:
+                    changeAdd();
+                    break;
+                case changes.Remove:
+                    changeRemove();
+                    break;
+
+                case changes.Position:
+                    changePosition((Vector3)arg);
+                    break;
+
+                case changes.Orientation:
+                    changeOrientation((Quaternion)arg);
+                    break;
+
+                case changes.PosOffset:
+                    donullchange();
+                    break;
+
+                case changes.OriOffset:
+                    donullchange();
+                    break;
+
+                case changes.Velocity:
+                    changeVelocity((Vector3)arg);
+                    break;
+
+                //                case changes.Acceleration:
+                //                    changeacceleration((Vector3)arg);
+                //                    break;
+                //                case changes.AngVelocity:
+                //                    changeangvelocity((Vector3)arg);
+                //                    break;
+
+                case changes.Force:
+                    changeForce((Vector3)arg);
+                    break;
+
+                case changes.Torque:
+                    changeSetTorque((Vector3)arg);
+                    break;
+
+                case changes.AddForce:
+                    changeAddForce((Vector3)arg);
+                    break;
+
+                case changes.AddAngForce:
+                    changeAddAngularForce((Vector3)arg);
+                    break;
+
+                case changes.AngLock:
+                    changeAngularLock((Vector3)arg);
+                    break;
+
+                case changes.Size:
+                    changeSize((Vector3)arg);
+                    break;
+/* not in use for now
+                case changes.Shape:
+                    changeShape((PrimitiveBaseShape)arg);
+                    break;
+
+                case changes.CollidesWater:
+                    changeFloatOnWater((bool)arg);
+                    break;
+
+                case changes.VolumeDtc:
+                    changeVolumedetetion((bool)arg);
+                    break;
+
+                case changes.Physical:
+                    changePhysicsStatus((bool)arg);
+                    break;
+
+                case changes.Selected:
+                    changeSelectedStatus((bool)arg);
+                    break;
+
+                case changes.disabled:
+                    changeDisable((bool)arg);
+                    break;
+
+                case changes.building:
+                    changeBuilding((bool)arg);
+                    break;
+*/
+                case changes.Null:
+                    donullchange();
+                    break;
+
+                default:
+                    donullchange();
+                    break;
+            }
+            return false;
+        }
+
+        public void AddChange(changes what, object arg)
+        {
+            _parent_scene.AddChange((PhysicsActor)this, what, arg);
+        }
+
+
+        internal void AddCollisionFrameTime(int p)
+        {
+            // protect it from overflow crashing
+            if (m_eventsubscription + p >= int.MaxValue)
+                m_eventsubscription = 0;
+            m_eventsubscription += p;
+        }
+    }
+}
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
new file mode 100644
index 0000000..d0b4546
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
@@ -0,0 +1,993 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/* Revised 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.
+ */
+
+// Extensive change Ubit 2012
+
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using System.Runtime.InteropServices;
+using log4net;
+using OpenMetaverse;
+using OdeAPI;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+
+namespace OpenSim.Region.Physics.OdePlugin
+{
+    public class ODEDynamics
+    {
+        public Vehicle Type
+        {
+            get { return m_type; }
+        }
+
+        private OdePrim rootPrim;
+        private OdeScene _pParentScene;
+
+        // Vehicle properties
+        private Quaternion m_referenceFrame = Quaternion.Identity;      // Axis modifier
+        private Quaternion m_RollreferenceFrame = Quaternion.Identity;  // what hell is this ?
+
+        private Vehicle m_type = Vehicle.TYPE_NONE;                     // If a 'VEHICLE', and what kind
+
+        private VehicleFlag m_flags = (VehicleFlag) 0;                  // Boolean settings:
+                                                                        // HOVER_TERRAIN_ONLY
+                                                                        // HOVER_GLOBAL_HEIGHT
+                                                                        // NO_DEFLECTION_UP
+                                                                        // HOVER_WATER_ONLY
+                                                                        // HOVER_UP_ONLY
+                                                                        // LIMIT_MOTOR_UP
+                                                                        // LIMIT_ROLL_ONLY
+        private Vector3 m_BlockingEndPoint = Vector3.Zero;              // not sl
+
+        // Linear properties
+        private Vector3 m_linearMotorDirection = Vector3.Zero;          // velocity requested by LSL, decayed by time
+        private Vector3 m_linearFrictionTimescale = new Vector3(1000, 1000, 1000);
+        private float m_linearMotorDecayTimescale = 120;
+        private float m_linearMotorTimescale = 1000;
+        private Vector3 m_linearMotorOffset = Vector3.Zero;
+
+        //Angular properties
+        private Vector3 m_angularMotorDirection = Vector3.Zero;         // angular velocity requested by LSL motor
+        private float m_angularMotorTimescale = 1000;                      // motor angular velocity ramp up rate
+        private float m_angularMotorDecayTimescale = 120;                 // motor angular velocity decay rate
+        private Vector3 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);      // body angular velocity  decay rate
+
+        //Deflection properties
+        private float m_angularDeflectionEfficiency = 0;
+        private float m_angularDeflectionTimescale = 1000;
+        private float m_linearDeflectionEfficiency = 0;
+        private float m_linearDeflectionTimescale = 1000;
+
+        //Banking properties
+        private float m_bankingEfficiency = 0;
+        private float m_bankingMix = 0;
+        private float m_bankingTimescale = 1000;
+
+        //Hover and Buoyancy properties
+        private float m_VhoverHeight = 0f;
+        private float m_VhoverEfficiency = 0f;
+        private float m_VhoverTimescale = 1000f;
+        private float m_VehicleBuoyancy = 0f;           //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle.
+                    // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
+                    // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
+                    // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
+
+        //Attractor properties
+        private float m_verticalAttractionEfficiency = 1.0f;        // damped
+        private float m_verticalAttractionTimescale = 1000f;        // Timescale > 300  means no vert attractor.
+
+
+        // auxiliar
+        private float m_lmEfect = 0;                                            // current linear motor eficiency
+        private float m_amEfect = 0;                                            // current angular motor eficiency
+        private float m_ffactor = 1.0f;
+
+        public float FrictionFactor
+        {
+            get
+            {
+                return m_ffactor;
+            }
+        }
+
+        public ODEDynamics(OdePrim rootp)
+        {
+            rootPrim = rootp;
+            _pParentScene = rootPrim._parent_scene;
+        }
+
+        public void DoSetVehicle(VehicleData vd)
+        {
+
+            float timestep = _pParentScene.ODE_STEPSIZE;
+            float invtimestep = 1.0f / timestep;
+
+            m_type = vd.m_type;
+            m_flags = vd.m_flags;
+
+            // Linear properties
+            m_linearMotorDirection = vd.m_linearMotorDirection;
+
+            m_linearFrictionTimescale = vd.m_linearFrictionTimescale;
+            if (m_linearFrictionTimescale.X < timestep) m_linearFrictionTimescale.X = timestep;
+            if (m_linearFrictionTimescale.Y < timestep) m_linearFrictionTimescale.Y = timestep;
+            if (m_linearFrictionTimescale.Z < timestep) m_linearFrictionTimescale.Z = timestep;
+
+            m_linearMotorDecayTimescale = vd.m_linearMotorDecayTimescale;
+            if (m_linearMotorDecayTimescale < 0.5f) m_linearMotorDecayTimescale = 0.5f;
+            m_linearMotorDecayTimescale *= invtimestep;
+
+            m_linearMotorTimescale = vd.m_linearMotorTimescale;
+            if (m_linearMotorTimescale < timestep) m_linearMotorTimescale = timestep;
+
+
+            m_linearMotorOffset = vd.m_linearMotorOffset;
+
+            //Angular properties
+            m_angularMotorDirection = vd.m_angularMotorDirection;
+            m_angularMotorTimescale = vd.m_angularMotorTimescale;
+            if (m_angularMotorTimescale < timestep) m_angularMotorTimescale = timestep;
+
+            m_angularMotorDecayTimescale = vd.m_angularMotorDecayTimescale;
+            if (m_angularMotorDecayTimescale < 0.5f) m_angularMotorDecayTimescale = 0.5f;
+            m_angularMotorDecayTimescale *= invtimestep;
+
+            m_angularFrictionTimescale = vd.m_angularFrictionTimescale;
+            if (m_angularFrictionTimescale.X < timestep) m_angularFrictionTimescale.X = timestep;
+            if (m_angularFrictionTimescale.Y < timestep) m_angularFrictionTimescale.Y = timestep;
+            if (m_angularFrictionTimescale.Z < timestep) m_angularFrictionTimescale.Z = timestep;
+
+            //Deflection properties
+            m_angularDeflectionEfficiency = vd.m_angularDeflectionEfficiency;
+            m_angularDeflectionTimescale = vd.m_angularDeflectionTimescale;
+            if (m_angularDeflectionTimescale < timestep) m_angularDeflectionTimescale = timestep;
+
+            m_linearDeflectionEfficiency = vd.m_linearDeflectionEfficiency;
+            m_linearDeflectionTimescale = vd.m_linearDeflectionTimescale;
+            if (m_linearDeflectionTimescale < timestep) m_linearDeflectionTimescale = timestep;
+
+            //Banking properties
+            m_bankingEfficiency = vd.m_bankingEfficiency;
+            m_bankingMix = vd.m_bankingMix;
+            m_bankingTimescale = vd.m_bankingTimescale;
+            if (m_bankingTimescale < timestep) m_bankingTimescale = timestep;
+
+            //Hover and Buoyancy properties
+            m_VhoverHeight = vd.m_VhoverHeight;
+            m_VhoverEfficiency = vd.m_VhoverEfficiency;
+            m_VhoverTimescale = vd.m_VhoverTimescale;
+            if (m_VhoverTimescale < timestep) m_VhoverTimescale = timestep;
+
+            m_VehicleBuoyancy = vd.m_VehicleBuoyancy;
+
+            //Attractor properties
+            m_verticalAttractionEfficiency = vd.m_verticalAttractionEfficiency;
+            m_verticalAttractionTimescale = vd.m_verticalAttractionTimescale;
+            if (m_verticalAttractionTimescale < timestep) m_verticalAttractionTimescale = timestep;
+
+            // Axis
+            m_referenceFrame = vd.m_referenceFrame;
+
+            m_lmEfect = 0;
+            m_amEfect = 0;
+            m_ffactor = 1.0f;
+        }
+
+        internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
+        {
+            float len;
+            float invtimestep = 1.0f / _pParentScene.ODE_STEPSIZE;
+            float timestep = _pParentScene.ODE_STEPSIZE;
+
+            switch (pParam)
+            {
+                case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
+                    if (pValue < 0f) pValue = 0f;
+                    if (pValue > 1f) pValue = 1f;
+                    m_angularDeflectionEfficiency = pValue;
+                    break;
+                case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
+                    if (pValue < timestep) pValue = timestep;
+                    m_angularDeflectionTimescale = pValue;
+                    break;
+                case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
+                    //                    if (pValue < timestep) pValue = timestep;
+                    // try to make impulses to work a bit better
+                    if (pValue < 0.5f) pValue = 0.5f;
+                    else if (pValue > 120) pValue = 120;
+                    m_angularMotorDecayTimescale = pValue * invtimestep;
+                    break;
+                case Vehicle.ANGULAR_MOTOR_TIMESCALE:
+                    if (pValue < timestep) pValue = timestep;
+                    m_angularMotorTimescale = pValue;
+                    break;
+                case Vehicle.BANKING_EFFICIENCY:
+                    if (pValue < -1f) pValue = -1f;
+                    if (pValue > 1f) pValue = 1f;
+                    m_bankingEfficiency = pValue;
+                    break;
+                case Vehicle.BANKING_MIX:
+                    if (pValue < 0f) pValue = 0f;
+                    if (pValue > 1f) pValue = 1f;
+                    m_bankingMix = pValue;
+                    break;
+                case Vehicle.BANKING_TIMESCALE:
+                    if (pValue < timestep) pValue = timestep;
+                    m_bankingTimescale = pValue;
+                    break;
+                case Vehicle.BUOYANCY:
+                    if (pValue < -1f) pValue = -1f;
+                    if (pValue > 1f) pValue = 1f;
+                    m_VehicleBuoyancy = pValue;
+                    break;
+                case Vehicle.HOVER_EFFICIENCY:
+                    if (pValue < 0f) pValue = 0f;
+                    if (pValue > 1f) pValue = 1f;
+                    m_VhoverEfficiency = pValue;
+                    break;
+                case Vehicle.HOVER_HEIGHT:
+                    m_VhoverHeight = pValue;
+                    break;
+                case Vehicle.HOVER_TIMESCALE:
+                    if (pValue < timestep) pValue = timestep;
+                    m_VhoverTimescale = pValue;
+                    break;
+                case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
+                    if (pValue < 0f) pValue = 0f;
+                    if (pValue > 1f) pValue = 1f;
+                    m_linearDeflectionEfficiency = pValue;
+                    break;
+                case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
+                    if (pValue < timestep) pValue = timestep;
+                    m_linearDeflectionTimescale = pValue;
+                    break;
+                case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
+                    //                    if (pValue < timestep) pValue = timestep;
+                    // try to make impulses to work a bit better
+                    if (pValue < 0.5f) pValue = 0.5f;
+                    else if (pValue > 120) pValue = 120;
+                    m_linearMotorDecayTimescale = pValue * invtimestep;
+                    break;
+                case Vehicle.LINEAR_MOTOR_TIMESCALE:
+                    if (pValue < timestep) pValue = timestep;
+                    m_linearMotorTimescale = pValue;
+                    break;
+                case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
+                    if (pValue < 0f) pValue = 0f;
+                    if (pValue > 1f) pValue = 1f;
+                    m_verticalAttractionEfficiency = pValue;
+                    break;
+                case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
+                    if (pValue < timestep) pValue = timestep;
+                    m_verticalAttractionTimescale = pValue;
+                    break;
+
+                // These are vector properties but the engine lets you use a single float value to
+                // set all of the components to the same value
+                case Vehicle.ANGULAR_FRICTION_TIMESCALE:
+                    if (pValue < timestep) pValue = timestep;
+                    m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
+                    break;
+                case Vehicle.ANGULAR_MOTOR_DIRECTION:
+                    m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
+                    len = m_angularMotorDirection.Length();
+                    if (len > 12.566f)
+                        m_angularMotorDirection *= (12.566f / len);
+                    m_amEfect = 1.0f; // turn it on
+                    if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
+                            && !rootPrim.m_isSelected && !rootPrim.m_disabled)
+                        d.BodyEnable(rootPrim.Body);
+                    break;
+                case Vehicle.LINEAR_FRICTION_TIMESCALE:
+                    if (pValue < timestep) pValue = timestep;
+                    m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
+                    break;
+                case Vehicle.LINEAR_MOTOR_DIRECTION:
+                    m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
+                    len = m_linearMotorDirection.Length();
+                    if (len > 30.0f)
+                        m_linearMotorDirection *= (30.0f / len);
+                    m_lmEfect = 1.0f; // turn it on
+                    m_ffactor = 0.01f;
+                    if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
+                            && !rootPrim.m_isSelected && !rootPrim.m_disabled)
+                        d.BodyEnable(rootPrim.Body);
+                    break;
+                case Vehicle.LINEAR_MOTOR_OFFSET:
+                    m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
+                    len = m_linearMotorOffset.Length();
+                    if (len > 100.0f)
+                        m_linearMotorOffset *= (100.0f / len);
+                    break;
+            }
+        }//end ProcessFloatVehicleParam
+
+        internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
+        {
+            float len;
+            float invtimestep = 1.0f / _pParentScene.ODE_STEPSIZE;
+            float timestep = _pParentScene.ODE_STEPSIZE;
+            switch (pParam)
+            {
+                case Vehicle.ANGULAR_FRICTION_TIMESCALE:
+                    if (pValue.X < timestep) pValue.X = timestep;
+                    if (pValue.Y < timestep) pValue.Y = timestep;
+                    if (pValue.Z < timestep) pValue.Z = timestep;
+
+                    m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    break;
+                case Vehicle.ANGULAR_MOTOR_DIRECTION:
+                    m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    // Limit requested angular speed to 2 rps= 4 pi rads/sec
+                    len = m_angularMotorDirection.Length();
+                    if (len > 12.566f)
+                        m_angularMotorDirection *= (12.566f / len);
+                    m_amEfect = 1.0f; // turn it on
+                    if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
+                            && !rootPrim.m_isSelected && !rootPrim.m_disabled)
+                        d.BodyEnable(rootPrim.Body);
+                    break;
+                case Vehicle.LINEAR_FRICTION_TIMESCALE:
+                    if (pValue.X < timestep) pValue.X = timestep;
+                    if (pValue.Y < timestep) pValue.Y = timestep;
+                    if (pValue.Z < timestep) pValue.Z = timestep;
+                    m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    break;
+                case Vehicle.LINEAR_MOTOR_DIRECTION:
+                    m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    len = m_linearMotorDirection.Length();
+                    if (len > 30.0f)
+                        m_linearMotorDirection *= (30.0f / len);
+                    m_lmEfect = 1.0f; // turn it on
+                    m_ffactor = 0.01f;
+                    if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
+                            && !rootPrim.m_isSelected && !rootPrim.m_disabled)
+                        d.BodyEnable(rootPrim.Body);
+                    break;
+                case Vehicle.LINEAR_MOTOR_OFFSET:
+                    m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    len = m_linearMotorOffset.Length();
+                    if (len > 100.0f)
+                        m_linearMotorOffset *= (100.0f / len);
+                    break;
+                case Vehicle.BLOCK_EXIT:
+                    m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    break;
+            }
+        }//end ProcessVectorVehicleParam
+
+        internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
+        {
+            switch (pParam)
+            {
+                case Vehicle.REFERENCE_FRAME:
+                    m_referenceFrame = Quaternion.Inverse(pValue);
+                    break;
+                case Vehicle.ROLL_FRAME:
+                    m_RollreferenceFrame = pValue;
+                    break;
+            }
+        }//end ProcessRotationVehicleParam
+
+        internal void ProcessVehicleFlags(int pParam, bool remove)
+        {
+            if (remove)
+            {
+                m_flags &= ~((VehicleFlag)pParam);
+            }
+            else
+            {
+                m_flags |= (VehicleFlag)pParam;
+            }
+        }//end ProcessVehicleFlags
+
+        internal void ProcessTypeChange(Vehicle pType)
+        {
+            float invtimestep = _pParentScene.ODE_STEPSIZE;
+            m_lmEfect = 0;
+            m_amEfect = 0;
+            m_ffactor = 1f;
+
+            m_linearMotorDirection = Vector3.Zero;
+            m_angularMotorDirection = Vector3.Zero;
+
+            m_BlockingEndPoint = Vector3.Zero;
+            m_RollreferenceFrame = Quaternion.Identity;
+            m_linearMotorOffset = Vector3.Zero;
+
+            m_referenceFrame = Quaternion.Identity;
+
+            // Set Defaults For Type
+            m_type = pType;
+            switch (pType)
+            {
+                case Vehicle.TYPE_NONE:
+                    m_linearFrictionTimescale = new Vector3(1000, 1000, 1000);
+                    m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
+                    m_linearMotorTimescale = 1000;
+                    m_linearMotorDecayTimescale = 120;
+                    m_angularMotorTimescale = 1000;
+                    m_angularMotorDecayTimescale = 1000;
+                    m_VhoverHeight = 0;
+                    m_VhoverEfficiency = 1;
+                    m_VhoverTimescale = 1000;
+                    m_VehicleBuoyancy = 0;
+                    m_linearDeflectionEfficiency = 0;
+                    m_linearDeflectionTimescale = 1000;
+                    m_angularDeflectionEfficiency = 0;
+                    m_angularDeflectionTimescale = 1000;
+                    m_bankingEfficiency = 0;
+                    m_bankingMix = 1;
+                    m_bankingTimescale = 1000;
+                    m_verticalAttractionEfficiency = 0;
+                    m_verticalAttractionTimescale = 1000;
+
+                    m_flags = (VehicleFlag)0;
+                    break;
+
+                case Vehicle.TYPE_SLED:
+                    m_linearFrictionTimescale = new Vector3(30, 1, 1000);
+                    m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
+                    m_linearMotorTimescale = 1000;
+                    m_linearMotorDecayTimescale = 120 * invtimestep;
+                    m_angularMotorTimescale = 1000;
+                    m_angularMotorDecayTimescale = 120 * invtimestep;
+                    m_VhoverHeight = 0;
+                    m_VhoverEfficiency = 1;
+                    m_VhoverTimescale = 10;
+                    m_VehicleBuoyancy = 0;
+                    m_linearDeflectionEfficiency = 1;
+                    m_linearDeflectionTimescale = 1;
+                    m_angularDeflectionEfficiency = 0;
+                    m_angularDeflectionTimescale = 1000;
+                    m_bankingEfficiency = 0;
+                    m_bankingMix = 1;
+                    m_bankingTimescale = 10;
+                    m_flags &=
+                         ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
+                           VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
+                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
+                    break;
+                case Vehicle.TYPE_CAR:
+                    m_linearFrictionTimescale = new Vector3(100, 2, 1000);
+                    m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
+                    m_linearMotorTimescale = 1;
+                    m_linearMotorDecayTimescale = 60 * invtimestep;
+                    m_angularMotorTimescale = 1;
+                    m_angularMotorDecayTimescale = 0.8f * invtimestep;
+                    m_VhoverHeight = 0;
+                    m_VhoverEfficiency = 0;
+                    m_VhoverTimescale = 1000;
+                    m_VehicleBuoyancy = 0;
+                    m_linearDeflectionEfficiency = 1;
+                    m_linearDeflectionTimescale = 2;
+                    m_angularDeflectionEfficiency = 0;
+                    m_angularDeflectionTimescale = 10;
+                    m_verticalAttractionEfficiency = 1f;
+                    m_verticalAttractionTimescale = 10f;
+                    m_bankingEfficiency = -0.2f;
+                    m_bankingMix = 1;
+                    m_bankingTimescale = 1;
+                    m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
+                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY |
+                                VehicleFlag.LIMIT_MOTOR_UP | VehicleFlag.HOVER_UP_ONLY);
+                    break;
+                case Vehicle.TYPE_BOAT:
+                    m_linearFrictionTimescale = new Vector3(10, 3, 2);
+                    m_angularFrictionTimescale = new Vector3(10, 10, 10);
+                    m_linearMotorTimescale = 5;
+                    m_linearMotorDecayTimescale = 60 * invtimestep;
+                    m_angularMotorTimescale = 4;
+                    m_angularMotorDecayTimescale = 4 * invtimestep;
+                    m_VhoverHeight = 0;
+                    m_VhoverEfficiency = 0.5f;
+                    m_VhoverTimescale = 2;
+                    m_VehicleBuoyancy = 1;
+                    m_linearDeflectionEfficiency = 0.5f;
+                    m_linearDeflectionTimescale = 3;
+                    m_angularDeflectionEfficiency = 0.5f;
+                    m_angularDeflectionTimescale = 5;
+                    m_verticalAttractionEfficiency = 0.5f;
+                    m_verticalAttractionTimescale = 5f;
+                    m_bankingEfficiency = -0.3f;
+                    m_bankingMix = 0.8f;
+                    m_bankingTimescale = 1;
+                    m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY |
+                            VehicleFlag.HOVER_GLOBAL_HEIGHT |
+                            VehicleFlag.HOVER_UP_ONLY |
+                            VehicleFlag.LIMIT_ROLL_ONLY);
+                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
+                                VehicleFlag.LIMIT_MOTOR_UP |
+                                VehicleFlag.HOVER_WATER_ONLY);
+                    break;
+                case Vehicle.TYPE_AIRPLANE:
+                    m_linearFrictionTimescale = new Vector3(200, 10, 5);
+                    m_angularFrictionTimescale = new Vector3(20, 20, 20);
+                    m_linearMotorTimescale = 2;
+                    m_linearMotorDecayTimescale = 60 * invtimestep;
+                    m_angularMotorTimescale = 4;
+                    m_angularMotorDecayTimescale = 8 * invtimestep;
+                    m_VhoverHeight = 0;
+                    m_VhoverEfficiency = 0.5f;
+                    m_VhoverTimescale = 1000;
+                    m_VehicleBuoyancy = 0;
+                    m_linearDeflectionEfficiency = 0.5f;
+                    m_linearDeflectionTimescale = 0.5f;
+                    m_angularDeflectionEfficiency = 1;
+                    m_angularDeflectionTimescale = 2;
+                    m_verticalAttractionEfficiency = 0.9f;
+                    m_verticalAttractionTimescale = 2f;
+                    m_bankingEfficiency = 1;
+                    m_bankingMix = 0.7f;
+                    m_bankingTimescale = 2;
+                    m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY |
+                        VehicleFlag.HOVER_TERRAIN_ONLY |
+                        VehicleFlag.HOVER_GLOBAL_HEIGHT |
+                        VehicleFlag.HOVER_UP_ONLY |
+                        VehicleFlag.NO_DEFLECTION_UP |
+                        VehicleFlag.LIMIT_MOTOR_UP);
+                    m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
+                    break;
+                case Vehicle.TYPE_BALLOON:
+                    m_linearFrictionTimescale = new Vector3(5, 5, 5);
+                    m_angularFrictionTimescale = new Vector3(10, 10, 10);
+                    m_linearMotorTimescale = 5;
+                    m_linearMotorDecayTimescale = 60 * invtimestep;
+                    m_angularMotorTimescale = 6;
+                    m_angularMotorDecayTimescale = 10 * invtimestep;
+                    m_VhoverHeight = 5;
+                    m_VhoverEfficiency = 0.8f;
+                    m_VhoverTimescale = 10;
+                    m_VehicleBuoyancy = 1;
+                    m_linearDeflectionEfficiency = 0;
+                    m_linearDeflectionTimescale = 5 * invtimestep;
+                    m_angularDeflectionEfficiency = 0;
+                    m_angularDeflectionTimescale = 5;
+                    m_verticalAttractionEfficiency = 0f;
+                    m_verticalAttractionTimescale = 1000f;
+                    m_bankingEfficiency = 0;
+                    m_bankingMix = 0.7f;
+                    m_bankingTimescale = 5;
+                    m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY |
+                        VehicleFlag.HOVER_TERRAIN_ONLY |
+                        VehicleFlag.HOVER_UP_ONLY |
+                        VehicleFlag.NO_DEFLECTION_UP |
+                        VehicleFlag.LIMIT_MOTOR_UP);
+                    m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY |
+                        VehicleFlag.HOVER_GLOBAL_HEIGHT);
+                    break;
+            }
+
+        }//end SetDefaultsForType
+
+        internal void Stop()
+        {
+            m_lmEfect = 0;
+            m_amEfect = 0;
+            m_ffactor = 1f;
+        }
+
+        public static Vector3 Xrot(Quaternion rot)
+        {
+            Vector3 vec;
+            rot.Normalize(); // just in case
+            vec.X = 2 * (rot.X * rot.X + rot.W * rot.W) - 1;
+            vec.Y = 2 * (rot.X * rot.Y + rot.Z * rot.W);
+            vec.Z = 2 * (rot.X * rot.Z - rot.Y * rot.W);
+            return vec;
+        }
+
+        public static Vector3 Zrot(Quaternion rot)
+        {
+            Vector3 vec;
+            rot.Normalize(); // just in case
+            vec.X = 2 * (rot.X * rot.Z + rot.Y * rot.W);
+            vec.Y = 2 * (rot.Y * rot.Z - rot.X * rot.W);
+            vec.Z = 2 * (rot.Z * rot.Z + rot.W * rot.W) - 1;
+
+            return vec;
+        }
+
+        private const float pi = (float)Math.PI;
+        private const float halfpi = 0.5f * (float)Math.PI;
+
+        public static Vector3 ubitRot2Euler(Quaternion rot)
+        {
+            // returns roll in X
+            //         pitch in Y
+            //         yaw in Z
+            Vector3 vec;
+
+            // assuming rot is normalised
+            // rot.Normalize();
+
+            float zX = rot.X * rot.Z + rot.Y * rot.W;
+
+            if (zX < -0.49999f)
+            {
+                vec.X = 0;
+                vec.Y = -halfpi;
+                vec.Z = (float)(-2d * Math.Atan(rot.X / rot.W));
+            }
+            else if (zX > 0.49999f)
+            {
+                vec.X = 0;
+                vec.Y = halfpi;
+                vec.Z = (float)(2d * Math.Atan(rot.X / rot.W));
+            }
+            else
+            {
+                vec.Y = (float)Math.Asin(2 * zX);
+
+                float sqw = rot.W * rot.W;
+
+                float minuszY = rot.X * rot.W - rot.Y * rot.Z;
+                float zZ = rot.Z * rot.Z + sqw - 0.5f;
+
+                vec.X = (float)Math.Atan2(minuszY, zZ);
+
+                float yX = rot.Z * rot.W - rot.X * rot.Y; //( have negative ?)
+                float yY = rot.X * rot.X + sqw - 0.5f;
+                vec.Z = (float)Math.Atan2(yX, yY);
+            }
+            return vec;
+        }
+
+        public static void GetRollPitch(Quaternion rot, out float roll, out float pitch)
+        {
+            // assuming rot is normalised
+            // rot.Normalize();
+
+            float zX = rot.X * rot.Z + rot.Y * rot.W;
+
+            if (zX < -0.49999f)
+            {
+                roll = 0;
+                pitch = -halfpi;
+            }
+            else if (zX > 0.49999f)
+            {
+                roll = 0;
+                pitch = halfpi;
+            }
+            else
+            {
+                pitch = (float)Math.Asin(2 * zX);
+
+                float minuszY = rot.X * rot.W - rot.Y * rot.Z;
+                float zZ = rot.Z * rot.Z + rot.W * rot.W - 0.5f;
+
+                roll = (float)Math.Atan2(minuszY, zZ);
+            }
+            return ;
+        }        
+        
+        internal void Step()//float pTimestep)
+        {
+            IntPtr Body = rootPrim.Body;
+
+            d.Quaternion rot = d.BodyGetQuaternion(Body);
+            Quaternion objrotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);    // rotq = rotation of object
+            Quaternion rotq = objrotq;    // rotq = rotation of object
+            rotq *= m_referenceFrame; // rotq is now rotation in vehicle reference frame
+            Quaternion irotq = Quaternion.Inverse(rotq);
+
+            d.Vector3 dvtmp;
+            Vector3 tmpV;
+            Vector3 curVel; // velocity in world
+            Vector3 curAngVel; // angular velocity in world
+            Vector3 force = Vector3.Zero; // actually linear aceleration until mult by mass in world frame
+            Vector3 torque = Vector3.Zero;// actually angular aceleration until mult by Inertia in vehicle frame
+            d.Vector3 dtorque = new d.Vector3();
+
+            dvtmp = d.BodyGetLinearVel(Body);
+            curVel.X = dvtmp.X;
+            curVel.Y = dvtmp.Y;
+            curVel.Z = dvtmp.Z;
+            Vector3 curLocalVel = curVel * irotq; // current velocity in  local
+
+            dvtmp = d.BodyGetAngularVel(Body);
+            curAngVel.X = dvtmp.X;
+            curAngVel.Y = dvtmp.Y;
+            curAngVel.Z = dvtmp.Z;
+            Vector3 curLocalAngVel = curAngVel * irotq; // current angular velocity in  local
+
+            // linear motor
+            if (m_lmEfect > 0.01 && m_linearMotorTimescale < 1000)
+            {
+                tmpV = m_linearMotorDirection - curLocalVel; // velocity error
+                tmpV *= m_lmEfect / m_linearMotorTimescale; // error to correct in this timestep
+                tmpV *= rotq; // to world
+
+                if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0)
+                    tmpV.Z = 0;
+
+                if (m_linearMotorOffset.X != 0 || m_linearMotorOffset.Y != 0 || m_linearMotorOffset.Z != 0)
+                {
+                    // have offset, do it now
+                    tmpV *= rootPrim.Mass;
+                    d.BodyAddForceAtRelPos(Body, tmpV.X, tmpV.Y, tmpV.Z, m_linearMotorOffset.X, m_linearMotorOffset.Y, m_linearMotorOffset.Z);
+                }
+                else
+                {
+                    force.X += tmpV.X;
+                    force.Y += tmpV.Y;
+                    force.Z += tmpV.Z;
+                }
+                m_lmEfect *= (1.0f - 1.0f / m_linearMotorDecayTimescale);
+
+                m_ffactor = 0.01f + 1e-4f * curVel.LengthSquared();
+            }
+            else
+            {
+                m_lmEfect = 0;
+                m_ffactor = 1f;
+            }
+
+            // friction
+            if (curLocalVel.X != 0 || curLocalVel.Y != 0 || curLocalVel.Z != 0)
+            {
+                tmpV.X = -curLocalVel.X / m_linearFrictionTimescale.X;
+                tmpV.Y = -curLocalVel.Y / m_linearFrictionTimescale.Y;
+                tmpV.Z = -curLocalVel.Z / m_linearFrictionTimescale.Z;
+                tmpV *= rotq; // to world
+                force.X += tmpV.X;
+                force.Y += tmpV.Y;
+                force.Z += tmpV.Z;
+            }
+
+            // hover
+            if (m_VhoverTimescale < 300)
+            {
+                d.Vector3 pos = d.BodyGetPosition(Body);
+
+                // default to global
+                float perr = m_VhoverHeight - pos.Z;;
+                
+                if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
+                {
+                    perr += _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
+                }
+                else if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
+                {
+                    perr += _pParentScene.GetWaterLevel();
+                }
+                else if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == 0)
+                {
+                    float t = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
+                    float w = _pParentScene.GetWaterLevel();
+                    if (t > w)
+                        perr += t;
+                    else
+                        perr += w;
+                }
+
+                if ((m_flags & VehicleFlag.HOVER_UP_ONLY) == 0 || perr > 0)
+                {
+                    force.Z += (perr / m_VhoverTimescale / m_VhoverTimescale - curVel.Z * m_VhoverEfficiency) / _pParentScene.ODE_STEPSIZE;
+                    force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy);
+                }
+                else // no buoyancy
+                    force.Z += _pParentScene.gravityz;
+            }
+            else
+            {
+                // default gravity and buoancy
+                force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy);
+            }
+
+            // linear deflection
+            if (m_linearDeflectionEfficiency > 0)
+            {
+                float len = curVel.Length();
+                Vector3 atAxis;
+                atAxis = Xrot(rotq); // where are we pointing to
+                atAxis *= len; // make it same size as world velocity vector
+                tmpV = -atAxis; // oposite direction
+                atAxis -= curVel; // error to one direction
+                len = atAxis.LengthSquared();
+                tmpV -= curVel; // error to oposite
+                float lens = tmpV.LengthSquared();
+                if (len > 0.01 || lens > 0.01) // do nothing if close enougth
+                {
+                    if (len < lens)
+                        tmpV = atAxis;
+
+                    tmpV *= (m_linearDeflectionEfficiency / m_linearDeflectionTimescale); // error to correct in this timestep
+                    force.X += tmpV.X;
+                    force.Y += tmpV.Y;
+                    if ((m_flags & VehicleFlag.NO_DEFLECTION_UP) == 0)
+                        force.Z += tmpV.Z;
+                }
+            }
+
+            // angular motor
+            if (m_amEfect > 0.01 && m_angularMotorTimescale < 1000)
+            {
+                tmpV = m_angularMotorDirection - curLocalAngVel; // velocity error
+                tmpV *= m_amEfect / m_angularMotorTimescale; // error to correct in this timestep
+                torque.X += tmpV.X;
+                torque.Y += tmpV.Y;
+                torque.Z += tmpV.Z;
+                m_amEfect *= (1 - 1.0f / m_angularMotorDecayTimescale);
+            }
+            else
+                m_amEfect = 0;
+
+            // angular friction
+            if (curLocalAngVel.X != 0 || curLocalAngVel.Y != 0 || curLocalAngVel.Z != 0)
+            {
+                torque.X -= curLocalAngVel.X / m_angularFrictionTimescale.X;
+                torque.Y -= curLocalAngVel.Y / m_angularFrictionTimescale.Y;
+                torque.Z -= curLocalAngVel.Z / m_angularFrictionTimescale.Z;
+            }
+
+            // angular deflection
+            if (m_angularDeflectionEfficiency > 0)
+            {
+                Vector3 dirv;
+                
+                if (curLocalVel.X > 0.01f)
+                    dirv = curLocalVel;
+                else if (curLocalVel.X < -0.01f)
+                    // use oposite 
+                    dirv = -curLocalVel;
+                else
+                {
+                    // make it fall into small positive x case
+                    dirv.X = 0.01f;
+                    dirv.Y = curLocalVel.Y;
+                    dirv.Z = curLocalVel.Z;
+                }
+
+                float ftmp = m_angularDeflectionEfficiency / m_angularDeflectionTimescale;
+
+                if (Math.Abs(dirv.Z) > 0.01)
+                {
+                    torque.Y += - (float)Math.Atan2(dirv.Z, dirv.X) * ftmp;
+                }
+
+                if (Math.Abs(dirv.Y) > 0.01)
+                {
+                    torque.Z += (float)Math.Atan2(dirv.Y, dirv.X) * ftmp;
+                }
+            }
+
+            // vertical atractor
+            if (m_verticalAttractionTimescale < 300)
+            {
+                float roll;
+                float pitch;
+
+                GetRollPitch(irotq, out roll, out pitch);
+
+                float ftmp = 1.0f / m_verticalAttractionTimescale / m_verticalAttractionTimescale / _pParentScene.ODE_STEPSIZE;
+                float ftmp2 = m_verticalAttractionEfficiency / _pParentScene.ODE_STEPSIZE;
+
+                if (roll > halfpi)
+                    roll = pi - roll;
+                else if (roll < -halfpi)
+                    roll = -pi - roll;                           
+
+                float effroll = pitch / halfpi;
+                effroll *= effroll;
+                effroll = 1 - effroll;
+                effroll *= roll;
+
+                if (Math.Abs(effroll) > 0.01) // roll
+                {
+                    torque.X -= -effroll * ftmp + curLocalAngVel.X * ftmp2;
+                }
+
+                if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) == 0)
+                {
+                    float effpitch = roll / halfpi;
+                    effpitch *= effpitch;
+                    effpitch = 1 - effpitch;
+                    effpitch *= pitch;
+                    
+                    if (Math.Abs(effpitch) > 0.01) // pitch
+                    {
+                        torque.Y -= -effpitch * ftmp + curLocalAngVel.Y * ftmp2;
+                    }
+                }
+
+                if (m_bankingEfficiency != 0 && Math.Abs(effroll) > 0.01)
+                {
+
+                    float broll = effroll;
+/*
+                    if (broll > halfpi)
+                        broll = pi - broll;
+                    else if (broll < -halfpi)
+                        broll = -pi - broll;                           
+*/                    
+                    broll *= m_bankingEfficiency; 
+                    if (m_bankingMix != 0)
+                    {
+                        float vfact = Math.Abs(curLocalVel.X) / 10.0f;
+                        if (vfact > 1.0f) vfact = 1.0f;
+
+                        if (curLocalVel.X >= 0)
+                            broll *= (1 + (vfact - 1) * m_bankingMix);
+                        else
+                            broll *= -(1 + (vfact - 1) * m_bankingMix);                      
+                    }
+                    // make z rot be in world Z not local as seems to be in sl
+
+                    broll = broll / m_bankingTimescale;
+
+                    ftmp = -Math.Abs(m_bankingEfficiency) / m_bankingTimescale;
+
+                    tmpV.X = ftmp * curAngVel.X;
+                    tmpV.Y = ftmp * curAngVel.Y;
+                    tmpV.Z = broll + ftmp * curAngVel.Z;
+                    tmpV *= irotq;
+
+                    torque.X += tmpV.X;
+                    torque.Y += tmpV.Y;
+                    torque.Z += tmpV.Z;
+                }
+            }
+            
+            d.Mass dmass;
+            d.BodyGetMass(Body,out dmass);
+
+            if (force.X != 0 || force.Y != 0 || force.Z != 0)
+            {
+                force *= dmass.mass;
+                d.BodySetForce(Body, force.X, force.Y, force.Z);
+            }
+
+            if (torque.X != 0 || torque.Y != 0 || torque.Z != 0)
+            {
+                torque *= m_referenceFrame; // to object frame
+                dtorque.X = torque.X;
+                dtorque.Y = torque.Y;
+                dtorque.Z = torque.Z;
+
+                d.MultiplyM3V3(out dvtmp, ref dmass.I, ref dtorque);
+                d.BodyAddRelTorque(Body, dvtmp.X, dvtmp.Y, dvtmp.Z); // add torque in object frame
+            }
+        }
+    }
+}
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
new file mode 100644
index 0000000..71aec4c
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
@@ -0,0 +1,3725 @@
+/*

+ * Copyright (c) Contributors, http://opensimulator.org/

+ * See CONTRIBUTORS.TXT for a full list of copyright holders.

+ *

+ * Redistribution and use in source and binary forms, with or without

+ * modification, are permitted provided that the following conditions are met:

+ *     * Redistributions of source code must retain the above copyright

+ *       notice, this list of conditions and the following disclaimer.

+ *     * Redistributions in binary form must reproduce the above copyright

+ *       notice, this list of conditions and the following disclaimer in the

+ *       documentation and/or other materials provided with the distribution.

+ *     * Neither the name of the OpenSimulator Project nor the

+ *       names of its contributors may be used to endorse or promote products

+ *       derived from this software without specific prior written permission.

+ *

+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY

+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED

+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE

+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY

+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES

+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;

+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND

+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT

+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS

+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

+ */

+

+/* Revision 2011/12 by Ubit Umarov

+ *

+ * 

+ */

+

+/*

+ * 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.

+ */

+

+//#define SPAM

+

+using System;

+using System.Collections.Generic;

+using System.Reflection;

+using System.Runtime.InteropServices;

+using System.Threading;

+using log4net;

+using OpenMetaverse;

+using OdeAPI;

+using OpenSim.Framework;

+using OpenSim.Region.Physics.Manager;

+

+

+namespace OpenSim.Region.Physics.OdePlugin

+{

+    public class OdePrim : PhysicsActor

+    {

+        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);

+

+        private bool m_isphysical;

+        private bool m_fakeisphysical;

+        private bool m_isphantom;

+        private bool m_fakeisphantom;

+

+        protected bool m_building;

+        private Quaternion m_lastorientation = new Quaternion();

+        private Quaternion _orientation;

+

+        private Vector3 _position;

+        private Vector3 _velocity;

+        private Vector3 _torque;

+        private Vector3 m_lastVelocity;

+        private Vector3 m_lastposition;

+        private Vector3 m_rotationalVelocity;

+        private Vector3 _size;

+        private Vector3 _acceleration;

+        private Vector3 m_angularlock = Vector3.One;

+        private IntPtr Amotor = IntPtr.Zero;

+

+        private Vector3 m_force;

+        private Vector3 m_forceacc;

+        private Vector3 m_angularForceacc;

+

+        private Vector3 m_PIDTarget;

+        private float m_PIDTau;

+        private float PID_D = 35f;

+        private float PID_G = 25f;

+        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;

+        private float m_PIDHoverTau;

+        private bool m_useHoverPID;

+        private PIDHoverType m_PIDHoverType = PIDHoverType.Ground;

+        private float m_targetHoverHeight;

+        private float m_groundHeight;

+        private float m_waterHeight;

+        private float m_buoyancy;                //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. 

+

+        private int body_autodisable_frames = 20;

+

+        private const CollisionCategories m_default_collisionFlags = (CollisionCategories.Geom

+                                                        | CollisionCategories.Space

+                                                        | CollisionCategories.Body

+                                                        | CollisionCategories.Character

+                                                        );

+//        private bool m_collidesLand = true;

+        private bool m_collidesWater;

+        public bool m_returnCollisions;

+        private bool m_softcolide;

+

+        private bool m_NoColide;  // for now only for internal use for bad meshs

+

+        // Default we're a Geometry

+        private CollisionCategories m_collisionCategories = (CollisionCategories.Geom);

+

+        // Default, Collide with Other Geometries, spaces and Bodies

+        private CollisionCategories m_collisionFlags = m_default_collisionFlags;

+

+        public bool m_disabled;

+

+

+        public uint m_localID;

+

+        private PrimitiveBaseShape _pbs;

+        public OdeScene _parent_scene;

+

+        /// <summary>

+        /// The physics space which contains prim geometry

+        /// </summary>

+        public IntPtr m_targetSpace = IntPtr.Zero;

+

+        public IntPtr prim_geom;

+        public IntPtr _triMeshData;

+

+        private PhysicsActor _parent;

+

+        private List<OdePrim> childrenPrim = new List<OdePrim>();

+

+        private bool m_iscolliding;

+

+        public bool m_isSelected;

+        private bool m_delaySelect;

+        private bool m_lastdoneSelected;

+        public bool m_outbounds;

+

+        internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively

+

+        private bool m_throttleUpdates;

+        private int throttleCounter;

+        public float m_collisionscore;

+        int m_colliderfilter = 0;

+

+        public IntPtr collide_geom; // for objects: geom if single prim space it linkset

+

+        private float m_density = 10.000006836f; // Aluminum g/cm3;

+        private byte m_shapetype;

+        public bool _zeroFlag;

+        private bool m_lastUpdateSent;

+

+        public IntPtr Body = IntPtr.Zero;

+        public String Name { get; private set; }

+        private Vector3 _target_velocity;

+

+        public Vector3 primOOBsize; // prim real dimensions from mesh 

+        public Vector3 primOOBoffset; // its centroid out of mesh or rest aabb

+        public float primOOBradiusSQ;

+        public d.Mass primdMass; // prim inertia information on it's own referencial

+        float primMass; // prim own mass

+        float _mass; // object mass acording to case

+        private bool hasOOBoffsetFromMesh = false; // if true we did compute it form mesh centroid, else from aabb

+

+        public int givefakepos = 0;

+        private Vector3 fakepos;

+        public int givefakeori = 0;

+        private Quaternion fakeori;

+

+        public int m_eventsubscription;

+        private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();

+

+        public volatile bool childPrim;

+

+        public ODEDynamics m_vehicle;

+

+        internal int m_material = (int)Material.Wood;

+        private float mu;

+        private float bounce;

+

+        /// <summary>

+        /// Is this prim subject to physics?  Even if not, it's still solid for collision purposes.

+        /// </summary>

+        public override bool IsPhysical  // this is not reliable for internal use

+        {

+            get { return m_fakeisphysical; }

+            set

+            {

+                m_fakeisphysical = value; // we show imediatly to outside that we changed physical

+                // and also to stop imediatly some updates

+                // but real change will only happen in taintprocessing

+

+                if (!value) // Zero the remembered last velocity

+                    m_lastVelocity = Vector3.Zero;

+                AddChange(changes.Physical, value);

+            }

+        }

+

+        public override bool Phantom  // this is not reliable for internal use

+        {

+            get { return m_fakeisphantom; }

+            set

+            {

+                m_fakeisphantom = value; // we show imediatly to outside that we changed physical

+                // and also to stop imediatly some updates

+                // but real change will only happen in taintprocessing

+

+                AddChange(changes.Phantom, value);

+            }

+        }

+

+        public override bool Building  // this is not reliable for internal use

+        {

+            get { return m_building; }

+            set

+            {

+                if (value)

+                    m_building = true;

+                AddChange(changes.building, value);

+            }

+        }

+

+        public override void getContactData(ref ContactData cdata)

+        {

+            cdata.mu = mu;

+            cdata.bounce = bounce;

+

+            //            cdata.softcolide = m_softcolide;

+            cdata.softcolide = false;

+

+            if (m_isphysical)

+            {

+                ODEDynamics veh;

+                if (_parent != null)

+                    veh = ((OdePrim)_parent).m_vehicle;

+                else

+                    veh = m_vehicle;

+

+                if (veh != null && veh.Type != Vehicle.TYPE_NONE)

+                    cdata.mu *= veh.FrictionFactor;

+            }

+        }    

+

+        public override int PhysicsActorType

+        {

+            get { return (int)ActorTypes.Prim; }

+            set { return; }

+        }

+

+        public override bool SetAlwaysRun

+        {

+            get { return false; }

+            set { return; }

+        }

+

+        public override uint LocalID

+        {

+            get

+            {

+                return m_localID;

+            }

+            set

+            {

+                //m_log.Info("[PHYSICS]: Setting TrackerID: " + value);

+                m_localID = value;

+            }

+        }

+

+        public override bool Grabbed

+        {

+            set { return; }

+        }

+

+        public override bool Selected

+        {

+            set

+            {

+                if (value)

+                    m_isSelected = value; // if true set imediatly to stop moves etc

+                AddChange(changes.Selected, value);

+            }

+        }

+

+        public override bool Flying

+        {

+            // no flying prims for you

+            get { return false; }

+            set { }

+        }

+

+        public override bool IsColliding

+        {

+            get { return m_iscolliding; }

+            set

+            {

+                if (value)

+                {

+                    m_colliderfilter += 2;

+                    if (m_colliderfilter > 2)

+                        m_colliderfilter = 2;

+                }

+                else

+                {

+                    m_colliderfilter--;

+                    if (m_colliderfilter < 0)

+                        m_colliderfilter = 0;

+                }

+

+                if (m_colliderfilter == 0)

+                {

+                    m_softcolide = false;

+                    m_iscolliding = false;

+                }

+                else

+                    m_iscolliding = true;

+            }

+        }

+

+        public override bool CollidingGround

+        {

+            get { return false; }

+            set { return; }

+        }

+

+        public override bool CollidingObj

+        {

+            get { return false; }

+            set { return; }

+        }

+

+        public override bool ThrottleUpdates

+        {

+            get { return m_throttleUpdates; }

+            set { m_throttleUpdates = value; }

+        }

+

+        public override bool Stopped

+        {

+            get { return _zeroFlag; }

+        }

+

+        public override Vector3 Position

+        {

+            get

+            {

+                if (givefakepos > 0)

+                    return fakepos;

+                else

+                    return _position;

+            }

+

+            set

+            {

+                fakepos = value;

+                givefakepos++;

+                AddChange(changes.Position, value);

+            }

+        }

+

+        public override Vector3 Size

+        {

+            get { return _size; }

+            set

+            {

+                if (value.IsFinite())

+                {

+                    AddChange(changes.Size, value);

+                }

+                else

+                {

+                    m_log.WarnFormat("[PHYSICS]: Got NaN Size on object {0}", Name);

+                }

+            }

+        }

+

+        public override float Mass

+        {

+            get { return _mass; }

+        }

+

+        public override Vector3 Force

+        {

+            //get { return Vector3.Zero; }

+            get { return m_force; }

+            set

+            {

+                if (value.IsFinite())

+                {

+                    AddChange(changes.Force, value);

+                }

+                else

+                {

+                    m_log.WarnFormat("[PHYSICS]: NaN in Force Applied to an Object {0}", Name);

+                }

+            }

+        }

+

+        public override void SetVolumeDetect(int param)

+        {

+            AddChange(changes.VolumeDtc, (param != 0));

+        }

+

+        public override Vector3 GeometricCenter

+        {

+            get

+            {

+                return Vector3.Zero;

+            }

+        }

+

+        public override Vector3 CenterOfMass

+        {

+            get

+            {

+                d.Vector3 dtmp;

+                if (IsPhysical && !childPrim && Body != IntPtr.Zero)

+                {

+                    dtmp = d.BodyGetPosition(Body);

+                    return new Vector3(dtmp.X, dtmp.Y, dtmp.Z);

+                }

+                else if (prim_geom != IntPtr.Zero)

+                {

+                    d.Quaternion dq;

+                    d.GeomCopyQuaternion(prim_geom, out dq);

+                    Quaternion q;

+                    q.X = dq.X;

+                    q.Y = dq.Y;

+                    q.Z = dq.Z;

+                    q.W = dq.W;

+

+                    Vector3 vtmp = primOOBoffset * q;

+                    dtmp = d.GeomGetPosition(prim_geom);

+                    return new Vector3(dtmp.X + vtmp.X, dtmp.Y + vtmp.Y, dtmp.Z + vtmp.Z);

+                }

+                else

+                    return Vector3.Zero;

+            }

+        }

+        /*

+                public override Vector3 PrimOOBsize

+                    {

+                    get

+                        {

+                        return primOOBsize;

+                        }

+                    }

+

+                public override Vector3 PrimOOBoffset

+                    {

+                    get

+                        {

+                        return primOOBoffset;

+                        }

+                    }

+

+                public override float PrimOOBRadiusSQ

+                    {

+                    get

+                        {

+                        return primOOBradiusSQ;

+                        }

+                    }

+        */

+        public override PrimitiveBaseShape Shape

+        {

+            set

+            {

+                AddChange(changes.Shape, value);

+            }

+        }

+

+        public override byte PhysicsShapeType

+        {

+            get

+            {

+                return m_shapetype;

+            }

+            set

+            {

+                m_shapetype = value;

+                AddChange(changes.Shape, null);

+            }

+        }


+

+        public override Vector3 Velocity

+        {

+            get

+            {

+                if (_zeroFlag)

+                    return Vector3.Zero;

+                return _velocity;

+            }

+            set

+            {

+                if (value.IsFinite())

+                {

+                    AddChange(changes.Velocity, value);

+                    //                    _velocity = value;

+

+                }

+                else

+                {

+                    m_log.WarnFormat("[PHYSICS]: Got NaN Velocity in Object {0}", Name);

+                }

+

+            }

+        }

+

+        public override Vector3 Torque

+        {

+            get

+            {

+                if (!IsPhysical || Body == IntPtr.Zero)

+                    return Vector3.Zero;

+

+                return _torque;

+            }

+

+            set

+            {

+                if (value.IsFinite())

+                {

+                    AddChange(changes.Torque, value);

+                }

+                else

+                {

+                    m_log.WarnFormat("[PHYSICS]: Got NaN Torque in Object {0}", Name);

+                }

+            }

+        }

+

+        public override float CollisionScore

+        {

+            get { return m_collisionscore; }

+            set { m_collisionscore = value; }

+        }

+

+        public override bool Kinematic

+        {

+            get { return false; }

+            set { }

+        }

+

+        public override Quaternion Orientation

+        {

+            get

+            {

+                if (givefakeori > 0)

+                    return fakeori;

+                else

+

+                    return _orientation;

+            }

+            set

+            {

+                if (QuaternionIsFinite(value))

+                {

+                    fakeori = value;

+                    givefakeori++;

+                    AddChange(changes.Orientation, value);

+                }

+                else

+                    m_log.WarnFormat("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object {0}", Name);

+

+            }

+        }

+

+        public override Vector3 Acceleration

+        {

+            get { return _acceleration; }

+            set { }

+        }

+

+        public override Vector3 RotationalVelocity

+        {

+            get

+            {

+                Vector3 pv = Vector3.Zero;

+                if (_zeroFlag)

+                    return pv;

+                m_lastUpdateSent = false;

+

+                if (m_rotationalVelocity.ApproxEquals(pv, 0.0001f))

+                    return pv;

+

+                return m_rotationalVelocity;

+            }

+            set

+            {

+                if (value.IsFinite())

+                {

+                    m_rotationalVelocity = value;

+                    if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))

+                        d.BodyEnable(Body);

+                }

+                else

+                {

+                    m_log.WarnFormat("[PHYSICS]: Got NaN RotationalVelocity in Object {0}", Name);

+                }

+            }

+        }

+

+

+        public override float Buoyancy

+        {

+            get { return m_buoyancy; }

+            set

+            {

+                m_buoyancy = value;

+            }

+        }

+

+        public override bool FloatOnWater

+        {

+            set

+            {

+                AddChange(changes.CollidesWater, value);

+            }

+        }

+

+        public override Vector3 PIDTarget

+        {

+            set

+            {

+                if (value.IsFinite())

+                {

+                    m_PIDTarget = value;

+                }

+                else

+                    m_log.WarnFormat("[PHYSICS]: Got NaN PIDTarget from Scene on Object {0}", Name);

+            }

+        }

+

+        public override bool PIDActive { set { m_usePID = value; } }

+        public override float PIDTau { set { m_PIDTau = value; } }

+

+        public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } }

+        public override bool PIDHoverActive { set { m_useHoverPID = value; } }

+        public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } }

+        public override float PIDHoverTau { set { m_PIDHoverTau = value; } }

+

+        public override Quaternion APIDTarget { set { return; } }

+

+        public override bool APIDActive { set { return; } }

+

+        public override float APIDStrength { set { return; } }

+

+        public override float APIDDamping { set { return; } }

+

+        public override int VehicleType

+        {

+            // we may need to put a fake on this

+            get

+            {

+                if (m_vehicle == null)

+                    return (int)Vehicle.TYPE_NONE;

+                else

+                    return (int)m_vehicle.Type;

+            }

+            set

+            {

+                AddChange(changes.VehicleType, value);

+            }

+        }

+

+        public override void VehicleFloatParam(int param, float value)

+        {

+            strVehicleFloatParam fp = new strVehicleFloatParam();

+            fp.param = param;

+            fp.value = value;

+            AddChange(changes.VehicleFloatParam, fp);

+        }

+

+        public override void VehicleVectorParam(int param, Vector3 value)

+        {

+            strVehicleVectorParam fp = new strVehicleVectorParam();

+            fp.param = param;

+            fp.value = value;

+            AddChange(changes.VehicleVectorParam, fp);

+        }

+

+        public override void VehicleRotationParam(int param, Quaternion value)

+        {

+            strVehicleQuatParam fp = new strVehicleQuatParam();

+            fp.param = param;

+            fp.value = value;

+            AddChange(changes.VehicleRotationParam, fp);

+        }

+

+        public override void VehicleFlags(int param, bool value)

+        {

+            strVehicleBoolParam bp = new strVehicleBoolParam();

+            bp.param = param;

+            bp.value = value;

+            AddChange(changes.VehicleFlags, bp);

+        }

+

+        public override void SetVehicle(object vdata)

+        {

+            AddChange(changes.SetVehicle, vdata);

+        }

+        public void SetAcceleration(Vector3 accel)

+        {

+            _acceleration = accel;

+        }

+

+        public override void AddForce(Vector3 force, bool pushforce)

+        {

+            if (force.IsFinite())

+            {

+                AddChange(changes.AddForce, force / _parent_scene.ODE_STEPSIZE);

+            }

+            else

+            {

+                m_log.WarnFormat("[PHYSICS]: Got Invalid linear force vector from Scene in Object {0}", Name);

+            }

+            //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() +  " to prim at " + Position.ToString());

+        }

+

+        public override void AddAngularForce(Vector3 force, bool pushforce)

+        {

+            if (force.IsFinite())

+            {

+                AddChange(changes.AddAngForce, force / _parent_scene.ODE_STEPSIZE);

+            }

+            else

+            {

+                m_log.WarnFormat("[PHYSICS]: Got Invalid Angular force vector from Scene in Object {0}", Name);

+            }

+        }

+

+        public override void CrossingFailure()

+        {

+            if (m_outbounds)

+            {

+                _position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f);

+                _position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f);

+                _position.Z = Util.Clip(_position.Z + 0.2f, -100f, 50000f);

+

+                m_lastposition = _position;

+                _velocity.X = 0;

+                _velocity.Y = 0;

+                _velocity.Z = 0;

+

+                m_lastVelocity = _velocity;

+                if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)

+                    m_vehicle.Stop();

+

+                if(Body != IntPtr.Zero)

+                    d.BodySetLinearVel(Body, 0, 0, 0); // stop it

+                if (prim_geom != IntPtr.Zero)

+                    d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);

+

+                m_outbounds = false;

+                changeDisable(false);

+                base.RequestPhysicsterseUpdate();

+            }

+        }

+

+        public override void SetMomentum(Vector3 momentum)

+        {

+        }

+

+        public override void SetMaterial(int pMaterial)

+        {

+            m_material = pMaterial;

+            mu = _parent_scene.m_materialContactsData[pMaterial].mu;

+            bounce = _parent_scene.m_materialContactsData[pMaterial].bounce;

+        }

+

+        public void setPrimForRemoval()

+        {

+            AddChange(changes.Remove, null);

+        }

+

+        public override void link(PhysicsActor obj)

+        {

+            AddChange(changes.Link, obj);

+        }

+

+        public override void delink()

+        {

+            AddChange(changes.DeLink, null);

+        }

+

+        public override void LockAngularMotion(Vector3 axis)

+        {

+            // reverse the zero/non zero values for ODE.

+            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);

+                AddChange(changes.AngLock, axis);

+            }

+            else

+            {

+                m_log.WarnFormat("[PHYSICS]: Got NaN locking axis from Scene on Object {0}", Name);

+            }

+        }

+

+        public override void SubscribeEvents(int ms)

+        {

+            m_eventsubscription = ms;

+            _parent_scene.AddCollisionEventReporting(this);

+        }

+

+        public override void UnSubscribeEvents()

+        {

+            _parent_scene.RemoveCollisionEventReporting(this);

+            m_eventsubscription = 0;

+        }

+

+        public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)

+        {

+            if (CollisionEventsThisFrame == null)

+                CollisionEventsThisFrame = new CollisionEventUpdate();

+

+            CollisionEventsThisFrame.AddCollider(CollidedWith, contact);

+        }

+

+        public void SendCollisions()

+        {

+            if (CollisionEventsThisFrame == null)

+                return;

+

+            base.SendCollisionUpdate(CollisionEventsThisFrame);

+

+            if (CollisionEventsThisFrame.m_objCollisionList.Count == 0)

+                CollisionEventsThisFrame = null;

+            else

+                CollisionEventsThisFrame = new CollisionEventUpdate();

+        }

+

+        public override bool SubscribedEvents()

+        {

+            if (m_eventsubscription > 0)

+                return true;

+            return false;

+        }

+

+

+        public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size,

+                       Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical,bool pisPhantom,byte _shapeType,uint plocalID)

+        {

+            Name = primName;

+            LocalID = plocalID;

+

+            m_vehicle = null;

+

+            if (!pos.IsFinite())

+            {

+                pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f),

+                    parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f);

+                m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Position for {0}", Name);

+            }

+            _position = pos;

+            givefakepos = 0;

+

+            PID_D = parent_scene.bodyPIDD;

+            PID_G = parent_scene.bodyPIDG;

+            m_density = parent_scene.geomDefaultDensity;

+            // m_tensor = parent_scene.bodyMotorJointMaxforceTensor;

+            body_autodisable_frames = parent_scene.bodyFramesAutoDisable;

+

+            prim_geom = IntPtr.Zero;

+            collide_geom = IntPtr.Zero;

+            Body = IntPtr.Zero;

+

+            if (!size.IsFinite())

+            {

+                size = new Vector3(0.5f, 0.5f, 0.5f);

+                m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Size for {0}", Name);

+            }

+

+            if (size.X <= 0) size.X = 0.01f;

+            if (size.Y <= 0) size.Y = 0.01f;

+            if (size.Z <= 0) size.Z = 0.01f;

+

+            _size = size;

+

+            if (!QuaternionIsFinite(rotation))

+            {

+                rotation = Quaternion.Identity;

+                m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Rotation for {0}", Name);

+            }

+

+            _orientation = rotation;

+            givefakeori = 0;

+

+            _pbs = pbs;

+

+            _parent_scene = parent_scene;

+            m_targetSpace = IntPtr.Zero;

+

+            if (pos.Z < 0)

+            {

+                m_isphysical = false;

+            }

+            else

+            {

+                m_isphysical = pisPhysical;

+            }

+            m_fakeisphysical = m_isphysical;

+

+            m_isVolumeDetect = false;

+

+            m_force = Vector3.Zero;

+

+            m_iscolliding = false;

+            m_colliderfilter = 0;

+            m_softcolide = true;

+            m_NoColide = false;

+

+            hasOOBoffsetFromMesh = false;

+            _triMeshData = IntPtr.Zero;

+

+            m_shapetype = _shapeType;

+

+            m_lastdoneSelected = false;

+            m_isSelected = false;

+            m_delaySelect = false;

+

+            m_isphantom = pisPhantom;

+            m_fakeisphantom = pisPhantom;

+

+            mu = parent_scene.m_materialContactsData[(int)Material.Wood].mu;

+            bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce;

+

+            CalcPrimBodyData();

+

+            m_building = true; // control must set this to false when done

+

+            AddChange(changes.Add, null);

+        }

+

+        private void resetCollisionAccounting()

+        {

+            m_collisionscore = 0;

+        }

+

+        private void createAMotor(Vector3 axis)

+        {

+            if (Body == IntPtr.Zero)

+                return;

+

+            if (Amotor != IntPtr.Zero)

+            {

+                d.JointDestroy(Amotor);

+                Amotor = IntPtr.Zero;

+            }

+

+            int axisnum = 3 - (int)(axis.X + axis.Y + axis.Z);

+

+            if (axisnum <= 0)

+                return;

+

+            // stop it

+            d.BodySetTorque(Body, 0, 0, 0);

+            d.BodySetAngularVel(Body, 0, 0, 0);

+

+            Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);

+            d.JointAttach(Amotor, Body, IntPtr.Zero);

+

+            d.JointSetAMotorMode(Amotor, 0);

+

+            d.JointSetAMotorNumAxes(Amotor, axisnum);

+

+            // get current orientation to lock

+

+            d.Quaternion dcur = d.BodyGetQuaternion(Body);

+            Quaternion curr; // crap convertion between identical things

+            curr.X = dcur.X;

+            curr.Y = dcur.Y;

+            curr.Z = dcur.Z;

+            curr.W = dcur.W;

+            Vector3 ax;

+

+            int i = 0;

+            int j = 0;

+            if (axis.X == 0)

+            {

+                ax = (new Vector3(1, 0, 0)) * curr; // rotate world X to current local X

+                // ODE should do this  with axis relative to body 1 but seems to fail

+                d.JointSetAMotorAxis(Amotor, 0, 0, ax.X, ax.Y, ax.Z);

+                d.JointSetAMotorAngle(Amotor, 0, 0);

+                d.JointSetAMotorParam(Amotor, (int)d.JointParam.LoStop, -0.000001f);

+                d.JointSetAMotorParam(Amotor, (int)d.JointParam.HiStop, 0.000001f);

+                d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0);

+                d.JointSetAMotorParam(Amotor, (int)d.JointParam.FudgeFactor, 0.0001f);

+                d.JointSetAMotorParam(Amotor, (int)d.JointParam.Bounce, 0f);

+                d.JointSetAMotorParam(Amotor, (int)d.JointParam.FMax, 5e8f);

+                d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopCFM, 0f);

+                d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopERP, 0.8f);

+                i++;

+                j = 256; // move to next axis set

+            }

+

+            if (axis.Y == 0)

+            {

+                ax = (new Vector3(0, 1, 0)) * curr;

+                d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z);

+                d.JointSetAMotorAngle(Amotor, i, 0);

+                d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, -0.000001f);

+                d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0.000001f);

+                d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0);

+                d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f);

+                d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f);

+                d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f);

+                d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f);

+                d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f);

+                i++;

+                j += 256;

+            }

+

+            if (axis.Z == 0)

+            {

+                ax = (new Vector3(0, 0, 1)) * curr;

+                d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z);

+                d.JointSetAMotorAngle(Amotor, i, 0);

+                d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, -0.000001f);

+                d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0.000001f);

+                d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0);

+                d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f);

+                d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f);

+                d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f);

+                d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f);

+                d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f);

+            }

+        }

+

+        private bool setMesh(OdeScene parent_scene)

+        {

+            if (Body != IntPtr.Zero)

+            {

+                if (childPrim)

+                {

+                    if (_parent != null)

+                    {

+                        OdePrim parent = (OdePrim)_parent;

+                        parent.ChildDelink(this, false);

+                    }

+                }

+                else

+                {

+                    DestroyBody();

+                }

+            }

+

+            bool convex;

+            if (m_shapetype == 0)

+                convex = false;

+            else

+                convex = true;

+

+            IMesh mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, (int)LevelOfDetail.High, true,convex);

+            if (mesh == null)

+            {

+                m_log.WarnFormat("[PHYSICS]: CreateMesh Failed on prim {0} at <{1},{2},{3}>.", Name, _position.X, _position.Y, _position.Z);

+                return false;

+            }

+

+            IntPtr vertices, indices;

+            int vertexCount, indexCount;

+            int vertexStride, triStride;

+

+            mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); // Note, that vertices are fixed in unmanaged heap

+            mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); // Also fixed, needs release after usage

+

+            if (vertexCount == 0 || indexCount == 0)

+            {

+                m_log.WarnFormat("[PHYSICS]: Got invalid mesh on prim {0} at <{1},{2},{3}>. mesh UUID {4}",

+                    Name, _position.X, _position.Y, _position.Z, _pbs.SculptTexture.ToString());

+                mesh.releaseSourceMeshData();

+                return false;

+            }

+

+            primOOBoffset = mesh.GetCentroid();

+            hasOOBoffsetFromMesh = true;

+

+            mesh.releaseSourceMeshData();

+

+            IntPtr geo = IntPtr.Zero;

+

+            try

+            {

+                _triMeshData = d.GeomTriMeshDataCreate();

+

+                d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride);

+                d.GeomTriMeshDataPreprocess(_triMeshData);

+

+                _parent_scene.waitForSpaceUnlock(m_targetSpace);

+                geo = d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null);

+            }

+

+            catch (Exception e)

+            {

+                m_log.ErrorFormat("[PHYSICS]: SetGeom Mesh failed for {0} exception: {1}", Name, e);

+                if (_triMeshData != IntPtr.Zero)

+                {

+                    d.GeomTriMeshDataDestroy(_triMeshData);

+                    _triMeshData = IntPtr.Zero;

+                }

+                return false;

+            }

+

+            SetGeom(geo);

+            return true;

+        }

+

+        private void SetGeom(IntPtr geom)

+        {

+            prim_geom = geom;

+            //Console.WriteLine("SetGeom to " + prim_geom + " for " + Name);

+            if (prim_geom != IntPtr.Zero)

+            {

+                if (m_NoColide)

+                {

+                    d.GeomSetCategoryBits(prim_geom, 0);

+                    if (m_isphysical)

+                    {

+                        d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);

+                    }

+                    else

+                    {

+                        d.GeomSetCollideBits(prim_geom, 0);

+                        d.GeomDisable(prim_geom);

+                    }

+                }

+                else

+                {

+                    d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);

+                    d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);

+                }

+

+                CalcPrimBodyData();

+

+                _parent_scene.geom_name_map[prim_geom] = Name;

+                _parent_scene.actor_name_map[prim_geom] = this;

+

+            }

+            else

+                m_log.Warn("Setting bad Geom");

+        }

+

+

+        /// <summary>

+        /// Create a geometry for the given mesh in the given target space.

+        /// </summary>

+        /// <param name="m_targetSpace"></param>

+        /// <param name="mesh">If null, then a mesh is used that is based on the profile shape data.</param>

+        private void CreateGeom()

+        {

+            if (_triMeshData != IntPtr.Zero)

+            {

+                d.GeomTriMeshDataDestroy(_triMeshData);

+                _triMeshData = IntPtr.Zero;

+            }

+

+            bool haveMesh = false;

+            hasOOBoffsetFromMesh = false;

+            m_NoColide = false;

+

+            if (_parent_scene.needsMeshing(_pbs))

+            {

+                haveMesh = setMesh(_parent_scene); // this will give a mesh to non trivial known prims

+                if (!haveMesh)

+                    m_NoColide = true;

+            }

+

+            if (!haveMesh)

+            {

+                if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1

+                    && _size.X == _size.Y && _size.Y == _size.Z)

+                { // it's a sphere

+                    _parent_scene.waitForSpaceUnlock(m_targetSpace);

+                    try

+                    {

+                        SetGeom(d.CreateSphere(m_targetSpace, _size.X * 0.5f));

+                    }

+                    catch (Exception e)

+                    {

+                        m_log.WarnFormat("[PHYSICS]: Create sphere failed: {0}", e);

+                        return;

+                    }

+                }

+                else

+                {// do it as a box

+                    _parent_scene.waitForSpaceUnlock(m_targetSpace);

+                    try

+                    {

+                        //Console.WriteLine("  CreateGeom 4");

+                        SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));

+                    }

+                    catch (Exception e)

+                    {

+                        m_log.Warn("[PHYSICS]: Create box failed: {0}", e);

+                        return;

+                    }

+                }

+            }

+        }

+

+        /// <summary>

+        /// Set a new geometry for this prim.

+        /// </summary>

+        /// <param name="geom"></param>

+        private void RemoveGeom()

+        {

+            if (prim_geom != IntPtr.Zero)

+            {

+                _parent_scene.geom_name_map.Remove(prim_geom);

+                _parent_scene.actor_name_map.Remove(prim_geom);

+                try

+                {

+                    d.GeomDestroy(prim_geom);

+                    if (_triMeshData != IntPtr.Zero)

+                    {

+                        d.GeomTriMeshDataDestroy(_triMeshData);

+                        _triMeshData = IntPtr.Zero;

+                    }

+                }

+                //                catch (System.AccessViolationException)

+                catch (Exception e)

+                {

+                    m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction failed for {0} exception {1}", Name, e);

+                }

+

+                prim_geom = IntPtr.Zero;

+            }

+            else

+            {

+                m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction BAD {0}", Name);

+            }

+            Body = IntPtr.Zero;

+            hasOOBoffsetFromMesh = false;

+            CalcPrimBodyData();

+        }

+

+        private void ChildSetGeom(OdePrim odePrim)

+        {

+            // well.. 

+            DestroyBody();

+            MakeBody();

+        }

+

+        //sets non physical prim m_targetSpace to right space in spaces grid for static prims

+        // should only be called for non physical prims unless they are becoming non physical

+        private void SetInStaticSpace(OdePrim prim)

+        {

+            IntPtr targetSpace = _parent_scene.MoveGeomToStaticSpace(prim.prim_geom, prim._position, prim.m_targetSpace);

+            prim.m_targetSpace = targetSpace;

+            d.GeomEnable(prim_geom);

+        }

+

+        public void enableBodySoft()

+        {

+            if (!childPrim && !m_isSelected)

+            {

+                if (m_isphysical && Body != IntPtr.Zero)

+                {

+                    if (m_isphantom && !m_isVolumeDetect)

+                    {

+                        m_collisionCategories = 0;

+                        m_collisionFlags = CollisionCategories.Land;

+                    }

+                    else

+                    {

+                        m_collisionCategories |= CollisionCategories.Body;

+                        m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);

+                    }

+

+                    foreach (OdePrim prm in childrenPrim)

+                    {

+                        prm.m_collisionCategories = m_collisionCategories;

+                        prm.m_collisionFlags = m_collisionFlags;

+

+                        if (prm.prim_geom != IntPtr.Zero)

+                        {

+                            if (prm.m_NoColide)

+                            {

+                                d.GeomSetCategoryBits(prm.prim_geom, 0);

+                                d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);

+                            }

+                            else

+                            {

+                                d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);

+                                d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);

+                            }

+                            d.GeomEnable(prm.prim_geom);

+                        }

+                    }

+

+                    if (prim_geom != IntPtr.Zero)

+                    {

+                        if (m_NoColide)

+                        {

+                            d.GeomSetCategoryBits(prim_geom, 0);

+                            d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);

+                        }

+                        else

+                        {

+                            d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);

+                            d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);

+                        }

+                        d.GeomEnable(prim_geom);

+                    }

+                    d.BodyEnable(Body);

+                }

+            }

+            m_disabled = false;

+            resetCollisionAccounting(); // this sets m_disable to false

+        }

+

+        private void disableBodySoft()

+        {

+            m_disabled = true;

+            if (!childPrim)

+            {

+                if (m_isphysical && Body != IntPtr.Zero)

+                {

+                    m_collisionCategories &= ~CollisionCategories.Body;

+                    m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);

+

+                    foreach (OdePrim prm in childrenPrim)

+                    {

+                        prm.m_collisionCategories = m_collisionCategories;

+                        prm.m_collisionFlags = m_collisionFlags;

+

+                        if (prm.prim_geom != IntPtr.Zero)

+                        {

+                            if (prm.m_NoColide)

+                            {

+                                d.GeomSetCategoryBits(prm.prim_geom, 0);

+                                d.GeomSetCollideBits(prm.prim_geom, 0);

+                            }

+                            else

+                            {

+                                d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);

+                                d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);

+                            }

+                            d.GeomDisable(prm.prim_geom);

+                        }

+                    }

+

+                    if (prim_geom != IntPtr.Zero)

+                    {

+                        if (m_NoColide)

+                        {

+                            d.GeomSetCategoryBits(prim_geom, 0);

+                            d.GeomSetCollideBits(prim_geom, 0);

+                        }

+                        else

+                        {

+                            d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);

+                            d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);

+                        }

+                        d.GeomDisable(prim_geom);

+                    }

+

+                    d.BodyDisable(Body);

+                }

+            }

+        }

+

+        private void MakeBody()

+        {

+            if (!m_isphysical) // only physical get bodies

+                return;

+

+            if (childPrim)  // child prims don't get bodies;

+                return;

+

+            if (m_building)

+                return;

+

+            if (prim_geom == IntPtr.Zero)

+            {

+                m_log.Warn("[PHYSICS]: Unable to link the linkset.  Root has no geom yet");

+                return;

+            }

+

+            if (Body != IntPtr.Zero)

+            {

+                d.BodyDestroy(Body);

+                Body = IntPtr.Zero;

+                m_log.Warn("[PHYSICS]: MakeBody called having a body");

+            }

+

+

+            if (d.GeomGetBody(prim_geom) != IntPtr.Zero)

+            {

+                d.GeomSetBody(prim_geom, IntPtr.Zero);

+                m_log.Warn("[PHYSICS]: MakeBody root geom already had a body");

+            }

+

+            d.Matrix3 mymat = new d.Matrix3();

+            d.Quaternion myrot = new d.Quaternion();

+            d.Mass objdmass = new d.Mass { };

+

+            Body = d.BodyCreate(_parent_scene.world);

+

+            DMassDup(ref primdMass, out objdmass);

+

+            // rotate inertia

+            myrot.X = _orientation.X;

+            myrot.Y = _orientation.Y;

+            myrot.Z = _orientation.Z;

+            myrot.W = _orientation.W;

+

+            d.RfromQ(out mymat, ref myrot);

+            d.MassRotate(ref objdmass, ref mymat);

+

+            // set the body rotation and position

+            d.BodySetRotation(Body, ref mymat);

+

+            // recompute full object inertia if needed

+            if (childrenPrim.Count > 0)

+            {

+                d.Matrix3 mat = new d.Matrix3();

+                d.Quaternion quat = new d.Quaternion();

+                d.Mass tmpdmass = new d.Mass { };

+                Vector3 rcm;

+

+                rcm.X = _position.X + objdmass.c.X;

+                rcm.Y = _position.Y + objdmass.c.Y;

+                rcm.Z = _position.Z + objdmass.c.Z;

+

+                lock (childrenPrim)

+                {

+                    foreach (OdePrim prm in childrenPrim)

+                    {

+                        if (prm.prim_geom == IntPtr.Zero)

+                        {

+                            m_log.Warn("[PHYSICS]: Unable to link one of the linkset elements, skipping it.  No geom yet");

+                            continue;

+                        }

+

+                        DMassCopy(ref prm.primdMass, ref tmpdmass);

+

+                        // apply prim current rotation to inertia

+                        quat.X = prm._orientation.X;

+                        quat.Y = prm._orientation.Y;

+                        quat.Z = prm._orientation.Z;

+                        quat.W = prm._orientation.W;

+                        d.RfromQ(out mat, ref quat);

+                        d.MassRotate(ref tmpdmass, ref mat);

+

+                        Vector3 ppos = prm._position;

+                        ppos.X += tmpdmass.c.X - rcm.X;

+                        ppos.Y += tmpdmass.c.Y - rcm.Y;

+                        ppos.Z += tmpdmass.c.Z - rcm.Z;

+

+                        // refer inertia to root prim center of mass position

+                        d.MassTranslate(ref tmpdmass,

+                            ppos.X,

+                            ppos.Y,

+                            ppos.Z);

+

+                        d.MassAdd(ref objdmass, ref tmpdmass); // add to total object inertia

+                        // fix prim colision cats

+

+                        if (d.GeomGetBody(prm.prim_geom) != IntPtr.Zero)

+                        {

+                            d.GeomSetBody(prm.prim_geom, IntPtr.Zero);

+                            m_log.Warn("[PHYSICS]: MakeBody child geom already had a body");

+                        }

+

+                        d.GeomClearOffset(prm.prim_geom);

+                        d.GeomSetBody(prm.prim_geom, Body);

+                        prm.Body = Body;

+                        d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat); // set relative rotation

+                    }

+                }

+            }

+

+            d.GeomClearOffset(prim_geom); // make sure we don't have a hidden offset

+            // associate root geom with body

+            d.GeomSetBody(prim_geom, Body);

+

+            d.BodySetPosition(Body, _position.X + objdmass.c.X, _position.Y + objdmass.c.Y, _position.Z + objdmass.c.Z);

+            d.GeomSetOffsetWorldPosition(prim_geom, _position.X, _position.Y, _position.Z);

+

+            d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body

+            myrot.W = -myrot.W;

+            d.RfromQ(out mymat, ref myrot);

+            d.MassRotate(ref objdmass, ref mymat);

+            d.BodySetMass(Body, ref objdmass);

+            _mass = objdmass.mass;

+

+            // disconnect from world gravity so we can apply buoyancy

+            d.BodySetGravityMode(Body, false);

+

+            d.BodySetAutoDisableFlag(Body, true);

+            d.BodySetAutoDisableSteps(Body, body_autodisable_frames);

+            //            d.BodySetLinearDampingThreshold(Body, 0.01f);

+            //            d.BodySetAngularDampingThreshold(Body, 0.001f);

+            d.BodySetDamping(Body, .002f, .002f);

+

+

+                if (m_targetSpace != IntPtr.Zero)

+                {

+                    _parent_scene.waitForSpaceUnlock(m_targetSpace);

+                    if (d.SpaceQuery(m_targetSpace, prim_geom))

+                        d.SpaceRemove(m_targetSpace, prim_geom);

+                }

+

+

+            if (childrenPrim.Count == 0)

+            {

+                collide_geom = prim_geom;

+                m_targetSpace = _parent_scene.ActiveSpace;

+                d.SpaceAdd(m_targetSpace, prim_geom);

+            }

+            else

+            {

+                m_targetSpace = d.HashSpaceCreate(_parent_scene.ActiveSpace);

+                d.HashSpaceSetLevels(m_targetSpace, -2, 8);

+                d.SpaceSetSublevel(m_targetSpace, 3);

+                d.SpaceSetCleanup(m_targetSpace, false);

+                d.SpaceAdd(m_targetSpace, prim_geom);

+                collide_geom = m_targetSpace;

+            }

+

+            if (m_delaySelect)

+            {

+                m_isSelected = true;

+                m_delaySelect = false;

+            }

+

+            lock (childrenPrim)

+            {

+                foreach (OdePrim prm in childrenPrim)

+                {

+                    if (prm.prim_geom == IntPtr.Zero)

+                        continue;

+

+                    Vector3 ppos = prm._position;

+                    d.GeomSetOffsetWorldPosition(prm.prim_geom, ppos.X, ppos.Y, ppos.Z); // set relative position

+

+                    if (prm.m_targetSpace != m_targetSpace)

+                    {

+                        if (prm.m_targetSpace != IntPtr.Zero)

+                        {

+                            _parent_scene.waitForSpaceUnlock(prm.m_targetSpace);

+                            if (d.SpaceQuery(prm.m_targetSpace, prm.prim_geom))

+                                d.SpaceRemove(prm.m_targetSpace, prm.prim_geom);

+                        }

+                        prm.m_targetSpace = m_targetSpace;

+                        d.SpaceAdd(m_targetSpace, prm.prim_geom);

+                    }

+

+                    if (m_isSelected || m_disabled)

+                    {

+                        prm.m_collisionCategories &= ~CollisionCategories.Body;

+                        prm.m_collisionFlags &= ~(CollisionCategories.Land | CollisionCategories.Wind);

+                        d.GeomDisable(prm.prim_geom);

+                    }

+                    else

+                    {

+                        if (m_isphantom && !m_isVolumeDetect)

+                        {

+                            prm.m_collisionCategories = 0;

+                            prm.m_collisionFlags = CollisionCategories.Land;

+                        }

+                        else

+                        {

+                            prm.m_collisionCategories |= CollisionCategories.Body;

+                            prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);

+                        }

+                        d.GeomEnable(prm.prim_geom);

+                    }

+

+                    if (prm.m_NoColide)

+                    {

+                        d.GeomSetCategoryBits(prm.prim_geom, 0);

+                        d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);

+                        d.GeomEnable(prm.prim_geom);

+                    }

+                    else

+                    {

+                        d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories);

+                        d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags);

+                    }

+                    prm.m_collisionscore = 0;

+

+                    if(!m_disabled)

+                        prm.m_disabled = false;

+

+                    _parent_scene.addActivePrim(prm);

+                }

+            }

+

+            // The body doesn't already have a finite rotation mode set here

+            if ((!m_angularlock.ApproxEquals(Vector3.One, 0.0f)) && _parent == null)

+            {

+                createAMotor(m_angularlock);

+            }

+

+            if (m_isSelected || m_disabled)

+            {

+                m_collisionCategories &= ~CollisionCategories.Body;

+                m_collisionFlags &= ~(CollisionCategories.Land | CollisionCategories.Wind);

+

+                d.GeomDisable(prim_geom);

+                d.BodyDisable(Body);

+            }

+            else

+            {

+                if (m_isphantom && !m_isVolumeDetect)

+                {

+                    m_collisionCategories = 0;

+                    m_collisionFlags = CollisionCategories.Land;

+                }

+                else

+                {

+                    m_collisionCategories |= CollisionCategories.Body;

+                    m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);

+                }

+

+                d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z);

+                d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z);

+            }

+

+            if (m_NoColide)

+            {

+                d.GeomSetCategoryBits(prim_geom, 0);

+                d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);

+            }

+            else

+            {

+                d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);

+                d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);

+            }

+

+            m_collisionscore = 0;

+

+            m_softcolide = true;

+            _parent_scene.addActivePrim(this);

+            _parent_scene.addActiveGroups(this);

+        }

+

+        private void DestroyBody()

+        {

+            if (Body != IntPtr.Zero)

+            {

+                _parent_scene.remActivePrim(this);

+                m_collisionCategories &= ~CollisionCategories.Body;

+                m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);

+                if (prim_geom != IntPtr.Zero)

+                {

+                    if (m_NoColide)

+                    {

+                        d.GeomSetCategoryBits(prim_geom, 0);

+                        d.GeomSetCollideBits(prim_geom, 0);

+                    }

+                    else

+                    {

+                        d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);

+                        d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);

+                    }

+                    UpdateDataFromGeom();

+                    d.GeomSetBody(prim_geom, IntPtr.Zero);

+                    SetInStaticSpace(this);

+                }

+

+                if (!childPrim)

+                {

+                    lock (childrenPrim)

+                    {

+                        foreach (OdePrim prm in childrenPrim)

+                        {

+                            _parent_scene.remActivePrim(prm);

+                            prm.m_collisionCategories = m_collisionCategories;

+                            prm.m_collisionFlags = m_collisionFlags;

+                            if (prm.prim_geom != IntPtr.Zero)

+                            {

+                                if (prm.m_NoColide)

+                                {

+                                    d.GeomSetCategoryBits(prm.prim_geom, 0);

+                                    d.GeomSetCollideBits(prm.prim_geom, 0);

+                                }

+                                else

+                                {

+                                    d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);

+                                    d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);

+                                }

+                                prm.UpdateDataFromGeom();

+                                SetInStaticSpace(prm);

+                            }

+                            prm.Body = IntPtr.Zero;

+                            prm._mass = prm.primMass;

+                            prm.m_collisionscore = 0;

+                        }

+                    }

+                    if (Amotor != IntPtr.Zero)

+                    {

+                        d.JointDestroy(Amotor);

+                        Amotor = IntPtr.Zero;

+                    }

+                    _parent_scene.remActiveGroup(this);

+                    d.BodyDestroy(Body);

+                }

+                Body = IntPtr.Zero;

+            }

+            _mass = primMass;

+            m_collisionscore = 0;

+        }

+

+        #region Mass Calculation

+

+        private float CalculatePrimVolume()

+        {

+            float volume = _size.X * _size.Y * _size.Z; // default

+            float tmp;

+

+            float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f;

+            float hollowVolume = hollowAmount * hollowAmount;

+

+            switch (_pbs.ProfileShape)

+            {

+                case ProfileShape.Square:

+                    // default box

+

+                    if (_pbs.PathCurve == (byte)Extrusion.Straight)

+                    {

+                        if (hollowAmount > 0.0)

+                        {

+                            switch (_pbs.HollowShape)

+                            {

+                                case HollowShape.Square:

+                                case HollowShape.Same:

+                                    break;

+

+                                case HollowShape.Circle:

+

+                                    hollowVolume *= 0.78539816339f;

+                                    break;

+

+                                case HollowShape.Triangle:

+

+                                    hollowVolume *= (0.5f * .5f);

+                                    break;

+

+                                default:

+                                    hollowVolume = 0;

+                                    break;

+                            }

+                            volume *= (1.0f - hollowVolume);

+                        }

+                    }

+

+                    else if (_pbs.PathCurve == (byte)Extrusion.Curve1)

+                    {

+                        //a tube 

+

+                        volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX);

+                        tmp = 1.0f - 2.0e-2f * (float)(200 - _pbs.PathScaleY);

+                        volume -= volume * tmp * tmp;

+

+                        if (hollowAmount > 0.0)

+                        {

+                            hollowVolume *= hollowAmount;

+

+                            switch (_pbs.HollowShape)

+                            {

+                                case HollowShape.Square:

+                                case HollowShape.Same:

+                                    break;

+

+                                case HollowShape.Circle:

+                                    hollowVolume *= 0.78539816339f;

+                                    break;

+

+                                case HollowShape.Triangle:

+                                    hollowVolume *= 0.5f * 0.5f;

+                                    break;

+                                default:

+                                    hollowVolume = 0;

+                                    break;

+                            }

+                            volume *= (1.0f - hollowVolume);

+                        }

+                    }

+

+                    break;

+

+                case ProfileShape.Circle:

+

+                    if (_pbs.PathCurve == (byte)Extrusion.Straight)

+                    {

+                        volume *= 0.78539816339f; // elipse base

+

+                        if (hollowAmount > 0.0)

+                        {

+                            switch (_pbs.HollowShape)

+                            {

+                                case HollowShape.Same:

+                                case HollowShape.Circle:

+                                    break;

+

+                                case HollowShape.Square:

+                                    hollowVolume *= 0.5f * 2.5984480504799f;

+                                    break;

+

+                                case HollowShape.Triangle:

+                                    hollowVolume *= .5f * 1.27323954473516f;

+                                    break;

+

+                                default:

+                                    hollowVolume = 0;

+                                    break;

+                            }

+                            volume *= (1.0f - hollowVolume);

+                        }

+                    }

+

+                    else if (_pbs.PathCurve == (byte)Extrusion.Curve1)

+                    {

+                        volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX);

+                        tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);

+                        volume *= (1.0f - tmp * tmp);

+

+                        if (hollowAmount > 0.0)

+                        {

+

+                            // calculate the hollow volume by it's shape compared to the prim shape

+                            hollowVolume *= hollowAmount;

+

+                            switch (_pbs.HollowShape)

+                            {

+                                case HollowShape.Same:

+                                case HollowShape.Circle:

+                                    break;

+

+                                case HollowShape.Square:

+                                    hollowVolume *= 0.5f * 2.5984480504799f;

+                                    break;

+

+                                case HollowShape.Triangle:

+                                    hollowVolume *= .5f * 1.27323954473516f;

+                                    break;

+

+                                default:

+                                    hollowVolume = 0;

+                                    break;

+                            }

+                            volume *= (1.0f - hollowVolume);

+                        }

+                    }

+                    break;

+

+                case ProfileShape.HalfCircle:

+                    if (_pbs.PathCurve == (byte)Extrusion.Curve1)

+                    {

+                        volume *= 0.52359877559829887307710723054658f;

+                    }

+                    break;

+

+                case ProfileShape.EquilateralTriangle:

+

+                    if (_pbs.PathCurve == (byte)Extrusion.Straight)

+                    {

+                        volume *= 0.32475953f;

+

+                        if (hollowAmount > 0.0)

+                        {

+

+                            // calculate the hollow volume by it's shape compared to the prim shape

+                            switch (_pbs.HollowShape)

+                            {

+                                case HollowShape.Same:

+                                case HollowShape.Triangle:

+                                    hollowVolume *= .25f;

+                                    break;

+

+                                case HollowShape.Square:

+                                    hollowVolume *= 0.499849f * 3.07920140172638f;

+                                    break;

+

+                                case HollowShape.Circle:

+                                    // Hollow shape is a perfect cyllinder in respect to the cube's scale

+                                    // Cyllinder hollow volume calculation

+

+                                    hollowVolume *= 0.1963495f * 3.07920140172638f;

+                                    break;

+

+                                default:

+                                    hollowVolume = 0;

+                                    break;

+                            }

+                            volume *= (1.0f - hollowVolume);

+                        }

+                    }

+                    else if (_pbs.PathCurve == (byte)Extrusion.Curve1)

+                    {

+                        volume *= 0.32475953f;

+                        volume *= 0.01f * (float)(200 - _pbs.PathScaleX);

+                        tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);

+                        volume *= (1.0f - tmp * tmp);

+

+                        if (hollowAmount > 0.0)

+                        {

+

+                            hollowVolume *= hollowAmount;

+

+                            switch (_pbs.HollowShape)

+                            {

+                                case HollowShape.Same:

+                                case HollowShape.Triangle:

+                                    hollowVolume *= .25f;

+                                    break;

+

+                                case HollowShape.Square:

+                                    hollowVolume *= 0.499849f * 3.07920140172638f;

+                                    break;

+

+                                case HollowShape.Circle:

+

+                                    hollowVolume *= 0.1963495f * 3.07920140172638f;

+                                    break;

+

+                                default:

+                                    hollowVolume = 0;

+                                    break;

+                            }

+                            volume *= (1.0f - hollowVolume);

+                        }

+                    }

+                    break;

+

+                default:

+                    break;

+            }

+

+            float taperX1;

+            float taperY1;

+            float taperX;

+            float taperY;

+            float pathBegin;

+            float pathEnd;

+            float profileBegin;

+            float profileEnd;

+

+            if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible)

+            {

+                taperX1 = _pbs.PathScaleX * 0.01f;

+                if (taperX1 > 1.0f)

+                    taperX1 = 2.0f - taperX1;

+                taperX = 1.0f - taperX1;

+

+                taperY1 = _pbs.PathScaleY * 0.01f;

+                if (taperY1 > 1.0f)

+                    taperY1 = 2.0f - taperY1;

+                taperY = 1.0f - taperY1;

+            }

+            else

+            {

+                taperX = _pbs.PathTaperX * 0.01f;

+                if (taperX < 0.0f)

+                    taperX = -taperX;

+                taperX1 = 1.0f - taperX;

+

+                taperY = _pbs.PathTaperY * 0.01f;

+                if (taperY < 0.0f)

+                    taperY = -taperY;

+                taperY1 = 1.0f - taperY;

+            }

+

+            volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY);

+

+            pathBegin = (float)_pbs.PathBegin * 2.0e-5f;

+            pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f;

+            volume *= (pathEnd - pathBegin);

+

+            // this is crude aproximation

+            profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f;

+            profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f;

+            volume *= (profileEnd - profileBegin);

+

+            return volume;

+        }

+

+

+        private void CalcPrimBodyData()

+        {

+            float volume;

+

+            if (prim_geom == IntPtr.Zero)

+            {

+                // Ubit let's have a initial basic OOB

+                primOOBsize.X = _size.X;

+                primOOBsize.Y = _size.Y;

+                primOOBsize.Z = _size.Z;

+                primOOBoffset = Vector3.Zero;

+            }

+            else

+            {

+                d.AABB AABB;

+                d.GeomGetAABB(prim_geom, out AABB); // get the AABB from engine geom

+

+                primOOBsize.X = (AABB.MaxX - AABB.MinX);

+                primOOBsize.Y = (AABB.MaxY - AABB.MinY);

+                primOOBsize.Z = (AABB.MaxZ - AABB.MinZ);

+                if (!hasOOBoffsetFromMesh)

+                {

+                    primOOBoffset.X = (AABB.MaxX + AABB.MinX) * 0.5f;

+                    primOOBoffset.Y = (AABB.MaxY + AABB.MinY) * 0.5f;

+                    primOOBoffset.Z = (AABB.MaxZ + AABB.MinZ) * 0.5f;

+                }

+            }

+

+            // also its own inertia and mass

+            // keep using basic shape mass for now

+            volume = CalculatePrimVolume();

+

+            primMass = m_density * volume;

+

+            if (primMass <= 0)

+                primMass = 0.0001f;//ckrinke: Mass must be greater then zero.

+            if (primMass > _parent_scene.maximumMassObject)

+                primMass = _parent_scene.maximumMassObject;

+

+            _mass = primMass; // just in case

+

+            d.MassSetBoxTotal(out primdMass, primMass, primOOBsize.X, primOOBsize.Y, primOOBsize.Z);

+

+            d.MassTranslate(ref primdMass,

+                                primOOBoffset.X,

+                                primOOBoffset.Y,

+                                primOOBoffset.Z);

+

+            primOOBsize *= 0.5f; // let obb size be a corner coords

+            primOOBradiusSQ = primOOBsize.LengthSquared();

+        }

+

+

+        #endregion

+

+

+        /// <summary>

+        /// Add a child prim to this parent prim.

+        /// </summary>

+        /// <param name="prim">Child prim</param>

+        // I'm the parent

+        // prim is the child

+        public void ParentPrim(OdePrim prim)

+        {

+            //Console.WriteLine("ParentPrim  " + m_primName);

+            if (this.m_localID != prim.m_localID)

+            {

+                DestroyBody();  // for now we need to rebuil entire object on link change

+

+                lock (childrenPrim)

+                {

+                    // adopt the prim

+                    if (!childrenPrim.Contains(prim))

+                        childrenPrim.Add(prim);

+

+                    // see if this prim has kids and adopt them also

+                    // should not happen for now

+                    foreach (OdePrim prm in prim.childrenPrim)

+                    {

+                        if (!childrenPrim.Contains(prm))

+                        {

+                            if (prm.Body != IntPtr.Zero)

+                            {

+                                if (prm.prim_geom != IntPtr.Zero)

+                                    d.GeomSetBody(prm.prim_geom, IntPtr.Zero);

+                                if (prm.Body != prim.Body)

+                                    prm.DestroyBody(); // don't loose bodies around

+                                prm.Body = IntPtr.Zero;

+                            }

+

+                            childrenPrim.Add(prm);

+                            prm._parent = this;

+                        }

+                    }

+                }

+                //Remove old children from the prim

+                prim.childrenPrim.Clear();

+

+                if (prim.Body != IntPtr.Zero)

+                {

+                    if (prim.prim_geom != IntPtr.Zero)

+                        d.GeomSetBody(prim.prim_geom, IntPtr.Zero);

+                    prim.DestroyBody(); // don't loose bodies around

+                    prim.Body = IntPtr.Zero;

+                }

+

+                prim.childPrim = true;

+                prim._parent = this;

+

+                MakeBody(); // full nasty reconstruction

+            }

+        }

+

+        private void UpdateChildsfromgeom()

+        {

+            if (childrenPrim.Count > 0)

+            {

+                foreach (OdePrim prm in childrenPrim)

+                    prm.UpdateDataFromGeom();

+            }

+        }

+

+        private void UpdateDataFromGeom()

+        {

+            if (prim_geom != IntPtr.Zero)

+            {

+                d.Vector3 lpos;

+                d.GeomCopyPosition(prim_geom, out lpos);

+                _position.X = lpos.X;

+                _position.Y = lpos.Y;

+                _position.Z = lpos.Z;

+                d.Quaternion qtmp = new d.Quaternion { };

+                d.GeomCopyQuaternion(prim_geom, out qtmp);

+                _orientation.W = qtmp.W;

+                _orientation.X = qtmp.X;

+                _orientation.Y = qtmp.Y;

+                _orientation.Z = qtmp.Z;

+            }

+        }

+

+        private void ChildDelink(OdePrim odePrim, bool remakebodies)

+        {

+            // Okay, we have a delinked child.. destroy all body and remake

+            if (odePrim != this && !childrenPrim.Contains(odePrim))

+                return;

+

+            DestroyBody();

+

+            if (odePrim == this) // delinking the root prim

+            {

+                OdePrim newroot = null;

+                lock (childrenPrim)

+                {

+                    if (childrenPrim.Count > 0)

+                    {

+                        newroot = childrenPrim[0];

+                        childrenPrim.RemoveAt(0);

+                        foreach (OdePrim prm in childrenPrim)

+                        {

+                            newroot.childrenPrim.Add(prm);

+                        }

+                        childrenPrim.Clear();

+                    }

+                    if (newroot != null)

+                    {

+                        newroot.childPrim = false;

+                        newroot._parent = null;

+                        if (remakebodies)

+                            newroot.MakeBody();

+                    }

+                }

+            }

+

+            else

+            {

+                lock (childrenPrim)

+                {

+                    childrenPrim.Remove(odePrim);

+                    odePrim.childPrim = false;

+                    odePrim._parent = null;

+                    //                    odePrim.UpdateDataFromGeom();

+                    if (remakebodies)

+                        odePrim.MakeBody();

+                }

+            }

+            if (remakebodies)

+                MakeBody();

+        }

+

+        protected void ChildRemove(OdePrim odePrim, bool reMakeBody)

+        {

+            // Okay, we have a delinked child.. destroy all body and remake

+            if (odePrim != this && !childrenPrim.Contains(odePrim))

+                return;

+

+            DestroyBody();

+

+            if (odePrim == this)

+            {

+                OdePrim newroot = null;

+                lock (childrenPrim)

+                {

+                    if (childrenPrim.Count > 0)

+                    {

+                        newroot = childrenPrim[0];

+                        childrenPrim.RemoveAt(0);

+                        foreach (OdePrim prm in childrenPrim)

+                        {

+                            newroot.childrenPrim.Add(prm);

+                        }

+                        childrenPrim.Clear();

+                    }

+                    if (newroot != null)

+                    {

+                        newroot.childPrim = false;

+                        newroot._parent = null;

+                        newroot.MakeBody();

+                    }

+                }

+                if (reMakeBody)

+                    MakeBody();

+                return;

+            }

+            else

+            {

+                lock (childrenPrim)

+                {

+                    childrenPrim.Remove(odePrim);

+                    odePrim.childPrim = false;

+                    odePrim._parent = null;

+                    if (reMakeBody)

+                        odePrim.MakeBody();

+                }

+            }

+            MakeBody();

+        }

+

+        #region changes

+

+        private void changeadd()

+        {

+            CreateGeom();

+

+            if (prim_geom != IntPtr.Zero)

+            {

+                d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);

+                d.Quaternion myrot = new d.Quaternion();

+                myrot.X = _orientation.X;

+                myrot.Y = _orientation.Y;

+                myrot.Z = _orientation.Z;

+                myrot.W = _orientation.W;

+                d.GeomSetQuaternion(prim_geom, ref myrot);

+

+                if (!m_isphysical)

+                    SetInStaticSpace(this);

+            }

+

+            if (m_isphysical && Body == IntPtr.Zero)

+            {

+                MakeBody();

+            }

+        }

+

+        private void changeAngularLock(Vector3 newLock)

+        {

+            // do we have a Physical object?

+            if (Body != IntPtr.Zero)

+            {

+                //Check that we have a Parent

+                //If we have a parent then we're not authorative here

+                if (_parent == null)

+                {

+                    if (!newLock.ApproxEquals(Vector3.One, 0f))

+                    {

+                        createAMotor(newLock);

+                    }

+                    else

+                    {

+                        if (Amotor != IntPtr.Zero)

+                        {

+                            d.JointDestroy(Amotor);

+                            Amotor = IntPtr.Zero;

+                        }

+                    }

+                }

+            }

+            // Store this for later in case we get turned into a separate body

+            m_angularlock = newLock;

+        }

+

+        private void changeLink(OdePrim NewParent)

+        {

+            if (_parent == null && NewParent != null)

+            {

+                NewParent.ParentPrim(this);

+            }

+            else if (_parent != null)

+            {

+                if (_parent is OdePrim)

+                {

+                    if (NewParent != _parent)

+                    {

+                        (_parent as OdePrim).ChildDelink(this, false); // for now...

+                        childPrim = false;

+

+                        if (NewParent != null)

+                        {

+                            NewParent.ParentPrim(this);

+                        }

+                    }

+                }

+            }

+            _parent = NewParent;

+        }

+

+

+        private void Stop()

+        {

+            if (!childPrim)

+            {

+                m_force = Vector3.Zero;

+                m_forceacc = Vector3.Zero;

+                m_angularForceacc = Vector3.Zero;

+                _torque = Vector3.Zero;

+                _velocity = Vector3.Zero;

+                _acceleration = Vector3.Zero;

+                m_rotationalVelocity = Vector3.Zero;

+                _target_velocity = Vector3.Zero;

+                if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)

+                    m_vehicle.Stop();

+            }

+

+            if (Body != IntPtr.Zero)

+            {

+                d.BodySetForce(Body, 0f, 0f, 0f);

+                d.BodySetTorque(Body, 0f, 0f, 0f);

+                d.BodySetLinearVel(Body, 0f, 0f, 0f);

+                d.BodySetAngularVel(Body, 0f, 0f, 0f);

+            }

+        }

+

+

+        private void changePhantomStatus(bool newval)

+        {

+            m_isphantom = newval;

+

+            if (m_isSelected)

+            {

+                m_collisionCategories = CollisionCategories.Selected;

+                m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space);

+            }

+            else

+            {

+                if (m_isphantom && !m_isVolumeDetect)

+                {

+                    m_collisionCategories = 0;

+                    if (m_isphysical)

+                        m_collisionFlags = CollisionCategories.Land;

+                    else

+                        m_collisionFlags = 0; // should never happen

+                }

+

+                else

+                {

+                    m_collisionCategories = CollisionCategories.Geom;

+                    if (m_isphysical)

+                        m_collisionCategories |= CollisionCategories.Body;

+

+                    m_collisionFlags = m_default_collisionFlags | CollisionCategories.Land;

+

+                    if (m_collidesWater)

+                        m_collisionFlags |= CollisionCategories.Water;

+                }

+            }

+

+            if (!childPrim)

+            {

+                foreach (OdePrim prm in childrenPrim)

+                {

+                    prm.m_collisionCategories = m_collisionCategories;

+                    prm.m_collisionFlags = m_collisionFlags;

+

+                    if (!prm.m_disabled && prm.prim_geom != IntPtr.Zero)

+                    {

+                        if (prm.m_NoColide)

+                        {

+                            d.GeomSetCategoryBits(prm.prim_geom, 0);

+                            if (m_isphysical)

+                                d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);

+                            else

+                                d.GeomSetCollideBits(prm.prim_geom, 0);

+                        }

+                        else

+                        {

+                            d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);

+                            d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);

+                        }

+                        if(!m_isSelected)

+                            d.GeomEnable(prm.prim_geom);

+                    }

+                }

+            }

+

+            if (!m_disabled && prim_geom != IntPtr.Zero)

+            {

+                if (m_NoColide)

+                {

+                    d.GeomSetCategoryBits(prim_geom, 0);

+                    if (m_isphysical)

+                        d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);

+                    else

+                        d.GeomSetCollideBits(prim_geom, 0);

+                }

+                else

+                {

+                    d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);

+                    d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);

+                }

+                if(!m_isSelected)

+                    d.GeomEnable(prim_geom);

+            }

+        }

+

+        private void changeSelectedStatus(bool newval)

+        {

+            if (m_lastdoneSelected == newval)

+                return;

+

+            m_lastdoneSelected = newval;

+            DoSelectedStatus(newval);

+        }

+

+        private void CheckDelaySelect()

+        {

+            if (m_delaySelect)

+            {

+                DoSelectedStatus(m_isSelected);

+            }

+        }

+

+        private void DoSelectedStatus(bool newval)

+        {

+            m_isSelected = newval;

+            Stop();

+

+            if (newval)

+            {

+                if (!childPrim && Body != IntPtr.Zero)

+                    d.BodyDisable(Body);

+

+                if (m_delaySelect || m_isphysical)

+                {

+                    m_collisionCategories = CollisionCategories.Selected;

+                    m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space);

+

+                    if (!childPrim)

+                    {

+                        foreach (OdePrim prm in childrenPrim)

+                        {

+                            prm.m_collisionCategories = m_collisionCategories;

+                            prm.m_collisionFlags = m_collisionFlags;

+

+                            if (prm.prim_geom != null)

+                            {

+

+                                if (prm.m_NoColide)

+                                {

+                                    d.GeomSetCategoryBits(prm.prim_geom, 0);

+                                    d.GeomSetCollideBits(prm.prim_geom, 0);

+                                }

+                                else

+                                {

+                                    d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);

+                                    d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);

+                                }

+                                d.GeomDisable(prm.prim_geom);

+                            }

+                            prm.m_delaySelect = false;

+                        }

+                    }

+

+                    if (prim_geom != null)

+                    {

+                        if (m_NoColide)

+                        {

+                            d.GeomSetCategoryBits(prim_geom, 0);

+                            d.GeomSetCollideBits(prim_geom, 0);

+                        }

+                        else

+                        {

+                            d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);

+                            d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);

+                        }

+                        d.GeomDisable(prim_geom);

+                    }

+

+                    m_delaySelect = false;

+                }

+                else if(!m_isphysical)

+                {

+                    m_delaySelect = true;

+                }

+            }

+            else

+            {

+                if (!childPrim && Body != IntPtr.Zero && !m_disabled)

+                    d.BodyEnable(Body);

+

+                if (m_isphantom && !m_isVolumeDetect)

+                {

+                    m_collisionCategories = 0;

+                    if(m_isphysical)

+                        m_collisionFlags = CollisionCategories.Land;

+                    else

+                        m_collisionFlags = 0;

+                }

+                else

+                {

+                    m_collisionCategories = CollisionCategories.Geom;

+                    if (m_isphysical)

+                        m_collisionCategories |= CollisionCategories.Body;

+

+                    m_collisionFlags = m_default_collisionFlags | CollisionCategories.Land;

+

+                    if (m_collidesWater)

+                        m_collisionFlags |= CollisionCategories.Water;

+                }

+

+                if (!childPrim)

+                {

+                    foreach (OdePrim prm in childrenPrim)

+                    {

+                        prm.m_collisionCategories = m_collisionCategories;

+                        prm.m_collisionFlags = m_collisionFlags;

+

+                        if (!prm.m_disabled && prm.prim_geom != IntPtr.Zero)

+                        {

+                            if (prm.m_NoColide)

+                            {

+                                d.GeomSetCategoryBits(prm.prim_geom, 0);

+                                if (m_isphysical)

+                                    d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);

+                                else

+                                    d.GeomSetCollideBits(prm.prim_geom, 0);

+                            }

+                            else

+                            {

+                                d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);

+                                d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);

+                            }

+                            d.GeomEnable(prm.prim_geom);

+                        }

+                        prm.m_delaySelect = false;

+                        prm.m_softcolide = true;

+                    }

+                }

+

+                if (!m_disabled && prim_geom != IntPtr.Zero)

+                {

+                    if (m_NoColide)

+                    {

+                        d.GeomSetCategoryBits(prim_geom, 0);

+                        if (m_isphysical)

+                            d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);

+                        else

+                            d.GeomSetCollideBits(prim_geom, 0);

+                    }

+                    else

+                    {

+                        d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);

+                        d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);

+                    }

+                    d.GeomEnable(prim_geom);

+                }

+

+                m_delaySelect = false;

+                m_softcolide = true;

+            }

+

+            resetCollisionAccounting();

+        }

+

+        private void changePosition(Vector3 newPos)

+        {

+            CheckDelaySelect();

+            if (m_isphysical)

+            {

+                if (childPrim)  // inertia is messed, must rebuild

+                {

+                    if (m_building)

+                    {

+                        _position = newPos;

+                    }

+                }

+                else

+                {

+                    if (_position != newPos)

+                    {

+                        d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);

+                        _position = newPos;

+                    }

+                    if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))

+                        d.BodyEnable(Body);

+                }

+            }

+            else

+            {

+                if (prim_geom != IntPtr.Zero)

+                {

+                    if (newPos != _position)

+                    {

+                        d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);

+                        _position = newPos;

+

+                        m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace);

+                    }

+                }

+            }

+            givefakepos--;

+            if (givefakepos < 0)

+                givefakepos = 0;

+            //            changeSelectedStatus();

+            m_softcolide = true;

+            resetCollisionAccounting();

+        }

+

+        private void changeOrientation(Quaternion newOri)

+        {

+            CheckDelaySelect();

+            if (m_isphysical)

+            {

+                if (childPrim)  // inertia is messed, must rebuild

+                {

+                    if (m_building)

+                    {

+                        _orientation = newOri;

+                    }

+                }

+                else

+                {

+                    if (newOri != _orientation)

+                    {

+                        d.Quaternion myrot = new d.Quaternion();

+                        myrot.X = newOri.X;

+                        myrot.Y = newOri.Y;

+                        myrot.Z = newOri.Z;

+                        myrot.W = newOri.W;

+                        d.GeomSetQuaternion(prim_geom, ref myrot);

+                        _orientation = newOri;

+                        if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f))

+                            createAMotor(m_angularlock);

+                    }

+                    if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))

+                        d.BodyEnable(Body);

+                }

+            }

+            else

+            {

+                if (prim_geom != IntPtr.Zero)

+                {

+                    if (newOri != _orientation)

+                    {

+                        d.Quaternion myrot = new d.Quaternion();

+                        myrot.X = newOri.X;

+                        myrot.Y = newOri.Y;

+                        myrot.Z = newOri.Z;

+                        myrot.W = newOri.W;

+                        d.GeomSetQuaternion(prim_geom, ref myrot);

+                        _orientation = newOri;

+                    }

+                }

+            }

+            givefakeori--;

+            if (givefakeori < 0)

+                givefakeori = 0;

+            m_softcolide = true;

+            resetCollisionAccounting();

+        }

+

+        private void changePositionAndOrientation(Vector3 newPos, Quaternion newOri)

+        {

+            CheckDelaySelect();

+            if (m_isphysical)

+            {

+                if (childPrim && m_building)  // inertia is messed, must rebuild

+                {

+                    _position = newPos;

+                    _orientation = newOri;

+                }

+                else

+                {

+                    if (newOri != _orientation)

+                    {

+                        d.Quaternion myrot = new d.Quaternion();

+                        myrot.X = newOri.X;

+                        myrot.Y = newOri.Y;

+                        myrot.Z = newOri.Z;

+                        myrot.W = newOri.W;

+                        d.GeomSetQuaternion(prim_geom, ref myrot);

+                        _orientation = newOri;

+                        if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f))

+                            createAMotor(m_angularlock);

+                    }

+                    if (_position != newPos)

+                    {

+                        d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);

+                        _position = newPos;

+                    }

+                    if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))

+                        d.BodyEnable(Body);

+                }

+            }

+            else

+            {

+                // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);

+                // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);

+

+                if (prim_geom != IntPtr.Zero)

+                {

+                    if (newOri != _orientation)

+                    {

+                        d.Quaternion myrot = new d.Quaternion();

+                        myrot.X = newOri.X;

+                        myrot.Y = newOri.Y;

+                        myrot.Z = newOri.Z;

+                        myrot.W = newOri.W;

+                        d.GeomSetQuaternion(prim_geom, ref myrot);

+                        _orientation = newOri;

+                    }

+

+                    if (newPos != _position)

+                    {

+                        d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);

+                        _position = newPos;

+

+                        m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace);

+                    }

+                }

+            }

+            givefakepos--;

+            if (givefakepos < 0)

+                givefakepos = 0;

+            givefakeori--;

+            if (givefakeori < 0)

+                givefakeori = 0;

+

+            m_softcolide = true;

+            resetCollisionAccounting();

+        }

+

+

+        private void changeDisable(bool disable)

+        {

+            if (disable)

+            {

+                if (!m_disabled)

+                    disableBodySoft();

+            }

+            else

+            {

+                if (m_disabled)

+                    enableBodySoft();

+            }

+        }

+

+        private void changePhysicsStatus(bool NewStatus)

+        {

+            CheckDelaySelect();

+

+            m_isphysical = NewStatus;

+

+            if (!childPrim)

+            {

+                if (NewStatus)

+                {

+                    if (Body == IntPtr.Zero)

+                        MakeBody();

+                }

+                else

+                {

+                    if (Body != IntPtr.Zero)

+                    {

+                        DestroyBody();

+                    }

+                    Stop();

+                }

+            }

+

+            resetCollisionAccounting();

+        }

+

+        private void changeprimsizeshape()

+        {

+            CheckDelaySelect();

+

+            OdePrim parent = (OdePrim)_parent;

+

+            bool chp = childPrim;

+

+            if (chp)

+            {

+                if (parent != null)

+                {

+                    parent.DestroyBody();

+                }

+            }

+            else

+            {

+                DestroyBody();

+            }

+

+            RemoveGeom();

+

+            // we don't need to do space calculation because the client sends a position update also.

+            if (_size.X <= 0)

+                _size.X = 0.01f;

+            if (_size.Y <= 0)

+                _size.Y = 0.01f;

+            if (_size.Z <= 0)

+                _size.Z = 0.01f;

+            // Construction of new prim

+

+            CreateGeom();

+

+            if (prim_geom != IntPtr.Zero)

+            {

+                d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);

+                d.Quaternion myrot = new d.Quaternion();

+                myrot.X = _orientation.X;

+                myrot.Y = _orientation.Y;

+                myrot.Z = _orientation.Z;

+                myrot.W = _orientation.W;

+                d.GeomSetQuaternion(prim_geom, ref myrot);

+            }

+

+            if (chp)

+            {

+                if (parent != null)

+                {

+                    parent.MakeBody();

+                }

+            }

+            else

+                MakeBody();

+

+            m_softcolide = true;

+            resetCollisionAccounting();

+        }

+

+        private void changeSize(Vector3 newSize)

+        {

+            _size = newSize;

+            changeprimsizeshape();

+        }

+

+        private void changeShape(PrimitiveBaseShape newShape)

+        {

+            if(newShape != null)

+                _pbs = newShape;

+            changeprimsizeshape();

+        }

+

+        private void changeFloatOnWater(bool newval)

+        {

+            m_collidesWater = newval;

+

+            if (prim_geom != IntPtr.Zero && !m_isphantom)

+            {

+                if (m_collidesWater)

+                {

+                    m_collisionFlags |= CollisionCategories.Water;

+                }

+                else

+                {

+                    m_collisionFlags &= ~CollisionCategories.Water;

+                }

+                d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);

+            }

+        }

+

+        private void changeSetTorque(Vector3 newtorque)

+        {

+            if (!m_isSelected)

+            {

+                if (m_isphysical && Body != IntPtr.Zero)

+                {

+                    if (m_disabled)

+                        enableBodySoft();

+                    else if (!d.BodyIsEnabled(Body))

+                        d.BodyEnable(Body);

+

+                }

+                _torque = newtorque;

+            }

+        }

+

+        private void changeForce(Vector3 force)

+        {

+            m_force = force;

+            if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))

+                d.BodyEnable(Body);

+        }

+

+        private void changeAddForce(Vector3 force)

+        {

+            m_forceacc += force;

+            if (!m_isSelected)

+            {

+                lock (this)

+                {

+                    //m_log.Info("[PHYSICS]: dequeing forcelist");

+                    if (m_isphysical && Body != IntPtr.Zero)

+                    {

+                        if (m_disabled)

+                            enableBodySoft();

+                        else if (!d.BodyIsEnabled(Body))

+                            d.BodyEnable(Body);

+                    }

+                }

+

+                m_collisionscore = 0;

+            }

+        }

+

+        private void changeAddAngularForce(Vector3 aforce)

+        {

+            m_angularForceacc += aforce;

+            if (!m_isSelected)

+            {

+                lock (this)

+                {

+                    if (m_isphysical && Body != IntPtr.Zero)

+                    {

+                        if (m_disabled)

+                            enableBodySoft();

+                        else if (!d.BodyIsEnabled(Body))

+                            d.BodyEnable(Body);

+                    }

+                }

+                m_collisionscore = 0;

+            }

+        }

+

+        private void changevelocity(Vector3 newVel)

+        {

+            if (!m_isSelected)

+            {

+                if (Body != IntPtr.Zero)

+                {

+                    if (m_disabled)

+                        enableBodySoft();

+                    else if (!d.BodyIsEnabled(Body))

+                        d.BodyEnable(Body);

+

+                    d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z);

+                }

+                //resetCollisionAccounting();           

+            }

+            _velocity = newVel;

+        }

+

+        private void changeVolumedetetion(bool newVolDtc)

+        {

+            m_isVolumeDetect = newVolDtc;

+        }

+

+        protected void changeBuilding(bool newbuilding)

+        {

+            if ((bool)newbuilding)

+            {

+                m_building = true;

+                if (!childPrim)

+                    DestroyBody();

+            }

+            else

+            {

+                m_building = false;

+                CheckDelaySelect();

+                if (!childPrim)

+                    MakeBody();

+            }

+            if (!childPrim && childrenPrim.Count > 0)

+            {

+                foreach (OdePrim prm in childrenPrim)

+                    prm.changeBuilding(m_building); // call directly

+            }

+        }

+

+       public void changeSetVehicle(VehicleData vdata)

+        {

+            if (m_vehicle == null)

+                m_vehicle = new ODEDynamics(this);

+            m_vehicle.DoSetVehicle(vdata);

+        }

+        private void changeVehicleType(int value)

+        {

+            if (value == (int)Vehicle.TYPE_NONE)

+            {

+                if (m_vehicle != null)

+                    m_vehicle = null;

+            }

+            else

+            {

+                if (m_vehicle == null)

+                    m_vehicle = new ODEDynamics(this);

+

+                m_vehicle.ProcessTypeChange((Vehicle)value);

+            }

+        }

+

+        private void changeVehicleFloatParam(strVehicleFloatParam fp)

+        {

+            if (m_vehicle == null)

+                return;

+

+            m_vehicle.ProcessFloatVehicleParam((Vehicle)fp.param, fp.value);

+        }

+

+        private void changeVehicleVectorParam(strVehicleVectorParam vp)

+        {

+            if (m_vehicle == null)

+                return;

+            m_vehicle.ProcessVectorVehicleParam((Vehicle)vp.param, vp.value);

+        }

+

+        private void changeVehicleRotationParam(strVehicleQuatParam qp)

+        {

+            if (m_vehicle == null)

+                return;

+            m_vehicle.ProcessRotationVehicleParam((Vehicle)qp.param, qp.value);

+        }

+

+        private void changeVehicleFlags(strVehicleBoolParam bp)

+        {

+            if (m_vehicle == null)

+                return;

+            m_vehicle.ProcessVehicleFlags(bp.param, bp.value);

+        }

+

+        #endregion

+

+        public void Move()

+        {

+            if (!childPrim && m_isphysical && Body != IntPtr.Zero &&

+                !m_disabled && !m_isSelected && d.BodyIsEnabled(Body) && !m_building && !m_outbounds)

+            //                  !m_disabled && !m_isSelected && !m_building && !m_outbounds)

+            {

+//                if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body); // KF add 161009

+

+                float timestep = _parent_scene.ODE_STEPSIZE;

+

+                // check outside region

+                d.Vector3 lpos;

+                d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator

+

+                if (lpos.Z < -100 || lpos.Z > 100000f)

+                {

+                    m_outbounds = true;

+

+                    lpos.Z = Util.Clip(lpos.Z, -100f, 100000f);

+                    _acceleration.X = 0;

+                    _acceleration.Y = 0;

+                    _acceleration.Z = 0;

+

+                    _velocity.X = 0;

+                    _velocity.Y = 0;

+                    _velocity.Z = 0;

+                    m_rotationalVelocity.X = 0;

+                    m_rotationalVelocity.Y = 0;

+                    m_rotationalVelocity.Z = 0;

+

+                    d.BodySetLinearVel(Body, 0, 0, 0); // stop it

+                    d.BodySetAngularVel(Body, 0, 0, 0); // stop it

+                    d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere 

+                    m_lastposition = _position;

+                    m_lastorientation = _orientation;

+

+                    base.RequestPhysicsterseUpdate();

+

+                    m_throttleUpdates = false;

+                    throttleCounter = 0;

+                    _zeroFlag = true;

+

+                    disableBodySoft(); // disable it and colisions

+                    base.RaiseOutOfBounds(_position);

+                    return;

+                }

+

+                if (lpos.X < 0f)

+                {

+                    _position.X = Util.Clip(lpos.X, -2f, -0.1f);

+                    m_outbounds = true;

+                }

+                else if(lpos.X > _parent_scene.WorldExtents.X)

+                {

+                    _position.X = Util.Clip(lpos.X, _parent_scene.WorldExtents.X + 0.1f, _parent_scene.WorldExtents.X + 2f);

+                    m_outbounds = true;

+                }

+                if (lpos.Y < 0f)

+                {

+                    _position.Y = Util.Clip(lpos.Y, -2f, -0.1f);

+                    m_outbounds = true;

+                }

+                else if(lpos.Y > _parent_scene.WorldExtents.Y)

+                {

+                    _position.Y = Util.Clip(lpos.Y, _parent_scene.WorldExtents.Y + 0.1f, _parent_scene.WorldExtents.Y + 2f);

+                    m_outbounds = true;

+                }

+

+                if(m_outbounds)

+                {

+                    m_lastposition = _position;

+                    m_lastorientation = _orientation;

+

+                    d.Vector3 dtmp = d.BodyGetAngularVel(Body);

+                    m_rotationalVelocity.X = dtmp.X;

+                    m_rotationalVelocity.Y = dtmp.Y;

+                    m_rotationalVelocity.Z = dtmp.Z;

+

+                    dtmp = d.BodyGetLinearVel(Body);

+                    _velocity.X = dtmp.X;

+                    _velocity.Y = dtmp.Y;

+                    _velocity.Z = dtmp.Z;

+

+                    d.BodySetLinearVel(Body, 0, 0, 0); // stop it

+                    d.BodySetAngularVel(Body, 0, 0, 0);

+                    d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);

+                    disableBodySoft(); // stop collisions

+                    base.RequestPhysicsterseUpdate();

+                    return;

+                }

+

+

+                float fx = 0;

+                float fy = 0;

+                float fz = 0;

+

+                if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)

+                {

+                    // 'VEHICLES' are dealt with in ODEDynamics.cs

+                    m_vehicle.Step();

+                }

+                else

+                {

+                    float m_mass = _mass;

+

+                    //                    fz = 0f;

+                    //m_log.Info(m_collisionFlags.ToString());

+                    if (m_usePID)

+                    {

+

+                        // If the PID Controller isn't active then we set our force

+                        // calculating base velocity to the current position

+

+                        if ((m_PIDTau < 1) && (m_PIDTau != 0))

+                        {

+                            //PID_G = PID_G / m_PIDTau;

+                            m_PIDTau = 1;

+                        }

+

+                        if ((PID_G - m_PIDTau) <= 0)

+                        {

+                            PID_G = m_PIDTau + 1;

+                        }

+

+                        d.Vector3 vel = d.BodyGetLinearVel(Body);

+                        d.Vector3 pos = d.BodyGetPosition(Body);

+                        _target_velocity =

+                            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 velocity is zero, use position control; otherwise, velocity control

+

+                        if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))

+                        {

+                            //  keep track of where we stopped.  No more slippin' & slidin'

+

+                            // We only want to deactivate the PID Controller if we think we want to have our surrogate

+                            // react to the physics scene by moving it's position.

+                            // Avatar to Avatar collisions

+                            // Prim to avatar collisions

+

+                            //fx = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2);

+                            //fy = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y) * (PID_P * 2);

+                            //fz = fz + (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;

+                            d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);

+                            d.BodySetLinearVel(Body, 0, 0, 0);

+                            d.BodyAddForce(Body, 0, 0, fz);

+                            return;

+                        }

+                        else

+                        {

+                            _zeroFlag = false;

+

+                            // We're flying and colliding with something

+                            fx = ((_target_velocity.X) - vel.X) * (PID_D);

+                            fy = ((_target_velocity.Y) - vel.Y) * (PID_D);

+

+                            // vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;

+

+                            fz = ((_target_velocity.Z - vel.Z) * (PID_D));

+                        }

+                    }        // end if (m_usePID)

+

+                    // Hover PID Controller needs to be mutually exlusive to MoveTo PID controller

+                    else if (m_useHoverPID)

+                    {

+                        //Console.WriteLine("Hover " +  Name);

+

+                        // If we're using the PID controller, then we have no gravity

+

+                        //  no lock; for now it's only called from within Simulate()

+

+                        // If the PID Controller isn't active then we set our force

+                        // calculating base velocity to the current position

+

+                        if ((m_PIDTau < 1))

+                        {

+                            PID_G = PID_G / m_PIDTau;

+                        }

+

+                        if ((PID_G - m_PIDTau) <= 0)

+                        {

+                            PID_G = m_PIDTau + 1;

+                        }

+

+                        // Where are we, and where are we headed?

+                        d.Vector3 pos = d.BodyGetPosition(Body);

+                        d.Vector3 vel = d.BodyGetLinearVel(Body);

+

+                        //    Non-Vehicles have a limited set of Hover options.

+                        // determine what our target height really is based on HoverType

+                        switch (m_PIDHoverType)

+                        {

+                            case PIDHoverType.Ground:

+                                m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);

+                                m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;

+                                break;

+                            case PIDHoverType.GroundAndWater:

+                                m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);

+                                m_waterHeight = _parent_scene.GetWaterLevel();

+                                if (m_groundHeight > m_waterHeight)

+                                {

+                                    m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;

+                                }

+                                else

+                                {

+                                    m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight;

+                                }

+                                break;

+

+                        }     // end switch (m_PIDHoverType)

+

+

+                        _target_velocity =

+                            new Vector3(0.0f, 0.0f,

+                                (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep)

+                                );

+

+                        //  if velocity is zero, use position control; otherwise, velocity control

+

+                        if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))

+                        {

+                            //  keep track of where we stopped.  No more slippin' & slidin'

+

+                            // We only want to deactivate the PID Controller if we think we want to have our surrogate

+                            // react to the physics scene by moving it's position.

+                            // Avatar to Avatar collisions

+                            // Prim to avatar collisions

+

+                            d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);

+                            d.BodySetLinearVel(Body, vel.X, vel.Y, 0);

+                            // ?                        d.BodyAddForce(Body, 0, 0, fz);

+                            return;

+                        }

+                        else

+                        {

+                            _zeroFlag = false;

+

+                            // We're flying and colliding with something

+                            fz = ((_target_velocity.Z - vel.Z) * (PID_D));

+                        }

+                    }

+                    else

+                    {

+                        float b = (1.0f - m_buoyancy);

+                        fx = _parent_scene.gravityx * b;

+                        fy = _parent_scene.gravityy * b;

+                        fz = _parent_scene.gravityz * b;

+                    }

+

+                    fx *= m_mass;

+                    fy *= m_mass;

+                    fz *= m_mass;

+

+                    // constant force

+                    fx += m_force.X;

+                    fy += m_force.Y;

+                    fz += m_force.Z;

+

+                    fx += m_forceacc.X;

+                    fy += m_forceacc.Y;

+                    fz += m_forceacc.Z;

+

+                    m_forceacc = Vector3.Zero;

+

+                    //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString());

+                    if (fx != 0 || fy != 0 || fz != 0)

+                    {

+                        d.BodyAddForce(Body, fx, fy, fz);

+                        //Console.WriteLine("AddForce " + fx + "," + fy + "," + fz);

+                    }

+

+                    Vector3 trq;

+

+                    trq = _torque;

+                    trq += m_angularForceacc;

+                    m_angularForceacc = Vector3.Zero;

+                    if (trq.X != 0 || trq.Y != 0 || trq.Z != 0)

+                    {

+                        d.BodyAddTorque(Body, trq.X, trq.Y, trq.Z);

+                    }

+

+                }

+            }

+            else

+            {    // is not physical, or is not a body or is selected

+                //  _zeroPosition = d.BodyGetPosition(Body);

+                return;

+                //Console.WriteLine("Nothing " +  Name);

+

+            }

+        }

+

+

+        public void UpdatePositionAndVelocity(float simulatedtime)

+        {

+            //  no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!

+            if (_parent == null && !m_disabled && !m_building && !m_outbounds)

+            {

+                if (Body != IntPtr.Zero)

+                {

+                    Vector3 pv = Vector3.Zero;

+                    bool lastZeroFlag = _zeroFlag;

+

+                    d.Vector3 lpos;

+                    d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator

+

+

+                    d.Quaternion ori;

+                    d.GeomCopyQuaternion(prim_geom, out ori);

+                    d.Vector3 vel = d.BodyGetLinearVel(Body);

+                    d.Vector3 rotvel = d.BodyGetAngularVel(Body);

+

+                    if ((Math.Abs(m_lastposition.X - lpos.X) < 0.01)

+                        && (Math.Abs(m_lastposition.Y - lpos.Y) < 0.01)

+                        && (Math.Abs(m_lastposition.Z - lpos.Z) < 0.01)

+                        && (Math.Abs(m_lastorientation.X - ori.X) < 0.0001)

+                        && (Math.Abs(m_lastorientation.Y - ori.Y) < 0.0001)

+                        && (Math.Abs(m_lastorientation.Z - ori.Z) < 0.0001)

+                        )

+                    {

+                        _zeroFlag = true;

+                        //Console.WriteLine("ZFT 2");

+                        m_throttleUpdates = false;

+                    }

+                    else

+                    {

+                        //m_log.Debug(Math.Abs(m_lastposition.X - l_position.X).ToString());

+                        _zeroFlag = false;

+                        m_lastUpdateSent = false;

+                        //m_throttleUpdates = false;

+                    }

+

+                    if (_zeroFlag)

+                    {

+                        m_lastposition = _position;

+                        m_lastorientation = _orientation;

+

+                        _velocity.X = 0.0f;

+                        _velocity.Y = 0.0f;

+                        _velocity.Z = 0.0f;

+

+                        _acceleration.X = 0;

+                        _acceleration.Y = 0;

+                        _acceleration.Z = 0;

+

+                        m_rotationalVelocity.X = 0;

+                        m_rotationalVelocity.Y = 0;

+                        m_rotationalVelocity.Z = 0;

+                        if (!m_lastUpdateSent)

+                        {

+                            m_throttleUpdates = false;

+                            throttleCounter = 0;

+                            m_rotationalVelocity = pv;

+

+                            base.RequestPhysicsterseUpdate();

+

+                            m_lastUpdateSent = true;

+                        }

+                    }

+                    else

+                    {

+                        if (lastZeroFlag != _zeroFlag)

+                        {

+                            base.RequestPhysicsterseUpdate();

+                        }

+

+                        m_lastVelocity = _velocity;

+

+                        _position.X = lpos.X;

+                        _position.Y = lpos.Y;

+                        _position.Z = lpos.Z;

+

+                        _velocity.X = vel.X;

+                        _velocity.Y = vel.Y;

+                        _velocity.Z = vel.Z;

+

+                        _orientation.X = ori.X;

+                        _orientation.Y = ori.Y;

+                        _orientation.Z = ori.Z;

+                        _orientation.W = ori.W;

+

+                        _acceleration = ((_velocity - m_lastVelocity) / simulatedtime);

+

+                        if (m_rotationalVelocity.ApproxEquals(pv, 0.0001f))

+                        {

+                            m_rotationalVelocity = pv;

+                        }

+                        else

+                        {

+                            m_rotationalVelocity.X = rotvel.X;

+                            m_rotationalVelocity.Y = rotvel.Y;

+                            m_rotationalVelocity.Z = rotvel.Z;

+                        }

+

+                        m_lastUpdateSent = false;

+                        if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate)

+                        {

+                            m_lastposition = _position;

+                            m_lastorientation = _orientation;

+                            base.RequestPhysicsterseUpdate();

+                        }

+                        else

+                        {

+                            throttleCounter++;

+                        }

+                    }

+                }

+                else if (!m_lastUpdateSent || !_zeroFlag)

+                {

+                    // Not a body..   so Make sure the client isn't interpolating

+                    _velocity.X = 0;

+                    _velocity.Y = 0;

+                    _velocity.Z = 0;

+

+                    _acceleration.X = 0;

+                    _acceleration.Y = 0;

+                    _acceleration.Z = 0;

+

+                    m_rotationalVelocity.X = 0;

+                    m_rotationalVelocity.Y = 0;

+                    m_rotationalVelocity.Z = 0;

+                    _zeroFlag = true;

+

+                    if (!m_lastUpdateSent)

+                    {

+                        m_throttleUpdates = false;

+                        throttleCounter = 0;

+

+                        base.RequestPhysicsterseUpdate();

+

+                        m_lastUpdateSent = true;

+                    }

+                }

+            }

+        }

+

+        internal static bool QuaternionIsFinite(Quaternion q)

+        {

+            if (Single.IsNaN(q.X) || Single.IsInfinity(q.X))

+                return false;

+            if (Single.IsNaN(q.Y) || Single.IsInfinity(q.Y))

+                return false;

+            if (Single.IsNaN(q.Z) || Single.IsInfinity(q.Z))

+                return false;

+            if (Single.IsNaN(q.W) || Single.IsInfinity(q.W))

+                return false;

+            return true;

+        }

+

+        internal static void DMassCopy(ref d.Mass src, ref d.Mass dst)

+        {

+            dst.c.W = src.c.W;

+            dst.c.X = src.c.X;

+            dst.c.Y = src.c.Y;

+            dst.c.Z = src.c.Z;

+            dst.mass = src.mass;

+            dst.I.M00 = src.I.M00;

+            dst.I.M01 = src.I.M01;

+            dst.I.M02 = src.I.M02;

+            dst.I.M10 = src.I.M10;

+            dst.I.M11 = src.I.M11;

+            dst.I.M12 = src.I.M12;

+            dst.I.M20 = src.I.M20;

+            dst.I.M21 = src.I.M21;

+            dst.I.M22 = src.I.M22;

+        }

+

+        private static void DMassDup(ref d.Mass src, out d.Mass dst)

+        {

+            dst = new d.Mass { };

+

+            dst.c.W = src.c.W;

+            dst.c.X = src.c.X;

+            dst.c.Y = src.c.Y;

+            dst.c.Z = src.c.Z;

+            dst.mass = src.mass;

+            dst.I.M00 = src.I.M00;

+            dst.I.M01 = src.I.M01;

+            dst.I.M02 = src.I.M02;

+            dst.I.M10 = src.I.M10;

+            dst.I.M11 = src.I.M11;

+            dst.I.M12 = src.I.M12;

+            dst.I.M20 = src.I.M20;

+            dst.I.M21 = src.I.M21;

+            dst.I.M22 = src.I.M22;

+        }

+        private void donullchange()

+        {

+        }

+

+        public bool DoAChange(changes what, object arg)

+        {

+            if (prim_geom == IntPtr.Zero && what != changes.Add && what != changes.Remove)

+            {

+                return false;

+            }

+

+            // nasty switch

+            switch (what)

+            {

+                case changes.Add:

+                    changeadd();

+                    break;

+                case changes.Remove:

+                    //If its being removed, we don't want to rebuild the physical rep at all, so ignore this stuff...

+                    //When we return true, it destroys all of the prims in the linkset anyway

+                    if (_parent != null)

+                    {

+                        OdePrim parent = (OdePrim)_parent;

+                        parent.ChildRemove(this, false);

+                    }

+                    else

+                        ChildRemove(this, false);

+

+                    m_vehicle = null;

+                    RemoveGeom();

+                    m_targetSpace = IntPtr.Zero;

+                    if (m_eventsubscription > 0)

+                        UnSubscribeEvents();

+                    return true;

+

+                case changes.Link:

+                    OdePrim tmp = (OdePrim)arg;

+                    changeLink(tmp);

+                    break;

+

+                case changes.DeLink:

+                    changeLink(null);

+                    break;

+

+                case changes.Position:

+                    changePosition((Vector3)arg);

+                    break;

+

+                case changes.Orientation:

+                    changeOrientation((Quaternion)arg);

+                    break;

+

+                case changes.PosOffset:

+                    donullchange();

+                    break;

+

+                case changes.OriOffset:

+                    donullchange();

+                    break;

+

+                case changes.Velocity:

+                    changevelocity((Vector3)arg);

+                    break;

+

+                //                case changes.Acceleration:

+                //                    changeacceleration((Vector3)arg);

+                //                    break;

+                //                case changes.AngVelocity:

+                //                    changeangvelocity((Vector3)arg);

+                //                    break;

+

+                case changes.Force:

+                    changeForce((Vector3)arg);

+                    break;

+

+                case changes.Torque:

+                    changeSetTorque((Vector3)arg);

+                    break;

+

+                case changes.AddForce:

+                    changeAddForce((Vector3)arg);

+                    break;

+

+                case changes.AddAngForce:

+                    changeAddAngularForce((Vector3)arg);

+                    break;

+

+                case changes.AngLock:

+                    changeAngularLock((Vector3)arg);

+                    break;

+

+                case changes.Size:

+                    changeSize((Vector3)arg);

+                    break;

+

+                case changes.Shape:

+                    changeShape((PrimitiveBaseShape)arg);

+                    break;

+

+                case changes.CollidesWater:

+                    changeFloatOnWater((bool)arg);

+                    break;

+

+                case changes.VolumeDtc:

+                    changeVolumedetetion((bool)arg);

+                    break;

+

+                case changes.Phantom:

+                    changePhantomStatus((bool)arg);

+                    break;

+

+                case changes.Physical:

+                    changePhysicsStatus((bool)arg);

+                    break;

+

+                case changes.Selected:

+                    changeSelectedStatus((bool)arg);

+                    break;

+

+                case changes.disabled:

+                    changeDisable((bool)arg);

+                    break;

+

+                case changes.building:

+                    changeBuilding((bool)arg);

+                    break;

+

+                case changes.VehicleType:

+                    changeVehicleType((int)arg);

+                    break;

+

+                case changes.VehicleFlags:

+                    changeVehicleFlags((strVehicleBoolParam) arg);

+                    break;

+

+                case changes.VehicleFloatParam:

+                    changeVehicleFloatParam((strVehicleFloatParam) arg);

+                    break;

+

+                case changes.VehicleVectorParam:

+                    changeVehicleVectorParam((strVehicleVectorParam) arg);

+                    break;

+

+                case changes.VehicleRotationParam:

+                    changeVehicleRotationParam((strVehicleQuatParam) arg);

+                    break;

+

+                case changes.SetVehicle:

+                    changeSetVehicle((VehicleData) arg);

+                    break;

+                case changes.Null:

+                    donullchange();

+                    break;

+

+                default:

+                    donullchange();

+                    break;

+            }

+            return false;

+        }

+

+        public void AddChange(changes what, object arg)

+        {

+            _parent_scene.AddChange((PhysicsActor) this, what, arg);

+        }

+

+

+        private struct strVehicleBoolParam

+        {

+            public int param;

+            public bool value;

+        }

+

+        private struct strVehicleFloatParam

+        {

+            public int param;

+            public float value;

+        }

+

+        private struct strVehicleQuatParam

+        {

+            public int param;

+            public Quaternion value;

+        }

+

+        private struct strVehicleVectorParam

+        {

+            public int param;

+            public Vector3 value;

+        }

+    }

+}
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs
new file mode 100644
index 0000000..4b3f83b
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs
@@ -0,0 +1,443 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using System.Runtime.InteropServices;
+using System.Text;
+using OpenMetaverse;
+using OpenSim.Region.Physics.Manager;
+using OdeAPI;
+using log4net;
+
+namespace OpenSim.Region.Physics.OdePlugin
+{
+    /// <summary>
+    /// Processes raycast requests as ODE is in a state to be able to do them.
+    /// This ensures that it's thread safe and there will be no conflicts.
+    /// Requests get returned by a different thread then they were requested by.
+    /// </summary>
+    public class ODERayCastRequestManager
+    {
+        /// <summary>
+        /// Pending ray requests
+        /// </summary>
+        protected OpenSim.Framework.LocklessQueue<ODERayRequest> m_PendingRequests = new OpenSim.Framework.LocklessQueue<ODERayRequest>();
+
+        /// <summary>
+        /// Scene that created this object.
+        /// </summary>
+        private OdeScene m_scene;
+
+        IntPtr ray;
+
+        private const int ColisionContactGeomsPerTest = 5;
+
+        /// <summary>
+        /// ODE near callback delegate
+        /// </summary>
+        private d.NearCallback nearCallback;
+        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+        private List<ContactResult> m_contactResults = new List<ContactResult>();
+
+        public ODERayCastRequestManager(OdeScene pScene)
+        {
+            m_scene = pScene;
+            nearCallback = near;
+            ray = d.CreateRay(IntPtr.Zero, 1.0f);
+        }
+
+        /// <summary>
+        /// Queues a raycast
+        /// </summary>
+        /// <param name="position">Origin of Ray</param>
+        /// <param name="direction">Ray normal</param>
+        /// <param name="length">Ray length</param>
+        /// <param name="retMethod">Return method to send the results</param>
+        public void QueueRequest(Vector3 position, Vector3 direction, float length, RayCallback retMethod)
+        {
+            ODERayRequest req = new ODERayRequest();
+            req.geom = IntPtr.Zero;
+            req.callbackMethod = retMethod;
+            req.Count = 0;
+            req.length = length;
+            req.Normal = direction;
+            req.Origin = position;
+
+            m_PendingRequests.Enqueue(req);
+        }
+
+        public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, RayCallback retMethod)
+        {
+            ODERayRequest req = new ODERayRequest();
+            req.geom = geom;
+            req.callbackMethod = retMethod;
+            req.length = length;
+            req.Normal = direction;
+            req.Origin = position;
+            req.Count = 0;
+
+            m_PendingRequests.Enqueue(req);
+        }
+
+        public void QueueRequest(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
+        {
+            ODERayRequest req = new ODERayRequest();
+            req.geom = IntPtr.Zero;
+            req.callbackMethod = retMethod;
+            req.Count = 0;
+            req.length = length;
+            req.Normal = direction;
+            req.Origin = position;
+
+            m_PendingRequests.Enqueue(req);
+        }
+
+        public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
+        {
+            ODERayRequest req = new ODERayRequest();
+            req.geom = geom;
+            req.callbackMethod = retMethod;
+            req.length = length;
+            req.Normal = direction;
+            req.Origin = position;
+            req.Count = 0;
+
+            m_PendingRequests.Enqueue(req);
+        }
+
+        /// <summary>
+        /// Queues a raycast
+        /// </summary>
+        /// <param name="position">Origin of Ray</param>
+        /// <param name="direction">Ray normal</param>
+        /// <param name="length">Ray length</param>
+        /// <param name="count"></param>
+        /// <param name="retMethod">Return method to send the results</param>
+        public void QueueRequest(Vector3 position, Vector3 direction, float length, int count, RayCallback retMethod)
+        {
+            ODERayRequest req = new ODERayRequest();
+            req.geom = IntPtr.Zero;
+            req.callbackMethod = retMethod;
+            req.length = length;
+            req.Normal = direction;
+            req.Origin = position;
+            req.Count = count;
+
+            m_PendingRequests.Enqueue(req);
+        }
+
+        public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, int count, RayCallback retMethod)
+        {
+            ODERayRequest req = new ODERayRequest();
+            req.geom = geom;
+            req.callbackMethod = retMethod;
+            req.length = length;
+            req.Normal = direction;
+            req.Origin = position;
+            req.Count = count;
+
+            m_PendingRequests.Enqueue(req);
+        }
+
+        public void QueueRequest(Vector3 position, Vector3 direction, float length, int count, RaycastCallback retMethod)
+        {
+            ODERayRequest req = new ODERayRequest();
+            req.geom = IntPtr.Zero;
+            req.callbackMethod = retMethod;
+            req.length = length;
+            req.Normal = direction;
+            req.Origin = position;
+            req.Count = count;
+
+            m_PendingRequests.Enqueue(req);
+        }
+
+        public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, int count, RaycastCallback retMethod)
+        {
+            ODERayRequest req = new ODERayRequest();
+            req.geom = geom;
+            req.callbackMethod = retMethod;
+            req.length = length;
+            req.Normal = direction;
+            req.Origin = position;
+            req.Count = count;
+
+            m_PendingRequests.Enqueue(req);
+        }
+
+        /// <summary>
+        /// Process all queued raycast requests
+        /// </summary>
+        /// <returns>Time in MS the raycasts took to process.</returns>
+        public int ProcessQueuedRequests()
+        {
+            int time = System.Environment.TickCount;
+
+            if (m_PendingRequests.Count <= 0)
+                return 0;
+
+            if (m_scene.ContactgeomsArray == IntPtr.Zero) // oops something got wrong or scene isn't ready still
+            {
+                m_PendingRequests.Clear();
+                return 0;
+            }
+
+            ODERayRequest req;
+
+            int i = 50; // arbitary limit of processed tests per frame
+
+            while(m_PendingRequests.Dequeue(out req))
+            {
+                if (req.geom == IntPtr.Zero)
+                    doSpaceRay(req);
+                else
+                    doGeomRay(req);
+            if(--i < 0)
+                break;
+            }
+
+            lock (m_contactResults)
+                m_contactResults.Clear();
+
+            return System.Environment.TickCount - time;
+        }
+        /// <summary>
+        /// Method that actually initiates the raycast with full top space
+        /// </summary>
+        /// <param name="req"></param>
+        private void doSpaceRay(ODERayRequest req)
+        {
+            // Create the ray
+//            IntPtr ray = d.CreateRay(m_scene.TopSpace, req.length);
+            d.GeomRaySetLength(ray, req.length);
+            d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
+
+            // Collide test
+            d.SpaceCollide2(m_scene.TopSpace, ray, IntPtr.Zero, nearCallback);
+
+            // Remove Ray
+//            d.GeomDestroy(ray);
+
+            if (req.callbackMethod == null)
+                return;
+
+            if (req.callbackMethod is RaycastCallback)
+            {
+                // Define default results
+                bool hitYN = false;
+                uint hitConsumerID = 0;
+                float distance = 999999999999f;
+                Vector3 closestcontact = new Vector3(99999f, 99999f, 99999f);
+                Vector3 snormal = Vector3.Zero;
+
+                // Find closest contact and object.
+                lock (m_contactResults)
+                {
+                    foreach (ContactResult cResult in m_contactResults)
+                    {
+                        if (Vector3.Distance(req.Origin, cResult.Pos) < Vector3.Distance(req.Origin, closestcontact))
+                        {
+                            closestcontact = cResult.Pos;
+                            hitConsumerID = cResult.ConsumerID;
+                            distance = cResult.Depth;
+                            hitYN = true;
+                            snormal = cResult.Normal;
+                        }
+                    }
+                    m_contactResults.Clear();
+                }
+               
+                ((RaycastCallback)req.callbackMethod)(hitYN, closestcontact, hitConsumerID, distance, snormal);
+            }
+            else
+            {
+                ((RayCallback)req.callbackMethod)(m_contactResults);
+                lock (m_PendingRequests)
+                    m_contactResults.Clear();
+            }
+        }
+
+        /// <summary>
+        /// Method that actually initiates the raycast with a geom
+        /// </summary>
+        /// <param name="req"></param>
+        private void doGeomRay(ODERayRequest req)
+        {
+            // Create the ray
+//            IntPtr ray = d.CreateRay(m_scene.TopSpace, req.length);
+            d.GeomRaySetLength(ray, req.length);
+            d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
+
+            // Collide test
+            d.SpaceCollide2(req.geom, ray, IntPtr.Zero, nearCallback); // still do this to have full AABB pre test
+
+            // Remove Ray
+//            d.GeomDestroy(ray);
+
+            if (req.callbackMethod == null)
+                return;
+
+            if (req.callbackMethod is RaycastCallback)
+            {
+                // Define default results
+                bool hitYN = false;
+                uint hitConsumerID = 0;
+                float distance = 999999999999f;
+                Vector3 closestcontact = new Vector3(99999f, 99999f, 99999f);
+                Vector3 snormal = Vector3.Zero;
+
+                // Find closest contact and object.
+                lock (m_contactResults)
+                {
+                    foreach (ContactResult cResult in m_contactResults)
+                    {
+                        if (Vector3.Distance(req.Origin, cResult.Pos) < Vector3.Distance(req.Origin, closestcontact))
+                        {
+                            closestcontact = cResult.Pos;
+                            hitConsumerID = cResult.ConsumerID;
+                            distance = cResult.Depth;
+                            hitYN = true;
+                            snormal = cResult.Normal;
+                        }
+                    }
+                    m_contactResults.Clear();
+                }
+
+                ((RaycastCallback)req.callbackMethod)(hitYN, closestcontact, hitConsumerID, distance, snormal);
+            }
+            else
+            {
+                ((RayCallback)req.callbackMethod)(m_contactResults);
+                lock (m_PendingRequests)
+                    m_contactResults.Clear();
+            }
+        }
+
+        private bool GetCurContactGeom(int index, ref d.ContactGeom newcontactgeom)
+        {
+            IntPtr ContactgeomsArray = m_scene.ContactgeomsArray;
+            if (ContactgeomsArray == IntPtr.Zero || index >= ColisionContactGeomsPerTest)
+                return false;
+
+            IntPtr contactptr = new IntPtr(ContactgeomsArray.ToInt64() + (Int64)(index * d.ContactGeom.unmanagedSizeOf));
+            newcontactgeom = (d.ContactGeom)Marshal.PtrToStructure(contactptr, typeof(d.ContactGeom));
+            return true;
+        }
+        
+        // This is the standard Near. g2 is the ray
+        private void near(IntPtr space, IntPtr g1, IntPtr g2)
+        {
+            //Don't test against heightfield Geom, or you'll be sorry!
+            // Exclude heightfield geom
+
+            if (g1 == IntPtr.Zero || g1 == g2)
+                return;
+
+            if (d.GeomGetClass(g1) == d.GeomClassID.HeightfieldClass)
+                return;
+
+            // Raytest against AABBs of spaces first, then dig into the spaces it hits for actual geoms.
+            if (d.GeomIsSpace(g1))
+            {
+                try
+                {
+                    d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
+                }
+                catch (Exception e)
+                {
+                    m_log.WarnFormat("[PHYSICS Ray]: Unable to Space collide test an object: {0}", e.Message);
+                }
+                return;
+            }
+
+            int count = 0;
+            try
+            {
+                count = d.CollidePtr(g1, g2, ColisionContactGeomsPerTest, m_scene.ContactgeomsArray, d.ContactGeom.unmanagedSizeOf);
+            }
+            catch (SEHException)
+            {
+                m_log.Error("[PHYSICS Ray]: The Operating system shut down ODE because of corrupt memory.  This could be a result of really irregular terrain.  If this repeats continuously, restart using Basic Physics and terrain fill your terrain.  Restarting the sim.");
+            }
+            catch (Exception e)
+            {
+                m_log.WarnFormat("[PHYSICS Ray]: Unable to collide test an object: {0}", e.Message);
+                return;
+            }
+
+            if (count == 0)
+                return;
+
+            PhysicsActor p1 = null;
+
+            if (g1 != IntPtr.Zero)
+                m_scene.actor_name_map.TryGetValue(g1, out p1);
+
+            d.ContactGeom curcontact = new d.ContactGeom();
+            // Loop over contacts, build results.
+            for (int i = 0; i < count; i++)
+            {
+                if (!GetCurContactGeom(i, ref curcontact))
+                    break;
+                if (p1 != null) { 
+                    if (p1 is OdePrim)
+                    {
+                        ContactResult collisionresult = new ContactResult();
+                    
+                        collisionresult.ConsumerID = ((OdePrim)p1).m_localID;
+                        collisionresult.Pos = new Vector3(curcontact.pos.X, curcontact.pos.Y, curcontact.pos.Z);
+                        collisionresult.Depth = curcontact.depth;
+                        collisionresult.Normal = new Vector3(curcontact.normal.X, curcontact.normal.Y,
+                                                             curcontact.normal.Z);
+                        lock (m_contactResults)
+                            m_contactResults.Add(collisionresult);
+                    }
+                }
+            }
+        }
+
+        /// <summary>
+        /// Dereference the creator scene so that it can be garbage collected if needed.
+        /// </summary>
+        internal void Dispose()
+        {
+            m_scene = null;
+        }
+    }
+
+    public struct ODERayRequest
+    {
+        public IntPtr geom;
+        public Vector3 Origin;
+        public Vector3 Normal;
+        public int Count;
+        public float length;
+        public object callbackMethod;
+    }
+}
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
new file mode 100644
index 0000000..2b6bc59
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
@@ -0,0 +1,1960 @@
+/*
+ * based on:
+ * Ode.NET - .NET bindings for ODE
+ * Jason Perkins (starkos@industriousone.com)
+  *  Licensed under the New BSD
+ *  Part of the OpenDynamicsEngine
+Open Dynamics Engine
+Copyright (c) 2001-2007, Russell L. Smith.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+Redistributions of source code must retain the above copyright notice,
+this list of conditions and the following disclaimer.
+
+Redistributions in binary form must reproduce the above copyright notice,
+this list of conditions and the following disclaimer in the documentation
+and/or other materials provided with the distribution.
+
+Neither the names of ODE's copyright owner nor the names of its
+contributors may be used to endorse or promote products derived from
+this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ * 
+ * changes by opensim team; 
+ * changes by Aurora team http://www.aurora-sim.org/
+  
+ * Revision/fixs by Ubit Umarov
+ */
+
+using System;
+using System.Runtime.InteropServices;
+using System.Security;
+
+namespace OdeAPI
+{
+//#if dDOUBLE
+// don't see much use in double precision with time steps of 20ms and 10 iterations used on opensim
+// at least we save same memory and memory access time, FPU performance on intel usually is similar
+//      using dReal = System.Double;
+//#else
+        using dReal = System.Single;
+//#endif
+
+        public static class d
+        {
+                public static dReal Infinity = dReal.MaxValue;
+        public static int NTotalBodies = 0;
+        public static int NTotalGeoms = 0;
+
+                #region Flags and Enumerations
+
+        [Flags]
+        public enum AllocateODEDataFlags : uint
+        {
+            BasicData = 0,
+            CollisionData = 0x00000001,
+            All = ~0u
+        }
+
+        [Flags]
+        public enum IniteODEFlags : uint
+        {
+            dInitFlagManualThreadCleanup = 0x00000001
+        }
+
+                [Flags]
+                public enum ContactFlags : int
+                {
+                        Mu2 = 0x001,
+                        FDir1 = 0x002,
+                        Bounce = 0x004,
+                        SoftERP = 0x008,
+                        SoftCFM = 0x010,
+                        Motion1 = 0x020,
+                        Motion2 = 0x040,
+            MotionN = 0x080,
+                        Slip1 = 0x100,
+                        Slip2 = 0x200,
+                        Approx0 = 0x0000,
+                        Approx1_1 = 0x1000,
+                        Approx1_2 = 0x2000,
+                        Approx1 = 0x3000
+                }
+
+                public enum GeomClassID : int
+                {
+                        SphereClass,
+                        BoxClass,
+                        CapsuleClass,
+                        CylinderClass,
+                        PlaneClass,
+                        RayClass,
+                        ConvexClass,
+                        GeomTransformClass,
+                        TriMeshClass,
+                        HeightfieldClass,
+                        FirstSpaceClass,
+                        SimpleSpaceClass = FirstSpaceClass,
+                        HashSpaceClass,
+                        QuadTreeSpaceClass,
+                        LastSpaceClass = QuadTreeSpaceClass,
+                        FirstUserClass,
+                        LastUserClass = FirstUserClass + MaxUserClasses - 1,
+                        NumClasses,
+                        MaxUserClasses = 4
+                }
+
+                public enum JointType : int
+                {
+                        None,
+                        Ball,
+                        Hinge,
+                        Slider,
+                        Contact,
+                        Universal,
+                        Hinge2,
+                        Fixed,
+                        Null,
+                        AMotor,
+                        LMotor,
+                        Plane2D
+                }
+
+                public enum JointParam : int
+                {
+                        LoStop,
+                        HiStop,
+                        Vel,
+                        FMax,
+                        FudgeFactor,
+                        Bounce,
+                        CFM,
+                        StopERP,
+                        StopCFM,
+                        SuspensionERP,
+                        SuspensionCFM,
+                        LoStop2 = 256,
+                        HiStop2,
+                        Vel2,
+                        FMax2,
+                        FudgeFactor2,
+                        Bounce2,
+                        CFM2,
+                        StopERP2,
+                        StopCFM2,
+                        SuspensionERP2,
+                        SuspensionCFM2,
+                        LoStop3 = 512,
+                        HiStop3,
+                        Vel3,
+                        FMax3,
+                        FudgeFactor3,
+                        Bounce3,
+                        CFM3,
+                        StopERP3,
+                        StopCFM3,
+                        SuspensionERP3,
+                        SuspensionCFM3
+                }
+
+        public enum dSweepAndPruneAxis : int
+        {
+            XYZ = ((0)|(1<<2)|(2<<4)),
+            XZY = ((0)|(2<<2)|(1<<4)),
+            YXZ = ((1)|(0<<2)|(2<<4)),
+            YZX = ((1)|(2<<2)|(0<<4)),
+            ZXY = ((2)|(0<<2)|(1<<4)),
+            ZYX = ((2)|(1<<2)|(0<<4))
+        }
+
+                #endregion
+
+                #region Callbacks
+
+                [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
+                public delegate int AABBTestFn(IntPtr o1, IntPtr o2, ref AABB aabb);
+
+                [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
+                public delegate int ColliderFn(IntPtr o1, IntPtr o2, int flags, out ContactGeom contact, int skip);
+
+                [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
+                public delegate void GetAABBFn(IntPtr geom, out AABB aabb);
+
+                [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
+                public delegate ColliderFn GetColliderFnFn(int num);
+
+                [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
+                public delegate void GeomDtorFn(IntPtr o);
+
+                [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
+                public delegate dReal HeightfieldGetHeight(IntPtr p_user_data, int x, int z);
+
+                [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
+                public delegate void NearCallback(IntPtr data, IntPtr geom1, IntPtr geom2);
+
+                [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
+                public delegate int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex);
+
+                [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
+                public delegate int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount);
+
+                [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
+                public delegate int TriRayCallback(IntPtr trimesh, IntPtr ray, int triangleIndex, dReal u, dReal v);
+
+                #endregion
+
+                #region Structs
+
+                [StructLayout(LayoutKind.Sequential)]
+                public struct AABB
+                {
+                        public dReal MinX, MaxX;
+                        public dReal MinY, MaxY;
+                        public dReal MinZ, MaxZ;
+                }
+
+
+                [StructLayout(LayoutKind.Sequential)]
+                public struct Contact
+                {
+                        public SurfaceParameters surface;
+                        public ContactGeom geom;
+                        public Vector3 fdir1;
+            public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(Contact));
+                }
+
+
+                [StructLayout(LayoutKind.Sequential)]
+                public struct ContactGeom
+                {
+
+                        public Vector3 pos;
+                        public Vector3 normal;
+                        public dReal depth;
+                        public IntPtr g1;
+                        public IntPtr g2;
+                        public int side1;
+                        public int side2;
+            public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(ContactGeom));
+        }
+
+                [StructLayout(LayoutKind.Sequential)]
+                public struct GeomClass
+                {
+                        public int bytes;
+                        public GetColliderFnFn collider;
+                        public GetAABBFn aabb;
+                        public AABBTestFn aabb_test;
+                        public GeomDtorFn dtor;
+                }
+
+
+                [StructLayout(LayoutKind.Sequential)]
+                public struct JointFeedback 
+                {
+                        public Vector3 f1;
+                        public Vector3 t1;
+                        public Vector3 f2;
+                        public Vector3 t2;
+                }
+
+
+                [StructLayout(LayoutKind.Sequential)]
+                public struct Mass
+                {
+                        public dReal mass;
+                        public Vector4 c;
+                        public Matrix3 I;
+                }
+
+
+                [StructLayout(LayoutKind.Sequential)]
+                public struct Matrix3
+                {
+                        public Matrix3(dReal m00, dReal m10, dReal m20, dReal m01, dReal m11, dReal m21, dReal m02, dReal m12, dReal m22)
+                        {
+                                M00 = m00;  M10 = m10;  M20 = m20;  _m30 = 0.0f;
+                                M01 = m01;  M11 = m11;  M21 = m21;  _m31 = 0.0f;
+                                M02 = m02;  M12 = m12;  M22 = m22;  _m32 = 0.0f;
+                        }
+                        public dReal M00, M10, M20;
+                        private dReal _m30;
+                        public dReal M01, M11, M21;
+                        private dReal _m31;
+                        public dReal M02, M12, M22;
+                        private dReal _m32;
+                }
+
+                [StructLayout(LayoutKind.Sequential)]
+                public struct Matrix4
+                {
+                        public Matrix4(dReal m00, dReal m10, dReal m20, dReal m30,
+                                dReal m01, dReal m11, dReal m21, dReal m31,
+                                dReal m02, dReal m12, dReal m22, dReal m32,
+                                dReal m03, dReal m13, dReal m23, dReal m33)
+                        {
+                                M00 = m00; M10 = m10; M20 = m20; M30 = m30;
+                                M01 = m01; M11 = m11; M21 = m21; M31 = m31;
+                                M02 = m02; M12 = m12; M22 = m22; M32 = m32;
+                                M03 = m03; M13 = m13; M23 = m23; M33 = m33;
+                        }
+                        public dReal M00, M10, M20, M30;
+                        public dReal M01, M11, M21, M31;
+                        public dReal M02, M12, M22, M32;
+                        public dReal M03, M13, M23, M33;
+                }
+
+                [StructLayout(LayoutKind.Sequential)]
+                public struct Quaternion
+                {
+                        public dReal W, X, Y, Z;
+                }
+
+
+                [StructLayout(LayoutKind.Sequential)]
+                public struct SurfaceParameters
+                {
+                        public ContactFlags mode;
+                        public dReal mu;
+                        public dReal mu2;
+                        public dReal bounce;
+                        public dReal bounce_vel;
+                        public dReal soft_erp;
+                        public dReal soft_cfm;
+                        public dReal motion1;
+                        public dReal motion2;
+            public dReal motionN;
+                        public dReal slip1;
+                        public dReal slip2;
+                }
+
+
+                [StructLayout(LayoutKind.Sequential)]
+                public struct Vector3
+                {
+                        public Vector3(dReal x, dReal y, dReal z)
+                        {
+                                X = x;  Y = y;  Z = z;  _w = 0.0f;
+                        }
+                        public dReal X, Y, Z;
+                        private dReal _w;
+                }
+
+
+                [StructLayout(LayoutKind.Sequential)]
+                public struct Vector4
+                {
+                        public Vector4(dReal x, dReal y, dReal z, dReal w)
+                        {
+                                X = x;  Y = y;  Z = z;  W = w;
+                        }
+                        public dReal X, Y, Z, W;
+                }
+
+                #endregion
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAllocateODEDataForThread"), SuppressUnmanagedCodeSecurity]
+        public static extern int AllocateODEDataForThread(uint ODEInitFlags);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnected"), SuppressUnmanagedCodeSecurity]
+                public static extern bool AreConnected(IntPtr b1, IntPtr b2);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnectedExcluding"), SuppressUnmanagedCodeSecurity]
+                public static extern bool AreConnectedExcluding(IntPtr b1, IntPtr b2, JointType joint_type);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForce"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodyAddForce(IntPtr body, dReal fx, dReal fy, dReal fz);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtPos"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodyAddForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtRelPos"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodyAddForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForce"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodyAddRelForce(IntPtr body, dReal fx, dReal fy, dReal fz);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtPos"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodyAddRelForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtRelPos"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodyAddRelForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelTorque"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodyAddRelTorque(IntPtr body, dReal fx, dReal fy, dReal fz);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddTorque"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodyAddTorque(IntPtr body, dReal fx, dReal fy, dReal fz);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodyCopyPosition(IntPtr body, out Vector3 pos);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodyCopyPosition(IntPtr body, out dReal X);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodyCopyQuaternion(IntPtr body, out Quaternion quat);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodyCopyQuaternion(IntPtr body, out dReal X);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodyCopyRotation(IntPtr body, out Matrix3 R);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodyCopyRotation(IntPtr body, out dReal M00);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCreate"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr BodyiCreate(IntPtr world);
+        public static IntPtr BodyCreate(IntPtr world)
+        {
+            NTotalBodies++;
+            return BodyiCreate(world);
+        }
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDestroy"), SuppressUnmanagedCodeSecurity]
+        public static extern void BodyiDestroy(IntPtr body);
+        public static void BodyDestroy(IntPtr body)
+        {
+            NTotalBodies--;
+            BodyiDestroy(body);
+        }
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDisable"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodyDisable(IntPtr body);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyEnable"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodyEnable(IntPtr body);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal BodyGetAutoDisableAngularThreshold(IntPtr body);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
+                public static extern bool BodyGetAutoDisableFlag(IntPtr body);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity]
+        public static extern void BodyGetAutoDisableDefaults(IntPtr body);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal BodyGetAutoDisableLinearThreshold(IntPtr body);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
+                public static extern int BodyGetAutoDisableSteps(IntPtr body);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal BodyGetAutoDisableTime(IntPtr body);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularVel"), SuppressUnmanagedCodeSecurity]
+                public extern unsafe static Vector3* BodyGetAngularVelUnsafe(IntPtr body);
+                public static Vector3 BodyGetAngularVel(IntPtr body)
+                {
+                        unsafe { return *(BodyGetAngularVelUnsafe(body)); }
+                }
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetData"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr BodyGetData(IntPtr body);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationMode"), SuppressUnmanagedCodeSecurity]
+                public static extern int BodyGetFiniteRotationMode(IntPtr body);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodyGetFiniteRotationAxis(IntPtr body, out Vector3 result);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetForce"), SuppressUnmanagedCodeSecurity]
+                public extern unsafe static Vector3* BodyGetForceUnsafe(IntPtr body);
+                public static Vector3 BodyGetForce(IntPtr body)
+                {
+                        unsafe { return *(BodyGetForceUnsafe(body)); }
+                }
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGravityMode"), SuppressUnmanagedCodeSecurity]
+                public static extern bool BodyGetGravityMode(IntPtr body);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGyroscopicMode"), SuppressUnmanagedCodeSecurity]
+        public static extern int BodyGetGyroscopicMode(IntPtr body);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetJoint"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr BodyGetJoint(IntPtr body, int index);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearVel"), SuppressUnmanagedCodeSecurity]
+                public extern unsafe static Vector3* BodyGetLinearVelUnsafe(IntPtr body);
+                public static Vector3 BodyGetLinearVel(IntPtr body)
+                {
+                        unsafe { return *(BodyGetLinearVelUnsafe(body)); }
+                }
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetMass"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodyGetMass(IntPtr body, out Mass mass);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNumJoints"), SuppressUnmanagedCodeSecurity]
+                public static extern int BodyGetNumJoints(IntPtr body);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPointVel"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodyGetPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosition"), SuppressUnmanagedCodeSecurity]
+                public extern unsafe static Vector3* BodyGetPositionUnsafe(IntPtr body);
+                public static Vector3 BodyGetPosition(IntPtr body)
+                {
+                        unsafe { return *(BodyGetPositionUnsafe(body)); }
+                }
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosRelPoint"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodyGetPosRelPoint(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetQuaternion"), SuppressUnmanagedCodeSecurity]
+                public extern unsafe static Quaternion* BodyGetQuaternionUnsafe(IntPtr body);
+                public static Quaternion BodyGetQuaternion(IntPtr body)
+                {
+                        unsafe { return *(BodyGetQuaternionUnsafe(body)); }
+                }
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointPos"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodyGetRelPointPos(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointVel"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodyGetRelPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRotation"), SuppressUnmanagedCodeSecurity]
+                public extern unsafe static Matrix3* BodyGetRotationUnsafe(IntPtr body);
+                public static Matrix3 BodyGetRotation(IntPtr body)
+                {
+                        unsafe { return *(BodyGetRotationUnsafe(body)); }
+                }
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetTorque"), SuppressUnmanagedCodeSecurity]
+                public extern unsafe static Vector3* BodyGetTorqueUnsafe(IntPtr body);
+                public static Vector3 BodyGetTorque(IntPtr body)
+                {
+                        unsafe { return *(BodyGetTorqueUnsafe(body)); }
+                }
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetWorld"), SuppressUnmanagedCodeSecurity]
+        public static extern IntPtr BodyGetWorld(IntPtr body);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFirstGeom"), SuppressUnmanagedCodeSecurity]
+        public static extern IntPtr BodyGetFirstGeom(IntPtr body);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNextGeom"), SuppressUnmanagedCodeSecurity]
+        public static extern IntPtr dBodyGetNextGeom(IntPtr Geom);
+
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyIsEnabled"), SuppressUnmanagedCodeSecurity]
+                public static extern bool BodyIsEnabled(IntPtr body);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularVel"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodySetAngularVel(IntPtr body, dReal x, dReal y, dReal z);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodySetAutoDisableAngularThreshold(IntPtr body, dReal angular_threshold);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodySetAutoDisableDefaults(IntPtr body);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodySetAutoDisableFlag(IntPtr body, bool do_auto_disable);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodySetAutoDisableLinearThreshold(IntPtr body, dReal linear_threshold);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodySetAutoDisableSteps(IntPtr body, int steps);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodySetAutoDisableTime(IntPtr body, dReal time);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetData"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodySetData(IntPtr body, IntPtr data);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationMode"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodySetFiniteRotationMode(IntPtr body, int mode);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodySetFiniteRotationAxis(IntPtr body, dReal x, dReal y, dReal z);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDamping"), SuppressUnmanagedCodeSecurity]
+        public static extern void BodySetLinearDamping(IntPtr body, dReal scale);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity]
+        public static extern void BodySetAngularDamping(IntPtr body, dReal scale);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearDamping"), SuppressUnmanagedCodeSecurity]
+        public static extern dReal BodyGetLinearDamping(IntPtr body);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDamping"), SuppressUnmanagedCodeSecurity]
+        public static extern dReal BodyGetAngularDamping(IntPtr body);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity]
+        public static extern void BodySetDamping(IntPtr body, dReal linear_scale, dReal angular_scale);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
+        public static extern void BodySetAngularDampingThreshold(IntPtr body, dReal threshold);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
+        public static extern void BodySetLinearDampingThreshold(IntPtr body, dReal threshold);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
+        public static extern dReal BodyGetLinearDampingThreshold(IntPtr body);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
+        public static extern dReal BodyGetAngularDampingThreshold(IntPtr body);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetForce"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodySetForce(IntPtr body, dReal x, dReal y, dReal z);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGravityMode"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodySetGravityMode(IntPtr body, bool mode);
+
+        /// <summary>
+        /// Sets the Gyroscopic term status on the body specified.
+        /// </summary>
+        /// <param name="body">Pointer to body</param>
+        /// <param name="enabled">NonZero enabled, Zero disabled</param>
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGyroscopicMode"), SuppressUnmanagedCodeSecurity]
+        public static extern void dBodySetGyroscopicMode(IntPtr body, int enabled);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearVel"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodySetLinearVel(IntPtr body, dReal x, dReal y, dReal z);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetMass"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodySetMass(IntPtr body, ref Mass mass);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetPosition"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodySetPosition(IntPtr body, dReal x, dReal y, dReal z);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodySetQuaternion(IntPtr body, ref Quaternion q);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodySetQuaternion(IntPtr body, ref dReal w);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodySetRotation(IntPtr body, ref Matrix3 R);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodySetRotation(IntPtr body, ref dReal M00);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetTorque"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodySetTorque(IntPtr body, dReal x, dReal y, dReal z);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorFromWorld"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodyVectorFromWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorToWorld"), SuppressUnmanagedCodeSecurity]
+                public static extern void BodyVectorToWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxBox"), SuppressUnmanagedCodeSecurity]
+                public static extern void BoxBox(ref Vector3 p1, ref Matrix3 R1,
+                        ref Vector3 side1, ref Vector3 p2,
+                        ref Matrix3 R2, ref Vector3 side2,
+                        ref Vector3 normal, out dReal depth, out int return_code,
+                        int maxc, out ContactGeom contact, int skip);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxTouchesBox"), SuppressUnmanagedCodeSecurity]
+                public static extern void BoxTouchesBox(ref Vector3 _p1, ref Matrix3 R1,
+                        ref Vector3 side1, ref Vector3 _p2,
+                        ref Matrix3 R2, ref Vector3 side2);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCleanupODEAllDataForThread"), SuppressUnmanagedCodeSecurity]
+                public static extern void CleanupODEAllDataForThread();
+        
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dClosestLineSegmentPoints"), SuppressUnmanagedCodeSecurity]
+                public static extern void ClosestLineSegmentPoints(ref Vector3 a1, ref Vector3 a2, 
+                        ref Vector3 b1, ref Vector3 b2, 
+                        ref Vector3 cp1, ref Vector3 cp2);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCloseODE"), SuppressUnmanagedCodeSecurity]
+                public static extern void CloseODE();
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity]
+        public static extern int Collide(IntPtr o1, IntPtr o2, int flags, [In, Out] ContactGeom[] contact, int skip);
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity]
+        public static extern int CollidePtr(IntPtr o1, IntPtr o2, int flags, IntPtr contactgeomarray, int skip);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dConnectingJoint"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr ConnectingJoint(IntPtr j1, IntPtr j2);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateBox"), SuppressUnmanagedCodeSecurity]
+        public static extern IntPtr CreateiBox(IntPtr space, dReal lx, dReal ly, dReal lz);
+                public static IntPtr CreateBox(IntPtr space, dReal lx, dReal ly, dReal lz)
+        {
+            NTotalGeoms++;
+            return CreateiBox(space, lx, ly, lz);
+        }
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCapsule"), SuppressUnmanagedCodeSecurity]
+        public static extern IntPtr CreateiCapsule(IntPtr space, dReal radius, dReal length);
+        public static IntPtr CreateCapsule(IntPtr space, dReal radius, dReal length)
+        {
+            NTotalGeoms++;
+            return CreateiCapsule(space, radius, length);
+        }
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateConvex"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr CreateiConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
+        public static IntPtr CreateConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons)
+        {
+            NTotalGeoms++;
+            return CreateiConvex(space, planes, planeCount, points, pointCount, polygons);
+        }
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCylinder"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr CreateiCylinder(IntPtr space, dReal radius, dReal length);
+        public static IntPtr CreateCylinder(IntPtr space, dReal radius, dReal length)
+        {
+            NTotalGeoms++;
+            return CreateiCylinder(space, radius, length);
+        }
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateHeightfield"), SuppressUnmanagedCodeSecurity]
+        public static extern IntPtr CreateiHeightfield(IntPtr space, IntPtr data, int bPlaceable);
+        public static IntPtr CreateHeightfield(IntPtr space, IntPtr data, int bPlaceable)
+        {
+            NTotalGeoms++;
+            return CreateiHeightfield(space, data, bPlaceable);
+        }
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeom"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr CreateiGeom(int classnum);
+        public static IntPtr CreateGeom(int classnum)
+        {
+            NTotalGeoms++;
+            return CreateiGeom(classnum);
+        }
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomClass"), SuppressUnmanagedCodeSecurity]
+                public static extern int CreateGeomClass(ref GeomClass classptr);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomTransform"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr CreateGeomTransform(IntPtr space);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreatePlane"), SuppressUnmanagedCodeSecurity]
+        public static extern IntPtr CreateiPlane(IntPtr space, dReal a, dReal b, dReal c, dReal d);
+        public static IntPtr CreatePlane(IntPtr space, dReal a, dReal b, dReal c, dReal d)
+        {
+            NTotalGeoms++;
+            return CreateiPlane(space, a, b, c, d);
+        }
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateRay"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr CreateiRay(IntPtr space, dReal length);
+        public static IntPtr CreateRay(IntPtr space, dReal length)
+        {
+            NTotalGeoms++;
+            return CreateiRay(space, length);
+        }
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateSphere"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr CreateiSphere(IntPtr space, dReal radius);
+        public static IntPtr CreateSphere(IntPtr space, dReal radius)
+        {
+            NTotalGeoms++;
+            return CreateiSphere(space, radius);
+        }
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateTriMesh"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr CreateiTriMesh(IntPtr space, IntPtr data, 
+                        TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback);
+        public static IntPtr CreateTriMesh(IntPtr space, IntPtr data,
+            TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback)
+        {
+            NTotalGeoms++;
+            return CreateiTriMesh(space, data, callback, arrayCallback, rayCallback);
+        }
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDot"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal Dot(ref dReal X0, ref dReal X1, int n);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDQfromW"), SuppressUnmanagedCodeSecurity]
+                public static extern void DQfromW(dReal[] dq, ref Vector3 w, ref Quaternion q);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorCholesky"), SuppressUnmanagedCodeSecurity]
+                public static extern int FactorCholesky(ref dReal A00, int n);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorLDLT"), SuppressUnmanagedCodeSecurity]
+                public static extern void FactorLDLT(ref dReal A, out dReal d, int n, int nskip);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomBoxGetLengths(IntPtr geom, out Vector3 len);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomBoxGetLengths(IntPtr geom, out dReal x);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxPointDepth"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal GeomBoxPointDepth(IntPtr geom, dReal x, dReal y, dReal z);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxSetLengths"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomBoxSetLengths(IntPtr geom, dReal x, dReal y, dReal z);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleGetParams"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomCapsuleGetParams(IntPtr geom, out dReal radius, out dReal length);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsulePointDepth"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal GeomCapsulePointDepth(IntPtr geom, dReal x, dReal y, dReal z);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleSetParams"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomCapsuleSetParams(IntPtr geom, dReal radius, dReal length);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomClearOffset"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomClearOffset(IntPtr geom);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref Vector3 pos);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref dReal X);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref Quaternion Q);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref dReal X);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref Matrix3 R);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref dReal M00);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomCopyPosition(IntPtr geom, out Vector3 pos);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomCopyPosition(IntPtr geom, out dReal X);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomCopyRotation(IntPtr geom, out Matrix3 R);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomCopyRotation(IntPtr geom, out dReal M00);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderGetParams"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomCylinderGetParams(IntPtr geom, out dReal radius, out dReal length);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderSetParams"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomCylinderSetParams(IntPtr geom, dReal radius, dReal length);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDestroy"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomiDestroy(IntPtr geom);
+        public static void GeomDestroy(IntPtr geom)
+        {
+            NTotalGeoms--;
+            GeomiDestroy(geom);
+        }
+
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDisable"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomDisable(IntPtr geom);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomEnable"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomEnable(IntPtr geom);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomGetAABB(IntPtr geom, out AABB aabb);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomGetAABB(IntPtr geom, out dReal minX);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetBody"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr GeomGetBody(IntPtr geom);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCategoryBits"), SuppressUnmanagedCodeSecurity]
+                public static extern int GeomGetCategoryBits(IntPtr geom);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClassData"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr GeomGetClassData(IntPtr geom);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCollideBits"), SuppressUnmanagedCodeSecurity]
+                public static extern int GeomGetCollideBits(IntPtr geom);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClass"), SuppressUnmanagedCodeSecurity]
+                public static extern GeomClassID GeomGetClass(IntPtr geom);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetData"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr GeomGetData(IntPtr geom);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetPosition"), SuppressUnmanagedCodeSecurity]
+                public extern unsafe static Vector3* GeomGetOffsetPositionUnsafe(IntPtr geom);
+                public static Vector3 GeomGetOffsetPosition(IntPtr geom)
+                {
+                        unsafe { return *(GeomGetOffsetPositionUnsafe(geom)); }
+                }
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetRotation"), SuppressUnmanagedCodeSecurity]
+                public extern unsafe static Matrix3* GeomGetOffsetRotationUnsafe(IntPtr geom);
+                public static Matrix3 GeomGetOffsetRotation(IntPtr geom)
+                {
+                        unsafe { return *(GeomGetOffsetRotationUnsafe(geom)); }
+                }
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetPosition"), SuppressUnmanagedCodeSecurity]
+                public extern unsafe static Vector3* GeomGetPositionUnsafe(IntPtr geom);
+                public static Vector3 GeomGetPosition(IntPtr geom)
+                {
+                        unsafe { return *(GeomGetPositionUnsafe(geom)); }
+                }
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomCopyQuaternion(IntPtr geom, out Quaternion q);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomCopyQuaternion(IntPtr geom, out dReal X);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetRotation"), SuppressUnmanagedCodeSecurity]
+                public extern unsafe static Matrix3* GeomGetRotationUnsafe(IntPtr geom);
+                public static Matrix3 GeomGetRotation(IntPtr geom)
+                {
+                        unsafe { return *(GeomGetRotationUnsafe(geom)); }
+                }
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetSpace"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr GeomGetSpace(IntPtr geom);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomHeightfieldDataBuildByte(IntPtr d, byte[] pHeightData, int bCopyHeightData,
+                                dReal width, dReal depth, int widthSamples, int depthSamples,
+                                dReal scale, dReal offset, dReal thickness, int bWrap);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomHeightfieldDataBuildByte(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
+                                dReal width, dReal depth, int widthSamples, int depthSamples,
+                                dReal scale, dReal offset, dReal thickness,     int bWrap);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildCallback"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomHeightfieldDataBuildCallback(IntPtr d, IntPtr pUserData, HeightfieldGetHeight pCallback,
+                                dReal width, dReal depth, int widthSamples, int depthSamples,
+                                dReal scale, dReal offset, dReal thickness, int bWrap);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomHeightfieldDataBuildShort(IntPtr d, ushort[] pHeightData, int bCopyHeightData,
+                                dReal width, dReal depth, int widthSamples, int depthSamples,
+                                dReal scale, dReal offset, dReal thickness, int bWrap);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomHeightfieldDataBuildShort(IntPtr d, short[] pHeightData, int bCopyHeightData,
+                                dReal width, dReal depth, int widthSamples, int depthSamples,
+                                dReal scale, dReal offset, dReal thickness, int bWrap);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomHeightfieldDataBuildShort(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
+                                dReal width, dReal depth, int widthSamples, int depthSamples,
+                                dReal scale, dReal offset, dReal thickness, int bWrap);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, float[] pHeightData, int bCopyHeightData,
+                                dReal width, dReal depth, int widthSamples, int depthSamples,
+                                dReal scale, dReal offset, dReal thickness, int bWrap);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
+                                dReal width, dReal depth, int widthSamples, int depthSamples,
+                                dReal scale, dReal offset, dReal thickness, int bWrap);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, double[] pHeightData, int bCopyHeightData,
+                                dReal width, dReal depth, int widthSamples, int depthSamples,
+                                dReal scale, dReal offset, dReal thickness, int bWrap);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
+                                dReal width, dReal depth, int widthSamples, int depthSamples,
+                                dReal scale, dReal offset, dReal thickness, int bWrap);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataCreate"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr GeomHeightfieldDataCreate();
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataDestroy"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomHeightfieldDataDestroy(IntPtr d);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataSetBounds"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomHeightfieldDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldGetHeightfieldData"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr GeomHeightfieldGetHeightfieldData(IntPtr g);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldSetHeightfieldData"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomHeightfieldSetHeightfieldData(IntPtr g, IntPtr d);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsEnabled"), SuppressUnmanagedCodeSecurity]
+                public static extern bool GeomIsEnabled(IntPtr geom);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsOffset"), SuppressUnmanagedCodeSecurity]
+                public static extern bool GeomIsOffset(IntPtr geom);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsSpace"), SuppressUnmanagedCodeSecurity]
+                public static extern bool GeomIsSpace(IntPtr geom);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomPlaneGetParams(IntPtr geom, ref Vector4 result);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomPlaneGetParams(IntPtr geom, ref dReal A);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlanePointDepth"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal GeomPlanePointDepth(IntPtr geom, dReal x, dReal y, dReal z);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneSetParams"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomPlaneSetParams(IntPtr plane, dReal a, dReal b, dReal c, dReal d);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomRayGet(IntPtr ray, ref Vector3 start, ref Vector3 dir);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomRayGet(IntPtr ray, ref dReal startX, ref dReal dirX);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetClosestHit"), SuppressUnmanagedCodeSecurity]
+                public static extern int GeomRayGetClosestHit(IntPtr ray);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetLength"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal GeomRayGetLength(IntPtr ray);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetParams"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal GeomRayGetParams(IntPtr g, out int firstContact, out int backfaceCull);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySet"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomRaySet(IntPtr ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetClosestHit"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomRaySetClosestHit(IntPtr ray, int closestHit);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetLength"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomRaySetLength(IntPtr ray, dReal length);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetParams"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomRaySetParams(IntPtr ray, int firstContact, int backfaceCull);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetBody"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomSetBody(IntPtr geom, IntPtr body);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCategoryBits"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomSetCategoryBits(IntPtr geom, int bits);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCollideBits"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomSetCollideBits(IntPtr geom, int bits);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetConvex"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr GeomSetConvex(IntPtr geom, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetData"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomSetData(IntPtr geom, IntPtr data);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetPosition"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomSetOffsetPosition(IntPtr geom, dReal x, dReal y, dReal z);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref Quaternion Q);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref dReal X);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomSetOffsetRotation(IntPtr geom, ref Matrix3 R);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomSetOffsetRotation(IntPtr geom, ref dReal M00);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldPosition"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomSetOffsetWorldPosition(IntPtr geom, dReal x, dReal y, dReal z);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref Quaternion Q);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref dReal X);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref Matrix3 R);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref dReal M00);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetPosition"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomSetPosition(IntPtr geom, dReal x, dReal y, dReal z);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomSetQuaternion(IntPtr geom, ref Quaternion quat);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomSetQuaternion(IntPtr geom, ref dReal w);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomSetRotation(IntPtr geom, ref Matrix3 R);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomSetRotation(IntPtr geom, ref dReal M00);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereGetRadius"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal GeomSphereGetRadius(IntPtr geom);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSpherePointDepth"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal GeomSpherePointDepth(IntPtr geom, dReal x, dReal y, dReal z);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereSetRadius"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomSphereSetRadius(IntPtr geom, dReal radius);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetCleanup"), SuppressUnmanagedCodeSecurity]
+                public static extern int GeomTransformGetCleanup(IntPtr geom);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetGeom"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr GeomTransformGetGeom(IntPtr geom);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetInfo"), SuppressUnmanagedCodeSecurity]
+                public static extern int GeomTransformGetInfo(IntPtr geom);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetCleanup"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomTransformSetCleanup(IntPtr geom, int mode);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetGeom"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomTransformSetGeom(IntPtr geom, IntPtr obj);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetInfo"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomTransformSetInfo(IntPtr geom, int info);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomTriMeshDataBuildDouble(IntPtr d,
+                        double[] vertices, int vertexStride, int vertexCount,
+                        int[] indices, int indexCount, int triStride);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomTriMeshDataBuildDouble(IntPtr d,
+                        IntPtr vertices, int vertexStride, int vertexCount,
+                        IntPtr indices, int indexCount, int triStride);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomTriMeshDataBuildDouble1(IntPtr d,
+                        double[] vertices, int vertexStride, int vertexCount,
+                        int[] indices, int indexCount, int triStride,
+                        double[] normals);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomTriMeshDataBuildDouble(IntPtr d,
+                        IntPtr vertices, int vertexStride, int vertexCount,
+                        IntPtr indices, int indexCount, int triStride,
+                        IntPtr normals);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomTriMeshDataBuildSingle(IntPtr d,
+                        dReal[] vertices, int vertexStride, int vertexCount,
+                        int[] indices, int indexCount, int triStride);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomTriMeshDataBuildSingle(IntPtr d,
+                        IntPtr vertices, int vertexStride, int vertexCount,
+                        IntPtr indices, int indexCount, int triStride);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomTriMeshDataBuildSingle1(IntPtr d,
+                        dReal[] vertices, int vertexStride, int vertexCount,
+                        int[] indices, int indexCount, int triStride,
+                        dReal[] normals);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomTriMeshDataBuildSingle1(IntPtr d,
+                        IntPtr vertices, int vertexStride, int vertexCount,
+                        IntPtr indices, int indexCount, int triStride,
+                        IntPtr normals);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomTriMeshDataBuildSimple(IntPtr d, 
+                        float[] vertices, int vertexStride, int vertexCount,
+                        int[] indices, int indexCount, int triStride);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomTriMeshDataBuildSimple(IntPtr d,
+                        IntPtr vertices, int vertexStride, int vertexCount,
+                        IntPtr indices, int indexCount, int triStride);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomTriMeshDataBuildSimple1(IntPtr d, 
+                        float[] vertices, int vertexStride, int vertexCount,
+                        int[] indices, int indexCount, int triStride,
+                        float[] normals);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomTriMeshDataBuildSimple1(IntPtr d,
+                        IntPtr vertices, int vertexStride, int vertexCount,
+                        IntPtr indices, int indexCount, int triStride,
+                        IntPtr normals);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshClearTCCache"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomTriMeshClearTCCache(IntPtr g);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataCreate"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr GeomTriMeshDataCreate();
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataDestroy"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomTriMeshDataDestroy(IntPtr d);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataGet"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr GeomTriMeshDataGet(IntPtr d, int data_id);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataPreprocess"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomTriMeshDataPreprocess(IntPtr d);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataSet"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomTriMeshDataSet(IntPtr d, int data_id, IntPtr in_data);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataUpdate"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomTriMeshDataUpdate(IntPtr d);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshEnableTC"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomTriMeshEnableTC(IntPtr g, int geomClass, bool enable);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetArrayCallback"), SuppressUnmanagedCodeSecurity]
+                public static extern TriArrayCallback GeomTriMeshGetArrayCallback(IntPtr g);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetCallback"), SuppressUnmanagedCodeSecurity]
+                public static extern TriCallback GeomTriMeshGetCallback(IntPtr g);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetData"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr GeomTriMeshGetData(IntPtr g);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetLastTransform"), SuppressUnmanagedCodeSecurity]
+                public extern unsafe static Matrix4* GeomTriMeshGetLastTransformUnsafe(IntPtr geom);
+                public static Matrix4 GeomTriMeshGetLastTransform(IntPtr geom)
+                {
+                        unsafe { return *(GeomTriMeshGetLastTransformUnsafe(geom)); }
+                }
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetPoint"), SuppressUnmanagedCodeSecurity]
+                public extern static void GeomTriMeshGetPoint(IntPtr g, int index, dReal u, dReal v, ref Vector3 outVec);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetRayCallback"), SuppressUnmanagedCodeSecurity]
+                public static extern TriRayCallback GeomTriMeshGetRayCallback(IntPtr g);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangle"), SuppressUnmanagedCodeSecurity]
+                public extern static void GeomTriMeshGetTriangle(IntPtr g, int index, ref Vector3 v0, ref Vector3 v1, ref Vector3 v2);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangleCount"), SuppressUnmanagedCodeSecurity]
+                public extern static int GeomTriMeshGetTriangleCount(IntPtr g);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriMeshDataID"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr GeomTriMeshGetTriMeshDataID(IntPtr g);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshIsTCEnabled"), SuppressUnmanagedCodeSecurity]
+                public static extern bool GeomTriMeshIsTCEnabled(IntPtr g, int geomClass);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetArrayCallback"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomTriMeshSetArrayCallback(IntPtr g, TriArrayCallback arrayCallback);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetCallback"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomTriMeshSetCallback(IntPtr g, TriCallback callback);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetData"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomTriMeshSetData(IntPtr g, IntPtr data);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref Matrix4 last_trans);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity]
+                public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref dReal M00);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetRayCallback"), SuppressUnmanagedCodeSecurity]
+        public static extern void GeomTriMeshSetRayCallback(IntPtr g, TriRayCallback callback);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGetConfiguration"), SuppressUnmanagedCodeSecurity]
+        public static extern string GetConfiguration(string str);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceCreate"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr HashSpaceCreate(IntPtr space);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceGetLevels"), SuppressUnmanagedCodeSecurity]
+                public static extern void HashSpaceGetLevels(IntPtr space, out int minlevel, out int maxlevel);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceSetLevels"), SuppressUnmanagedCodeSecurity]
+                public static extern void HashSpaceSetLevels(IntPtr space, int minlevel, int maxlevel);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInfiniteAABB"), SuppressUnmanagedCodeSecurity]
+                public static extern void InfiniteAABB(IntPtr geom, out AABB aabb);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE"), SuppressUnmanagedCodeSecurity]
+                public static extern void InitODE();
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE2"), SuppressUnmanagedCodeSecurity]
+        public static extern int InitODE2(uint ODEInitFlags);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dIsPositiveDefinite"), SuppressUnmanagedCodeSecurity]
+                public static extern int IsPositiveDefinite(ref dReal A, int n);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInvertPDMatrix"), SuppressUnmanagedCodeSecurity]
+                public static extern int InvertPDMatrix(ref dReal A, out dReal Ainv, int n);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddAMotorTorques"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointAddAMotorTorques(IntPtr joint, dReal torque1, dReal torque2, dReal torque3);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHingeTorque"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointAddHingeTorque(IntPtr joint, dReal torque);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHinge2Torque"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointAddHinge2Torques(IntPtr joint, dReal torque1, dReal torque2);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddPRTorque"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointAddPRTorque(IntPtr joint, dReal torque);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddUniversalTorque"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointAddUniversalTorques(IntPtr joint, dReal torque1, dReal torque2);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddSliderForce"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointAddSliderForce(IntPtr joint, dReal force);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAttach"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointAttach(IntPtr joint, IntPtr body1, IntPtr body2);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateAMotor"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr JointCreateAMotor(IntPtr world, IntPtr group);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateBall"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr JointCreateBall(IntPtr world, IntPtr group);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity]
+        public static extern IntPtr JointCreateContact(IntPtr world, IntPtr group, ref Contact contact);
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity]
+        public static extern IntPtr JointCreateContactPtr(IntPtr world, IntPtr group, IntPtr contact);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateFixed"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr JointCreateFixed(IntPtr world, IntPtr group);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr JointCreateHinge(IntPtr world, IntPtr group);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge2"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr JointCreateHinge2(IntPtr world, IntPtr group);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateLMotor"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr JointCreateLMotor(IntPtr world, IntPtr group);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateNull"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr JointCreateNull(IntPtr world, IntPtr group);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePR"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr JointCreatePR(IntPtr world, IntPtr group);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePlane2D"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr JointCreatePlane2D(IntPtr world, IntPtr group);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateSlider"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr JointCreateSlider(IntPtr world, IntPtr group);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateUniversal"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr JointCreateUniversal(IntPtr world, IntPtr group);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointDestroy"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointDestroy(IntPtr j);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngle"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal JointGetAMotorAngle(IntPtr j, int anum);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngleRate"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal JointGetAMotorAngleRate(IntPtr j, int anum);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxis"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointGetAMotorAxis(IntPtr j, int anum, out Vector3 result);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxisRel"), SuppressUnmanagedCodeSecurity]
+                public static extern int JointGetAMotorAxisRel(IntPtr j, int anum);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorMode"), SuppressUnmanagedCodeSecurity]
+                public static extern int JointGetAMotorMode(IntPtr j);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorNumAxes"), SuppressUnmanagedCodeSecurity]
+                public static extern int JointGetAMotorNumAxes(IntPtr j);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorParam"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal JointGetAMotorParam(IntPtr j, int parameter);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointGetBallAnchor(IntPtr j, out Vector3 result);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor2"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointGetBallAnchor2(IntPtr j, out Vector3 result);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBody"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr JointGetBody(IntPtr j);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetData"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr JointGetData(IntPtr j);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetFeedback"), SuppressUnmanagedCodeSecurity]
+                public extern unsafe static JointFeedback* JointGetFeedbackUnsafe(IntPtr j);
+                public static JointFeedback JointGetFeedback(IntPtr j)
+                {
+                        unsafe { return *(JointGetFeedbackUnsafe(j)); }
+                }
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointGetHingeAnchor(IntPtr j, out Vector3 result);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngle"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal JointGetHingeAngle(IntPtr j);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngleRate"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal JointGetHingeAngleRate(IntPtr j);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAxis"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointGetHingeAxis(IntPtr j, out Vector3 result);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeParam"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal JointGetHingeParam(IntPtr j, int parameter);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal JointGetHinge2Angle1(IntPtr j);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1Rate"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal JointGetHinge2Angle1Rate(IntPtr j);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle2Rate"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal JointGetHinge2Angle2Rate(IntPtr j);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor2"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointGetHingeAnchor2(IntPtr j, out Vector3 result);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointGetHinge2Anchor(IntPtr j, out Vector3 result);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor2"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointGetHinge2Anchor2(IntPtr j, out Vector3 result);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis1"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointGetHinge2Axis1(IntPtr j, out Vector3 result);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis2"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointGetHinge2Axis2(IntPtr j, out Vector3 result);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Param"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal JointGetHinge2Param(IntPtr j, int parameter);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorAxis"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointGetLMotorAxis(IntPtr j, int anum, out Vector3 result);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorNumAxes"), SuppressUnmanagedCodeSecurity]
+                public static extern int JointGetLMotorNumAxes(IntPtr j);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorParam"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal JointGetLMotorParam(IntPtr j, int parameter);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAnchor"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointGetPRAnchor(IntPtr j, out Vector3 result);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis1"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointGetPRAxis1(IntPtr j, out Vector3 result);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis2"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointGetPRAxis2(IntPtr j, out Vector3 result);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRParam"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal JointGetPRParam(IntPtr j, int parameter);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPosition"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal JointGetPRPosition(IntPtr j);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPositionRate"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal JointGetPRPositionRate(IntPtr j);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderAxis"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointGetSliderAxis(IntPtr j, out Vector3 result);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderParam"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal JointGetSliderParam(IntPtr j, int parameter);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPosition"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal JointGetSliderPosition(IntPtr j);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPositionRate"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal JointGetSliderPositionRate(IntPtr j);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetType"), SuppressUnmanagedCodeSecurity]
+                public static extern JointType JointGetType(IntPtr j);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointGetUniversalAnchor(IntPtr j, out Vector3 result);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor2"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointGetUniversalAnchor2(IntPtr j, out Vector3 result);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal JointGetUniversalAngle1(IntPtr j);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1Rate"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal JointGetUniversalAngle1Rate(IntPtr j);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal JointGetUniversalAngle2(IntPtr j);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2Rate"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal JointGetUniversalAngle2Rate(IntPtr j);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngles"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointGetUniversalAngles(IntPtr j, out dReal angle1, out dReal angle2);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis1"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointGetUniversalAxis1(IntPtr j, out Vector3 result);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis2"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointGetUniversalAxis2(IntPtr j, out Vector3 result);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalParam"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal JointGetUniversalParam(IntPtr j, int parameter);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupCreate"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr JointGroupCreate(int max_size);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupDestroy"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointGroupDestroy(IntPtr group);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupEmpty"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointGroupEmpty(IntPtr group);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAngle"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetAMotorAngle(IntPtr j, int anum, dReal angle);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAxis"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetAMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorMode"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetAMotorMode(IntPtr j, int mode);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorNumAxes"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetAMotorNumAxes(IntPtr group, int num);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorParam"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetAMotorParam(IntPtr group, int parameter, dReal value);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetBallAnchor(IntPtr j, dReal x, dReal y, dReal z);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor2"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetBallAnchor2(IntPtr j, dReal x, dReal y, dReal z);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetData"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetData(IntPtr j, IntPtr data);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFeedback"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetFeedback(IntPtr j, out JointFeedback feedback);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFixed"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetFixed(IntPtr j);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchor"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetHingeAnchor(IntPtr j, dReal x, dReal y, dReal z);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchorDelta"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetHingeAnchorDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAxis"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetHingeAxis(IntPtr j, dReal x, dReal y, dReal z);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeParam"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetHingeParam(IntPtr j, int parameter, dReal value);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Anchor"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetHinge2Anchor(IntPtr j, dReal x, dReal y, dReal z);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis1"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetHinge2Axis1(IntPtr j, dReal x, dReal y, dReal z);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis2"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetHinge2Axis2(IntPtr j, dReal x, dReal y, dReal z);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Param"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetHinge2Param(IntPtr j, int parameter, dReal value);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorAxis"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetLMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorNumAxes"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetLMotorNumAxes(IntPtr j, int num);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorParam"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetLMotorParam(IntPtr j, int parameter, dReal value);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DAngleParam"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetPlane2DAngleParam(IntPtr j, int parameter, dReal value);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DXParam"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetPlane2DXParam(IntPtr j, int parameter, dReal value);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DYParam"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetPlane2DYParam(IntPtr j, int parameter, dReal value);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAnchor"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetPRAnchor(IntPtr j, dReal x, dReal y, dReal z);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis1"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetPRAxis1(IntPtr j, dReal x, dReal y, dReal z);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis2"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetPRAxis2(IntPtr j, dReal x, dReal y, dReal z);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRParam"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetPRParam(IntPtr j, int parameter, dReal value);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxis"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetSliderAxis(IntPtr j, dReal x, dReal y, dReal z);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxisDelta"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetSliderAxisDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderParam"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetSliderParam(IntPtr j, int parameter, dReal value);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAnchor"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetUniversalAnchor(IntPtr j, dReal x, dReal y, dReal z);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis1"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetUniversalAxis1(IntPtr j, dReal x, dReal y, dReal z);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis2"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetUniversalAxis2(IntPtr j, dReal x, dReal y, dReal z);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalParam"), SuppressUnmanagedCodeSecurity]
+                public static extern void JointSetUniversalParam(IntPtr j, int parameter, dReal value);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dLDLTAddTL"), SuppressUnmanagedCodeSecurity]
+                public static extern void LDLTAddTL(ref dReal L, ref dReal d, ref dReal a, int n, int nskip);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdd"), SuppressUnmanagedCodeSecurity]
+                public static extern void MassAdd(ref Mass a, ref Mass b);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdjust"), SuppressUnmanagedCodeSecurity]
+                public static extern void MassAdjust(ref Mass m, dReal newmass);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassCheck"), SuppressUnmanagedCodeSecurity]
+                public static extern bool MassCheck(ref Mass m);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity]
+                public static extern void MassRotate(ref Mass mass, ref Matrix3 R);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity]
+                public static extern void MassRotate(ref Mass mass, ref dReal M00);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBox"), SuppressUnmanagedCodeSecurity]
+                public static extern void MassSetBox(out Mass mass, dReal density, dReal lx, dReal ly, dReal lz);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBoxTotal"), SuppressUnmanagedCodeSecurity]
+                public static extern void MassSetBoxTotal(out Mass mass, dReal total_mass, dReal lx, dReal ly, dReal lz);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsule"), SuppressUnmanagedCodeSecurity]
+                public static extern void MassSetCapsule(out Mass mass, dReal density, int direction, dReal radius, dReal length);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsuleTotal"), SuppressUnmanagedCodeSecurity]
+                public static extern void MassSetCapsuleTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinder"), SuppressUnmanagedCodeSecurity]
+                public static extern void MassSetCylinder(out Mass mass, dReal density, int direction, dReal radius, dReal length);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinderTotal"), SuppressUnmanagedCodeSecurity]
+                public static extern void MassSetCylinderTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetParameters"), SuppressUnmanagedCodeSecurity]
+                public static extern void MassSetParameters(out Mass mass, dReal themass,
+                         dReal cgx, dReal cgy, dReal cgz,
+                         dReal i11, dReal i22, dReal i33,
+                         dReal i12, dReal i13, dReal i23);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphere"), SuppressUnmanagedCodeSecurity]
+                public static extern void MassSetSphere(out Mass mass, dReal density, dReal radius);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphereTotal"), SuppressUnmanagedCodeSecurity]
+                public static extern void dMassSetSphereTotal(out Mass mass, dReal total_mass, dReal radius);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetTrimesh"), SuppressUnmanagedCodeSecurity]
+                public static extern void MassSetTrimesh(out Mass mass, dReal density, IntPtr g);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetZero"), SuppressUnmanagedCodeSecurity]
+                public static extern void MassSetZero(out Mass mass);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassTranslate"), SuppressUnmanagedCodeSecurity]
+                public static extern void MassTranslate(ref Mass mass, dReal x, dReal y, dReal z);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity]
+        public static extern void Multiply0(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity]
+        private static extern void MultiplyiM3V3(out Vector3 vout, ref Matrix3 matrix, ref Vector3 vect,int p, int q, int r);
+        public static void MultiplyM3V3(out Vector3 outvector, ref Matrix3 matrix, ref Vector3 invector)
+        {
+            MultiplyiM3V3(out outvector, ref matrix, ref invector, 3, 3, 1);
+        }
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply1"), SuppressUnmanagedCodeSecurity]
+                public static extern void Multiply1(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply2"), SuppressUnmanagedCodeSecurity]
+                public static extern void Multiply2(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQFromAxisAndAngle"), SuppressUnmanagedCodeSecurity]
+                public static extern void QFromAxisAndAngle(out Quaternion q, dReal ax, dReal ay, dReal az, dReal angle);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQfromR"), SuppressUnmanagedCodeSecurity]
+                public static extern void QfromR(out Quaternion q, ref Matrix3 R);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply0"), SuppressUnmanagedCodeSecurity]
+                public static extern void QMultiply0(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply1"), SuppressUnmanagedCodeSecurity]
+                public static extern void QMultiply1(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply2"), SuppressUnmanagedCodeSecurity]
+                public static extern void QMultiply2(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply3"), SuppressUnmanagedCodeSecurity]
+                public static extern void QMultiply3(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQSetIdentity"), SuppressUnmanagedCodeSecurity]
+                public static extern void QSetIdentity(out Quaternion q);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref Vector3 center, ref Vector3 extents, int depth);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref dReal centerX, ref dReal extentsX, int depth);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRandReal"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal RandReal();
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFrom2Axes"), SuppressUnmanagedCodeSecurity]
+                public static extern void RFrom2Axes(out Matrix3 R, dReal ax, dReal ay, dReal az, dReal bx, dReal by, dReal bz);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromAxisAndAngle"), SuppressUnmanagedCodeSecurity]
+                public static extern void RFromAxisAndAngle(out Matrix3 R, dReal x, dReal y, dReal z, dReal angle);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromEulerAngles"), SuppressUnmanagedCodeSecurity]
+                public static extern void RFromEulerAngles(out Matrix3 R, dReal phi, dReal theta, dReal psi);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRfromQ"), SuppressUnmanagedCodeSecurity]
+                public static extern void RfromQ(out Matrix3 R, ref Quaternion q);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromZAxis"), SuppressUnmanagedCodeSecurity]
+                public static extern void RFromZAxis(out Matrix3 R, dReal ax, dReal ay, dReal az);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRSetIdentity"), SuppressUnmanagedCodeSecurity]
+                public static extern void RSetIdentity(out Matrix3 R);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetValue"), SuppressUnmanagedCodeSecurity]
+                public static extern void SetValue(out dReal a, int n);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetZero"), SuppressUnmanagedCodeSecurity]
+                public static extern void SetZero(out dReal a, int n);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSimpleSpaceCreate"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr SimpleSpaceCreate(IntPtr space);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveCholesky"), SuppressUnmanagedCodeSecurity]
+                public static extern void SolveCholesky(ref dReal L, out dReal b, int n);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1"), SuppressUnmanagedCodeSecurity]
+                public static extern void SolveL1(ref dReal L, out dReal b, int n, int nskip);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1T"), SuppressUnmanagedCodeSecurity]
+                public static extern void SolveL1T(ref dReal L, out dReal b, int n, int nskip);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveLDLT"), SuppressUnmanagedCodeSecurity]
+                public static extern void SolveLDLT(ref dReal L, ref dReal d, out dReal b, int n, int nskip);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceAdd"), SuppressUnmanagedCodeSecurity]
+                public static extern void SpaceAdd(IntPtr space, IntPtr geom);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceLockQuery"), SuppressUnmanagedCodeSecurity]
+        public static extern bool SpaceLockQuery(IntPtr space);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceClean"), SuppressUnmanagedCodeSecurity]
+                public static extern void SpaceClean(IntPtr space);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide"), SuppressUnmanagedCodeSecurity]
+                public static extern void SpaceCollide(IntPtr space, IntPtr data, NearCallback callback);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide2"), SuppressUnmanagedCodeSecurity]
+                public static extern void SpaceCollide2(IntPtr space1, IntPtr space2, IntPtr data, NearCallback callback);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceDestroy"), SuppressUnmanagedCodeSecurity]
+                public static extern void SpaceDestroy(IntPtr space);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetCleanup"), SuppressUnmanagedCodeSecurity]
+                public static extern bool SpaceGetCleanup(IntPtr space);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetNumGeoms"), SuppressUnmanagedCodeSecurity]
+                public static extern int SpaceGetNumGeoms(IntPtr space);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetGeom"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr SpaceGetGeom(IntPtr space, int i);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetSublevel"), SuppressUnmanagedCodeSecurity]
+        public static extern int SpaceGetSublevel(IntPtr space);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceQuery"), SuppressUnmanagedCodeSecurity]
+                public static extern bool SpaceQuery(IntPtr space, IntPtr geom);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceRemove"), SuppressUnmanagedCodeSecurity]
+                public static extern void SpaceRemove(IntPtr space, IntPtr geom);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetCleanup"), SuppressUnmanagedCodeSecurity]
+                public static extern void SpaceSetCleanup(IntPtr space, bool mode);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetSublevel"), SuppressUnmanagedCodeSecurity]
+        public static extern void SpaceSetSublevel(IntPtr space, int sublevel);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSweepAndPruneSpaceCreate"), SuppressUnmanagedCodeSecurity]
+        public static extern IntPtr SweepAndPruneSpaceCreate(IntPtr space, int AxisOrder);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dVectorScale"), SuppressUnmanagedCodeSecurity]
+                public static extern void VectorScale(out dReal a, ref dReal d, int n);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldCreate"), SuppressUnmanagedCodeSecurity]
+                public static extern IntPtr WorldCreate();
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldDestroy"), SuppressUnmanagedCodeSecurity]
+                public static extern void WorldDestroy(IntPtr world);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity]
+        public static extern int WorldGetAutoDisableAverageSamplesCount(IntPtr world);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal WorldGetAutoDisableAngularThreshold(IntPtr world);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
+                public static extern bool WorldGetAutoDisableFlag(IntPtr world);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal WorldGetAutoDisableLinearThreshold(IntPtr world);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
+                public static extern int WorldGetAutoDisableSteps(IntPtr world);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal WorldGetAutoDisableTime(IntPtr world);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity]
+                public static extern int WorldGetAutoEnableDepthSF1(IntPtr world);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetCFM"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal WorldGetCFM(IntPtr world);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetERP"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal WorldGetERP(IntPtr world);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity]
+                public static extern void WorldGetGravity(IntPtr world, out Vector3 gravity);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity]
+                public static extern void WorldGetGravity(IntPtr world, out dReal X);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal WorldGetContactMaxCorrectingVel(IntPtr world);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal WorldGetContactSurfaceLayer(IntPtr world);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDamping"), SuppressUnmanagedCodeSecurity]
+        public static extern dReal WorldGetAngularDamping(IntPtr world);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
+        public static extern dReal WorldGetAngularDampingThreshold(IntPtr world);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDamping"), SuppressUnmanagedCodeSecurity]
+        public static extern dReal WorldGetLinearDamping(IntPtr world);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
+        public static extern dReal WorldGetLinearDampingThreshold(IntPtr world);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity]
+                public static extern int WorldGetQuickStepNumIterations(IntPtr world);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepW"), SuppressUnmanagedCodeSecurity]
+                public static extern dReal WorldGetQuickStepW(IntPtr world);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity]
+        public static extern dReal WorldGetMaxAngularSpeed(IntPtr world);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity]
+                public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out Vector3 force);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity]
+                public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out dReal forceX);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldQuickStep"), SuppressUnmanagedCodeSecurity]
+                public static extern void WorldQuickStep(IntPtr world, dReal stepsize);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDamping"), SuppressUnmanagedCodeSecurity]
+        public static extern void WorldSetAngularDamping(IntPtr world, dReal scale);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
+        public static extern void WorldSetAngularDampingThreshold(IntPtr world, dReal threshold);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
+                public static extern void WorldSetAutoDisableAngularThreshold(IntPtr world, dReal angular_threshold);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity]
+        public static extern void WorldSetAutoDisableAverageSamplesCount(IntPtr world, int average_samples_count);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
+                public static extern void WorldSetAutoDisableFlag(IntPtr world, bool do_auto_disable);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
+                public static extern void WorldSetAutoDisableLinearThreshold(IntPtr world, dReal linear_threshold);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
+                public static extern void WorldSetAutoDisableSteps(IntPtr world, int steps);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
+                public static extern void WorldSetAutoDisableTime(IntPtr world, dReal time);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity]
+                public static extern void WorldSetAutoEnableDepthSF1(IntPtr world, int autoEnableDepth);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetCFM"), SuppressUnmanagedCodeSecurity]
+                public static extern void WorldSetCFM(IntPtr world, dReal cfm);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity]
+                public static extern void WorldSetContactMaxCorrectingVel(IntPtr world, dReal vel);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity]
+                public static extern void WorldSetContactSurfaceLayer(IntPtr world, dReal depth);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetDamping"), SuppressUnmanagedCodeSecurity]
+        public static extern void WorldSetDamping(IntPtr world, dReal linear_scale, dReal angular_scale);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetERP"), SuppressUnmanagedCodeSecurity]
+                public static extern void WorldSetERP(IntPtr world, dReal erp);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetGravity"), SuppressUnmanagedCodeSecurity]
+                public static extern void WorldSetGravity(IntPtr world, dReal x, dReal y, dReal z);
+        
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDamping"), SuppressUnmanagedCodeSecurity]
+        public static extern void WorldSetLinearDamping(IntPtr world, dReal scale);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
+        public static extern void WorldSetLinearDampingThreshold(IntPtr world, dReal threshold);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity]
+                public static extern void WorldSetQuickStepNumIterations(IntPtr world, int num);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepW"), SuppressUnmanagedCodeSecurity]
+                public static extern void WorldSetQuickStepW(IntPtr world, dReal over_relaxation);
+
+        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity]
+        public static extern void WorldSetMaxAngularSpeed(IntPtr world, dReal max_speed);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStep"), SuppressUnmanagedCodeSecurity]
+                public static extern void WorldStep(IntPtr world, dReal stepsize);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStepFast1"), SuppressUnmanagedCodeSecurity]
+                public static extern void WorldStepFast1(IntPtr world, dReal stepsize, int maxiterations);
+
+                [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldExportDIF"), SuppressUnmanagedCodeSecurity]
+                public static extern void WorldExportDIF(IntPtr world, string filename, bool append, string prefix);
+        }
+}
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdePlugin.cs
new file mode 100644
index 0000000..d32188e
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdePlugin.cs
@@ -0,0 +1,90 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using System.Runtime.InteropServices;
+using System.Threading;
+using System.IO;
+using System.Diagnostics;
+using log4net;
+using Nini.Config;
+using OdeAPI;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+using OpenMetaverse;
+
+namespace OpenSim.Region.Physics.OdePlugin
+{
+    /// <summary>
+    /// ODE plugin
+    /// </summary>
+    public class OdePlugin : IPhysicsPlugin
+    {
+        //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
+
+        private OdeScene m_scene;
+
+        public bool Init()
+        {
+            if (Util.IsWindows())
+                Util.LoadArchSpecificWindowsDll("ode.dll");
+
+            if (d.InitODE2(0) != 0)
+            {
+                if (d.AllocateODEDataForThread(~0U) == 0)
+                {
+                    d.CloseODE();
+                    return false;
+                }
+                return true;
+            }
+            return false;
+        }
+
+        public PhysicsScene GetScene(String sceneIdentifier)
+        {
+            if (m_scene == null)
+            {
+
+                m_scene = new OdeScene(sceneIdentifier);
+            }
+            return (m_scene);
+        }
+
+        public string GetName()
+        {
+            return ("UbitODE");
+        }
+
+        public void Dispose()
+        {
+            d.CloseODE();
+        }
+    }
+}
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
new file mode 100644
index 0000000..76d7746
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
@@ -0,0 +1,2356 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+//#define SPAM
+
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using System.Runtime.InteropServices;
+using System.Threading;
+using System.IO;
+using System.Diagnostics;
+using log4net;
+using Nini.Config;
+using OdeAPI;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+using OpenMetaverse;
+
+namespace OpenSim.Region.Physics.OdePlugin
+{
+    public enum StatusIndicators : int
+    {
+        Generic = 0,
+        Start = 1,
+        End = 2
+    }
+
+    public struct sCollisionData
+    {
+        public uint ColliderLocalId;
+        public uint CollidedWithLocalId;
+        public int NumberOfCollisions;
+        public int CollisionType;
+        public int StatusIndicator;
+        public int lastframe;
+    }
+
+    [Flags]
+    public enum CollisionCategories : int
+    {
+        Disabled = 0,
+        Geom = 0x00000001,
+        Body = 0x00000002,
+        Space = 0x00000004,
+        Character = 0x00000008,
+        Land = 0x00000010,
+        Water = 0x00000020,
+        Wind = 0x00000040,
+        Sensor = 0x00000080,
+        Selected = 0x00000100
+    }
+
+    /// <summary>
+    /// Material type for a primitive
+    /// </summary>
+    public enum Material : int
+    {
+        /// <summary></summary>
+        Stone = 0,
+        /// <summary></summary>
+        Metal = 1,
+        /// <summary></summary>
+        Glass = 2,
+        /// <summary></summary>
+        Wood = 3,
+        /// <summary></summary>
+        Flesh = 4,
+        /// <summary></summary>
+        Plastic = 5,
+        /// <summary></summary>
+        Rubber = 6,
+
+        light = 7 // compatibility with old viewers
+    }
+
+    public enum changes : int
+    {
+        Add = 0,                // arg null. finishs the prim creation. should be used internally only ( to remove later ?)
+        Remove,
+        Link,               // arg AuroraODEPrim new parent prim or null to delink. Makes the prim part of a object with prim parent as root
+        //  or removes from a object if arg is null
+        DeLink,
+        Position,           // arg Vector3 new position in world coords. Changes prim position. Prim must know if it is root or child
+        Orientation,        // arg Quaternion new orientation in world coords. Changes prim position. Prim must know it it is root or child
+        PosOffset,          // not in use
+        // arg Vector3 new position in local coords. Changes prim position in object
+        OriOffset,          // not in use
+        // arg Vector3 new position in local coords. Changes prim position in object
+        Velocity,
+        AngVelocity,
+        Acceleration,
+        Force,
+        Torque,
+
+        AddForce,
+        AddAngForce,
+        AngLock,
+
+        Size,
+        Shape,
+
+        CollidesWater,
+        VolumeDtc,
+
+        Physical,
+        Phantom,
+        Selected,
+        disabled,
+        building,
+
+        VehicleType,
+        VehicleFloatParam,
+        VehicleVectorParam,
+        VehicleRotationParam,
+        VehicleFlags,
+        SetVehicle,
+
+        Null             //keep this last used do dim the methods array. does nothing but pulsing the prim
+    }
+
+    public struct ODEchangeitem
+    {
+        public PhysicsActor actor;
+        public OdeCharacter character;
+        public changes what;
+        public Object arg;
+    }
+     
+    public class OdeScene : PhysicsScene
+    {
+        private readonly ILog m_log;
+        // private Dictionary<string, sCollisionData> m_storedCollisions = new Dictionary<string, sCollisionData>();
+
+//        private int threadid = 0;
+        private Random fluidRandomizer = new Random(Environment.TickCount);
+
+        const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce;
+        const float comumContactERP = 0.6f;
+        const float comumSoftContactERP = 0.1f;
+        const float comumContactCFM = 0.0001f;
+        
+        float frictionMovementMult = 0.3f;
+
+        float TerrainBounce = 0.1f;
+        float TerrainFriction = 0.3f;
+
+        public float AvatarBounce = 0.3f;
+        public float AvatarFriction = 0;// 0.9f * 0.5f;
+
+        private const uint m_regionWidth = Constants.RegionSize;
+        private const uint m_regionHeight = Constants.RegionSize;
+
+        public float ODE_STEPSIZE = 0.020f;
+        private float metersInSpace = 25.6f;
+        private float m_timeDilation = 1.0f;
+
+        public float gravityx = 0f;
+        public float gravityy = 0f;
+        public float gravityz = -9.8f;
+
+        private float waterlevel = 0f;
+        private int framecount = 0;
+
+        internal IntPtr WaterGeom;
+
+        public float avPIDD = 2200f; // make it visible
+        public float avPIDP = 900f; // make it visible
+        private float avCapRadius = 0.37f;
+        private float avDensity = 3f;
+        private float avMovementDivisorWalk = 1.3f;
+        private float avMovementDivisorRun = 0.8f;
+        private float minimumGroundFlightOffset = 3f;
+        public float maximumMassObject = 10000.01f;
+
+        public bool meshSculptedPrim = true;
+        public bool forceSimplePrimMeshing = false;
+
+        public float meshSculptLOD = 32;
+        public float MeshSculptphysicalLOD = 32;
+
+        public float geomDefaultDensity = 10.000006836f;
+
+        public int geomContactPointsStartthrottle = 3;
+        public int geomUpdatesPerThrottledUpdate = 15;
+
+        public float bodyPIDD = 35f;
+        public float bodyPIDG = 25;
+
+//        public int geomCrossingFailuresBeforeOutofbounds = 6;
+
+        public int bodyFramesAutoDisable = 20;
+
+        private float[] _watermap;
+
+        private d.NearCallback nearCallback;
+
+        private readonly HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>();
+        private readonly HashSet<OdePrim> _prims = new HashSet<OdePrim>();
+        private readonly HashSet<OdePrim> _activeprims = new HashSet<OdePrim>();
+        private readonly HashSet<OdePrim> _activegroups = new HashSet<OdePrim>();
+
+        public OpenSim.Framework.LocklessQueue<ODEchangeitem> ChangesQueue = new OpenSim.Framework.LocklessQueue<ODEchangeitem>();
+
+        /// <summary>
+        /// A list of actors that should receive collision events.
+        /// </summary>
+        private readonly List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>();
+        
+        private readonly HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>();
+        public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
+        public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
+
+        private float contactsurfacelayer = 0.002f;
+
+        private int contactsPerCollision = 80;
+        internal IntPtr ContactgeomsArray = IntPtr.Zero;
+        private IntPtr GlobalContactsArray = IntPtr.Zero;
+
+        const int maxContactsbeforedeath = 4000;
+        private volatile int m_global_contactcount = 0;
+
+
+        private readonly IntPtr contactgroup;
+
+        public ContactData[] m_materialContactsData = new ContactData[8];
+
+        private readonly DoubleDictionary<Vector3, IntPtr, IntPtr> RegionTerrain = new DoubleDictionary<Vector3, IntPtr, IntPtr>();
+        private readonly Dictionary<IntPtr, float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>();
+        private readonly Dictionary<IntPtr, GCHandle> TerrainHeightFieldHeightsHandlers = new Dictionary<IntPtr, GCHandle>();
+       
+        private int m_physicsiterations = 10;
+        private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
+        private readonly PhysicsActor PANull = new NullPhysicsActor();
+        private float step_time = 0.0f;
+
+        public IntPtr world;
+
+        private uint obj2LocalID = 0;
+        private OdeCharacter cc1;
+        private OdePrim cp1;
+        private OdeCharacter cc2;
+        private OdePrim cp2;
+
+        // split the spaces acording to contents type
+        // ActiveSpace contains characters and active prims
+        // StaticSpace contains land and other that is mostly static in enviroment
+        // this can contain subspaces, like the grid in staticspace
+        // as now space only contains this 2 top spaces
+
+        public IntPtr TopSpace; // the global space
+        public IntPtr ActiveSpace; // space for active prims
+        public IntPtr StaticSpace; // space for the static things around
+
+        // some speedup variables
+        private int spaceGridMaxX;
+        private int spaceGridMaxY;
+        private float spacesPerMeter;
+
+        // split static geometry collision into a grid as before
+        private IntPtr[,] staticPrimspace;
+
+        private Object OdeLock;
+        private static Object SimulationLock;
+
+        public IMesher mesher;
+
+        private IConfigSource m_config;
+
+        public bool physics_logging = false;
+        public int physics_logging_interval = 0;
+        public bool physics_logging_append_existing_logfile = false;
+
+        private Vector3 m_worldOffset = Vector3.Zero;
+        public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
+        private PhysicsScene m_parentScene = null;
+
+        private ODERayCastRequestManager m_rayCastManager;
+
+
+/* maybe needed if ode uses tls
+        private void checkThread()
+        {
+
+            int th = Thread.CurrentThread.ManagedThreadId;
+            if(th != threadid)
+            {
+                threadid = th;
+                d.AllocateODEDataForThread(~0U);
+            }
+        }
+ */
+        /// <summary>
+        /// Initiailizes the scene
+        /// Sets many properties that ODE requires to be stable
+        /// These settings need to be tweaked 'exactly' right or weird stuff happens.
+        /// </summary>
+        public OdeScene(string sceneIdentifier)
+            {
+            m_log 
+                = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString() + "." + sceneIdentifier);
+
+//            checkThread();
+            Name = sceneIdentifier;
+
+            OdeLock = new Object();
+            SimulationLock = new Object();
+
+            nearCallback = near;
+
+            m_rayCastManager = new ODERayCastRequestManager(this);
+            lock (OdeLock)
+                {
+                // Create the world and the first space
+                try
+                    {
+                    world = d.WorldCreate();
+                    TopSpace = d.HashSpaceCreate(IntPtr.Zero);
+
+                    // now the major subspaces
+                    ActiveSpace = d.HashSpaceCreate(TopSpace);
+                    StaticSpace = d.HashSpaceCreate(TopSpace);
+                    }
+                catch
+                    {
+                    // i must RtC#FM 
+                    }
+
+                d.HashSpaceSetLevels(TopSpace, -2, 8); // cell sizes from .25 to 256 ?? need check what this really does
+                d.HashSpaceSetLevels(ActiveSpace, -2, 8);
+                d.HashSpaceSetLevels(StaticSpace, -2, 8);
+
+                // demote to second level
+                d.SpaceSetSublevel(ActiveSpace, 1);
+                d.SpaceSetSublevel(StaticSpace, 1);
+
+                contactgroup = d.JointGroupCreate(0);
+                //contactgroup
+
+                d.WorldSetAutoDisableFlag(world, false);
+            }
+
+            _watermap = new float[258 * 258];
+        }
+
+        // Initialize the mesh plugin
+//        public override void Initialise(IMesher meshmerizer, IConfigSource config, RegionInfo region )
+        public override void Initialise(IMesher meshmerizer, IConfigSource config)
+        {
+//            checkThread();
+            mesher = meshmerizer;
+            m_config = config;
+
+//            m_log.WarnFormat("ODE configuration: {0}", d.GetConfiguration("ODE"));
+            /*
+                        if (region != null)
+                        {
+                            WorldExtents.X = region.RegionSizeX;
+                            WorldExtents.Y = region.RegionSizeY;
+                        }
+             */
+
+            // Defaults
+
+            int contactsPerCollision = 80;
+
+            if (m_config != null)
+            {
+                IConfig physicsconfig = m_config.Configs["ODEPhysicsSettings"];
+                if (physicsconfig != null)
+                {
+                    gravityx = physicsconfig.GetFloat("world_gravityx", gravityx);
+                    gravityy = physicsconfig.GetFloat("world_gravityy", gravityy);
+                    gravityz = physicsconfig.GetFloat("world_gravityz", gravityz);
+
+                    metersInSpace = physicsconfig.GetFloat("meters_in_small_space", metersInSpace);
+
+                    contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", contactsurfacelayer);
+
+                    ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", ODE_STEPSIZE);
+                    m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", m_physicsiterations);
+
+                    avDensity = physicsconfig.GetFloat("av_density", avDensity);
+                    avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", avMovementDivisorWalk);
+                    avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", avMovementDivisorRun);
+                    avCapRadius = physicsconfig.GetFloat("av_capsule_radius", avCapRadius);
+
+                    contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", contactsPerCollision);
+
+                    geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3);
+                    geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15);
+//                    geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5);
+
+                    geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", geomDefaultDensity);
+                    bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", bodyFramesAutoDisable);
+
+                    bodyPIDD = physicsconfig.GetFloat("body_pid_derivative", bodyPIDD);
+                    bodyPIDG = physicsconfig.GetFloat("body_pid_gain", bodyPIDG);
+
+                    forceSimplePrimMeshing = physicsconfig.GetBoolean("force_simple_prim_meshing", forceSimplePrimMeshing);
+                    meshSculptedPrim = physicsconfig.GetBoolean("mesh_sculpted_prim", meshSculptedPrim);
+                    meshSculptLOD = physicsconfig.GetFloat("mesh_lod", meshSculptLOD);
+                    MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", MeshSculptphysicalLOD);
+
+                    if (Environment.OSVersion.Platform == PlatformID.Unix)
+                    {
+                        avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", avPIDD);
+                        avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", avPIDP);
+                    }
+                    else
+                    {
+                        avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", avPIDD);
+                        avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", avPIDP);
+                    }
+
+                    physics_logging = physicsconfig.GetBoolean("physics_logging", false);
+                    physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0);
+                    physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false);
+
+                    minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", minimumGroundFlightOffset);
+                    maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", maximumMassObject);
+                }
+            }
+
+            ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * d.ContactGeom.unmanagedSizeOf);
+            GlobalContactsArray = GlobalContactsArray = Marshal.AllocHGlobal(maxContactsbeforedeath * d.Contact.unmanagedSizeOf);
+
+            m_materialContactsData[(int)Material.Stone].mu = 0.8f;
+            m_materialContactsData[(int)Material.Stone].bounce = 0.4f;
+
+            m_materialContactsData[(int)Material.Metal].mu = 0.3f;
+            m_materialContactsData[(int)Material.Metal].bounce = 0.4f;
+
+            m_materialContactsData[(int)Material.Glass].mu = 0.2f;
+            m_materialContactsData[(int)Material.Glass].bounce = 0.7f;
+
+            m_materialContactsData[(int)Material.Wood].mu = 0.6f;
+            m_materialContactsData[(int)Material.Wood].bounce = 0.5f;
+
+            m_materialContactsData[(int)Material.Flesh].mu = 0.9f;
+            m_materialContactsData[(int)Material.Flesh].bounce = 0.3f;
+
+            m_materialContactsData[(int)Material.Plastic].mu = 0.4f;
+            m_materialContactsData[(int)Material.Plastic].bounce = 0.7f;
+
+            m_materialContactsData[(int)Material.Rubber].mu = 0.9f;
+            m_materialContactsData[(int)Material.Rubber].bounce = 0.95f;
+
+            m_materialContactsData[(int)Material.light].mu = 0.0f;
+            m_materialContactsData[(int)Material.light].bounce = 0.0f;
+
+            // Set the gravity,, don't disable things automatically (we set it explicitly on some things)
+
+            d.WorldSetGravity(world, gravityx, gravityy, gravityz);
+            d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
+
+            d.WorldSetLinearDamping(world, 0.001f);
+            d.WorldSetAngularDamping(world, 0.001f);
+            d.WorldSetAngularDampingThreshold(world, 0f);
+            d.WorldSetLinearDampingThreshold(world, 0f);
+            d.WorldSetMaxAngularSpeed(world, 256f);
+
+            d.WorldSetCFM(world,1e-6f); // a bit harder than default
+            //d.WorldSetCFM(world, 1e-4f); // a bit harder than default
+            d.WorldSetERP(world, 0.6f); // higher than original
+
+            // Set how many steps we go without running collision testing
+            // This is in addition to the step size.
+            // Essentially Steps * m_physicsiterations
+            d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
+            d.WorldSetContactMaxCorrectingVel(world, 100.0f);
+
+            spacesPerMeter = 1 / metersInSpace;
+            spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeter);
+            spaceGridMaxY = (int)(WorldExtents.Y * spacesPerMeter);
+
+            staticPrimspace = new IntPtr[spaceGridMaxX, spaceGridMaxY];
+
+            // create all spaces now
+            int i, j;
+            IntPtr newspace;
+            for (i = 0; i < spaceGridMaxX; i++)
+                for (j = 0; j < spaceGridMaxY; j++)
+                {
+                    newspace = d.HashSpaceCreate(StaticSpace);
+                    d.GeomSetCategoryBits(newspace, (int)CollisionCategories.Space);
+                    waitForSpaceUnlock(newspace);
+                    d.SpaceSetSublevel(newspace, 2);
+                    d.HashSpaceSetLevels(newspace, -2, 8);
+                    staticPrimspace[i, j] = newspace;
+                }
+            // let this now be real maximum values
+            spaceGridMaxX--;
+            spaceGridMaxY--;
+        }
+
+        internal void waitForSpaceUnlock(IntPtr space)
+        {
+            //if (space != IntPtr.Zero)
+                //while (d.SpaceLockQuery(space)) { } // Wait and do nothing
+        }
+
+        #region Collision Detection
+
+        // sets a global contact for a joint for contactgeom , and base contact description)
+
+        private IntPtr CreateContacJoint(ref d.ContactGeom contactGeom, float mu, float bounce, bool softerp)
+        {
+            if (GlobalContactsArray == IntPtr.Zero || m_global_contactcount >= maxContactsbeforedeath)
+                return IntPtr.Zero;
+
+            d.Contact newcontact = new d.Contact();
+            newcontact.geom.depth = contactGeom.depth;
+            newcontact.geom.g1 = contactGeom.g1;
+            newcontact.geom.g2 = contactGeom.g2;
+            newcontact.geom.pos = contactGeom.pos;
+            newcontact.geom.normal = contactGeom.normal;
+            newcontact.geom.side1 = contactGeom.side1;
+            newcontact.geom.side2 = contactGeom.side2;
+
+            // this needs bounce also
+            newcontact.surface.mode = comumContactFlags;
+            newcontact.surface.mu = mu;
+            newcontact.surface.bounce = bounce;
+            newcontact.surface.soft_cfm = comumContactCFM;
+            if (softerp)
+                newcontact.surface.soft_erp = comumSoftContactERP;
+            else
+                newcontact.surface.soft_erp = comumContactERP;
+
+            IntPtr contact = new IntPtr(GlobalContactsArray.ToInt64() + (Int64)(m_global_contactcount * d.Contact.unmanagedSizeOf));
+            Marshal.StructureToPtr(newcontact, contact, true);
+            return d.JointCreateContactPtr(world, contactgroup, contact);
+        }
+
+
+
+        private bool GetCurContactGeom(int index, ref d.ContactGeom newcontactgeom)
+        {
+            if (ContactgeomsArray == IntPtr.Zero || index >= contactsPerCollision)
+                return false;
+
+            IntPtr contactptr = new IntPtr(ContactgeomsArray.ToInt64() + (Int64)(index * d.ContactGeom.unmanagedSizeOf));
+            newcontactgeom = (d.ContactGeom)Marshal.PtrToStructure(contactptr, typeof(d.ContactGeom));
+            return true;
+        }
+
+        /// <summary>
+        /// This is our near callback.  A geometry is near a body
+        /// </summary>
+        /// <param name="space">The space that contains the geoms.  Remember, spaces are also geoms</param>
+        /// <param name="g1">a geometry or space</param>
+        /// <param name="g2">another geometry or space</param>
+        /// 
+
+        private void near(IntPtr space, IntPtr g1, IntPtr g2)
+        {
+            //  no lock here!  It's invoked from within Simulate(), which is thread-locked
+
+            if (m_global_contactcount >= maxContactsbeforedeath)
+                return;
+
+            // Test if we're colliding a geom with a space.
+            // If so we have to drill down into the space recursively
+
+            if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
+                return;
+
+            if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
+            {
+                // We'll be calling near recursivly if one
+                // of them is a space to find all of the
+                // contact points in the space
+                try
+                {
+                    d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
+                }
+                catch (AccessViolationException)
+                {
+                    m_log.Warn("[PHYSICS]: Unable to collide test a space");
+                    return;
+                }
+                //here one should check collisions of geoms inside a space
+                // but on each space we only should have geoms that not colide amoung each other
+                // so we don't dig inside spaces
+                return;
+            }
+
+            // get geom bodies to check if we already a joint contact
+            // guess this shouldn't happen now
+            IntPtr b1 = d.GeomGetBody(g1);
+            IntPtr b2 = d.GeomGetBody(g2);
+
+            // d.GeomClassID id = d.GeomGetClass(g1);
+
+            // Figure out how many contact points we have
+            int count = 0;
+            try
+            {
+                // Colliding Geom To Geom
+                // This portion of the function 'was' blatantly ripped off from BoxStack.cs
+
+                if (g1 == g2)
+                    return; // Can't collide with yourself
+
+                if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
+                    return;
+
+                count = d.CollidePtr(g1, g2, (contactsPerCollision & 0xffff), ContactgeomsArray, d.ContactGeom.unmanagedSizeOf);
+            }
+            catch (SEHException)
+            {
+                m_log.Error("[PHYSICS]: The Operating system shut down ODE because of corrupt memory.  This could be a result of really irregular terrain.  If this repeats continuously, restart using Basic Physics and terrain fill your terrain.  Restarting the sim.");
+//                ode.drelease(world);
+                base.TriggerPhysicsBasedRestart();
+            }
+            catch (Exception e)
+            {
+                m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message);
+                return;
+            }
+
+            // id contacts done
+            if (count == 0)
+                return;
+
+            // try get physical actors 
+            PhysicsActor p1;
+            PhysicsActor p2;
+
+            if (!actor_name_map.TryGetValue(g1, out p1))
+            {
+                p1 = PANull;
+            }
+
+            if (!actor_name_map.TryGetValue(g2, out p2))
+            {
+                p2 = PANull;
+            }
+
+            // update actors collision score
+            if (p1.CollisionScore >= float.MaxValue - count)
+                p1.CollisionScore = 0;
+            p1.CollisionScore += count;
+
+            if (p2.CollisionScore >= float.MaxValue - count)
+                p2.CollisionScore = 0;
+            p2.CollisionScore += count;
+
+
+            // get first contact
+            d.ContactGeom curContact = new d.ContactGeom();
+            if (!GetCurContactGeom(0, ref curContact))
+                return;
+            // for now it's the one with max depth
+            ContactPoint maxDepthContact = new ContactPoint(
+                        new Vector3(curContact.pos.X, curContact.pos.Y, curContact.pos.Z),
+                        new Vector3(curContact.normal.X, curContact.normal.Y, curContact.normal.Z),
+                        curContact.depth
+                        );
+            // do volume detection case
+            if (
+                (p1 is OdePrim) && (((OdePrim)p1).m_isVolumeDetect) ||
+                                (p2 is OdePrim) && (((OdePrim)p2).m_isVolumeDetect))
+            {
+                collision_accounting_events(p1, p2, maxDepthContact);
+                return;
+            }
+
+            // big messy collision analises
+            float mu = 0;
+            float bounce = 0;
+            ContactData contactdata1 = new ContactData(0, 0, false);
+            ContactData contactdata2 = new ContactData(0, 0, false);
+            bool erpSoft = false;
+
+            String name = null;
+            bool dop1foot = false;
+            bool dop2foot = false;
+            bool ignore = false;
+
+            switch (p1.PhysicsActorType)
+            {
+                case (int)ActorTypes.Agent:
+                    switch (p2.PhysicsActorType)
+                    {
+                        case (int)ActorTypes.Agent:
+                            p1.getContactData(ref contactdata1);
+                            p2.getContactData(ref contactdata2);
+                            
+                            bounce = contactdata1.bounce * contactdata2.bounce;
+                            
+                            mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
+
+                            if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
+                                mu *= frictionMovementMult;
+
+                            erpSoft = contactdata1.softcolide | contactdata2.softcolide;
+                            p1.CollidingObj = true;
+                            p2.CollidingObj = true;
+                            break;
+                        case (int)ActorTypes.Prim:
+                            p1.getContactData(ref contactdata1);
+                            p2.getContactData(ref contactdata2);
+                            bounce = contactdata1.bounce * contactdata2.bounce;
+                            
+                            mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
+
+                            if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
+                                mu *= frictionMovementMult;
+                            if (p2.Velocity.LengthSquared() > 0.0f)
+                                p2.CollidingObj = true;
+
+                            erpSoft = contactdata1.softcolide | contactdata2.softcolide;
+
+                            dop1foot = true;
+                            break;
+                        default:
+                            ignore=true; // avatar to terrain and water ignored
+                            break;
+                    }
+                    break;
+
+                case (int)ActorTypes.Prim:
+                    switch (p2.PhysicsActorType)
+                    {
+                        case (int)ActorTypes.Agent:
+                            p1.getContactData(ref contactdata1);
+                            p2.getContactData(ref contactdata2);
+                            bounce = contactdata1.bounce * contactdata2.bounce;
+                            
+                            mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
+
+                            if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
+                                mu *= frictionMovementMult;
+
+                            erpSoft = contactdata1.softcolide | contactdata2.softcolide;
+                            dop2foot = true;
+                            if (p1.Velocity.LengthSquared() > 0.0f)
+                                p1.CollidingObj = true;
+                            break;
+                        case (int)ActorTypes.Prim:
+                            if ((p1.Velocity - p2.Velocity).LengthSquared() > 0.0f)
+                            {
+                                p1.CollidingObj = true;
+                                p2.CollidingObj = true;
+                            }
+                            p1.getContactData(ref contactdata1);
+                            p2.getContactData(ref contactdata2);
+                            bounce = contactdata1.bounce * contactdata2.bounce;
+                            erpSoft = contactdata1.softcolide | contactdata2.softcolide;
+                            mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
+
+                            if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
+                                mu *= frictionMovementMult;
+
+                            break;
+                        default:
+                            if (geom_name_map.TryGetValue(g2, out name))
+                            {
+                                if (name == "Terrain")
+                                {
+                                    p1.getContactData(ref contactdata1);
+                                    bounce = contactdata1.bounce * TerrainBounce;
+                                    mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction);
+                                    if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f)
+                                        mu *= frictionMovementMult;
+                                    erpSoft = contactdata1.softcolide;
+                                    p1.CollidingGround = true;
+                                }
+                                else if (name == "Water")
+                                {
+                                    erpSoft = true;
+                                }
+                            }
+                            else
+                                ignore=true;
+                            break;
+                    }
+                    break;
+
+                default:
+                    if (geom_name_map.TryGetValue(g1, out name))
+                    {
+                        if (name == "Terrain")
+                        {
+                            if (p2.PhysicsActorType == (int)ActorTypes.Prim)
+                            {
+                                p2.CollidingGround = true;
+                                p2.getContactData(ref contactdata2);
+                                bounce = contactdata2.bounce * TerrainBounce;
+                                mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction);
+                                erpSoft = contactdata2.softcolide;
+
+                                if (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f)
+                                    mu *= frictionMovementMult;
+                            }
+                            else
+                                ignore = true;
+
+                        }
+                        else if (name == "Water" &&
+                            (p2.PhysicsActorType == (int)ActorTypes.Prim || p2.PhysicsActorType == (int)ActorTypes.Agent))
+                        {
+                            erpSoft = true;
+                        }
+                    }
+                    else
+                        ignore = true;
+                    break;
+            }
+
+            if (ignore)
+                return;
+
+            IntPtr Joint;
+
+            int i = 0;
+            while(true)
+            {
+                if (dop1foot && (p1.Position.Z - curContact.pos.Z) > (p1.Size.Z - avCapRadius) * 0.5f)
+                    p1.IsColliding = true;
+                if (dop2foot && (p2.Position.Z - curContact.pos.Z) > (p2.Size.Z - avCapRadius) * 0.5f)
+                    p2.IsColliding = true;
+
+                Joint = CreateContacJoint(ref curContact, mu, bounce, erpSoft);
+                d.JointAttach(Joint, b1, b2);
+
+                if (++m_global_contactcount >= maxContactsbeforedeath)
+                    break;
+
+                if(++i >= count)
+                    break;
+
+                if (!GetCurContactGeom(i, ref curContact))
+                    break;
+
+                if (curContact.depth > maxDepthContact.PenetrationDepth)
+                {
+                    maxDepthContact.Position.X = curContact.pos.X;
+                    maxDepthContact.Position.Y = curContact.pos.Y;
+                    maxDepthContact.Position.Z = curContact.pos.Z;
+                    maxDepthContact.SurfaceNormal.X = curContact.normal.X;
+                    maxDepthContact.SurfaceNormal.Y = curContact.normal.Y;
+                    maxDepthContact.SurfaceNormal.Z = curContact.normal.Z;
+                    maxDepthContact.PenetrationDepth = curContact.depth;
+                }
+            }
+
+            collision_accounting_events(p1, p2, maxDepthContact);
+
+/*
+            if (notskipedcount > geomContactPointsStartthrottle)
+            {
+                // If there are more then 3 contact points, it's likely
+                // that we've got a pile of objects, so ...
+                // We don't want to send out hundreds of terse updates over and over again
+                // so lets throttle them and send them again after it's somewhat sorted out.
+                 this needs checking so out for now
+                                if (b1 != IntPtr.Zero)
+                                    p1.ThrottleUpdates = true;
+                                if (b2 != IntPtr.Zero)
+                                    p2.ThrottleUpdates = true;
+                
+            }
+ */
+        }            
+
+        private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact)
+            {
+            // obj1LocalID = 0;
+            //returncollisions = false;
+            obj2LocalID = 0;
+            //ctype = 0;
+            //cStartStop = 0;
+            if (!(p2.SubscribedEvents() || p1.SubscribedEvents()))
+                return;
+
+            switch ((ActorTypes)p1.PhysicsActorType)
+                {
+                case ActorTypes.Agent:
+                    cc1 = (OdeCharacter)p1;
+                    switch ((ActorTypes)p2.PhysicsActorType)
+                        {
+                        case ActorTypes.Agent:
+                            cc2 = (OdeCharacter)p2;
+                            obj2LocalID = cc2.m_localID;
+                            if (p2.SubscribedEvents())
+                                cc2.AddCollisionEvent(cc1.m_localID, contact);
+                            break;
+
+                        case ActorTypes.Prim:
+                            if (p2 is OdePrim)
+                                {
+                                cp2 = (OdePrim)p2;
+                                obj2LocalID = cp2.m_localID;
+                                if (p2.SubscribedEvents())
+                                    cp2.AddCollisionEvent(cc1.m_localID, contact);
+                                }
+                            break;
+
+                        case ActorTypes.Ground:
+                        case ActorTypes.Unknown:
+                        default:
+                            obj2LocalID = 0;
+                            break;
+                        }
+                    if (p1.SubscribedEvents())
+                        {
+                        contact.SurfaceNormal = -contact.SurfaceNormal;
+                        cc1.AddCollisionEvent(obj2LocalID, contact);
+                        }
+                    break;
+
+                case ActorTypes.Prim:
+
+                    if (p1 is OdePrim)
+                        {
+                        cp1 = (OdePrim)p1;
+
+                        // obj1LocalID = cp2.m_localID;
+                        switch ((ActorTypes)p2.PhysicsActorType)
+                            {
+                            case ActorTypes.Agent:
+                                if (p2 is OdeCharacter)
+                                    {
+                                    cc2 = (OdeCharacter)p2;
+                                    obj2LocalID = cc2.m_localID;
+                                    if (p2.SubscribedEvents())
+                                        cc2.AddCollisionEvent(cp1.m_localID, contact);
+                                    }
+                                break;
+                            case ActorTypes.Prim:
+
+                                if (p2 is OdePrim)
+                                    {
+                                    cp2 = (OdePrim)p2;
+                                    obj2LocalID = cp2.m_localID;
+                                    if (p2.SubscribedEvents())
+                                        cp2.AddCollisionEvent(cp1.m_localID, contact);
+                                    }
+                                break;
+
+                            case ActorTypes.Ground:
+                            case ActorTypes.Unknown:
+                            default:
+                                obj2LocalID = 0;
+                                break;
+                            }
+                        if (p1.SubscribedEvents())
+                            {
+                            contact.SurfaceNormal = -contact.SurfaceNormal;
+                            cp1.AddCollisionEvent(obj2LocalID, contact);
+                            }
+                        }
+                    break;
+                }
+            }
+
+        /// <summary>
+        /// This is our collision testing routine in ODE
+        /// </summary>
+        /// <param name="timeStep"></param>
+        private void collision_optimized()
+        {
+            lock (_characters)
+                {
+                try
+                {
+                    foreach (OdeCharacter chr in _characters)
+                    {
+                        if (chr == null || chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero)
+                            continue;
+
+                        chr.IsColliding = false;
+                        //                    chr.CollidingGround = false; not done here
+                        chr.CollidingObj = false;
+                        // do colisions with static space
+                        d.SpaceCollide2(StaticSpace, chr.Shell, IntPtr.Zero, nearCallback);
+                    }
+                }
+                catch (AccessViolationException)
+                {
+                    m_log.Warn("[PHYSICS]: Unable to collide Character to static space");
+                }
+
+            }
+
+            lock (_activeprims)
+            {
+                foreach (OdePrim aprim in _activeprims)
+                {
+                    aprim.CollisionScore = 0;
+                    aprim.IsColliding = false;
+                }
+            }
+
+            // collide active prims with static enviroment
+            lock (_activegroups)
+            {
+                try
+                {
+                    foreach (OdePrim prm in _activegroups)
+                    {
+                        if (d.BodyIsEnabled(prm.Body) && !prm.m_outbounds)
+                            d.SpaceCollide2(StaticSpace, prm.collide_geom, IntPtr.Zero, nearCallback);
+                    }
+                }
+                catch (AccessViolationException)
+                {
+                    m_log.Warn("[PHYSICS]: Unable to collide Active prim to static space");
+                }
+            }
+            // finally colide active things amoung them
+            try
+            {
+                d.SpaceCollide(ActiveSpace, IntPtr.Zero, nearCallback);
+            }
+            catch (AccessViolationException)
+            {
+                m_log.Warn("[PHYSICS]: Unable to collide in Active space");
+            }
+//            _perloopContact.Clear();
+        }
+
+        #endregion
+
+
+
+        /// <summary>
+        /// Add actor to the list that should receive collision events in the simulate loop.
+        /// </summary>
+        /// <param name="obj"></param>
+        public void AddCollisionEventReporting(PhysicsActor obj)
+        {
+            lock (_collisionEventPrim)
+            {
+                if (!_collisionEventPrim.Contains(obj))
+                    _collisionEventPrim.Add(obj);
+            }
+        }
+
+        /// <summary>
+        /// Remove actor from the list that should receive collision events in the simulate loop.
+        /// </summary>
+        /// <param name="obj"></param>
+        public void RemoveCollisionEventReporting(PhysicsActor obj)
+        {
+            lock (_collisionEventPrim)
+            {
+                if (_collisionEventPrim.Contains(obj))
+                    _collisionEventPrim.Remove(obj);
+            }
+        }
+
+        #region Add/Remove Entities
+
+        public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
+        {
+            Vector3 pos;
+            pos.X = position.X;
+            pos.Y = position.Y;
+            pos.Z = position.Z;
+            OdeCharacter newAv = new OdeCharacter(avName, this, pos, size, avPIDD, avPIDP, avCapRadius, avDensity, avMovementDivisorWalk, avMovementDivisorRun);
+            newAv.Flying = isFlying;
+            newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset;
+            
+            return newAv;
+        }
+
+        public void AddCharacter(OdeCharacter chr)
+        {
+            lock (_characters)
+            {
+                if (!_characters.Contains(chr))
+                {
+                    _characters.Add(chr);
+                    if (chr.bad)
+                        m_log.DebugFormat("[PHYSICS] Added BAD actor {0} to characters list", chr.m_uuid);
+                }
+            }
+        }
+
+        public void RemoveCharacter(OdeCharacter chr)
+        {
+            lock (_characters)
+            {
+                if (_characters.Contains(chr))
+                {
+                    _characters.Remove(chr);
+                }
+            }
+        }
+
+        public void BadCharacter(OdeCharacter chr)
+        {
+            lock (_badCharacter)
+            {
+                if (!_badCharacter.Contains(chr))
+                    _badCharacter.Add(chr);
+            }
+        }
+
+        public override void RemoveAvatar(PhysicsActor actor)
+        {
+            //m_log.Debug("[PHYSICS]:ODELOCK");
+            ((OdeCharacter) actor).Destroy();
+        }
+
+        private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
+                                     PrimitiveBaseShape pbs, bool isphysical, uint localID)
+        {
+            Vector3 pos = position;
+            Vector3 siz = size;
+            Quaternion rot = rotation;
+
+            OdePrim newPrim;
+            lock (OdeLock)
+            {
+                newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical,false,0,localID);
+
+                lock (_prims)
+                    _prims.Add(newPrim);
+            }
+            return newPrim;
+        }
+
+        private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
+                                     PrimitiveBaseShape pbs, bool isphysical, bool isPhantom, uint localID)
+        {
+            Vector3 pos = position;
+            Vector3 siz = size;
+            Quaternion rot = rotation;
+
+            OdePrim newPrim;
+            lock (OdeLock)
+            {
+                newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical, isPhantom, 0, localID);
+
+                lock (_prims)
+                    _prims.Add(newPrim);
+            }
+            return newPrim;
+        }
+
+        private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
+                                     PrimitiveBaseShape pbs, bool isphysical, bool isPhantom, byte shapeType, uint localID)
+        {
+            Vector3 pos = position;
+            Vector3 siz = size;
+            Quaternion rot = rotation;
+
+            OdePrim newPrim;
+            lock (OdeLock)
+            {
+                newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical, isPhantom, shapeType, localID);
+
+                lock (_prims)
+                    _prims.Add(newPrim);
+            }
+            return newPrim;
+        }
+
+        public void addActivePrim(OdePrim activatePrim)
+        {
+            // adds active prim..   
+            lock (_activeprims)
+            {
+                if (!_activeprims.Contains(activatePrim))
+                    _activeprims.Add(activatePrim);
+            }
+        }
+
+        public void addActiveGroups(OdePrim activatePrim)
+        {
+            lock (_activegroups)
+            {
+                if (!_activegroups.Contains(activatePrim))
+                    _activegroups.Add(activatePrim);
+            }
+        }
+
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                                  Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, uint localid)
+        {
+            return AddPrim(primName, position, size, rotation, pbs, isPhysical, isPhantom, localid);
+        }
+
+
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                                  Vector3 size, Quaternion rotation, bool isPhysical, uint localid)
+        {
+#if SPAM
+            m_log.DebugFormat("[PHYSICS]: Adding physics actor to {0}", primName);
+#endif
+
+            return AddPrim(primName, position, size, rotation, pbs, isPhysical, localid);
+        }
+
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                                  Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, byte shapeType, uint localid)
+        {
+#if SPAM
+            m_log.DebugFormat("[PHYSICS]: Adding physics actor to {0}", primName);
+#endif
+
+            return AddPrim(primName, position, size, rotation, pbs, isPhysical,isPhantom, shapeType, localid);
+        }
+
+        public override float TimeDilation
+        {
+            get { return m_timeDilation; }
+        }
+
+        public override bool SupportsNINJAJoints
+        {
+            get { return false; }
+        }
+
+
+        public void remActivePrim(OdePrim deactivatePrim)
+        {
+            lock (_activeprims)
+            {
+                _activeprims.Remove(deactivatePrim);
+            }
+        }
+        public void remActiveGroup(OdePrim deactivatePrim)
+        {
+            lock (_activegroups)
+            {
+                _activegroups.Remove(deactivatePrim);
+            }
+        }
+
+        public override void RemovePrim(PhysicsActor prim)
+        {
+            // As with all ODE physics operations, we don't remove the prim immediately but signal that it should be
+            // removed in the next physics simulate pass.
+            if (prim is OdePrim)
+            {
+//                lock (OdeLock)
+                {
+                    OdePrim p = (OdePrim)prim;
+                    p.setPrimForRemoval();
+                }
+            }
+        }
+        /// <summary>
+        /// This is called from within simulate but outside the locked portion
+        /// We need to do our own locking here
+        /// (Note: As of 20110801 this no longer appears to be true - this is being called within lock (odeLock) in
+        /// Simulate() -- justincc).
+        ///
+        /// Essentially, we need to remove the prim from our space segment, whatever segment it's in.
+        ///
+        /// If there are no more prim in the segment, we need to empty (spacedestroy)the segment and reclaim memory
+        /// that the space was using.
+        /// </summary>
+        /// <param name="prim"></param>
+        public void RemovePrimThreadLocked(OdePrim prim)
+        {
+            //Console.WriteLine("RemovePrimThreadLocked " +  prim.m_primName);
+            lock (prim)
+            {
+                RemoveCollisionEventReporting(prim);
+                lock (_prims)
+                    _prims.Remove(prim);
+            }
+
+        }
+        #endregion
+
+        #region Space Separation Calculation
+
+        /// <summary>
+        /// Called when a static prim moves or becomes static
+        /// Places the prim in a space one the static sub-spaces grid
+        /// </summary>
+        /// <param name="geom">the pointer to the geom that moved</param>
+        /// <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 MoveGeomToStaticSpace(IntPtr geom, Vector3 pos, IntPtr currentspace)
+        {
+            // moves a prim into another static sub-space or from another space into a static sub-space
+
+            // Called ODEPrim so
+            // it's already in locked space.
+
+            if (geom == IntPtr.Zero) // shouldn't happen
+                return IntPtr.Zero;
+
+            // get the static sub-space for current position
+            IntPtr newspace = calculateSpaceForGeom(pos);
+
+            if (newspace == currentspace) // if we are there all done
+                return newspace;
+
+            // else remove it from its current space
+            if (currentspace != IntPtr.Zero && d.SpaceQuery(currentspace, geom))
+            {
+                if (d.GeomIsSpace(currentspace))
+                {
+                    waitForSpaceUnlock(currentspace);
+                    d.SpaceRemove(currentspace, geom);
+
+                    if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0)
+                    {
+                        d.SpaceDestroy(currentspace);
+                    }
+                }
+                else
+                {
+                    m_log.Info("[Physics]: Invalid or empty Space passed to 'MoveGeomToStaticSpace':" + currentspace +
+                                   " Geom:" + geom);
+                }
+            }
+            else // odd currentspace is null or doesn't contain the geom? lets try the geom ideia of current space
+            {
+                currentspace = d.GeomGetSpace(geom);
+                if (currentspace != IntPtr.Zero)
+                {
+                    if (d.GeomIsSpace(currentspace))
+                    {
+                        waitForSpaceUnlock(currentspace);
+                        d.SpaceRemove(currentspace, geom);
+
+                        if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0)
+                        {
+                            d.SpaceDestroy(currentspace);
+                        }
+
+                    }
+                }
+            }
+
+            // put the geom in the newspace
+            waitForSpaceUnlock(newspace);
+            d.SpaceAdd(newspace, geom);
+
+            // let caller know this newspace
+            return newspace;
+        }
+
+        /// <summary>
+        /// Calculates the space the prim should be in by its position
+        /// </summary>
+        /// <param name="pos"></param>
+        /// <returns>a pointer to the space. This could be a new space or reused space.</returns>
+        public IntPtr calculateSpaceForGeom(Vector3 pos)
+        {
+            int x, y;
+            x = (int)(pos.X * spacesPerMeter);
+            if (x < 0)
+                x = 0;
+            else if (x > spaceGridMaxX)
+                x = spaceGridMaxX;
+
+            y = (int)(pos.Y * spacesPerMeter);
+            if (y < 0)
+                y = 0;
+            else if (y >spaceGridMaxY)
+                y = spaceGridMaxY;
+
+            IntPtr tmpSpace = staticPrimspace[x, y];
+            return tmpSpace;
+        }
+ 
+        #endregion
+
+        /// <summary>
+        /// Routine to figure out if we need to mesh this prim with our mesher
+        /// </summary>
+        /// <param name="pbs"></param>
+        /// <returns></returns>
+        public bool needsMeshing(PrimitiveBaseShape pbs)
+        {
+            // most of this is redundant now as the mesher will return null if it cant mesh a prim
+            // but we still need to check for sculptie meshing being enabled so this is the most
+            // convenient place to do it for now...
+
+        //    //if (pbs.PathCurve == (byte)Primitive.PathCurve.Circle && pbs.ProfileCurve == (byte)Primitive.ProfileCurve.Circle && pbs.PathScaleY <= 0.75f)
+        //    //m_log.Debug("needsMeshing: " + " pathCurve: " + pbs.PathCurve.ToString() + " profileCurve: " + pbs.ProfileCurve.ToString() + " pathScaleY: " + Primitive.UnpackPathScale(pbs.PathScaleY).ToString());
+            int iPropertiesNotSupportedDefault = 0;
+
+            if (pbs.SculptEntry)
+            {
+                if(!meshSculptedPrim)
+                    return false;
+            }
+
+            // if it's a standard box or sphere with no cuts, hollows, twist or top shear, return false since ODE can use an internal representation for the prim
+            if (!forceSimplePrimMeshing && !pbs.SculptEntry)
+            {
+                if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
+                    || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1
+                    && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z))
+                {
+
+                    if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
+                        && pbs.ProfileHollow == 0
+                        && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
+                        && pbs.PathBegin == 0 && pbs.PathEnd == 0
+                        && pbs.PathTaperX == 0 && pbs.PathTaperY == 0
+                        && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
+                        && pbs.PathShearX == 0 && pbs.PathShearY == 0)
+                    {
+#if SPAM
+                    m_log.Warn("NonMesh");
+#endif
+                        return false;
+                    }
+                }
+            }
+
+            //  following code doesn't give meshs to boxes and spheres ever
+            // and it's odd..  so for now just return true if asked to force meshs
+            // hopefully mesher will fail if doesn't suport so things still get basic boxes
+
+            if (forceSimplePrimMeshing)
+                return true;
+
+            if (pbs.ProfileHollow != 0)
+                iPropertiesNotSupportedDefault++;
+
+            if ((pbs.PathBegin != 0) || pbs.PathEnd != 0)
+                iPropertiesNotSupportedDefault++;
+
+            if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0))
+                iPropertiesNotSupportedDefault++; 
+
+            if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0)
+                iPropertiesNotSupportedDefault++;
+
+            if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100))
+                iPropertiesNotSupportedDefault++;
+
+            if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0))
+                iPropertiesNotSupportedDefault++;
+
+            if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight)
+                iPropertiesNotSupportedDefault++;
+
+            if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 && (pbs.Scale.X != pbs.Scale.Y || pbs.Scale.Y != pbs.Scale.Z || pbs.Scale.Z != pbs.Scale.X))
+                iPropertiesNotSupportedDefault++;
+
+            if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte) Extrusion.Curve1)
+                iPropertiesNotSupportedDefault++;
+
+            // test for torus
+            if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square)
+            {
+                if (pbs.PathCurve == (byte)Extrusion.Curve1)
+                {
+                    iPropertiesNotSupportedDefault++;
+                }
+            }
+            else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle)
+            {
+                if (pbs.PathCurve == (byte)Extrusion.Straight)
+                {
+                    iPropertiesNotSupportedDefault++;
+                }
+
+                // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits
+                else if (pbs.PathCurve == (byte)Extrusion.Curve1)
+                {
+                    iPropertiesNotSupportedDefault++;
+                }
+            }
+            else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle)
+            {
+                if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2)
+                {
+                    iPropertiesNotSupportedDefault++;
+                }
+            }
+            else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle)
+            {
+                if (pbs.PathCurve == (byte)Extrusion.Straight)
+                {
+                    iPropertiesNotSupportedDefault++;
+                }
+                else if (pbs.PathCurve == (byte)Extrusion.Curve1)
+                {
+                    iPropertiesNotSupportedDefault++;
+                }
+            }
+
+            if (pbs.SculptEntry && meshSculptedPrim)
+                iPropertiesNotSupportedDefault++;
+
+            if (iPropertiesNotSupportedDefault == 0)
+            {
+#if SPAM
+                m_log.Warn("NonMesh");
+#endif
+                return false;
+            }
+#if SPAM
+            m_log.Debug("Mesh");
+#endif
+            return true; 
+        }
+
+        /// <summary>
+        /// Called to queue a change to a actor
+        /// to use in place of old taint mechanism so changes do have a time sequence
+        /// </summary>
+
+        public void AddChange(PhysicsActor actor, changes what, Object arg)
+        {
+            ODEchangeitem item = new ODEchangeitem();
+            item.actor = actor;
+            item.what = what;
+            item.arg = arg;
+            ChangesQueue.Enqueue(item);
+        }
+
+        /// <summary>
+        /// Called after our prim properties are set Scale, position etc.
+        /// We use this event queue like method to keep changes to the physical scene occuring in the threadlocked mutex
+        /// This assures us that we have no race conditions
+        /// </summary>
+        /// <param name="prim"></param>
+        public override void AddPhysicsActorTaint(PhysicsActor prim)
+            {
+            }
+
+        /// <summary>
+        /// This is our main simulate loop
+        /// It's thread locked by a Mutex in the scene.
+        /// It holds Collisions, it instructs ODE to step through the physical reactions
+        /// It moves the objects around in memory
+        /// It calls the methods that report back to the object owners.. (scenepresence, SceneObjectGroup)
+        /// </summary>
+        /// <param name="timeStep"></param>
+        /// <returns></returns>
+        public override float Simulate(float timeStep)
+        {
+            int statstart;
+            int statchanges = 0;
+            int statchmove = 0;
+            int statactmove = 0;
+            int statray = 0;
+            int statcol = 0;
+            int statstep = 0;
+            int statmovchar = 0;
+            int statmovprim;
+            int totjcontact = 0;
+
+            // acumulate time so we can reduce error
+            step_time += timeStep;
+
+            if (step_time < ODE_STEPSIZE)
+                return 0;
+
+            if (framecount >= int.MaxValue)
+                framecount = 0;
+
+            framecount++;
+
+            int curphysiteractions = m_physicsiterations;
+
+            if (step_time >= m_SkipFramesAtms)
+            {
+                // if in trouble reduce step resolution
+                curphysiteractions /= 2;
+            }
+
+            int nodeframes = 0;
+
+//            checkThread();
+
+            lock (SimulationLock)
+            {
+                // adjust number of iterations per step
+                try
+                {
+                    d.WorldSetQuickStepNumIterations(world, curphysiteractions);
+                }
+                catch (StackOverflowException)
+                {
+                    m_log.Error("[PHYSICS]: The operating system wasn't able to allocate enough memory for the simulation.  Restarting the sim.");
+//                    ode.drelease(world);
+                    base.TriggerPhysicsBasedRestart();
+                }
+
+
+                while (step_time >= ODE_STEPSIZE && nodeframes < 10) //limit number of steps so we don't say here for ever
+                {
+                    try
+                    {
+                        statstart = Util.EnvironmentTickCount();
+
+                        // clear pointer/counter to contacts to pass into joints
+                        m_global_contactcount = 0;
+
+                        ODEchangeitem item;
+                        
+                        if(ChangesQueue.Count >0)
+                        {
+                            int ttmpstart = Util.EnvironmentTickCount();
+                            int ttmp;
+                            int ttmp2;
+
+                            while(ChangesQueue.Dequeue(out item))
+                            {
+                                if (item.actor != null)
+                                {
+                                    try
+                                    {
+                                        if (item.actor is OdeCharacter)
+                                            ((OdeCharacter)item.actor).DoAChange(item.what, item.arg);
+                                        else if (((OdePrim)item.actor).DoAChange(item.what, item.arg))
+                                                RemovePrimThreadLocked((OdePrim)item.actor);
+                                    }
+                                    catch
+                                    {
+                                        m_log.Warn("[PHYSICS]: doChange failed for a actor");
+                                    };
+                                }
+                                ttmp = Util.EnvironmentTickCountSubtract(ttmpstart);
+                                if (ttmp > 20)
+                                    break;
+                            }
+
+                            ttmp2 = Util.EnvironmentTickCountSubtract(ttmpstart);
+                            if (ttmp2 > 50)
+                                ttmp2 = 0;
+
+                        }
+
+                        statchanges += Util.EnvironmentTickCountSubtract(statstart);
+
+                        statactmove += Util.EnvironmentTickCountSubtract(statstart);
+                        //if ((framecount % m_randomizeWater) == 0)
+                        // randomizeWater(waterlevel);
+
+                        m_rayCastManager.ProcessQueuedRequests();
+
+
+
+                        statray += Util.EnvironmentTickCountSubtract(statstart);
+                        collision_optimized();
+                        statcol += Util.EnvironmentTickCountSubtract(statstart);
+
+                        lock (_collisionEventPrim)
+                        {
+                            foreach (PhysicsActor obj in _collisionEventPrim)
+                            {
+                                if (obj == null)
+                                    continue;
+
+                                switch ((ActorTypes)obj.PhysicsActorType)
+                                {
+                                    case ActorTypes.Agent:
+                                        OdeCharacter cobj = (OdeCharacter)obj;
+                                        cobj.AddCollisionFrameTime((int)(ODE_STEPSIZE*1000.0f));
+                                        cobj.SendCollisions();
+                                        break;
+
+                                    case ActorTypes.Prim:
+                                        OdePrim pobj = (OdePrim)obj;
+                                        pobj.SendCollisions();
+                                        break;
+                                }
+                            }
+                        }
+
+                        d.WorldQuickStep(world, ODE_STEPSIZE);
+                        statstep += Util.EnvironmentTickCountSubtract(statstart);
+
+                        // Move characters
+                        lock (_characters)
+                        {
+                            List<OdeCharacter> defects = new List<OdeCharacter>();
+                            foreach (OdeCharacter actor in _characters)
+                            {
+                                if (actor != null)
+                                    actor.Move(ODE_STEPSIZE, defects);
+                            }
+                            if (defects.Count != 0)
+                            {
+                                foreach (OdeCharacter defect in defects)
+                                {
+                                    RemoveCharacter(defect);
+                                }
+                            }
+                        }
+                        statchmove += Util.EnvironmentTickCountSubtract(statstart);
+
+                        // Move other active objects
+                        lock (_activegroups)
+                        {
+                            foreach (OdePrim aprim in _activegroups)
+                            {
+                                aprim.Move();
+                            }
+                        }
+
+                        //ode.dunlock(world);
+                    }
+                    catch (Exception e)
+                    {
+                        m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e);
+//                        ode.dunlock(world);
+                    }
+
+                    d.JointGroupEmpty(contactgroup);
+                    totjcontact += m_global_contactcount;
+
+                    step_time -= ODE_STEPSIZE;
+                    nodeframes++;
+                }
+
+                statstart = Util.EnvironmentTickCount();
+
+                lock (_characters)
+                {
+                    foreach (OdeCharacter actor in _characters)
+                    {
+                        if (actor != null)
+                        {
+                            if (actor.bad)
+                                m_log.WarnFormat("[PHYSICS]: BAD Actor {0} in _characters list was not removed?", actor.m_uuid);
+
+                            actor.UpdatePositionAndVelocity();
+                        }
+                    }
+                }
+
+                lock (_badCharacter)
+                {
+                    if (_badCharacter.Count > 0)
+                    {
+                        foreach (OdeCharacter chr in _badCharacter)
+                        {
+                            RemoveCharacter(chr);
+                        }
+
+                        _badCharacter.Clear();
+                    }
+                }
+                statmovchar = Util.EnvironmentTickCountSubtract(statstart);
+
+                lock (_activegroups)
+                {
+                    {
+                        foreach (OdePrim actor in _activegroups)
+                        {
+                            if (actor.IsPhysical)
+                            {
+                                actor.UpdatePositionAndVelocity((float)nodeframes * ODE_STEPSIZE);
+                            }
+                        }
+                    }
+                }
+
+                statmovprim = Util.EnvironmentTickCountSubtract(statstart);
+
+                int nactivegeoms = d.SpaceGetNumGeoms(ActiveSpace);
+                int nstaticgeoms = d.SpaceGetNumGeoms(StaticSpace);
+                int ntopgeoms = d.SpaceGetNumGeoms(TopSpace);
+                int nbodies = d.NTotalBodies;
+                int ngeoms = d.NTotalGeoms;
+
+                // Finished with all sim stepping. If requested, dump world state to file for debugging.
+                // TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed?
+                // TODO: This overwrites all dump files in-place. Should this be a growing logfile, or separate snapshots?
+                if (physics_logging && (physics_logging_interval > 0) && (framecount % physics_logging_interval == 0))
+                {
+                    string fname = "state-" + world.ToString() + ".DIF"; // give each physics world a separate filename
+                    string prefix = "world" + world.ToString(); // prefix for variable names in exported .DIF file
+
+                    if (physics_logging_append_existing_logfile)
+                    {
+                        string header = "-------------- START OF PHYSICS FRAME " + framecount.ToString() + " --------------";
+                        TextWriter fwriter = File.AppendText(fname);
+                        fwriter.WriteLine(header);
+                        fwriter.Close();
+                    }
+
+                    d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix);
+                }
+                
+                // think time dilation is not a physics issue alone..  but ok let's fake something
+                if (step_time < ODE_STEPSIZE) // we did the required loops
+                    m_timeDilation = 1.0f;
+                else
+                { // we didn't forget the lost ones and let user know something
+                    m_timeDilation = 1 - step_time / timeStep;
+                    if (m_timeDilation < 0)
+                        m_timeDilation = 0;
+                    step_time = 0;
+                }
+            }
+
+//            return nodeframes * ODE_STEPSIZE; // return real simulated time
+            return 1000 * nodeframes; // return steps for now * 1000 to keep core happy
+        }
+
+        /// <summary>
+        public override void GetResults()
+        {
+        }
+
+        public override bool IsThreaded
+        {
+            // for now we won't be multithreaded
+            get { return (false); }
+        }
+
+        public float GetTerrainHeightAtXY(float x, float y)
+        {
+            // assumes 1m size grid and constante size square regions
+            // needs to know about sims around in future
+            // region offset in mega position
+
+            int offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
+            int offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
+
+            IntPtr heightFieldGeom = IntPtr.Zero;
+
+            // get region map
+            if (!RegionTerrain.TryGetValue(new Vector3(offsetX, offsetY, 0), out heightFieldGeom))
+                return 0f;
+
+            if (heightFieldGeom == IntPtr.Zero)
+                return 0f;
+
+            if (!TerrainHeightFieldHeights.ContainsKey(heightFieldGeom))
+                return 0f;
+
+            // TerrainHeightField for ODE as offset 1m
+            x += 1f - offsetX;
+            y += 1f - offsetY;
+
+            // make position fit into array
+            if (x < 0)
+                x = 0;
+            if (y < 0)
+                y = 0;
+
+            // integer indexs
+            int ix;
+            int iy;
+            //  interpolators offset
+            float dx;
+            float dy;
+
+            int regsize = (int)Constants.RegionSize + 3; // map size see setterrain number of samples
+
+            // we  still have square fixed size regions
+            // also flip x and y because of how map is done for ODE fliped axis
+            // so ix,iy,dx and dy are inter exchanged
+            if (x < regsize - 1)
+            {
+                iy = (int)x;
+                dy = x - (float)iy;
+            }
+            else // out world use external height
+            {
+                iy = regsize - 1;
+                dy = 0;
+            }
+            if (y < regsize - 1)
+            {
+                ix = (int)y;
+                dx = y - (float)ix;
+            }
+            else
+            {
+                ix = regsize - 1;
+                dx = 0;
+            }
+
+            float h0;
+            float h1;
+            float h2;
+
+            iy *= regsize;
+            iy += ix; // all indexes have iy + ix
+
+            float[] heights = TerrainHeightFieldHeights[heightFieldGeom];
+
+            if ((dx + dy) <= 1.0f)
+            {
+                h0 = ((float)heights[iy]); // 0,0 vertice
+                h1 = (((float)heights[iy + 1]) - h0) * dx; // 1,0 vertice minus 0,0
+                h2 = (((float)heights[iy + regsize]) - h0) * dy; // 0,1 vertice minus 0,0
+            }
+            else
+            {
+                h0 = ((float)heights[iy + regsize + 1]); // 1,1 vertice
+                h1 = (((float)heights[iy + 1]) - h0) * (1 - dy); // 1,1 vertice minus 1,0
+                h2 = (((float)heights[iy + regsize]) - h0) * (1 - dx); // 1,1 vertice minus 0,1
+            }
+
+            return h0 + h1 + h2;
+        }
+        public override void SetTerrain(float[] heightMap)
+        {
+            if (m_worldOffset != Vector3.Zero && m_parentScene != null)
+            {
+                if (m_parentScene is OdeScene)
+                {
+                    ((OdeScene)m_parentScene).SetTerrain(heightMap, m_worldOffset);
+                }
+            }
+            else
+            {
+                SetTerrain(heightMap, m_worldOffset);
+            }
+        }
+
+        public override void CombineTerrain(float[] heightMap, Vector3 pOffset)
+        {
+            SetTerrain(heightMap, pOffset);
+        }
+
+        public void SetTerrain(float[] heightMap, Vector3 pOffset)
+            {
+            // assumes 1m size grid and constante size square regions
+            // needs to know about sims around in future
+
+            float[] _heightmap;
+
+            uint heightmapWidth = Constants.RegionSize + 2;
+            uint heightmapHeight = Constants.RegionSize + 2;
+
+            uint heightmapWidthSamples = heightmapWidth + 1;
+            uint heightmapHeightSamples = heightmapHeight + 1;
+
+            _heightmap = new float[heightmapWidthSamples * heightmapHeightSamples];
+
+            const float scale = 1.0f;
+            const float offset = 0.0f;
+            const float thickness = 10f;
+            const int wrap = 0;
+
+            uint regionsize = Constants.RegionSize;
+ 
+            float hfmin = float.MaxValue;
+            float hfmax = float.MinValue;
+            float val;
+            uint xx;
+            uint yy;
+
+            uint maxXXYY = regionsize - 1;
+            // flipping map adding one margin all around so things don't fall in edges
+
+            uint xt = 0;
+            xx = 0;
+
+            for (uint x = 0; x < heightmapWidthSamples; x++)
+            {
+                if (x > 1 && xx < maxXXYY)
+                    xx++;
+                yy = 0;
+                for (uint y = 0; y < heightmapHeightSamples; y++)
+                {
+                    if (y > 1 && y < maxXXYY)
+                        yy += regionsize;
+
+                    val = heightMap[yy + xx];
+                    if (val < 0.0f)
+                        val = 0.0f; // no neg terrain as in chode
+                    _heightmap[xt + y] = val;
+
+                    if (hfmin > val)
+                        hfmin = val;
+                    if (hfmax < val)
+                        hfmax = val;
+                }
+                xt += heightmapHeightSamples;
+            }
+            lock (OdeLock)
+            {
+                IntPtr GroundGeom = IntPtr.Zero;
+                if (RegionTerrain.TryGetValue(pOffset, out GroundGeom))
+                {
+                    RegionTerrain.Remove(pOffset);
+                    if (GroundGeom != IntPtr.Zero)
+                    {
+                        if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
+                            {
+                            TerrainHeightFieldHeightsHandlers[GroundGeom].Free();
+                            TerrainHeightFieldHeightsHandlers.Remove(GroundGeom);
+                            TerrainHeightFieldHeights.Remove(GroundGeom);
+                            }
+                        d.SpaceRemove(StaticSpace, GroundGeom);
+                        d.GeomDestroy(GroundGeom);
+                    }
+                }
+                IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
+
+                GCHandle _heightmaphandler = GCHandle.Alloc(_heightmap, GCHandleType.Pinned);
+
+                d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmaphandler.AddrOfPinnedObject(), 0, heightmapWidth , heightmapHeight,
+                                                 (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
+                                                 offset, thickness, wrap);
+
+                d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
+                GroundGeom = d.CreateHeightfield(StaticSpace, HeightmapData, 1);
+                if (GroundGeom != IntPtr.Zero)
+                {
+                    d.GeomSetCategoryBits(GroundGeom, (int)(CollisionCategories.Land));
+                    d.GeomSetCollideBits(GroundGeom, (int)(CollisionCategories.Space));
+
+                }
+                geom_name_map[GroundGeom] = "Terrain";
+
+                d.Matrix3 R = new d.Matrix3();
+
+                Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
+                Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
+                
+
+                q1 = q1 * q2;
+                
+                Vector3 v3;
+                float angle;
+                q1.GetAxisAngle(out v3, out angle);
+
+                d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
+                d.GeomSetRotation(GroundGeom, ref R);
+                d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0);
+                RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
+//                TerrainHeightFieldHeights.Add(GroundGeom, ODElandMap);
+                TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);
+                TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler);
+               
+            }
+        }
+
+        public override void DeleteTerrain()
+        {
+        }
+
+        public float GetWaterLevel()
+        {
+            return waterlevel;
+        }
+
+        public override bool SupportsCombining()
+        {
+            return true;
+        }
+/*
+        public override void UnCombine(PhysicsScene pScene)
+        {
+            IntPtr localGround = IntPtr.Zero;
+//            float[] localHeightfield;
+            bool proceed = false;
+            List<IntPtr> geomDestroyList = new List<IntPtr>();
+
+            lock (OdeLock)
+            {
+                if (RegionTerrain.TryGetValue(Vector3.Zero, out localGround))
+                {
+                    foreach (IntPtr geom in TerrainHeightFieldHeights.Keys)
+                    {
+                        if (geom == localGround)
+                        {
+//                            localHeightfield = TerrainHeightFieldHeights[geom];
+                            proceed = true;
+                        }
+                        else
+                        {
+                            geomDestroyList.Add(geom);
+                        }
+                    }
+
+                    if (proceed)
+                    {
+                        m_worldOffset = Vector3.Zero;
+                        WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
+                        m_parentScene = null;
+
+                        foreach (IntPtr g in geomDestroyList)
+                        {
+                            // removingHeightField needs to be done or the garbage collector will
+                            // collect the terrain data before we tell ODE to destroy it causing 
+                            // memory corruption
+                            if (TerrainHeightFieldHeights.ContainsKey(g))
+                            {
+//                                float[] removingHeightField = TerrainHeightFieldHeights[g];
+                                TerrainHeightFieldHeights.Remove(g);
+
+                                if (RegionTerrain.ContainsKey(g))
+                                {
+                                    RegionTerrain.Remove(g);
+                                }
+
+                                d.GeomDestroy(g);
+                                //removingHeightField = new float[0];
+                            }
+                        }
+
+                    }
+                    else
+                    {
+                        m_log.Warn("[PHYSICS]: Couldn't proceed with UnCombine.  Region has inconsistant data.");
+                    }
+                }
+            }
+        }
+*/
+        public override void SetWaterLevel(float baseheight)
+        {
+            waterlevel = baseheight;
+            randomizeWater(waterlevel);
+        }
+
+        public void randomizeWater(float baseheight)
+        {
+            const uint heightmapWidth = m_regionWidth + 2;
+            const uint heightmapHeight = m_regionHeight + 2;
+            const uint heightmapWidthSamples = m_regionWidth + 2;
+            const uint heightmapHeightSamples = m_regionHeight + 2;
+            const float scale = 1.0f;
+            const float offset = 0.0f;
+            const float thickness = 2.9f;
+            const int wrap = 0;
+
+            for (int i = 0; i < (258 * 258); i++)
+            {
+                _watermap[i] = (baseheight-0.1f) + ((float)fluidRandomizer.Next(1,9) / 10f);
+               // m_log.Info((baseheight - 0.1f) + ((float)fluidRandomizer.Next(1, 9) / 10f));
+            }
+
+            lock (OdeLock)
+            {
+                if (WaterGeom != IntPtr.Zero)
+                {
+                d.SpaceRemove(StaticSpace, WaterGeom);
+                }
+                IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
+                d.GeomHeightfieldDataBuildSingle(HeightmapData, _watermap, 0, heightmapWidth, heightmapHeight,
+                                                 (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
+                                                 offset, thickness, wrap);
+                d.GeomHeightfieldDataSetBounds(HeightmapData, m_regionWidth, m_regionHeight);
+                WaterGeom = d.CreateHeightfield(StaticSpace, HeightmapData, 1);
+                if (WaterGeom != IntPtr.Zero)
+                {
+                    d.GeomSetCategoryBits(WaterGeom, (int)(CollisionCategories.Water));
+                    d.GeomSetCollideBits(WaterGeom, (int)(CollisionCategories.Space));
+
+                }
+                geom_name_map[WaterGeom] = "Water";
+
+                d.Matrix3 R = new d.Matrix3();
+
+                Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
+                Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
+
+                q1 = q1 * q2;
+                Vector3 v3;
+                float angle;
+                q1.GetAxisAngle(out v3, out angle);
+
+                d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
+                d.GeomSetRotation(WaterGeom, ref R);
+                d.GeomSetPosition(WaterGeom, 128, 128, 0);
+                
+            }
+
+        }
+
+        public override void Dispose()
+        {
+            m_rayCastManager.Dispose();
+            m_rayCastManager = null;
+
+            lock (OdeLock)
+            {
+                lock (_prims)
+                {
+                    foreach (OdePrim prm in _prims)
+                    {
+                        RemovePrim(prm);
+                    }
+                }
+
+                if (ContactgeomsArray != IntPtr.Zero)
+                    Marshal.FreeHGlobal(ContactgeomsArray);
+                if (GlobalContactsArray != IntPtr.Zero)
+                    Marshal.FreeHGlobal(GlobalContactsArray);
+
+                d.WorldDestroy(world);
+                //d.CloseODE();
+            }
+        }
+
+        public override Dictionary<uint, float> GetTopColliders()
+        {
+            Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();
+            int cnt = 0;
+            lock (_prims)
+            {
+                foreach (OdePrim prm in _prims)
+                {
+                    if (prm.CollisionScore > 0)
+                    {
+                        returncolliders.Add(prm.m_localID, prm.CollisionScore);
+                        cnt++;
+                        prm.CollisionScore = 0f;
+                        if (cnt > 25)
+                        {
+                            break;
+                        }
+                    }
+                }
+            }
+            return returncolliders;
+        }
+
+        public override bool SupportsRayCast()
+        {
+            return true;
+        }
+
+        public override void RaycastWorld(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
+        {
+            if (retMethod != null)
+            {
+                m_rayCastManager.QueueRequest(position, direction, length, retMethod);
+            }
+        }
+
+        public override void RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod)
+        {
+            if (retMethod != null)
+            {
+                m_rayCastManager.QueueRequest(position, direction, length, Count, retMethod);
+            }
+        }
+
+        // don't like this
+        public override List<ContactResult> RaycastWorld(Vector3 position, Vector3 direction, float length, int Count)
+        {
+            ContactResult[] ourResults = null;
+            RayCallback retMethod = delegate(List<ContactResult> results)
+            {
+                ourResults = new ContactResult[results.Count];
+                results.CopyTo(ourResults, 0);
+            };
+            int waitTime = 0;
+            m_rayCastManager.QueueRequest(position, direction, length, Count, retMethod);
+            while (ourResults == null && waitTime < 1000)
+            {
+                Thread.Sleep(1);
+                waitTime++;
+            }
+            if (ourResults == null)
+                return new List<ContactResult>();
+            return new List<ContactResult>(ourResults);
+        }
+
+        public override void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
+        {
+            if (retMethod != null && actor !=null)
+            {
+                IntPtr geom;
+                if (actor is OdePrim)
+                    geom = ((OdePrim)actor).prim_geom;
+                else if (actor is OdeCharacter)
+                    geom = ((OdePrim)actor).prim_geom;
+                else
+                    return;
+                if (geom == IntPtr.Zero)
+                    return;
+                m_rayCastManager.QueueRequest(geom, position, direction, length, retMethod);
+            }
+        }
+
+        public override void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod)
+        {
+            if (retMethod != null && actor != null)
+            {
+                IntPtr geom;
+                if (actor is OdePrim)
+                    geom = ((OdePrim)actor).prim_geom;
+                else if (actor is OdeCharacter)
+                    geom = ((OdePrim)actor).prim_geom;
+                else
+                    return;
+                if (geom == IntPtr.Zero)
+                    return;
+
+                m_rayCastManager.QueueRequest(geom,position, direction, length, Count, retMethod);
+            }
+        }
+
+        // don't like this
+        public override List<ContactResult> RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count)
+        {
+            if (actor != null)
+            {
+                IntPtr geom;
+                if (actor is OdePrim)
+                    geom = ((OdePrim)actor).prim_geom;
+                else if (actor is OdeCharacter)
+                    geom = ((OdePrim)actor).prim_geom;
+                else
+                    return new List<ContactResult>();
+                if (geom == IntPtr.Zero)
+                    return new List<ContactResult>();
+
+                ContactResult[] ourResults = null;
+                RayCallback retMethod = delegate(List<ContactResult> results)
+                {
+                    ourResults = new ContactResult[results.Count];
+                    results.CopyTo(ourResults, 0);
+                };
+                int waitTime = 0;
+                m_rayCastManager.QueueRequest(geom,position, direction, length, Count, retMethod);
+                while (ourResults == null && waitTime < 1000)
+                {
+                    Thread.Sleep(1);
+                    waitTime++;
+                }
+                if (ourResults == null)
+                    return new List<ContactResult>();
+                return new List<ContactResult>(ourResults);
+            }
+            return new List<ContactResult>();
+        }
+    }
+}
diff --git a/OpenSim/Region/RegionCombinerModule/RegionCombinerModule.cs b/OpenSim/Region/RegionCombinerModule/RegionCombinerModule.cs
index a142f26..d8d9554 100644
--- a/OpenSim/Region/RegionCombinerModule/RegionCombinerModule.cs
+++ b/OpenSim/Region/RegionCombinerModule/RegionCombinerModule.cs
@@ -89,89 +89,7 @@ namespace OpenSim.Region.RegionCombinerModule
         public void RegionLoaded(Scene scene)
         {
             if (enabledYN)
-            {
                 RegionLoadedDoWork(scene);
-
-                scene.EventManager.OnNewPresence += NewPresence;
-            }
-        }
-
-        private void NewPresence(ScenePresence presence)
-        {
-            if (presence.IsChildAgent)
-            {
-                byte[] throttleData;
-
-                try
-                {
-                    throttleData = presence.ControllingClient.GetThrottlesPacked(1);
-                } 
-                catch (NotImplementedException)
-                {
-                    return;
-                }
-
-                if (throttleData == null)
-                    return;
-
-                if (throttleData.Length == 0)
-                    return;
-
-                if (throttleData.Length != 28)
-                    return;
-
-                byte[] adjData;
-                int pos = 0;
-
-                if (!BitConverter.IsLittleEndian)
-                {
-                    byte[] newData = new byte[7 * 4];
-                    Buffer.BlockCopy(throttleData, 0, newData, 0, 7 * 4);
-
-                    for (int i = 0; i < 7; i++)
-                        Array.Reverse(newData, i * 4, 4);
-
-                    adjData = newData;
-                }
-                else
-                {
-                    adjData = throttleData;
-                }
-
-                // 0.125f converts from bits to bytes
-                int resend = (int)(BitConverter.ToSingle(adjData, pos) * 0.125f); pos += 4;
-                int land = (int)(BitConverter.ToSingle(adjData, pos) * 0.125f); pos += 4;
-                int wind = (int)(BitConverter.ToSingle(adjData, pos) * 0.125f); pos += 4;
-                int cloud = (int)(BitConverter.ToSingle(adjData, pos) * 0.125f); pos += 4;
-                int task = (int)(BitConverter.ToSingle(adjData, pos) * 0.125f); pos += 4;
-                int texture = (int)(BitConverter.ToSingle(adjData, pos) * 0.125f); pos += 4;
-                int asset = (int)(BitConverter.ToSingle(adjData, pos) * 0.125f);
-                // State is a subcategory of task that we allocate a percentage to
-
-
-                //int total = resend + land + wind + cloud + task + texture + asset;
-
-                byte[] data = new byte[7 * 4];
-                int ii = 0;
-
-                Buffer.BlockCopy(Utils.FloatToBytes(resend), 0, data, ii, 4); ii += 4;
-                Buffer.BlockCopy(Utils.FloatToBytes(land * 50), 0, data, ii, 4); ii += 4;
-                Buffer.BlockCopy(Utils.FloatToBytes(wind), 0, data, ii, 4); ii += 4;
-                Buffer.BlockCopy(Utils.FloatToBytes(cloud), 0, data, ii, 4); ii += 4;
-                Buffer.BlockCopy(Utils.FloatToBytes(task), 0, data, ii, 4); ii += 4;
-                Buffer.BlockCopy(Utils.FloatToBytes(texture), 0, data, ii, 4); ii += 4;
-                Buffer.BlockCopy(Utils.FloatToBytes(asset), 0, data, ii, 4);
-
-                try
-                {
-                    presence.ControllingClient.SetChildAgentThrottle(data);
-                }
-                catch (NotImplementedException)
-                {
-                    return;
-                }
-
-            }
         }
 
         private void RegionLoadedDoWork(Scene scene)
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/AsyncCommandManager.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/AsyncCommandManager.cs
index 993d10f..3cbdde5 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/AsyncCommandManager.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/AsyncCommandManager.cs
@@ -301,6 +301,26 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                 return null;
         }
 
+        public static void StateChange(IScriptEngine engine, uint localID, UUID itemID)
+        {
+            // Remove a specific script
+
+            // Remove dataserver events
+            m_Dataserver[engine].RemoveEvents(localID, itemID);
+
+            IWorldComm comms = engine.World.RequestModuleInterface<IWorldComm>();
+            if (comms != null)
+                comms.DeleteListener(itemID);
+
+            IXMLRPC xmlrpc = engine.World.RequestModuleInterface<IXMLRPC>();
+            xmlrpc.DeleteChannels(itemID);
+            xmlrpc.CancelSRDRequests(itemID);
+
+            // Remove Sensors
+            m_SensorRepeat[engine].UnSetSenseRepeaterEvents(localID, itemID);
+
+        }
+
         public static Object[] GetSerializationData(IScriptEngine engine, UUID itemID)
         {
             List<Object> data = new List<Object>();
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/CM_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/CM_Api.cs
new file mode 100644
index 0000000..489c1c6
--- /dev/null
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/CM_Api.cs
@@ -0,0 +1,118 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Reflection;
+using System.Collections;
+using System.Collections.Generic;
+using System.Runtime.Remoting.Lifetime;
+using OpenMetaverse;
+using Nini.Config;
+using OpenSim;
+using OpenSim.Framework;
+using OpenSim.Region.CoreModules.World.LightShare;
+using OpenSim.Region.Framework.Interfaces;
+using OpenSim.Region.Framework.Scenes;
+using OpenSim.Region.ScriptEngine.Shared;
+using OpenSim.Region.ScriptEngine.Shared.Api.Plugins;
+using OpenSim.Region.ScriptEngine.Shared.ScriptBase;
+using OpenSim.Region.ScriptEngine.Interfaces;
+using OpenSim.Region.ScriptEngine.Shared.Api.Interfaces;
+using OpenSim.Services.Interfaces;
+
+using LSL_Float = OpenSim.Region.ScriptEngine.Shared.LSL_Types.LSLFloat;
+using LSL_Integer = OpenSim.Region.ScriptEngine.Shared.LSL_Types.LSLInteger;
+using LSL_Key = OpenSim.Region.ScriptEngine.Shared.LSL_Types.LSLString;
+using LSL_List = OpenSim.Region.ScriptEngine.Shared.LSL_Types.list;
+using LSL_Rotation = OpenSim.Region.ScriptEngine.Shared.LSL_Types.Quaternion;
+using LSL_String = OpenSim.Region.ScriptEngine.Shared.LSL_Types.LSLString;
+using LSL_Vector = OpenSim.Region.ScriptEngine.Shared.LSL_Types.Vector3;
+
+namespace OpenSim.Region.ScriptEngine.Shared.Api
+{
+    [Serializable]
+    public class CM_Api : MarshalByRefObject, ICM_Api, IScriptApi
+    {
+        internal IScriptEngine m_ScriptEngine;
+        internal SceneObjectPart m_host;
+        internal uint m_localID;
+        internal UUID m_itemID;
+        internal bool m_CMFunctionsEnabled = false;
+
+        public void Initialize(IScriptEngine ScriptEngine, SceneObjectPart host, uint localID, UUID itemID)
+        {
+            m_ScriptEngine = ScriptEngine;
+            m_host = host;
+            m_localID = localID;
+            m_itemID = itemID;
+
+            if (m_ScriptEngine.Config.GetBoolean("AllowCareminsterFunctions", false))
+                m_CMFunctionsEnabled = true;
+        }
+
+        public override Object InitializeLifetimeService()
+        {
+            ILease lease = (ILease)base.InitializeLifetimeService();
+
+            if (lease.CurrentState == LeaseState.Initial)
+            {
+                lease.InitialLeaseTime = TimeSpan.FromMinutes(0);
+                //                lease.RenewOnCallTime = TimeSpan.FromSeconds(10.0);
+                //                lease.SponsorshipTimeout = TimeSpan.FromMinutes(1.0);
+            }
+            return lease;
+        }
+
+        public Scene World
+        {
+            get { return m_ScriptEngine.World; }
+        }
+
+        public string cmDetectedCountry(int number)
+        {
+            m_host.AddScriptLPS(1);
+            DetectParams detectedParams = m_ScriptEngine.GetDetectParams(m_itemID, number);
+            if (detectedParams == null)
+                return String.Empty;
+            return detectedParams.Country;
+        }
+
+        public string cmGetAgentCountry(LSL_Key key)
+        {
+            if (!World.Permissions.IsGod(m_host.OwnerID))
+                return String.Empty;
+
+            UUID uuid;
+
+            if (!UUID.TryParse(key, out uuid))
+                return String.Empty;
+
+            UserAccount account = World.UserAccountService.GetUserAccount(World.RegionInfo.ScopeID, uuid);
+            return account.UserCountry;
+        }
+    }
+}
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
index 7455929..4d7c40e 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
@@ -28,10 +28,12 @@
 using System;
 using System.Collections;
 using System.Collections.Generic;
+using System.Diagnostics; //for [DebuggerNonUserCode]
 using System.Runtime.Remoting.Lifetime;
 using System.Text;
 using System.Threading;
 using System.Text.RegularExpressions;
+using System.Timers;
 using Nini.Config;
 using log4net;
 using OpenMetaverse;
@@ -44,6 +46,7 @@ using OpenSim.Region.CoreModules.World.Land;
 using OpenSim.Region.CoreModules.World.Terrain;
 using OpenSim.Region.Framework.Interfaces;
 using OpenSim.Region.Framework.Scenes;
+using OpenSim.Region.Framework.Scenes.Serialization;
 using OpenSim.Region.Framework.Scenes.Animation;
 using OpenSim.Region.Physics.Manager;
 using OpenSim.Region.ScriptEngine.Shared;
@@ -65,6 +68,7 @@ using LSL_Rotation = OpenSim.Region.ScriptEngine.Shared.LSL_Types.Quaternion;
 using LSL_String = OpenSim.Region.ScriptEngine.Shared.LSL_Types.LSLString;
 using LSL_Vector = OpenSim.Region.ScriptEngine.Shared.LSL_Types.Vector3;
 using System.Reflection;
+using Timer = System.Timers.Timer;
 
 namespace OpenSim.Region.ScriptEngine.Shared.Api
 {
@@ -99,16 +103,26 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         protected int m_notecardLineReadCharsMax = 255;
         protected int m_scriptConsoleChannel = 0;
         protected bool m_scriptConsoleChannelEnabled = false;
+        protected bool m_debuggerSafe = false;
         protected IUrlModule m_UrlModule = null;
         protected Dictionary<UUID, UserInfoCacheEntry> m_userInfoCache =
                 new Dictionary<UUID, UserInfoCacheEntry>();
 
+        protected Timer m_ShoutSayTimer;
+        protected int m_SayShoutCount = 0;
+
         public void Initialize(IScriptEngine ScriptEngine, SceneObjectPart host, uint localID, UUID itemID)
         {
+            m_ShoutSayTimer = new Timer(1000);
+            m_ShoutSayTimer.Elapsed += SayShoutTimerElapsed;
+            m_ShoutSayTimer.AutoReset = true;
+            m_ShoutSayTimer.Start();
+
             m_ScriptEngine = ScriptEngine;
             m_host = host;
             m_localID = localID;
             m_itemID = itemID;
+            m_debuggerSafe = m_ScriptEngine.Config.GetBoolean("DebuggerSafe", false);
 
             m_ScriptDelayFactor =
                 m_ScriptEngine.Config.GetFloat("ScriptDelayFactor", 1.0f);
@@ -156,6 +170,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             get { return m_ScriptEngine.World; }
         }
 
+        [DebuggerNonUserCode]
         public void state(string newState)
         {
             m_ScriptEngine.SetState(m_itemID, newState);
@@ -165,6 +180,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         /// Reset the named script. The script must be present
         /// in the same prim.
         /// </summary>
+        [DebuggerNonUserCode]
         public void llResetScript()
         {
             m_host.AddScriptLPS(1);
@@ -221,9 +237,62 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             }
         }
 
+        public List<ScenePresence> GetLinkAvatars(int linkType)
+        {
+            List<ScenePresence> ret = new List<ScenePresence>();
+            if (m_host == null || m_host.ParentGroup == null || m_host.ParentGroup.IsDeleted)
+                return ret;
+            
+            List<ScenePresence> avs = m_host.ParentGroup.GetLinkedAvatars();
+
+            switch (linkType)
+            {
+                case ScriptBaseClass.LINK_SET:
+                    return avs;
+
+                case ScriptBaseClass.LINK_ROOT:
+                    return ret;
+
+                case ScriptBaseClass.LINK_ALL_OTHERS:
+                    return avs;
+
+                case ScriptBaseClass.LINK_ALL_CHILDREN:
+                    return avs;
+
+                case ScriptBaseClass.LINK_THIS:
+                    return ret;
+
+                default:
+                    if (linkType < 0)
+                        return ret;
+
+                    int partCount = m_host.ParentGroup.GetPartCount();
+
+                    if (linkType <= partCount)
+                    {
+                        return ret;
+                    }
+                    else
+                    {
+                        linkType = linkType - partCount;
+                        if (linkType > avs.Count)
+                        {
+                            return ret;
+                        }
+                        else
+                        {
+                            ret.Add(avs[linkType-1]);
+                            return ret;
+                        }
+                    }
+            }
+        }
+
         public List<SceneObjectPart> GetLinkParts(int linkType)
         {
             List<SceneObjectPart> ret = new List<SceneObjectPart>();
+            if (m_host == null || m_host.ParentGroup == null || m_host.ParentGroup.IsDeleted)
+                return ret;
             ret.Add(m_host);
 
             switch (linkType)
@@ -270,40 +339,48 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         protected UUID InventorySelf()
         {
             UUID invItemID = new UUID();
-
-            lock (m_host.TaskInventory)
+            bool unlock = false;
+            if (!m_host.TaskInventory.IsReadLockedByMe())
             {
-                foreach (KeyValuePair<UUID, TaskInventoryItem> inv in m_host.TaskInventory)
+                m_host.TaskInventory.LockItemsForRead(true);
+                unlock = true;
+            }
+            foreach (KeyValuePair<UUID, TaskInventoryItem> inv in m_host.TaskInventory)
+            {
+                if (inv.Value.Type == 10 && inv.Value.ItemID == m_itemID)
                 {
-                    if (inv.Value.Type == 10 && inv.Value.ItemID == m_itemID)
-                    {
-                        invItemID = inv.Key;
-                        break;
-                    }
+                    invItemID = inv.Key;
+                    break;
                 }
             }
-
+            if (unlock)
+            {
+                m_host.TaskInventory.LockItemsForRead(false);
+            }
             return invItemID;
         }
 
         protected UUID InventoryKey(string name, int type)
         {
             m_host.AddScriptLPS(1);
-
-            lock (m_host.TaskInventory)
+            m_host.TaskInventory.LockItemsForRead(true);
+            
+            foreach (KeyValuePair<UUID, TaskInventoryItem> inv in m_host.TaskInventory)
             {
-                foreach (KeyValuePair<UUID, TaskInventoryItem> inv in m_host.TaskInventory)
+                if (inv.Value.Name == name)
                 {
-                    if (inv.Value.Name == name)
+                    m_host.TaskInventory.LockItemsForRead(false);
+                    
+                    if (inv.Value.Type != type)
                     {
-                        if (inv.Value.Type != type)
-                            return UUID.Zero;
-
-                        return inv.Value.AssetID;
+                        return UUID.Zero;
                     }
+
+                    return inv.Value.AssetID;
                 }
             }
 
+            m_host.TaskInventory.LockItemsForRead(false);
             return UUID.Zero;
         }
 
@@ -311,17 +388,21 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         {
             m_host.AddScriptLPS(1);
 
-            lock (m_host.TaskInventory)
+            
+            m_host.TaskInventory.LockItemsForRead(true);
+
+            foreach (KeyValuePair<UUID, TaskInventoryItem> inv in m_host.TaskInventory)
             {
-                foreach (KeyValuePair<UUID, TaskInventoryItem> inv in m_host.TaskInventory)
+                if (inv.Value.Name == name)
                 {
-                    if (inv.Value.Name == name)
-                    {
-                        return inv.Value.AssetID;
-                    }
+                    m_host.TaskInventory.LockItemsForRead(false);
+                    return inv.Value.AssetID;
                 }
             }
 
+            m_host.TaskInventory.LockItemsForRead(false);
+
+
             return UUID.Zero;
         }
 
@@ -463,31 +544,48 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
         //Now we start getting into quaternions which means sin/cos, matrices and vectors. ckrinke
 
-        /// <summary>
-        /// Convert an LSL rotation to a Euler vector.
-        /// </summary>
-        /// <remarks>
-        /// Using algorithm based off http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/quat_2_euler_paper_ver2-1.pdf
-        /// to avoid issues with singularity and rounding with Y rotation of +/- PI/2
-        /// </remarks>
-        /// <param name="r"></param>
-        /// <returns></returns>
-        public LSL_Vector llRot2Euler(LSL_Rotation r)
+        // Utility function for llRot2Euler
+
+        // normalize an angle between -PI and PI (-180 to +180 degrees)
+        protected double NormalizeAngle(double angle)
         {
-            m_host.AddScriptLPS(1);
+            if (angle > -Math.PI && angle < Math.PI)
+                return angle;
 
-            LSL_Vector v = new LSL_Vector(0.0, 0.0, 1.0) * r;   // Z axis unit vector unaffected by Z rotation component of r.
-            double m = LSL_Vector.Mag(v);                       // Just in case v isn't normalized, need magnitude for Asin() operation later.
-            if (m == 0.0) return new LSL_Vector();
-            double x = Math.Atan2(-v.y, v.z);
-            double sin = v.x / m;
-            if (sin < -0.999999 || sin > 0.999999) x = 0.0;     // Force X rotation to 0 at the singularities.
-            double y = Math.Asin(sin);
-            // Rotate X axis unit vector by r and unwind the X and Y rotations leaving only the Z rotation
-            v = new LSL_Vector(1.0, 0.0, 0.0) * ((r * new LSL_Rotation(Math.Sin(-x / 2.0), 0.0, 0.0, Math.Cos(-x / 2.0))) * new LSL_Rotation(0.0, Math.Sin(-y / 2.0), 0.0, Math.Cos(-y / 2.0)));
-            double z = Math.Atan2(v.y, v.x);
+            int numPis = (int)(Math.PI / angle);
+            double remainder = angle - Math.PI * numPis;
+            if (numPis % 2 == 1)
+                return Math.PI - angle;
+            return remainder;
+        }
 
-            return new LSL_Vector(x, y, z);
+        public LSL_Vector llRot2Euler(LSL_Rotation q1)
+        {
+            m_host.AddScriptLPS(1);
+            LSL_Vector eul = new LSL_Vector();
+
+            double sqw = q1.s*q1.s;
+            double sqx = q1.x*q1.x;
+            double sqy = q1.z*q1.z;
+            double sqz = q1.y*q1.y;
+            double unit = sqx + sqy + sqz + sqw; // if normalised is one, otherwise is correction factor
+            double test = q1.x*q1.z + q1.y*q1.s;
+            if (test > 0.4999*unit) { // singularity at north pole
+                eul.z = 2 * Math.Atan2(q1.x,q1.s);
+                eul.y = Math.PI/2;
+                eul.x = 0;
+                return eul;
+            }
+            if (test < -0.4999*unit) { // singularity at south pole
+                eul.z = -2 * Math.Atan2(q1.x,q1.s);
+                eul.y = -Math.PI/2;
+                eul.x = 0;
+                return eul;
+            }
+            eul.z = Math.Atan2(2*q1.z*q1.s-2*q1.x*q1.y , sqx - sqy - sqz + sqw);
+            eul.y = Math.Asin(2*test/unit);
+            eul.x = Math.Atan2(2*q1.x*q1.s-2*q1.z*q1.y , -sqx + sqy - sqz + sqw);
+            return eul;
         }
 
         /* From wiki:
@@ -689,77 +787,76 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         {
             //A and B should both be normalized
             m_host.AddScriptLPS(1);
-            LSL_Rotation rotBetween;
-            // Check for zero vectors. If either is zero, return zero rotation. Otherwise,
-            // continue calculation.
-            if (a == new LSL_Vector(0.0f, 0.0f, 0.0f) || b == new LSL_Vector(0.0f, 0.0f, 0.0f))
+            /*  This method is more accurate than the SL one, and thus causes problems
+                for scripts that deal with the SL inaccuracy around 180-degrees -.- .._.
+                
+            double dotProduct = LSL_Vector.Dot(a, b);
+            LSL_Vector crossProduct = LSL_Vector.Cross(a, b);
+            double magProduct = LSL_Vector.Mag(a) * LSL_Vector.Mag(b);
+            double angle = Math.Acos(dotProduct / magProduct);
+            LSL_Vector axis = LSL_Vector.Norm(crossProduct);
+            double s = Math.Sin(angle / 2);
+
+            double x = axis.x * s;
+            double y = axis.y * s;
+            double z = axis.z * s;
+            double w = Math.Cos(angle / 2);
+
+            if (Double.IsNaN(x) || Double.IsNaN(y) || Double.IsNaN(z) || Double.IsNaN(w))
+                return new LSL_Rotation(0.0f, 0.0f, 0.0f, 1.0f);
+
+            return new LSL_Rotation((float)x, (float)y, (float)z, (float)w);
+            */
+            
+            // This method mimics the 180 errors found in SL
+            // See www.euclideanspace.com... angleBetween
+            LSL_Vector vec_a = a;
+            LSL_Vector vec_b = b;
+            
+            // Eliminate zero length
+            LSL_Float vec_a_mag = LSL_Vector.Mag(vec_a);
+            LSL_Float vec_b_mag = LSL_Vector.Mag(vec_b);
+            if (vec_a_mag < 0.00001 ||
+                vec_b_mag < 0.00001)
             {
-                rotBetween = new LSL_Rotation(0.0f, 0.0f, 0.0f, 1.0f);
+                return new LSL_Rotation(0.0f, 0.0f, 0.0f, 1.0f);
             }
-            else
+            
+            // Normalize
+            vec_a = llVecNorm(vec_a);
+            vec_b = llVecNorm(vec_b);
+
+            // Calculate axis and rotation angle
+            LSL_Vector axis = vec_a % vec_b;
+            LSL_Float cos_theta  = vec_a * vec_b;
+    
+            // Check if parallel
+            if (cos_theta > 0.99999)
             {
-                a = LSL_Vector.Norm(a);
-                b = LSL_Vector.Norm(b);
-                double dotProduct = LSL_Vector.Dot(a, b);
-                // There are two degenerate cases possible. These are for vectors 180 or
-                // 0 degrees apart. These have to be detected and handled individually.
-                //
-                // Check for vectors 180 degrees apart.
-                // A dot product of -1 would mean the angle between vectors is 180 degrees.
-                if (dotProduct < -0.9999999f)
-                {
-                    // First assume X axis is orthogonal to the vectors.
-                    LSL_Vector orthoVector = new LSL_Vector(1.0f, 0.0f, 0.0f);
-                    orthoVector = orthoVector - a * (a.x / LSL_Vector.Dot(a, a));
-                    // Check for near zero vector. A very small non-zero number here will create
-                    // a rotation in an undesired direction.
-                    if (LSL_Vector.Mag(orthoVector) > 0.0001)
-                    {
-                        rotBetween = new LSL_Rotation(orthoVector.x, orthoVector.y, orthoVector.z, 0.0f);
-                    }
-                    // If the magnitude of the vector was near zero, then assume the X axis is not
-                    // orthogonal and use the Z axis instead.
-                    else
-                    {
-                        // Set 180 z rotation.
-                        rotBetween = new LSL_Rotation(0.0f, 0.0f, 1.0f, 0.0f);
-                    }
-                }
-                // Check for parallel vectors.
-                // A dot product of 1 would mean the angle between vectors is 0 degrees.
-                else if (dotProduct > 0.9999999f)
-                {
-                    // Set zero rotation.
-                    rotBetween = new LSL_Rotation(0.0f, 0.0f, 0.0f, 1.0f);
-                }
-                else
-                {
-                    // All special checks have been performed so get the axis of rotation.
-                    LSL_Vector crossProduct = LSL_Vector.Cross(a, b);
-                    // Quarternion s value is the length of the unit vector + dot product.
-                    double qs = 1.0 + dotProduct;
-                    rotBetween = new LSL_Rotation(crossProduct.x, crossProduct.y, crossProduct.z, qs);
-                    // Normalize the rotation.
-                    double mag = LSL_Rotation.Mag(rotBetween);
-                    // We shouldn't have to worry about a divide by zero here. The qs value will be
-                    // non-zero because we already know if we're here, then the dotProduct is not -1 so
-                    // qs will not be zero. Also, we've already handled the input vectors being zero so the
-                    // crossProduct vector should also not be zero.
-                    rotBetween.x = rotBetween.x / mag;
-                    rotBetween.y = rotBetween.y / mag;
-                    rotBetween.z = rotBetween.z / mag;
-                    rotBetween.s = rotBetween.s / mag;
-                    // Check for undefined values and set zero rotation if any found. This code might not actually be required
-                    // any longer since zero vectors are checked for at the top.
-                    if (Double.IsNaN(rotBetween.x) || Double.IsNaN(rotBetween.y) || Double.IsNaN(rotBetween.z) || Double.IsNaN(rotBetween.s))
-                    {
-                        rotBetween = new LSL_Rotation(0.0f, 0.0f, 0.0f, 1.0f);
-                    }
-                }
+                return new LSL_Rotation(0.0f, 0.0f, 0.0f, 1.0f);
+            }
+            
+            // Check if anti-parallel
+            else if (cos_theta < -0.99999)
+            {
+                LSL_Vector orthog_axis = new LSL_Vector(1.0, 0.0, 0.0) - (vec_a.x / (vec_a * vec_a) * vec_a);
+                if (LSL_Vector.Mag(orthog_axis)  < 0.000001)  orthog_axis = new LSL_Vector(0.0, 0.0, 1.0);
+                return new LSL_Rotation((float)orthog_axis.x, (float)orthog_axis.y, (float)orthog_axis.z, 0.0);
+            }
+            else // other rotation
+            {
+                LSL_Float theta = (LSL_Float)Math.Acos(cos_theta) * 0.5f;
+                axis = llVecNorm(axis);
+                double x, y, z, s, t;
+                s = Math.Cos(theta);
+                t = Math.Sin(theta);
+                x = axis.x * t;
+                y = axis.y * t;
+                z = axis.z * t;
+                return new LSL_Rotation(x,y,z,s);
             }
-            return rotBetween;
         }
-
+                
         public void llWhisper(int channelID, string text)
         {
             m_host.AddScriptLPS(1);
@@ -779,6 +876,12 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         {
             m_host.AddScriptLPS(1);
 
+            if (channelID == 0)
+                m_SayShoutCount++;
+
+            if (m_SayShoutCount >= 11)
+                ScriptSleep(2000);
+
             if (m_scriptConsoleChannelEnabled && (channelID == m_scriptConsoleChannel))
             {
                 Console.WriteLine(text);
@@ -801,6 +904,12 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         {
             m_host.AddScriptLPS(1);
 
+            if (channelID == 0)
+                m_SayShoutCount++;
+
+            if (m_SayShoutCount >= 11)
+                ScriptSleep(2000);
+
             if (text.Length > 1023)
                 text = text.Substring(0, 1023);
 
@@ -1101,10 +1210,11 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             return detectedParams.TouchUV;
         }
 
+        [DebuggerNonUserCode]
         public virtual void llDie()
         {
             m_host.AddScriptLPS(1);
-            throw new SelfDeleteException();
+            if (!m_host.ParentGroup.IsAttachment) throw new SelfDeleteException();
         }
 
         public LSL_Float llGround(LSL_Vector offset)
@@ -1177,6 +1287,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
         public void llSetStatus(int status, int value)
         {
+            if (m_host == null || m_host.ParentGroup == null || m_host.ParentGroup.IsDeleted)
+                return;
             m_host.AddScriptLPS(1);
 
             int statusrotationaxis = 0;
@@ -1406,6 +1518,48 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         {
             m_host.AddScriptLPS(1);
 
+            SetColor(m_host, color, face);
+        }
+
+        protected void SetColor(SceneObjectPart part, LSL_Vector color, int face)
+        {
+            if (part == null || part.ParentGroup == null || part.ParentGroup.IsDeleted)
+                return;
+
+            Primitive.TextureEntry tex = part.Shape.Textures;
+            Color4 texcolor;
+            if (face >= 0 && face < GetNumberOfSides(part))
+            {
+                texcolor = tex.CreateFace((uint)face).RGBA;
+                texcolor.R = Util.Clip((float)color.x, 0.0f, 1.0f);
+                texcolor.G = Util.Clip((float)color.y, 0.0f, 1.0f);
+                texcolor.B = Util.Clip((float)color.z, 0.0f, 1.0f);
+                tex.FaceTextures[face].RGBA = texcolor;
+                part.UpdateTextureEntry(tex.GetBytes());
+                return;
+            }
+            else if (face == ScriptBaseClass.ALL_SIDES)
+            {
+                for (uint i = 0; i < GetNumberOfSides(part); i++)
+                {
+                    if (tex.FaceTextures[i] != null)
+                    {
+                        texcolor = tex.FaceTextures[i].RGBA;
+                        texcolor.R = Util.Clip((float)color.x, 0.0f, 1.0f);
+                        texcolor.G = Util.Clip((float)color.y, 0.0f, 1.0f);
+                        texcolor.B = Util.Clip((float)color.z, 0.0f, 1.0f);
+                        tex.FaceTextures[i].RGBA = texcolor;
+                    }
+                    texcolor = tex.DefaultTexture.RGBA;
+                    texcolor.R = Util.Clip((float)color.x, 0.0f, 1.0f);
+                    texcolor.G = Util.Clip((float)color.y, 0.0f, 1.0f);
+                    texcolor.B = Util.Clip((float)color.z, 0.0f, 1.0f);
+                    tex.DefaultTexture.RGBA = texcolor;
+                }
+                part.UpdateTextureEntry(tex.GetBytes());
+                return;
+            }
+
             if (face == ScriptBaseClass.ALL_SIDES)
                 face = SceneObjectPart.ALL_SIDES;
 
@@ -1414,6 +1568,9 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
         public void SetTexGen(SceneObjectPart part, int face,int style)
         {
+            if (part == null || part.ParentGroup == null || part.ParentGroup.IsDeleted)
+                return;
+
             Primitive.TextureEntry tex = part.Shape.Textures;
             MappingType textype;
             textype = MappingType.Default;
@@ -1444,6 +1601,9 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
         public void SetGlow(SceneObjectPart part, int face, float glow)
         {
+            if (part == null || part.ParentGroup == null || part.ParentGroup.IsDeleted)
+                return;
+
             Primitive.TextureEntry tex = part.Shape.Textures;
             if (face >= 0 && face < GetNumberOfSides(part))
             {
@@ -1469,6 +1629,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
         public void SetShiny(SceneObjectPart part, int face, int shiny, Bumpiness bump)
         {
+            if (part == null || part.ParentGroup == null || part.ParentGroup.IsDeleted)
+                return;
 
             Shininess sval = new Shininess();
 
@@ -1519,6 +1681,9 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
         public void SetFullBright(SceneObjectPart part, int face, bool bright)
         {
+            if (part == null || part.ParentGroup == null || part.ParentGroup.IsDeleted)
+                return;
+
              Primitive.TextureEntry tex = part.Shape.Textures;
              if (face >= 0 && face < GetNumberOfSides(part))
              {
@@ -1579,13 +1744,26 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             m_host.AddScriptLPS(1);
 
             List<SceneObjectPart> parts = GetLinkParts(linknumber);
-
-            foreach (SceneObjectPart part in parts)
-                SetAlpha(part, alpha, face);
+            if (parts.Count > 0)
+            {
+                try
+                {
+                    parts[0].ParentGroup.areUpdatesSuspended = true;
+                    foreach (SceneObjectPart part in parts)
+                        SetAlpha(part, alpha, face);
+                }
+                finally
+                {
+                    parts[0].ParentGroup.areUpdatesSuspended = false;
+                }
+            }
         }
 
         protected void SetAlpha(SceneObjectPart part, double alpha, int face)
         {
+            if (part == null || part.ParentGroup == null || part.ParentGroup.IsDeleted)
+                return;
+
             Primitive.TextureEntry tex = part.Shape.Textures;
             Color4 texcolor;
             if (face >= 0 && face < GetNumberOfSides(part))
@@ -1638,7 +1816,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         protected void SetFlexi(SceneObjectPart part, bool flexi, int softness, float gravity, float friction,
             float wind, float tension, LSL_Vector Force)
         {
-            if (part == null)
+            if (part == null || part.ParentGroup == null || part.ParentGroup.IsDeleted)
                 return;
 
             if (flexi)
@@ -1672,7 +1850,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         /// <param name="falloff"></param>
         protected void SetPointLight(SceneObjectPart part, bool light, LSL_Vector color, float intensity, float radius, float falloff)
         {
-            if (part == null)
+            if (part == null || part.ParentGroup == null || part.ParentGroup.IsDeleted)
                 return;
 
             if (light)
@@ -1749,15 +1927,27 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             m_host.AddScriptLPS(1);
 
             List<SceneObjectPart> parts = GetLinkParts(linknumber);
-
-            foreach (SceneObjectPart part in parts)
-              SetTexture(part, texture, face);
-
+            if (parts.Count > 0)
+            {
+                try
+                {
+                    parts[0].ParentGroup.areUpdatesSuspended = true;
+                    foreach (SceneObjectPart part in parts)
+                        SetTexture(part, texture, face);
+                }
+                finally
+                {
+                    parts[0].ParentGroup.areUpdatesSuspended = false;
+                }
+            }
             ScriptSleep(200);
         }
 
         protected void SetTexture(SceneObjectPart part, string texture, int face)
         {
+            if (part == null || part.ParentGroup == null || part.ParentGroup.IsDeleted)
+                return;
+
             UUID textureID = new UUID();
 
                     textureID = InventoryKey(texture, (int)AssetType.Texture);
@@ -1802,6 +1992,9 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
         protected void ScaleTexture(SceneObjectPart part, double u, double v, int face)
         {
+            if (part == null || part.ParentGroup == null || part.ParentGroup.IsDeleted)
+                return;
+
             Primitive.TextureEntry tex = part.Shape.Textures;
             if (face >= 0 && face < GetNumberOfSides(part))
             {
@@ -1838,6 +2031,9 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
         protected void OffsetTexture(SceneObjectPart part, double u, double v, int face)
         {
+            if (part == null || part.ParentGroup == null || part.ParentGroup.IsDeleted)
+                return;
+
             Primitive.TextureEntry tex = part.Shape.Textures;
             if (face >= 0 && face < GetNumberOfSides(part))
             {
@@ -1874,6 +2070,9 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
         protected void RotateTexture(SceneObjectPart part, double rotation, int face)
         {
+            if (part == null || part.ParentGroup == null || part.ParentGroup.IsDeleted)
+                return;
+
             Primitive.TextureEntry tex = part.Shape.Textures;
             if (face >= 0 && face < GetNumberOfSides(part))
             {
@@ -1978,26 +2177,76 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             return real_vec;
         }
 
+        public LSL_Integer llSetRegionPos(LSL_Vector pos)
+        {
+            return new LSL_Integer(SetRegionPos(m_host, pos));
+        }
+
+        protected int SetRegionPos(SceneObjectPart part, LSL_Vector targetPos)
+        {
+            if (part == null || part.ParentGroup == null || part.ParentGroup.IsDeleted)
+                return 0;
+
+            SceneObjectGroup grp = part.ParentGroup;
+
+            if (grp.IsAttachment)
+                return 0;
+
+            if (grp.RootPart.PhysActor != null && grp.RootPart.PhysActor.IsPhysical)
+                return 0;
+
+            if (targetPos.x < -10.0f || targetPos.x >= (float)Constants.RegionSize || targetPos.y < -10.0f || targetPos.y >= (float)Constants.RegionSize || targetPos.z < 0 || targetPos.z >= 4096.0f)
+                return 0;
+
+            float constrainedX = (float)targetPos.x;
+            float constrainedY = (float)targetPos.y;
+
+            if (constrainedX < 0.0f)
+                constrainedX = 0.0f;
+            if (constrainedY < 0.0f)
+                constrainedY = 0.0f;
+            if (constrainedX >= (float)Constants.RegionSize)
+                constrainedX = (float)Constants.RegionSize - 0.1f;
+            if (constrainedY >= (float)Constants.RegionSize)
+                constrainedY = (float)Constants.RegionSize -0.1f;
+
+            float ground = World.GetGroundHeight(constrainedX, constrainedY);
+
+            if (targetPos.z < ground)
+                targetPos.z = ground;
+
+            Vector3 dest = new Vector3((float)targetPos.x, (float)targetPos.y, (float)targetPos.z);
+
+            if (!World.Permissions.CanObjectEntry(grp.UUID, false, dest))
+                return 0;
+
+            grp.UpdateGroupPosition(dest);
+
+            return 1;
+        }
+
         protected void SetPos(SceneObjectPart part, LSL_Vector targetPos)
         {
-            // Capped movemment if distance > 10m (http://wiki.secondlife.com/wiki/LlSetPos)
+            if (part == null || part.ParentGroup == null || part.ParentGroup.IsDeleted)
+                return;
+
             LSL_Vector currentPos = GetPartLocalPos(part);
+            LSL_Vector toPos = GetSetPosTarget(part, targetPos, currentPos);
 
-            float ground = World.GetGroundHeight((float)targetPos.x, (float)targetPos.y);
-            bool disable_underground_movement = m_ScriptEngine.Config.GetBoolean("DisableUndergroundMovement", true);
 
             if (part.ParentGroup.RootPart == part)
             {
-                if ((targetPos.z < ground) && disable_underground_movement && m_host.ParentGroup.AttachmentPoint == 0)
-                    targetPos.z = ground;
                 SceneObjectGroup parent = part.ParentGroup;
-                LSL_Vector real_vec = SetPosAdjust(currentPos, targetPos);
-                parent.UpdateGroupPosition(new Vector3((float)real_vec.x, (float)real_vec.y, (float)real_vec.z));
+                Vector3 dest = new Vector3((float)toPos.x, (float)toPos.y, (float)toPos.z);
+                if (!World.Permissions.CanObjectEntry(parent.UUID, false, dest))
+                    return;
+                Util.FireAndForget(delegate(object x) {
+                    parent.UpdateGroupPosition(dest);
+                });
             }
             else
             {
-                LSL_Vector rel_vec = SetPosAdjust(currentPos, targetPos);
-                part.OffsetPosition = new Vector3((float)rel_vec.x, (float)rel_vec.y, (float)rel_vec.z);
+                part.OffsetPosition = new Vector3((float)toPos.x, (float)toPos.y, (float)toPos.z);
                 SceneObjectGroup parent = part.ParentGroup;
                 parent.HasGroupChanged = true;
                 parent.ScheduleGroupForTerseUpdate();
@@ -2028,11 +2277,11 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             }
             else
             {
-                if (m_host.IsRoot)
+                if (part.IsRoot)
                 {
-                    return new LSL_Vector(m_host.AttachedPos.X,
-                                          m_host.AttachedPos.Y,
-                                          m_host.AttachedPos.Z);
+                    return new LSL_Vector(part.AttachedPos.X,
+                                          part.AttachedPos.Y,
+                                          part.AttachedPos.Z);
                 }
                 else
                 {
@@ -2048,9 +2297,14 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             m_host.AddScriptLPS(1);
 
             // try to let this work as in SL...
-            if (m_host.ParentID == 0)
-            {
-                // special case: If we are root, rotate complete SOG to new rotation
+            if (m_host.LinkNum < 2)
+            {
+                // Special case: If we are root, rotate complete SOG to new
+                // rotation.
+                // We are root if the link number is 0 (single prim) or 1
+                // (root prim). ParentID may be nonzero in attachments and
+                // using it would cause attachments and HUDs to rotate
+                // to the wrong positions.
                 SetRot(m_host, Rot2Quaternion(rot));
             }
             else
@@ -2075,6 +2329,9 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
         protected void SetRot(SceneObjectPart part, Quaternion rot)
         {
+            if (part == null || part.ParentGroup == null || part.ParentGroup.IsDeleted)
+                return;
+
             part.UpdateRotation(rot);
             // Update rotation does not move the object in the physics scene if it's a linkset.
 
@@ -2227,13 +2484,13 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         public void llApplyRotationalImpulse(LSL_Vector force, int local)
         {
             m_host.AddScriptLPS(1);
-            m_host.ApplyAngularImpulse(new Vector3((float)force.x, (float)force.y, (float)force.z), local != 0);
+            m_host.ParentGroup.RootPart.ApplyAngularImpulse(new Vector3((float)force.x, (float)force.y, (float)force.z), local != 0);
         }
 
         public void llSetTorque(LSL_Vector torque, int local)
         {
             m_host.AddScriptLPS(1);
-            m_host.SetAngularImpulse(new Vector3((float)torque.x, (float)torque.y, (float)torque.z), local != 0);
+            m_host.ParentGroup.RootPart.SetAngularImpulse(new Vector3((float)torque.x, (float)torque.y, (float)torque.z), local != 0);
         }
 
         public LSL_Vector llGetTorque()
@@ -2698,12 +2955,9 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
             m_host.AddScriptLPS(1);
 
+            m_host.TaskInventory.LockItemsForRead(true);
             TaskInventoryItem item = m_host.TaskInventory[invItemID];
-
-            lock (m_host.TaskInventory)
-            {
-                item = m_host.TaskInventory[invItemID];
-            }
+            m_host.TaskInventory.LockItemsForRead(false);
 
             if (item.PermsGranter == UUID.Zero)
                 return 0;
@@ -2844,34 +3098,39 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         public void llLookAt(LSL_Vector target, double strength, double damping)
         {
             m_host.AddScriptLPS(1);
-            // Determine where we are looking from
-            LSL_Vector from = llGetPos();
 
-            // Work out the normalised vector from the source to the target
-            LSL_Vector delta = llVecNorm(target - from);
-            LSL_Vector angle = new LSL_Vector(0,0,0);
+            // Get the normalized vector to the target
+            LSL_Vector d1 = llVecNorm(target - llGetPos());
 
-            // Calculate the yaw
-            // subtracting PI_BY_TWO is required to compensate for the odd SL co-ordinate system
-            angle.x = llAtan2(delta.z, delta.y) - ScriptBaseClass.PI_BY_TWO;
+            // Get the bearing (yaw)
+            LSL_Vector a1 = new LSL_Vector(0,0,0);
+            a1.z = llAtan2(d1.y, d1.x);
 
-            // Calculate pitch
-            angle.y = llAtan2(delta.x, llSqrt((delta.y * delta.y) + (delta.z * delta.z)));
+            // Get the elevation (pitch)
+            LSL_Vector a2 = new LSL_Vector(0,0,0);
+            a2.y= -llAtan2(d1.z, llSqrt((d1.x * d1.x) + (d1.y * d1.y)));
 
-            // we need to convert from a vector describing
-            // the angles of rotation in radians into rotation value
+            LSL_Rotation r1 = llEuler2Rot(a1);
+            LSL_Rotation r2 = llEuler2Rot(a2);
+            LSL_Rotation r3 = new LSL_Rotation(0.000000, 0.707107, 0.000000, 0.707107);
 
-            LSL_Rotation rot = llEuler2Rot(angle);
-            
-            // Per discussion with Melanie, for non-physical objects llLookAt appears to simply
-            // set the rotation of the object, copy that behavior
-            if (strength == 0 || m_host.PhysActor == null || !m_host.PhysActor.IsPhysical)
+            if (m_host.PhysActor == null || !m_host.PhysActor.IsPhysical)
             {
-                llSetRot(rot);
+                // Do nothing if either value is 0 (this has been checked in SL)
+                if (strength <= 0.0 || damping <= 0.0)
+                    return;
+
+                llSetRot(r3 * r2 * r1);
             }
             else
             {
-                m_host.StartLookAt(Rot2Quaternion(rot), (float)strength, (float)damping);
+                if (strength == 0)
+                {
+                    llSetRot(r3 * r2 * r1);
+                    return;
+                }
+
+                m_host.StartLookAt(Rot2Quaternion(r3 * r2 * r1), (float)strength, (float)damping);
             }
         }
 
@@ -2921,13 +3180,17 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         {
             TaskInventoryItem item;
 
-            lock (m_host.TaskInventory)
+            m_host.TaskInventory.LockItemsForRead(true);
+            if (!m_host.TaskInventory.ContainsKey(InventorySelf()))
             {
-                if (!m_host.TaskInventory.ContainsKey(InventorySelf()))
-                    return;
-                else
-                    item = m_host.TaskInventory[InventorySelf()];
+                m_host.TaskInventory.LockItemsForRead(false);
+                return;
             }
+            else
+            {
+                item = m_host.TaskInventory[InventorySelf()];
+            }
+            m_host.TaskInventory.LockItemsForRead(false);
 
             if (item.PermsGranter != UUID.Zero)
             {
@@ -2949,13 +3212,21 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         {
             TaskInventoryItem item;
 
+            m_host.TaskInventory.LockItemsForRead(true);
             lock (m_host.TaskInventory)
             {
+                
                 if (!m_host.TaskInventory.ContainsKey(InventorySelf()))
+                {
+                    m_host.TaskInventory.LockItemsForRead(false);
                     return;
+                }
                 else
+                {
                     item = m_host.TaskInventory[InventorySelf()];
+                }
             }
+            m_host.TaskInventory.LockItemsForRead(false);
 
             m_host.AddScriptLPS(1);
 
@@ -2987,18 +3258,21 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         {
             m_host.AddScriptLPS(1);
 
-//            if (m_host.ParentGroup.RootPart.AttachmentPoint == 0)
-//                return;
-
             TaskInventoryItem item;
 
-            lock (m_host.TaskInventory)
+            m_host.TaskInventory.LockItemsForRead(true);
+
+            if (!m_host.TaskInventory.ContainsKey(InventorySelf()))
             {
-                if (!m_host.TaskInventory.ContainsKey(InventorySelf()))
-                    return;
-                else
-                    item = m_host.TaskInventory[InventorySelf()];
+                m_host.TaskInventory.LockItemsForRead(false);
+                return;
             }
+            else
+            {
+                item = m_host.TaskInventory[InventorySelf()];
+            }
+
+            m_host.TaskInventory.LockItemsForRead(false);
 
             if (item.PermsGranter != m_host.OwnerID)
                 return;
@@ -3024,13 +3298,19 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
             TaskInventoryItem item;
 
-            lock (m_host.TaskInventory)
+            m_host.TaskInventory.LockItemsForRead(true);
+
+            if (!m_host.TaskInventory.ContainsKey(InventorySelf()))
             {
-                if (!m_host.TaskInventory.ContainsKey(InventorySelf()))
-                    return;
-                else
-                    item = m_host.TaskInventory[InventorySelf()];
+                m_host.TaskInventory.LockItemsForRead(false);
+                return;
+            }
+            else
+            {
+                item = m_host.TaskInventory[InventorySelf()];
             }
+            m_host.TaskInventory.LockItemsForRead(false);
+
 
             if (item.PermsGranter != m_host.OwnerID)
                 return;
@@ -3077,6 +3357,15 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
         public void llInstantMessage(string user, string message)
         {
+            UUID result;
+            if (!UUID.TryParse(user, out result))
+            {
+                ShoutError("An invalid key  was passed to llInstantMessage");
+                ScriptSleep(2000);
+                return;
+            }
+            
+
             m_host.AddScriptLPS(1);
 
             // We may be able to use ClientView.SendInstantMessage here, but we need a client instance.
@@ -3091,14 +3380,34 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             UUID friendTransactionID = UUID.Random();
 
             //m_pendingFriendRequests.Add(friendTransactionID, fromAgentID);
-
+            
             GridInstantMessage msg = new GridInstantMessage();
             msg.fromAgentID = new Guid(m_host.UUID.ToString()); // fromAgentID.Guid;
             msg.toAgentID = new Guid(user); // toAgentID.Guid;
             msg.imSessionID = new Guid(friendTransactionID.ToString()); // This is the item we're mucking with here
 //            m_log.Debug("[Scripting IM]: From:" + msg.fromAgentID.ToString() + " To: " + msg.toAgentID.ToString() + " Session:" + msg.imSessionID.ToString() + " Message:" + message);
 //            m_log.Debug("[Scripting IM]: Filling Session: " + msg.imSessionID.ToString());
-            msg.timestamp = (uint)Util.UnixTimeSinceEpoch();// timestamp;
+//            DateTime dt = DateTime.UtcNow;
+//
+//            // Ticks from UtcNow, but make it look like local. Evil, huh?
+//            dt = DateTime.SpecifyKind(dt, DateTimeKind.Local);
+//
+//            try
+//            {
+//                // Convert that to the PST timezone
+//                TimeZoneInfo timeZoneInfo = TimeZoneInfo.FindSystemTimeZoneById("America/Los_Angeles");
+//                dt = TimeZoneInfo.ConvertTime(dt, timeZoneInfo);
+//            }
+//            catch
+//            {
+//                // No logging here, as it could be VERY spammy
+//            }
+//
+//            // And make it look local again to fool the unix time util
+//            dt = DateTime.SpecifyKind(dt, DateTimeKind.Utc);
+
+            msg.timestamp = (uint)Util.UnixTimeSinceEpoch();
+
             //if (client != null)
             //{
                 msg.fromAgentName = m_host.Name;//client.FirstName + " " + client.LastName;// fromAgentName;
@@ -3112,12 +3421,12 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                 msg.message = message.Substring(0, 1024);
             else
                 msg.message = message;
-            msg.dialog = (byte)19; // messgage from script ??? // dialog;
+            msg.dialog = (byte)19; // MessageFromObject
             msg.fromGroup = false;// fromGroup;
             msg.offline = (byte)0; //offline;
-            msg.ParentEstateID = 0; //ParentEstateID;
+            msg.ParentEstateID = World.RegionInfo.EstateSettings.EstateID;
             msg.Position = new Vector3(m_host.AbsolutePosition);
-            msg.RegionID = World.RegionInfo.RegionID.Guid;//RegionID.Guid;
+            msg.RegionID = World.RegionInfo.RegionID.Guid;
             msg.binaryBucket 
                 = Util.StringToBytes256(
                     "{0}/{1}/{2}/{3}", 
@@ -3145,7 +3454,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             }
 
             emailModule.SendEmail(m_host.UUID, address, subject, message);
-            ScriptSleep(20000);
+            ScriptSleep(15000);
         }
 
         public void llGetNextEmail(string address, string subject)
@@ -3284,14 +3593,17 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
             TaskInventoryItem item;
 
-            lock (m_host.TaskInventory)
+            m_host.TaskInventory.LockItemsForRead(true);
+            if (!m_host.TaskInventory.ContainsKey(InventorySelf()))
             {
-                if (!m_host.TaskInventory.ContainsKey(InventorySelf()))
-                    return;
-                else
-                    item = m_host.TaskInventory[InventorySelf()];
+                m_host.TaskInventory.LockItemsForRead(false);
+                return;
             }
-
+            else
+            {
+                item = m_host.TaskInventory[InventorySelf()];
+            }
+            m_host.TaskInventory.LockItemsForRead(false);
             if (item.PermsGranter == UUID.Zero)
                 return;
 
@@ -3321,13 +3633,18 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
             TaskInventoryItem item;
 
-            lock (m_host.TaskInventory)
+            m_host.TaskInventory.LockItemsForRead(true);
+            if (!m_host.TaskInventory.ContainsKey(InventorySelf()))
             {
-                if (!m_host.TaskInventory.ContainsKey(InventorySelf()))
-                    return;
-                else
-                    item = m_host.TaskInventory[InventorySelf()];
+                m_host.TaskInventory.LockItemsForRead(false);
+                return;
+            }
+            else
+            {
+                item = m_host.TaskInventory[InventorySelf()];
             }
+            m_host.TaskInventory.LockItemsForRead(false);
+            
 
             if (item.PermsGranter == UUID.Zero)
                 return;
@@ -3394,10 +3711,18 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
             TaskInventoryItem item;
 
-            lock (m_host.TaskInventory)
+
+            m_host.TaskInventory.LockItemsForRead(true);
+            if (!m_host.TaskInventory.ContainsKey(invItemID))
+            {
+                m_host.TaskInventory.LockItemsForRead(false);
+                return;
+            }
+            else
             {
                 item = m_host.TaskInventory[invItemID];
             }
+            m_host.TaskInventory.LockItemsForRead(false);
 
             if (agentID == UUID.Zero || perm == 0) // Releasing permissions
             {
@@ -3425,15 +3750,15 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                 int implicitPerms = ScriptBaseClass.PERMISSION_TAKE_CONTROLS |
                         ScriptBaseClass.PERMISSION_TRIGGER_ANIMATION |
                         ScriptBaseClass.PERMISSION_CONTROL_CAMERA |
+                        ScriptBaseClass.PERMISSION_TRACK_CAMERA |
                         ScriptBaseClass.PERMISSION_ATTACH;
 
                 if ((perm & (~implicitPerms)) == 0) // Requested only implicit perms
                 {
-                    lock (m_host.TaskInventory)
-                    {
-                        m_host.TaskInventory[invItemID].PermsGranter = agentID;
-                        m_host.TaskInventory[invItemID].PermsMask = perm;
-                    }
+                    m_host.TaskInventory.LockItemsForWrite(true);
+                    m_host.TaskInventory[invItemID].PermsGranter = agentID;
+                    m_host.TaskInventory[invItemID].PermsMask = perm;
+                    m_host.TaskInventory.LockItemsForWrite(false);
 
                     m_ScriptEngine.PostScriptEvent(m_itemID, new EventParams(
                             "run_time_permissions", new Object[] {
@@ -3443,28 +3768,44 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                     return;
                 }
             }
-            else if (m_host.SitTargetAvatar == agentID) // Sitting avatar
+            else
             {
-                // When agent is sitting, certain permissions are implicit if requested from sitting agent
-                int implicitPerms = ScriptBaseClass.PERMISSION_TRIGGER_ANIMATION |
-                    ScriptBaseClass.PERMISSION_CONTROL_CAMERA |
-                    ScriptBaseClass.PERMISSION_TRACK_CAMERA |
-                    ScriptBaseClass.PERMISSION_TAKE_CONTROLS;
+                bool sitting = false;
+                if (m_host.SitTargetAvatar == agentID)
+                {
+                    sitting = true;
+                }
+                else
+                {
+                    foreach (SceneObjectPart p in m_host.ParentGroup.Parts)
+                    {
+                        if (p.SitTargetAvatar == agentID)
+                            sitting = true;
+                    }
+                }
 
-                if ((perm & (~implicitPerms)) == 0) // Requested only implicit perms
+                if (sitting)
                 {
-                    lock (m_host.TaskInventory)
+                    // When agent is sitting, certain permissions are implicit if requested from sitting agent
+                    int implicitPerms = ScriptBaseClass.PERMISSION_TRIGGER_ANIMATION |
+                        ScriptBaseClass.PERMISSION_CONTROL_CAMERA |
+                        ScriptBaseClass.PERMISSION_TRACK_CAMERA |
+                        ScriptBaseClass.PERMISSION_TAKE_CONTROLS;
+
+                    if ((perm & (~implicitPerms)) == 0) // Requested only implicit perms
                     {
+                        m_host.TaskInventory.LockItemsForWrite(true);
                         m_host.TaskInventory[invItemID].PermsGranter = agentID;
                         m_host.TaskInventory[invItemID].PermsMask = perm;
-                    }
+                        m_host.TaskInventory.LockItemsForWrite(false);
 
-                    m_ScriptEngine.PostScriptEvent(m_itemID, new EventParams(
-                            "run_time_permissions", new Object[] {
-                            new LSL_Integer(perm) },
-                            new DetectParams[0]));
+                        m_ScriptEngine.PostScriptEvent(m_itemID, new EventParams(
+                                "run_time_permissions", new Object[] {
+                                new LSL_Integer(perm) },
+                                new DetectParams[0]));
 
-                    return;
+                        return;
+                    }
                 }
             }
 
@@ -3478,11 +3819,10 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
                 if (!m_waitingForScriptAnswer)
                 {
-                    lock (m_host.TaskInventory)
-                    {
-                        m_host.TaskInventory[invItemID].PermsGranter = agentID;
-                        m_host.TaskInventory[invItemID].PermsMask = 0;
-                    }
+                    m_host.TaskInventory.LockItemsForWrite(true);
+                    m_host.TaskInventory[invItemID].PermsGranter = agentID;
+                    m_host.TaskInventory[invItemID].PermsMask = 0;
+                    m_host.TaskInventory.LockItemsForWrite(false);
 
                     presence.ControllingClient.OnScriptAnswer += handleScriptAnswer;
                     m_waitingForScriptAnswer=true;
@@ -3517,10 +3857,11 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             if ((answer & ScriptBaseClass.PERMISSION_TAKE_CONTROLS) == 0)
                 llReleaseControls();
 
-            lock (m_host.TaskInventory)
-            {
-                m_host.TaskInventory[invItemID].PermsMask = answer;
-            }
+            
+            m_host.TaskInventory.LockItemsForWrite(true);
+            m_host.TaskInventory[invItemID].PermsMask = answer;
+            m_host.TaskInventory.LockItemsForWrite(false);
+            
 
             m_ScriptEngine.PostScriptEvent(m_itemID, new EventParams(
                     "run_time_permissions", new Object[] {
@@ -3532,16 +3873,17 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         {
             m_host.AddScriptLPS(1);
 
-            lock (m_host.TaskInventory)
+            m_host.TaskInventory.LockItemsForRead(true);
+            
+            foreach (TaskInventoryItem item in m_host.TaskInventory.Values)
             {
-                foreach (TaskInventoryItem item in m_host.TaskInventory.Values)
+                if (item.Type == 10 && item.ItemID == m_itemID)
                 {
-                    if (item.Type == 10 && item.ItemID == m_itemID)
-                    {
-                        return item.PermsGranter.ToString();
-                    }
+                    m_host.TaskInventory.LockItemsForRead(false);
+                    return item.PermsGranter.ToString();
                 }
             }
+            m_host.TaskInventory.LockItemsForRead(false);
 
             return UUID.Zero.ToString();
         }
@@ -3550,19 +3892,20 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         {
             m_host.AddScriptLPS(1);
 
-            lock (m_host.TaskInventory)
+            m_host.TaskInventory.LockItemsForRead(true);
+
+            foreach (TaskInventoryItem item in m_host.TaskInventory.Values)
             {
-                foreach (TaskInventoryItem item in m_host.TaskInventory.Values)
+                if (item.Type == 10 && item.ItemID == m_itemID)
                 {
-                    if (item.Type == 10 && item.ItemID == m_itemID)
-                    {
-                        int perms = item.PermsMask;
-                        if (m_automaticLinkPermission)
-                            perms |= ScriptBaseClass.PERMISSION_CHANGE_LINKS;
-                        return perms;
-                    }
+                    int perms = item.PermsMask;
+                    if (m_automaticLinkPermission)
+                        perms |= ScriptBaseClass.PERMISSION_CHANGE_LINKS;
+                    m_host.TaskInventory.LockItemsForRead(false);
+                    return perms;
                 }
             }
+            m_host.TaskInventory.LockItemsForRead(false);
 
             return 0;
         }
@@ -3584,9 +3927,19 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         public void llSetLinkColor(int linknumber, LSL_Vector color, int face)
         {
             List<SceneObjectPart> parts = GetLinkParts(linknumber);
-
-            foreach (SceneObjectPart part in parts)
-                part.SetFaceColor(new Vector3((float)color.x, (float)color.y, (float)color.z), face);
+            if (parts.Count > 0)
+            {
+                try
+                {
+                    parts[0].ParentGroup.areUpdatesSuspended = true;
+                    foreach (SceneObjectPart part in parts)
+                        part.SetFaceColor(new Vector3((float)color.x, (float)color.y, (float)color.z), face);
+                }
+                finally
+                {
+                    parts[0].ParentGroup.areUpdatesSuspended = false;
+                }
+            }
         }
 
         public void llCreateLink(string target, int parent)
@@ -3599,11 +3952,10 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                 return;
 
             TaskInventoryItem item;
-            lock (m_host.TaskInventory)
-            {
-                item = m_host.TaskInventory[invItemID];
-            }
-
+            m_host.TaskInventory.LockItemsForRead(true);
+            item = m_host.TaskInventory[invItemID];
+            m_host.TaskInventory.LockItemsForRead(false);
+             
             if ((item.PermsMask & ScriptBaseClass.PERMISSION_CHANGE_LINKS) == 0
                 && !m_automaticLinkPermission)
             {
@@ -3620,11 +3972,16 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
             if (targetPart.ParentGroup.AttachmentPoint != 0)
                 return; // Fail silently if attached
+
+            if (targetPart.ParentGroup.RootPart.OwnerID != m_host.ParentGroup.RootPart.OwnerID)
+                return;
+
             SceneObjectGroup parentPrim = null, childPrim = null;
 
             if (targetPart != null)
             {
-                if (parent != 0) {
+                if (parent != 0)
+                {
                     parentPrim = m_host.ParentGroup;
                     childPrim = targetPart.ParentGroup;
                 }
@@ -3636,7 +3993,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
                 // Required for linking
                 childPrim.RootPart.ClearUpdateSchedule();
-                parentPrim.LinkToGroup(childPrim);
+                parentPrim.LinkToGroup(childPrim, true);
             }
 
             parentPrim.TriggerScriptChangedEvent(Changed.LINK);
@@ -3655,16 +4012,16 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             m_host.AddScriptLPS(1);
             UUID invItemID = InventorySelf();
 
-            lock (m_host.TaskInventory)
-            {
+            m_host.TaskInventory.LockItemsForRead(true);
                 if ((m_host.TaskInventory[invItemID].PermsMask & ScriptBaseClass.PERMISSION_CHANGE_LINKS) == 0
                     && !m_automaticLinkPermission)
                 {
                     ShoutError("Script trying to link but PERMISSION_CHANGE_LINKS permission not set!");
+                    m_host.TaskInventory.LockItemsForRead(false);
                     return;
                 }
-            }
-
+            m_host.TaskInventory.LockItemsForRead(false);
+            
             if (linknum < ScriptBaseClass.LINK_THIS)
                 return;
 
@@ -3703,10 +4060,22 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                 // Restructuring Multiple Prims.
                 List<SceneObjectPart> parts = new List<SceneObjectPart>(parentPrim.Parts);
                 parts.Remove(parentPrim.RootPart);
-                foreach (SceneObjectPart part in parts)
+                if (parts.Count > 0)
                 {
-                    parentPrim.DelinkFromGroup(part.LocalId, true);
+                    try
+                    {
+                        parts[0].ParentGroup.areUpdatesSuspended = true;
+                        foreach (SceneObjectPart part in parts)
+                        {
+                            parentPrim.DelinkFromGroup(part.LocalId, true);
+                        }
+                    }
+                    finally
+                    {
+                        parts[0].ParentGroup.areUpdatesSuspended = false;
+                    }
                 }
+
                 parentPrim.HasGroupChanged = true;
                 parentPrim.ScheduleGroupForFullUpdate();
                 parentPrim.TriggerScriptChangedEvent(Changed.LINK);
@@ -3715,12 +4084,22 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                 {
                     SceneObjectPart newRoot = parts[0];
                     parts.Remove(newRoot);
-                    foreach (SceneObjectPart part in parts)
+
+                    try
                     {
-                        // Required for linking
-                        part.ClearUpdateSchedule();
-                        newRoot.ParentGroup.LinkToGroup(part.ParentGroup);
+                        parts[0].ParentGroup.areUpdatesSuspended = true;
+                        foreach (SceneObjectPart part in parts)
+                        {
+                            part.ClearUpdateSchedule();
+                            newRoot.ParentGroup.LinkToGroup(part.ParentGroup);
+                        }
                     }
+                    finally
+                    {
+                        parts[0].ParentGroup.areUpdatesSuspended = false;
+                    }                    
+                    
+                    
                     newRoot.ParentGroup.HasGroupChanged = true;
                     newRoot.ParentGroup.ScheduleGroupForFullUpdate();
                 }
@@ -3740,6 +4119,21 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         public void llBreakAllLinks()
         {
             m_host.AddScriptLPS(1);
+
+            UUID invItemID = InventorySelf();
+
+            TaskInventoryItem item;
+            m_host.TaskInventory.LockItemsForRead(true);
+            item = m_host.TaskInventory[invItemID];
+            m_host.TaskInventory.LockItemsForRead(false);
+             
+            if ((item.PermsMask & ScriptBaseClass.PERMISSION_CHANGE_LINKS) == 0
+                && !m_automaticLinkPermission)
+            {
+                ShoutError("Script trying to link but PERMISSION_CHANGE_LINKS permission not set!");
+                return;
+            }
+
             SceneObjectGroup parentPrim = m_host.ParentGroup;
             if (parentPrim.AttachmentPoint != 0)
                 return; // Fail silently if attached
@@ -3759,25 +4153,6 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         public LSL_String llGetLinkKey(int linknum)
         {
             m_host.AddScriptLPS(1);
-            List<UUID> keytable = new List<UUID>();
-            // parse for sitting avatare-uuids
-            World.ForEachRootScenePresence(delegate(ScenePresence presence)
-            {
-                if (presence.ParentID != 0 && m_host.ParentGroup.HasChildPrim(presence.ParentID))
-                    keytable.Add(presence.UUID);
-            });
-
-            int totalprims = m_host.ParentGroup.PrimCount + keytable.Count;
-            if (linknum > m_host.ParentGroup.PrimCount && linknum <= totalprims)
-            {
-                return keytable[totalprims - linknum].ToString();
-            }
-
-            if (linknum == 1 && m_host.ParentGroup.PrimCount == 1 && keytable.Count == 1)
-            {
-                return m_host.UUID.ToString();
-            }
-
             SceneObjectPart part = m_host.ParentGroup.GetLinkNumPart(linknum);
             if (part != null)
             {
@@ -3785,6 +4160,19 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             }
             else
             {
+                if (linknum > m_host.ParentGroup.PrimCount || (linknum == 1 && m_host.ParentGroup.PrimCount == 1))
+                {
+                    linknum -= (m_host.ParentGroup.PrimCount) + 1;
+
+                    if (linknum < 0)
+                        return UUID.Zero.ToString();
+
+                    List<ScenePresence> avatars = GetLinkAvatars(ScriptBaseClass.LINK_SET);
+                    if (avatars.Count > linknum)
+                    {
+                        return avatars[linknum].UUID.ToString();
+                    }
+                }
                 return UUID.Zero.ToString();
             }
         }
@@ -3884,17 +4272,16 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             m_host.AddScriptLPS(1);
             int count = 0;
 
-            lock (m_host.TaskInventory)
+            m_host.TaskInventory.LockItemsForRead(true);
+            foreach (KeyValuePair<UUID, TaskInventoryItem> inv in m_host.TaskInventory)
             {
-                foreach (KeyValuePair<UUID, TaskInventoryItem> inv in m_host.TaskInventory)
+                if (inv.Value.Type == type || type == -1)
                 {
-                    if (inv.Value.Type == type || type == -1)
-                    {
-                        count = count + 1;
-                    }
+                    count = count + 1;
                 }
             }
-
+            
+            m_host.TaskInventory.LockItemsForRead(false);
             return count;
         }
 
@@ -3903,16 +4290,15 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             m_host.AddScriptLPS(1);
             ArrayList keys = new ArrayList();
 
-            lock (m_host.TaskInventory)
+            m_host.TaskInventory.LockItemsForRead(true);
+            foreach (KeyValuePair<UUID, TaskInventoryItem> inv in m_host.TaskInventory)
             {
-                foreach (KeyValuePair<UUID, TaskInventoryItem> inv in m_host.TaskInventory)
+                if (inv.Value.Type == type || type == -1)
                 {
-                    if (inv.Value.Type == type || type == -1)
-                    {
-                        keys.Add(inv.Value.Name);
-                    }
+                    keys.Add(inv.Value.Name);
                 }
             }
+            m_host.TaskInventory.LockItemsForRead(false);
 
             if (keys.Count == 0)
             {
@@ -3949,25 +4335,25 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             }
 
             // move the first object found with this inventory name
-            lock (m_host.TaskInventory)
+            m_host.TaskInventory.LockItemsForRead(true);
+            foreach (KeyValuePair<UUID, TaskInventoryItem> inv in m_host.TaskInventory)
             {
-                foreach (KeyValuePair<UUID, TaskInventoryItem> inv in m_host.TaskInventory)
+                if (inv.Value.Name == inventory)
                 {
-                    if (inv.Value.Name == inventory)
-                    {
-                        found = true;
-                        objId = inv.Key;
-                        assetType = inv.Value.Type;
-                        objName = inv.Value.Name;
-                        break;
-                    }
+                    found = true;
+                    objId = inv.Key;
+                    assetType = inv.Value.Type;
+                    objName = inv.Value.Name;
+                    break;
                 }
             }
+            m_host.TaskInventory.LockItemsForRead(false);
 
             if (!found)
             {
                 llSay(0, String.Format("Could not find object '{0}'", inventory));
-                throw new Exception(String.Format("The inventory object '{0}' could not be found", inventory));
+                return;
+//                throw new Exception(String.Format("The inventory object '{0}' could not be found", inventory));
             }
 
             // check if destination is an object
@@ -3993,48 +4379,68 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                         return;
                     }
                 }
+
                 // destination is an avatar
                 InventoryItemBase agentItem = World.MoveTaskInventoryItem(destId, UUID.Zero, m_host, objId);
 
                 if (agentItem == null)
                     return;
 
-                byte[] bucket = new byte[17];
+                byte[] bucket = new byte[1];
                 bucket[0] = (byte)assetType;
-                byte[] objBytes = agentItem.ID.GetBytes();
-                Array.Copy(objBytes, 0, bucket, 1, 16);
+                //byte[] objBytes = agentItem.ID.GetBytes();
+                //Array.Copy(objBytes, 0, bucket, 1, 16);
 
                 GridInstantMessage msg = new GridInstantMessage(World,
-                        m_host.UUID, m_host.Name+", an object owned by "+
-                        resolveName(m_host.OwnerID)+",", destId,
+                        m_host.OwnerID, m_host.Name, destId,
                         (byte)InstantMessageDialog.TaskInventoryOffered,
-                        false, objName+"\n"+m_host.Name+" is located at "+
+                        false, objName+". "+m_host.Name+" is located at "+
                         World.RegionInfo.RegionName+" "+
                         m_host.AbsolutePosition.ToString(),
                         agentItem.ID, true, m_host.AbsolutePosition,
                         bucket);
-                if (m_TransferModule != null)
-                    m_TransferModule.SendInstantMessage(msg, delegate(bool success) {});
+
+                ScenePresence sp;
+
+                if (World.TryGetScenePresence(destId, out sp))
+                {
+                    sp.ControllingClient.SendInstantMessage(msg);
+                }
+                else
+                {
+                    if (m_TransferModule != null)
+                        m_TransferModule.SendInstantMessage(msg, delegate(bool success) {});
+                }
+                
+                //This delay should only occur when giving inventory to avatars.
                 ScriptSleep(3000);
             }
         }
 
+        [DebuggerNonUserCode]
         public void llRemoveInventory(string name)
         {
             m_host.AddScriptLPS(1);
 
-            lock (m_host.TaskInventory)
+            List<TaskInventoryItem> inv;
+            try
             {
-                foreach (TaskInventoryItem item in m_host.TaskInventory.Values)
+                m_host.TaskInventory.LockItemsForRead(true);
+                inv = new List<TaskInventoryItem>(m_host.TaskInventory.Values);
+            }
+            finally
+            {
+                m_host.TaskInventory.LockItemsForRead(false);
+            }
+            foreach (TaskInventoryItem item in inv)
+            {
+                if (item.Name == name)
                 {
-                    if (item.Name == name)
-                    {
-                        if (item.ItemID == m_itemID)
-                            throw new ScriptDeleteException();
-                        else
-                            m_host.Inventory.RemoveInventoryItem(item.ItemID);
-                        return;
-                    }
+                    if (item.ItemID == m_itemID)
+                        throw new ScriptDeleteException();
+                    else
+                        m_host.Inventory.RemoveInventoryItem(item.ItemID);
+                    return;
                 }
             }
         }
@@ -4069,115 +4475,122 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         {
             m_host.AddScriptLPS(1);
 
-            UUID uuid = (UUID)id;
-            PresenceInfo pinfo = null;
-            UserAccount account;
-
-            UserInfoCacheEntry ce;
-            if (!m_userInfoCache.TryGetValue(uuid, out ce))
+            UUID uuid;
+            if (UUID.TryParse(id, out uuid))
             {
-                account = World.UserAccountService.GetUserAccount(World.RegionInfo.ScopeID, uuid);
-                if (account == null)
+                PresenceInfo pinfo = null;
+                UserAccount account;
+
+                UserInfoCacheEntry ce;
+                if (!m_userInfoCache.TryGetValue(uuid, out ce))
                 {
-                    m_userInfoCache[uuid] = null; // Cache negative
-                    return UUID.Zero.ToString();
-                }
+                    account = World.UserAccountService.GetUserAccount(World.RegionInfo.ScopeID, uuid);
+                    if (account == null)
+                    {
+                        m_userInfoCache[uuid] = null; // Cache negative
+                        return UUID.Zero.ToString();
+                    }
 
 
-                PresenceInfo[] pinfos = World.PresenceService.GetAgents(new string[] { uuid.ToString() });
-                if (pinfos != null && pinfos.Length > 0)
-                {
-                    foreach (PresenceInfo p in pinfos)
+                    PresenceInfo[] pinfos = World.PresenceService.GetAgents(new string[] { uuid.ToString() });
+                    if (pinfos != null && pinfos.Length > 0)
                     {
-                        if (p.RegionID != UUID.Zero)
+                        foreach (PresenceInfo p in pinfos)
                         {
-                            pinfo = p;
+                            if (p.RegionID != UUID.Zero)
+                            {
+                                pinfo = p;
+                            }
                         }
                     }
-                }
 
-                ce = new UserInfoCacheEntry();
-                ce.time = Util.EnvironmentTickCount();
-                ce.account = account;
-                ce.pinfo = pinfo;
-            }
-            else
-            {
-                if (ce == null)
-                    return UUID.Zero.ToString();
+                    ce = new UserInfoCacheEntry();
+                    ce.time = Util.EnvironmentTickCount();
+                    ce.account = account;
+                    ce.pinfo = pinfo;
+                    m_userInfoCache[uuid] = ce;
+                }
+                else
+                {
+                    if (ce == null)
+                        return UUID.Zero.ToString();
 
-                account = ce.account;
-                pinfo = ce.pinfo;
-            }
+                    account = ce.account;
+                    pinfo = ce.pinfo;
+                }
 
-            if (Util.EnvironmentTickCount() < ce.time || (Util.EnvironmentTickCount() - ce.time) >= 20000)
-            {
-                PresenceInfo[] pinfos = World.PresenceService.GetAgents(new string[] { uuid.ToString() });
-                if (pinfos != null && pinfos.Length > 0)
+                if (Util.EnvironmentTickCount() < ce.time || (Util.EnvironmentTickCount() - ce.time) >= 20000)
                 {
-                    foreach (PresenceInfo p in pinfos)
+                    PresenceInfo[] pinfos = World.PresenceService.GetAgents(new string[] { uuid.ToString() });
+                    if (pinfos != null && pinfos.Length > 0)
                     {
-                        if (p.RegionID != UUID.Zero)
+                        foreach (PresenceInfo p in pinfos)
                         {
-                            pinfo = p;
+                            if (p.RegionID != UUID.Zero)
+                            {
+                                pinfo = p;
+                            }
                         }
                     }
-                }
-                else
-                    pinfo = null;
+                    else
+                        pinfo = null;
 
-                ce.time = Util.EnvironmentTickCount();
-                ce.pinfo = pinfo;
-            }
+                    ce.time = Util.EnvironmentTickCount();
+                    ce.pinfo = pinfo;
+                }
 
-            string reply = String.Empty;
+                string reply = String.Empty;
 
-            switch (data)
-            {
-            case 1: // DATA_ONLINE (0|1)
-                if (pinfo != null && pinfo.RegionID != UUID.Zero)
-                    reply = "1";
-                else
-                    reply = "0";
-                break;
-            case 2: // DATA_NAME (First Last)
-                reply = account.FirstName + " " + account.LastName;
-                break;
-            case 3: // DATA_BORN (YYYY-MM-DD)
-                DateTime born = new DateTime(1970, 1, 1, 0, 0, 0, 0);
-                born = born.AddSeconds(account.Created);
-                reply = born.ToString("yyyy-MM-dd");
-                break;
-            case 4: // DATA_RATING (0,0,0,0,0,0)
-                reply = "0,0,0,0,0,0";
-                break;
-            case 7: // DATA_USERLEVEL (integer)
-                reply = account.UserLevel.ToString();
-                break;
-            case 8: // DATA_PAYINFO (0|1|2|3)
-                reply = "0";
-                break;
-            default:
-                return UUID.Zero.ToString(); // Raise no event
-            }
+                switch (data)
+                {
+                    case 1: // DATA_ONLINE (0|1)
+                        if (pinfo != null && pinfo.RegionID != UUID.Zero)
+                            reply = "1";
+                        else
+                            reply = "0";
+                        break;
+                    case 2: // DATA_NAME (First Last)
+                        reply = account.FirstName + " " + account.LastName;
+                        break;
+                    case 3: // DATA_BORN (YYYY-MM-DD)
+                        DateTime born = new DateTime(1970, 1, 1, 0, 0, 0, 0);
+                        born = born.AddSeconds(account.Created);
+                        reply = born.ToString("yyyy-MM-dd");
+                        break;
+                    case 4: // DATA_RATING (0,0,0,0,0,0)
+                        reply = "0,0,0,0,0,0";
+                        break;
+                    case 8: // DATA_PAYINFO (0|1|2|3)
+                        reply = "0";
+                        break;
+                    default:
+                        return UUID.Zero.ToString(); // Raise no event
+                }
 
-            UUID rq = UUID.Random();
+                UUID rq = UUID.Random();
 
-            UUID tid = AsyncCommands.
-                DataserverPlugin.RegisterRequest(m_localID,
-                                             m_itemID, rq.ToString());
+                UUID tid = AsyncCommands.
+                    DataserverPlugin.RegisterRequest(m_localID,
+                                                 m_itemID, rq.ToString());
 
-            AsyncCommands.
-            DataserverPlugin.DataserverReply(rq.ToString(), reply);
+                AsyncCommands.
+                DataserverPlugin.DataserverReply(rq.ToString(), reply);
 
-            ScriptSleep(100);
-            return tid.ToString();
+                ScriptSleep(100);
+                return tid.ToString();
+            }
+            else
+            {
+                ShoutError("Invalid UUID passed to llRequestAgentData.");
+            }
+            return "";
         }
 
         public LSL_String llRequestInventoryData(string name)
         {
             m_host.AddScriptLPS(1);
 
+            //Clone is thread safe
             TaskInventoryDictionary itemDictionary = (TaskInventoryDictionary)m_host.TaskInventory.Clone();
 
             foreach (TaskInventoryItem item in itemDictionary.Values)
@@ -4229,19 +4642,54 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             if (UUID.TryParse(agent, out agentId))
             {
                 ScenePresence presence = World.GetScenePresence(agentId);
-                if (presence != null)
+                if (presence != null && presence.PresenceType != PresenceType.Npc)
                 {
+                    // agent must not be a god
+                    if (presence.UserLevel >= 200) return;
+
                     // agent must be over the owners land
                     if (m_host.OwnerID == World.LandChannel.GetLandObject(
                             presence.AbsolutePosition.X, presence.AbsolutePosition.Y).LandData.OwnerID)
                     {
-                        World.TeleportClientHome(agentId, presence.ControllingClient);
+                        if (!World.TeleportClientHome(agentId, presence.ControllingClient))
+                        {
+                            // They can't be teleported home for some reason
+                            GridRegion regionInfo = World.GridService.GetRegionByUUID(UUID.Zero, new UUID("2b02daac-e298-42fa-9a75-f488d37896e6"));
+                            if (regionInfo != null)
+                            {
+                                World.RequestTeleportLocation(
+                                    presence.ControllingClient, regionInfo.RegionHandle, new Vector3(128, 128, 23), Vector3.Zero,
+                                    (uint)(Constants.TeleportFlags.SetLastToTarget | Constants.TeleportFlags.ViaHome));
+                            }
+                        }
                     }
                 }
             }
             ScriptSleep(5000);
         }
 
+        public void llTeleportAgent(string agent, string simname, LSL_Vector pos, LSL_Vector lookAt)
+        {
+            m_host.AddScriptLPS(1);
+            UUID agentId = new UUID();
+            if (UUID.TryParse(agent, out agentId))
+            {
+                ScenePresence presence = World.GetScenePresence(agentId);
+                if (presence != null && presence.PresenceType != PresenceType.Npc)
+                {
+                    // agent must not be a god
+                    if (presence.GodLevel >= 200) return;
+
+                    // agent must be over the owners land
+                    if (m_host.OwnerID == World.LandChannel.GetLandObject(
+                            presence.AbsolutePosition.X, presence.AbsolutePosition.Y).LandData.OwnerID)
+                    {
+                        World.RequestTeleportLocation(presence.ControllingClient, simname, new Vector3((float)pos.x, (float)pos.y, (float)pos.z), new Vector3((float)lookAt.x, (float)lookAt.y, (float)lookAt.z), (uint)TeleportFlags.ViaLocation);
+                    }
+                }
+            }
+        }
+
         public void llTextBox(string agent, string message, int chatChannel)
         {
             IDialogModule dm = World.RequestModuleInterface<IDialogModule>();
@@ -4253,7 +4701,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             UUID av = new UUID();
             if (!UUID.TryParse(agent,out av))
             {
-                LSLError("First parameter to llDialog needs to be a key");
+                //LSLError("First parameter to llDialog needs to be a key");
                 return;
             }
 
@@ -4290,17 +4738,16 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             UUID soundId = UUID.Zero;
             if (!UUID.TryParse(impact_sound, out soundId))
             {
-                lock (m_host.TaskInventory)
+                m_host.TaskInventory.LockItemsForRead(true);
+                foreach (TaskInventoryItem item in m_host.TaskInventory.Values)
                 {
-                    foreach (TaskInventoryItem item in m_host.TaskInventory.Values)
+                    if (item.Type == (int)AssetType.Sound && item.Name == impact_sound)
                     {
-                        if (item.Type == (int)AssetType.Sound && item.Name == impact_sound)
-                        {
-                            soundId = item.AssetID;
-                            break;
-                        }
+                        soundId = item.AssetID;
+                        break;
                     }
                 }
+                m_host.TaskInventory.LockItemsForRead(false);
             }
             m_host.CollisionSound = soundId;
             m_host.CollisionSoundVolume = (float)impact_volume;
@@ -4340,6 +4787,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             UUID partItemID;
             foreach (SceneObjectPart part in parts)
             {
+                //Clone is thread safe
                 TaskInventoryDictionary itemsDictionary = (TaskInventoryDictionary)part.TaskInventory.Clone();
 
                 foreach (TaskInventoryItem item in itemsDictionary.Values)
@@ -4543,17 +4991,16 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
             m_host.AddScriptLPS(1);
 
-            lock (m_host.TaskInventory)
+            m_host.TaskInventory.LockItemsForRead(true);
+            foreach (TaskInventoryItem item in m_host.TaskInventory.Values)
             {
-                foreach (TaskInventoryItem item in m_host.TaskInventory.Values)
+                if (item.Type == 10 && item.ItemID == m_itemID)
                 {
-                    if (item.Type == 10 && item.ItemID == m_itemID)
-                    {
-                        result = item.Name != null ? item.Name : String.Empty;
-                        break;
-                    }
+                    result =  item.Name!=null?item.Name:String.Empty;
+                    break;
                 }
             }
+            m_host.TaskInventory.LockItemsForRead(false);
 
             return result;
         }
@@ -4726,23 +5173,24 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         {
             m_host.AddScriptLPS(1);
 
-            lock (m_host.TaskInventory)
+            m_host.TaskInventory.LockItemsForRead(true);
+            foreach (KeyValuePair<UUID, TaskInventoryItem> inv in m_host.TaskInventory)
             {
-                foreach (KeyValuePair<UUID, TaskInventoryItem> inv in m_host.TaskInventory)
+                if (inv.Value.Name == name)
                 {
-                    if (inv.Value.Name == name)
+                    if ((inv.Value.CurrentPermissions & (uint)(PermissionMask.Copy | PermissionMask.Transfer | PermissionMask.Modify)) == (uint)(PermissionMask.Copy | PermissionMask.Transfer | PermissionMask.Modify))
                     {
-                        if ((inv.Value.CurrentPermissions & (uint)(PermissionMask.Copy | PermissionMask.Transfer | PermissionMask.Modify)) == (uint)(PermissionMask.Copy | PermissionMask.Transfer | PermissionMask.Modify))
-                        {
-                            return inv.Value.AssetID.ToString();
-                        }
-                        else
-                        {
-                            return UUID.Zero.ToString();
-                        }
+                        m_host.TaskInventory.LockItemsForRead(false);
+                        return inv.Value.AssetID.ToString();
+                    }
+                    else
+                    {
+                        m_host.TaskInventory.LockItemsForRead(false);
+                        return UUID.Zero.ToString();
                     }
                 }
             }
+            m_host.TaskInventory.LockItemsForRead(false);
 
             return UUID.Zero.ToString();
         }
@@ -4895,14 +5343,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         {
             m_host.AddScriptLPS(1);
 
-            if (src == null)
-            {
-                return 0;
-            }
-            else
-            {
-                return src.Length;
-            }
+            return src.Length;
         }
 
         public LSL_Integer llList2Integer(LSL_List src, int index)
@@ -4948,7 +5389,20 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                 else if (src.Data[index] is LSL_Float)
                     return Convert.ToDouble(((LSL_Float) src.Data[index]).value);
                 else if (src.Data[index] is LSL_String)
-                    return Convert.ToDouble(((LSL_String) src.Data[index]).m_string);
+                {
+                    string str = ((LSL_String) src.Data[index]).m_string;
+                    Match m = Regex.Match(str, "^\\s*(-?\\+?[,0-9]+\\.?[0-9]*)");
+                    if (m != Match.Empty)
+                    {
+                        str = m.Value;
+                        double d = 0.0;
+                        if (!Double.TryParse(str, out d))
+                            return 0.0;
+
+                        return d;
+                    }
+                    return 0.0;
+                }
                 return Convert.ToDouble(src.Data[index]);
             }
             catch (FormatException)
@@ -5221,7 +5675,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                     }
                 }
             }
-            else {
+            else
+            {
                 object[] array = new object[src.Length];
                 Array.Copy(src.Data, 0, array, 0, src.Length);
                 result = new LSL_List(array);
@@ -5328,7 +5783,13 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         public LSL_Integer llGetRegionAgentCount()
         {
             m_host.AddScriptLPS(1);
-            return new LSL_Integer(World.GetRootAgentCount());
+
+            int count = 0;
+            World.ForEachRootScenePresence(delegate(ScenePresence sp) {
+                count++;
+            });
+
+            return new LSL_Integer(count);
         }
 
         public LSL_Vector llGetRegionCorner()
@@ -5608,6 +6069,11 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                  flags |= ScriptBaseClass.AGENT_SITTING;
              }
 
+             if (agent.Appearance.VisualParams[(int)AvatarAppearance.VPElement.SHAPE_MALE] > 0)
+             {
+                 flags |= ScriptBaseClass.AGENT_MALE;
+             }
+
             return flags;
         }
 
@@ -5670,10 +6136,20 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             m_host.AddScriptLPS(1);
 
             List<SceneObjectPart> parts = GetLinkParts(linknumber);
-
-            foreach (var part in parts)
+            if (parts.Count > 0)
             {
-                SetTextureAnim(part, mode, face, sizex, sizey, start, length, rate);
+                try
+                {
+                    parts[0].ParentGroup.areUpdatesSuspended = true;
+                    foreach (var part in parts)
+                    {
+                        SetTextureAnim(part, mode, face, sizex, sizey, start, length, rate);
+                    }
+                }
+                finally
+                {
+                    parts[0].ParentGroup.areUpdatesSuspended = false;
+                }
             }
         }
 
@@ -5725,13 +6201,20 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
                     if (m_host.OwnerID == land.LandData.OwnerID)
                     {
-                        World.TeleportClientHome(agentID, presence.ControllingClient);
+                        Vector3 pos = World.GetNearestAllowedPosition(presence, land);
+                        presence.TeleportWithMomentum(pos);
+                        presence.ControllingClient.SendAlertMessage("You have been ejected from this land");
                     }
                 }
             }
             ScriptSleep(5000);
         }
 
+        public LSL_List llParseString2List(string str, LSL_List separators, LSL_List in_spacers)
+        {
+            return ParseString2List(str, separators, in_spacers, false);
+        }
+
         public LSL_Integer llOverMyLand(string id)
         {
             m_host.AddScriptLPS(1);
@@ -5796,8 +6279,10 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             UUID agentId = new UUID();
             if (!UUID.TryParse(agent, out agentId))
                 return new LSL_Integer(0);
+            if (agentId == m_host.GroupID)
+                return new LSL_Integer(1);
             ScenePresence presence = World.GetScenePresence(agentId);
-            if (presence == null || presence.IsChildAgent) // Return flase for child agents
+            if (presence == null || presence.IsChildAgent) // Return false for child agents
                 return new LSL_Integer(0);
             IClientAPI client = presence.ControllingClient;
             if (m_host.GroupID == client.ActiveGroupId)
@@ -5932,7 +6417,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             return m_host.ParentGroup.AttachmentPoint;
         }
 
-        public LSL_Integer llGetFreeMemory()
+        public virtual LSL_Integer llGetFreeMemory()
         {
             m_host.AddScriptLPS(1);
             // Make scripts designed for LSO happy
@@ -6049,7 +6534,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             SetParticleSystem(m_host, rules);
         }
 
-        private void SetParticleSystem(SceneObjectPart part, LSL_List rules) {
+        private void SetParticleSystem(SceneObjectPart part, LSL_List rules)
+        {
 
 
             if (rules.Length == 0)
@@ -6243,14 +6729,16 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
         protected UUID GetTaskInventoryItem(string name)
         {
-            lock (m_host.TaskInventory)
+            m_host.TaskInventory.LockItemsForRead(true);
+            foreach (KeyValuePair<UUID, TaskInventoryItem> inv in m_host.TaskInventory)
             {
-                foreach (KeyValuePair<UUID, TaskInventoryItem> inv in m_host.TaskInventory)
+                if (inv.Value.Name == name)
                 {
-                    if (inv.Value.Name == name)
-                        return inv.Key;
+                    m_host.TaskInventory.LockItemsForRead(false);
+                    return inv.Key;
                 }
             }
+            m_host.TaskInventory.LockItemsForRead(false);
 
             return UUID.Zero;
         }
@@ -6288,16 +6776,15 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             if (folderID == UUID.Zero)
                 return;
 
-            byte[] bucket = new byte[17];
+            byte[] bucket = new byte[1];
             bucket[0] = (byte)AssetType.Folder;
-            byte[] objBytes = folderID.GetBytes();
-            Array.Copy(objBytes, 0, bucket, 1, 16);
+            //byte[] objBytes = folderID.GetBytes();
+            //Array.Copy(objBytes, 0, bucket, 1, 16);
 
             GridInstantMessage msg = new GridInstantMessage(World,
-                    m_host.UUID, m_host.Name+", an object owned by "+
-                    resolveName(m_host.OwnerID)+",", destID,
-                    (byte)InstantMessageDialog.InventoryOffered,
-                    false, category+"\n"+m_host.Name+" is located at "+
+                    m_host.OwnerID, m_host.Name, destID,
+                    (byte)InstantMessageDialog.TaskInventoryOffered,
+                    false, category+". "+m_host.Name+" is located at "+
                     World.RegionInfo.RegionName+" "+
                     m_host.AbsolutePosition.ToString(),
                     folderID, true, m_host.AbsolutePosition,
@@ -6535,13 +7022,12 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             UUID av = new UUID();
             if (!UUID.TryParse(avatar,out av))
             {
-                LSLError("First parameter to llDialog needs to be a key");
+                //LSLError("First parameter to llDialog needs to be a key");
                 return;
             }
             if (buttons.Length < 1)
             {
-                LSLError("No less than 1 button can be shown");
-                return;
+                buttons.Add("OK");
             }
             if (buttons.Length > 12)
             {
@@ -6558,7 +7044,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                 }
                 if (buttons.Data[i].ToString().Length > 24)
                 {
-                    LSLError("button label cannot be longer than 24 characters");
+                    llWhisper(ScriptBaseClass.DEBUG_CHANNEL, "button label cannot be longer than 24 characters");
                     return;
                 }
                 buts[i] = buttons.Data[i].ToString();
@@ -6617,22 +7103,23 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             }
 
             // copy the first script found with this inventory name
-            lock (m_host.TaskInventory)
+            TaskInventoryItem scriptItem = null;
+            m_host.TaskInventory.LockItemsForRead(true);
+            foreach (KeyValuePair<UUID, TaskInventoryItem> inv in m_host.TaskInventory)
             {
-                foreach (KeyValuePair<UUID, TaskInventoryItem> inv in m_host.TaskInventory)
+                if (inv.Value.Name == name)
                 {
-                    if (inv.Value.Name == name)
+                    // make sure the object is a script
+                    if (10 == inv.Value.Type)
                     {
-                        // make sure the object is a script
-                        if (10 == inv.Value.Type)
-                        {
-                            found = true;
-                            srcId = inv.Key;
-                            break;
-                        }
+                        found = true;
+                        srcId = inv.Key;
+                        scriptItem = inv.Value;
+                        break;
                     }
                 }
             }
+            m_host.TaskInventory.LockItemsForRead(false);
 
             if (!found)
             {
@@ -6640,9 +7127,18 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                 return;
             }
 
-            // the rest of the permission checks are done in RezScript, so check the pin there as well
-            World.RezScriptFromPrim(srcId, m_host, destId, pin, running, start_param);
+            SceneObjectPart dest = World.GetSceneObjectPart(destId);
+            if (dest != null)
+            {
+                if ((scriptItem.BasePermissions & (uint)PermissionMask.Transfer) != 0 || dest.ParentGroup.RootPart.OwnerID == m_host.ParentGroup.RootPart.OwnerID)
+                {
+                    // the rest of the permission checks are done in RezScript, so check the pin there as well
+                    World.RezScriptFromPrim(srcId, m_host, destId, pin, running, start_param);
 
+                    if ((scriptItem.BasePermissions & (uint)PermissionMask.Copy) == 0)
+                        m_host.Inventory.RemoveInventoryItem(srcId);
+                }
+            }
             // this will cause the delay even if the script pin or permissions were wrong - seems ok
             ScriptSleep(3000);
         }
@@ -6705,19 +7201,21 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         public LSL_String llMD5String(string src, int nonce)
         {
             m_host.AddScriptLPS(1);
-            return Util.Md5Hash(String.Format("{0}:{1}", src, nonce.ToString()));
+            return Util.Md5Hash(String.Format("{0}:{1}", src, nonce.ToString()), Encoding.UTF8);
         }
 
         public LSL_String llSHA1String(string src)
         {
             m_host.AddScriptLPS(1);
-            return Util.SHA1Hash(src).ToLower();
+            return Util.SHA1Hash(src, Encoding.UTF8).ToLower();
         }
 
         protected ObjectShapePacket.ObjectDataBlock SetPrimitiveBlockShapeParams(SceneObjectPart part, int holeshape, LSL_Vector cut, float hollow, LSL_Vector twist, byte profileshape, byte pathcurve)
         {
             float tempFloat;                                    // Use in float expressions below to avoid byte cast precision issues.
             ObjectShapePacket.ObjectDataBlock shapeBlock = new ObjectShapePacket.ObjectDataBlock();
+            if (part == null || part.ParentGroup == null || part.ParentGroup.IsDeleted)
+                return shapeBlock;
 
             if (holeshape != (int)ScriptBaseClass.PRIM_HOLE_DEFAULT &&
                 holeshape != (int)ScriptBaseClass.PRIM_HOLE_CIRCLE &&
@@ -6822,6 +7320,9 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         // Prim type box, cylinder and prism.
         protected void SetPrimitiveShapeParams(SceneObjectPart part, int holeshape, LSL_Vector cut, float hollow, LSL_Vector twist, LSL_Vector taper_b, LSL_Vector topshear, byte profileshape, byte pathcurve)
         {
+            if (part == null || part.ParentGroup == null || part.ParentGroup.IsDeleted)
+                return;
+
             float tempFloat;                                    // Use in float expressions below to avoid byte cast precision issues.
             ObjectShapePacket.ObjectDataBlock shapeBlock;
 
@@ -6875,6 +7376,9 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         // Prim type sphere.
         protected void SetPrimitiveShapeParams(SceneObjectPart part, int holeshape, LSL_Vector cut, float hollow, LSL_Vector twist, LSL_Vector dimple, byte profileshape, byte pathcurve)
         {
+            if (part == null || part.ParentGroup == null || part.ParentGroup.IsDeleted)
+                return;
+
             ObjectShapePacket.ObjectDataBlock shapeBlock;
 
             shapeBlock = SetPrimitiveBlockShapeParams(part, holeshape, cut, hollow, twist, profileshape, pathcurve);
@@ -6916,6 +7420,9 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         // Prim type torus, tube and ring.
         protected void SetPrimitiveShapeParams(SceneObjectPart part, int holeshape, LSL_Vector cut, float hollow, LSL_Vector twist, LSL_Vector holesize, LSL_Vector topshear, LSL_Vector profilecut, LSL_Vector taper_a, float revolutions, float radiusoffset, float skew, byte profileshape, byte pathcurve)
         {
+            if (part == null || part.ParentGroup == null || part.ParentGroup.IsDeleted)
+                return;
+
             float tempFloat;                                    // Use in float expressions below to avoid byte cast precision issues.
             ObjectShapePacket.ObjectDataBlock shapeBlock;
 
@@ -7051,6 +7558,9 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         // Prim type sculpt.
         protected void SetPrimitiveShapeParams(SceneObjectPart part, string map, int type, byte pathcurve)
         {
+            if (part == null || part.ParentGroup == null || part.ParentGroup.IsDeleted)
+                return;
+
             ObjectShapePacket.ObjectDataBlock shapeBlock = new ObjectShapePacket.ObjectDataBlock();
             UUID sculptId;
 
@@ -7075,7 +7585,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                 type != (ScriptBaseClass.PRIM_SCULPT_TYPE_TORUS | flag))
             {
                 // default
-                type = (int)ScriptBaseClass.PRIM_SCULPT_TYPE_SPHERE;
+                type = type | (int)ScriptBaseClass.PRIM_SCULPT_TYPE_SPHERE;
             }
 
             part.Shape.SetSculptProperties((byte)type, sculptId);
@@ -7091,32 +7601,149 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             ScriptSleep(200);
         }
 
-        public void llSetLinkPrimitiveParams(int linknumber, LSL_List rules)
+        public void llSetLinkPrimitiveParamsFast(int linknumber, LSL_List rules)
         {
             m_host.AddScriptLPS(1);
 
             setLinkPrimParams(linknumber, rules);
+        }
 
-            ScriptSleep(200);
+        private void setLinkPrimParams(int linknumber, LSL_List rules)
+        {
+            List<SceneObjectPart> parts = GetLinkParts(linknumber);
+            List<ScenePresence> avatars = GetLinkAvatars(linknumber);
+            if (parts.Count>0)
+            {
+                try
+                {
+                    parts[0].ParentGroup.areUpdatesSuspended = true;
+                    foreach (SceneObjectPart part in parts)
+                        SetPrimParams(part, rules);
+                }
+                finally
+                {
+                    parts[0].ParentGroup.areUpdatesSuspended = false;
+                }
+            }
+            if (avatars.Count > 0)
+            {
+                foreach (ScenePresence avatar in avatars)
+                    SetPrimParams(avatar, rules);
+            }
         }
 
-        public void llSetLinkPrimitiveParamsFast(int linknumber, LSL_List rules)
+        private void SetPhysicsMaterial(SceneObjectPart part, int material_bits,
+                float material_density, float material_friction,
+                float material_restitution, float material_gravity_modifier)
         {
-            m_host.AddScriptLPS(1);
+            ExtraPhysicsData physdata = new ExtraPhysicsData();
+            physdata.PhysShapeType = (PhysShapeType)part.PhysicsShapeType;
+            physdata.Density = part.Density;
+            physdata.Friction = part.Friction;
+            physdata.Bounce = part.Bounciness;
+            physdata.GravitationModifier = part.GravityModifier;
 
-            setLinkPrimParams(linknumber, rules);
+            if ((material_bits & (int)ScriptBaseClass.DENSITY) != 0)
+                physdata.Density = material_density;
+            if ((material_bits & (int)ScriptBaseClass.FRICTION) != 0)
+                physdata.Friction = material_friction;
+            if ((material_bits & (int)ScriptBaseClass.RESTITUTION) != 0)
+                physdata.Bounce = material_restitution;
+            if ((material_bits & (int)ScriptBaseClass.GRAVITY_MULTIPLIER) != 0)
+                physdata.GravitationModifier = material_gravity_modifier;
+
+            part.UpdateExtraPhysics(physdata);
         }
 
-        protected void setLinkPrimParams(int linknumber, LSL_List rules)
+        public void llSetPhysicsMaterial(int material_bits,
+                float material_gravity_modifier, float material_restitution,
+                float material_friction, float material_density)
         {
-            List<SceneObjectPart> parts = GetLinkParts(linknumber);
+            SetPhysicsMaterial(m_host, material_bits, material_density, material_friction, material_restitution, material_gravity_modifier);
+        }
 
-            foreach (SceneObjectPart part in parts)
-                SetPrimParams(part, rules);
+        public void llSetLinkPrimitiveParams(int linknumber, LSL_List rules)
+        {
+            llSetLinkPrimitiveParamsFast(linknumber, rules);
+            ScriptSleep(200);
+        }
+
+        protected void SetPrimParams(ScenePresence av, LSL_List rules)
+        {
+            //This is a special version of SetPrimParams to deal with avatars which are sat on the linkset.
+            //We only support PRIM_POSITION and PRIM_ROTATION
+
+            int idx = 0;
+
+            while (idx < rules.Length)
+            {
+                int code = rules.GetLSLIntegerItem(idx++);
+
+                int remain = rules.Length - idx;
+
+                switch (code)
+                {
+                    case (int)ScriptBaseClass.PRIM_POSITION:
+                        {
+                            if (remain < 1)
+                                return;
+                            LSL_Vector v;
+                            v = rules.GetVector3Item(idx++);
+
+                            SceneObjectPart part = World.GetSceneObjectPart(av.ParentID);
+                            if (part == null)
+                                break;
+
+                            LSL_Rotation localRot = ScriptBaseClass.ZERO_ROTATION;
+                            LSL_Vector localPos = ScriptBaseClass.ZERO_VECTOR;
+                            if (llGetLinkNumber() > 1)
+                            {
+                                localRot = llGetLocalRot();
+                                localPos = llGetLocalPos();
+                            }
+
+                            v -= localPos;
+                            v /= localRot;
+
+                            LSL_Vector sitOffset = (llRot2Up(new LSL_Rotation(av.Rotation.X, av.Rotation.Y, av.Rotation.Z, av.Rotation.W)) * av.Appearance.AvatarHeight * 0.02638f);
+                            
+                            v = v + 2 * sitOffset;
+
+                            av.OffsetPosition = new Vector3((float)v.x, (float)v.y, (float)v.z);
+                            av.SendAvatarDataToAllAgents();
+
+                        }
+                        break;
+
+                    case (int)ScriptBaseClass.PRIM_ROTATION:
+                        {
+                            if (remain < 1)
+                                return;
+
+                            LSL_Rotation localRot = ScriptBaseClass.ZERO_ROTATION;
+                            LSL_Vector localPos = ScriptBaseClass.ZERO_VECTOR;
+                            if (llGetLinkNumber() > 1)
+                            {
+                                localRot = llGetLocalRot();
+                                localPos = llGetLocalPos();
+                            }
+
+                            LSL_Rotation r;
+                            r = rules.GetQuaternionItem(idx++);
+                            r = r * llGetRootRotation() / localRot;
+                            av.Rotation = new Quaternion((float)r.x, (float)r.y, (float)r.z, (float)r.s);
+                            av.SendAvatarDataToAllAgents();
+                        }
+                        break;
+                }
+            }
         }
 
         protected void SetPrimParams(SceneObjectPart part, LSL_List rules)
         {
+            if (part == null || part.ParentGroup == null || part.ParentGroup.IsDeleted)
+                return;
+
             int idx = 0;
 
             bool positionChanged = false;
@@ -7144,6 +7771,15 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                             currentPosition = GetSetPosTarget(part, v, currentPosition);
 
                             break;
+                        case (int)ScriptBaseClass.PRIM_POS_LOCAL:
+                            if (remain < 1)
+                                return;
+
+                            v=rules.GetVector3Item(idx++);
+                            positionChanged = true;
+                            currentPosition = GetSetPosTarget(part, v, currentPosition);
+
+                            break;
                         case (int)ScriptBaseClass.PRIM_SIZE:
                             if (remain < 1)
                                 return;
@@ -7437,6 +8073,36 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                              part.ScriptSetPhysicsStatus(physics);
                              break;
 
+                        case (int)ScriptBaseClass.PRIM_PHYSICS_SHAPE_TYPE:
+                            if (remain < 1)
+                                return;
+
+                            int shape_type = rules.GetLSLIntegerItem(idx++);
+
+                            ExtraPhysicsData physdata = new ExtraPhysicsData();
+                            physdata.Density = part.Density;
+                            physdata.Bounce = part.Bounciness;
+                            physdata.GravitationModifier = part.GravityModifier;
+                            physdata.PhysShapeType = (PhysShapeType)shape_type;
+
+                            part.UpdateExtraPhysics(physdata);
+
+                            break;
+
+                        case (int)ScriptBaseClass.PRIM_PHYSICS_MATERIAL:
+                            if (remain < 5)
+                                return;
+
+                            int material_bits = rules.GetLSLIntegerItem(idx++);
+                            float material_density = (float)rules.GetLSLFloatItem(idx++);
+                            float material_friction = (float)rules.GetLSLFloatItem(idx++);
+                            float material_restitution = (float)rules.GetLSLFloatItem(idx++);
+                            float material_gravity_modifier = (float)rules.GetLSLFloatItem(idx++);
+
+                            SetPhysicsMaterial(part, material_bits, material_density, material_friction, material_restitution, material_gravity_modifier);
+
+                            break;
+
                         case (int)ScriptBaseClass.PRIM_TEMP_ON_REZ:
                             if (remain < 1)
                                 return;
@@ -7510,7 +8176,9 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                     if (part.ParentGroup.RootPart == part)
                     {
                         SceneObjectGroup parent = part.ParentGroup;
-                        parent.UpdateGroupPosition(new Vector3((float)currentPosition.x, (float)currentPosition.y, (float)currentPosition.z));
+                        Util.FireAndForget(delegate(object x) {
+                            parent.UpdateGroupPosition(new Vector3((float)currentPosition.x, (float)currentPosition.y, (float)currentPosition.z));
+                        });
                     }
                     else
                     {
@@ -7521,6 +8189,24 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                     }
                 }
             }
+
+            if (positionChanged)
+            {
+                if (part.ParentGroup.RootPart == part)
+                {
+                    SceneObjectGroup parent = part.ParentGroup;
+                    Util.FireAndForget(delegate(object x) {
+                        parent.UpdateGroupPosition(new Vector3((float)currentPosition.x, (float)currentPosition.y, (float)currentPosition.z));
+                    });
+                }
+                else
+                {
+                    part.OffsetPosition = new Vector3((float)currentPosition.x, (float)currentPosition.y, (float)currentPosition.z);
+                    SceneObjectGroup parent = part.ParentGroup;
+                    parent.HasGroupChanged = true;
+                    parent.ScheduleGroupForTerseUpdate();
+                }    
+            }
         }
 
         public LSL_String llStringToBase64(string str)
@@ -7681,13 +8367,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         public LSL_Integer llGetNumberOfPrims()
         {
             m_host.AddScriptLPS(1);
-            int avatarCount = 0;
-            World.ForEachRootScenePresence(delegate(ScenePresence presence)
-            {
-                if (presence.ParentID != 0 && m_host.ParentGroup.HasChildPrim(presence.ParentID))
-                    avatarCount++;
-            });
-
+            int avatarCount = m_host.ParentGroup.GetLinkedAvatars().Count;
+            
             return m_host.ParentGroup.PrimCount + avatarCount;
         }
 
@@ -7703,55 +8384,98 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             m_host.AddScriptLPS(1);
             UUID objID = UUID.Zero;
             LSL_List result = new LSL_List();
+
+            // If the ID is not valid, return null result
             if (!UUID.TryParse(obj, out objID))
             {
                 result.Add(new LSL_Vector());
                 result.Add(new LSL_Vector());
                 return result;
             }
+
+            // Check if this is an attached prim. If so, replace
+            // the UUID with the avatar UUID and report it's bounding box
+            SceneObjectPart part = World.GetSceneObjectPart(objID);
+            if (part != null && part.ParentGroup.IsAttachment)
+                objID = part.ParentGroup.AttachedAvatar;
+
+            // Find out if this is an avatar ID. If so, return it's box
             ScenePresence presence = World.GetScenePresence(objID);
             if (presence != null)
             {
-                if (presence.ParentID == 0) // not sat on an object
+                // As per LSL Wiki, there is no difference between sitting
+                // and standing avatar since server 1.36
+                LSL_Vector lower;
+                LSL_Vector upper;
+                if (presence.Animator.Animations.DefaultAnimation.AnimID 
+                    == DefaultAvatarAnimations.AnimsUUID["SIT_GROUND_CONSTRAINED"])
                 {
-                    LSL_Vector lower;
-                    LSL_Vector upper;
-                    if (presence.Animator.Animations.DefaultAnimation.AnimID
-                        == DefaultAvatarAnimations.AnimsUUID["SIT_GROUND_CONSTRAINED"])
-                    {
-                        // This is for ground sitting avatars
-                        float height = presence.Appearance.AvatarHeight / 2.66666667f;
-                        lower = new LSL_Vector(-0.3375f, -0.45f, height * -1.0f);
-                        upper = new LSL_Vector(0.3375f, 0.45f, 0.0f);
-                    }
-                    else
-                    {
-                        // This is for standing/flying avatars
-                        float height = presence.Appearance.AvatarHeight / 2.0f;
-                        lower = new LSL_Vector(-0.225f, -0.3f, height * -1.0f);
-                        upper = new LSL_Vector(0.225f, 0.3f, height + 0.05f);
-                    }
-                    result.Add(lower);
-                    result.Add(upper);
-                    return result;
+                    // This is for ground sitting avatars
+                    float height = presence.Appearance.AvatarHeight / 2.66666667f;
+                    lower = new LSL_Vector(-0.3375f, -0.45f, height * -1.0f);
+                    upper = new LSL_Vector(0.3375f, 0.45f, 0.0f);
                 }
                 else
                 {
-                    // sitting on an object so we need the bounding box of that
-                    // which should include the avatar so set the UUID to the
-                    // UUID of the object the avatar is sat on and allow it to fall through
-                    // to processing an object
-                    SceneObjectPart p = World.GetSceneObjectPart(presence.ParentID);
-                    objID = p.UUID;
+                    // This is for standing/flying avatars
+                    float height = presence.Appearance.AvatarHeight / 2.0f;
+                    lower = new LSL_Vector(-0.225f, -0.3f, height * -1.0f);
+                    upper = new LSL_Vector(0.225f, 0.3f, height + 0.05f);
                 }
+
+                // Adjust to the documented error offsets (see LSL Wiki)
+                lower += new LSL_Vector(0.05f, 0.05f, 0.05f);
+                upper -= new LSL_Vector(0.05f, 0.05f, 0.05f);
+
+                if (lower.x > upper.x)
+                    lower.x = upper.x;
+                if (lower.y > upper.y)
+                    lower.y = upper.y;
+                if (lower.z > upper.z)
+                    lower.z = upper.z;
+
+                result.Add(lower);
+                result.Add(upper);
+                return result;
             }
-            SceneObjectPart part = World.GetSceneObjectPart(objID);
+
+            part = World.GetSceneObjectPart(objID);
             // Currently only works for single prims without a sitting avatar
             if (part != null)
             {
-                Vector3 halfSize = part.Scale / 2.0f;
-                LSL_Vector lower = new LSL_Vector(halfSize.X * -1.0f, halfSize.Y * -1.0f, halfSize.Z * -1.0f);
-                LSL_Vector upper = new LSL_Vector(halfSize.X, halfSize.Y, halfSize.Z);
+                float minX;
+                float maxX;
+                float minY;
+                float maxY;
+                float minZ;
+                float maxZ;
+
+                // This BBox is in sim coordinates, with the offset being
+                // a contained point.
+                Vector3[] offsets = Scene.GetCombinedBoundingBox(new List<SceneObjectGroup> { part.ParentGroup },
+                        out minX, out maxX, out minY, out maxY, out minZ, out maxZ);
+
+                minX -= offsets[0].X;
+                maxX -= offsets[0].X;
+                minY -= offsets[0].Y;
+                maxY -= offsets[0].Y;
+                minZ -= offsets[0].Z;
+                maxZ -= offsets[0].Z;
+
+                LSL_Vector lower;
+                LSL_Vector upper;
+
+                // Adjust to the documented error offsets (see LSL Wiki)
+                lower = new LSL_Vector(minX + 0.05f, minY + 0.05f, minZ + 0.05f);
+                upper = new LSL_Vector(maxX - 0.05f, maxY - 0.05f, maxZ - 0.05f);
+
+                if (lower.x > upper.x)
+                    lower.x = upper.x;
+                if (lower.y > upper.y)
+                    lower.y = upper.y;
+                if (lower.z > upper.z)
+                    lower.z = upper.z;
+
                 result.Add(lower);
                 result.Add(upper);
                 return result;
@@ -7831,13 +8555,6 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                         LSL_Vector v = new LSL_Vector(part.AbsolutePosition.X,
                                                       part.AbsolutePosition.Y,
                                                       part.AbsolutePosition.Z);
-                        // For some reason, the part.AbsolutePosition.* values do not change if the
-                        // linkset is rotated; they always reflect the child prim's world position
-                        // as though the linkset is unrotated. This is incompatible behavior with SL's
-                        // implementation, so will break scripts imported from there (not to mention it
-                        // makes it more difficult to determine a child prim's actual inworld position).
-                        if (part.ParentID != 0)
-                            v = ((v - llGetRootPosition()) * llGetRootRotation()) + llGetRootPosition();
                         res.Add(v);
                         break;
 
@@ -8008,56 +8725,92 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                     case (int)ScriptBaseClass.PRIM_BUMP_SHINY:
                         if (remain < 1)
                             return res;
-
-                        face=(int)rules.GetLSLIntegerItem(idx++);
+                        face = (int)rules.GetLSLIntegerItem(idx++);
 
                         tex = part.Shape.Textures;
+                        int shiny;
                         if (face == ScriptBaseClass.ALL_SIDES)
                         {
                             for (face = 0; face < GetNumberOfSides(part); face++)
                             {
-                                Primitive.TextureEntryFace texface = tex.GetFace((uint)face);
-                                // Convert Shininess to PRIM_SHINY_*
-                                res.Add(new LSL_Integer((uint)texface.Shiny >> 6));
-                                // PRIM_BUMP_*
-                                res.Add(new LSL_Integer((int)texface.Bump));
+                                Shininess shinyness = tex.GetFace((uint)face).Shiny;
+                                if (shinyness == Shininess.High)
+                                {
+                                    shiny = ScriptBaseClass.PRIM_SHINY_HIGH;
+                                }
+                                else if (shinyness == Shininess.Medium)
+                                {
+                                    shiny = ScriptBaseClass.PRIM_SHINY_MEDIUM;
+                                }
+                                else if (shinyness == Shininess.Low)
+                                {
+                                    shiny = ScriptBaseClass.PRIM_SHINY_LOW;
+                                }
+                                else
+                                {
+                                    shiny = ScriptBaseClass.PRIM_SHINY_NONE;
+                                }
+                                res.Add(new LSL_Integer(shiny));
+                                res.Add(new LSL_Integer((int)tex.GetFace((uint)face).Bump));
                             }
                         }
                         else
                         {
-                            if (face >= 0 && face < GetNumberOfSides(part))
+                            Shininess shinyness = tex.GetFace((uint)face).Shiny;
+                            if (shinyness == Shininess.High)
                             {
-                                Primitive.TextureEntryFace texface = tex.GetFace((uint)face);
-                                // Convert Shininess to PRIM_SHINY_*
-                                res.Add(new LSL_Integer((uint)texface.Shiny >> 6));
-                                // PRIM_BUMP_*
-                                res.Add(new LSL_Integer((int)texface.Bump));
+                                shiny = ScriptBaseClass.PRIM_SHINY_HIGH; 
                             }
+                            else if (shinyness == Shininess.Medium)
+                            {
+                                shiny = ScriptBaseClass.PRIM_SHINY_MEDIUM;
+                            }
+                            else if (shinyness == Shininess.Low)
+                            {
+                                shiny = ScriptBaseClass.PRIM_SHINY_LOW;
+                            }
+                            else
+                            {
+                                shiny = ScriptBaseClass.PRIM_SHINY_NONE;
+                            }
+                            res.Add(new LSL_Integer(shiny));
+                            res.Add(new LSL_Integer((int)tex.GetFace((uint)face).Bump));
                         }
                         break;
 
                     case (int)ScriptBaseClass.PRIM_FULLBRIGHT:
                         if (remain < 1)
                             return res;
-
-                        face=(int)rules.GetLSLIntegerItem(idx++);
+                        face = (int)rules.GetLSLIntegerItem(idx++);
 
                         tex = part.Shape.Textures;
+                        int fullbright;
                         if (face == ScriptBaseClass.ALL_SIDES)
                         {
                             for (face = 0; face < GetNumberOfSides(part); face++)
                             {
-                                Primitive.TextureEntryFace texface = tex.GetFace((uint)face);
-                                res.Add(new LSL_Integer(texface.Fullbright ? 1 : 0));
+                                if (tex.GetFace((uint)face).Fullbright == true)
+                                {
+                                    fullbright = ScriptBaseClass.TRUE;
+                                }
+                                else
+                                {
+                                    fullbright = ScriptBaseClass.FALSE;
+                                }
+                                res.Add(new LSL_Integer(fullbright));
                             }
                         }
                         else
                         {
-                            if (face >= 0 && face < GetNumberOfSides(part))
+                            if (tex.GetFace((uint)face).Fullbright == true)
                             {
-                                Primitive.TextureEntryFace texface = tex.GetFace((uint)face);
-                                res.Add(new LSL_Integer(texface.Fullbright ? 1 : 0));
+                                fullbright = ScriptBaseClass.TRUE;
+                            }
+                            else
+                            {
+                                fullbright = ScriptBaseClass.FALSE;
                             }
+                            res.Add(new LSL_Integer(fullbright));
                         }
                         break;
 
@@ -8079,27 +8832,35 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                         break;
 
                     case (int)ScriptBaseClass.PRIM_TEXGEN:
+                        // (PRIM_TEXGEN_DEFAULT, PRIM_TEXGEN_PLANAR)
                         if (remain < 1)
                             return res;
-
-                        face=(int)rules.GetLSLIntegerItem(idx++);
+                        face = (int)rules.GetLSLIntegerItem(idx++);
 
                         tex = part.Shape.Textures;
                         if (face == ScriptBaseClass.ALL_SIDES)
                         {
                             for (face = 0; face < GetNumberOfSides(part); face++)
                             {
-                                MappingType texgen = tex.GetFace((uint)face).TexMapType;
-                                // Convert MappingType to PRIM_TEXGEN_DEFAULT, PRIM_TEXGEN_PLANAR etc.
-                                res.Add(new LSL_Integer((uint)texgen >> 1));
+                                if (tex.GetFace((uint)face).TexMapType == MappingType.Planar)
+                                {
+                                    res.Add(new LSL_Integer(ScriptBaseClass.PRIM_TEXGEN_PLANAR));
+                                }
+                                else
+                                {
+                                    res.Add(new LSL_Integer(ScriptBaseClass.PRIM_TEXGEN_DEFAULT));
+                                }
                             }
                         }
                         else
                         {
-                            if (face >= 0 && face < GetNumberOfSides(part))
+                            if (tex.GetFace((uint)face).TexMapType == MappingType.Planar)
+                            {
+                                res.Add(new LSL_Integer(ScriptBaseClass.PRIM_TEXGEN_PLANAR));
+                            }
+                            else
                             {
-                                MappingType texgen = tex.GetFace((uint)face).TexMapType;
-                                res.Add(new LSL_Integer((uint)texgen >> 1));
+                                res.Add(new LSL_Integer(ScriptBaseClass.PRIM_TEXGEN_DEFAULT));
                             }
                         }
                         break;
@@ -8122,28 +8883,24 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                     case (int)ScriptBaseClass.PRIM_GLOW:
                         if (remain < 1)
                             return res;
-
-                        face=(int)rules.GetLSLIntegerItem(idx++);
+                        face = (int)rules.GetLSLIntegerItem(idx++);
 
                         tex = part.Shape.Textures;
+                        float primglow;
                         if (face == ScriptBaseClass.ALL_SIDES)
                         {
                             for (face = 0; face < GetNumberOfSides(part); face++)
                             {
-                                Primitive.TextureEntryFace texface = tex.GetFace((uint)face);
-                                res.Add(new LSL_Float(texface.Glow));
+                                primglow = tex.GetFace((uint)face).Glow;
+                                res.Add(new LSL_Float(primglow));
                             }
                         }
                         else
                         {
-                            if (face >= 0 && face < GetNumberOfSides(part))
-                            {
-                                Primitive.TextureEntryFace texface = tex.GetFace((uint)face);
-                                res.Add(new LSL_Float(texface.Glow));
-                            }
+                            primglow = tex.GetFace((uint)face).Glow;
+                            res.Add(new LSL_Float(primglow));
                         }
                         break;
-
                     case (int)ScriptBaseClass.PRIM_TEXT:
                         Color4 textColor = part.GetTextColor();
                         res.Add(new LSL_String(part.Text));
@@ -8755,8 +9512,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         //  The function returns an ordered list
         //  representing the tokens found in the supplied
         //  sources string. If two successive tokenizers
-        //  are encountered, then a NULL entry is added
-        //  to the list.
+        //  are encountered, then a null-string entry is
+        //  added to the list.
         //
         //  It is a precondition that the source and
         //  toekizer lisst are non-null. If they are null,
@@ -8764,7 +9521,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         //  while their lengths are being determined.
         //
         //  A small amount of working memoryis required
-        //  of approximately 8*#tokenizers.
+        //  of approximately 8*#tokenizers + 8*srcstrlen.
         //
         //  There are many ways in which this function
         //  can be implemented, this implementation is
@@ -8780,155 +9537,124 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         //  and eliminates redundant tokenizers as soon
         //  as is possible.
         //
-        //  The implementation tries to avoid any copying
-        //  of arrays or other objects.
+        //  The implementation tries to minimize temporary
+        //  garbage generation.
         //  </remarks>
 
-        private LSL_List ParseString(string src, LSL_List separators, LSL_List spacers, bool keepNulls)
+        public LSL_List llParseStringKeepNulls(string src, LSL_List separators, LSL_List spacers)
         {
-            int         beginning = 0;
-            int         srclen    = src.Length;
-            int         seplen    = separators.Length;
-            object[]    separray  = separators.Data;
-            int         spclen    = spacers.Length;
-            object[]    spcarray  = spacers.Data;
-            int         mlen      = seplen+spclen;
-
-            int[]       offset    = new int[mlen+1];
-            bool[]      active    = new bool[mlen];
-
-            int         best;
-            int         j;
-
-            //    Initial capacity reduces resize cost
+            return ParseString2List(src, separators, spacers, true);
+        }
 
-            LSL_List tokens = new LSL_List();
+        private LSL_List ParseString2List(string src, LSL_List separators, LSL_List spacers, bool keepNulls)
+        {
+            int          srclen    = src.Length;
+            int          seplen    = separators.Length;
+            object[]     separray  = separators.Data;
+            int          spclen    = spacers.Length;
+            object[]     spcarray  = spacers.Data;
+            int          dellen    = 0;
+            string[]     delarray  = new string[seplen+spclen];
 
-            //    All entries are initially valid
+            int          outlen    = 0;
+            string[]     outarray  = new string[srclen*2+1];
 
-            for (int i = 0; i < mlen; i++)
-                active[i] = true;
+            int          i, j;
+            string       d;
 
-            offset[mlen] = srclen;
+            m_host.AddScriptLPS(1);
 
-            while (beginning < srclen)
+            /*
+             * Convert separator and spacer lists to C# strings.
+             * Also filter out null strings so we don't hang.
+             */
+            for (i = 0; i < seplen; i ++)
             {
+                d = separray[i].ToString();
+                if (d.Length > 0)
+                {
+                    delarray[dellen++] = d;
+                }
+            }
+            seplen = dellen;
 
-                best = mlen;    // as bad as it gets
+            for (i = 0; i < spclen; i ++)
+            {
+                d = spcarray[i].ToString();
+                if (d.Length > 0)
+                {
+                    delarray[dellen++] = d;
+                }
+            }
 
-                //    Scan for separators
+            /*
+             * Scan through source string from beginning to end.
+             */
+            for (i = 0;;)
+            {
 
-                for (j = 0; j < seplen; j++)
+                /*
+                 * Find earliest delimeter in src starting at i (if any).
+                 */
+                int    earliestDel = -1;
+                int    earliestSrc = srclen;
+                string earliestStr = null;
+                for (j = 0; j < dellen; j ++)
                 {
-                    if (separray[j].ToString() == String.Empty)
-                        active[j] = false;
-
-                    if (active[j])
+                    d = delarray[j];
+                    if (d != null)
                     {
-                        // scan all of the markers
-                        if ((offset[j] = src.IndexOf(separray[j].ToString(), beginning)) == -1)
+                        int index = src.IndexOf(d, i);
+                        if (index < 0)
                         {
-                            // not present at all
-                            active[j] = false;
+                            delarray[j] = null;     // delim nowhere in src, don't check it anymore
                         }
-                        else
+                        else if (index < earliestSrc)
                         {
-                            // present and correct
-                            if (offset[j] < offset[best])
-                            {
-                                // closest so far
-                                best = j;
-                                if (offset[best] == beginning)
-                                    break;
-                            }
+                            earliestSrc = index;    // where delimeter starts in source string
+                            earliestDel = j;        // where delimeter is in delarray[]
+                            earliestStr = d;        // the delimeter string from delarray[]
+                            if (index == i) break;  // can't do any better than found at beg of string
                         }
                     }
                 }
 
-                //    Scan for spacers
-
-                if (offset[best] != beginning)
+                /*
+                 * Output source string starting at i through start of earliest delimeter.
+                 */
+                if (keepNulls || (earliestSrc > i))
                 {
-                    for (j = seplen; (j < mlen) && (offset[best] > beginning); j++)
-                    {
-                        if (spcarray[j-seplen].ToString() == String.Empty)
-                            active[j] = false;
-
-                        if (active[j])
-                        {
-                            // scan all of the markers
-                            if ((offset[j] = src.IndexOf(spcarray[j-seplen].ToString(), beginning)) == -1)
-                            {
-                                // not present at all
-                                active[j] = false;
-                            }
-                            else
-                            {
-                                // present and correct
-                                if (offset[j] < offset[best])
-                                {
-                                    // closest so far
-                                    best = j;
-                                }
-                            }
-                        }
-                    }
+                    outarray[outlen++] = src.Substring(i, earliestSrc - i);
                 }
 
-                //    This is the normal exit from the scanning loop
+                /*
+                 * If no delimeter found at or after i, we're done scanning.
+                 */
+                if (earliestDel < 0) break;
 
-                if (best == mlen)
+                /*
+                 * If delimeter was a spacer, output the spacer.
+                 */
+                if (earliestDel >= seplen)
                 {
-                    // no markers were found on this pass
-                    // so we're pretty much done
-                    if ((keepNulls) || ((!keepNulls) && (srclen - beginning) > 0))
-                        tokens.Add(new LSL_String(src.Substring(beginning, srclen - beginning)));
-                    break;
+                    outarray[outlen++] = earliestStr;
                 }
 
-                //    Otherwise we just add the newly delimited token
-                //    and recalculate where the search should continue.
-                if ((keepNulls) || ((!keepNulls) && (offset[best] - beginning) > 0))
-                    tokens.Add(new LSL_String(src.Substring(beginning,offset[best]-beginning)));
-
-                if (best < seplen)
-                {
-                    beginning = offset[best] + (separray[best].ToString()).Length;
-                }
-                else
-                {
-                    beginning = offset[best] + (spcarray[best - seplen].ToString()).Length;
-                    string str = spcarray[best - seplen].ToString();
-                    if ((keepNulls) || ((!keepNulls) && (str.Length > 0)))
-                        tokens.Add(new LSL_String(str));
-                }
+                /*
+                 * Look at rest of src string following delimeter.
+                 */
+                i = earliestSrc + earliestStr.Length;
             }
 
-            //    This an awkward an not very intuitive boundary case. If the
-            //    last substring is a tokenizer, then there is an implied trailing
-            //    null list entry. Hopefully the single comparison will not be too
-            //    arduous. Alternatively the 'break' could be replced with a return
-            //    but that's shabby programming.
-
-            if ((beginning == srclen) && (keepNulls))
+            /*
+             * Make up an exact-sized output array suitable for an LSL_List object.
+             */
+            object[] outlist = new object[outlen];
+            for (i = 0; i < outlen; i ++)
             {
-                if (srclen != 0)
-                    tokens.Add(new LSL_String(""));
+                outlist[i] = new LSL_String(outarray[i]);
             }
-
-            return tokens;
-        }
-
-        public LSL_List llParseString2List(string src, LSL_List separators, LSL_List spacers)
-        {
-            m_host.AddScriptLPS(1);
-            return this.ParseString(src, separators, spacers, false);
-        }
-
-        public LSL_List llParseStringKeepNulls(string src, LSL_List separators, LSL_List spacers)
-        {
-            m_host.AddScriptLPS(1);
-            return this.ParseString(src, separators, spacers, true);
+            return new LSL_List(outlist);
         }
 
         public LSL_Integer llGetObjectPermMask(int mask)
@@ -9005,28 +9731,28 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         {
             m_host.AddScriptLPS(1);
 
-            lock (m_host.TaskInventory)
+            m_host.TaskInventory.LockItemsForRead(true);
+            foreach (KeyValuePair<UUID, TaskInventoryItem> inv in m_host.TaskInventory)
             {
-                foreach (KeyValuePair<UUID, TaskInventoryItem> inv in m_host.TaskInventory)
+                if (inv.Value.Name == item)
                 {
-                    if (inv.Value.Name == item)
+                    m_host.TaskInventory.LockItemsForRead(false);
+                    switch (mask)
                     {
-                        switch (mask)
-                        {
-                            case 0:
-                                return (int)inv.Value.BasePermissions;
-                            case 1:
-                                return (int)inv.Value.CurrentPermissions;
-                            case 2:
-                                return (int)inv.Value.GroupPermissions;
-                            case 3:
-                                return (int)inv.Value.EveryonePermissions;
-                            case 4:
-                                return (int)inv.Value.NextPermissions;
-                        }
+                        case 0:
+                            return (int)inv.Value.BasePermissions;
+                        case 1:
+                            return (int)inv.Value.CurrentPermissions;
+                        case 2:
+                            return (int)inv.Value.GroupPermissions;
+                        case 3:
+                            return (int)inv.Value.EveryonePermissions;
+                        case 4:
+                            return (int)inv.Value.NextPermissions;
                     }
                 }
             }
+            m_host.TaskInventory.LockItemsForRead(false);
 
             return -1;
         }
@@ -9073,16 +9799,16 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         {
             m_host.AddScriptLPS(1);
 
-            lock (m_host.TaskInventory)
+            m_host.TaskInventory.LockItemsForRead(true);
+            foreach (KeyValuePair<UUID, TaskInventoryItem> inv in m_host.TaskInventory)
             {
-                foreach (KeyValuePair<UUID, TaskInventoryItem> inv in m_host.TaskInventory)
+                if (inv.Value.Name == item)
                 {
-                    if (inv.Value.Name == item)
-                    {
-                        return inv.Value.CreatorID.ToString();
-                    }
+                    m_host.TaskInventory.LockItemsForRead(false);
+                    return inv.Value.CreatorID.ToString();
                 }
             }
+            m_host.TaskInventory.LockItemsForRead(false);
 
             llSay(0, "No item name '" + item + "'");
 
@@ -9230,7 +9956,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         }
 
         /// <summary>
-        /// illListReplaceList removes the sub-list defined by the inclusive indices
+        /// llListReplaceList removes the sub-list defined by the inclusive indices
         /// start and end and inserts the src list in its place. The inclusive
         /// nature of the indices means that at least one element must be deleted
         /// if the indices are within the bounds of the existing list. I.e. 2,2
@@ -9287,16 +10013,19 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                 // based upon end. Note that if end exceeds the upper
                 // bound in this case, the entire destination list
                 // is removed.
-                else
+                else if (start == 0)
                 {
                     if (end + 1 < dest.Length)
-                    {
                         return src + dest.GetSublist(end + 1, -1);
-                    }
                     else
-                    {
                         return src;
-                    }
+                }
+                else // Start < 0
+                {
+                    if (end + 1 < dest.Length)
+                        return dest.GetSublist(end + 1, -1);
+                    else
+                        return new LSL_List();
                 }
             }
             // Finally, if start > end, we strip away a prefix and
@@ -9347,17 +10076,17 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             int width = 0;
             int height = 0;
 
-            ParcelMediaCommandEnum? commandToSend = null;
+            uint commandToSend = 0;
             float time = 0.0f; // default is from start
 
             ScenePresence presence = null;
 
             for (int i = 0; i < commandList.Data.Length; i++)
             {
-                ParcelMediaCommandEnum command = (ParcelMediaCommandEnum)commandList.Data[i];
+                uint command = (uint)(commandList.GetLSLIntegerItem(i));
                 switch (command)
                 {
-                    case ParcelMediaCommandEnum.Agent:
+                    case (uint)ParcelMediaCommandEnum.Agent:
                         // we send only to one agent
                         if ((i + 1) < commandList.Length)
                         {
@@ -9374,25 +10103,25 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                         }
                         break;
 
-                    case ParcelMediaCommandEnum.Loop:
+                    case (uint)ParcelMediaCommandEnum.Loop:
                         loop = 1;
                         commandToSend = command;
                         update = true; //need to send the media update packet to set looping
                         break;
 
-                    case ParcelMediaCommandEnum.Play:
+                    case (uint)ParcelMediaCommandEnum.Play:
                         loop = 0;
                         commandToSend = command;
                         update = true; //need to send the media update packet to make sure it doesn't loop
                         break;
 
-                    case ParcelMediaCommandEnum.Pause:
-                    case ParcelMediaCommandEnum.Stop:
-                    case ParcelMediaCommandEnum.Unload:
+                    case (uint)ParcelMediaCommandEnum.Pause:
+                    case (uint)ParcelMediaCommandEnum.Stop:
+                    case (uint)ParcelMediaCommandEnum.Unload:
                         commandToSend = command;
                         break;
 
-                    case ParcelMediaCommandEnum.Url:
+                    case (uint)ParcelMediaCommandEnum.Url:
                         if ((i + 1) < commandList.Length)
                         {
                             if (commandList.Data[i + 1] is LSL_String)
@@ -9405,7 +10134,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                         }
                         break;
 
-                    case ParcelMediaCommandEnum.Texture:
+                    case (uint)ParcelMediaCommandEnum.Texture:
                         if ((i + 1) < commandList.Length)
                         {
                             if (commandList.Data[i + 1] is LSL_String)
@@ -9418,7 +10147,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                         }
                         break;
 
-                    case ParcelMediaCommandEnum.Time:
+                    case (uint)ParcelMediaCommandEnum.Time:
                         if ((i + 1) < commandList.Length)
                         {
                             if (commandList.Data[i + 1] is LSL_Float)
@@ -9430,7 +10159,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                         }
                         break;
 
-                    case ParcelMediaCommandEnum.AutoAlign:
+                    case (uint)ParcelMediaCommandEnum.AutoAlign:
                         if ((i + 1) < commandList.Length)
                         {
                             if (commandList.Data[i + 1] is LSL_Integer)
@@ -9444,7 +10173,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                         }
                         break;
 
-                    case ParcelMediaCommandEnum.Type:
+                    case (uint)ParcelMediaCommandEnum.Type:
                         if ((i + 1) < commandList.Length)
                         {
                             if (commandList.Data[i + 1] is LSL_String)
@@ -9457,7 +10186,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                         }
                         break;
 
-                    case ParcelMediaCommandEnum.Desc:
+                    case (uint)ParcelMediaCommandEnum.Desc:
                         if ((i + 1) < commandList.Length)
                         {
                             if (commandList.Data[i + 1] is LSL_String)
@@ -9470,7 +10199,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                         }
                         break;
 
-                    case ParcelMediaCommandEnum.Size:
+                    case (uint)ParcelMediaCommandEnum.Size:
                         if ((i + 2) < commandList.Length)
                         {
                             if (commandList.Data[i + 1] is LSL_Integer)
@@ -9540,7 +10269,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                 }
             }
 
-            if (commandToSend != null)
+            if (commandToSend != 0)
             {
                 // the commandList contained a start/stop/... command, too
                 if (presence == null)
@@ -9577,7 +10306,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
                 if (aList.Data[i] != null)
                 {
-                    switch ((ParcelMediaCommandEnum) aList.Data[i])
+                    switch ((ParcelMediaCommandEnum) Convert.ToInt32(aList.Data[i].ToString()))
                     {
                         case ParcelMediaCommandEnum.Url:
                             list.Add(new LSL_String(World.GetLandData(m_host.AbsolutePosition.X, m_host.AbsolutePosition.Y).MediaURL));
@@ -9620,16 +10349,16 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         {
             m_host.AddScriptLPS(1);
 
-            lock (m_host.TaskInventory)
+            m_host.TaskInventory.LockItemsForRead(true);
+            foreach (KeyValuePair<UUID, TaskInventoryItem> inv in m_host.TaskInventory)
             {
-                foreach (KeyValuePair<UUID, TaskInventoryItem> inv in m_host.TaskInventory)
+                if (inv.Value.Name == name)
                 {
-                    if (inv.Value.Name == name)
-                    {
-                        return inv.Value.Type;
-                    }
+                    m_host.TaskInventory.LockItemsForRead(false);
+                    return inv.Value.Type;
                 }
             }
+            m_host.TaskInventory.LockItemsForRead(false);
 
             return -1;
         }
@@ -9640,15 +10369,19 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
             if (quick_pay_buttons.Data.Length < 4)
             {
-                LSLError("List must have at least 4 elements");
-                return;
+                int x;
+                for (x=quick_pay_buttons.Data.Length; x<= 4; x++)
+                {
+                    quick_pay_buttons.Add(ScriptBaseClass.PAY_HIDE);
+                }
             }
-            m_host.ParentGroup.RootPart.PayPrice[0]=price;
-
-            m_host.ParentGroup.RootPart.PayPrice[1]=(LSL_Integer)quick_pay_buttons.Data[0];
-            m_host.ParentGroup.RootPart.PayPrice[2]=(LSL_Integer)quick_pay_buttons.Data[1];
-            m_host.ParentGroup.RootPart.PayPrice[3]=(LSL_Integer)quick_pay_buttons.Data[2];
-            m_host.ParentGroup.RootPart.PayPrice[4]=(LSL_Integer)quick_pay_buttons.Data[3];
+            int[] nPrice = new int[5];
+            nPrice[0] = price;
+            nPrice[1] = quick_pay_buttons.GetLSLIntegerItem(0);
+            nPrice[2] = quick_pay_buttons.GetLSLIntegerItem(1);
+            nPrice[3] = quick_pay_buttons.GetLSLIntegerItem(2);
+            nPrice[4] = quick_pay_buttons.GetLSLIntegerItem(3);
+            m_host.ParentGroup.RootPart.PayPrice = nPrice;
             m_host.ParentGroup.HasGroupChanged = true;
         }
 
@@ -9660,17 +10393,20 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             if (invItemID == UUID.Zero)
                 return new LSL_Vector();
 
-            lock (m_host.TaskInventory)
+            m_host.TaskInventory.LockItemsForRead(true);
+            if (m_host.TaskInventory[invItemID].PermsGranter == UUID.Zero)
             {
-                if (m_host.TaskInventory[invItemID].PermsGranter == UUID.Zero)
-                   return new LSL_Vector();
+                m_host.TaskInventory.LockItemsForRead(false);
+                return new LSL_Vector();
+            }
 
-                if ((m_host.TaskInventory[invItemID].PermsMask & ScriptBaseClass.PERMISSION_TRACK_CAMERA) == 0)
-                {
-                    ShoutError("No permissions to track the camera");
-                    return new LSL_Vector();
-                }
+            if ((m_host.TaskInventory[invItemID].PermsMask & ScriptBaseClass.PERMISSION_TRACK_CAMERA) == 0)
+            {
+                ShoutError("No permissions to track the camera");
+                m_host.TaskInventory.LockItemsForRead(false);
+                return new LSL_Vector();
             }
+            m_host.TaskInventory.LockItemsForRead(false);
 
             ScenePresence presence = World.GetScenePresence(m_host.OwnerID);
             if (presence != null)
@@ -9688,17 +10424,19 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             if (invItemID == UUID.Zero)
                 return new LSL_Rotation();
 
-            lock (m_host.TaskInventory)
+            m_host.TaskInventory.LockItemsForRead(true);
+            if (m_host.TaskInventory[invItemID].PermsGranter == UUID.Zero)
             {
-                if (m_host.TaskInventory[invItemID].PermsGranter == UUID.Zero)
-                   return new LSL_Rotation();
-
-                if ((m_host.TaskInventory[invItemID].PermsMask & ScriptBaseClass.PERMISSION_TRACK_CAMERA) == 0)
-                {
-                    ShoutError("No permissions to track the camera");
-                    return new LSL_Rotation();
-                }
+                m_host.TaskInventory.LockItemsForRead(false);
+                return new LSL_Rotation();
+            }
+            if ((m_host.TaskInventory[invItemID].PermsMask & ScriptBaseClass.PERMISSION_TRACK_CAMERA) == 0)
+            {
+                ShoutError("No permissions to track the camera");
+                m_host.TaskInventory.LockItemsForRead(false);
+                return new LSL_Rotation();
             }
+            m_host.TaskInventory.LockItemsForRead(false);
 
             ScenePresence presence = World.GetScenePresence(m_host.OwnerID);
             if (presence != null)
@@ -9760,8 +10498,19 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         {
             m_host.AddScriptLPS(1);
             DetectParams detectedParams = m_ScriptEngine.GetDetectParams(m_itemID, 0);
-            if (detectedParams == null) return; // only works on the first detected avatar
-
+            if (detectedParams == null)
+            {
+                if (m_host.ParentGroup.IsAttachment == true)
+                {
+                    detectedParams = new DetectParams();
+                    detectedParams.Key = m_host.OwnerID;
+                }
+                else
+                {
+                    return;
+                }
+            }
+           
             ScenePresence avatar = World.GetScenePresence(detectedParams.Key);
             if (avatar != null)
             {
@@ -9769,6 +10518,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                                                                    new Vector3((float)pos.x, (float)pos.y, (float)pos.z),
                                                                    new Vector3((float)lookAt.x, (float)lookAt.y, (float)lookAt.z));
             }
+            
             ScriptSleep(1000);
         }
 
@@ -9880,14 +10630,21 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             if (objectID == UUID.Zero) return;
 
             UUID agentID;
-            lock (m_host.TaskInventory)
-            {
-                // we need the permission first, to know which avatar we want to set the camera for
-                agentID = m_host.TaskInventory[invItemID].PermsGranter;
+            m_host.TaskInventory.LockItemsForRead(true);
+            // we need the permission first, to know which avatar we want to set the camera for
+            agentID = m_host.TaskInventory[invItemID].PermsGranter;
 
-                if (agentID == UUID.Zero) return;
-                if ((m_host.TaskInventory[invItemID].PermsMask & ScriptBaseClass.PERMISSION_CONTROL_CAMERA) == 0) return;
+            if (agentID == UUID.Zero)
+            {
+                m_host.TaskInventory.LockItemsForRead(false);
+                return;
+            }
+            if ((m_host.TaskInventory[invItemID].PermsMask & ScriptBaseClass.PERMISSION_CONTROL_CAMERA) == 0)
+            {
+                m_host.TaskInventory.LockItemsForRead(false);
+                return;
             }
+            m_host.TaskInventory.LockItemsForRead(false);
 
             ScenePresence presence = World.GetScenePresence(agentID);
 
@@ -9896,12 +10653,14 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
             SortedDictionary<int, float> parameters = new SortedDictionary<int, float>();
             object[] data = rules.Data;
-            for (int i = 0; i < data.Length; ++i) {
+            for (int i = 0; i < data.Length; ++i)
+            {
                 int type = Convert.ToInt32(data[i++].ToString());
                 if (i >= data.Length) break; // odd number of entries => ignore the last
 
                 // some special cases: Vector parameters are split into 3 float parameters (with type+1, type+2, type+3)
-                switch (type) {
+                switch (type)
+                {
                 case ScriptBaseClass.CAMERA_FOCUS:
                 case ScriptBaseClass.CAMERA_FOCUS_OFFSET:
                 case ScriptBaseClass.CAMERA_POSITION:
@@ -9937,12 +10696,19 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
             // we need the permission first, to know which avatar we want to clear the camera for
             UUID agentID;
-            lock (m_host.TaskInventory)
+            m_host.TaskInventory.LockItemsForRead(true);
+            agentID = m_host.TaskInventory[invItemID].PermsGranter;
+            if (agentID == UUID.Zero)
             {
-                agentID = m_host.TaskInventory[invItemID].PermsGranter;
-                if (agentID == UUID.Zero) return;
-                if ((m_host.TaskInventory[invItemID].PermsMask & ScriptBaseClass.PERMISSION_CONTROL_CAMERA) == 0) return;
+                m_host.TaskInventory.LockItemsForRead(false);
+                return;
             }
+            if ((m_host.TaskInventory[invItemID].PermsMask & ScriptBaseClass.PERMISSION_CONTROL_CAMERA) == 0)
+            {
+                m_host.TaskInventory.LockItemsForRead(false);
+                return;
+            }
+            m_host.TaskInventory.LockItemsForRead(false);
 
             ScenePresence presence = World.GetScenePresence(agentID);
 
@@ -10009,19 +10775,65 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         public LSL_String llXorBase64StringsCorrect(string str1, string str2)
         {
             m_host.AddScriptLPS(1);
-            string ret = String.Empty;
-            string src1 = llBase64ToString(str1);
-            string src2 = llBase64ToString(str2);
-            int c = 0;
-            for (int i = 0; i < src1.Length; i++)
+
+            if (str1 == String.Empty)
+                return String.Empty;
+            if (str2 == String.Empty)
+                return str1;
+
+            int len = str2.Length;
+            if ((len % 4) != 0) // LL is EVIL!!!!
             {
-                ret += (char) (src1[i] ^ src2[c]);
+                while (str2.EndsWith("="))
+                    str2 = str2.Substring(0, str2.Length - 1);
 
-                c++;
-                if (c >= src2.Length)
-                    c = 0;
+                len = str2.Length;
+                int mod = len % 4;
+
+                if (mod == 1)
+                    str2 = str2.Substring(0, str2.Length - 1);
+                else if (mod == 2)
+                    str2 += "==";
+                else if (mod == 3)
+                    str2 += "=";
             }
-            return llStringToBase64(ret);
+
+            byte[] data1;
+            byte[] data2;
+            try
+            {
+                data1 = Convert.FromBase64String(str1);
+                data2 = Convert.FromBase64String(str2);
+            }
+            catch (Exception)
+            {
+                return new LSL_String(String.Empty);
+            }
+
+            byte[] d2 = new Byte[data1.Length];
+            int pos = 0;
+            
+            if (data1.Length <= data2.Length)
+            {
+                Array.Copy(data2, 0, d2, 0, data1.Length);
+            }
+            else
+            {
+                while (pos < data1.Length)
+                {
+                    len = data1.Length - pos;
+                    if (len > data2.Length)
+                        len = data2.Length;
+
+                    Array.Copy(data2, 0, d2, pos, len);
+                    pos += len;
+                }
+            }
+
+            for (pos = 0 ; pos < data1.Length ; pos++ )
+                data1[pos] ^= d2[pos];
+
+            return Convert.ToBase64String(data1);
         }
 
         public LSL_String llHTTPRequest(string url, LSL_List parameters, string body)
@@ -10078,12 +10890,15 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             Regex r = new Regex(authregex);
             int[] gnums = r.GetGroupNumbers();
             Match m = r.Match(url);
-            if (m.Success) {
-                for (int i = 1; i < gnums.Length; i++) {
+            if (m.Success)
+            {
+                for (int i = 1; i < gnums.Length; i++)
+                {
                     //System.Text.RegularExpressions.Group g = m.Groups[gnums[i]];
                     //CaptureCollection cc = g.Captures;
                 }
-                if (m.Groups.Count == 5) {
+                if (m.Groups.Count == 5)
+                {
                     httpHeaders["Authorization"] = String.Format("Basic {0}", Convert.ToBase64String(System.Text.ASCIIEncoding.ASCII.GetBytes(m.Groups[2].ToString() + ":" + m.Groups[3].ToString())));
                     url = m.Groups[1].ToString() + m.Groups[4].ToString();
                 }
@@ -10369,15 +11184,19 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
         internal UUID ScriptByName(string name)
         {
-            lock (m_host.TaskInventory)
+            m_host.TaskInventory.LockItemsForRead(true);
+
+            foreach (TaskInventoryItem item in m_host.TaskInventory.Values)
             {
-                foreach (TaskInventoryItem item in m_host.TaskInventory.Values)
+                if (item.Type == 10 && item.Name == name)
                 {
-                    if (item.Type == 10 && item.Name == name)
-                        return item.ItemID;
+                    m_host.TaskInventory.LockItemsForRead(false);
+                    return item.ItemID;
                 }
             }
 
+            m_host.TaskInventory.LockItemsForRead(false);
+
             return UUID.Zero;
         }
 
@@ -10418,6 +11237,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         {
             m_host.AddScriptLPS(1);
 
+            //Clone is thread safe
             TaskInventoryDictionary itemsDictionary = (TaskInventoryDictionary)m_host.TaskInventory.Clone();
 
             UUID assetID = UUID.Zero;
@@ -10480,6 +11300,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         {
             m_host.AddScriptLPS(1);
 
+            //Clone is thread safe
             TaskInventoryDictionary itemsDictionary = (TaskInventoryDictionary)m_host.TaskInventory.Clone();
 
             UUID assetID = UUID.Zero;
@@ -10560,15 +11381,13 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             return GetLinkPrimitiveParams(obj, rules);
         }
 
-        public void print(string str)
+        public LSL_Integer llGetLinkNumberOfSides(LSL_Integer link)
         {
-            // yes, this is a real LSL function. See: http://wiki.secondlife.com/wiki/Print
-            IOSSL_Api ossl = (IOSSL_Api)m_ScriptEngine.GetApi(m_itemID, "OSSL");
-            if (ossl != null)
-            {
-                ossl.CheckThreatLevel(ThreatLevel.High, "print");
-                m_log.Info("LSL print():" + str);
-            }
+            List<SceneObjectPart> parts = GetLinkParts(link);
+            if (parts.Count < 1)
+                return 0;
+
+            return GetNumberOfSides(parts[0]);
         }
 
         private string Name2Username(string name)
@@ -10614,153 +11433,397 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             return rq.ToString();
         }
 
+        private void SayShoutTimerElapsed(Object sender, ElapsedEventArgs args)
+        {
+            m_SayShoutCount = 0;
+        }
+
+        private struct Tri
+        {
+            public Vector3 p1;
+            public Vector3 p2;
+            public Vector3 p3;
+        }
+
+        private bool InBoundingBox(ScenePresence avatar, Vector3 point)
+        {
+            float height = avatar.Appearance.AvatarHeight;
+            Vector3 b1 = avatar.AbsolutePosition + new Vector3(-0.22f, -0.22f, -height/2);
+            Vector3 b2 = avatar.AbsolutePosition + new Vector3(0.22f, 0.22f, height/2);
+
+            if (point.X > b1.X && point.X < b2.X &&
+                point.Y > b1.Y && point.Y < b2.Y &&
+                point.Z > b1.Z && point.Z < b2.Z)
+                return true;
+            return false;
+        }
+
+        private ContactResult[] AvatarIntersection(Vector3 rayStart, Vector3 rayEnd)
+        {
+            List<ContactResult> contacts = new List<ContactResult>();
+
+            Vector3 ab = rayEnd - rayStart;
+
+            World.ForEachScenePresence(delegate(ScenePresence sp)
+            {
+                Vector3 ac = sp.AbsolutePosition - rayStart;
+                Vector3 bc = sp.AbsolutePosition - rayEnd;
+
+                double d = Math.Abs(Vector3.Mag(Vector3.Cross(ab, ac)) / Vector3.Distance(rayStart, rayEnd));
+
+                if (d > 1.5)
+                    return;
+
+                double d2 = Vector3.Dot(Vector3.Negate(ab), ac);
+
+                if (d2 > 0)
+                    return;
+
+                double dp = Math.Sqrt(Vector3.Mag(ac) * Vector3.Mag(ac) - d * d);
+                Vector3 p = rayStart + Vector3.Divide(Vector3.Multiply(ab, (float)dp), (float)Vector3.Mag(ab));
+
+                if (!InBoundingBox(sp, p))
+                    return;
+
+                ContactResult result = new ContactResult ();
+                result.ConsumerID = sp.LocalId;
+                result.Depth = Vector3.Distance(rayStart, p);
+                result.Normal = Vector3.Zero;
+                result.Pos = p;
+
+                contacts.Add(result);
+            });
+
+            return contacts.ToArray();
+        }
+
+        private ContactResult[] ObjectIntersection(Vector3 rayStart, Vector3 rayEnd, bool includePhysical, bool includeNonPhysical, bool includePhantom)
+        {
+            Ray ray = new Ray(rayStart, Vector3.Normalize(rayEnd - rayStart));
+            List<ContactResult> contacts = new List<ContactResult>();
+
+            Vector3 ab = rayEnd - rayStart;
+
+            World.ForEachSOG(delegate(SceneObjectGroup group)
+            {
+                if (m_host.ParentGroup == group)
+                    return;
+
+                if (group.IsAttachment)
+                    return;
+
+                if (group.RootPart.PhysActor == null)
+                {
+                    if (!includePhantom)
+                        return;
+                }
+                else
+                {
+                    if (group.RootPart.PhysActor.IsPhysical)
+                    {
+                        if (!includePhysical)
+                            return;
+                    }
+                    else
+                    {
+                        if (!includeNonPhysical)
+                            return;
+                    }
+                }
+
+                // Find the radius ouside of which we don't even need to hit test
+                float minX;
+                float maxX;
+                float minY;
+                float maxY;
+                float minZ;
+                float maxZ;
+
+                float radius = 0.0f;
+
+                group.GetAxisAlignedBoundingBoxRaw(out minX, out maxX, out minY, out maxY, out minZ, out maxZ);
+
+                if (Math.Abs(minX) > radius)
+                    radius = Math.Abs(minX);
+                if (Math.Abs(minY) > radius)
+                    radius = Math.Abs(minY);
+                if (Math.Abs(minZ) > radius)
+                    radius = Math.Abs(minZ);
+                if (Math.Abs(maxX) > radius)
+                    radius = Math.Abs(maxX);
+                if (Math.Abs(maxY) > radius)
+                    radius = Math.Abs(maxY);
+                if (Math.Abs(maxZ) > radius)
+                    radius = Math.Abs(maxZ);
+
+                Vector3 ac = group.AbsolutePosition - rayStart;
+                Vector3 bc = group.AbsolutePosition - rayEnd;
+
+                double d = Math.Abs(Vector3.Mag(Vector3.Cross(ab, ac)) / Vector3.Distance(rayStart, rayEnd));
+
+                // Too far off ray, don't bother
+                if (d > radius)
+                    return;
+
+                // Behind ray, drop
+                double d2 = Vector3.Dot(Vector3.Negate(ab), ac);
+                if (d2 > 0)
+                    return;
+
+                EntityIntersection intersection = group.TestIntersection(ray, true, false);
+                // Miss.
+                if (!intersection.HitTF)
+                    return;
+
+                ContactResult result = new ContactResult ();
+                result.ConsumerID = group.LocalId;
+                result.Depth = intersection.distance;
+                result.Normal = intersection.normal;
+                result.Pos = intersection.ipoint;
+
+                contacts.Add(result);
+            });
+
+            return contacts.ToArray();
+        }
+
+        private ContactResult? GroundIntersection(Vector3 rayStart, Vector3 rayEnd)
+        {
+            double[,] heightfield = World.Heightmap.GetDoubles();
+            List<ContactResult> contacts = new List<ContactResult>();
+
+            double min = 2048.0;
+            double max = 0.0;
+
+            // Find the min and max of the heightfield
+            for (int x = 0 ; x < World.Heightmap.Width ; x++)
+            {
+                for (int y = 0 ; y < World.Heightmap.Height ; y++)
+                {
+                    if (heightfield[x, y] > max)
+                        max = heightfield[x, y];
+                    if (heightfield[x, y] < min)
+                        min = heightfield[x, y];
+                }
+            }
+
+
+            // A ray extends past rayEnd, but doesn't go back before
+            // rayStart. If the start is above the highest point of the ground
+            // and the ray goes up, we can't hit the ground. Ever.
+            if (rayStart.Z > max && rayEnd.Z >= rayStart.Z)
+                return null;
+
+            // Same for going down
+            if (rayStart.Z < min && rayEnd.Z <= rayStart.Z)
+                return null;
+
+            List<Tri> trilist = new List<Tri>();
+
+            // Create our triangle list
+            for (int x = 1 ; x < World.Heightmap.Width ; x++)
+            {
+                for (int y = 1 ; y < World.Heightmap.Height ; y++)
+                {
+                    Tri t1 = new Tri();
+                    Tri t2 = new Tri();
+                    
+                    Vector3 p1 = new Vector3(x-1, y-1, (float)heightfield[x-1, y-1]);
+                    Vector3 p2 = new Vector3(x, y-1, (float)heightfield[x, y-1]);
+                    Vector3 p3 = new Vector3(x, y, (float)heightfield[x, y]);
+                    Vector3 p4 = new Vector3(x-1, y, (float)heightfield[x-1, y]);
+
+                    t1.p1 = p1;
+                    t1.p2 = p2;
+                    t1.p3 = p3;
+
+                    t2.p1 = p3;
+                    t2.p2 = p4;
+                    t2.p3 = p1;
+
+                    trilist.Add(t1);
+                    trilist.Add(t2);
+                }
+            }
+
+            // Ray direction
+            Vector3 rayDirection = rayEnd - rayStart;
+
+            foreach (Tri t in trilist)
+            {
+                // Compute triangle plane normal and edges
+                Vector3 u = t.p2 - t.p1;
+                Vector3 v = t.p3 - t.p1;
+                Vector3 n = Vector3.Cross(u, v);
+
+                if (n == Vector3.Zero)
+                    continue;
+
+                Vector3 w0 = rayStart - t.p1;
+                double a = -Vector3.Dot(n, w0);
+                double b = Vector3.Dot(n, rayDirection);
+
+                // Not intersecting the plane, or in plane (same thing)
+                // Ignoring this MAY cause the ground to not be detected
+                // sometimes
+                if (Math.Abs(b) < 0.000001)
+                    continue;
+                
+                double r = a / b;
+
+                // ray points away from plane
+                if (r < 0.0)
+                    continue;
+
+                Vector3 ip = rayStart + Vector3.Multiply(rayDirection, (float)r);
+
+                float uu = Vector3.Dot(u, u);
+                float uv = Vector3.Dot(u, v);
+                float vv = Vector3.Dot(v, v);
+                Vector3 w = ip - t.p1;
+                float wu = Vector3.Dot(w, u);
+                float wv = Vector3.Dot(w, v);
+                float d = uv * uv - uu * vv;
+
+                float cs = (uv * wv - vv * wu) / d;
+                if (cs < 0 || cs > 1.0)
+                    continue;
+                float ct = (uv * wu - uu * wv) / d;
+                if (ct < 0 || (cs + ct) > 1.0)
+                    continue;
+
+                // Add contact point
+                ContactResult result = new ContactResult ();
+                result.ConsumerID = 0;
+                result.Depth = Vector3.Distance(rayStart, ip);
+                result.Normal = n;
+                result.Pos = ip;
+
+                contacts.Add(result);
+            }
+
+            if (contacts.Count == 0)
+                return null;
+
+            contacts.Sort(delegate(ContactResult a, ContactResult b)
+            {
+                return (int)(a.Depth - b.Depth);
+            });
+
+            return contacts[0];
+        }
+
         public LSL_List llCastRay(LSL_Vector start, LSL_Vector end, LSL_List options)
         {
+            LSL_List list = new LSL_List();
+
             m_host.AddScriptLPS(1);
 
-            Vector3 dir = new Vector3((float)(end-start).x, (float)(end-start).y, (float)(end-start).z);
-            Vector3 startvector = new Vector3((float)start.x, (float)start.y, (float)start.z);
-            Vector3 endvector = new Vector3((float)end.x, (float)end.y, (float)end.z);
+            Vector3 rayStart = new Vector3((float)start.x, (float)start.y, (float)start.z);
+            Vector3 rayEnd = new Vector3((float)end.x, (float)end.y, (float)end.z);
+            Vector3 dir = rayEnd - rayStart;
 
-            int count = 0;
-//            int detectPhantom = 0;
+            float dist = Vector3.Mag(dir);
+
+            int count = 1;
+            bool detectPhantom = false;
             int dataFlags = 0;
             int rejectTypes = 0;
 
             for (int i = 0; i < options.Length; i += 2)
             {
                 if (options.GetLSLIntegerItem(i) == ScriptBaseClass.RC_MAX_HITS)
-                {
                     count = options.GetLSLIntegerItem(i + 1);
-                }
-//                else if (options.GetLSLIntegerItem(i) == ScriptBaseClass.RC_DETECT_PHANTOM)
-//                {
-//                    detectPhantom = options.GetLSLIntegerItem(i + 1);
-//                }
+                else if (options.GetLSLIntegerItem(i) == ScriptBaseClass.RC_DETECT_PHANTOM)
+                    detectPhantom = (options.GetLSLIntegerItem(i + 1) > 0);
                 else if (options.GetLSLIntegerItem(i) == ScriptBaseClass.RC_DATA_FLAGS)
-                {
                     dataFlags = options.GetLSLIntegerItem(i + 1);
-                }
                 else if (options.GetLSLIntegerItem(i) == ScriptBaseClass.RC_REJECT_TYPES)
-                {
                     rejectTypes = options.GetLSLIntegerItem(i + 1);
-                }
             }
 
-            LSL_List list = new LSL_List();
-            List<ContactResult> results = World.PhysicsScene.RaycastWorld(startvector, dir, dir.Length(), count);
-
-            double distance = Util.GetDistanceTo(startvector, endvector);
+            if (count > 16)
+                count = 16;
 
-            if (distance == 0)
-                distance = 0.001;
-
-            Vector3 posToCheck = startvector;
-            ITerrainChannel channel = World.RequestModuleInterface<ITerrainChannel>();
+            List<ContactResult> results = new List<ContactResult>();
 
             bool checkTerrain = !((rejectTypes & ScriptBaseClass.RC_REJECT_LAND) == ScriptBaseClass.RC_REJECT_LAND);
             bool checkAgents = !((rejectTypes & ScriptBaseClass.RC_REJECT_AGENTS) == ScriptBaseClass.RC_REJECT_AGENTS);
             bool checkNonPhysical = !((rejectTypes & ScriptBaseClass.RC_REJECT_NONPHYSICAL) == ScriptBaseClass.RC_REJECT_NONPHYSICAL);
             bool checkPhysical = !((rejectTypes & ScriptBaseClass.RC_REJECT_PHYSICAL) == ScriptBaseClass.RC_REJECT_PHYSICAL);
 
-            for (float i = 0; i <= distance; i += 0.1f)
+            if (checkTerrain)
             {
-                posToCheck = startvector  + (dir * (i / (float)distance));
+                ContactResult? groundContact = GroundIntersection(rayStart, rayEnd);
+                if (groundContact != null)
+                    results.Add((ContactResult)groundContact);
+            }
 
-                if (checkTerrain && channel[(int)(posToCheck.X + startvector.X), (int)(posToCheck.Y + startvector.Y)] < posToCheck.Z)
-                {
-                    ContactResult result = new ContactResult();
-                    result.ConsumerID = 0;
-                    result.Depth = 0;
-                    result.Normal = Vector3.Zero;
-                    result.Pos = posToCheck;
-                    results.Add(result);
-                    checkTerrain = false;
-                }
+            if (checkAgents)
+            {
+                ContactResult[] agentHits = AvatarIntersection(rayStart, rayEnd);
+                foreach (ContactResult r in agentHits)
+                    results.Add(r);
+            }
 
-                if (checkAgents)
-                {
-                    World.ForEachRootScenePresence(delegate(ScenePresence sp)
-                    {
-                        if (sp.AbsolutePosition.ApproxEquals(posToCheck, sp.PhysicsActor.Size.X))
-                        {
-                            ContactResult result = new ContactResult ();
-                            result.ConsumerID = sp.LocalId;
-                            result.Depth = 0;
-                            result.Normal = Vector3.Zero;
-                            result.Pos = posToCheck;
-                            results.Add(result);
-                        }
-                    });
-                }
+            if (checkPhysical || checkNonPhysical)
+            {
+                ContactResult[] objectHits = ObjectIntersection(rayStart, rayEnd, checkPhysical, checkNonPhysical, detectPhantom);
+                foreach (ContactResult r in objectHits)
+                    results.Add(r);
             }
 
-            int refcount = 0;
+            results.Sort(delegate(ContactResult a, ContactResult b)
+            {
+                return (int)(a.Depth - b.Depth);
+            });
+            
+            int values = 0;
             foreach (ContactResult result in results)
             {
-                if ((rejectTypes & ScriptBaseClass.RC_REJECT_LAND)
-                    == ScriptBaseClass.RC_REJECT_LAND && result.ConsumerID == 0)
+                if (result.Depth > dist)
                     continue;
 
-                ISceneEntity entity = World.GetSceneObjectPart(result.ConsumerID);
+                UUID itemID = UUID.Zero;
+                int linkNum = 0;
 
-                if (entity == null && (rejectTypes & ScriptBaseClass.RC_REJECT_AGENTS) != ScriptBaseClass.RC_REJECT_AGENTS)
-                    entity = World.GetScenePresence(result.ConsumerID); //Only check if we should be looking for agents
-
-                if (entity == null)
+                SceneObjectPart part = World.GetSceneObjectPart(result.ConsumerID);
+                // It's a prim!
+                if (part != null)
                 {
-                    list.Add(UUID.Zero);
-
-                    if ((dataFlags & ScriptBaseClass.RC_GET_LINK_NUM) == ScriptBaseClass.RC_GET_LINK_NUM)
-                        list.Add(0);
-
-                    list.Add(result.Pos);
-
-                    if ((dataFlags & ScriptBaseClass.RC_GET_NORMAL) == ScriptBaseClass.RC_GET_NORMAL)
-                        list.Add(result.Normal);
+                    if ((dataFlags & ScriptBaseClass.RC_GET_ROOT_KEY) == ScriptBaseClass.RC_GET_ROOT_KEY)
+                        itemID = part.ParentGroup.UUID;
+                    else
+                        itemID = part.UUID;
 
-                    continue; //Can't find it, so add UUID.Zero
+                    linkNum = part.LinkNum;
                 }
-
-                /*if (detectPhantom == 0 && intersection.obj is ISceneChildEntity &&
-                    ((ISceneChildEntity)intersection.obj).PhysActor == null)
-                    continue;*/ //Can't do this ATM, physics engine knows only of non phantom objects
-
-                if (entity is SceneObjectPart)
+                else
                 {
-                    if (((SceneObjectPart)entity).PhysActor != null && ((SceneObjectPart)entity).PhysActor.IsPhysical)
-                    {
-                        if (!checkPhysical)
-                            continue;
-                    }
-                    else
-                    {
-                        if (!checkNonPhysical)
-                            continue;
-                    }
+                    ScenePresence sp = World.GetScenePresence(result.ConsumerID);
+                    /// It it a boy? a girl?
+                    if (sp != null)
+                        itemID = sp.UUID;
                 }
 
-                refcount++;
-                if ((dataFlags & ScriptBaseClass.RC_GET_ROOT_KEY) == ScriptBaseClass.RC_GET_ROOT_KEY && entity is SceneObjectPart)
-                    list.Add(((SceneObjectPart)entity).ParentGroup.UUID);
-                else
-                    list.Add(entity.UUID);
+                list.Add(new LSL_String(itemID.ToString()));
+                list.Add(new LSL_String(result.Pos.ToString()));
 
                 if ((dataFlags & ScriptBaseClass.RC_GET_LINK_NUM) == ScriptBaseClass.RC_GET_LINK_NUM)
-                {
-                    if (entity is SceneObjectPart)
-                        list.Add(((SceneObjectPart)entity).LinkNum);
-                    else
-                        list.Add(0);
-                }
+                    list.Add(new LSL_Integer(linkNum));
 
-                list.Add(result.Pos);
 
                 if ((dataFlags & ScriptBaseClass.RC_GET_NORMAL) == ScriptBaseClass.RC_GET_NORMAL)
-                    list.Add(result.Normal);
+                    list.Add(new LSL_Vector(result.Normal.X, result.Normal.Y, result.Normal.Z));
+                
+                values++;
+                count--;
+
+                if (count == 0)
+                    break;
             }
 
-            list.Add(refcount); //The status code, either the # of contacts, RCERR_SIM_PERF_LOW, or RCERR_CAST_TIME_EXCEEDED
+            list.Add(new LSL_Integer(values));
 
             return list;
         }
@@ -10800,7 +11863,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                 case ScriptBaseClass.ESTATE_ACCESS_ALLOWED_AGENT_ADD:
                     if (!isAccount) return 0;
                     if (estate.HasAccess(id)) return 1;
-                    if (estate.IsBanned(id))
+                    if (estate.IsBanned(id, World.GetUserFlags(id)))
                         estate.RemoveBan(id);
                     estate.AddEstateUser(id);
                     break;
@@ -10819,14 +11882,14 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                     break;
                 case ScriptBaseClass.ESTATE_ACCESS_BANNED_AGENT_ADD:
                     if (!isAccount) return 0;
-                    if (estate.IsBanned(id)) return 1;
+                    if (estate.IsBanned(id, World.GetUserFlags(id))) return 1;
                     EstateBan ban = new EstateBan();
                     ban.EstateID = estate.EstateID;
                     ban.BannedUserID = id;
                     estate.AddBan(ban);
                     break;
                 case ScriptBaseClass.ESTATE_ACCESS_BANNED_AGENT_REMOVE:
-                    if (!isAccount || !estate.IsBanned(id)) return 0;
+                    if (!isAccount || !estate.IsBanned(id, World.GetUserFlags(id))) return 0;
                     estate.RemoveBan(id);
                     break;
                 default: return 0;
@@ -10852,22 +11915,22 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             NotImplemented("llGetSPMaxMemory");
         }
 
-        public void llGetUsedMemory()
+        public virtual LSL_Integer llGetUsedMemory()
         {
             m_host.AddScriptLPS(1);
             NotImplemented("llGetUsedMemory");
+            return 0;
         }
 
         public void llScriptProfiler(LSL_Integer flags)
         {
             m_host.AddScriptLPS(1);
-            NotImplemented("llScriptProfiler");
+            //NotImplemented("llScriptProfiler");
         }
 
         public void llSetSoundQueueing(int queue)
         {
             m_host.AddScriptLPS(1);
-            NotImplemented("llSetSoundQueueing");
         }
 
         public void llCollisionSprite(string impact_sprite)
@@ -10879,10 +11942,274 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         public void llGodLikeRezObject(string inventory, LSL_Vector pos)
         {
             m_host.AddScriptLPS(1);
-            NotImplemented("llGodLikeRezObject");
+
+            if (!World.Permissions.IsGod(m_host.OwnerID))
+                NotImplemented("llGodLikeRezObject");
+
+            AssetBase rezAsset = World.AssetService.Get(inventory);
+            if (rezAsset == null)
+            {
+                llSay(0, "Asset not found");
+                return;
+            }
+
+            SceneObjectGroup group = null;
+
+            try
+            {
+                string xmlData = Utils.BytesToString(rezAsset.Data);
+                group = SceneObjectSerializer.FromOriginalXmlFormat(xmlData);
+            }
+            catch
+            {
+                llSay(0, "Asset not found");
+                return;
+            }
+
+            if (group == null)
+            {
+                llSay(0, "Asset not found");
+                return;
+            }
+
+            group.RootPart.AttachPoint = group.RootPart.Shape.State;
+            group.RootPart.AttachOffset = group.AbsolutePosition;
+
+            group.ResetIDs();
+
+            Vector3 llpos = new Vector3((float)pos.x, (float)pos.y, (float)pos.z);
+            World.AddNewSceneObject(group, true, llpos, Quaternion.Identity, Vector3.Zero);
+            group.CreateScriptInstances(0, true, World.DefaultScriptEngine, 3);
+            group.ScheduleGroupForFullUpdate();
+
+            // objects rezzed with this method are die_at_edge by default.
+            group.RootPart.SetDieAtEdge(true);
+
+            group.ResumeScripts();
+
+            m_ScriptEngine.PostObjectEvent(m_host.LocalId, new EventParams(
+                    "object_rez", new Object[] {
+                    new LSL_String(
+                    group.RootPart.UUID.ToString()) },
+                    new DetectParams[0]));
+        }
+
+        public LSL_String llTransferLindenDollars(string destination, int amount)
+        {
+            UUID txn = UUID.Random();
+
+            Util.FireAndForget(delegate(object x)
+            {
+                int replycode = 0;
+                string replydata = destination + "," + amount.ToString();
+
+                try
+                {
+                    UUID invItemID=InventorySelf();
+                    if (invItemID == UUID.Zero)
+                    {
+                        replydata = "SERVICE_ERROR";
+                        return;
+                    }
+
+                    m_host.AddScriptLPS(1);
+
+                    m_host.TaskInventory.LockItemsForRead(true);
+                    TaskInventoryItem item = m_host.TaskInventory[invItemID];
+                    m_host.TaskInventory.LockItemsForRead(false);
+
+                    if (item.PermsGranter == UUID.Zero)
+                    {
+                        replydata = "MISSING_PERMISSION_DEBIT";
+                        return;
+                    }
+
+                    if ((item.PermsMask & ScriptBaseClass.PERMISSION_DEBIT) == 0)
+                    {
+                        replydata = "MISSING_PERMISSION_DEBIT";
+                        return;
+                    }
+
+                    UUID toID = new UUID();
+
+                    if (!UUID.TryParse(destination, out toID))
+                    {
+                        replydata = "INVALID_AGENT";
+                        return;
+                    }
+
+                    IMoneyModule money = World.RequestModuleInterface<IMoneyModule>();
+
+                    if (money == null)
+                    {
+                        replydata = "TRANSFERS_DISABLED";
+                        return;
+                    }
+
+                    bool result = money.ObjectGiveMoney(
+                        m_host.ParentGroup.RootPart.UUID, m_host.ParentGroup.RootPart.OwnerID, toID, amount);
+
+                    if (result)
+                    {
+                        replycode = 1;
+                        return;
+                    }
+
+                    replydata = "LINDENDOLLAR_INSUFFICIENTFUNDS";
+                }
+                finally
+                {
+                    m_ScriptEngine.PostScriptEvent(m_itemID, new EventParams(
+                            "transaction_result", new Object[] {
+                            new LSL_String(txn.ToString()),
+                            new LSL_Integer(replycode),
+                            new LSL_String(replydata) },
+                            new DetectParams[0]));
+                }
+            });
+
+            return txn.ToString();
         }
 
         #endregion
+
+        public void llSetKeyframedMotion(LSL_List frames, LSL_List options)
+        {
+            SceneObjectGroup group = m_host.ParentGroup;
+
+            if (group.RootPart.PhysActor != null && group.RootPart.PhysActor.IsPhysical)
+                return;
+            if (group.IsAttachment)
+                return;
+
+            if (frames.Data.Length > 0) // We are getting a new motion
+            {
+                if (group.RootPart.KeyframeMotion != null)
+                    group.RootPart.KeyframeMotion.Stop();
+                group.RootPart.KeyframeMotion = null;
+
+                int idx = 0;
+
+                KeyframeMotion.PlayMode mode = KeyframeMotion.PlayMode.Forward;
+                KeyframeMotion.DataFormat data = KeyframeMotion.DataFormat.Translation | KeyframeMotion.DataFormat.Rotation;
+
+                while (idx < options.Data.Length)
+                {
+                    int option = (int)options.GetLSLIntegerItem(idx++);
+                    int remain = options.Data.Length - idx;
+
+                    switch (option)
+                    {
+                        case ScriptBaseClass.KFM_MODE:
+                            if (remain < 1)
+                                break;
+                            int modeval = (int)options.GetLSLIntegerItem(idx++);
+                            switch(modeval)
+                            {
+                                case ScriptBaseClass.KFM_FORWARD:
+                                    mode = KeyframeMotion.PlayMode.Forward;
+                                    break;
+                                case ScriptBaseClass.KFM_REVERSE:
+                                    mode = KeyframeMotion.PlayMode.Reverse;
+                                    break;
+                                case ScriptBaseClass.KFM_LOOP:
+                                    mode = KeyframeMotion.PlayMode.Loop;
+                                    break;
+                                case ScriptBaseClass.KFM_PING_PONG:
+                                    mode = KeyframeMotion.PlayMode.PingPong;
+                                    break;
+                            }
+                            break;
+                        case ScriptBaseClass.KFM_DATA:
+                            if (remain < 1)
+                                break;
+                            int dataval = (int)options.GetLSLIntegerItem(idx++);
+                            data = (KeyframeMotion.DataFormat)dataval;
+                            break;
+                    }
+                }
+
+                group.RootPart.KeyframeMotion = new KeyframeMotion(group, mode, data);
+
+                idx = 0;
+
+                int elemLength = 2;
+                if (data == (KeyframeMotion.DataFormat.Translation | KeyframeMotion.DataFormat.Rotation))
+                    elemLength = 3;
+
+                List<KeyframeMotion.Keyframe> keyframes = new List<KeyframeMotion.Keyframe>();
+                while (idx < frames.Data.Length)
+                {
+                    int remain = frames.Data.Length - idx;
+
+                    if (remain < elemLength)
+                        break;
+
+                    KeyframeMotion.Keyframe frame = new KeyframeMotion.Keyframe();
+                    frame.Position = null;
+                    frame.Rotation = null;
+
+                    if ((data & KeyframeMotion.DataFormat.Translation) != 0)
+                    {
+                        LSL_Types.Vector3 tempv = frames.GetVector3Item(idx++);
+                        frame.Position = new Vector3((float)tempv.x, (float)tempv.y, (float)tempv.z);
+                    }
+                    if ((data & KeyframeMotion.DataFormat.Rotation) != 0)
+                    {
+                        LSL_Types.Quaternion tempq = frames.GetQuaternionItem(idx++);
+                        frame.Rotation = new Quaternion((float)tempq.x, (float)tempq.y, (float)tempq.z, (float)tempq.s);
+                    }
+
+                    float tempf = (float)frames.GetLSLFloatItem(idx++);
+                    frame.TimeMS = (int)(tempf * 1000.0f);
+
+                    keyframes.Add(frame);
+                }
+
+                group.RootPart.KeyframeMotion.SetKeyframes(keyframes.ToArray());
+                group.RootPart.KeyframeMotion.Start();
+            }
+            else
+            {
+                if (group.RootPart.KeyframeMotion == null)
+                    return;
+
+                if (options.Data.Length == 0)
+                {
+                    group.RootPart.KeyframeMotion.Stop();
+                    return;
+                }
+                    
+                int code = (int)options.GetLSLIntegerItem(0);
+
+                int idx = 0;
+
+                while (idx < options.Data.Length)
+                {
+                    int option = (int)options.GetLSLIntegerItem(idx++);
+                    int remain = options.Data.Length - idx;
+
+                    switch (option)
+                    {
+                        case ScriptBaseClass.KFM_COMMAND:
+                            int cmd = (int)options.GetLSLIntegerItem(idx++);
+                            switch (cmd)
+                            {
+                                case ScriptBaseClass.KFM_CMD_PLAY:
+                                    group.RootPart.KeyframeMotion.Start();
+                                    break;
+                                case ScriptBaseClass.KFM_CMD_STOP:
+                                    group.RootPart.KeyframeMotion.Stop();
+                                    break;
+                                case ScriptBaseClass.KFM_CMD_PAUSE:
+                                    group.RootPart.KeyframeMotion.Pause();
+                                    break;
+                            }
+                            break;
+                    }
+                }
+            }
+        }
     }
 
     public class NotecardCache
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs
index a5dcba4..0dc2aa2 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs
@@ -137,6 +137,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         internal ThreatLevel m_MaxThreatLevel = ThreatLevel.VeryLow;
         internal float m_ScriptDelayFactor = 1.0f;
         internal float m_ScriptDistanceFactor = 1.0f;
+        internal bool m_debuggerSafe = false;
         internal Dictionary<string, FunctionPerms > m_FunctionPerms = new Dictionary<string, FunctionPerms >();
 
         public void Initialize(IScriptEngine ScriptEngine, SceneObjectPart host, uint localID, UUID itemID)
@@ -145,6 +146,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             m_host = host;
             m_localID = localID;
             m_itemID = itemID;
+            m_debuggerSafe = m_ScriptEngine.Config.GetBoolean("DebuggerSafe", false);
 
             if (m_ScriptEngine.Config.GetBoolean("AllowOSFunctions", false))
                 m_OSFunctionsEnabled = true;
@@ -206,7 +208,14 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
         internal void OSSLError(string msg)
         {
-            throw new Exception("OSSL Runtime Error: " + msg);
+            if (m_debuggerSafe)
+            {
+                OSSLShoutError(msg);
+            }
+            else
+            {
+                throw new Exception("OSSL Runtime Error: " + msg);
+            }
         }
 
         private void InitLSL()
@@ -917,18 +926,17 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                 if (target != null)
                 {
                     UUID animID=UUID.Zero;
-                    lock (m_host.TaskInventory)
+                    m_host.TaskInventory.LockItemsForRead(true);
+                    foreach (KeyValuePair<UUID, TaskInventoryItem> inv in m_host.TaskInventory)
                     {
-                        foreach (KeyValuePair<UUID, TaskInventoryItem> inv in m_host.TaskInventory)
+                        if (inv.Value.Name == animation)
                         {
-                            if (inv.Value.Name == animation)
-                            {
-                                if (inv.Value.Type == (int)AssetType.Animation)
-                                    animID = inv.Value.AssetID;
-                                continue;
-                            }
+                            if (inv.Value.Type == (int)AssetType.Animation)
+                                animID = inv.Value.AssetID;
+                            continue;
                         }
                     }
+                    m_host.TaskInventory.LockItemsForRead(false);
                     if (animID == UUID.Zero)
                         target.Animator.AddAnimation(animation, m_host.UUID);
                     else
@@ -955,18 +963,17 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                 if (target != null)
                 {
                     UUID animID = UUID.Zero;
-                    lock (m_host.TaskInventory)
+                    m_host.TaskInventory.LockItemsForRead(true);
+                    foreach (KeyValuePair<UUID, TaskInventoryItem> inv in m_host.TaskInventory)
                     {
-                        foreach (KeyValuePair<UUID, TaskInventoryItem> inv in m_host.TaskInventory)
+                        if (inv.Value.Name == animation)
                         {
-                            if (inv.Value.Name == animation)
-                            {
-                                if (inv.Value.Type == (int)AssetType.Animation)
-                                    animID = inv.Value.AssetID;
-                                continue;
-                            }
+                            if (inv.Value.Type == (int)AssetType.Animation)
+                                animID = inv.Value.AssetID;
+                            continue;
                         }
                     }
+                    m_host.TaskInventory.LockItemsForRead(false);
                     
                     if (animID == UUID.Zero)
                         target.Animator.RemoveAnimation(animation);
@@ -1798,6 +1805,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
             if (!UUID.TryParse(notecardNameOrUuid, out assetID))
             {
+                m_host.TaskInventory.LockItemsForRead(true);
                 foreach (TaskInventoryItem item in m_host.TaskInventory.Values)
                 {
                     if (item.Type == 7 && item.Name == notecardNameOrUuid)
@@ -1805,6 +1813,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                         assetID = item.AssetID;
                     }
                 }
+                m_host.TaskInventory.LockItemsForRead(false);
             }
 
             if (assetID == UUID.Zero)
@@ -2272,7 +2281,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             CheckThreatLevel(ThreatLevel.High, "osNpcCreate");
             m_host.AddScriptLPS(1);
 
-            return NpcCreate(firstname, lastname, position, notecard, false, false);
+            return NpcCreate(firstname, lastname, position, notecard, true, false);
         }
 
         public LSL_Key osNpcCreate(string firstname, string lastname, LSL_Vector position, string notecard, int options)
@@ -2283,24 +2292,39 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             return NpcCreate(
                 firstname, lastname, position, notecard,
                 (options & ScriptBaseClass.OS_NPC_NOT_OWNED) == 0,
-                (options & ScriptBaseClass.OS_NPC_SENSE_AS_AGENT) != 0);
+                false);
+//                (options & ScriptBaseClass.OS_NPC_SENSE_AS_AGENT) != 0);
         }
 
         private LSL_Key NpcCreate(
             string firstname, string lastname, LSL_Vector position, string notecard, bool owned, bool senseAsAgent)
         {
+            if (!owned)
+                OSSLError("Unowned NPCs are unsupported");
+            
+            string groupTitle = String.Empty;
+
+            if (!World.Permissions.CanRezObject(1, m_host.OwnerID, new Vector3((float)position.x, (float)position.y, (float)position.z)))
+                return new LSL_Key(UUID.Zero.ToString());
+
+            if (firstname != String.Empty || lastname != String.Empty)
+            {
+                if (firstname != "Shown outfit:")
+                    groupTitle = "- NPC -";
+            }
+
             INPCModule module = World.RequestModuleInterface<INPCModule>();
             if (module != null)
             {
                 AvatarAppearance appearance = null;
 
-                UUID id;
-                if (UUID.TryParse(notecard, out id))
-                {
-                    ScenePresence clonePresence = World.GetScenePresence(id);
-                    if (clonePresence != null)
-                        appearance = clonePresence.Appearance;
-                }
+//                UUID id;
+//                if (UUID.TryParse(notecard, out id))
+//                {
+//                    ScenePresence clonePresence = World.GetScenePresence(id);
+//                    if (clonePresence != null)
+//                        appearance = clonePresence.Appearance;
+//                }
 
                 if (appearance == null)
                 {
@@ -2328,6 +2352,12 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                                           World,
                                           appearance);
 
+                ScenePresence sp;
+                if (World.TryGetScenePresence(x, out sp))
+                {
+                    sp.Grouptitle = groupTitle;
+                    sp.SendAvatarDataToAllAgents();
+                }
                 return new LSL_Key(x.ToString());
             }
 
@@ -2596,16 +2626,32 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             CheckThreatLevel(ThreatLevel.High, "osNpcRemove");
             m_host.AddScriptLPS(1);
 
-            INPCModule module = World.RequestModuleInterface<INPCModule>();
-            if (module != null)
-            {
-                UUID npcId = new UUID(npc.m_string);
+            ManualResetEvent ev = new ManualResetEvent(false);
 
-                if (!module.CheckPermissions(npcId, m_host.OwnerID))
-                    return;
+            Util.FireAndForget(delegate(object x) {
+                try
+                {
+                    INPCModule module = World.RequestModuleInterface<INPCModule>();
+                    if (module != null)
+                    {
+                        UUID npcId = new UUID(npc.m_string);
 
-                module.DeleteNPC(npcId, World);
-            }
+                        ILandObject l = World.LandChannel.GetLandObject(m_host.GroupPosition.X, m_host.GroupPosition.Y);
+                        if (l == null || m_host.OwnerID != l.LandData.OwnerID)
+                        {
+                            if (!module.CheckPermissions(npcId, m_host.OwnerID))
+                                return;
+                        }
+
+                        module.DeleteNPC(npcId, World);
+                    }
+                }
+                finally
+                {
+                    ev.Set();
+                }
+            });
+            ev.WaitOne();
         }
 
         public void osNpcPlayAnimation(LSL_Key npc, string animation)
@@ -3050,4 +3096,4 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             return ScriptBaseClass.TRUE;
         }
     }
-}
\ No newline at end of file
+}
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Plugins/SensorRepeat.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Plugins/SensorRepeat.cs
index 1c272f8..1373971 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Plugins/SensorRepeat.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Plugins/SensorRepeat.cs
@@ -222,7 +222,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
             // Is the sensor type is AGENT and not SCRIPTED then include agents
             if ((ts.type & (AGENT | AGENT_BY_USERNAME | NPC)) != 0 && (ts.type & SCRIPTED) == 0)
             {
-               sensedEntities.AddRange(doAgentSensor(ts));
+                sensedEntities.AddRange(doAgentSensor(ts));
             }
 
             // If SCRIPTED or PASSIVE or ACTIVE check objects
@@ -319,13 +319,15 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
             float dy;
             float dz;
 
-            Quaternion q = SensePoint.RotationOffset;
+//            Quaternion q = SensePoint.RotationOffset;
+            Quaternion q = SensePoint.GetWorldRotation();               // non-attached prim Sensor *always* uses World rotation!
             if (SensePoint.ParentGroup.IsAttachment)
             {
                 // In attachments, the sensor cone always orients with the
                 // avatar rotation. This may include a nonzero elevation if
                 // in mouselook.
                 ScenePresence avatar = m_CmdManager.m_ScriptEngine.World.GetScenePresence(SensePoint.ParentGroup.AttachedAvatar);
+                fromRegionPos = avatar.AbsolutePosition;
                 q = avatar.Rotation;
             }
             LSL_Types.Quaternion r = new LSL_Types.Quaternion(q.X, q.Y, q.Z, q.W);
@@ -448,6 +450,9 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
                 // avatar rotation. This may include a nonzero elevation if
                 // in mouselook.
                 ScenePresence avatar = m_CmdManager.m_ScriptEngine.World.GetScenePresence(SensePoint.ParentGroup.AttachedAvatar);
+                if (avatar == null)
+                    return sensedEntities;
+                fromRegionPos = avatar.AbsolutePosition;
                 q = avatar.Rotation;
             }
 
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Plugins/Timer.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Plugins/Timer.cs
index bc63030..9ee6946 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Plugins/Timer.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Plugins/Timer.cs
@@ -118,25 +118,27 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
             if (Timers.Count == 0)
                 return;
 
+            Dictionary<string, TimerClass>.ValueCollection tvals;
             lock (TimerListLock)
             {
                 // Go through all timers
-                Dictionary<string, TimerClass>.ValueCollection tvals = Timers.Values;
-                foreach (TimerClass ts in tvals)
+                tvals = Timers.Values;
+            }
+
+            foreach (TimerClass ts in tvals)
+            {
+                // Time has passed?
+                if (ts.next < DateTime.Now.Ticks)
                 {
-                    // Time has passed?
-                    if (ts.next < DateTime.Now.Ticks)
-                    {
-                        //m_log.Debug("Time has passed: Now: " + DateTime.Now.Ticks + ", Passed: " + ts.next);
-                        // Add it to queue
-                        m_CmdManager.m_ScriptEngine.PostScriptEvent(ts.itemID,
-                                new EventParams("timer", new Object[0],
-                                new DetectParams[0]));
-                        // set next interval
-
-                        //ts.next = DateTime.Now.ToUniversalTime().AddSeconds(ts.interval);
-                        ts.next = DateTime.Now.Ticks + ts.interval;
-                    }
+                    //m_log.Debug("Time has passed: Now: " + DateTime.Now.Ticks + ", Passed: " + ts.next);
+                    // Add it to queue
+                    m_CmdManager.m_ScriptEngine.PostScriptEvent(ts.itemID,
+                            new EventParams("timer", new Object[0],
+                            new DetectParams[0]));
+                    // set next interval
+
+                    //ts.next = DateTime.Now.ToUniversalTime().AddSeconds(ts.interval);
+                    ts.next = DateTime.Now.Ticks + ts.interval;
                 }
             }
         }
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Interface/ICM_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Interface/ICM_Api.cs
new file mode 100644
index 0000000..ab215f3
--- /dev/null
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Interface/ICM_Api.cs
@@ -0,0 +1,46 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System.Collections;
+using OpenSim.Region.ScriptEngine.Interfaces;
+
+using key = OpenSim.Region.ScriptEngine.Shared.LSL_Types.LSLString;
+using rotation = OpenSim.Region.ScriptEngine.Shared.LSL_Types.Quaternion;
+using vector = OpenSim.Region.ScriptEngine.Shared.LSL_Types.Vector3;
+using LSL_List = OpenSim.Region.ScriptEngine.Shared.LSL_Types.list;
+using LSL_String = OpenSim.Region.ScriptEngine.Shared.LSL_Types.LSLString;
+using LSL_Integer = OpenSim.Region.ScriptEngine.Shared.LSL_Types.LSLInteger;
+using LSL_Float = OpenSim.Region.ScriptEngine.Shared.LSL_Types.LSLFloat;
+
+namespace OpenSim.Region.ScriptEngine.Shared.Api.Interfaces
+{
+    public interface ICM_Api
+    {
+        string cmDetectedCountry(int num);
+        string cmGetAgentCountry(key key);
+    }
+}
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Interface/ILSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Interface/ILSL_Api.cs
index 0f53bc3..b976dc3 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Interface/ILSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Interface/ILSL_Api.cs
@@ -124,6 +124,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Interfaces
          LSL_Float llGetEnergy();
         LSL_Vector llGetForce();
        LSL_Integer llGetFreeMemory();
+       LSL_Integer llGetUsedMemory();
        LSL_Integer llGetFreeURLs();
         LSL_Vector llGetGeometricCenter();
          LSL_Float llGetGMTclock();
@@ -203,6 +204,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Interfaces
               void llGiveInventory(string destination, string inventory);
               void llGiveInventoryList(string destination, string category, LSL_List inventory);
        LSL_Integer llGiveMoney(string destination, int amount);
+        LSL_String llTransferLindenDollars(string destination, int amount);
               void llGodLikeRezObject(string inventory, LSL_Vector pos);
          LSL_Float llGround(LSL_Vector offset);
         LSL_Vector llGroundContour(LSL_Vector offset);
@@ -348,6 +350,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Interfaces
               void llSetParcelMusicURL(string url);
               void llSetPayPrice(int price, LSL_List quick_pay_buttons);
               void llSetPos(LSL_Vector pos);
+       LSL_Integer llSetRegionPos(LSL_Vector pos);
        LSL_Integer llSetPrimMediaParams(LSL_Integer face, LSL_List rules);
               void llSetPrimitiveParams(LSL_List rules);
               void llSetLinkPrimitiveParamsFast(int linknum, LSL_List rules);
@@ -396,6 +399,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Interfaces
               void llTargetOmega(LSL_Vector axis, double spinrate, double gain);
               void llTargetRemove(int number);
               void llTeleportAgentHome(string agent);
+              void llTeleportAgent(string agent, string simname, LSL_Vector pos, LSL_Vector lookAt);
               void llTextBox(string avatar, string message, int chat_channel);
         LSL_String llToLower(string source);
         LSL_String llToUpper(string source);
@@ -412,9 +416,11 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Interfaces
         LSL_Vector llWind(LSL_Vector offset);
         LSL_String llXorBase64Strings(string str1, string str2);
         LSL_String llXorBase64StringsCorrect(string str1, string str2);
-              void print(string str);
+       LSL_Integer llGetLinkNumberOfSides(LSL_Integer link);
+              void llSetPhysicsMaterial(int material_bits, float material_gravity_modifier, float material_restitution, float material_friction, float material_density);
 
               void SetPrimitiveParamsEx(LSL_Key prim, LSL_List rules);
           LSL_List GetLinkPrimitiveParamsEx(LSL_Key prim, LSL_List rules);
+              void llSetKeyframedMotion(LSL_List frames, LSL_List options);
     }
 }
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Interface/IOSSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Interface/IOSSL_Api.cs
index 30bd3ef..444a681 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Interface/IOSSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Interface/IOSSL_Api.cs
@@ -85,7 +85,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Interfaces
         // Avatar Info Commands
         string osGetAgentIP(string agent);
         LSL_List osGetAgents();
-
+        
         // Teleport commands
         void osTeleportAgent(string agent, string regionName, LSL_Types.Vector3 position, LSL_Types.Vector3 lookat);
         void osTeleportAgent(string agent, int regionX, int regionY, LSL_Types.Vector3 position, LSL_Types.Vector3 lookat);
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/CM_Stub.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/CM_Stub.cs
new file mode 100644
index 0000000..4132dfa
--- /dev/null
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/CM_Stub.cs
@@ -0,0 +1,71 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Runtime.Remoting.Lifetime;
+using System.Threading;
+using System.Reflection;
+using System.Collections;
+using System.Collections.Generic;
+using OpenSim.Framework;
+using OpenSim.Region.Framework.Interfaces;
+using OpenSim.Region.ScriptEngine.Interfaces;
+using OpenSim.Region.ScriptEngine.Shared.Api.Interfaces;
+using integer = OpenSim.Region.ScriptEngine.Shared.LSL_Types.LSLInteger;
+using vector = OpenSim.Region.ScriptEngine.Shared.LSL_Types.Vector3;
+using rotation = OpenSim.Region.ScriptEngine.Shared.LSL_Types.Quaternion;
+using key = OpenSim.Region.ScriptEngine.Shared.LSL_Types.LSLString;
+using LSL_List = OpenSim.Region.ScriptEngine.Shared.LSL_Types.list;
+using LSL_String = OpenSim.Region.ScriptEngine.Shared.LSL_Types.LSLString;
+using LSL_Float = OpenSim.Region.ScriptEngine.Shared.LSL_Types.LSLFloat;
+using LSL_Integer = OpenSim.Region.ScriptEngine.Shared.LSL_Types.LSLInteger;
+
+namespace OpenSim.Region.ScriptEngine.Shared.ScriptBase
+{
+    public partial class ScriptBaseClass : MarshalByRefObject
+    {
+        public ICM_Api m_CM_Functions;
+
+        public void ApiTypeCM(IScriptApi api)
+        {
+            if (!(api is ICM_Api))
+                return;
+
+            m_CM_Functions = (ICM_Api)api;
+        }
+
+        public string cmDetectedCountry(int num)
+        {
+            return m_CM_Functions.cmDetectedCountry(num);
+        }
+
+        public string cmGetAgentCountry(key key)
+        {
+            return m_CM_Functions.cmGetAgentCountry(key);
+        }
+    }
+}
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/Executor.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/Executor.cs
index 9615315..943d7a2 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/Executor.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/Executor.cs
@@ -27,6 +27,7 @@
 
 using System;
 using System.Collections.Generic;
+using System.Diagnostics; //for [DebuggerNonUserCode]
 using System.Reflection;
 using System.Runtime.Remoting.Lifetime;
 using OpenSim.Region.ScriptEngine.Shared;
@@ -132,6 +133,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.ScriptBase
             return (eventFlags);
         }
 
+        [DebuggerNonUserCode]
         public void ExecuteEvent(string state, string FunctionName, object[] args)
         {
             // IMPORTANT: Types and MemberInfo-derived objects require a LOT of memory.
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Constants.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Constants.cs
index 5a53e15..4ce3cf1 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Constants.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Constants.cs
@@ -94,6 +94,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.ScriptBase
         public const int AGENT_CROUCHING = 1024;
         public const int AGENT_BUSY = 2048;
         public const int AGENT_ALWAYS_RUN = 4096;
+        public const int AGENT_MALE = 8192;
 
         //Particle Systems
         public const int PSYS_PART_INTERP_COLOR_MASK = 1;
@@ -282,6 +283,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.ScriptBase
         public const int CHANGED_REGION_START = 1024; //LL Changed the constant from CHANGED_REGION_RESTART
         public const int CHANGED_MEDIA = 2048;
         public const int CHANGED_ANIMATION = 16384;
+        public const int CHANGED_POSITION = 32768;
         public const int TYPE_INVALID = 0;
         public const int TYPE_INTEGER = 1;
         public const int TYPE_FLOAT = 2;
@@ -568,6 +570,17 @@ namespace OpenSim.Region.ScriptEngine.Shared.ScriptBase
         public const int PRIM_MEDIA_PERM_OWNER = 1;
         public const int PRIM_MEDIA_PERM_GROUP = 2;
         public const int PRIM_MEDIA_PERM_ANYONE = 4;
+
+        public const int PRIM_PHYSICS_SHAPE_TYPE = 30;
+        public const int PRIM_PHYSICS_SHAPE_PRIM = 0;
+        public const int PRIM_PHYSICS_SHAPE_CONVEX = 2;
+        public const int PRIM_PHYSICS_SHAPE_NONE = 1;
+
+        public const int PRIM_PHYSICS_MATERIAL = 31;
+        public const int DENSITY = 1;
+        public const int FRICTION = 2;
+        public const int RESTITUTION = 4;
+        public const int GRAVITY_MULTIPLIER = 8;
         
         // extra constants for llSetPrimMediaParams
         public static readonly LSLInteger LSL_STATUS_OK = new LSLInteger(0);
@@ -640,5 +653,18 @@ namespace OpenSim.Region.ScriptEngine.Shared.ScriptBase
         public static readonly LSLInteger RCERR_UNKNOWN = -1;        
         public static readonly LSLInteger RCERR_SIM_PERF_LOW = -2;
         public static readonly LSLInteger RCERR_CAST_TIME_EXCEEDED = 3;
+
+        public const int KFM_MODE = 1;
+        public const int KFM_LOOP = 1;
+        public const int KFM_REVERSE = 3;
+        public const int KFM_FORWARD = 0;
+        public const int KFM_PING_PONG = 2;
+        public const int KFM_DATA = 2;
+        public const int KFM_TRANSLATION = 2;
+        public const int KFM_ROTATION = 1;
+        public const int KFM_COMMAND = 0;
+        public const int KFM_CMD_PLAY = 0;
+        public const int KFM_CMD_STOP = 1;
+        public const int KFM_CMD_PAUSE = 2;
     }
 }
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Stub.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Stub.cs
index f8e3c36..bf58d13 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Stub.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Stub.cs
@@ -26,6 +26,7 @@
  */
 
 using System;
+using System.Diagnostics; //for [DebuggerNonUserCode]
 using System.Runtime.Remoting.Lifetime;
 using System.Threading;
 using System.Reflection;
@@ -164,6 +165,11 @@ namespace OpenSim.Region.ScriptEngine.Shared.ScriptBase
             m_LSL_Functions.llBreakLink(linknum);
         }
 
+        public LSL_List llCastRay(LSL_Vector start, LSL_Vector end, LSL_List options)
+        {
+            return m_LSL_Functions.llCastRay(start, end, options);
+        }
+
         public LSL_Integer llCeil(double f)
         {
             return m_LSL_Functions.llCeil(f);
@@ -314,6 +320,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.ScriptBase
             m_LSL_Functions.llDialog(avatar, message, buttons, chat_channel);
         }
 
+        [DebuggerNonUserCode]
         public void llDie()
         {
             m_LSL_Functions.llDie();
@@ -464,6 +471,11 @@ namespace OpenSim.Region.ScriptEngine.Shared.ScriptBase
             return m_LSL_Functions.llGetFreeMemory();
         }
 
+        public LSL_Integer llGetUsedMemory()
+        {
+            return m_LSL_Functions.llGetUsedMemory();
+        }
+
         public LSL_Integer llGetFreeURLs()
         {
             return m_LSL_Functions.llGetFreeURLs();
@@ -849,6 +861,11 @@ namespace OpenSim.Region.ScriptEngine.Shared.ScriptBase
             return m_LSL_Functions.llGiveMoney(destination, amount);
         }
 
+        public LSL_String llTransferLindenDollars(string destination, int amount)
+        {
+            return m_LSL_Functions.llTransferLindenDollars(destination, amount);
+        }
+
         public void llGodLikeRezObject(string inventory, LSL_Vector pos)
         {
             m_LSL_Functions.llGodLikeRezObject(inventory, pos);
@@ -1563,6 +1580,11 @@ namespace OpenSim.Region.ScriptEngine.Shared.ScriptBase
             m_LSL_Functions.llSetPos(pos);
         }
 
+        public LSL_Integer llSetRegionPos(LSL_Vector pos)
+        {
+            return m_LSL_Functions.llSetRegionPos(pos);
+        }
+
         public void llSetPrimitiveParams(LSL_List rules)
         {
             m_LSL_Functions.llSetPrimitiveParams(rules);
@@ -1798,6 +1820,11 @@ namespace OpenSim.Region.ScriptEngine.Shared.ScriptBase
             m_LSL_Functions.llTargetRemove(number);
         }
 
+        public void llTeleportAgent(string agent, string simname, LSL_Vector pos, LSL_Vector lookAt)
+        {
+            m_LSL_Functions.llTeleportAgent(agent, simname, pos, lookAt);
+        }
+
         public void llTeleportAgentHome(string agent)
         {
             m_LSL_Functions.llTeleportAgentHome(agent);
@@ -1913,9 +1940,19 @@ namespace OpenSim.Region.ScriptEngine.Shared.ScriptBase
             return m_LSL_Functions.llClearLinkMedia(link, face);
         }
 
-        public void print(string str)
+        public LSL_Integer llGetLinkNumberOfSides(LSL_Integer link)
+        {
+            return m_LSL_Functions.llGetLinkNumberOfSides(link);
+        }
+
+        public void llSetKeyframedMotion(LSL_List frames, LSL_List options)
+        {
+            m_LSL_Functions.llSetKeyframedMotion(frames, options);
+        }
+
+        public void llSetPhysicsMaterial(int material_bits, float material_gravity_modifier, float material_restitution, float material_friction, float material_density)
         {
-            m_LSL_Functions.print(str);
+            m_LSL_Functions.llSetPhysicsMaterial(material_bits, material_gravity_modifier, material_restitution, material_friction, material_density);
         }
     }
 }
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LS_Stub.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LS_Stub.cs
index 143b497..2e27f16 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LS_Stub.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LS_Stub.cs
@@ -72,9 +72,30 @@ namespace OpenSim.Region.ScriptEngine.Shared.ScriptBase
         {
             return m_LS_Functions.lsSetWindlightSceneTargeted(rules, target);
         }
+
         public void lsClearWindlightScene()
         {
             m_LS_Functions.lsClearWindlightScene();
         }
+
+        public LSL_List cmGetWindlightScene(LSL_List rules)
+        {
+            return m_LS_Functions.lsGetWindlightScene(rules);
+        }
+
+        public int cmSetWindlightScene(LSL_List rules)
+        {
+            return m_LS_Functions.lsSetWindlightScene(rules);
+        }
+
+        public int cmSetWindlightSceneTargeted(LSL_List rules, key target)
+        {
+            return m_LS_Functions.lsSetWindlightSceneTargeted(rules, target);
+        }
+
+        public void cmClearWindlightScene()
+        {
+            m_LS_Functions.lsClearWindlightScene();
+        }
     }
 }
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/ScriptBase.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/ScriptBase.cs
index edbbc2a..b138da3 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/ScriptBase.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/ScriptBase.cs
@@ -33,6 +33,7 @@ using System.Threading;
 using System.Reflection;
 using System.Collections;
 using System.Collections.Generic;
+using System.Diagnostics; //for [DebuggerNonUserCode]
 using OpenSim.Region.ScriptEngine.Interfaces;
 using OpenSim.Region.ScriptEngine.Shared;
 using OpenSim.Region.ScriptEngine.Shared.Api.Runtime;
@@ -90,6 +91,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.ScriptBase
             return (int)m_Executor.GetStateEventFlags(state);
         }
 
+        [DebuggerNonUserCode]
         public void ExecuteEvent(string state, string FunctionName, object[] args)
         {
             m_Executor.ExecuteEvent(state, FunctionName, args);
diff --git a/OpenSim/Region/ScriptEngine/Shared/Helpers.cs b/OpenSim/Region/ScriptEngine/Shared/Helpers.cs
index 8cebb4a..7e7e278 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Helpers.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Helpers.cs
@@ -35,6 +35,7 @@ using OpenMetaverse;
 using OpenSim.Framework;
 using OpenSim.Region.CoreModules;
 using OpenSim.Region.Framework.Scenes;
+using OpenSim.Services.Interfaces;
 
 namespace OpenSim.Region.ScriptEngine.Shared
 {
@@ -95,6 +96,7 @@ namespace OpenSim.Region.ScriptEngine.Shared
             Type = 0;
             Velocity = new LSL_Types.Vector3();
             initializeSurfaceTouch();
+            Country = String.Empty;
         }
 
         public UUID Key;
@@ -126,6 +128,8 @@ namespace OpenSim.Region.ScriptEngine.Shared
         private int touchFace;
         public int TouchFace { get { return touchFace; } }
 
+        public string Country;
+
         // This can be done in two places including the constructor
         // so be carefull what gets added here
         private void initializeSurfaceTouch()
@@ -173,6 +177,10 @@ namespace OpenSim.Region.ScriptEngine.Shared
                     return;
 
                 Name = presence.Firstname + " " + presence.Lastname;
+                UserAccount account = scene.UserAccountService.GetUserAccount(scene.RegionInfo.ScopeID, Key);
+                if (account != null)
+                    Country = account.UserCountry;
+
                 Owner = Key;
                 Position = new LSL_Types.Vector3(
                         presence.AbsolutePosition.X,
diff --git a/OpenSim/Region/ScriptEngine/Shared/Instance/ScriptInstance.cs b/OpenSim/Region/ScriptEngine/Shared/Instance/ScriptInstance.cs
index 6e36742..ff1f277 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Instance/ScriptInstance.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Instance/ScriptInstance.cs
@@ -27,6 +27,7 @@
 
 using System;
 using System.IO;
+using System.Diagnostics; //for [DebuggerNonUserCode]
 using System.Runtime.Remoting;
 using System.Runtime.Remoting.Lifetime;
 using System.Threading;
@@ -218,13 +219,12 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
 
             if (part != null)
             {
-                lock (part.TaskInventory)
+                part.TaskInventory.LockItemsForRead(true);
+                if (part.TaskInventory.ContainsKey(ItemID))
                 {
-                    if (part.TaskInventory.ContainsKey(ItemID))
-                    {
-                        ScriptTask = part.TaskInventory[ItemID];
-                    }
+                    ScriptTask = part.TaskInventory[ItemID];
                 }
+                part.TaskInventory.LockItemsForRead(false);
             }
 
             ApiManager am = new ApiManager();
@@ -416,14 +416,15 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
             {
                 int permsMask;
                 UUID permsGranter;
-                lock (part.TaskInventory)
+                part.TaskInventory.LockItemsForRead(true);
+                if (!part.TaskInventory.ContainsKey(ItemID))
                 {
-                    if (!part.TaskInventory.ContainsKey(ItemID))
-                        return;
-
-                    permsGranter = part.TaskInventory[ItemID].PermsGranter;
-                    permsMask = part.TaskInventory[ItemID].PermsMask;
+                    part.TaskInventory.LockItemsForRead(false);
+                    return;
                 }
+                permsGranter = part.TaskInventory[ItemID].PermsGranter;
+                permsMask = part.TaskInventory[ItemID].PermsMask;
+                part.TaskInventory.LockItemsForRead(false);
 
                 if ((permsMask & ScriptBaseClass.PERMISSION_TAKE_CONTROLS) != 0)
                 {
@@ -551,6 +552,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
             return true;
         }
 
+        [DebuggerNonUserCode] //Prevents the debugger from farting in this function
         public void SetState(string state)
         {
             if (state == State)
@@ -562,7 +564,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
                                        new DetectParams[0]));
             PostEvent(new EventParams("state_entry", new Object[0],
                                        new DetectParams[0]));
-
+            
             throw new EventAbortException();
         }
 
@@ -652,45 +654,45 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
         /// <returns></returns>
         public object EventProcessor()
         {
+            EventParams data = null;
             // We check here as the thread stopping this instance from running may itself hold the m_Script lock.
             if (!Running)
                 return 0;
 
-            lock (m_Script)
-            {
 //                m_log.DebugFormat("[XEngine]: EventProcessor() invoked for {0}.{1}", PrimName, ScriptName);
 
-                if (Suspended)
-                    return 0;
-
-                EventParams data = null;
+            if (Suspended)
+                return 0;
 
-                lock (EventQueue)
+            lock (EventQueue)
+            {
+                data = (EventParams) EventQueue.Dequeue();
+                if (data == null) // Shouldn't happen
                 {
-                    data = (EventParams)EventQueue.Dequeue();
-                    if (data == null) // Shouldn't happen
+                    if (EventQueue.Count > 0 && Running && !ShuttingDown)
                     {
-                        if (EventQueue.Count > 0 && Running && !ShuttingDown)
-                        {
-                            m_CurrentWorkItem = Engine.QueueEventHandler(this);
-                        }
-                        else
-                        {
-                            m_CurrentWorkItem = null;
-                        }
-                        return 0;
+                        m_CurrentWorkItem = Engine.QueueEventHandler(this);
                     }
-
-                    if (data.EventName == "timer")
-                        m_TimerQueued = false;
-                    if (data.EventName == "control")
+                    else
                     {
-                        if (m_ControlEventsInQueue > 0)
-                            m_ControlEventsInQueue--;
+                        m_CurrentWorkItem = null;
                     }
-                    if (data.EventName == "collision")
-                        m_CollisionInQueue = false;
+                    return 0;
                 }
+
+                if (data.EventName == "timer")
+                    m_TimerQueued = false;
+                if (data.EventName == "control")
+                {
+                    if (m_ControlEventsInQueue > 0)
+                        m_ControlEventsInQueue--;
+                }
+                if (data.EventName == "collision")
+                    m_CollisionInQueue = false;
+            }
+
+            lock(m_Script)
+            {
                 
 //                m_log.DebugFormat("[XEngine]: Processing event {0} for {1}", data.EventName, this);
 
@@ -859,6 +861,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
                     new Object[0], new DetectParams[0]));
         }
 
+        [DebuggerNonUserCode] //Stops the VS debugger from farting in this function
         public void ApiResetScript()
         {
             // bool running = Running;
@@ -890,10 +893,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
 
         public Dictionary<string, object> GetVars()
         {
-            if (m_Script != null)
-                return m_Script.GetVars();
-            else
-                return new Dictionary<string, object>();
+            return m_Script.GetVars();
         }
 
         public void SetVars(Dictionary<string, object> vars)
diff --git a/OpenSim/Region/ScriptEngine/Shared/LSL_Types.cs b/OpenSim/Region/ScriptEngine/Shared/LSL_Types.cs
index d848b2a..8adf4c5 100644
--- a/OpenSim/Region/ScriptEngine/Shared/LSL_Types.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/LSL_Types.cs
@@ -83,19 +83,19 @@ namespace OpenSim.Region.ScriptEngine.Shared
 
             public override string ToString()
             {
-                string s=String.Format("<{0:0.000000},{1:0.000000},{2:0.000000}>", x, y, z);
+                string s=String.Format("<{0:0.000000}, {1:0.000000}, {2:0.000000}>", x, y, z);
                 return s;
             }
 
             public static explicit operator LSLString(Vector3 vec)
             {
-                string s=String.Format("<{0:0.000000},{1:0.000000},{2:0.000000}>", vec.x, vec.y, vec.z);
+                string s=String.Format("<{0:0.000000}, {1:0.000000}, {2:0.000000}>", vec.x, vec.y, vec.z);
                 return new LSLString(s);
             }
 
             public static explicit operator string(Vector3 vec)
             {
-                string s=String.Format("<{0:0.000000},{1:0.000000},{2:0.000000}>", vec.x, vec.y, vec.z);
+                string s=String.Format("<{0:0.000000}, {1:0.000000}, {2:0.000000}>", vec.x, vec.y, vec.z);
                 return s;
             }
 
@@ -342,19 +342,19 @@ namespace OpenSim.Region.ScriptEngine.Shared
 
             public override string ToString()
             {
-                string st=String.Format(Culture.FormatProvider, "<{0:0.000000},{1:0.000000},{2:0.000000},{3:0.000000}>", x, y, z, s);
+                string st=String.Format(Culture.FormatProvider, "<{0:0.000000}, {1:0.000000}, {2:0.000000}, {3:0.000000}>", x, y, z, s);
                 return st;
             }
 
             public static explicit operator string(Quaternion r)
             {
-                string s=String.Format("<{0:0.000000},{1:0.000000},{2:0.000000},{3:0.000000}>", r.x, r.y, r.z, r.s);
+                string s=String.Format("<{0:0.000000}, {1:0.000000}, {2:0.000000}, {3:0.000000}>", r.x, r.y, r.z, r.s);
                 return s;
             }
 
             public static explicit operator LSLString(Quaternion r)
             {
-                string s=String.Format("<{0:0.000000},{1:0.000000},{2:0.000000},{3:0.000000}>", r.x, r.y, r.z, r.s);
+                string s=String.Format("<{0:0.000000}, {1:0.000000}, {2:0.000000}, {3:0.000000}>", r.x, r.y, r.z, r.s);
                 return new LSLString(s);
             }
 
@@ -459,6 +459,8 @@ namespace OpenSim.Region.ScriptEngine.Shared
                             size += 64;
                         else if (o is int)
                             size += 4;
+                        else if (o is uint)
+                            size += 4;
                         else if (o is string)
                             size += ((string)o).Length;
                         else if (o is float)
@@ -613,24 +615,16 @@ namespace OpenSim.Region.ScriptEngine.Shared
 
             public static bool operator ==(list a, list b)
             {
-                int la = -1;
-                int lb = -1;
-                try { la = a.Length; }
-                catch (NullReferenceException) { }
-                try { lb = b.Length; }
-                catch (NullReferenceException) { }
+                int la = a.Length;
+                int lb = b.Length;
 
                 return la == lb;
             }
 
             public static bool operator !=(list a, list b)
             {
-                int la = -1;
-                int lb = -1;
-                try { la = a.Length; }
-                catch (NullReferenceException) { }
-                try {lb = b.Length;}
-                catch (NullReferenceException) { }
+                int la = a.Length;
+                int lb = b.Length;
 
                 return la != lb;
             }
@@ -864,7 +858,7 @@ namespace OpenSim.Region.ScriptEngine.Shared
                     ret = Math.Sign(Quaternion.Mag(l) - Quaternion.Mag(r));
                 }
 
-                if (ascending == 0)
+                if (ascending != 1)
                 {
                     ret = 0 - ret;
                 }
@@ -897,6 +891,9 @@ namespace OpenSim.Region.ScriptEngine.Shared
                     stride = 1;
                 }
 
+                if ((Data.Length % stride) != 0)
+                    return new list(ret);
+
                 // we can optimize here in the case where stride == 1 and the list
                 // consists of homogeneous types
 
@@ -916,7 +913,7 @@ namespace OpenSim.Region.ScriptEngine.Shared
                     if (homogeneous)
                     {
                         Array.Sort(ret, new HomogeneousComparer());
-                        if (ascending == 0)
+                        if (ascending != 1)
                         {
                             Array.Reverse(ret);
                         }
@@ -1064,7 +1061,7 @@ namespace OpenSim.Region.ScriptEngine.Shared
             {
                 list ret = new list();
                 double entry;
-                for (int i = 0; i < src.Data.Length - 1; i++)
+                for (int i = 0; i < src.Data.Length; i++)
                 {
                     if (double.TryParse(src.Data[i].ToString(), NumberStyles.Float, Culture.NumberFormatInfo, out entry))
                     {
diff --git a/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs b/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs
index 7712076..1e0f01f 100644
--- a/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs
+++ b/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs
@@ -28,6 +28,7 @@
 using System;
 using System.Collections;
 using System.Collections.Generic;
+using System.Diagnostics; //for [DebuggerNonUserCode]
 using System.Globalization;
 using System.IO;
 using System.Reflection;
@@ -112,6 +113,8 @@ namespace OpenSim.Region.ScriptEngine.XEngine
         private Dictionary<UUID, IScriptInstance> m_Scripts =
                 new Dictionary<UUID, IScriptInstance>();
 
+        private OpenMetaverse.ReaderWriterLockSlim m_scriptsLock = new OpenMetaverse.ReaderWriterLockSlim();
+
         // Maps the asset ID to the assembly
 
         private Dictionary<UUID, string> m_Assemblies =
@@ -134,6 +137,71 @@ namespace OpenSim.Region.ScriptEngine.XEngine
         IWorkItemResult m_CurrentCompile = null;
         private Dictionary<UUID, int> m_CompileDict = new Dictionary<UUID, int>();
 
+        private void lockScriptsForRead(bool locked)
+        {
+            if (locked)
+            {
+                if (m_scriptsLock.RecursiveReadCount > 0)
+                {
+                    m_log.Error("[XEngine.m_Scripts] Recursive read lock requested. This should not happen and means something needs to be fixed. For now though, it's safe to continue.");
+                    m_scriptsLock.ExitReadLock();
+                }
+                if (m_scriptsLock.RecursiveWriteCount > 0)
+                {
+                    m_log.Error("[XEngine.m_Scripts] Recursive write lock requested. This should not happen and means something needs to be fixed.");
+                    m_scriptsLock.ExitWriteLock();
+                }
+
+                while (!m_scriptsLock.TryEnterReadLock(60000))
+                {
+                    m_log.Error("[XEngine.m_Scripts] Thread lock detected while trying to aquire READ lock of m_scripts in XEngine. I'm going to try to solve the thread lock automatically to preserve region stability, but this needs to be fixed.");
+                    if (m_scriptsLock.IsWriteLockHeld)
+                    {
+                        m_scriptsLock = new OpenMetaverse.ReaderWriterLockSlim();
+                    }
+                }
+            }
+            else
+            {
+                if (m_scriptsLock.RecursiveReadCount > 0)
+                {
+                    m_scriptsLock.ExitReadLock();
+                }
+            }
+        }
+        private void lockScriptsForWrite(bool locked)
+        {
+            if (locked)
+            {
+                if (m_scriptsLock.RecursiveReadCount > 0)
+                {
+                    m_log.Error("[XEngine.m_Scripts] Recursive read lock requested. This should not happen and means something needs to be fixed. For now though, it's safe to continue.");
+                    m_scriptsLock.ExitReadLock();
+                }
+                if (m_scriptsLock.RecursiveWriteCount > 0)
+                {
+                    m_log.Error("[XEngine.m_Scripts] Recursive write lock requested. This should not happen and means something needs to be fixed.");
+                    m_scriptsLock.ExitWriteLock();
+                }
+
+                while (!m_scriptsLock.TryEnterWriteLock(60000))
+                {
+                    m_log.Error("[XEngine.m_Scripts] Thread lock detected while trying to aquire WRITE lock of m_scripts in XEngine. I'm going to try to solve the thread lock automatically to preserve region stability, but this needs to be fixed.");
+                    if (m_scriptsLock.IsWriteLockHeld)
+                    {
+                        m_scriptsLock = new OpenMetaverse.ReaderWriterLockSlim();
+                    }
+                }
+            }
+            else
+            {
+                if (m_scriptsLock.RecursiveWriteCount > 0)
+                {
+                    m_scriptsLock.ExitWriteLock();
+                }
+            }
+        }
+
         public string ScriptEngineName
         {
             get { return "XEngine"; }
@@ -527,44 +595,37 @@ namespace OpenSim.Region.ScriptEngine.XEngine
         {
             if (!m_Enabled)
                 return;
-
-            lock (m_Scripts)
+            lockScriptsForRead(true);
+            foreach (IScriptInstance instance in m_Scripts.Values)
             {
-                m_log.InfoFormat(
-                    "[XEngine]: Shutting down {0} scripts in {1}", m_Scripts.Count, m_Scene.RegionInfo.RegionName);
-
-                foreach (IScriptInstance instance in m_Scripts.Values)
+                // Force a final state save
+                //
+                if (m_Assemblies.ContainsKey(instance.AssetID))
                 {
-                    // Force a final state save
-                    //
-                    if (m_Assemblies.ContainsKey(instance.AssetID))
-                    {
-                        string assembly = m_Assemblies[instance.AssetID];
-                        instance.SaveState(assembly);
-                    }
+                    string assembly = m_Assemblies[instance.AssetID];
+                    instance.SaveState(assembly);
+                }
 
-                    // Clear the event queue and abort the instance thread
-                    //
-                    instance.ClearQueue();
-                    instance.Stop(0);
+                // Clear the event queue and abort the instance thread
+                //
+                instance.ClearQueue();
+                instance.Stop(0);
 
-                    // Release events, timer, etc
-                    //
-                    instance.DestroyScriptInstance();
-
-                    // Unload scripts and app domains.
-                    // Must be done explicitly because they have infinite
-                    // lifetime.
-                    // However, don't bother to do this if the simulator is shutting
-                    // down since it takes a long time with many scripts.
-                    if (!m_SimulatorShuttingDown)
+                // Release events, timer, etc
+                //
+                instance.DestroyScriptInstance();
+
+                // Unload scripts and app domains
+                // Must be done explicitly because they have infinite
+                // lifetime
+                //
+                if (!m_SimulatorShuttingDown)
+                {
+                    m_DomainScripts[instance.AppDomain].Remove(instance.ItemID);
+                    if (m_DomainScripts[instance.AppDomain].Count == 0)
                     {
-                        m_DomainScripts[instance.AppDomain].Remove(instance.ItemID);
-                        if (m_DomainScripts[instance.AppDomain].Count == 0)
-                        {
-                            m_DomainScripts.Remove(instance.AppDomain);
-                            UnloadAppDomain(instance.AppDomain);
-                        }
+                        m_DomainScripts.Remove(instance.AppDomain);
+                        UnloadAppDomain(instance.AppDomain);
                     }
                 }
 
@@ -573,6 +634,14 @@ namespace OpenSim.Region.ScriptEngine.XEngine
                 m_Assemblies.Clear();
                 m_DomainScripts.Clear();
             }
+            lockScriptsForRead(false);
+            lockScriptsForWrite(true);
+            m_Scripts.Clear();
+            lockScriptsForWrite(false);
+            m_PrimObjects.Clear();
+            m_Assemblies.Clear();
+            m_DomainScripts.Clear();
+           
             lock (m_ScriptEngines)
             {
                 m_ScriptEngines.Remove(this);
@@ -637,22 +706,20 @@ namespace OpenSim.Region.ScriptEngine.XEngine
 
             List<IScriptInstance> instances = new List<IScriptInstance>();
 
-            lock (m_Scripts)
-            {
-                foreach (IScriptInstance instance in m_Scripts.Values)
+            lockScriptsForRead(true);
+                 foreach (IScriptInstance instance in m_Scripts.Values)
                     instances.Add(instance);
-            }
+            lockScriptsForRead(false);
 
             foreach (IScriptInstance i in instances)
             {
                 string assembly = String.Empty;
 
-                lock (m_Scripts)
-                {
+                
                     if (!m_Assemblies.ContainsKey(i.AssetID))
                         continue;
                     assembly = m_Assemblies[i.AssetID];
-                }
+                
 
                 i.SaveState(assembly);
             }
@@ -996,91 +1063,95 @@ namespace OpenSim.Region.ScriptEngine.XEngine
             }
 
             ScriptInstance instance = null;
-            lock (m_Scripts)
+            // Create the object record
+            lockScriptsForRead(true);
+            if ((!m_Scripts.ContainsKey(itemID)) ||
+                (m_Scripts[itemID].AssetID != assetID))
             {
-                // Create the object record
-                if ((!m_Scripts.ContainsKey(itemID)) ||
-                    (m_Scripts[itemID].AssetID != assetID))
-                {
-                    UUID appDomain = assetID;
+                lockScriptsForRead(false);
 
-                    if (part.ParentGroup.IsAttachment)
-                        appDomain = part.ParentGroup.RootPart.UUID;
+                UUID appDomain = assetID;
 
-                    if (!m_AppDomains.ContainsKey(appDomain))
-                    {
-                        try
-                        {
-                            AppDomainSetup appSetup = new AppDomainSetup();
-                            appSetup.PrivateBinPath = Path.Combine(
-                                    m_ScriptEnginesPath,
-                                    m_Scene.RegionInfo.RegionID.ToString());
-
-                            Evidence baseEvidence = AppDomain.CurrentDomain.Evidence;
-                            Evidence evidence = new Evidence(baseEvidence);
-
-                            AppDomain sandbox;
-                            if (m_AppDomainLoading)
-                                sandbox = AppDomain.CreateDomain(
-                                                m_Scene.RegionInfo.RegionID.ToString(),
-                                                evidence, appSetup);
-                            else
-                                sandbox = AppDomain.CurrentDomain;
-                            
-                            //PolicyLevel sandboxPolicy = PolicyLevel.CreateAppDomainLevel();
-                            //AllMembershipCondition sandboxMembershipCondition = new AllMembershipCondition();
-                            //PermissionSet sandboxPermissionSet = sandboxPolicy.GetNamedPermissionSet("Internet");
-                            //PolicyStatement sandboxPolicyStatement = new PolicyStatement(sandboxPermissionSet);
-                            //CodeGroup sandboxCodeGroup = new UnionCodeGroup(sandboxMembershipCondition, sandboxPolicyStatement);
-                            //sandboxPolicy.RootCodeGroup = sandboxCodeGroup;
-                            //sandbox.SetAppDomainPolicy(sandboxPolicy);
-                            
-                            m_AppDomains[appDomain] = sandbox;
+                if (part.ParentGroup.IsAttachment)
+                    appDomain = part.ParentGroup.RootPart.UUID;
 
-                            m_AppDomains[appDomain].AssemblyResolve +=
-                                new ResolveEventHandler(
-                                    AssemblyResolver.OnAssemblyResolve);
-                            m_DomainScripts[appDomain] = new List<UUID>();
-                        }
-                        catch (Exception e)
+                if (!m_AppDomains.ContainsKey(appDomain))
+                {
+                    try
+                    {
+                        AppDomainSetup appSetup = new AppDomainSetup();
+                        appSetup.PrivateBinPath = Path.Combine(
+                                m_ScriptEnginesPath,
+                                m_Scene.RegionInfo.RegionID.ToString());
+
+                        Evidence baseEvidence = AppDomain.CurrentDomain.Evidence;
+                        Evidence evidence = new Evidence(baseEvidence);
+
+                        AppDomain sandbox;
+                        if (m_AppDomainLoading)
+                            sandbox = AppDomain.CreateDomain(
+                                            m_Scene.RegionInfo.RegionID.ToString(),
+                                            evidence, appSetup);
+                        else
+                            sandbox = AppDomain.CurrentDomain;
+
+                        //PolicyLevel sandboxPolicy = PolicyLevel.CreateAppDomainLevel();
+                        //AllMembershipCondition sandboxMembershipCondition = new AllMembershipCondition();
+                        //PermissionSet sandboxPermissionSet = sandboxPolicy.GetNamedPermissionSet("Internet");
+                        //PolicyStatement sandboxPolicyStatement = new PolicyStatement(sandboxPermissionSet);
+                        //CodeGroup sandboxCodeGroup = new UnionCodeGroup(sandboxMembershipCondition, sandboxPolicyStatement);
+                        //sandboxPolicy.RootCodeGroup = sandboxCodeGroup;
+                        //sandbox.SetAppDomainPolicy(sandboxPolicy);
+
+                        m_AppDomains[appDomain] = sandbox;
+
+                        m_AppDomains[appDomain].AssemblyResolve +=
+                            new ResolveEventHandler(
+                                AssemblyResolver.OnAssemblyResolve);
+                        m_DomainScripts[appDomain] = new List<UUID>();
+                    }
+                    catch (Exception e)
+                    {
+                        m_log.ErrorFormat("[XEngine] Exception creating app domain:\n {0}", e.ToString());
+                        m_ScriptErrorMessage += "Exception creating app domain:\n";
+                        m_ScriptFailCount++;
+                        lock (m_AddingAssemblies)
                         {
-                            m_log.ErrorFormat("[XEngine] Exception creating app domain:\n {0}", e.ToString());
-                            m_ScriptErrorMessage += "Exception creating app domain:\n";
-                            m_ScriptFailCount++;
-                            lock (m_AddingAssemblies) 
-                            {
-                                m_AddingAssemblies[assembly]--;
-                            }
-                            return false;
+                            m_AddingAssemblies[assembly]--;
                         }
+                        return false;
                     }
-                    m_DomainScripts[appDomain].Add(itemID);
-
-                    instance = new ScriptInstance(this, part,
-                                                  itemID, assetID, assembly,
-                                                  m_AppDomains[appDomain],
-                                                  part.ParentGroup.RootPart.Name,
-                                                  item.Name, startParam, postOnRez,
-                                                  stateSource, m_MaxScriptQueue);
-                    
-                    m_log.DebugFormat(
-                        "[XEngine] Loaded script {0}.{1}, item UUID {2}, prim UUID {3} @ {4}.{5}",
-                        part.ParentGroup.RootPart.Name, item.Name, itemID, part.UUID,
+                }
+                m_DomainScripts[appDomain].Add(itemID);
+
+                instance = new ScriptInstance(this, part,
+                                              itemID, assetID, assembly,
+                                              m_AppDomains[appDomain],
+                                              part.ParentGroup.RootPart.Name,
+                                              item.Name, startParam, postOnRez,
+                                              stateSource, m_MaxScriptQueue);
+
+                m_log.DebugFormat(
+                        "[XEngine] Loaded script {0}.{1}, script UUID {2}, prim UUID {3} @ {4}.{5}",
+                        part.ParentGroup.RootPart.Name, item.Name, assetID, part.UUID, 
                         part.ParentGroup.RootPart.AbsolutePosition, part.ParentGroup.Scene.RegionInfo.RegionName);
 
-                    if (presence != null)
-                    {
-                        ShowScriptSaveResponse(item.OwnerID,
-                                assetID, "Compile successful", true);
-                    }
-
-                    instance.AppDomain = appDomain;
-                    instance.LineMap = linemap;
-
-                    m_Scripts[itemID] = instance;
+                if (presence != null)
+                {
+                    ShowScriptSaveResponse(item.OwnerID,
+                            assetID, "Compile successful", true);
                 }
-            }
 
+                instance.AppDomain = appDomain;
+                instance.LineMap = linemap;
+                lockScriptsForWrite(true);
+                m_Scripts[itemID] = instance;
+                lockScriptsForWrite(false);
+            }
+            else
+            {
+                lockScriptsForRead(false);
+            }
             lock (m_PrimObjects)
             {
                 if (!m_PrimObjects.ContainsKey(localID))
@@ -1098,9 +1169,9 @@ namespace OpenSim.Region.ScriptEngine.XEngine
                 m_AddingAssemblies[assembly]--;
             }
 
-            if (instance != null) 
+            if (instance!=null) 
                 instance.Init();
-
+            
             return true;
         }
 
@@ -1113,18 +1184,28 @@ namespace OpenSim.Region.ScriptEngine.XEngine
                     m_CompileDict.Remove(itemID);
             }
 
-            IScriptInstance instance = null;
-
-            lock (m_Scripts)
+            lockScriptsForRead(true);
+            // Do we even have it?
+            if (!m_Scripts.ContainsKey(itemID))
             {
                 // Do we even have it?
                 if (!m_Scripts.ContainsKey(itemID))
                     return;
 
-                instance = m_Scripts[itemID];
+                lockScriptsForRead(false);
+                lockScriptsForWrite(true);
                 m_Scripts.Remove(itemID);
+                lockScriptsForWrite(false);
+
+                return;
             }
+             
 
+            IScriptInstance instance=m_Scripts[itemID];
+            lockScriptsForRead(false);
+            lockScriptsForWrite(true);
+            m_Scripts.Remove(itemID);
+            lockScriptsForWrite(false);
             instance.ClearQueue();
 
             // Give the script some time to finish processing its last event.  Simply aborting the script thread can
@@ -1163,8 +1244,13 @@ namespace OpenSim.Region.ScriptEngine.XEngine
 
             ObjectRemoved handlerObjectRemoved = OnObjectRemoved;
             if (handlerObjectRemoved != null)
-                handlerObjectRemoved(instance.ObjectID);
+            {
+                SceneObjectPart part = m_Scene.GetSceneObjectPart(localID);                    
+                handlerObjectRemoved(part.UUID);
+            }
 
+            CleanAssemblies();
+            
             ScriptRemoved handlerScriptRemoved = OnScriptRemoved;
             if (handlerScriptRemoved != null)
                 handlerScriptRemoved(itemID);
@@ -1306,7 +1392,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine
                     return false;
 
                 uuids = m_PrimObjects[localID];
-            }
+            
 
             foreach (UUID itemID in uuids)
             {
@@ -1324,6 +1410,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine
                     result = true;
                 }
             }
+            }
             
             return result;
         }
@@ -1425,12 +1512,14 @@ namespace OpenSim.Region.ScriptEngine.XEngine
         private IScriptInstance GetInstance(UUID itemID)
         {
             IScriptInstance instance;
-            lock (m_Scripts)
+            lockScriptsForRead(true);
+            if (!m_Scripts.ContainsKey(itemID))
             {
-                if (!m_Scripts.ContainsKey(itemID))
-                    return null;
-                instance = m_Scripts[itemID];
+                lockScriptsForRead(false);
+                return null;
             }
+            instance = m_Scripts[itemID];
+            lockScriptsForRead(false);
             return instance;
         }
 
@@ -1454,6 +1543,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine
             return false;
         }
 
+        [DebuggerNonUserCode]
         public void ApiResetScript(UUID itemID)
         {
             IScriptInstance instance = GetInstance(itemID);
@@ -1505,6 +1595,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine
             return UUID.Zero;
         }
 
+        [DebuggerNonUserCode]
         public void SetState(UUID itemID, string newState)
         {
             IScriptInstance instance = GetInstance(itemID);
@@ -1527,11 +1618,10 @@ namespace OpenSim.Region.ScriptEngine.XEngine
 
             List<IScriptInstance> instances = new List<IScriptInstance>();
 
-            lock (m_Scripts)
-            {
-                foreach (IScriptInstance instance in m_Scripts.Values)
+            lockScriptsForRead(true);
+            foreach (IScriptInstance instance in m_Scripts.Values)
                     instances.Add(instance);
-            }
+            lockScriptsForRead(false);
 
             foreach (IScriptInstance i in instances)
             {
@@ -1969,5 +2059,17 @@ namespace OpenSim.Region.ScriptEngine.XEngine
 //            else
 //                m_log.DebugFormat("[XEngine]: Could not find script with ID {0} to resume", itemID);
         }
+
+        public bool HasScript(UUID itemID, out bool running)
+        {
+            running = true;
+
+            IScriptInstance instance = GetInstance(itemID);
+            if (instance == null)
+                return false;
+
+            running = instance.Running;
+            return true;
+        }
     }
-}
\ No newline at end of file
+}