30 files changed, 1350 insertions, 1635 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index fdf2cb9..231f0f8 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -75,11 +75,11 @@ private sealed class BulletBodyUnman : BulletBody
 private sealed class BulletShapeUnman : BulletShape
 {
     public IntPtr ptr;
-    public BulletShapeUnman(IntPtr xx, BSPhysicsShapeType typ) 
+    public BulletShapeUnman(IntPtr xx, BSPhysicsShapeType typ)
         : base()
     {
         ptr = xx;
-        type = typ;
+        shapeType = typ;
     }
     public override bool HasPhysicalShape
     {
@@ -91,7 +91,7 @@ private sealed class BulletShapeUnman : BulletShape
     }
     public override BulletShape Clone()
     {
-        return new BulletShapeUnman(ptr, type);
+        return new BulletShapeUnman(ptr, shapeType);
     }
     public override bool ReferenceSame(BulletShape other)
     {
@@ -255,7 +255,7 @@ public override BulletShape CreateHullShape(BulletWorld world, int hullCount, fl
 {
     BulletWorldUnman worldu = world as BulletWorldUnman;
     return new BulletShapeUnman(
-                    BSAPICPP.CreateHullShape2(worldu.ptr, hullCount, hulls), 
+                    BSAPICPP.CreateHullShape2(worldu.ptr, hullCount, hulls),
                     BSPhysicsShapeType.SHAPE_HULL);
 }
 
@@ -375,7 +375,7 @@ public override BulletShape DuplicateCollisionShape(BulletWorld world, BulletSha
 {
     BulletWorldUnman worldu = world as BulletWorldUnman;
     BulletShapeUnman srcShapeu = srcShape as BulletShapeUnman;
-    return new BulletShapeUnman(BSAPICPP.DuplicateCollisionShape2(worldu.ptr, srcShapeu.ptr, id), srcShape.type);
+    return new BulletShapeUnman(BSAPICPP.DuplicateCollisionShape2(worldu.ptr, srcShapeu.ptr, id), srcShape.shapeType);
 }
 
 public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape)
@@ -1503,7 +1503,7 @@ public static extern void DestroyObject2(IntPtr sim, IntPtr obj);
 public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateTerrainShape2(uint id, Vector3 size, float minHeight, float maxHeight, 
+public static extern IntPtr CreateTerrainShape2(uint id, Vector3 size, float minHeight, float maxHeight,
                                             [MarshalAs(UnmanagedType.LPArray)] float[] heightMap,
                                             float scaleFactor, float collisionMargin);
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
index b37265a..59780ae 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
@@ -81,11 +81,11 @@ private sealed class BulletBodyXNA : BulletBody
 private sealed class BulletShapeXNA : BulletShape
 {
     public CollisionShape shape;
-    public BulletShapeXNA(CollisionShape xx, BSPhysicsShapeType typ) 
+    public BulletShapeXNA(CollisionShape xx, BSPhysicsShapeType typ)
         : base()
     {
         shape = xx;
-        type = typ;
+        shapeType = typ;
     }
     public override bool HasPhysicalShape
     {
@@ -97,7 +97,7 @@ private sealed class BulletShapeXNA : BulletShape
     }
     public override BulletShape Clone()
     {
-        return new BulletShapeXNA(shape, type);
+        return new BulletShapeXNA(shape, shapeType);
     }
     public override bool ReferenceSame(BulletShape other)
     {
@@ -137,8 +137,8 @@ private sealed class BulletConstraintXNA : BulletConstraint
     internal int LastEntityProperty = 0;
 
     internal EntityProperties[] UpdatedObjects;
-    internal Dictionary<uint, GhostObject> specialCollisionObjects; 
-    
+    internal Dictionary<uint, GhostObject> specialCollisionObjects;
+
     private static int m_collisionsThisFrame;
     private BSScene PhysicsScene { get; set; }
 
@@ -151,7 +151,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
     }
 
     /// <summary>
-    /// 
+    ///
     /// </summary>
     /// <param name="p"></param>
     /// <param name="p_2"></param>
@@ -174,7 +174,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
         DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
         TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain;
         world.AddConstraint(constraint, pDisableCollisionsBetweenLinkedObjects);
-        
+
         return true;
 
     }
@@ -300,7 +300,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
     public override bool GetForceUpdateAllAabbs(BulletWorld pWorld) {
         DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
         return world.GetForceUpdateAllAabbs();
-        
+
     }
     public override void SetForceUpdateAllAabbs(BulletWorld pWorld, bool pForce)
     {
@@ -404,7 +404,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
         IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion);
         mat._origin = vposition;
         collisionObject.SetWorldTransform(mat);
-        
+
     }
 
     public override Vector3 GetPosition(BulletBody pCollisionObject)
@@ -457,7 +457,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
     {
         CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
         collisionObject.Activate(pforceactivation);
-        
+
     }
 
     public override Quaternion GetOrientation(BulletBody pCollisionObject)
@@ -486,7 +486,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
     {
         CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
         return collisionObject.GetCcdSweptSphereRadius();
-        
+
     }
 
     public override IntPtr GetUserPointer(BulletBody pCollisionObject)
@@ -559,8 +559,8 @@ private sealed class BulletConstraintXNA : BulletConstraint
     }
 
 
-    public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, 
-                                    Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, 
+    public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
+                                    Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot,
                                     bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
 
     {
@@ -604,7 +604,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
     }
 
     /// <summary>
-    /// 
+    ///
     /// </summary>
     /// <param name="pWorld"></param>
     /// <param name="pBody1"></param>
@@ -824,7 +824,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
     {
         RigidBody body = (pBody as BulletBodyXNA).rigidBody;
         float angularDamping = body.GetAngularDamping();
-        body.SetDamping(lin_damping, angularDamping); 
+        body.SetDamping(lin_damping, angularDamping);
     }
 
     public override float GetLinearDamping(BulletBody pBody)
@@ -907,7 +907,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
         RigidBody bo = co as RigidBody;
         if (bo == null)
         {
-            
+
             if (world.IsInWorld(co))
             {
                 world.RemoveCollisionObject(co);
@@ -915,7 +915,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
         }
         else
         {
-            
+
             if (world.IsInWorld(bo))
             {
                 world.RemoveRigidBody(bo);
@@ -947,7 +947,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
 
         // TODO:  Turn this from a reference copy to a Value Copy.
         BulletShapeXNA shape2 = new BulletShapeXNA(shape1, BSShapeTypeFromBroadPhaseNativeType(shape1.GetShapeType()));
-        
+
         return shape2;
     }
 
@@ -957,7 +957,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
         return false;
     }
     //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation);
-               
+
     public override BulletBody CreateBodyFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
     {
         CollisionWorld world = (pWorld as BulletWorldXNA).world;
@@ -993,11 +993,11 @@ private sealed class BulletConstraintXNA : BulletConstraint
             m_startWorldTransform = IndexedMatrix.Identity;
         */
         body.SetUserPointer(pLocalID);
-        
+
         return new BulletBodyXNA(pLocalID, body);
     }
 
-    
+
     public override BulletBody CreateBodyWithDefaultMotionState( BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
     {
 
@@ -1025,7 +1025,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
     public override Vector3 GetAnisotripicFriction(BulletConstraint pconstrain)
     {
 
-        /* TODO */ 
+        /* TODO */
         return Vector3.Zero;
     }
     public override Vector3 SetAnisotripicFriction(BulletConstraint pconstrain, Vector3 frict) { /* TODO */ return Vector3.Zero; }
@@ -1035,7 +1035,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
     {
         CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
         return collisionObject.IsStaticObject();
-        
+
     }
     public override bool IsKinematicObject(BulletBody pCollisionObject)
     {
@@ -1098,10 +1098,10 @@ private sealed class BulletConstraintXNA : BulletConstraint
         return new BulletWorldXNA(1, PhysicsScene, BSAPIXNA.Initialize2(worldExtent, configparms, maxCollisions, ref collisionArray, maxUpdates, ref updateArray, null));
     }
 
-    private static DiscreteDynamicsWorld Initialize2(Vector3 worldExtent, 
+    private static DiscreteDynamicsWorld Initialize2(Vector3 worldExtent,
                         ConfigurationParameters[] o,
                         int mMaxCollisionsPerFrame, ref CollisionDesc[] collisionArray,
-                        int mMaxUpdatesPerFrame, ref EntityProperties[] updateArray, 
+                        int mMaxUpdatesPerFrame, ref EntityProperties[] updateArray,
                         object mDebugLogCallbackHandle)
     {
         CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData();
@@ -1138,9 +1138,9 @@ private sealed class BulletConstraintXNA : BulletConstraint
         p.avatarCapsuleDepth = BSParam.AvatarCapsuleDepth;
         p.avatarCapsuleHeight = BSParam.AvatarCapsuleHeight;
         p.avatarContactProcessingThreshold = BSParam.AvatarContactProcessingThreshold;
-       
+
         p.vehicleAngularDamping = BSParam.VehicleAngularDamping;
-        
+
         p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize;
         p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize;
         p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation;
@@ -1160,7 +1160,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
         p.linkConstraintSolverIterations = BSParam.LinkConstraintSolverIterations;
         p.physicsLoggingFrames = o[0].physicsLoggingFrames;
         DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo();
-        
+
         DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration();
         CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci);
 
@@ -1263,7 +1263,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
             }
         }
         return ret;
-        
+
     }
 
     public override float GetAngularMotionDisc(BulletShape pShape)
@@ -1353,10 +1353,10 @@ private sealed class BulletConstraintXNA : BulletConstraint
         CollisionShape shape = (pShape as BulletShapeXNA).shape;
         gObj.SetCollisionShape(shape);
         gObj.SetUserPointer(pLocalID);
-        
+
         if (specialCollisionObjects.ContainsKey(pLocalID))
             specialCollisionObjects[pLocalID] = gObj;
-        else 
+        else
             specialCollisionObjects.Add(pLocalID, gObj);
 
         // TODO: Add to Special CollisionObjects!
@@ -1447,8 +1447,8 @@ private sealed class BulletConstraintXNA : BulletConstraint
         return new BulletShapeXNA(ret, BSShapeTypeFromBroadPhaseNativeType(ret.GetShapeType()));
     }
 
-    public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) { 
-        
+    public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) {
+
         if (cShape == null)
             return null;
         CompoundShape compoundShape = (cShape as BulletShapeXNA).shape as CompoundShape;
@@ -1456,7 +1456,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
         BulletShape retShape = new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType()));
 
 
-        return retShape; 
+        return retShape;
     }
 
     public BSPhysicsShapeType BSShapeTypeFromBroadPhaseNativeType(BroadphaseNativeTypes pin)
@@ -1598,8 +1598,8 @@ private sealed class BulletConstraintXNA : BulletConstraint
         return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE);
     }
 
-    public override BulletConstraint Create6DofSpringConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, 
-                                    Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, 
+    public override BulletConstraint Create6DofSpringConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
+                                    Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot,
                                     bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
 
     {
@@ -1745,7 +1745,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
     {
         DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
         CompoundShape compoundshape = new CompoundShape(false);
-        
+
         compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin);
         int ii = 1;
 
@@ -1761,7 +1761,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
             int ender = ((ii + 4) + (vertexCount*3));
             for (int iii = ii + 4; iii < ender; iii+=3)
             {
-               
+
                 virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2]));
             }
             ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount);
@@ -1769,7 +1769,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
             compoundshape.AddChildShape(ref childTrans, convexShape);
             ii += (vertexCount*3 + 4);
         }
-        
+
         return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL);
     }
 
@@ -1791,13 +1791,13 @@ private sealed class BulletConstraintXNA : BulletConstraint
     public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
     {
         //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount);
-        
+
         for (int iter = 0; iter < pVerticesCount; iter++)
         {
             if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0;
             if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0;
         }
-        
+
         ObjectArray<int> indicesarr = new ObjectArray<int>(indices);
         ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats);
         DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount);
@@ -1811,7 +1811,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
         mesh.m_vertexStride = 3;
         mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
         mesh.m_triangleIndexStride = 3;
-        
+
         TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
         tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
         BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true);
@@ -1822,7 +1822,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
     }
     public static void DumpRaw(ObjectArray<int>indices, ObjectArray<float> vertices, int pIndicesCount,int pVerticesCount )
     {
-        
+
         String fileName = "objTest3.raw";
         String completePath = System.IO.Path.Combine(Util.configDir(), fileName);
         StreamWriter sw = new StreamWriter(completePath);
@@ -1848,7 +1848,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
             string s = vertices[indices[i * 3]].ToString("0.0000");
             s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000");
             s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000");
-        
+
             sw.Write(s + "\n");
         }
 
@@ -1870,7 +1870,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
         mesh.m_vertexStride = 3;
         mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
         mesh.m_triangleIndexStride = 3;
-        
+
         TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
         tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
 
@@ -1901,7 +1901,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
             sw.Close();
     }
 
-    public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, 
+    public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap,
                                                                 float scaleFactor, float collisionMargin)
     {
         const int upAxis = 2;
@@ -1943,14 +1943,14 @@ private sealed class BulletConstraintXNA : BulletConstraint
         /* TODO */
         updatedEntityCount = 0;
         collidersCount = 0;
-        
+
 
         int ret = PhysicsStep2(world,timeStep,maxSubSteps,fixedTimeStep,out updatedEntityCount,out world.physicsScene.m_updateArray, out collidersCount, out world.physicsScene.m_collisionArray);
 
         return ret;
     }
 
-    private int PhysicsStep2(BulletWorld pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, 
+    private int PhysicsStep2(BulletWorld pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep,
                     out int updatedEntityCount, out EntityProperties[] updatedEntities,
                     out int collidersCount, out CollisionDesc[] colliders)
     {
@@ -1959,24 +1959,24 @@ private sealed class BulletConstraintXNA : BulletConstraint
         return epic;
     }
 
-    private int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, 
+    private int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount,
         out  EntityProperties[] updatedEntities, out int collidersCount, out CollisionDesc[] colliders, int maxCollisions, int maxUpdates)
     {
         int numSimSteps = 0;
         Array.Clear(UpdatedObjects, 0, UpdatedObjects.Length);
         Array.Clear(UpdatedCollisions, 0, UpdatedCollisions.Length);
         LastEntityProperty=0;
-        
+
 
 
 
 
 
         LastCollisionDesc=0;
-       
+
         updatedEntityCount = 0;
         collidersCount = 0;
-        
+
 
         if (pWorld is BulletWorldXNA)
         {
@@ -2033,7 +2033,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
 
             collidersCount = LastCollisionDesc;
             colliders = UpdatedCollisions;
-                
+
 
         }
         else
@@ -2041,15 +2041,15 @@ private sealed class BulletConstraintXNA : BulletConstraint
             //if (updatedEntities is null)
             //updatedEntities = new List<BulletXNA.EntityProperties>();
             //updatedEntityCount = 0;
-            
-            
+
+
             //collidersCount = 0;
-           
+
             updatedEntities = new EntityProperties[0];
 
-            
+
             colliders = new CollisionDesc[0];
-        
+
         }
         return numSimSteps;
     }
@@ -2057,7 +2057,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
     {
         IOverlappingPairCache cache = obj.GetOverlappingPairCache();
         ObjectArray<BroadphasePair> pairs = cache.GetOverlappingPairArray();
-        
+
         DiscreteDynamicsWorld world = (PhysicsScene.World as BulletWorldXNA).world;
         PersistentManifoldArray manifoldArray = new PersistentManifoldArray();
         BroadphasePair collisionPair;
@@ -2069,7 +2069,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
         ManifoldPoint pt;
 
         int numPairs = pairs.Count;
-        
+
         for (int i = 0; i < numPairs; i++)
         {
             manifoldArray.Clear();
@@ -2078,7 +2078,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
             collisionPair = world.GetPairCache().FindPair(pairs[i].m_pProxy0, pairs[i].m_pProxy1);
             if (collisionPair == null)
                 continue;
-            
+
             collisionPair.m_algorithm.GetAllContactManifolds(manifoldArray);
             for (int j = 0; j < manifoldArray.Count; j++)
             {
@@ -2101,7 +2101,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
     }
     private static void RecordCollision(BSAPIXNA world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm, float penetration)
     {
-       
+
         IndexedVector3 contactNormal = norm;
         if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 &&
             (objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0)
@@ -2171,11 +2171,11 @@ private sealed class BulletConstraintXNA : BulletConstraint
             if (NotMe is BulletBodyXNA && NotMe.HasPhysicalBody)
             {
                 CollisionObject AvoidBody = (NotMe as BulletBodyXNA).body;
-                
+
                 IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z);
                 IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight);
                 using (
-                    ClosestNotMeRayResultCallback rayCallback = 
+                    ClosestNotMeRayResultCallback rayCallback =
                                             new ClosestNotMeRayResultCallback(rOrigin, rEnd, AvoidBody)
                     )
                 {
@@ -2191,9 +2191,9 @@ private sealed class BulletConstraintXNA : BulletConstraint
         return false;
     }
 }
-  
 
-   
+
+
 
     public class SimMotionState : DefaultMotionState
     {
@@ -2286,12 +2286,12 @@ private sealed class BulletConstraintXNA : BulletConstraint
                 m_lastProperties = m_properties;
                 if (m_world.LastEntityProperty < m_world.UpdatedObjects.Length)
                     m_world.UpdatedObjects[m_world.LastEntityProperty++]=(m_properties);
-                
+
                 //(*m_updatesThisFrame)[m_properties.ID] = &m_properties;
             }
-                
-                
-                
+
+
+
 
         }
         public override void SetRigidBody(RigidBody body)
@@ -2314,7 +2314,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
             (((v1.Z - nEpsilon) < v2.Z) && (v2.Z < (v1.Z + nEpsilon))) &&
             (((v1.W - nEpsilon) < v2.W) && (v2.W < (v1.W + nEpsilon)));
         }
-        
+
     }
 }
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs
index bd5ee0b1..4e067b5 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs
@@ -87,8 +87,8 @@ public class BSActorAvatarMove : BSActor
     // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
     //     Register a prestep action to restore physical requirements before the next simulation step.
     // Called at taint-time.
-    // BSActor.RemoveBodyDependencies()
-    public override void RemoveBodyDependencies()
+    // BSActor.RemoveDependencies()
+    public override void RemoveDependencies()
     {
         // Nothing to do for the hoverer since it is all software at pre-step action time.
     }
@@ -115,7 +115,7 @@ public class BSActorAvatarMove : BSActor
         if (m_velocityMotor == null)
         {
             // Infinite decay and timescale values so motor only changes current to target values.
-            m_velocityMotor = new BSVMotor("BSCharacter.Velocity", 
+            m_velocityMotor = new BSVMotor("BSCharacter.Velocity",
                                                 0.2f,                       // time scale
                                                 BSMotor.Infinite,           // decay time scale
                                                 BSMotor.InfiniteVector,     // friction timescale
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs
index 92ace66..3630ca8 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs
@@ -87,8 +87,8 @@ public class BSActorHover : BSActor
     // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
     //     Register a prestep action to restore physical requirements before the next simulation step.
     // Called at taint-time.
-    // BSActor.RemoveBodyDependencies()
-    public override void RemoveBodyDependencies()
+    // BSActor.RemoveDependencies()
+    public override void RemoveDependencies()
     {
         // Nothing to do for the hoverer since it is all software at pre-step action time.
     }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
index 09ee32b..7801d8e 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
@@ -63,7 +63,7 @@ public class BSActorLockAxis : BSActor
     // BSActor.Refresh()
     public override void Refresh()
     {
-        m_physicsScene.DetailLog("{0},BSActorLockAxis,refresh,lockedAxis={1},enabled={2},pActive={3}", 
+        m_physicsScene.DetailLog("{0},BSActorLockAxis,refresh,lockedAxis={1},enabled={2},pActive={3}",
                                     m_controllingPrim.LocalID, m_controllingPrim.LockedAxis, Enabled, m_controllingPrim.IsPhysicallyActive);
         // If all the axis are free, we don't need to exist
         if (m_controllingPrim.LockedAxis == m_controllingPrim.LockedAxisFree)
@@ -85,8 +85,8 @@ public class BSActorLockAxis : BSActor
     // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
     //     Register a prestep action to restore physical requirements before the next simulation step.
     // Called at taint-time.
-    // BSActor.RemoveBodyDependencies()
-    public override void RemoveBodyDependencies()
+    // BSActor.RemoveDependencies()
+    public override void RemoveDependencies()
     {
         if (LockAxisConstraint != null)
         {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
index 56aacc5..1b598fd 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
@@ -88,8 +88,8 @@ public class BSActorMoveToTarget : BSActor
     // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
     //     Register a prestep action to restore physical requirements before the next simulation step.
     // Called at taint-time.
-    // BSActor.RemoveBodyDependencies()
-    public override void RemoveBodyDependencies()
+    // BSActor.RemoveDependencies()
+    public override void RemoveDependencies()
     {
         // Nothing to do for the moveToTarget since it is all software at pre-step action time.
     }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs
index 3ad138d..c0f40fd 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs
@@ -89,8 +89,8 @@ public class BSActorSetForce : BSActor
     // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
     //     Register a prestep action to restore physical requirements before the next simulation step.
     // Called at taint-time.
-    // BSActor.RemoveBodyDependencies()
-    public override void RemoveBodyDependencies()
+    // BSActor.RemoveDependencies()
+    public override void RemoveDependencies()
     {
         // Nothing to do for the hoverer since it is all software at pre-step action time.
     }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs
index 7a791ec..b3806e1 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs
@@ -89,8 +89,8 @@ public class BSActorSetTorque : BSActor
     // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
     //     Register a prestep action to restore physical requirements before the next simulation step.
     // Called at taint-time.
-    // BSActor.RemoveBodyDependencies()
-    public override void RemoveBodyDependencies()
+    // BSActor.RemoveDependencies()
+    public override void RemoveDependencies()
     {
         // Nothing to do for the hoverer since it is all software at pre-step action time.
     }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
index 12a8817..fff63e4 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
@@ -106,9 +106,9 @@ public class BSActorCollection
     {
         ForEachActor(a => a.Refresh());
     }
-    public void RemoveBodyDependencies()
+    public void RemoveDependencies()
     {
-        ForEachActor(a => a.RemoveBodyDependencies());
+        ForEachActor(a => a.RemoveDependencies());
     }
 }
 
@@ -117,7 +117,7 @@ public class BSActorCollection
 /// Each physical object can have 'actors' who are pushing the object around.
 /// This can be used for hover, locking axis, making vehicles, etc.
 /// Each physical object can have multiple actors acting on it.
-/// 
+///
 /// An actor usually registers itself with physics scene events (pre-step action)
 /// and modifies the parameters on the host physical object.
 /// </summary>
@@ -154,7 +154,7 @@ public abstract class BSActor
     public abstract void Refresh();
     // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
     //     Register a prestep action to restore physical requirements before the next simulation step.
-    public abstract void RemoveBodyDependencies();
+    public abstract void RemoveDependencies();
 
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
index bfeec24..3378c93 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
@@ -298,7 +298,7 @@ public abstract class BSAPITemplate
 {
 // Returns the name of the underlying Bullet engine
 public abstract string BulletEngineName { get; }
-public abstract string BulletEngineVersion { get; protected set;} 
+public abstract string BulletEngineVersion { get; protected set;}
 
 // Initialization and simulation
 public abstract BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
@@ -373,7 +373,7 @@ public abstract void DestroyObject(BulletWorld sim, BulletBody obj);
 // =====================================================================================
 public abstract BulletShape CreateGroundPlaneShape(UInt32 id, float height, float collisionMargin);
 
-public abstract BulletShape CreateTerrainShape(UInt32 id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, 
+public abstract BulletShape CreateTerrainShape(UInt32 id, Vector3 size, float minHeight, float maxHeight, float[] heightMap,
                                                                 float scaleFactor, float collisionMargin);
 
 // =====================================================================================
@@ -388,7 +388,7 @@ public abstract BulletConstraint Create6DofConstraintToPoint(BulletWorld world,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
 
 public abstract BulletConstraint Create6DofConstraintFixed(BulletWorld world, BulletBody obj1,
-                    Vector3 frameInBloc, Quaternion frameInBrot, 
+                    Vector3 frameInBloc, Quaternion frameInBrot,
                     bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies);
 
 public abstract BulletConstraint Create6DofSpringConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index a0d58d3..542f732 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -95,18 +95,18 @@ public sealed class BSCharacter : BSPhysObject
         //    the avatar seeking to reach the motor's target speed.
         // This motor runs as a prestep action for the avatar so it will keep the avatar
         //    standing as well as moving. Destruction of the avatar will destroy the pre-step action.
-        m_moveActor = new BSActorAvatarMove(PhysicsScene, this, AvatarMoveActorName);
+        m_moveActor = new BSActorAvatarMove(PhysScene, this, AvatarMoveActorName);
         PhysicalActors.Add(AvatarMoveActorName, m_moveActor);
 
         DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}",
                             LocalID, _size, Scale, Density, _avatarVolume, RawMass);
 
         // do actual creation in taint time
-        PhysicsScene.TaintedObject("BSCharacter.create", delegate()
+        PhysScene.TaintedObject("BSCharacter.create", delegate()
         {
             DetailLog("{0},BSCharacter.create,taint", LocalID);
             // New body and shape into PhysBody and PhysShape
-            PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this);
+            PhysScene.Shapes.GetBodyAndShape(true, PhysScene.World, this);
 
             SetPhysicalProperties();
         });
@@ -119,18 +119,18 @@ public sealed class BSCharacter : BSPhysObject
         base.Destroy();
 
         DetailLog("{0},BSCharacter.Destroy", LocalID);
-        PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
+        PhysScene.TaintedObject("BSCharacter.destroy", delegate()
         {
-            PhysicsScene.Shapes.DereferenceBody(PhysBody, null /* bodyCallback */);
+            PhysScene.Shapes.DereferenceBody(PhysBody, null /* bodyCallback */);
             PhysBody.Clear();
-            PhysicsScene.Shapes.DereferenceShape(PhysShape, null /* bodyCallback */);
-            PhysShape.Clear();
+            PhysShape.Dereference(PhysScene);
+            PhysShape = new BSShapeNull();
         });
     }
 
     private void SetPhysicalProperties()
     {
-        PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody);
+        PhysScene.PE.RemoveObjectFromWorld(PhysScene.World, PhysBody);
 
         ZeroMotion(true);
         ForcePosition = _position;
@@ -145,35 +145,35 @@ public sealed class BSCharacter : BSPhysObject
         // Needs to be reset especially when an avatar is recreated after crossing a region boundry.
         Flying = _flying;
 
-        PhysicsScene.PE.SetRestitution(PhysBody, BSParam.AvatarRestitution);
-        PhysicsScene.PE.SetMargin(PhysShape, PhysicsScene.Params.collisionMargin);
-        PhysicsScene.PE.SetLocalScaling(PhysShape, Scale);
-        PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold);
+        PhysScene.PE.SetRestitution(PhysBody, BSParam.AvatarRestitution);
+        PhysScene.PE.SetMargin(PhysShape.physShapeInfo, PhysScene.Params.collisionMargin);
+        PhysScene.PE.SetLocalScaling(PhysShape.physShapeInfo, Scale);
+        PhysScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold);
         if (BSParam.CcdMotionThreshold > 0f)
         {
-            PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
-            PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
+            PhysScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
+            PhysScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
         }
 
         UpdatePhysicalMassProperties(RawMass, false);
 
         // Make so capsule does not fall over
-        PhysicsScene.PE.SetAngularFactorV(PhysBody, OMV.Vector3.Zero);
+        PhysScene.PE.SetAngularFactorV(PhysBody, OMV.Vector3.Zero);
 
         // The avatar mover sets some parameters.
         PhysicalActors.Refresh();
 
-        PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_CHARACTER_OBJECT);
+        PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_CHARACTER_OBJECT);
 
-        PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody);
+        PhysScene.PE.AddObjectToWorld(PhysScene.World, PhysBody);
 
         // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG);
-        PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_DEACTIVATION);
-        PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody);
+        PhysScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_DEACTIVATION);
+        PhysScene.PE.UpdateSingleAabb(PhysScene.World, PhysBody);
 
         // Do this after the object has been added to the world
         PhysBody.collisionType = CollisionType.Avatar;
-        PhysBody.ApplyCollisionMask(PhysicsScene);
+        PhysBody.ApplyCollisionMask(PhysScene);
     }
 
 
@@ -203,14 +203,14 @@ public sealed class BSCharacter : BSPhysObject
             DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}",
                             LocalID, _size, Scale, Density, _avatarVolume, RawMass);
 
-            PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
+            PhysScene.TaintedObject("BSCharacter.setSize", delegate()
             {
-                if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape)
+                if (PhysBody.HasPhysicalBody && PhysShape.physShapeInfo.HasPhysicalShape)
                 {
-                    PhysicsScene.PE.SetLocalScaling(PhysShape, Scale);
+                    PhysScene.PE.SetLocalScaling(PhysShape.physShapeInfo, Scale);
                     UpdatePhysicalMassProperties(RawMass, true);
                     // Make sure this change appears as a property update event
-                    PhysicsScene.PE.PushUpdate(PhysBody);
+                    PhysScene.PE.PushUpdate(PhysBody);
                 }
             });
 
@@ -221,11 +221,6 @@ public sealed class BSCharacter : BSPhysObject
     {
         set { BaseShape = value; }
     }
-    // I want the physics engine to make an avatar capsule
-    public override BSPhysicsShapeType PreferredPhysicalShape
-    {
-        get {return BSPhysicsShapeType.SHAPE_CAPSULE; }
-    }
 
     public override bool Grabbed {
         set { _grabbed = value; }
@@ -252,24 +247,24 @@ public sealed class BSCharacter : BSPhysObject
         _rotationalVelocity = OMV.Vector3.Zero;
 
         // Zero some other properties directly into the physics engine
-        PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
+        PhysScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
         {
             if (PhysBody.HasPhysicalBody)
-                PhysicsScene.PE.ClearAllForces(PhysBody);
+                PhysScene.PE.ClearAllForces(PhysBody);
         });
     }
     public override void ZeroAngularMotion(bool inTaintTime)
     {
         _rotationalVelocity = OMV.Vector3.Zero;
 
-        PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
+        PhysScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
         {
             if (PhysBody.HasPhysicalBody)
             {
-                PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, OMV.Vector3.Zero);
-                PhysicsScene.PE.SetAngularVelocity(PhysBody, OMV.Vector3.Zero);
+                PhysScene.PE.SetInterpolationAngularVelocity(PhysBody, OMV.Vector3.Zero);
+                PhysScene.PE.SetAngularVelocity(PhysBody, OMV.Vector3.Zero);
                 // The next also get rid of applied linear force but the linear velocity is untouched.
-                PhysicsScene.PE.ClearForces(PhysBody);
+                PhysScene.PE.ClearForces(PhysBody);
             }
         });
     }
@@ -291,7 +286,7 @@ public sealed class BSCharacter : BSPhysObject
         set {
             _position = value;
 
-            PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate()
+            PhysScene.TaintedObject("BSCharacter.setPosition", delegate()
             {
                 DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 PositionSanityCheck();
@@ -301,14 +296,14 @@ public sealed class BSCharacter : BSPhysObject
     }
     public override OMV.Vector3 ForcePosition {
         get {
-            _position = PhysicsScene.PE.GetPosition(PhysBody);
+            _position = PhysScene.PE.GetPosition(PhysBody);
             return _position;
         }
         set {
             _position = value;
             if (PhysBody.HasPhysicalBody)
             {
-                PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
+                PhysScene.PE.SetTranslation(PhysBody, _position, _orientation);
             }
         }
     }
@@ -322,18 +317,18 @@ public sealed class BSCharacter : BSPhysObject
         bool ret = false;
 
         // TODO: check for out of bounds
-        if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(RawPosition))
+        if (!PhysScene.TerrainManager.IsWithinKnownTerrain(RawPosition))
         {
             // The character is out of the known/simulated area.
             // Force the avatar position to be within known. ScenePresence will use the position
             //    plus the velocity to decide if the avatar is moving out of the region.
-            RawPosition = PhysicsScene.TerrainManager.ClampPositionIntoKnownTerrain(RawPosition);
+            RawPosition = PhysScene.TerrainManager.ClampPositionIntoKnownTerrain(RawPosition);
             DetailLog("{0},BSCharacter.PositionSanityCheck,notWithinKnownTerrain,clampedPos={1}", LocalID, RawPosition);
             return true;
         }
 
         // If below the ground, move the avatar up
-        float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition);
+        float terrainHeight = PhysScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition);
         if (Position.Z < terrainHeight)
         {
             DetailLog("{0},BSCharacter.PositionSanityCheck,adjustForUnderGround,pos={1},terrain={2}", LocalID, _position, terrainHeight);
@@ -342,7 +337,7 @@ public sealed class BSCharacter : BSPhysObject
         }
         if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
         {
-            float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position);
+            float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(_position);
             if (Position.Z < waterHeight)
             {
                 _position.Z = waterHeight;
@@ -363,7 +358,7 @@ public sealed class BSCharacter : BSPhysObject
         {
             // The new position value must be pushed into the physics engine but we can't
             //    just assign to "Position" because of potential call loops.
-            PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate()
+            PhysScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate()
             {
                 DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 ForcePosition = _position;
@@ -376,13 +371,13 @@ public sealed class BSCharacter : BSPhysObject
     public override float Mass { get { return _mass; } }
 
     // used when we only want this prim's mass and not the linkset thing
-    public override float RawMass { 
+    public override float RawMass {
         get {return _mass; }
     }
     public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
     {
-        OMV.Vector3 localInertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape, physMass);
-        PhysicsScene.PE.SetMassProps(PhysBody, physMass, localInertia);
+        OMV.Vector3 localInertia = PhysScene.PE.CalculateLocalInertia(PhysShape.physShapeInfo, physMass);
+        PhysScene.PE.SetMassProps(PhysBody, physMass, localInertia);
     }
 
     public override OMV.Vector3 Force {
@@ -390,11 +385,11 @@ public sealed class BSCharacter : BSPhysObject
         set {
             RawForce = value;
             // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force);
-            PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate()
+            PhysScene.TaintedObject("BSCharacter.SetForce", delegate()
             {
                 DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, RawForce);
                 if (PhysBody.HasPhysicalBody)
-                    PhysicsScene.PE.SetObjectForce(PhysBody, RawForce);
+                    PhysScene.PE.SetObjectForce(PhysBody, RawForce);
             });
         }
     }
@@ -437,7 +432,7 @@ public sealed class BSCharacter : BSPhysObject
         set {
             RawVelocity = value;
             // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, RawVelocity);
-            PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate()
+            PhysScene.TaintedObject("BSCharacter.setVelocity", delegate()
             {
                 if (m_moveActor != null)
                     m_moveActor.SetVelocityAndTarget(RawVelocity, RawVelocity, true /* inTaintTime */);
@@ -450,11 +445,11 @@ public sealed class BSCharacter : BSPhysObject
     public override OMV.Vector3 ForceVelocity {
         get { return RawVelocity; }
         set {
-            PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity");
+            PhysScene.AssertInTaintTime("BSCharacter.ForceVelocity");
 
             RawVelocity = value;
-            PhysicsScene.PE.SetLinearVelocity(PhysBody, RawVelocity);
-            PhysicsScene.PE.Activate(PhysBody, true);
+            PhysScene.PE.SetLinearVelocity(PhysBody, RawVelocity);
+            PhysScene.PE.Activate(PhysBody, true);
         }
     }
     public override OMV.Vector3 Torque {
@@ -484,7 +479,7 @@ public sealed class BSCharacter : BSPhysObject
             if (_orientation != value)
             {
                 _orientation = value;
-                PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate()
+                PhysScene.TaintedObject("BSCharacter.setOrientation", delegate()
                 {
                     ForceOrientation = _orientation;
                 });
@@ -496,7 +491,7 @@ public sealed class BSCharacter : BSPhysObject
     {
         get
         {
-            _orientation = PhysicsScene.PE.GetOrientation(PhysBody);
+            _orientation = PhysScene.PE.GetOrientation(PhysBody);
             return _orientation;
         }
         set
@@ -505,7 +500,7 @@ public sealed class BSCharacter : BSPhysObject
             if (PhysBody.HasPhysicalBody)
             {
                 // _position = PhysicsScene.PE.GetPosition(BSBody);
-                PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
+                PhysScene.PE.SetTranslation(PhysBody, _position, _orientation);
             }
         }
     }
@@ -554,14 +549,14 @@ public sealed class BSCharacter : BSPhysObject
     public override bool FloatOnWater {
         set {
             _floatOnWater = value;
-            PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate()
+            PhysScene.TaintedObject("BSCharacter.setFloatOnWater", delegate()
             {
                 if (PhysBody.HasPhysicalBody)
                 {
                     if (_floatOnWater)
-                        CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
+                        CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
                     else
-                        CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
+                        CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
                 }
             });
         }
@@ -582,7 +577,7 @@ public sealed class BSCharacter : BSPhysObject
     public override float Buoyancy {
         get { return _buoyancy; }
         set { _buoyancy = value;
-            PhysicsScene.TaintedObject("BSCharacter.setBuoyancy", delegate()
+            PhysScene.TaintedObject("BSCharacter.setBuoyancy", delegate()
             {
                 DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
                 ForceBuoyancy = _buoyancy;
@@ -591,8 +586,8 @@ public sealed class BSCharacter : BSPhysObject
     }
     public override float ForceBuoyancy {
         get { return _buoyancy; }
-        set { 
-            PhysicsScene.AssertInTaintTime("BSCharacter.ForceBuoyancy");
+        set {
+            PhysScene.AssertInTaintTime("BSCharacter.ForceBuoyancy");
 
             _buoyancy = value;
             DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
@@ -600,7 +595,7 @@ public sealed class BSCharacter : BSPhysObject
             float  grav = BSParam.Gravity * (1f - _buoyancy);
             Gravity = new OMV.Vector3(0f, 0f, grav);
             if (PhysBody.HasPhysicalBody)
-                PhysicsScene.PE.SetGravity(PhysBody, Gravity);
+                PhysScene.PE.SetGravity(PhysBody, Gravity);
         }
     }
 
@@ -618,7 +613,7 @@ public sealed class BSCharacter : BSPhysObject
     public override void AddForce(OMV.Vector3 force, bool pushforce)
     {
         // Since this force is being applied in only one step, make this a force per second.
-        OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep;
+        OMV.Vector3 addForce = force / PhysScene.LastTimeStep;
         AddForce(addForce, pushforce, false);
     }
     private void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
@@ -627,13 +622,13 @@ public sealed class BSCharacter : BSPhysObject
             OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
             // DetailLog("{0},BSCharacter.addForce,call,force={1}", LocalID, addForce);
 
-            PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.AddForce", delegate()
+            PhysScene.TaintedObject(inTaintTime, "BSCharacter.AddForce", delegate()
             {
                 // Bullet adds this central force to the total force for this tick
                 // DetailLog("{0},BSCharacter.addForce,taint,force={1}", LocalID, addForce);
                 if (PhysBody.HasPhysicalBody)
                 {
-                    PhysicsScene.PE.ApplyCentralForce(PhysBody, addForce);
+                    PhysScene.PE.ApplyCentralForce(PhysBody, addForce);
                 }
             });
         }
@@ -652,7 +647,7 @@ public sealed class BSCharacter : BSPhysObject
     private OMV.Vector3 ComputeAvatarScale(OMV.Vector3 size)
     {
         OMV.Vector3 newScale;
-        
+
         // Bullet's capsule total height is the "passed height + radius * 2";
         // The base capsule is 1 diameter and 2 height (passed radius=0.5, passed height = 1)
         // The number we pass in for 'scaling' is the multiplier to get that base
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs
index 7714a03..ed89f63 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs
@@ -45,7 +45,7 @@ public sealed class BSConstraintHinge : BSConstraint
         m_body1 = obj1;
         m_body2 = obj2;
         m_constraint = PhysicsScene.PE.CreateHingeConstraint(world, obj1, obj2,
-                                pivotInA, pivotInB, axisInA, axisInB, 
+                                pivotInA, pivotInB, axisInA, axisInB,
                                 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
         m_enabled = true;
     }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 612c68b..c5bee6d 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -559,9 +559,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     break;
             }
 
-            // Update any physical parameters based on this type.
-            Refresh();
-
             m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale,
                                 m_linearMotorDecayTimescale, m_linearFrictionTimescale,
                                 1f);
@@ -589,6 +586,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             {
                 RegisterForSceneEvents();
             }
+
+            // Update any physical parameters based on this type.
+            Refresh();
         }
         #endregion // Vehicle parameter setting
 
@@ -596,6 +596,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         public override void Refresh()
         {
             // If asking for a refresh, reset the physical parameters before the next simulation step.
+            // Called whether active or not since the active state may be updated before the next step.
             m_physicsScene.PostTaintObject("BSDynamics.Refresh", ControllingPrim.LocalID, delegate()
             {
                 SetPhysicalParameters();
@@ -625,7 +626,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 // Vehicles report collision events so we know when it's on the ground
                 m_physicsScene.PE.AddToCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
 
-                ControllingPrim.Inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape, m_vehicleMass);
+                ControllingPrim.Inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape.physShapeInfo, m_vehicleMass);
                 m_physicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia);
                 m_physicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody);
 
@@ -649,7 +650,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         }
 
         // BSActor.RemoveBodyDependencies
-        public override void RemoveBodyDependencies()
+        public override void RemoveDependencies()
         {
             Refresh();
         }
@@ -789,7 +790,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             if ((m_knownHas & m_knownChangedTerrainHeight) == 0 || pos != lastRememberedHeightPos)
             {
                 lastRememberedHeightPos = pos;
-                m_knownTerrainHeight = ControllingPrim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos);
+                m_knownTerrainHeight = ControllingPrim.PhysScene.TerrainManager.GetTerrainHeightAtXYZ(pos);
                 m_knownHas |= m_knownChangedTerrainHeight;
             }
             return m_knownTerrainHeight;
@@ -801,7 +802,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         {
             if ((m_knownHas & m_knownChangedWaterLevel) == 0)
             {
-                m_knownWaterLevel = ControllingPrim.PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(pos);
+                m_knownWaterLevel = ControllingPrim.PhysScene.TerrainManager.GetWaterLevelAtXYZ(pos);
                 m_knownHas |= m_knownChangedWaterLevel;
             }
             return (float)m_knownWaterLevel;
@@ -1019,7 +1020,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 Vector3 origVelW = VehicleVelocity;         // DEBUG DEBUG
                 VehicleVelocity /= VehicleVelocity.Length();
                 VehicleVelocity *= BSParam.VehicleMaxLinearVelocity;
-                VDetailLog("{0},  MoveLinear,clampMax,origVelW={1},lenSq={2},maxVelSq={3},,newVelW={4}", 
+                VDetailLog("{0},  MoveLinear,clampMax,origVelW={1},lenSq={2},maxVelSq={3},,newVelW={4}",
                             ControllingPrim.LocalID, origVelW, newVelocityLengthSq, BSParam.VehicleMaxLinearVelocitySquared, VehicleVelocity);
             }
             else if (newVelocityLengthSq < 0.001f)
@@ -1094,7 +1095,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     if (VehiclePosition.Z > m_VhoverTargetHeight)
                         m_VhoverTargetHeight = VehiclePosition.Z;
                 }
-                
+
                 if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
                 {
                     if (Math.Abs(VehiclePosition.Z - m_VhoverTargetHeight) > 0.2f)
@@ -1188,7 +1189,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         //    used with conjunction with banking: the strength of the banking will decay when the
         //    vehicle no longer experiences collisions. The decay timescale is the same as
         //    VEHICLE_BANKING_TIMESCALE. This is to help prevent ground vehicles from steering
-        //    when they are in mid jump. 
+        //    when they are in mid jump.
         // TODO: this code is wrong. Also, what should it do for boats (height from water)?
         //    This is just using the ground and a general collision check. Should really be using
         //    a downward raycast to find what is below.
@@ -1254,7 +1255,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
             VehicleAddForce(appliedGravity);
 
-            VDetailLog("{0},  MoveLinear,applyGravity,vehGrav={1},collid={2},fudge={3},mass={4},appliedForce={3}", 
+            VDetailLog("{0},  MoveLinear,applyGravity,vehGrav={1},collid={2},fudge={3},mass={4},appliedForce={3}",
                             ControllingPrim.LocalID, m_VehicleGravity,
                             ControllingPrim.IsColliding, BSParam.VehicleGroundGravityFudge, m_vehicleMass, appliedGravity);
         }
@@ -1330,7 +1331,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
             //    This flag prevents linear deflection parallel to world z-axis. This is useful
             //    for preventing ground vehicles with large linear deflection, like bumper cars,
-            //    from climbing their linear deflection into the sky. 
+            //    from climbing their linear deflection into the sky.
             // That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement
             // TODO: This is here because this is where ODE put it but documentation says it
             //    is a linear effect. Where should this check go?
@@ -1463,7 +1464,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 VehicleRotationalVelocity += (vertContributionV * VehicleOrientation);
 
                 VDetailLog("{0},  MoveAngular,verticalAttraction,,origRotVW={1},vertError={2},unscaledV={3},eff={4},ts={5},vertContribV={6}",
-                                Prim.LocalID, origRotVelW, verticalError, unscaledContribVerticalErrorV, 
+                                Prim.LocalID, origRotVelW, verticalError, unscaledContribVerticalErrorV,
                                 m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContributionV);
                 */
             }
@@ -1530,13 +1531,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         //      produce a angular velocity around the yaw-axis, causing the vehicle to turn. The magnitude
         //      of the yaw effect will be proportional to the
         //          VEHICLE_BANKING_EFFICIENCY, the angle of the roll rotation, and sometimes the vehicle's
-        //                 velocity along its preferred axis of motion. 
+        //                 velocity along its preferred axis of motion.
         //          The VEHICLE_BANKING_EFFICIENCY can vary between -1 and +1. When it is positive then any
         //                  positive rotation (by the right-hand rule) about the roll-axis will effect a
         //                  (negative) torque around the yaw-axis, making it turn to the right--that is the
         //                  vehicle will lean into the turn, which is how real airplanes and motorcycle's work.
         //                  Negating the banking coefficient will make it so that the vehicle leans to the
-        //                  outside of the turn (not very "physical" but might allow interesting vehicles so why not?). 
+        //                  outside of the turn (not very "physical" but might allow interesting vehicles so why not?).
         //           The VEHICLE_BANKING_MIX is a fake (i.e. non-physical) parameter that is useful for making
         //                  banking vehicles do what you want rather than what the laws of physics allow.
         //                  For example, consider a real motorcycle...it must be moving forward in order for
@@ -1548,11 +1549,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         //                  totally static (0.0) and totally dynamic (1.0). By "static" we mean that the
         //                  banking effect depends only on the vehicle's rotation about its roll-axis compared
         //                  to "dynamic" where the banking is also proportional to its velocity along its
-        //                  roll-axis. Finding the best value of the "mixture" will probably require trial and error. 
+        //                  roll-axis. Finding the best value of the "mixture" will probably require trial and error.
         //      The time it takes for the banking behavior to defeat a preexisting angular velocity about the
         //      world z-axis is determined by the VEHICLE_BANKING_TIMESCALE. So if you want the vehicle to
         //      bank quickly then give it a banking timescale of about a second or less, otherwise you can
-        //      make a sluggish vehicle by giving it a timescale of several seconds. 
+        //      make a sluggish vehicle by giving it a timescale of several seconds.
         public void ComputeAngularBanking()
         {
             if (enableAngularBanking && m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
@@ -1581,7 +1582,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
                 //VehicleRotationalVelocity += bankingContributionV * VehicleOrientation;
                 VehicleRotationalVelocity += bankingContributionV;
-                
+
 
                 VDetailLog("{0},  MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}",
                             ControllingPrim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContributionV);
@@ -1637,8 +1638,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         // Invoke the detailed logger and output something if it's enabled.
         private void VDetailLog(string msg, params Object[] args)
         {
-            if (ControllingPrim.PhysicsScene.VehicleLoggingEnabled)
-                ControllingPrim.PhysicsScene.DetailLog(msg, args);
+            if (ControllingPrim.PhysScene.VehicleLoggingEnabled)
+                ControllingPrim.PhysScene.DetailLog(msg, args);
         }
     }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 4ece1eb..76c2187 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -80,7 +80,7 @@ public abstract class BSLinkset
 
     public BSPrimLinkable LinksetRoot { get; protected set; }
 
-    public BSScene PhysicsScene { get; private set; }
+    protected BSScene m_physicsScene { get; private set; }
 
     static int m_nextLinksetID = 1;
     public int LinksetID { get; private set; }
@@ -93,13 +93,6 @@ public abstract class BSLinkset
     //    to the physical representation is done via the tainting mechenism.
     protected object m_linksetActivityLock = new Object();
 
-    // Some linksets have a preferred physical shape.
-    // Returns SHAPE_UNKNOWN if there is no preference. Causes the correct shape to be selected.
-    public virtual BSPhysicsShapeType PreferredPhysicalShape(BSPrimLinkable requestor)
-    {
-        return BSPhysicsShapeType.SHAPE_UNKNOWN;
-    }
-
     // We keep the prim's mass in the linkset structure since it could be dependent on other prims
     public float LinksetMass { get; protected set; }
 
@@ -122,7 +115,7 @@ public abstract class BSLinkset
         // We create LOTS of linksets.
         if (m_nextLinksetID <= 0)
             m_nextLinksetID = 1;
-        PhysicsScene = scene;
+        m_physicsScene = scene;
         LinksetRoot = parent;
         m_children = new HashSet<BSPrimLinkable>();
         LinksetMass = parent.RawMass;
@@ -165,7 +158,7 @@ public abstract class BSLinkset
         }
 
         // The child is down to a linkset of just itself
-        return BSLinkset.Factory(PhysicsScene, child);
+        return BSLinkset.Factory(m_physicsScene, child);
     }
 
     // Return 'true' if the passed object is the root object of this linkset
@@ -221,7 +214,7 @@ public abstract class BSLinkset
     // I am the root of a linkset and a new child is being added
     // Called while LinkActivity is locked.
     protected abstract void AddChildToLinkset(BSPrimLinkable child);
-    
+
     // I am the root of a linkset and one of my children is being removed.
     // Safe to call even if the child is not really in my linkset.
     protected abstract void RemoveChildFromLinkset(BSPrimLinkable child);
@@ -263,7 +256,7 @@ public abstract class BSLinkset
     // This is called when the root body is changing.
     // Returns 'true' of something was actually removed and would need restoring
     // Called at taint-time!!
-    public abstract bool RemoveBodyDependencies(BSPrimLinkable child);
+    public abstract bool RemoveDependencies(BSPrimLinkable child);
 
     // ================================================================
     protected virtual float ComputeLinksetMass()
@@ -323,8 +316,8 @@ public abstract class BSLinkset
     // Invoke the detailed logger and output something if it's enabled.
     protected void DetailLog(string msg, params Object[] args)
     {
-        if (PhysicsScene.PhysicsLogging.Enabled)
-            PhysicsScene.DetailLog(msg, args);
+        if (m_physicsScene.PhysicsLogging.Enabled)
+            m_physicsScene.DetailLog(msg, args);
     }
 
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index e05562a..1f16cc8 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -35,6 +35,7 @@ using OMV = OpenMetaverse;
 namespace OpenSim.Region.Physics.BulletSPlugin
 {
 
+    /*
 // When a child is linked, the relationship position of the child to the parent
 //    is remembered so the child's world position can be recomputed when it is
 //    removed from the linkset.
@@ -88,6 +89,7 @@ sealed class BSLinksetCompoundInfo : BSLinksetInfo
         return buff.ToString();
     }
 };
+     */
 
 public sealed class BSLinksetCompound : BSLinkset
 {
@@ -98,19 +100,6 @@ public sealed class BSLinksetCompound : BSLinkset
     {
     }
 
-    // For compound implimented linksets, if there are children, use compound shape for the root.
-    public override BSPhysicsShapeType PreferredPhysicalShape(BSPrimLinkable requestor)
-    { 
-        // Returning 'unknown' means we don't have a preference.
-        BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
-        if (IsRoot(requestor) && HasAnyChildren)
-        {
-            ret = BSPhysicsShapeType.SHAPE_COMPOUND;
-        }
-        // DetailLog("{0},BSLinksetCompound.PreferredPhysicalShape,call,shape={1}", LinksetRoot.LocalID, ret);
-        return ret;
-    }
-
     // When physical properties are changed the linkset needs to recalculate
     //   its internal properties.
     public override void Refresh(BSPrimLinkable requestor)
@@ -124,14 +113,14 @@ public sealed class BSLinksetCompound : BSLinkset
     // Schedule a refresh to happen after all the other taint processing.
     private void ScheduleRebuild(BSPrimLinkable requestor)
     {
-        DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}", 
+        DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}",
                             requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren));
         // When rebuilding, it is possible to set properties that would normally require a rebuild.
         //    If already rebuilding, don't request another rebuild.
         //    If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding.
         if (!Rebuilding && HasAnyChildren)
         {
-            PhysicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate()
+            m_physicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate()
             {
                 if (HasAnyChildren)
                     RecomputeLinksetCompound();
@@ -153,26 +142,11 @@ public sealed class BSLinksetCompound : BSLinkset
             // The root is going dynamic. Rebuild the linkset so parts and mass get computed properly.
             ScheduleRebuild(LinksetRoot);
         }
-        else
-        {
-            // The origional prims are removed from the world as the shape of the root compound
-            //     shape takes over.
-            PhysicsScene.PE.AddToCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
-            PhysicsScene.PE.ForceActivationState(child.PhysBody, ActivationState.DISABLE_SIMULATION);
-            // We don't want collisions from the old linkset children.
-            PhysicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
-
-            child.PhysBody.collisionType = CollisionType.LinksetChild;
-
-            ret = true;
-        }
         return ret;
     }
 
-    // The object is going static (non-physical). Do any setup necessary for a static linkset.
+    // The object is going static (non-physical). We do not do anything for static linksets.
     // Return 'true' if any properties updated on the passed object.
-    // This doesn't normally happen -- OpenSim removes the objects from the physical
-    //     world if it is a static linkset.
     // Called at taint-time!
     public override bool MakeStatic(BSPrimLinkable child)
     {
@@ -180,19 +154,9 @@ public sealed class BSLinksetCompound : BSLinkset
         DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
         if (IsRoot(child))
         {
+            // Schedule a rebuild to verify that the root shape is set to the real shape.
             ScheduleRebuild(LinksetRoot);
         }
-        else
-        {
-            // The non-physical children can come back to life.
-            PhysicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
-
-            child.PhysBody.collisionType = CollisionType.LinksetChild;
-
-            // Don't force activation so setting of DISABLE_SIMULATION can stay if used.
-            PhysicsScene.PE.Activate(child.PhysBody, false);
-            ret = true;
-        }
         return ret;
     }
 
@@ -200,13 +164,20 @@ public sealed class BSLinksetCompound : BSLinkset
     // Called at taint-time.
     public override void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable updated)
     {
+        if (!LinksetRoot.IsPhysicallyActive)
+        {
+            // No reason to do this physical stuff for static linksets.
+            DetailLog("{0},BSLinksetCompound.UpdateProperties,notPhysical", LinksetRoot.LocalID);
+            return;
+        }
+
         // The user moving a child around requires the rebuilding of the linkset compound shape
         // One problem is this happens when a border is crossed -- the simulator implementation
         //    stores the position into the group which causes the move of the object
         //    but it also means all the child positions get updated.
         //    What would cause an unnecessary rebuild so we make sure the linkset is in a
         //    region before bothering to do a rebuild.
-        if (!IsRoot(updated) && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))
+        if (!IsRoot(updated) && m_physicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))
         {
             // If a child of the linkset is updating only the position or rotation, that can be done
             //    without rebuilding the linkset.
@@ -218,22 +189,22 @@ public sealed class BSLinksetCompound : BSLinkset
             //     and that is caused by us updating the object.
             if ((whichUpdated & ~(UpdatedProperties.Position | UpdatedProperties.Orientation)) == 0)
             {
-                    // Find the physical instance of the child 
-                if (LinksetRoot.PhysShape.HasPhysicalShape && PhysicsScene.PE.IsCompound(LinksetRoot.PhysShape))
+                // Find the physical instance of the child
+                if (LinksetRoot.PhysShape.HasPhysicalShape && m_physicsScene.PE.IsCompound(LinksetRoot.PhysShape.physShapeInfo))
                 {
                     // It is possible that the linkset is still under construction and the child is not yet
                     //    inserted into the compound shape. A rebuild of the linkset in a pre-step action will
                     //    build the whole thing with the new position or rotation.
                     // The index must be checked because Bullet references the child array but does no validity
                     //    checking of the child index passed.
-                    int numLinksetChildren = PhysicsScene.PE.GetNumberOfCompoundChildren(LinksetRoot.PhysShape);
+                    int numLinksetChildren = m_physicsScene.PE.GetNumberOfCompoundChildren(LinksetRoot.PhysShape.physShapeInfo);
                     if (updated.LinksetChildIndex < numLinksetChildren)
                     {
-                        BulletShape linksetChildShape = PhysicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape, updated.LinksetChildIndex);
+                        BulletShape linksetChildShape = m_physicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape.physShapeInfo, updated.LinksetChildIndex);
                         if (linksetChildShape.HasPhysicalShape)
                         {
                             // Found the child shape within the compound shape
-                            PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, updated.LinksetChildIndex,
+                            m_physicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape.physShapeInfo, updated.LinksetChildIndex,
                                                                         updated.RawPosition - LinksetRoot.RawPosition,
                                                                         updated.RawOrientation * OMV.Quaternion.Inverse(LinksetRoot.RawOrientation),
                                                                         true /* shouldRecalculateLocalAabb */);
@@ -275,75 +246,22 @@ public sealed class BSLinksetCompound : BSLinkset
     }
 
     // Routine called when rebuilding the body of some member of the linkset.
-    // Since we don't keep in world relationships, do nothing unless it's a child changing.
+    // If one of the bodies is being changed, the linkset needs rebuilding.
+    // For instance, a linkset is built and then a mesh asset is read in and the mesh is recreated.
     // Returns 'true' of something was actually removed and would need restoring
     // Called at taint-time!!
-    public override bool RemoveBodyDependencies(BSPrimLinkable child)
+    public override bool RemoveDependencies(BSPrimLinkable child)
     {
         bool ret = false;
 
         DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}",
                         child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody, IsRoot(child));
 
-        if (!IsRoot(child))
-        {
-            // Because it is a convenient time, recompute child world position and rotation based on
-            //    its position in the linkset.
-            RecomputeChildWorldPosition(child, true /* inTaintTime */);
-            child.LinksetInfo = null;
-        }
-
-        // Cannot schedule a refresh/rebuild here because this routine is called when
-        //     the linkset is being rebuilt.
-        // InternalRefresh(LinksetRoot);
+        ScheduleRebuild(child);
 
         return ret;
     }
 
-    // When the linkset is built, the child shape is added to the compound shape relative to the
-    //    root shape. The linkset then moves around but this does not move the actual child
-    //    prim. The child prim's location must be recomputed based on the location of the root shape.
-    private void RecomputeChildWorldPosition(BSPrimLinkable child, bool inTaintTime)
-    {
-        // For the moment (20130201), disable this computation (converting the child physical addr back to
-        //    a region address) until we have a good handle on center-of-mass offsets and what the physics
-        //    engine moving a child actually means.
-        // The simulator keeps track of where children should be as the linkset moves. Setting
-        //    the pos/rot here does not effect that knowledge as there is no good way for the
-        //    physics engine to send the simulator an update for a child.
-
-        /*
-        BSLinksetCompoundInfo lci = child.LinksetInfo as BSLinksetCompoundInfo;
-        if (lci != null)
-        {
-            if (inTaintTime)
-            {
-                OMV.Vector3 oldPos = child.RawPosition;
-                child.ForcePosition = LinksetRoot.RawPosition + lci.OffsetFromRoot;
-                child.ForceOrientation = LinksetRoot.RawOrientation * lci.OffsetRot;
-                DetailLog("{0},BSLinksetCompound.RecomputeChildWorldPosition,oldPos={1},lci={2},newPos={3}",
-                                            child.LocalID, oldPos, lci, child.RawPosition);
-            }
-            else
-            {
-                // TaintedObject is not used here so the raw position is set now and not at taint-time.
-                child.Position = LinksetRoot.RawPosition + lci.OffsetFromRoot;
-                child.Orientation = LinksetRoot.RawOrientation * lci.OffsetRot;
-            }
-        }
-        else
-        {
-            // This happens when children have been added to the linkset but the linkset
-            //     has not been constructed yet. So like, at taint time, adding children to a linkset
-            //     and then changing properties of the children (makePhysical, for instance)
-            //     but the post-print action of actually rebuilding the linkset has not yet happened.
-            // PhysicsScene.Logger.WarnFormat("{0} Restoring linkset child position failed because of no relative position computed. ID={1}",
-            //                                 LogHeader, child.LocalID);
-            DetailLog("{0},BSLinksetCompound.recomputeChildWorldPosition,noRelativePositonInfo", child.LocalID);
-        }
-        */
-    }
-
     // ================================================================
 
     // Add a new child to the linkset.
@@ -376,7 +294,6 @@ public sealed class BSLinksetCompound : BSLinkset
                             child.LocalID, child.PhysBody.AddrString);
 
             // Cause the child's body to be rebuilt and thus restored to normal operation
-            RecomputeChildWorldPosition(child, false);
             child.LinksetInfo = null;
             child.ForceBodyShapeRebuild(false);
 
@@ -399,108 +316,105 @@ public sealed class BSLinksetCompound : BSLinkset
     // Constraint linksets are rebuilt every time.
     // Note that this works for rebuilding just the root after a linkset is taken apart.
     // Called at taint time!!
-    private bool disableCOM = true;     // DEBUG DEBUG: disable until we get this debugged
+    private bool UseBulletSimRootOffsetHack = false;    // Attempt to have Bullet track the coords of root compound shape
+    private bool disableCOM = true; // For basic linkset debugging, turn off the center-of-mass setting
     private void RecomputeLinksetCompound()
     {
         try
         {
-            // Suppress rebuilding while rebuilding. (We know rebuilding is on only one thread.)
             Rebuilding = true;
 
-            // Cause the root shape to be rebuilt as a compound object with just the root in it
-            LinksetRoot.ForceBodyShapeRebuild(true /* inTaintTime */);
+            // No matter what is being done, force the root prim's PhysBody and PhysShape to get set
+            //     to what they should be as if the root was not in a linkset.
+            // Not that bad since we only get into this routine if there are children in the linkset and
+            //     something has been updated/changed.
+            LinksetRoot.ForceBodyShapeRebuild(true);
+
+            // There is no reason to build all this physical stuff for a non-physical linkset.
+            if (!LinksetRoot.IsPhysicallyActive)
+            {
+                // Clean up any old linkset shape and make sure the root shape is set to the root object.
+                DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,notPhysical", LinksetRoot.LocalID);
+
+                return; // Note the 'finally' clause at the botton which will get executed.
+            }
+
+            // Get a new compound shape to build the linkset shape in.
+            BSShape linksetShape = BSShapeCompound.GetReference(m_physicsScene);
 
             // The center of mass for the linkset is the geometric center of the group.
             // Compute a displacement for each component so it is relative to the center-of-mass.
             // Bullet presumes an object's origin (relative <0,0,0>) is its center-of-mass
-            OMV.Vector3 centerOfMassW = LinksetRoot.RawPosition;
-            if (!disableCOM)                             // DEBUG DEBUG
-            {
-                // Compute a center-of-mass in world coordinates.
-                centerOfMassW = ComputeLinksetCenterOfMass();
-            }
+            OMV.Vector3 centerOfMassW = ComputeLinksetCenterOfMass();
 
             OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation);
 
             // 'centerDisplacement' is the value to subtract from children to give physical offset position
             OMV.Vector3 centerDisplacement = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation;
-            LinksetRoot.SetEffectiveCenterOfMassW(centerDisplacement);
-
-            // This causes the physical position of the root prim to be offset to accomodate for the displacements
-            LinksetRoot.ForcePosition = LinksetRoot.RawPosition;
-
-            // Update the local transform for the root child shape so it is offset from the <0,0,0> which is COM
-            PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, 0 /* childIndex */,
-                                                -centerDisplacement,
-                                                OMV.Quaternion.Identity, // LinksetRoot.RawOrientation,
-                                                false /* shouldRecalculateLocalAabb (is done later after linkset built) */);
-
-            DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,com={1},rootPos={2},centerDisp={3}",
-                                    LinksetRoot.LocalID, centerOfMassW, LinksetRoot.RawPosition, centerDisplacement);
-
-            DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}",
-                            LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren);
+            if (UseBulletSimRootOffsetHack || disableCOM)
+            {
+                centerDisplacement = OMV.Vector3.Zero;
+                LinksetRoot.ClearDisplacement();
+            }
+            else
+            {
+                LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacement);
+            }
+            DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,rootPos={1},com={2},comDisp={3}",
+                                LinksetRoot.LocalID, LinksetRoot.RawPosition, centerOfMassW, centerDisplacement);
 
-            // Add a shape for each of the other children in the linkset
+            // Add the shapes of all the components of the linkset
             int memberIndex = 1;
             ForEachMember(delegate(BSPrimLinkable cPrim)
             {
-                if (IsRoot(cPrim))
+                // Root shape is always index zero.
+                cPrim.LinksetChildIndex = IsRoot(cPrim) ? 0 : memberIndex;
+
+                // Get a reference to the shape of the child and add that shape to the linkset compound shape
+                BSShape childShape = cPrim.PhysShape.GetReference(m_physicsScene, cPrim);
+                OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement;
+                OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation;
+                m_physicsScene.PE.AddChildShapeToCompoundShape(linksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot);
+                DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},cShape={2},offPos={3},offRot={4}",
+                                    LinksetRoot.LocalID, memberIndex, childShape, offsetPos, offsetRot);
+
+                // Since we are borrowing the shape of the child, disable the origional child body
+                if (!IsRoot(cPrim))
                 {
-                    cPrim.LinksetChildIndex = 0;
+                    m_physicsScene.PE.AddToCollisionFlags(cPrim.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+                    m_physicsScene.PE.ForceActivationState(cPrim.PhysBody, ActivationState.DISABLE_SIMULATION);
+                    // We don't want collisions from the old linkset children.
+                    m_physicsScene.PE.RemoveFromCollisionFlags(cPrim.PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+                    cPrim.PhysBody.collisionType = CollisionType.LinksetChild;
                 }
-                else
-                {
-                    cPrim.LinksetChildIndex = memberIndex;
 
-                    if (cPrim.PhysShape.isNativeShape)
-                    {
-                        // A native shape is turned into a hull collision shape because native
-                        //    shapes are not shared so we have to hullify it so it will be tracked
-                        //    and freed at the correct time. This also solves the scaling problem
-                        //    (native shapes scale but hull/meshes are assumed to not be).
-                        // TODO: decide of the native shape can just be used in the compound shape.
-                        //    Use call to CreateGeomNonSpecial().
-                        BulletShape saveShape = cPrim.PhysShape;
-                        cPrim.PhysShape.Clear();        // Don't let the create free the child's shape
-                        PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null);
-                        BulletShape newShape = cPrim.PhysShape;
-                        cPrim.PhysShape = saveShape;
-
-                        OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement;
-                        OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation;
-                        PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, newShape, offsetPos, offsetRot);
-                        DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addNative,indx={1},rShape={2},cShape={3},offPos={4},offRot={5}",
-                                    LinksetRoot.LocalID, memberIndex, LinksetRoot.PhysShape, newShape, offsetPos, offsetRot);
-                    }
-                    else
-                    {
-                        // For the shared shapes (meshes and hulls), just use the shape in the child.
-                        // The reference count added here will be decremented when the compound shape
-                        //     is destroyed in BSShapeCollection (the child shapes are looped over and dereferenced).
-                        if (PhysicsScene.Shapes.ReferenceShape(cPrim.PhysShape))
-                        {
-                            PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}",
-                                                LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape);
-                        }
-                        OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement;
-                        OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation;
-                        PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot);
-                        DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addNonNative,indx={1},rShape={2},cShape={3},offPos={4},offRot={5}",
-                                    LinksetRoot.LocalID, memberIndex, LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot);
+                memberIndex++;
 
-                    }
-                    memberIndex++;
-                }
                 return false;   // 'false' says to move onto the next child in the list
             });
 
+            // Replace the root shape with the built compound shape.
+            // Object removed and added to world to get collision cache rebuilt for new shape.
+            LinksetRoot.PhysShape.Dereference(m_physicsScene);
+            LinksetRoot.PhysShape = linksetShape;
+            m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, LinksetRoot.PhysBody);
+            m_physicsScene.PE.SetCollisionShape(m_physicsScene.World, LinksetRoot.PhysBody, linksetShape.physShapeInfo);
+            m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, LinksetRoot.PhysBody);
+            DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addBody,body={1},shape={2}",
+                                        LinksetRoot.LocalID, LinksetRoot.PhysBody, linksetShape);
+
             // With all of the linkset packed into the root prim, it has the mass of everyone.
             LinksetMass = ComputeLinksetMass();
             LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true);
 
-            // Enable the physical position updator to return the position and rotation of the root shape
-            PhysicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE);
+            if (UseBulletSimRootOffsetHack)
+            {
+                // Enable the physical position updator to return the position and rotation of the root shape.
+                // This enables a feature in the C++ code to return the world coordinates of the first shape in the
+                //     compound shape. This eleviates the need to offset the returned physical position by the
+                //     center-of-mass offset.
+                m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE);
+            }
         }
         finally
         {
@@ -508,7 +422,7 @@ public sealed class BSLinksetCompound : BSLinkset
         }
 
         // See that the Aabb surrounds the new shape
-        PhysicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape);
+        m_physicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape.physShapeInfo);
     }
 }
 }
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index 6d252ca..a06a44d 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -51,7 +51,7 @@ public sealed class BSLinksetConstraints : BSLinkset
         if (HasAnyChildren && IsRoot(requestor))
         {
             // Queue to happen after all the other taint processing
-            PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
+            m_physicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
                 {
                     if (HasAnyChildren && IsRoot(requestor))
                         RecomputeLinksetConstraints();
@@ -93,11 +93,11 @@ public sealed class BSLinksetConstraints : BSLinkset
     //     up to rebuild the constraints before the next simulation step.
     // Returns 'true' of something was actually removed and would need restoring
     // Called at taint-time!!
-    public override bool RemoveBodyDependencies(BSPrimLinkable child)
+    public override bool RemoveDependencies(BSPrimLinkable child)
     {
         bool ret = false;
 
-        DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
+        DetailLog("{0},BSLinksetConstraint.RemoveDependencies,removeChildrenForRoot,rID={1},rBody={2}",
                                     child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString);
 
         lock (m_linksetActivityLock)
@@ -142,7 +142,7 @@ public sealed class BSLinksetConstraints : BSLinkset
                             rootx.LocalID, rootx.PhysBody.AddrString,
                             childx.LocalID, childx.PhysBody.AddrString);
 
-            PhysicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate()
+            m_physicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate()
             {
                 PhysicallyUnlinkAChildFromRoot(rootx, childx);
             });
@@ -187,7 +187,7 @@ public sealed class BSLinksetConstraints : BSLinkset
         // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
 
         BSConstraint6Dof constrain = new BSConstraint6Dof(
-                            PhysicsScene.World, rootPrim.PhysBody, childPrim.PhysBody, midPoint, true, true );
+                            m_physicsScene.World, rootPrim.PhysBody, childPrim.PhysBody, midPoint, true, true );
                             // PhysicsScene.World, childPrim.BSBody, rootPrim.BSBody, midPoint, true, true );
 
         /* NOTE: below is an attempt to build constraint with full frame computation, etc.
@@ -216,7 +216,7 @@ public sealed class BSLinksetConstraints : BSLinkset
         // ==================================================================================
         */
 
-        PhysicsScene.Constraints.AddConstraint(constrain);
+        m_physicsScene.Constraints.AddConstraint(constrain);
 
         // zero linear and angular limits makes the objects unable to move in relation to each other
         constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
@@ -248,10 +248,10 @@ public sealed class BSLinksetConstraints : BSLinkset
                             childPrim.LocalID, childPrim.PhysBody.AddrString);
 
         // Find the constraint for this link and get rid of it from the overall collection and from my list
-        if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody))
+        if (m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody))
         {
             // Make the child refresh its location
-            PhysicsScene.PE.PushUpdate(childPrim.PhysBody);
+            m_physicsScene.PE.PushUpdate(childPrim.PhysBody);
             ret = true;
         }
 
@@ -265,7 +265,7 @@ public sealed class BSLinksetConstraints : BSLinkset
     {
         DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
 
-        return PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody);
+        return m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody);
     }
 
     // Call each of the constraints that make up this linkset and recompute the
@@ -289,7 +289,7 @@ public sealed class BSLinksetConstraints : BSLinkset
             child.UpdatePhysicalMassProperties(linksetMass, true);
 
             BSConstraint constrain;
-            if (!PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain))
+            if (!m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain))
             {
                 // If constraint doesn't exist yet, create it.
                 constrain = BuildConstraint(LinksetRoot, child);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
index 9501e2d..0128d8d 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
@@ -102,7 +102,7 @@ public class BSVMotor : BSMotor
         return ErrorIsZero(LastError);
     }
     public virtual bool ErrorIsZero(Vector3 err)
-    { 
+    {
         return (err == Vector3.Zero || err.ApproxEquals(Vector3.Zero, ErrorZeroThreshold));
     }
 
@@ -115,7 +115,7 @@ public class BSVMotor : BSMotor
         CurrentValue = TargetValue = Vector3.Zero;
         ErrorZeroThreshold = 0.001f;
     }
-    public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) 
+    public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency)
         : this(useName)
     {
         TimeScale = timeScale;
@@ -237,7 +237,7 @@ public class BSVMotor : BSMotor
         MDetailLog("{0},BSVMotor.Test,{1},===================================== BEGIN Test Output", BSScene.DetailLogZero, UseName);
         MDetailLog("{0},BSVMotor.Test,{1},timeScale={2},targDlyTS={3},frictTS={4},eff={5},curr={6},tgt={7}",
                                 BSScene.DetailLogZero, UseName,
-                                TimeScale, TargetValueDecayTimeScale, FrictionTimescale, Efficiency, 
+                                TimeScale, TargetValueDecayTimeScale, FrictionTimescale, Efficiency,
                                 CurrentValue, TargetValue);
 
         LastError = BSMotor.InfiniteVector;
@@ -248,7 +248,7 @@ public class BSVMotor : BSMotor
                             BSScene.DetailLogZero, UseName, CurrentValue, TargetValue, LastError, lastStep);
         }
         MDetailLog("{0},BSVMotor.Test,{1},===================================== END Test Output", BSScene.DetailLogZero, UseName);
-        
+
 
     }
 
@@ -279,7 +279,7 @@ public class BSFMotor : BSMotor
         return ErrorIsZero(LastError);
     }
     public virtual bool ErrorIsZero(float err)
-    { 
+    {
         return (err >= -ErrorZeroThreshold && err <= ErrorZeroThreshold);
     }
 
@@ -410,7 +410,7 @@ public class BSPIDVMotor : BSVMotor
     // The factors are vectors for the three dimensions. This is the proportional of each
     //    that is applied. This could be multiplied through the actual factors but it
     //    is sometimes easier to manipulate the factors and their mix separately.
-    //      to 
+    //      to
     public Vector3 FactorMix;
 
     // Arbritrary factor range.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index 980d405..2ac68e3 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -37,7 +37,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 {
 public static class BSParam
 {
-    private static string LogHeader = "[BULLETSIM PARAMETERS]"; 
+    private static string LogHeader = "[BULLETSIM PARAMETERS]";
 
     // Tuning notes:
     // From: http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=6575
@@ -51,7 +51,7 @@ public static class BSParam
     //    This is separate/independent from the collision margin. The collision margin increases the object a bit
     //    to improve collision detection performance and accuracy.
     // ===================
-    // From: 
+    // From:
 
     // Level of Detail values kept as float because that's what the Meshmerizer wants
     public static float MeshLOD { get; private set; }
@@ -87,6 +87,7 @@ public static class BSParam
     public static bool ShouldUseHullsForPhysicalObjects { get; private set; }   // 'true' if should create hulls for physical objects
     public static bool ShouldRemoveZeroWidthTriangles { get; private set; }
     public static bool ShouldUseBulletHACD { get; set; }
+    public static bool ShouldUseSingleConvexHullForPrims { get; set; }
 
     public static float TerrainImplementation { get; private set; }
     public static int TerrainMeshMagnification { get; private set; }
@@ -342,6 +343,10 @@ public static class BSParam
             false,
             (s) => { return ShouldUseBulletHACD; },
             (s,v) => { ShouldUseBulletHACD = v; } ),
+        new ParameterDefn<bool>("ShouldUseSingleConvexHullForPrims", "If true, use a single convex hull shape for physical prims",
+            true,
+            (s) => { return ShouldUseSingleConvexHullForPrims; },
+            (s,v) => { ShouldUseSingleConvexHullForPrims = v; } ),
 
         new ParameterDefn<int>("CrossingFailuresBeforeOutOfBounds", "How forgiving we are about getting into adjactent regions",
             5,
@@ -636,7 +641,7 @@ public static class BSParam
             new ParameterDefn<bool>("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count",
             false,
             (s) => { return ShouldDisableContactPoolDynamicAllocation; },
-            (s,v) => { ShouldDisableContactPoolDynamicAllocation = v; 
+            (s,v) => { ShouldDisableContactPoolDynamicAllocation = v;
                         s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = NumericBool(v); } ),
             new ParameterDefn<bool>("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step",
             false,
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index f047176..e796804 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -38,7 +38,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
  * Class to wrap all objects.
  * The rest of BulletSim doesn't need to keep checking for avatars or prims
  *        unless the difference is significant.
- * 
+ *
  *  Variables in the physicsl objects are in three forms:
  *      VariableName: used by the simulator and performs taint operations, etc
  *      RawVariableName: direct reference to the BulletSim storage for the variable value
@@ -52,7 +52,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
  * SOP.ApplyImpulse     SOP.ApplyAngularImpulse     SOP.SetAngularImpulse   SOP.SetForce
  * SOG.ApplyImpulse     SOG.ApplyAngularImpulse     SOG.SetAngularImpulse
  * PA.AddForce          PA.AddAngularForce          PA.Torque = v           PA.Force = v
- * BS.ApplyCentralForce BS.ApplyTorque              
+ * BS.ApplyCentralForce BS.ApplyTorque
  */
 
 // Flags used to denote which properties updates when making UpdateProperties calls to linksets, etc.
@@ -72,14 +72,14 @@ public abstract class BSPhysObject : PhysicsActor
     }
     protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName)
     {
-        PhysicsScene = parentScene;
+        PhysScene = parentScene;
         LocalID = localID;
         PhysObjectName = name;
         Name = name;    // PhysicsActor also has the name of the object. Someday consolidate.
         TypeName = typeName;
 
         // The collection of things that push me around
-        PhysicalActors = new BSActorCollection(PhysicsScene);
+        PhysicalActors = new BSActorCollection(PhysScene);
 
         // Initialize variables kept in base.
         GravModifier = 1.0f;
@@ -88,7 +88,7 @@ public abstract class BSPhysObject : PhysicsActor
 
         // We don't have any physical representation yet.
         PhysBody = new BulletBody(localID);
-        PhysShape = new BulletShape();
+        PhysShape = new BSShapeNull();
 
         PrimAssetState = PrimAssetCondition.Unknown;
 
@@ -115,13 +115,13 @@ public abstract class BSPhysObject : PhysicsActor
     public virtual void Destroy()
     {
         PhysicalActors.Enable(false);
-        PhysicsScene.TaintedObject("BSPhysObject.Destroy", delegate()
+        PhysScene.TaintedObject("BSPhysObject.Destroy", delegate()
         {
             PhysicalActors.Dispose();
         });
     }
 
-    public BSScene PhysicsScene { get; protected set; }
+    public BSScene PhysScene { get; protected set; }
     // public override uint LocalID { get; set; } // Use the LocalID definition in PhysicsActor
     public string PhysObjectName { get; protected set; }
     public string TypeName { get; protected set; }
@@ -141,7 +141,7 @@ public abstract class BSPhysObject : PhysicsActor
     // Reference to the physical body (btCollisionObject) of this object
     public BulletBody PhysBody;
     // Reference to the physical shape (btCollisionShape) of this object
-    public BulletShape PhysShape;
+    public BSShape PhysShape;
 
     // The physical representation of the prim might require an asset fetch.
     // The asset state is first 'Unknown' then 'Waiting' then either 'Failed' or 'Fetched'.
@@ -154,13 +154,6 @@ public abstract class BSPhysObject : PhysicsActor
     // The objects base shape information. Null if not a prim type shape.
     public PrimitiveBaseShape BaseShape { get; protected set; }
 
-    // Some types of objects have preferred physical representations.
-    // Returns SHAPE_UNKNOWN if there is no preference.
-    public virtual BSPhysicsShapeType PreferredPhysicalShape
-    {
-        get { return BSPhysicsShapeType.SHAPE_UNKNOWN; }
-    }
-
     // When the physical properties are updated, an EntityProperty holds the update values.
     // Keep the current and last EntityProperties to enable computation of differences
     //      between the current update and the previous values.
@@ -269,7 +262,8 @@ public abstract class BSPhysObject : PhysicsActor
 
     // The user can optionally set the center of mass. The user's setting will override any
     //    computed center-of-mass (like in linksets).
-    public OMV.Vector3? UserSetCenterOfMass { get; set; }
+    // Note this is a displacement from the root's coordinates. Zero means use the root prim as center-of-mass.
+    public OMV.Vector3? UserSetCenterOfMassDisplacement { get; set; }
 
     public OMV.Vector3 LockedAxis { get; set; } // zero means locked. one means free.
     public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(1f, 1f, 1f);  // All axis are free
@@ -280,7 +274,7 @@ public abstract class BSPhysObject : PhysicsActor
     public void ActivateIfPhysical(bool forceIt)
     {
         if (IsPhysical && PhysBody.HasPhysicalBody)
-            PhysicsScene.PE.Activate(PhysBody, forceIt);
+            PhysScene.PE.Activate(PhysBody, forceIt);
     }
 
     // 'actors' act on the physical object to change or constrain its motion. These can range from
@@ -343,29 +337,29 @@ public abstract class BSPhysObject : PhysicsActor
     protected long CollisionAccumulation { get; set; }
 
     public override bool IsColliding {
-        get { return (CollidingStep == PhysicsScene.SimulationStep); }
+        get { return (CollidingStep == PhysScene.SimulationStep); }
         set {
             if (value)
-                CollidingStep = PhysicsScene.SimulationStep;
+                CollidingStep = PhysScene.SimulationStep;
             else
                 CollidingStep = 0;
             }
     }
     public override bool CollidingGround {
-        get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
+        get { return (CollidingGroundStep == PhysScene.SimulationStep); }
         set
         {
             if (value)
-                CollidingGroundStep = PhysicsScene.SimulationStep;
+                CollidingGroundStep = PhysScene.SimulationStep;
             else
                 CollidingGroundStep = 0;
         }
     }
     public override bool CollidingObj {
-        get { return (CollidingObjectStep == PhysicsScene.SimulationStep); }
-        set { 
+        get { return (CollidingObjectStep == PhysScene.SimulationStep); }
+        set {
             if (value)
-                CollidingObjectStep = PhysicsScene.SimulationStep;
+                CollidingObjectStep = PhysScene.SimulationStep;
             else
                 CollidingObjectStep = 0;
         }
@@ -390,14 +384,14 @@ public abstract class BSPhysObject : PhysicsActor
         bool ret = false;
 
         // The following lines make IsColliding(), CollidingGround() and CollidingObj work
-        CollidingStep = PhysicsScene.SimulationStep;
-        if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID)
+        CollidingStep = PhysScene.SimulationStep;
+        if (collidingWith <= PhysScene.TerrainManager.HighestTerrainID)
         {
-            CollidingGroundStep = PhysicsScene.SimulationStep;
+            CollidingGroundStep = PhysScene.SimulationStep;
         }
         else
         {
-            CollidingObjectStep = PhysicsScene.SimulationStep;
+            CollidingObjectStep = PhysScene.SimulationStep;
         }
 
         CollisionAccumulation++;
@@ -407,10 +401,10 @@ public abstract class BSPhysObject : PhysicsActor
 
         // Make a collection of the collisions that happened the last simulation tick.
         // This is different than the collection created for sending up to the simulator as it is cleared every tick.
-        if (CollisionsLastTickStep != PhysicsScene.SimulationStep)
+        if (CollisionsLastTickStep != PhysScene.SimulationStep)
         {
             CollisionsLastTick = new CollisionEventUpdate();
-            CollisionsLastTickStep = PhysicsScene.SimulationStep;
+            CollisionsLastTickStep = PhysScene.SimulationStep;
         }
         CollisionsLastTick.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
 
@@ -437,9 +431,9 @@ public abstract class BSPhysObject : PhysicsActor
         bool force = (CollisionCollection.Count == 0 && CollisionsLastReported.Count != 0);
 
         // throttle the collisions to the number of milliseconds specified in the subscription
-        if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime))
+        if (force || (PhysScene.SimulationNowTime >= NextCollisionOkTime))
         {
-            NextCollisionOkTime = PhysicsScene.SimulationNowTime + SubscribedEventsMs;
+            NextCollisionOkTime = PhysScene.SimulationNowTime + SubscribedEventsMs;
 
             // We are called if we previously had collisions. If there are no collisions
             //   this time, send up one last empty event so OpenSim can sense collision end.
@@ -457,7 +451,7 @@ public abstract class BSPhysObject : PhysicsActor
 
             // The CollisionCollection instance is passed around in the simulator.
             // Make sure we don't have a handle to that one and that a new one is used for next time.
-            //    This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here, 
+            //    This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here,
             //    a race condition is created for the other users of this instance.
             CollisionCollection = new CollisionEventUpdate();
         }
@@ -474,10 +468,10 @@ public abstract class BSPhysObject : PhysicsActor
             // make sure first collision happens
             NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs);
 
-            PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate()
+            PhysScene.TaintedObject(TypeName+".SubscribeEvents", delegate()
             {
                 if (PhysBody.HasPhysicalBody)
-                    CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+                    CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
             });
         }
         else
@@ -489,11 +483,11 @@ public abstract class BSPhysObject : PhysicsActor
     public override void UnSubscribeEvents() {
         // DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName);
         SubscribedEventsMs = 0;
-        PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate()
+        PhysScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate()
         {
             // Make sure there is a body there because sometimes destruction happens in an un-ideal order.
             if (PhysBody.HasPhysicalBody)
-                CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+                CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
         });
     }
     // Return 'true' if the simulator wants collision events
@@ -507,7 +501,7 @@ public abstract class BSPhysObject : PhysicsActor
     {
         // Scale the collision count by the time since the last collision.
         // The "+1" prevents dividing by zero.
-        long timeAgo = PhysicsScene.SimulationStep - CollidingStep + 1;
+        long timeAgo = PhysScene.SimulationStep - CollidingStep + 1;
         CollisionScore = CollisionAccumulation / timeAgo;
     }
     public override float CollisionScore { get; set; }
@@ -534,8 +528,8 @@ public abstract class BSPhysObject : PhysicsActor
     // High performance detailed logging routine used by the physical objects.
     protected void DetailLog(string msg, params Object[] args)
     {
-        if (PhysicsScene.PhysicsLogging.Enabled)
-            PhysicsScene.DetailLog(msg, args);
+        if (PhysScene.PhysicsLogging.Enabled)
+            PhysScene.DetailLog(msg, args);
     }
 
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 4bc266b..d3f3475 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -101,21 +101,21 @@ public class BSPrim : BSPhysObject
         _isVolumeDetect = false;
 
         // We keep a handle to the vehicle actor so we can set vehicle parameters later.
-        VehicleActor = new BSDynamics(PhysicsScene, this, VehicleActorName);
+        VehicleActor = new BSDynamics(PhysScene, this, VehicleActorName);
         PhysicalActors.Add(VehicleActorName, VehicleActor);
 
         _mass = CalculateMass();
 
         // DetailLog("{0},BSPrim.constructor,call", LocalID);
         // do the actual object creation at taint time
-        PhysicsScene.TaintedObject("BSPrim.create", delegate()
+        PhysScene.TaintedObject("BSPrim.create", delegate()
         {
             // Make sure the object is being created with some sanity.
             ExtremeSanityCheck(true /* inTaintTime */);
 
             CreateGeomAndObject(true);
 
-            CurrentCollisionFlags = PhysicsScene.PE.GetCollisionFlags(PhysBody);
+            CurrentCollisionFlags = PhysScene.PE.GetCollisionFlags(PhysBody);
         });
     }
 
@@ -128,14 +128,14 @@ public class BSPrim : BSPhysObject
         // Undo any vehicle properties
         this.VehicleType = (int)Vehicle.TYPE_NONE;
 
-        PhysicsScene.TaintedObject("BSPrim.Destroy", delegate()
+        PhysScene.TaintedObject("BSPrim.Destroy", delegate()
         {
             DetailLog("{0},BSPrim.Destroy,taint,", LocalID);
             // If there are physical body and shape, release my use of same.
-            PhysicsScene.Shapes.DereferenceBody(PhysBody, null);
+            PhysScene.Shapes.DereferenceBody(PhysBody, null);
             PhysBody.Clear();
-            PhysicsScene.Shapes.DereferenceShape(PhysShape, null);
-            PhysShape.Clear();
+            PhysShape.Dereference(PhysScene);
+            PhysShape = new BSShapeNull();
         });
     }
 
@@ -161,25 +161,13 @@ public class BSPrim : BSPhysObject
             ForceBodyShapeRebuild(false);
         }
     }
-    // 'unknown' says to choose the best type
-    public override BSPhysicsShapeType PreferredPhysicalShape
-        { get { return BSPhysicsShapeType.SHAPE_UNKNOWN; } }
-
     public override bool ForceBodyShapeRebuild(bool inTaintTime)
     {
-        if (inTaintTime)
+        PhysScene.TaintedObject(inTaintTime, "BSPrim.ForceBodyShapeRebuild", delegate()
         {
             _mass = CalculateMass();   // changing the shape changes the mass
             CreateGeomAndObject(true);
-        }
-        else
-        {
-            PhysicsScene.TaintedObject("BSPrim.ForceBodyShapeRebuild", delegate()
-            {
-                _mass = CalculateMass();   // changing the shape changes the mass
-                CreateGeomAndObject(true);
-            });
-        }
+        });
         return true;
     }
     public override bool Grabbed {
@@ -192,7 +180,7 @@ public class BSPrim : BSPhysObject
             if (value != _isSelected)
             {
                 _isSelected = value;
-                PhysicsScene.TaintedObject("BSPrim.setSelected", delegate()
+                PhysScene.TaintedObject("BSPrim.setSelected", delegate()
                 {
                     DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected);
                     SetObjectDynamic(false);
@@ -238,23 +226,23 @@ public class BSPrim : BSPhysObject
         _rotationalVelocity = OMV.Vector3.Zero;
 
         // Zero some other properties in the physics engine
-        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
+        PhysScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
         {
             if (PhysBody.HasPhysicalBody)
-                PhysicsScene.PE.ClearAllForces(PhysBody);
+                PhysScene.PE.ClearAllForces(PhysBody);
         });
     }
     public override void ZeroAngularMotion(bool inTaintTime)
     {
         _rotationalVelocity = OMV.Vector3.Zero;
         // Zero some other properties in the physics engine
-        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
+        PhysScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
         {
             // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity);
             if (PhysBody.HasPhysicalBody)
             {
-                PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity);
-                PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
+                PhysScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity);
+                PhysScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
             }
         });
     }
@@ -272,11 +260,11 @@ public class BSPrim : BSPhysObject
 
         EnableActor(LockedAxis != LockedAxisFree, LockedAxisActorName, delegate()
         {
-            return new BSActorLockAxis(PhysicsScene, this, LockedAxisActorName);
+            return new BSActorLockAxis(PhysScene, this, LockedAxisActorName);
         });
 
         // Update parameters so the new actor's Refresh() action is called at the right time.
-        PhysicsScene.TaintedObject("BSPrim.LockAngularMotion", delegate()
+        PhysScene.TaintedObject("BSPrim.LockAngularMotion", delegate()
         {
             UpdatePhysicalParameters();
         });
@@ -306,7 +294,7 @@ public class BSPrim : BSPhysObject
             _position = value;
             PositionSanityCheck(false);
 
-            PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
+            PhysScene.TaintedObject("BSPrim.setPosition", delegate()
             {
                 DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 ForcePosition = _position;
@@ -316,14 +304,14 @@ public class BSPrim : BSPhysObject
 
     public override OMV.Vector3 ForcePosition {
         get {
-            _position = PhysicsScene.PE.GetPosition(PhysBody);
+            _position = PhysScene.PE.GetPosition(PhysBody);
             return _position;
         }
         set {
             _position = value;
             if (PhysBody.HasPhysicalBody)
             {
-                PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
+                PhysScene.PE.SetTranslation(PhysBody, _position, _orientation);
                 ActivateIfPhysical(false);
             }
         }
@@ -340,7 +328,7 @@ public class BSPrim : BSPhysObject
         if (!IsPhysicallyActive)
             return ret;
 
-        if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(RawPosition))
+        if (!PhysScene.TerrainManager.IsWithinKnownTerrain(RawPosition))
         {
             // The physical object is out of the known/simulated area.
             // Upper levels of code will handle the transition to other areas so, for
@@ -348,7 +336,7 @@ public class BSPrim : BSPhysObject
             return ret;
         }
 
-        float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition);
+        float terrainHeight = PhysScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition);
         OMV.Vector3 upForce = OMV.Vector3.Zero;
         float approxSize = Math.Max(Size.X, Math.Max(Size.Y, Size.Z));
         if ((RawPosition.Z + approxSize / 2f) < terrainHeight)
@@ -369,7 +357,7 @@ public class BSPrim : BSPhysObject
 
         if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
         {
-            float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position);
+            float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(_position);
             // TODO: a floating motor so object will bob in the water
             if (Math.Abs(RawPosition.Z - waterHeight) > 0.1f)
             {
@@ -377,7 +365,7 @@ public class BSPrim : BSPhysObject
                 upForce.Z = (waterHeight - RawPosition.Z) * 1f;
 
                 // Apply upforce and overcome gravity.
-                OMV.Vector3 correctionForce = upForce - PhysicsScene.DefaultGravity;
+                OMV.Vector3 correctionForce = upForce - PhysScene.DefaultGravity;
                 DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, _position, upForce, correctionForce);
                 AddForce(correctionForce, false, inTaintTime);
                 ret = true;
@@ -432,7 +420,7 @@ public class BSPrim : BSPhysObject
         get { return _mass; }
     }
     // used when we only want this prim's mass and not the linkset thing
-    public override float RawMass { 
+    public override float RawMass {
         get { return _mass; }
     }
     // Set the physical mass to the passed mass.
@@ -443,10 +431,10 @@ public class BSPrim : BSPhysObject
         {
             if (IsStatic)
             {
-                PhysicsScene.PE.SetGravity(PhysBody, PhysicsScene.DefaultGravity);
+                PhysScene.PE.SetGravity(PhysBody, PhysScene.DefaultGravity);
                 Inertia = OMV.Vector3.Zero;
-                PhysicsScene.PE.SetMassProps(PhysBody, 0f, Inertia);
-                PhysicsScene.PE.UpdateInertiaTensor(PhysBody);
+                PhysScene.PE.SetMassProps(PhysBody, 0f, Inertia);
+                PhysScene.PE.UpdateInertiaTensor(PhysBody);
             }
             else
             {
@@ -455,16 +443,16 @@ public class BSPrim : BSPhysObject
                     // Changing interesting properties doesn't change proxy and collision cache
                     //    information. The Bullet solution is to re-add the object to the world
                     //    after parameters are changed.
-                    PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody);
+                    PhysScene.PE.RemoveObjectFromWorld(PhysScene.World, PhysBody);
                 }
 
                 // The computation of mass props requires gravity to be set on the object.
                 Gravity = ComputeGravity(Buoyancy);
-                PhysicsScene.PE.SetGravity(PhysBody, Gravity);
+                PhysScene.PE.SetGravity(PhysBody, Gravity);
 
-                Inertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape, physMass);
-                PhysicsScene.PE.SetMassProps(PhysBody, physMass, Inertia);
-                PhysicsScene.PE.UpdateInertiaTensor(PhysBody);
+                Inertia = PhysScene.PE.CalculateLocalInertia(PhysShape.physShapeInfo, physMass);
+                PhysScene.PE.SetMassProps(PhysBody, physMass, Inertia);
+                PhysScene.PE.UpdateInertiaTensor(PhysBody);
 
                 DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},grav={3},inWorld={4}",
                                             LocalID, physMass, Inertia, Gravity, inWorld);
@@ -480,7 +468,7 @@ public class BSPrim : BSPhysObject
     // Return what gravity should be set to this very moment
     public OMV.Vector3 ComputeGravity(float buoyancy)
     {
-        OMV.Vector3 ret = PhysicsScene.DefaultGravity;
+        OMV.Vector3 ret = PhysScene.DefaultGravity;
 
         if (!IsStatic)
         {
@@ -509,7 +497,7 @@ public class BSPrim : BSPhysObject
             RawForce = value;
             EnableActor(RawForce != OMV.Vector3.Zero, SetForceActorName, delegate()
             {
-                return new BSActorSetForce(PhysicsScene, this, SetForceActorName);
+                return new BSActorSetForce(PhysScene, this, SetForceActorName);
             });
         }
     }
@@ -521,9 +509,9 @@ public class BSPrim : BSPhysObject
         set {
             Vehicle type = (Vehicle)value;
 
-            PhysicsScene.TaintedObject("setVehicleType", delegate()
+            PhysScene.TaintedObject("setVehicleType", delegate()
             {
-                // Vehicle code changes the parameters for this vehicle type.
+                ZeroMotion(true /* inTaintTime */);
                 VehicleActor.ProcessTypeChange(type);
                 ActivateIfPhysical(false);
             });
@@ -531,7 +519,7 @@ public class BSPrim : BSPhysObject
     }
     public override void VehicleFloatParam(int param, float value)
     {
-        PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
+        PhysScene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
         {
             VehicleActor.ProcessFloatVehicleParam((Vehicle)param, value);
             ActivateIfPhysical(false);
@@ -539,7 +527,7 @@ public class BSPrim : BSPhysObject
     }
     public override void VehicleVectorParam(int param, OMV.Vector3 value)
     {
-        PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
+        PhysScene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
         {
             VehicleActor.ProcessVectorVehicleParam((Vehicle)param, value);
             ActivateIfPhysical(false);
@@ -547,7 +535,7 @@ public class BSPrim : BSPhysObject
     }
     public override void VehicleRotationParam(int param, OMV.Quaternion rotation)
     {
-        PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate()
+        PhysScene.TaintedObject("BSPrim.VehicleRotationParam", delegate()
         {
             VehicleActor.ProcessRotationVehicleParam((Vehicle)param, rotation);
             ActivateIfPhysical(false);
@@ -555,7 +543,7 @@ public class BSPrim : BSPhysObject
     }
     public override void VehicleFlags(int param, bool remove)
     {
-        PhysicsScene.TaintedObject("BSPrim.VehicleFlags", delegate()
+        PhysScene.TaintedObject("BSPrim.VehicleFlags", delegate()
         {
             VehicleActor.ProcessVehicleFlags(param, remove);
         });
@@ -567,7 +555,7 @@ public class BSPrim : BSPhysObject
         if (_isVolumeDetect != newValue)
         {
             _isVolumeDetect = newValue;
-            PhysicsScene.TaintedObject("BSPrim.SetVolumeDetect", delegate()
+            PhysScene.TaintedObject("BSPrim.SetVolumeDetect", delegate()
             {
                 // DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect);
                 SetObjectDynamic(true);
@@ -578,7 +566,7 @@ public class BSPrim : BSPhysObject
     public override void SetMaterial(int material)
     {
         base.SetMaterial(material);
-        PhysicsScene.TaintedObject("BSPrim.SetMaterial", delegate()
+        PhysScene.TaintedObject("BSPrim.SetMaterial", delegate()
         {
             UpdatePhysicalParameters();
         });
@@ -591,7 +579,7 @@ public class BSPrim : BSPhysObject
             if (base.Friction != value)
             {
                 base.Friction = value;
-                PhysicsScene.TaintedObject("BSPrim.setFriction", delegate()
+                PhysScene.TaintedObject("BSPrim.setFriction", delegate()
                 {
                     UpdatePhysicalParameters();
                 });
@@ -606,7 +594,7 @@ public class BSPrim : BSPhysObject
             if (base.Restitution != value)
             {
                 base.Restitution = value;
-                PhysicsScene.TaintedObject("BSPrim.setRestitution", delegate()
+                PhysScene.TaintedObject("BSPrim.setRestitution", delegate()
                 {
                     UpdatePhysicalParameters();
                 });
@@ -623,7 +611,7 @@ public class BSPrim : BSPhysObject
             if (base.Density != value)
             {
                 base.Density = value;
-                PhysicsScene.TaintedObject("BSPrim.setDensity", delegate()
+                PhysScene.TaintedObject("BSPrim.setDensity", delegate()
                 {
                     UpdatePhysicalParameters();
                 });
@@ -638,7 +626,7 @@ public class BSPrim : BSPhysObject
             if (base.GravModifier != value)
             {
                 base.GravModifier = value;
-                PhysicsScene.TaintedObject("BSPrim.setGravityModifier", delegate()
+                PhysScene.TaintedObject("BSPrim.setGravityModifier", delegate()
                 {
                     UpdatePhysicalParameters();
                 });
@@ -649,7 +637,7 @@ public class BSPrim : BSPhysObject
         get { return RawVelocity; }
         set {
             RawVelocity = value;
-            PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate()
+            PhysScene.TaintedObject("BSPrim.setVelocity", delegate()
             {
                 // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, RawVelocity);
                 ForceVelocity = RawVelocity;
@@ -659,13 +647,13 @@ public class BSPrim : BSPhysObject
     public override OMV.Vector3 ForceVelocity {
         get { return RawVelocity; }
         set {
-            PhysicsScene.AssertInTaintTime("BSPrim.ForceVelocity");
+            PhysScene.AssertInTaintTime("BSPrim.ForceVelocity");
 
             RawVelocity = Util.ClampV(value, BSParam.MaxLinearVelocity);
             if (PhysBody.HasPhysicalBody)
             {
                 DetailLog("{0},BSPrim.ForceVelocity,taint,vel={1}", LocalID, RawVelocity);
-                PhysicsScene.PE.SetLinearVelocity(PhysBody, RawVelocity);
+                PhysScene.PE.SetLinearVelocity(PhysBody, RawVelocity);
                 ActivateIfPhysical(false);
             }
         }
@@ -676,7 +664,7 @@ public class BSPrim : BSPhysObject
             RawTorque = value;
             EnableActor(RawTorque != OMV.Vector3.Zero, SetTorqueActorName, delegate()
             {
-                return new BSActorSetTorque(PhysicsScene, this, SetTorqueActorName);
+                return new BSActorSetTorque(PhysScene, this, SetTorqueActorName);
             });
             DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, RawTorque);
         }
@@ -699,7 +687,7 @@ public class BSPrim : BSPhysObject
                 return;
             _orientation = value;
 
-            PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
+            PhysScene.TaintedObject("BSPrim.setOrientation", delegate()
             {
                 ForceOrientation = _orientation;
             });
@@ -710,14 +698,14 @@ public class BSPrim : BSPhysObject
     {
         get
         {
-            _orientation = PhysicsScene.PE.GetOrientation(PhysBody);
+            _orientation = PhysScene.PE.GetOrientation(PhysBody);
             return _orientation;
         }
         set
         {
             _orientation = value;
             if (PhysBody.HasPhysicalBody)
-                PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
+                PhysScene.PE.SetTranslation(PhysBody, _position, _orientation);
         }
     }
     public override int PhysicsActorType {
@@ -730,7 +718,7 @@ public class BSPrim : BSPhysObject
             if (_isPhysical != value)
             {
                 _isPhysical = value;
-                PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate()
+                PhysScene.TaintedObject("BSPrim.setIsPhysical", delegate()
                 {
                     DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
                     SetObjectDynamic(true);
@@ -779,13 +767,13 @@ public class BSPrim : BSPhysObject
         if (!PhysBody.HasPhysicalBody)
         {
             // This would only happen if updates are called for during initialization when the body is not set up yet.
-            DetailLog("{0},BSPrim.UpdatePhysicalParameters,taint,calledWithNoPhysBody", LocalID);
+            // DetailLog("{0},BSPrim.UpdatePhysicalParameters,taint,calledWithNoPhysBody", LocalID);
             return;
         }
 
         // Mangling all the physical properties requires the object not be in the physical world.
         // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
-        PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody);
+        PhysScene.PE.RemoveObjectFromWorld(PhysScene.World, PhysBody);
 
         // Set up the object physicalness (does gravity and collisions move this object)
         MakeDynamic(IsStatic);
@@ -802,10 +790,11 @@ public class BSPrim : BSPhysObject
         AddObjectToPhysicalWorld();
 
         // Rebuild its shape
-        PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody);
+        PhysScene.PE.UpdateSingleAabb(PhysScene.World, PhysBody);
 
         DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},cType={6},body={7},shape={8}",
-                        LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody.collisionType, PhysBody, PhysShape);
+                                    LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(),
+                                    CurrentCollisionFlags, PhysBody.collisionType, PhysBody, PhysShape);
     }
 
     // "Making dynamic" means changing to and from static.
@@ -818,28 +807,28 @@ public class BSPrim : BSPhysObject
         if (makeStatic)
         {
             // Become a Bullet 'static' object type
-            CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT);
+            CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT);
             // Stop all movement
             ZeroMotion(true);
 
             // Set various physical properties so other object interact properly
-            PhysicsScene.PE.SetFriction(PhysBody, Friction);
-            PhysicsScene.PE.SetRestitution(PhysBody, Restitution);
-            PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold);
+            PhysScene.PE.SetFriction(PhysBody, Friction);
+            PhysScene.PE.SetRestitution(PhysBody, Restitution);
+            PhysScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold);
 
             // Mass is zero which disables a bunch of physics stuff in Bullet
             UpdatePhysicalMassProperties(0f, false);
             // Set collision detection parameters
             if (BSParam.CcdMotionThreshold > 0f)
             {
-                PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
-                PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
+                PhysScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
+                PhysScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
             }
 
             // The activation state is 'disabled' so Bullet will not try to act on it.
             // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_SIMULATION);
             // Start it out sleeping and physical actions could wake it up.
-            PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ISLAND_SLEEPING);
+            PhysScene.PE.ForceActivationState(PhysBody, ActivationState.ISLAND_SLEEPING);
 
             // This collides like a static object
             PhysBody.collisionType = CollisionType.Static;
@@ -847,11 +836,11 @@ public class BSPrim : BSPhysObject
         else
         {
             // Not a Bullet static object
-            CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT);
+            CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT);
 
             // Set various physical properties so other object interact properly
-            PhysicsScene.PE.SetFriction(PhysBody, Friction);
-            PhysicsScene.PE.SetRestitution(PhysBody, Restitution);
+            PhysScene.PE.SetFriction(PhysBody, Friction);
+            PhysScene.PE.SetRestitution(PhysBody, Restitution);
             // DetailLog("{0},BSPrim.MakeDynamic,frict={1},rest={2}", LocalID, Friction, Restitution);
 
             // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
@@ -869,22 +858,22 @@ public class BSPrim : BSPhysObject
             // Set collision detection parameters
             if (BSParam.CcdMotionThreshold > 0f)
             {
-                PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
-                PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
+                PhysScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
+                PhysScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
             }
 
             // Various values for simulation limits
-            PhysicsScene.PE.SetDamping(PhysBody, BSParam.LinearDamping, BSParam.AngularDamping);
-            PhysicsScene.PE.SetDeactivationTime(PhysBody, BSParam.DeactivationTime);
-            PhysicsScene.PE.SetSleepingThresholds(PhysBody, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold);
-            PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold);
+            PhysScene.PE.SetDamping(PhysBody, BSParam.LinearDamping, BSParam.AngularDamping);
+            PhysScene.PE.SetDeactivationTime(PhysBody, BSParam.DeactivationTime);
+            PhysScene.PE.SetSleepingThresholds(PhysBody, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold);
+            PhysScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold);
 
             // This collides like an object.
             PhysBody.collisionType = CollisionType.Dynamic;
 
             // Force activation of the object so Bullet will act on it.
             // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects.
-            PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG);
+            PhysScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG);
         }
     }
 
@@ -894,7 +883,7 @@ public class BSPrim : BSPhysObject
     //     the functions after this one set up the state of a possibly newly created collision body.
     private void MakeSolid(bool makeSolid)
     {
-        CollisionObjectTypes bodyType = (CollisionObjectTypes)PhysicsScene.PE.GetBodyType(PhysBody);
+        CollisionObjectTypes bodyType = (CollisionObjectTypes)PhysScene.PE.GetBodyType(PhysBody);
         if (makeSolid)
         {
             // Verify the previous code created the correct shape for this type of thing.
@@ -902,7 +891,7 @@ public class BSPrim : BSPhysObject
             {
                 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType);
             }
-            CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
         }
         else
         {
@@ -910,7 +899,7 @@ public class BSPrim : BSPhysObject
             {
                 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType);
             }
-            CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
 
             // Change collision info from a static object to a ghosty collision object
             PhysBody.collisionType = CollisionType.VolumeDetect;
@@ -922,11 +911,11 @@ public class BSPrim : BSPhysObject
     {
         if (wantsCollisionEvents)
         {
-            CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
         }
         else
         {
-            CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
         }
     }
 
@@ -937,7 +926,7 @@ public class BSPrim : BSPhysObject
     {
         if (PhysBody.HasPhysicalBody)
         {
-            PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody);
+            PhysScene.PE.AddObjectToWorld(PhysScene.World, PhysBody);
         }
         else
         {
@@ -972,12 +961,12 @@ public class BSPrim : BSPhysObject
     public override bool FloatOnWater {
         set {
             _floatOnWater = value;
-            PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate()
+            PhysScene.TaintedObject("BSPrim.setFloatOnWater", delegate()
             {
                 if (_floatOnWater)
-                    CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
+                    CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
                 else
-                    CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
+                    CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
             });
         }
     }
@@ -989,7 +978,7 @@ public class BSPrim : BSPhysObject
             _rotationalVelocity = value;
             Util.ClampV(_rotationalVelocity, BSParam.MaxAngularVelocity);
             // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
-            PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
+            PhysScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
             {
                 ForceRotationalVelocity = _rotationalVelocity;
             });
@@ -1004,7 +993,7 @@ public class BSPrim : BSPhysObject
             if (PhysBody.HasPhysicalBody)
             {
                 DetailLog("{0},BSPrim.ForceRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
-                PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
+                PhysScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
                 // PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity);
                 ActivateIfPhysical(false);
             }
@@ -1020,7 +1009,7 @@ public class BSPrim : BSPhysObject
         get { return _buoyancy; }
         set {
             _buoyancy = value;
-            PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate()
+            PhysScene.TaintedObject("BSPrim.setBuoyancy", delegate()
             {
                 ForceBuoyancy = _buoyancy;
             });
@@ -1043,7 +1032,7 @@ public class BSPrim : BSPhysObject
             base.MoveToTargetActive = value;
             EnableActor(MoveToTargetActive, MoveToTargetActorName, delegate()
             {
-                return new BSActorMoveToTarget(PhysicsScene, this, MoveToTargetActorName);
+                return new BSActorMoveToTarget(PhysScene, this, MoveToTargetActorName);
             });
         }
     }
@@ -1055,7 +1044,7 @@ public class BSPrim : BSPhysObject
             base.HoverActive = value;
             EnableActor(HoverActive, HoverActorName, delegate()
             {
-                return new BSActorHover(PhysicsScene, this, HoverActorName);
+                return new BSActorHover(PhysScene, this, HoverActorName);
             });
         }
     }
@@ -1065,7 +1054,7 @@ public class BSPrim : BSPhysObject
         OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
 
         // Since this force is being applied in only one step, make this a force per second.
-        addForce /= PhysicsScene.LastTimeStep;
+        addForce /= PhysScene.LastTimeStep;
         AddForce(addForce, pushforce, false /* inTaintTime */);
     }
 
@@ -1080,13 +1069,13 @@ public class BSPrim : BSPhysObject
                 // DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce);
 
                 OMV.Vector3 addForce = force;
-                PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
+                PhysScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
                 {
                     // Bullet adds this central force to the total force for this tick
                     DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce);
                     if (PhysBody.HasPhysicalBody)
                     {
-                        PhysicsScene.PE.ApplyCentralForce(PhysBody, addForce);
+                        PhysScene.PE.ApplyCentralForce(PhysBody, addForce);
                         ActivateIfPhysical(false);
                     }
                 });
@@ -1108,13 +1097,13 @@ public class BSPrim : BSPhysObject
                 OMV.Vector3 addImpulse = Util.ClampV(impulse, BSParam.MaxAddForceMagnitude);
                 // DetailLog("{0},BSPrim.addForceImpulse,call,impulse={1}", LocalID, impulse);
 
-                PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddImpulse", delegate()
+                PhysScene.TaintedObject(inTaintTime, "BSPrim.AddImpulse", delegate()
                 {
                     // Bullet adds this impulse immediately to the velocity
                     DetailLog("{0},BSPrim.addForceImpulse,taint,impulseforce={1}", LocalID, addImpulse);
                     if (PhysBody.HasPhysicalBody)
                     {
-                        PhysicsScene.PE.ApplyCentralImpulse(PhysBody, addImpulse);
+                        PhysScene.PE.ApplyCentralImpulse(PhysBody, addImpulse);
                         ActivateIfPhysical(false);
                     }
                 });
@@ -1133,12 +1122,12 @@ public class BSPrim : BSPhysObject
         if (force.IsFinite())
         {
             OMV.Vector3 angForce = force;
-            PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate()
+            PhysScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate()
             {
                 if (PhysBody.HasPhysicalBody)
                 {
                     DetailLog("{0},BSPrim.AddAngularForce,taint,angForce={1}", LocalID, angForce);
-                    PhysicsScene.PE.ApplyTorque(PhysBody, angForce);
+                    PhysScene.PE.ApplyTorque(PhysBody, angForce);
                     ActivateIfPhysical(false);
                 }
             });
@@ -1157,11 +1146,11 @@ public class BSPrim : BSPhysObject
     public void ApplyTorqueImpulse(OMV.Vector3 impulse, bool inTaintTime)
     {
         OMV.Vector3 applyImpulse = impulse;
-        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate()
+        PhysScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate()
         {
             if (PhysBody.HasPhysicalBody)
             {
-                PhysicsScene.PE.ApplyTorqueImpulse(PhysBody, applyImpulse);
+                PhysScene.PE.ApplyTorqueImpulse(PhysBody, applyImpulse);
                 ActivateIfPhysical(false);
             }
         });
@@ -1463,12 +1452,13 @@ public class BSPrim : BSPhysObject
         // Create the correct physical representation for this type of object.
         // Updates base.PhysBody and base.PhysShape with the new information.
         // Ignore 'forceRebuild'. 'GetBodyAndShape' makes the right choices and changes of necessary.
-        PhysicsScene.Shapes.GetBodyAndShape(false /*forceRebuild */, PhysicsScene.World, this, null, delegate(BulletBody dBody)
+        PhysScene.Shapes.GetBodyAndShape(false /*forceRebuild */, PhysScene.World, this, delegate(BulletBody pBody, BulletShape pShape)
         {
             // Called if the current prim body is about to be destroyed.
             // Remove all the physical dependencies on the old body.
             // (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...)
-            RemoveBodyDependencies();
+            // Note: this virtual function is overloaded by BSPrimLinkable to remove linkset constraints.
+            RemoveDependencies();
         });
 
         // Make sure the properties are set on the new object
@@ -1477,9 +1467,9 @@ public class BSPrim : BSPhysObject
     }
 
     // Called at taint-time
-    protected virtual void RemoveBodyDependencies()
+    protected virtual void RemoveDependencies()
     {
-        PhysicalActors.RemoveBodyDependencies();
+        PhysicalActors.RemoveDependencies();
     }
 
     // The physics engine says that properties have updated. Update same and inform
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs
index f1c3b5c..f5ee671 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs
@@ -78,14 +78,16 @@ public class BSPrimDisplaced : BSPrim
     // Set this sets and computes the displacement from the passed prim to the center-of-mass.
     // A user set value for center-of-mass overrides whatever might be passed in here.
     // The displacement is in local coordinates (relative to root prim in linkset oriented coordinates).
-    public virtual void SetEffectiveCenterOfMassW(Vector3 centerOfMassDisplacement)
+    public virtual void SetEffectiveCenterOfMassDisplacement(Vector3 centerOfMassDisplacement)
     {
         Vector3 comDisp;
-        if (UserSetCenterOfMass.HasValue)
-            comDisp = (OMV.Vector3)UserSetCenterOfMass;
+        if (UserSetCenterOfMassDisplacement.HasValue)
+            comDisp = (OMV.Vector3)UserSetCenterOfMassDisplacement;
         else
             comDisp = centerOfMassDisplacement;
 
+        DetailLog("{0},BSPrimDisplaced.SetEffectiveCenterOfMassDisplacement,userSet={1},comDisp={2}",
+                                    LocalID, UserSetCenterOfMassDisplacement.HasValue, comDisp);
         if (comDisp == Vector3.Zero)
         {
             // If there is no diplacement. Things get reset.
@@ -107,9 +109,15 @@ public class BSPrimDisplaced : BSPrim
         set
         {
             if (PositionDisplacement != OMV.Vector3.Zero)
-                base.ForcePosition = value - (PositionDisplacement * RawOrientation);
+            {
+                OMV.Vector3 displacedPos = value - (PositionDisplacement * RawOrientation);
+                DetailLog("{0},BSPrimDisplaced.ForcePosition,val={1},disp={2},newPos={3}", LocalID, value, PositionDisplacement, displacedPos);
+                base.ForcePosition = displacedPos;
+            }
             else
+            {
                 base.ForcePosition = value;
+            }
         }
     }
 
@@ -118,6 +126,7 @@ public class BSPrimDisplaced : BSPrim
         get { return base.ForceOrientation; }
         set
         {
+            // TODO:
             base.ForceOrientation = value;
         }
     }
@@ -143,7 +152,10 @@ public class BSPrimDisplaced : BSPrim
         {
             // Correct for any rotation around the center-of-mass
             // TODO!!!
-            entprop.Position = entprop.Position + (PositionDisplacement * entprop.Rotation);
+            
+            OMV.Vector3 displacedPos = entprop.Position + (PositionDisplacement * entprop.Rotation);
+            DetailLog("{0},BSPrimDisplaced.ForcePosition,physPos={1},disp={2},newPos={3}", LocalID, entprop.Position, PositionDisplacement, displacedPos);
+            entprop.Position = displacedPos;
             // entprop.Rotation = something;
         }
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
index 28242d4..235da78 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
@@ -47,9 +47,9 @@ public class BSPrimLinkable : BSPrimDisplaced
                        OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
         : base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
     {
-        Linkset = BSLinkset.Factory(PhysicsScene, this);
+        Linkset = BSLinkset.Factory(PhysScene, this);
 
-        PhysicsScene.TaintedObject("BSPrimLinksetCompound.Refresh", delegate()
+        PhysScene.TaintedObject("BSPrimLinksetCompound.Refresh", delegate()
         {
             Linkset.Refresh(this);
         });
@@ -61,9 +61,6 @@ public class BSPrimLinkable : BSPrimDisplaced
         base.Destroy();
     }
 
-    public override BSPhysicsShapeType PreferredPhysicalShape
-        { get { return Linkset.PreferredPhysicalShape(this); } }
-
     public override void link(Manager.PhysicsActor obj)
     {
         BSPrimLinkable parent = obj as BSPrimLinkable;
@@ -102,7 +99,7 @@ public class BSPrimLinkable : BSPrimDisplaced
         set
         {
             base.Position = value;
-            PhysicsScene.TaintedObject("BSPrimLinkset.setPosition", delegate()
+            PhysScene.TaintedObject("BSPrimLinkset.setPosition", delegate()
             {
                 Linkset.UpdateProperties(UpdatedProperties.Position, this);
             });
@@ -116,7 +113,7 @@ public class BSPrimLinkable : BSPrimDisplaced
         set
         {
             base.Orientation = value;
-            PhysicsScene.TaintedObject("BSPrimLinkset.setOrientation", delegate()
+            PhysScene.TaintedObject("BSPrimLinkset.setOrientation", delegate()
             {
                 Linkset.UpdateProperties(UpdatedProperties.Orientation, this);
             });
@@ -149,10 +146,10 @@ public class BSPrimLinkable : BSPrimDisplaced
     }
 
     // Body is being taken apart. Remove physical dependencies and schedule a rebuild.
-    protected override void RemoveBodyDependencies()
+    protected override void RemoveDependencies()
     {
-        Linkset.RemoveBodyDependencies(this);
-        base.RemoveBodyDependencies();
+        Linkset.RemoveDependencies(this);
+        base.RemoveDependencies();
     }
 
     public override void UpdateProperties(EntityProperties entprop)
@@ -185,6 +182,10 @@ public class BSPrimLinkable : BSPrimDisplaced
         {
             return false;
         }
+
+        // TODO: handle collisions of other objects with with children of linkset.
+        //    This is a problem for LinksetCompound since the children are packed into the root.
+
         return base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth);
     }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 8e05b58..a4a8794 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -316,7 +316,10 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
                 break;
             case "bulletxna":
                 ret = new BSAPIXNA(engineName, this);
+                // Disable some features that are not implemented in BulletXNA
+                m_log.InfoFormat("{0} Disabling some physics features not implemented by BulletXNA", LogHeader);
                 BSParam.ShouldUseBulletHACD = false;
+                BSParam.ShouldUseSingleConvexHullForPrims = false;
                 break;
         }
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index bc26460..64aaa15 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -38,38 +38,15 @@ public sealed class BSShapeCollection : IDisposable
 {
     private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]";
 
-    private BSScene PhysicsScene { get; set; }
+    private BSScene m_physicsScene { get; set; }
 
     private Object m_collectionActivityLock = new Object();
 
-    // Description of a Mesh
-    private struct MeshDesc
-    {
-        public BulletShape shape;
-        public int referenceCount;
-        public DateTime lastReferenced;
-        public UInt64 shapeKey;
-    }
-
-    // Description of a hull.
-    // Meshes and hulls have the same shape hash key but we only need hulls for efficient collision calculations.
-    private struct HullDesc
-    {
-        public BulletShape shape;
-        public int referenceCount;
-        public DateTime lastReferenced;
-        public UInt64 shapeKey;
-    }
-
-    // The sharable set of meshes and hulls. Indexed by their shape hash.
-    private Dictionary<System.UInt64, MeshDesc> Meshes = new Dictionary<System.UInt64, MeshDesc>();
-    private Dictionary<System.UInt64, HullDesc> Hulls = new Dictionary<System.UInt64, HullDesc>();
-
     private bool DDetail = false;
 
     public BSShapeCollection(BSScene physScene)
     {
-        PhysicsScene = physScene;
+        m_physicsScene = physScene;
         // Set the next to 'true' for very detailed shape update detailed logging (detailed details?)
         // While detailed debugging is still active, this is better than commenting out all the
         //     DetailLog statements. When debugging slows down, this and the protected logging
@@ -86,22 +63,18 @@ public sealed class BSShapeCollection : IDisposable
     // Mostly used for changing bodies out from under Linksets.
     // Useful for other cases where parameters need saving.
     // Passing 'null' says no callback.
-    public delegate void ShapeDestructionCallback(BulletShape shape);
-    public delegate void BodyDestructionCallback(BulletBody body);
+    public delegate void PhysicalDestructionCallback(BulletBody pBody, BulletShape pShape);
 
     // Called to update/change the body and shape for an object.
-    // First checks the shape and updates that if necessary then makes
-    //    sure the body is of the right type.
+    // The object has some shape and body on it. Here we decide if that is the correct shape
+    //    for the current state of the object (static/dynamic/...).
+    // If bodyCallback is not null, it is called if either the body or the shape are changed
+    //    so dependencies (like constraints) can be removed before the physical object is dereferenced.
     // Return 'true' if either the body or the shape changed.
-    // 'shapeCallback' and 'bodyCallback' are, if non-null, functions called just before
-    //    the current shape or body is destroyed. This allows the caller to remove any
-    //    higher level dependencies on the shape or body. Mostly used for LinkSets to
-    //    remove the physical constraints before the body is destroyed.
-    // Called at taint-time!!
-    public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim,
-                    ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback)
+    // Called at taint-time.
+    public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim, PhysicalDestructionCallback bodyCallback)
     {
-        PhysicsScene.AssertInTaintTime("BSShapeCollection.GetBodyAndShape");
+        m_physicsScene.AssertInTaintTime("BSShapeCollection.GetBodyAndShape");
 
         bool ret = false;
 
@@ -111,12 +84,12 @@ public sealed class BSShapeCollection : IDisposable
             // Do we have the correct geometry for this type of object?
             // Updates prim.BSShape with information/pointers to shape.
             // Returns 'true' of BSShape is changed to a new shape.
-            bool newGeom = CreateGeom(forceRebuild, prim, shapeCallback);
+            bool newGeom = CreateGeom(forceRebuild, prim, bodyCallback);
             // If we had to select a new shape geometry for the object,
             //    rebuild the body around it.
             // Updates prim.BSBody with information/pointers to requested body
             // Returns 'true' if BSBody was changed.
-            bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, bodyCallback);
+            bool newBody = CreateBody((newGeom || forceRebuild), prim, m_physicsScene.World, bodyCallback);
             ret = newGeom || newBody;
         }
         DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}",
@@ -127,271 +100,20 @@ public sealed class BSShapeCollection : IDisposable
 
     public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim)
     {
-        return GetBodyAndShape(forceRebuild, sim, prim, null, null);
-    }
-
-    // Track another user of a body.
-    // We presume the caller has allocated the body.
-    // Bodies only have one user so the body is just put into the world if not already there.
-    private void ReferenceBody(BulletBody body)
-    {
-        lock (m_collectionActivityLock)
-        {
-            if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body);
-            if (!PhysicsScene.PE.IsInWorld(PhysicsScene.World, body))
-            {
-                PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, body);
-                if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body);
-            }
-        }
-    }
-
-    // Release the usage of a body.
-    // Called when releasing use of a BSBody. BSShape is handled separately.
-    // Called in taint time.
-    public void DereferenceBody(BulletBody body, BodyDestructionCallback bodyCallback )
-    {
-        if (!body.HasPhysicalBody)
-            return;
-
-        PhysicsScene.AssertInTaintTime("BSShapeCollection.DereferenceBody");
-
-        lock (m_collectionActivityLock)
-        {
-            if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1}", body.ID, body);
-            // If the caller needs to know the old body is going away, pass the event up.
-            if (bodyCallback != null) bodyCallback(body);
-
-            // Removing an object not in the world is a NOOP
-            PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, body);
-
-            // Zero any reference to the shape so it is not freed when the body is deleted.
-            PhysicsScene.PE.SetCollisionShape(PhysicsScene.World, body, null);
-            PhysicsScene.PE.DestroyObject(PhysicsScene.World, body);
-        }
-    }
-
-    // Track the datastructures and use count for a shape.
-    // When creating a hull, this is called first to reference the mesh
-    //     and then again to reference the hull.
-    // Meshes and hulls for the same shape have the same hash key.
-    // NOTE that native shapes are not added to the mesh list or removed.
-    // Returns 'true' if this is the initial reference to the shape. Otherwise reused.
-    public bool ReferenceShape(BulletShape shape)
-    {
-        bool ret = false;
-        switch (shape.type)
-        {
-            case BSPhysicsShapeType.SHAPE_MESH:
-                MeshDesc meshDesc;
-                if (Meshes.TryGetValue(shape.shapeKey, out meshDesc))
-                {
-                    // There is an existing instance of this mesh.
-                    meshDesc.referenceCount++;
-                    if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,existingMesh,key={1},cnt={2}",
-                                BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
-                }
-                else
-                {
-                    // This is a new reference to a mesh
-                    meshDesc.shape = shape.Clone();
-                    meshDesc.shapeKey = shape.shapeKey;
-                    // We keep a reference to the underlying IMesh data so a hull can be built
-                    meshDesc.referenceCount = 1;
-                    if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newMesh,key={1},cnt={2}",
-                                BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
-                    ret = true;
-                }
-                meshDesc.lastReferenced = System.DateTime.Now;
-                Meshes[shape.shapeKey] = meshDesc;
-                break;
-            case BSPhysicsShapeType.SHAPE_HULL:
-                HullDesc hullDesc;
-                if (Hulls.TryGetValue(shape.shapeKey, out hullDesc))
-                {
-                    // There is an existing instance of this hull.
-                    hullDesc.referenceCount++;
-                    if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,existingHull,key={1},cnt={2}",
-                                BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
-                }
-                else
-                {
-                    // This is a new reference to a hull
-                    hullDesc.shape = shape.Clone();
-                    hullDesc.shapeKey = shape.shapeKey;
-                    hullDesc.referenceCount = 1;
-                    if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}",
-                                BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
-                    ret = true;
-
-                }
-                hullDesc.lastReferenced = System.DateTime.Now;
-                Hulls[shape.shapeKey] = hullDesc;
-                break;
-            case BSPhysicsShapeType.SHAPE_UNKNOWN:
-                break;
-            default:
-                // Native shapes are not tracked and they don't go into any list
-                break;
-        }
-        return ret;
-    }
-
-    // Release the usage of a shape.
-    public void DereferenceShape(BulletShape shape, ShapeDestructionCallback shapeCallback)
-    {
-        if (!shape.HasPhysicalShape)
-            return;
-
-        PhysicsScene.AssertInTaintTime("BSShapeCollection.DereferenceShape");
-
-        if (shape.HasPhysicalShape)
-        {
-            if (shape.isNativeShape)
-            {
-                // Native shapes are not tracked and are released immediately
-                if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1}",
-                                    BSScene.DetailLogZero, shape.AddrString);
-                if (shapeCallback != null) shapeCallback(shape);
-                PhysicsScene.PE.DeleteCollisionShape(PhysicsScene.World, shape);
-            }
-            else
-            {
-                switch (shape.type)
-                {
-                    case BSPhysicsShapeType.SHAPE_HULL:
-                        DereferenceHull(shape, shapeCallback);
-                        break;
-                    case BSPhysicsShapeType.SHAPE_MESH:
-                        DereferenceMesh(shape, shapeCallback);
-                        break;
-                    case BSPhysicsShapeType.SHAPE_COMPOUND:
-                        DereferenceCompound(shape, shapeCallback);
-                        break;
-                    case BSPhysicsShapeType.SHAPE_UNKNOWN:
-                        break;
-                    default:
-                        break;
-                }
-            }
-        }
-    }
-
-    // Count down the reference count for a mesh shape
-    // Called at taint-time.
-    private void DereferenceMesh(BulletShape shape, ShapeDestructionCallback shapeCallback)
-    {
-        MeshDesc meshDesc;
-        if (Meshes.TryGetValue(shape.shapeKey, out meshDesc))
-        {
-            meshDesc.referenceCount--;
-            // TODO: release the Bullet storage
-            if (shapeCallback != null) shapeCallback(shape);
-            meshDesc.lastReferenced = System.DateTime.Now;
-            Meshes[shape.shapeKey] = meshDesc;
-            if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceMesh,shape={1},refCnt={2}",
-                                BSScene.DetailLogZero, shape, meshDesc.referenceCount);
-
-        }
-    }
-
-    // Count down the reference count for a hull shape
-    // Called at taint-time.
-    private void DereferenceHull(BulletShape shape, ShapeDestructionCallback shapeCallback)
-    {
-        HullDesc hullDesc;
-        if (Hulls.TryGetValue(shape.shapeKey, out hullDesc))
-        {
-            hullDesc.referenceCount--;
-            // TODO: release the Bullet storage (aging old entries?)
-
-            // Tell upper layers that, if they have dependencies on this shape, this link is going away
-            if (shapeCallback != null) shapeCallback(shape);
-
-            hullDesc.lastReferenced = System.DateTime.Now;
-            Hulls[shape.shapeKey] = hullDesc;
-            if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceHull,shape={1},refCnt={2}",
-                    BSScene.DetailLogZero, shape, hullDesc.referenceCount);
-        }
-    }
-
-    // Remove a reference to a compound shape.
-    // Taking a compound shape apart is a little tricky because if you just delete the
-    //      physical shape, it will free all the underlying children. We can't do that because
-    //      they could be shared. So, this removes each of the children from the compound and
-    //      dereferences them separately before destroying the compound collision object itself.
-    // Called at taint-time.
-    private void DereferenceCompound(BulletShape shape, ShapeDestructionCallback shapeCallback)
-    {
-        if (!PhysicsScene.PE.IsCompound(shape))
-        {
-            // Failed the sanity check!!
-            PhysicsScene.Logger.ErrorFormat("{0} Attempt to free a compound shape that is not compound!! type={1}, ptr={2}",
-                                        LogHeader, shape.type, shape.AddrString);
-            if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}",
-                                        BSScene.DetailLogZero, shape.type, shape.AddrString);
-            return;
-        }
-
-        int numChildren = PhysicsScene.PE.GetNumberOfCompoundChildren(shape);
-        if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}", BSScene.DetailLogZero, shape, numChildren);
-
-        for (int ii = numChildren - 1; ii >= 0; ii--)
-        {
-            BulletShape childShape = PhysicsScene.PE.RemoveChildShapeFromCompoundShapeIndex(shape, ii);
-            DereferenceAnonCollisionShape(childShape);
-        }
-        PhysicsScene.PE.DeleteCollisionShape(PhysicsScene.World, shape);
+        return GetBodyAndShape(forceRebuild, sim, prim, null);
     }
 
-    // Sometimes we have a pointer to a collision shape but don't know what type it is.
-    // Figure out type and call the correct dereference routine.
-    // Called at taint-time.
-    private void DereferenceAnonCollisionShape(BulletShape shapeInfo)
+    // If the existing prim's shape is to be replaced, remove the tie to the existing shape
+    //     before replacing it.
+    private void DereferenceExistingShape(BSPhysObject prim, PhysicalDestructionCallback shapeCallback)
     {
-        MeshDesc meshDesc;
-        HullDesc hullDesc;
-
-        if (TryGetMeshByPtr(shapeInfo, out meshDesc))
-        {
-            shapeInfo.type = BSPhysicsShapeType.SHAPE_MESH;
-            shapeInfo.shapeKey = meshDesc.shapeKey;
-        }
-        else
-        {
-            if (TryGetHullByPtr(shapeInfo, out hullDesc))
-            {
-                shapeInfo.type = BSPhysicsShapeType.SHAPE_HULL;
-                shapeInfo.shapeKey = hullDesc.shapeKey;
-            }
-            else
-            {
-                if (PhysicsScene.PE.IsCompound(shapeInfo))
-                {
-                    shapeInfo.type = BSPhysicsShapeType.SHAPE_COMPOUND;
-                }
-                else
-                {
-                    if (PhysicsScene.PE.IsNativeShape(shapeInfo))
-                    {
-                        shapeInfo.isNativeShape = true;
-                        shapeInfo.type = BSPhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter)
-                    }
-                }
-            }
-        }
-
-        if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceAnonCollisionShape,shape={1}", BSScene.DetailLogZero, shapeInfo);
-
-        if (shapeInfo.type != BSPhysicsShapeType.SHAPE_UNKNOWN)
-        {
-            DereferenceShape(shapeInfo, null);
-        }
-        else
+        if (prim.PhysShape.HasPhysicalShape)
         {
-            PhysicsScene.Logger.ErrorFormat("{0} Could not decypher shape type. Region={1}, addr={2}",
-                                    LogHeader, PhysicsScene.RegionName, shapeInfo.AddrString);
+            if (shapeCallback != null)
+                shapeCallback(prim.PhysBody, prim.PhysShape.physShapeInfo);
+            prim.PhysShape.Dereference(m_physicsScene);
         }
+        prim.PhysShape = new BSShapeNull();
     }
 
     // Create the geometry information in Bullet for later use.
@@ -402,60 +124,41 @@ public sealed class BSShapeCollection : IDisposable
     // Info in prim.BSShape is updated to the new shape.
     // Returns 'true' if the geometry was rebuilt.
     // Called at taint-time!
-    private bool CreateGeom(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback)
+    private bool CreateGeom(bool forceRebuild, BSPhysObject prim, PhysicalDestructionCallback shapeCallback)
     {
         bool ret = false;
         bool haveShape = false;
+        bool nativeShapePossible = true;
+        PrimitiveBaseShape pbs = prim.BaseShape;
 
-        if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE)
+        // Kludge to create the capsule for the avatar.
+        // TDOD: Remove/redo this when BSShapeAvatar is working!!
+        BSCharacter theChar = prim as BSCharacter;
+        if (theChar != null)
         {
-            // an avatar capsule is close to a native shape (it is not shared)
-            GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_CAPSULE, FixedShapeKey.KEY_CAPSULE, shapeCallback);
-            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape);
+            DereferenceExistingShape(prim, shapeCallback);
+            prim.PhysShape = BSShapeNative.GetReference(m_physicsScene, prim,
+                                            BSPhysicsShapeType.SHAPE_CAPSULE, FixedShapeKey.KEY_CAPSULE);
             ret = true;
             haveShape = true;
         }
 
-        // Compound shapes are handled special as they are rebuilt from scratch.
-        // This isn't too great a hardship since most of the child shapes will have already been created.
-        if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND)
-        {
-            ret = GetReferenceToCompoundShape(prim, shapeCallback);
-            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, prim.PhysShape);
-            haveShape = true;
-        }
-
-        if (!haveShape)
-        {
-            ret = CreateGeomNonSpecial(forceRebuild, prim, shapeCallback);
-        }
-
-        return ret;
-    }
-
-    // Create a mesh, hull or native shape.
-    // Return 'true' if the prim's shape was changed.
-    public bool CreateGeomNonSpecial(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback)
-    {
-        bool ret = false;
-        bool haveShape = false;
-        bool nativeShapePossible = true;
-        PrimitiveBaseShape pbs = prim.BaseShape;
-
         // If the prim attributes are simple, this could be a simple Bullet native shape
+        // Native shapes work whether to object is static or physical.
         if (!haveShape
                 && nativeShapePossible
                 && pbs != null
-                && !pbs.SculptEntry
-                && ((pbs.SculptEntry && !BSParam.ShouldMeshSculptedPrim) || PrimHasNoCuts(pbs)) )
+                && PrimHasNoCuts(pbs)
+                && ( !pbs.SculptEntry || (pbs.SculptEntry && !BSParam.ShouldMeshSculptedPrim) )
+            )
         {
             // Get the scale of any existing shape so we can see if the new shape is same native type and same size.
             OMV.Vector3 scaleOfExistingShape = OMV.Vector3.Zero;
             if (prim.PhysShape.HasPhysicalShape)
-                scaleOfExistingShape = PhysicsScene.PE.GetLocalScaling(prim.PhysShape);
+                scaleOfExistingShape = m_physicsScene.PE.GetLocalScaling(prim.PhysShape.physShapeInfo);
 
             if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,maybeNative,force={1},primScale={2},primSize={3},primShape={4}",
-                        prim.LocalID, forceRebuild, prim.Scale, prim.Size, prim.PhysShape.type);
+                        prim.LocalID, forceRebuild, prim.Scale, prim.Size, prim.PhysShape.physShapeInfo.shapeType);
 
             // It doesn't look like Bullet scales native spheres so make sure the scales are all equal
             if ((pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1)
@@ -463,26 +166,30 @@ public sealed class BSShapeCollection : IDisposable
             {
                 haveShape = true;
                 if (forceRebuild
-                        || prim.Scale != scaleOfExistingShape
-                        || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_SPHERE
-                        )
+                        || prim.PhysShape.ShapeType != BSPhysicsShapeType.SHAPE_SPHERE
+                    )
                 {
-                    ret = GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_SPHERE,
-                                            FixedShapeKey.KEY_SPHERE, shapeCallback);
+                    DereferenceExistingShape(prim, shapeCallback);
+                    prim.PhysShape = BSShapeNative.GetReference(m_physicsScene, prim,
+                                            BSPhysicsShapeType.SHAPE_SPHERE, FixedShapeKey.KEY_SPHERE);
+                    ret = true;
                 }
                 if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},rebuilt={2},shape={3}",
                                         prim.LocalID, forceRebuild, ret, prim.PhysShape);
             }
+            // If we didn't make a sphere, maybe a box will work.
             if (!haveShape && pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
             {
                 haveShape = true;
                 if (forceRebuild
                         || prim.Scale != scaleOfExistingShape
-                        || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_BOX
+                        || prim.PhysShape.ShapeType != BSPhysicsShapeType.SHAPE_BOX
                         )
                 {
-                    ret = GetReferenceToNativeShape( prim, BSPhysicsShapeType.SHAPE_BOX,
-                                            FixedShapeKey.KEY_BOX, shapeCallback);
+                    DereferenceExistingShape(prim, shapeCallback);
+                    prim.PhysShape = BSShapeNative.GetReference(m_physicsScene, prim,
+                                            BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
+                    ret = true;
                 }
                 if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},rebuilt={2},shape={3}",
                                         prim.LocalID, forceRebuild, ret, prim.PhysShape);
@@ -499,7 +206,7 @@ public sealed class BSShapeCollection : IDisposable
     }
 
     // return 'true' if this shape description does not include any cutting or twisting.
-    private bool PrimHasNoCuts(PrimitiveBaseShape pbs)
+    public static bool PrimHasNoCuts(PrimitiveBaseShape pbs)
     {
         return pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
             && pbs.ProfileHollow == 0
@@ -511,7 +218,7 @@ public sealed class BSShapeCollection : IDisposable
     }
 
     // return 'true' if the prim's shape was changed.
-    public bool CreateGeomMeshOrHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
+    private bool CreateGeomMeshOrHull(BSPhysObject prim, PhysicalDestructionCallback shapeCallback)
     {
 
         bool ret = false;
@@ -519,538 +226,110 @@ public sealed class BSShapeCollection : IDisposable
         //     made. Native shapes work in either case.
         if (prim.IsPhysical && BSParam.ShouldUseHullsForPhysicalObjects)
         {
-            // Update prim.BSShape to reference a hull of this shape.
-            ret = GetReferenceToHull(prim, shapeCallback);
-            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}",
-                                    prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X"));
-        }
-        else
-        {
-            ret = GetReferenceToMesh(prim, shapeCallback);
-            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}",
-                                    prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X"));
-        }
-        return ret;
-    }
-
-    // Creates a native shape and assignes it to prim.BSShape.
-    // "Native" shapes are never shared. they are created here and destroyed in DereferenceShape().
-    private bool GetReferenceToNativeShape(BSPhysObject prim,
-                            BSPhysicsShapeType shapeType, FixedShapeKey shapeKey,
-                            ShapeDestructionCallback shapeCallback)
-    {
-        // release any previous shape
-        DereferenceShape(prim.PhysShape, shapeCallback);
-
-        BulletShape newShape = BuildPhysicalNativeShape(prim, shapeType, shapeKey);
-
-        // Don't need to do a 'ReferenceShape()' here because native shapes are not shared.
-        if (DDetail) DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}",
-                                prim.LocalID, newShape, prim.Scale);
-
-        // native shapes are scaled by Bullet
-        prim.PhysShape = newShape;
-        return true;
-    }
-
-    private BulletShape BuildPhysicalNativeShape(BSPhysObject prim, BSPhysicsShapeType shapeType,
-                                    FixedShapeKey shapeKey)
-    {
-        BulletShape newShape;
-        // Need to make sure the passed shape information is for the native type.
-        ShapeData nativeShapeData = new ShapeData();
-        nativeShapeData.Type = shapeType;
-        nativeShapeData.ID = prim.LocalID;
-        nativeShapeData.Scale = prim.Scale;
-        nativeShapeData.Size = prim.Scale;  // unneeded, I think.
-        nativeShapeData.MeshKey = (ulong)shapeKey;
-        nativeShapeData.HullKey = (ulong)shapeKey;
-
-        if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE)
-        {
+            // Use a simple, single mesh convex hull shape if the object is simple enough
+            BSShape potentialHull = null;
 
-            newShape = PhysicsScene.PE.BuildCapsuleShape(PhysicsScene.World, 1f, 1f, prim.Scale);
-            if (DDetail) DetailLog("{0},BSShapeCollection.BuildPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
-        }
-        else
-        {
-            // Native shapes are scaled in Bullet so set the scaling to the size
-            newShape = PhysicsScene.PE.BuildNativeShape(PhysicsScene.World, nativeShapeData);
-
-        }
-        if (!newShape.HasPhysicalShape)
-        {
-            PhysicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
-                                    LogHeader, prim.LocalID, shapeType);
-        }
-        newShape.shapeKey = (System.UInt64)shapeKey;
-        newShape.isNativeShape = true;
-
-        return newShape;
-    }
-
-    // Builds a mesh shape in the physical world and updates prim.BSShape.
-    // Dereferences previous shape in BSShape and adds a reference for this new shape.
-    // Returns 'true' of a mesh was actually built. Otherwise .
-    // Called at taint-time!
-    private bool GetReferenceToMesh(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
-    {
-        BulletShape newShape = new BulletShape();
-
-        float lod;
-        System.UInt64 newMeshKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
-
-        // if this new shape is the same as last time, don't recreate the mesh
-        if (newMeshKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_MESH)
-            return false;
-
-        if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToMesh,create,oldKey={1},newKey={2},size={3},lod={4}",
-                                prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newMeshKey.ToString("X"), prim.Size, lod);
-
-        // Since we're recreating new, get rid of the reference to the previous shape
-        DereferenceShape(prim.PhysShape, shapeCallback);
-
-        newShape = CreatePhysicalMesh(prim, newMeshKey, prim.BaseShape, prim.Size, lod);
-        // Take evasive action if the mesh was not constructed.
-        newShape = VerifyMeshCreated(PhysicsScene, newShape, prim);
-
-        ReferenceShape(newShape);
-
-        prim.PhysShape = newShape;
-
-        return true;        // 'true' means a new shape has been added to this prim
-    }
-
-    private BulletShape CreatePhysicalMesh(BSPhysObject prim, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
-    {
-        BulletShape newShape = new BulletShape();
-
-        MeshDesc meshDesc;
-        if (Meshes.TryGetValue(newMeshKey, out meshDesc))
-        {
-            // If the mesh has already been built just use it.
-            newShape = meshDesc.shape.Clone();
-        }
-        else
-        {
-            IMesh meshData = PhysicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, 
-                                        false,  // say it is not physical so a bounding box is not built
-                                        false   // do not cache the mesh and do not use previously built versions
-                                        );
-
-            if (meshData != null)
+            PrimitiveBaseShape pbs = prim.BaseShape;
+            if (BSParam.ShouldUseSingleConvexHullForPrims
+                && pbs != null
+                && !pbs.SculptEntry
+                && PrimHasNoCuts(pbs)
+                )
             {
-
-                int[] indices = meshData.getIndexListAsInt();
-                int realIndicesIndex = indices.Length;
-                float[] verticesAsFloats = meshData.getVertexListAsFloat();
-
-                if (BSParam.ShouldRemoveZeroWidthTriangles)
-                {
-                    // Remove degenerate triangles. These are triangles with two of the vertices
-                    //    are the same. This is complicated by the problem that vertices are not
-                    //    made unique in sculpties so we have to compare the values in the vertex.
-                    realIndicesIndex = 0;
-                    for (int tri = 0; tri < indices.Length; tri += 3)
-                    {
-                        // Compute displacements into vertex array for each vertex of the triangle
-                        int v1 = indices[tri + 0] * 3;
-                        int v2 = indices[tri + 1] * 3;
-                        int v3 = indices[tri + 2] * 3;
-                        // Check to see if any two of the vertices are the same
-                        if (!( (  verticesAsFloats[v1 + 0] == verticesAsFloats[v2 + 0]
-                               && verticesAsFloats[v1 + 1] == verticesAsFloats[v2 + 1]
-                               && verticesAsFloats[v1 + 2] == verticesAsFloats[v2 + 2])
-                            || (  verticesAsFloats[v2 + 0] == verticesAsFloats[v3 + 0]
-                               && verticesAsFloats[v2 + 1] == verticesAsFloats[v3 + 1]
-                               && verticesAsFloats[v2 + 2] == verticesAsFloats[v3 + 2])
-                            || (  verticesAsFloats[v1 + 0] == verticesAsFloats[v3 + 0]
-                               && verticesAsFloats[v1 + 1] == verticesAsFloats[v3 + 1]
-                               && verticesAsFloats[v1 + 2] == verticesAsFloats[v3 + 2]) )
-                        )
-                        {
-                            // None of the vertices of the triangles are the same. This is a good triangle;
-                            indices[realIndicesIndex + 0] = indices[tri + 0];
-                            indices[realIndicesIndex + 1] = indices[tri + 1];
-                            indices[realIndicesIndex + 2] = indices[tri + 2];
-                            realIndicesIndex += 3;
-                        }
-                    }
-                }
-                DetailLog("{0},BSShapeCollection.CreatePhysicalMesh,origTri={1},realTri={2},numVerts={3}",
-                            BSScene.DetailLogZero, indices.Length / 3, realIndicesIndex / 3, verticesAsFloats.Length / 3);
-
-                if (realIndicesIndex != 0)
-                {
-                    newShape = PhysicsScene.PE.CreateMeshShape(PhysicsScene.World,
-                                        realIndicesIndex, indices, verticesAsFloats.Length / 3, verticesAsFloats);
-                }
-                else
-                {
-                    PhysicsScene.Logger.DebugFormat("{0} All mesh triangles degenerate. Prim {1} at {2} in {3}",
-                                        LogHeader, prim.PhysObjectName, prim.RawPosition, PhysicsScene.Name);
-                }
+                potentialHull = BSShapeConvexHull.GetReference(m_physicsScene, false /* forceRebuild */, prim);
+            }
+            else
+            {
+                potentialHull = BSShapeHull.GetReference(m_physicsScene, false /*forceRebuild*/, prim);
             }
-        }
-        newShape.shapeKey = newMeshKey;
-
-        return newShape;
-    }
-
-    // See that hull shape exists in the physical world and update prim.BSShape.
-    // We could be creating the hull because scale changed or whatever.
-    // Return 'true' if a new hull was built. Otherwise, returning a shared hull instance.
-    private bool GetReferenceToHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
-    {
-        BulletShape newShape;
-
-        float lod;
-        System.UInt64 newHullKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
-
-        // if the hull hasn't changed, don't rebuild it
-        if (newHullKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_HULL)
-            return false;
-
-        if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToHull,create,oldKey={1},newKey={2}",
-                        prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newHullKey.ToString("X"));
-
-        // Remove usage of the previous shape.
-        DereferenceShape(prim.PhysShape, shapeCallback);
-
-        newShape = CreatePhysicalHull(prim, newHullKey, prim.BaseShape, prim.Size, lod);
-        // It might not have been created if we're waiting for an asset.
-        newShape = VerifyMeshCreated(PhysicsScene, newShape, prim);
-
-        ReferenceShape(newShape);
-
-        prim.PhysShape = newShape;
-        return true;        // 'true' means a new shape has been added to this prim
-    }
-
-    List<ConvexResult> m_hulls;
-    private BulletShape CreatePhysicalHull(BSPhysObject prim, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
-    {
-
-        BulletShape newShape = new BulletShape();
-        IntPtr hullPtr = IntPtr.Zero;
 
-        HullDesc hullDesc;
-        if (Hulls.TryGetValue(newHullKey, out hullDesc))
-        {
-            // If the hull shape already has been created, just use the one shared instance.
-            newShape = hullDesc.shape.Clone();
+            // If the current shape is not what is on the prim at the moment, time to change.
+            if (!prim.PhysShape.HasPhysicalShape
+                        || potentialHull.ShapeType != prim.PhysShape.ShapeType
+                        || potentialHull.physShapeInfo.shapeKey != prim.PhysShape.physShapeInfo.shapeKey)
+            {
+                DereferenceExistingShape(prim, shapeCallback);
+                prim.PhysShape = potentialHull;
+                ret = true;
+            }
+            else
+            {
+                // The current shape on the prim is the correct one. We don't need the potential reference.
+                potentialHull.Dereference(m_physicsScene);
+            }
+            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1}", prim.LocalID, prim.PhysShape);
         }
         else
         {
-            if (BSParam.ShouldUseBulletHACD)
+            // Update prim.BSShape to reference a mesh of this shape.
+            BSShape potentialMesh = BSShapeMesh.GetReference(m_physicsScene, false /*forceRebuild*/, prim);
+            // If the current shape is not what is on the prim at the moment, time to change.
+            if (!prim.PhysShape.HasPhysicalShape
+                        || potentialMesh.ShapeType != prim.PhysShape.ShapeType
+                        || potentialMesh.physShapeInfo.shapeKey != prim.PhysShape.physShapeInfo.shapeKey)
             {
-                DetailLog("{0},BSShapeCollection.CreatePhysicalHull,shouldUseBulletHACD,entry", prim.LocalID);
-                MeshDesc meshDesc;
-                if (!Meshes.TryGetValue(newHullKey, out meshDesc))
-                {
-                    // That's odd because the mesh should have been created before the hull
-                    //     but, since it doesn't exist, create it.
-                    newShape = CreatePhysicalMesh(prim, newHullKey, prim.BaseShape, prim.Size, lod);
-                    DetailLog("{0},BSShapeCollection.CreatePhysicalHull,noMeshBuiltNew,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape);
-
-                    if (newShape.HasPhysicalShape)
-                    {
-                        ReferenceShape(newShape);
-                        Meshes.TryGetValue(newHullKey, out meshDesc);
-                    }
-                }
-                if (meshDesc.shape.HasPhysicalShape)
-                {
-                    HACDParams parms;
-                    parms.maxVerticesPerHull = BSParam.BHullMaxVerticesPerHull;
-                    parms.minClusters = BSParam.BHullMinClusters;
-                    parms.compacityWeight = BSParam.BHullCompacityWeight;
-                    parms.volumeWeight = BSParam.BHullVolumeWeight;
-                    parms.concavity = BSParam.BHullConcavity;
-                        parms.addExtraDistPoints = BSParam.NumericBool(BSParam.BHullAddExtraDistPoints);
-                        parms.addNeighboursDistPoints = BSParam.NumericBool(BSParam.BHullAddNeighboursDistPoints);
-                        parms.addFacesPoints =  BSParam.NumericBool(BSParam.BHullAddFacesPoints);
-                    parms.shouldAdjustCollisionMargin =  BSParam.NumericBool(BSParam.BHullShouldAdjustCollisionMargin);
-
-                    DetailLog("{0},BSShapeCollection.CreatePhysicalHull,hullFromMesh,beforeCall", prim.LocalID, newShape.HasPhysicalShape);
-                    newShape = PhysicsScene.PE.BuildHullShapeFromMesh(PhysicsScene.World, meshDesc.shape, parms);
-                    DetailLog("{0},BSShapeCollection.CreatePhysicalHull,hullFromMesh,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape);
-                }
-                DetailLog("{0},BSShapeCollection.CreatePhysicalHull,shouldUseBulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape);
+                DereferenceExistingShape(prim, shapeCallback);
+                prim.PhysShape = potentialMesh;
+                ret = true;
             }
-            if (!newShape.HasPhysicalShape)
+            else
             {
-                // Build a new hull in the physical world.
-                // Pass true for physicalness as this prevents the creation of bounding box which is not needed
-                IMesh meshData = PhysicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, true /* isPhysical */, false /* shouldCache */);
-                if (meshData != null)
-                {
-                    int[] indices = meshData.getIndexListAsInt();
-                    List<OMV.Vector3> vertices = meshData.getVertexList();
-
-                    //format conversion from IMesh format to DecompDesc format
-                    List<int> convIndices = new List<int>();
-                    List<float3> convVertices = new List<float3>();
-                    for (int ii = 0; ii < indices.GetLength(0); ii++)
-                    {
-                        convIndices.Add(indices[ii]);
-                    }
-                    foreach (OMV.Vector3 vv in vertices)
-                    {
-                        convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
-                    }
-
-                    uint maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplit;
-                    if (BSParam.CSHullMaxDepthSplit != BSParam.CSHullMaxDepthSplitForSimpleShapes)
-                    {
-                        // Simple primitive shapes we know are convex so they are better implemented with
-                        //    fewer hulls.
-                        // Check for simple shape (prim without cuts) and reduce split parameter if so.
-                        if (PrimHasNoCuts(pbs))
-                        {
-                            maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplitForSimpleShapes;
-                        }
-                    }
-
-                    // setup and do convex hull conversion
-                    m_hulls = new List<ConvexResult>();
-                    DecompDesc dcomp = new DecompDesc();
-                    dcomp.mIndices = convIndices;
-                    dcomp.mVertices = convVertices;
-                    dcomp.mDepth = maxDepthSplit;
-                    dcomp.mCpercent = BSParam.CSHullConcavityThresholdPercent;
-                    dcomp.mPpercent = BSParam.CSHullVolumeConservationThresholdPercent;
-                    dcomp.mMaxVertices = (uint)BSParam.CSHullMaxVertices;
-                    dcomp.mSkinWidth = BSParam.CSHullMaxSkinWidth;
-                    ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
-                    // create the hull into the _hulls variable
-                    convexBuilder.process(dcomp);
-
-                    DetailLog("{0},BSShapeCollection.CreatePhysicalHull,key={1},inVert={2},inInd={3},split={4},hulls={5}",
-                                        BSScene.DetailLogZero, newHullKey, indices.GetLength(0), vertices.Count, maxDepthSplit, m_hulls.Count);
-
-                    // Convert the vertices and indices for passing to unmanaged.
-                    // The hull information is passed as a large floating point array.
-                    // The format is:
-                    //  convHulls[0] = number of hulls
-                    //  convHulls[1] = number of vertices in first hull
-                    //  convHulls[2] = hull centroid X coordinate
-                    //  convHulls[3] = hull centroid Y coordinate
-                    //  convHulls[4] = hull centroid Z coordinate
-                    //  convHulls[5] = first hull vertex X
-                    //  convHulls[6] = first hull vertex Y
-                    //  convHulls[7] = first hull vertex Z
-                    //  convHulls[8] = second hull vertex X
-                    //  ...
-                    //  convHulls[n] = number of vertices in second hull
-                    //  convHulls[n+1] = second hull centroid X coordinate
-                    //  ...
-                    //
-                    // TODO: is is very inefficient. Someday change the convex hull generator to return
-                    //   data structures that do not need to be converted in order to pass to Bullet.
-                    //   And maybe put the values directly into pinned memory rather than marshaling.
-                    int hullCount = m_hulls.Count;
-                    int totalVertices = 1;          // include one for the count of the hulls
-                    foreach (ConvexResult cr in m_hulls)
-                    {
-                        totalVertices += 4;                         // add four for the vertex count and centroid
-                        totalVertices += cr.HullIndices.Count * 3;  // we pass just triangles
-                    }
-                    float[] convHulls = new float[totalVertices];
-
-                    convHulls[0] = (float)hullCount;
-                    int jj = 1;
-                    foreach (ConvexResult cr in m_hulls)
-                    {
-                        // copy vertices for index access
-                        float3[] verts = new float3[cr.HullVertices.Count];
-                        int kk = 0;
-                        foreach (float3 ff in cr.HullVertices)
-                        {
-                            verts[kk++] = ff;
-                        }
-
-                        // add to the array one hull's worth of data
-                        convHulls[jj++] = cr.HullIndices.Count;
-                        convHulls[jj++] = 0f;   // centroid x,y,z
-                        convHulls[jj++] = 0f;
-                        convHulls[jj++] = 0f;
-                        foreach (int ind in cr.HullIndices)
-                        {
-                            convHulls[jj++] = verts[ind].x;
-                            convHulls[jj++] = verts[ind].y;
-                            convHulls[jj++] = verts[ind].z;
-                        }
-                    }
-                    // create the hull data structure in Bullet
-                    newShape = PhysicsScene.PE.CreateHullShape(PhysicsScene.World, hullCount, convHulls);
-                }
+                // We don't need this reference to the mesh that is already being using.
+                potentialMesh.Dereference(m_physicsScene);
             }
-            newShape.shapeKey = newHullKey;
+            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1}", prim.LocalID, prim.PhysShape);
         }
-
-        return newShape;
-    }
-
-    // Callback from convex hull creater with a newly created hull.
-    // Just add it to our collection of hulls for this shape.
-    private void HullReturn(ConvexResult result)
-    {
-        m_hulls.Add(result);
-        return;
+        return ret;
     }
 
-    // Compound shapes are always built from scratch.
-    // This shouldn't be to bad since most of the parts will be meshes that had been built previously.
-    private bool GetReferenceToCompoundShape(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
+    // Track another user of a body.
+    // We presume the caller has allocated the body.
+    // Bodies only have one user so the body is just put into the world if not already there.
+    private void ReferenceBody(BulletBody body)
     {
-        // Remove reference to the old shape
-        // Don't need to do this as the shape is freed when the new root shape is created below.
-        // DereferenceShape(prim.PhysShape, true, shapeCallback);
-
-        BulletShape cShape = PhysicsScene.PE.CreateCompoundShape(PhysicsScene.World, false);
-
-        // Create the shape for the root prim and add it to the compound shape. Cannot be a native shape.
-        CreateGeomMeshOrHull(prim, shapeCallback);
-        PhysicsScene.PE.AddChildShapeToCompoundShape(cShape, prim.PhysShape, OMV.Vector3.Zero, OMV.Quaternion.Identity);
-        if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToCompoundShape,addRootPrim,compShape={1},rootShape={2}",
-                                    prim.LocalID, cShape, prim.PhysShape);
-
-        prim.PhysShape = cShape;
-
-        return true;
+        lock (m_collectionActivityLock)
+        {
+            if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body);
+            if (!m_physicsScene.PE.IsInWorld(m_physicsScene.World, body))
+            {
+                m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, body);
+                if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body);
+            }
+        }
     }
 
-    // Create a hash of all the shape parameters to be used as a key
-    //    for this particular shape.
-    public static System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs, out float retLod)
-    {
-        // level of detail based on size and type of the object
-        float lod = BSParam.MeshLOD;
-
-        // prims with curvy internal cuts need higher lod
-        if (pbs.HollowShape == HollowShape.Circle)
-            lod = BSParam.MeshCircularLOD;
-
-        if (pbs.SculptEntry)
-            lod = BSParam.SculptLOD;
-
-        // Mega prims usually get more detail because one can interact with shape approximations at this size.
-        float maxAxis = Math.Max(size.X, Math.Max(size.Y, size.Z));
-        if (maxAxis > BSParam.MeshMegaPrimThreshold)
-            lod = BSParam.MeshMegaPrimLOD;
-
-        retLod = lod;
-        return pbs.GetMeshKey(size, lod);
-    }
-    // For those who don't want the LOD
-    public static System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs)
+    // Release the usage of a body.
+    // Called when releasing use of a BSBody. BSShape is handled separately.
+    // Called in taint time.
+    public void DereferenceBody(BulletBody body, PhysicalDestructionCallback bodyCallback )
     {
-        float lod;
-        return ComputeShapeKey(size, pbs, out lod);
-    }
+        if (!body.HasPhysicalBody)
+            return;
 
-    // The creation of a mesh or hull can fail if an underlying asset is not available.
-    // There are two cases: 1) the asset is not in the cache and it needs to be fetched;
-    //     and 2) the asset cannot be converted (like failed decompression of JPEG2000s).
-    //     The first case causes the asset to be fetched. The second case requires
-    //     us to not loop forever.
-    // Called after creating a physical mesh or hull. If the physical shape was created,
-    //     just return.
-    public static BulletShape VerifyMeshCreated(BSScene physicsScene, BulletShape newShape, BSPhysObject prim)
-    {
-        // If the shape was successfully created, nothing more to do
-        if (newShape.HasPhysicalShape)
-            return newShape;
+        m_physicsScene.AssertInTaintTime("BSShapeCollection.DereferenceBody");
 
-        // VerifyMeshCreated is called after trying to create the mesh. If we think the asset had been
-        //    fetched but we end up here again, the meshing of the asset must have failed.
-        // Prevent trying to keep fetching the mesh by declaring failure.
-        if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched)
-        {
-            prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed;
-            physicsScene.Logger.WarnFormat("{0} Fetched asset would not mesh. {1}, texture={2}",
-                                            LogHeader, prim.PhysObjectName, prim.BaseShape.SculptTexture);
-        }
-        else
+        lock (m_collectionActivityLock)
         {
-            // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset
-            if (prim.BaseShape.SculptEntry 
-                && prim.PrimAssetState != BSPhysObject.PrimAssetCondition.Failed
-                && prim.PrimAssetState != BSPhysObject.PrimAssetCondition.Waiting
-                && prim.BaseShape.SculptTexture != OMV.UUID.Zero
-                )
-            {
-                physicsScene.DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset", prim.LocalID);
-                // Multiple requestors will know we're waiting for this asset
-                prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Waiting;
-
-                BSPhysObject xprim = prim;
-                Util.FireAndForget(delegate
-                    {
-                        RequestAssetDelegate assetProvider = physicsScene.RequestAssetMethod;
-                        if (assetProvider != null)
-                        {
-                            BSPhysObject yprim = xprim; // probably not necessary, but, just in case.
-                            assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset)
-                            {
-                                bool assetFound = false;
-                                string mismatchIDs = String.Empty;  // DEBUG DEBUG
-                                if (asset != null && yprim.BaseShape.SculptEntry)
-                                {
-                                    if (yprim.BaseShape.SculptTexture.ToString() == asset.ID)
-                                    {
-                                        yprim.BaseShape.SculptData = asset.Data;
-                                        // This will cause the prim to see that the filler shape is not the right
-                                        //    one and try again to build the object.
-                                        // No race condition with the normal shape setting since the rebuild is at taint time.
-                                        yprim.ForceBodyShapeRebuild(false /* inTaintTime */);
-                                        assetFound = true;
-                                    }
-                                    else
-                                    {
-                                        mismatchIDs = yprim.BaseShape.SculptTexture.ToString() + "/" + asset.ID;
-                                    }
-                                }
-                                if (assetFound)
-                                    yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Fetched;
-                                else
-                                    yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed;
-                                physicsScene.DetailLog("{0},BSShapeCollection,fetchAssetCallback,found={1},isSculpt={2},ids={3}",
-                                            yprim.LocalID, assetFound, yprim.BaseShape.SculptEntry, mismatchIDs );
+            if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1}", body.ID, body);
+            // If the caller needs to know the old body is going away, pass the event up.
+            if (bodyCallback != null)
+                bodyCallback(body, null);
 
-                            });
-                        }
-                        else
-                        {
-                            xprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed;
-                            physicsScene.Logger.ErrorFormat("{0} Physical object requires asset but no asset provider. Name={1}",
-                                                        LogHeader, physicsScene.Name);
-                        }
-                    });
-            }
-            else
-            {
-                if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Failed)
-                {
-                    physicsScene.Logger.WarnFormat("{0} Mesh failed to fetch asset. obj={1}, texture={2}",
-                                                LogHeader, prim.PhysObjectName, prim.BaseShape.SculptTexture);
-                }
-            }
-        }
+            // Removing an object not in the world is a NOOP
+            m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, body);
 
-        // While we wait for the mesh defining asset to be loaded, stick in a simple box for the object.
-        BulletShape fillinShape = physicsScene.Shapes.BuildPhysicalNativeShape(prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
-        physicsScene.DetailLog("{0},BSShapeCollection.VerifyMeshCreated,boxTempShape", prim.LocalID);
+            // Zero any reference to the shape so it is not freed when the body is deleted.
+            m_physicsScene.PE.SetCollisionShape(m_physicsScene.World, body, null);
 
-        return fillinShape;
+            m_physicsScene.PE.DestroyObject(m_physicsScene.World, body);
+        }
     }
 
     // Create a body object in Bullet.
     // Updates prim.BSBody with the information about the new body if one is created.
     // Returns 'true' if an object was actually created.
     // Called at taint-time.
-    private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletWorld sim, BodyDestructionCallback bodyCallback)
+    private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletWorld sim, PhysicalDestructionCallback bodyCallback)
     {
         bool ret = false;
 
@@ -1061,7 +340,7 @@ public sealed class BSShapeCollection : IDisposable
         // If not a solid object, body is a GhostObject. Otherwise a RigidBody.
         if (!mustRebuild)
         {
-            CollisionObjectTypes bodyType = (CollisionObjectTypes)PhysicsScene.PE.GetBodyType(prim.PhysBody);
+            CollisionObjectTypes bodyType = (CollisionObjectTypes)m_physicsScene.PE.GetBodyType(prim.PhysBody);
             if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY
                 || !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT)
             {
@@ -1079,12 +358,12 @@ public sealed class BSShapeCollection : IDisposable
             BulletBody aBody;
             if (prim.IsSolid)
             {
-                aBody = PhysicsScene.PE.CreateBodyFromShape(sim, prim.PhysShape, prim.LocalID, prim.RawPosition, prim.RawOrientation);
-                if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,mesh,body={1}", prim.LocalID, aBody);
+                aBody = m_physicsScene.PE.CreateBodyFromShape(sim, prim.PhysShape.physShapeInfo, prim.LocalID, prim.RawPosition, prim.RawOrientation);
+                if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,rigid,body={1}", prim.LocalID, aBody);
             }
             else
             {
-                aBody = PhysicsScene.PE.CreateGhostFromShape(sim, prim.PhysShape, prim.LocalID, prim.RawPosition, prim.RawOrientation);
+                aBody = m_physicsScene.PE.CreateGhostFromShape(sim, prim.PhysShape.physShapeInfo, prim.LocalID, prim.RawPosition, prim.RawOrientation);
                 if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,ghost,body={1}", prim.LocalID, aBody);
             }
 
@@ -1098,46 +377,10 @@ public sealed class BSShapeCollection : IDisposable
         return ret;
     }
 
-    private bool TryGetMeshByPtr(BulletShape shape, out MeshDesc outDesc)
-    {
-        bool ret = false;
-        MeshDesc foundDesc = new MeshDesc();
-        foreach (MeshDesc md in Meshes.Values)
-        {
-            if (md.shape.ReferenceSame(shape))
-            {
-                foundDesc = md;
-                ret = true;
-                break;
-            }
-
-        }
-        outDesc = foundDesc;
-        return ret;
-    }
-
-    private bool TryGetHullByPtr(BulletShape shape, out HullDesc outDesc)
-    {
-        bool ret = false;
-        HullDesc foundDesc = new HullDesc();
-        foreach (HullDesc hd in Hulls.Values)
-        {
-            if (hd.shape.ReferenceSame(shape))
-            {
-                foundDesc = hd;
-                ret = true;
-                break;
-            }
-
-        }
-        outDesc = foundDesc;
-        return ret;
-    }
-
     private void DetailLog(string msg, params Object[] args)
     {
-        if (PhysicsScene.PhysicsLogging.Enabled)
-            PhysicsScene.DetailLog(msg, args);
+        if (m_physicsScene.PhysicsLogging.Enabled)
+            m_physicsScene.DetailLog(msg, args);
     }
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
index dd5ae1a..3e4ee5a 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
@@ -31,6 +31,7 @@ using System.Text;
 
 using OpenSim.Framework;
 using OpenSim.Region.Physics.Manager;
+using OpenSim.Region.Physics.ConvexDecompositionDotNet;
 
 using OMV = OpenMetaverse;
 
@@ -38,74 +39,39 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 {
 public abstract class BSShape
 {
+    private static string LogHeader = "[BULLETSIM SHAPE]";
+
     public int referenceCount { get; set; }
     public DateTime lastReferenced { get; set; }
     public BulletShape physShapeInfo { get; set; }
 
     public BSShape()
     {
-        referenceCount = 0;
+        referenceCount = 1;
         lastReferenced = DateTime.Now;
         physShapeInfo = new BulletShape();
     }
     public BSShape(BulletShape pShape)
     {
-        referenceCount = 0;
+        referenceCount = 1;
         lastReferenced = DateTime.Now;
         physShapeInfo = pShape;
     }
 
-    // Get a reference to a physical shape. Create if it doesn't exist
-    public static BSShape GetShapeReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
-    {
-        BSShape ret = null;
-
-        if (prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE)
-        {
-            // an avatar capsule is close to a native shape (it is not shared)
-            ret = BSShapeNative.GetReference(physicsScene, prim, BSPhysicsShapeType.SHAPE_CAPSULE,
-                                        FixedShapeKey.KEY_CAPSULE);
-            physicsScene.DetailLog("{0},BSShape.GetShapeReference,avatarCapsule,shape={1}", prim.LocalID, ret);
-        }
-
-        // Compound shapes are handled special as they are rebuilt from scratch.
-        // This isn't too great a hardship since most of the child shapes will have already been created.
-        if (ret == null  && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND)
-        {
-            // Getting a reference to a compound shape gets you the compound shape with the root prim shape added
-            ret = BSShapeCompound.GetReference(prim);
-            physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, ret);
-        }
-
-        // Avatars have their own unique shape
-        if (ret == null  && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_AVATAR)
-        {
-            // Getting a reference to a compound shape gets you the compound shape with the root prim shape added
-            ret = BSShapeAvatar.GetReference(prim);
-            physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,avatarShape,shape={1}", prim.LocalID, ret);
-        }
-
-        if (ret == null)
-            ret = GetShapeReferenceNonSpecial(physicsScene, forceRebuild, prim);
-
-        return ret;
-    }
-    private static BSShape GetShapeReferenceNonSpecial(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
-    {
-        BSShapeMesh.GetReference(physicsScene, forceRebuild, prim);
-        BSShapeHull.GetReference(physicsScene, forceRebuild, prim);
-        return null;
-    }
+    // Get another reference to this shape.
+    public abstract BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim);
 
     // Called when this shape is being used again.
-    public virtual void IncrementReference()
+    // Used internally. External callers should call instance.GetReference() to properly copy/reference
+    //       the shape.
+    protected virtual void IncrementReference()
     {
         referenceCount++;
         lastReferenced = DateTime.Now;
     }
 
     // Called when this shape is being used again.
-    public virtual void DecrementReference()
+    protected virtual void DecrementReference()
     {
         referenceCount--;
         lastReferenced = DateTime.Now;
@@ -114,22 +80,178 @@ public abstract class BSShape
     // Release the use of a physical shape.
     public abstract void Dereference(BSScene physicsScene);
 
+    // Return 'true' if there is an allocated physics physical shape under this class instance.
+    public virtual bool HasPhysicalShape
+    {
+        get
+        {
+            if (physShapeInfo != null)
+                return physShapeInfo.HasPhysicalShape;
+            return false;
+        }
+    }
+    public virtual BSPhysicsShapeType ShapeType
+    {
+        get
+        {
+            BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
+            if (physShapeInfo != null && physShapeInfo.HasPhysicalShape)
+                ret = physShapeInfo.shapeType;
+            return ret;
+        }
+    }
+
     // Returns a string for debugging that uniquily identifies the memory used by this instance
     public virtual string AddrString
     {
-        get { return "unknown"; }
+        get
+        {
+            if (physShapeInfo != null)
+                return physShapeInfo.AddrString;
+            return "unknown";
+        }
     }
 
     public override string ToString()
     {
         StringBuilder buff = new StringBuilder();
-        buff.Append("<p=");
-        buff.Append(AddrString);
+        if (physShapeInfo == null)
+        {
+            buff.Append(",noPhys");
+        }
+        else
+        {
+            buff.Append(",phy=");
+            buff.Append(physShapeInfo.ToString());
+        }
         buff.Append(",c=");
         buff.Append(referenceCount.ToString());
         buff.Append(">");
         return buff.ToString();
     }
+
+    #region Common shape routines
+    // Create a hash of all the shape parameters to be used as a key for this particular shape.
+    public static System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs, out float retLod)
+    {
+        // level of detail based on size and type of the object
+        float lod = BSParam.MeshLOD;
+        if (pbs.SculptEntry)
+            lod = BSParam.SculptLOD;
+
+        // Mega prims usually get more detail because one can interact with shape approximations at this size.
+        float maxAxis = Math.Max(size.X, Math.Max(size.Y, size.Z));
+        if (maxAxis > BSParam.MeshMegaPrimThreshold)
+            lod = BSParam.MeshMegaPrimLOD;
+
+        retLod = lod;
+        return pbs.GetMeshKey(size, lod);
+    }
+
+    // The creation of a mesh or hull can fail if an underlying asset is not available.
+    // There are two cases: 1) the asset is not in the cache and it needs to be fetched;
+    //     and 2) the asset cannot be converted (like failed decompression of JPEG2000s).
+    //     The first case causes the asset to be fetched. The second case requires
+    //     us to not loop forever.
+    // Called after creating a physical mesh or hull. If the physical shape was created,
+    //     just return.
+    public static BulletShape VerifyMeshCreated(BSScene physicsScene, BulletShape newShape, BSPhysObject prim)
+    {
+        // If the shape was successfully created, nothing more to do
+        if (newShape.HasPhysicalShape)
+            return newShape;
+
+        // VerifyMeshCreated is called after trying to create the mesh. If we think the asset had been
+        //    fetched but we end up here again, the meshing of the asset must have failed.
+        // Prevent trying to keep fetching the mesh by declaring failure.
+        if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched)
+        {
+            prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed;
+            physicsScene.Logger.WarnFormat("{0} Fetched asset would not mesh. {1}, texture={2}",
+                                            LogHeader, prim.PhysObjectName, prim.BaseShape.SculptTexture);
+            physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,setFailed,objNam={1},tex={2}",
+                                            prim.LocalID, prim.PhysObjectName, prim.BaseShape.SculptTexture);
+        }
+        else
+        {
+            // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset
+            if (prim.BaseShape.SculptEntry
+                && prim.PrimAssetState != BSPhysObject.PrimAssetCondition.Failed
+                && prim.PrimAssetState != BSPhysObject.PrimAssetCondition.Waiting
+                && prim.BaseShape.SculptTexture != OMV.UUID.Zero
+                )
+            {
+                physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,fetchAsset,objNam={1},tex={2}",
+                                            prim.LocalID, prim.PhysObjectName, prim.BaseShape.SculptTexture);
+                // Multiple requestors will know we're waiting for this asset
+                prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Waiting;
+
+                BSPhysObject xprim = prim;
+                Util.FireAndForget(delegate
+                    {
+                        // physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,inFireAndForget", xprim.LocalID);
+                        RequestAssetDelegate assetProvider = physicsScene.RequestAssetMethod;
+                        if (assetProvider != null)
+                        {
+                            BSPhysObject yprim = xprim; // probably not necessary, but, just in case.
+                            assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset)
+                            {
+                                // physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,assetProviderCallback", xprim.LocalID);
+                                bool assetFound = false;
+                                string mismatchIDs = String.Empty;  // DEBUG DEBUG
+                                if (asset != null && yprim.BaseShape.SculptEntry)
+                                {
+                                    if (yprim.BaseShape.SculptTexture.ToString() == asset.ID)
+                                    {
+                                        yprim.BaseShape.SculptData = asset.Data;
+                                        // This will cause the prim to see that the filler shape is not the right
+                                        //    one and try again to build the object.
+                                        // No race condition with the normal shape setting since the rebuild is at taint time.
+                                        yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Fetched;
+                                        yprim.ForceBodyShapeRebuild(false /* inTaintTime */);
+                                        assetFound = true;
+                                    }
+                                    else
+                                    {
+                                        mismatchIDs = yprim.BaseShape.SculptTexture.ToString() + "/" + asset.ID;
+                                    }
+                                }
+                                if (!assetFound)
+                                {
+                                    yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed;
+                                }
+                                physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,fetchAssetCallback,found={1},isSculpt={2},ids={3}",
+                                            yprim.LocalID, assetFound, yprim.BaseShape.SculptEntry, mismatchIDs );
+                            });
+                        }
+                        else
+                        {
+                            xprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed;
+                            physicsScene.Logger.ErrorFormat("{0} Physical object requires asset but no asset provider. Name={1}",
+                                                        LogHeader, physicsScene.Name);
+                        }
+                    });
+            }
+            else
+            {
+                if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Failed)
+                {
+                    physicsScene.Logger.WarnFormat("{0} Mesh failed to fetch asset. obj={1}, texture={2}",
+                                                LogHeader, prim.PhysObjectName, prim.BaseShape.SculptTexture);
+                    physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,wasFailed,objNam={1},tex={2}",
+                                                prim.LocalID, prim.PhysObjectName, prim.BaseShape.SculptTexture);
+                }
+            }
+         }
+
+        // While we wait for the mesh defining asset to be loaded, stick in a simple box for the object.
+        BSShape fillShape = BSShapeNative.GetReference(physicsScene, prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
+        physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,boxTempShape", prim.LocalID);
+
+        return fillShape.physShapeInfo;
+     }
+
+    #endregion // Common shape routines
 }
 
 // ============================================================================================================
@@ -139,6 +261,7 @@ public class BSShapeNull : BSShape
     {
     }
     public static BSShape GetReference() { return new BSShapeNull();  }
+    public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim) { return new BSShapeNull();  }
     public override void Dereference(BSScene physicsScene) { /* The magic of garbage collection will make this go away */ }
 }
 
@@ -150,24 +273,34 @@ public class BSShapeNative : BSShape
     {
     }
 
-    public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim, 
-                                            BSPhysicsShapeType shapeType, FixedShapeKey shapeKey) 
+    public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim,
+                                            BSPhysicsShapeType shapeType, FixedShapeKey shapeKey)
     {
         // Native shapes are not shared and are always built anew.
         return new BSShapeNative(CreatePhysicalNativeShape(physicsScene, prim, shapeType, shapeKey));
     }
 
+    public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim)
+    {
+        // Native shapes are not shared so we return a new shape.
+        return new BSShapeNative(CreatePhysicalNativeShape(pPhysicsScene, pPrim,
+                                    physShapeInfo.shapeType, (FixedShapeKey)physShapeInfo.shapeKey) );
+    }
+
     // Make this reference to the physical shape go away since native shapes are not shared.
     public override void Dereference(BSScene physicsScene)
     {
         // Native shapes are not tracked and are released immediately
-        if (physShapeInfo.HasPhysicalShape)
+        lock (physShapeInfo)
         {
-            physicsScene.DetailLog("{0},BSShapeNative.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this);
-            physicsScene.PE.DeleteCollisionShape(physicsScene.World, physShapeInfo);
+            if (physShapeInfo.HasPhysicalShape)
+            {
+                physicsScene.DetailLog("{0},BSShapeNative.Dereference,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this);
+                physicsScene.PE.DeleteCollisionShape(physicsScene.World, physShapeInfo);
+            }
+            physShapeInfo.Clear();
+            // Garbage collection will free up this instance.
         }
-        physShapeInfo.Clear();
-        // Garbage collection will free up this instance.
     }
 
     private static BulletShape CreatePhysicalNativeShape(BSScene physicsScene, BSPhysObject prim,
@@ -197,7 +330,7 @@ public class BSShapeNative : BSShape
             physicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
                                     LogHeader, prim.LocalID, shapeType);
         }
-        newShape.type = shapeType;
+        newShape.shapeType = shapeType;
         newShape.isNativeShape = true;
         newShape.shapeKey = (UInt64)shapeKey;
         return newShape;
@@ -209,7 +342,7 @@ public class BSShapeNative : BSShape
 public class BSShapeMesh : BSShape
 {
     private static string LogHeader = "[BULLETSIM SHAPE MESH]";
-    private static Dictionary<System.UInt64, BSShapeMesh> Meshes = new Dictionary<System.UInt64, BSShapeMesh>();
+    public static Dictionary<System.UInt64, BSShapeMesh> Meshes = new Dictionary<System.UInt64, BSShapeMesh>();
 
     public BSShapeMesh(BulletShape pShape) : base(pShape)
     {
@@ -217,12 +350,9 @@ public class BSShapeMesh : BSShape
     public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
     {
         float lod;
-        System.UInt64 newMeshKey = BSShapeCollection.ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
+        System.UInt64 newMeshKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
 
-        physicsScene.DetailLog("{0},BSShapeMesh,create,oldKey={1},newKey={2},size={3},lod={4}",
-                                prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newMeshKey.ToString("X"), prim.Size, lod);
-
-        BSShapeMesh retMesh;
+        BSShapeMesh retMesh = null;
         lock (Meshes)
         {
             if (Meshes.TryGetValue(newMeshKey, out retMesh))
@@ -232,39 +362,78 @@ public class BSShapeMesh : BSShape
             }
             else
             {
+                retMesh = new BSShapeMesh(new BulletShape());
                 // An instance of this mesh has not been created. Build and remember same.
-                BulletShape newShape = CreatePhysicalMesh(physicsScene, prim, newMeshKey, prim.BaseShape, prim.Size, lod);
-                // Take evasive action if the mesh was not constructed.
-                newShape = BSShapeCollection.VerifyMeshCreated(physicsScene, newShape, prim);
+                BulletShape newShape = retMesh.CreatePhysicalMesh(physicsScene, prim, newMeshKey, prim.BaseShape, prim.Size, lod);
 
-                retMesh = new BSShapeMesh(newShape);
+                // Check to see if mesh was created (might require an asset).
+                newShape = VerifyMeshCreated(physicsScene, newShape, prim);
+                if (!newShape.isNativeShape)
+                {
+                    // If a mesh was what was created, remember the built shape for later sharing.
+                    Meshes.Add(newMeshKey, retMesh);
+                }
 
-                Meshes.Add(newMeshKey, retMesh);
+                retMesh.physShapeInfo = newShape;
             }
         }
+        physicsScene.DetailLog("{0},BSShapeMesh,getReference,mesh={1},size={2},lod={3}", prim.LocalID, retMesh, prim.Size, lod);
         return retMesh;
     }
+    public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim)
+    {
+        // Another reference to this shape is just counted.
+        IncrementReference();
+        return this;
+    }
     public override void Dereference(BSScene physicsScene)
     {
         lock (Meshes)
         {
             this.DecrementReference();
+            physicsScene.DetailLog("{0},BSShapeMesh.Dereference,shape={1}", BSScene.DetailLogZero, this);
             // TODO: schedule aging and destruction of unused meshes.
         }
     }
+    // Loop through all the known meshes and return the description based on the physical address.
+    public static bool TryGetMeshByPtr(BulletShape pShape, out BSShapeMesh outMesh)
+    {
+        bool ret = false;
+        BSShapeMesh foundDesc = null;
+        lock (Meshes)
+        {
+            foreach (BSShapeMesh sm in Meshes.Values)
+            {
+                if (sm.physShapeInfo.ReferenceSame(pShape))
+                {
+                    foundDesc = sm;
+                    ret = true;
+                    break;
+                }
 
-    private static BulletShape CreatePhysicalMesh(BSScene physicsScene, BSPhysObject prim, System.UInt64 newMeshKey,
+            }
+        }
+        outMesh = foundDesc;
+        return ret;
+    }
+    private BulletShape CreatePhysicalMesh(BSScene physicsScene, BSPhysObject prim, System.UInt64 newMeshKey,
                                             PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
     {
-        BulletShape newShape = null;
+        BulletShape newShape = new BulletShape();
 
-        IMesh meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, 
+        IMesh meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod,
                                         false,  // say it is not physical so a bounding box is not built
                                         false   // do not cache the mesh and do not use previously built versions
                                         );
 
         if (meshData != null)
         {
+            if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched)
+            {
+                // Release the fetched asset data once it has been used.
+                pbs.SculptData = new byte[0];
+                prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Unknown;
+            }
 
             int[] indices = meshData.getIndexListAsInt();
             int realIndicesIndex = indices.Length;
@@ -302,8 +471,8 @@ public class BSShapeMesh : BSShape
                     }
                 }
             }
-            physicsScene.DetailLog("{0},BSShapeCollection.CreatePhysicalMesh,origTri={1},realTri={2},numVerts={3}",
-                        BSScene.DetailLogZero, indices.Length / 3, realIndicesIndex / 3, verticesAsFloats.Length / 3);
+            physicsScene.DetailLog("{0},BSShapeMesh.CreatePhysicalMesh,key={1},origTri={2},realTri={3},numVerts={4}",
+                        BSScene.DetailLogZero, newMeshKey.ToString("X"), indices.Length / 3, realIndicesIndex / 3, verticesAsFloats.Length / 3);
 
             if (realIndicesIndex != 0)
             {
@@ -326,17 +495,239 @@ public class BSShapeMesh : BSShape
 public class BSShapeHull : BSShape
 {
     private static string LogHeader = "[BULLETSIM SHAPE HULL]";
-    private static Dictionary<System.UInt64, BSShapeHull> Hulls = new Dictionary<System.UInt64, BSShapeHull>();
+    public static Dictionary<System.UInt64, BSShapeHull> Hulls = new Dictionary<System.UInt64, BSShapeHull>();
 
     public BSShapeHull(BulletShape pShape) : base(pShape)
     {
     }
     public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
     {
-        return new BSShapeNull();
+        float lod;
+        System.UInt64 newHullKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
+
+        BSShapeHull retHull = null;
+        lock (Hulls)
+        {
+            if (Hulls.TryGetValue(newHullKey, out retHull))
+            {
+                // The mesh has already been created. Return a new reference to same.
+                retHull.IncrementReference();
+            }
+            else
+            {
+                retHull = new BSShapeHull(new BulletShape());
+                // An instance of this mesh has not been created. Build and remember same.
+                BulletShape newShape = retHull.CreatePhysicalHull(physicsScene, prim, newHullKey, prim.BaseShape, prim.Size, lod);
+
+                // Check to see if hull was created (might require an asset).
+                newShape = VerifyMeshCreated(physicsScene, newShape, prim);
+                if (!newShape.isNativeShape)
+                {
+                    // If a mesh was what was created, remember the built shape for later sharing.
+                    Hulls.Add(newHullKey, retHull);
+                }
+                retHull.physShapeInfo = newShape;
+            }
+        }
+        physicsScene.DetailLog("{0},BSShapeHull,getReference,hull={1},size={2},lod={3}", prim.LocalID, retHull, prim.Size, lod);
+        return retHull;
+    }
+    public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim)
+    {
+        // Another reference to this shape is just counted.
+        IncrementReference();
+        return this;
     }
     public override void Dereference(BSScene physicsScene)
     {
+        lock (Hulls)
+        {
+            this.DecrementReference();
+            physicsScene.DetailLog("{0},BSShapeHull.Dereference,shape={1}", BSScene.DetailLogZero, this);
+            // TODO: schedule aging and destruction of unused meshes.
+        }
+    }
+    List<ConvexResult> m_hulls;
+    private BulletShape CreatePhysicalHull(BSScene physicsScene, BSPhysObject prim, System.UInt64 newHullKey,
+                                            PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
+    {
+        BulletShape newShape = new BulletShape();
+        IntPtr hullPtr = IntPtr.Zero;
+
+        if (BSParam.ShouldUseBulletHACD)
+        {
+            // Build the hull shape from an existing mesh shape.
+            // The mesh should have already been created in Bullet.
+            physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,shouldUseBulletHACD,entry", prim.LocalID);
+            BSShape meshShape = BSShapeMesh.GetReference(physicsScene, true, prim);
+
+            if (meshShape.physShapeInfo.HasPhysicalShape)
+            {
+                HACDParams parms;
+                parms.maxVerticesPerHull = BSParam.BHullMaxVerticesPerHull;
+                parms.minClusters = BSParam.BHullMinClusters;
+                parms.compacityWeight = BSParam.BHullCompacityWeight;
+                parms.volumeWeight = BSParam.BHullVolumeWeight;
+                parms.concavity = BSParam.BHullConcavity;
+                parms.addExtraDistPoints = BSParam.NumericBool(BSParam.BHullAddExtraDistPoints);
+                parms.addNeighboursDistPoints = BSParam.NumericBool(BSParam.BHullAddNeighboursDistPoints);
+                parms.addFacesPoints = BSParam.NumericBool(BSParam.BHullAddFacesPoints);
+                parms.shouldAdjustCollisionMargin = BSParam.NumericBool(BSParam.BHullShouldAdjustCollisionMargin);
+
+                physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,beforeCall", prim.LocalID, newShape.HasPhysicalShape);
+                newShape = physicsScene.PE.BuildHullShapeFromMesh(physicsScene.World, meshShape.physShapeInfo, parms);
+                physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape);
+
+                // Now done with the mesh shape.
+                meshShape.Dereference(physicsScene);
+            }
+            physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,shouldUseBulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape);
+        }
+        if (!newShape.HasPhysicalShape)
+        {
+            // Build a new hull in the physical world using the C# HACD algorigthm.
+            // Pass true for physicalness as this prevents the creation of bounding box which is not needed
+            IMesh meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, true /* isPhysical */, false /* shouldCache */);
+            if (meshData != null)
+            {
+                if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched)
+                {
+                    // Release the fetched asset data once it has been used.
+                    pbs.SculptData = new byte[0];
+                    prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Unknown;
+                }
+
+                int[] indices = meshData.getIndexListAsInt();
+                List<OMV.Vector3> vertices = meshData.getVertexList();
+
+                //format conversion from IMesh format to DecompDesc format
+                List<int> convIndices = new List<int>();
+                List<float3> convVertices = new List<float3>();
+                for (int ii = 0; ii < indices.GetLength(0); ii++)
+                {
+                    convIndices.Add(indices[ii]);
+                }
+                foreach (OMV.Vector3 vv in vertices)
+                {
+                    convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
+                }
+
+                uint maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplit;
+                if (BSParam.CSHullMaxDepthSplit != BSParam.CSHullMaxDepthSplitForSimpleShapes)
+                {
+                    // Simple primitive shapes we know are convex so they are better implemented with
+                    //    fewer hulls.
+                    // Check for simple shape (prim without cuts) and reduce split parameter if so.
+                    if (BSShapeCollection.PrimHasNoCuts(pbs))
+                    {
+                        maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplitForSimpleShapes;
+                    }
+                }
+
+                // setup and do convex hull conversion
+                m_hulls = new List<ConvexResult>();
+                DecompDesc dcomp = new DecompDesc();
+                dcomp.mIndices = convIndices;
+                dcomp.mVertices = convVertices;
+                dcomp.mDepth = maxDepthSplit;
+                dcomp.mCpercent = BSParam.CSHullConcavityThresholdPercent;
+                dcomp.mPpercent = BSParam.CSHullVolumeConservationThresholdPercent;
+                dcomp.mMaxVertices = (uint)BSParam.CSHullMaxVertices;
+                dcomp.mSkinWidth = BSParam.CSHullMaxSkinWidth;
+                ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
+                // create the hull into the _hulls variable
+                convexBuilder.process(dcomp);
+
+                physicsScene.DetailLog("{0},BSShapeCollection.CreatePhysicalHull,key={1},inVert={2},inInd={3},split={4},hulls={5}",
+                                    BSScene.DetailLogZero, newHullKey, indices.GetLength(0), vertices.Count, maxDepthSplit, m_hulls.Count);
+
+                // Convert the vertices and indices for passing to unmanaged.
+                // The hull information is passed as a large floating point array.
+                // The format is:
+                //  convHulls[0] = number of hulls
+                //  convHulls[1] = number of vertices in first hull
+                //  convHulls[2] = hull centroid X coordinate
+                //  convHulls[3] = hull centroid Y coordinate
+                //  convHulls[4] = hull centroid Z coordinate
+                //  convHulls[5] = first hull vertex X
+                //  convHulls[6] = first hull vertex Y
+                //  convHulls[7] = first hull vertex Z
+                //  convHulls[8] = second hull vertex X
+                //  ...
+                //  convHulls[n] = number of vertices in second hull
+                //  convHulls[n+1] = second hull centroid X coordinate
+                //  ...
+                //
+                // TODO: is is very inefficient. Someday change the convex hull generator to return
+                //   data structures that do not need to be converted in order to pass to Bullet.
+                //   And maybe put the values directly into pinned memory rather than marshaling.
+                int hullCount = m_hulls.Count;
+                int totalVertices = 1;          // include one for the count of the hulls
+                foreach (ConvexResult cr in m_hulls)
+                {
+                    totalVertices += 4;                         // add four for the vertex count and centroid
+                    totalVertices += cr.HullIndices.Count * 3;  // we pass just triangles
+                }
+                float[] convHulls = new float[totalVertices];
+
+                convHulls[0] = (float)hullCount;
+                int jj = 1;
+                foreach (ConvexResult cr in m_hulls)
+                {
+                    // copy vertices for index access
+                    float3[] verts = new float3[cr.HullVertices.Count];
+                    int kk = 0;
+                    foreach (float3 ff in cr.HullVertices)
+                    {
+                        verts[kk++] = ff;
+                    }
+
+                    // add to the array one hull's worth of data
+                    convHulls[jj++] = cr.HullIndices.Count;
+                    convHulls[jj++] = 0f;   // centroid x,y,z
+                    convHulls[jj++] = 0f;
+                    convHulls[jj++] = 0f;
+                    foreach (int ind in cr.HullIndices)
+                    {
+                        convHulls[jj++] = verts[ind].x;
+                        convHulls[jj++] = verts[ind].y;
+                        convHulls[jj++] = verts[ind].z;
+                    }
+                }
+                // create the hull data structure in Bullet
+                newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls);
+            }
+            newShape.shapeKey = newHullKey;
+        }
+        return newShape;
+    }
+    // Callback from convex hull creater with a newly created hull.
+    // Just add it to our collection of hulls for this shape.
+    private void HullReturn(ConvexResult result)
+    {
+        m_hulls.Add(result);
+        return;
+    }
+    // Loop through all the known hulls and return the description based on the physical address.
+    public static bool TryGetHullByPtr(BulletShape pShape, out BSShapeHull outHull)
+    {
+        bool ret = false;
+        BSShapeHull foundDesc = null;
+        lock (Hulls)
+        {
+            foreach (BSShapeHull sh in Hulls.Values)
+            {
+                if (sh.physShapeInfo.ReferenceSame(pShape))
+                {
+                    foundDesc = sh;
+                    ret = true;
+                    break;
+                }
+
+            }
+        }
+        outHull = foundDesc;
+        return ret;
     }
 }
 
@@ -344,14 +735,169 @@ public class BSShapeHull : BSShape
 public class BSShapeCompound : BSShape
 {
     private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]";
-    public BSShapeCompound() : base()
+    public BSShapeCompound(BulletShape pShape) : base(pShape)
     {
     }
-    public static BSShape GetReference(BSPhysObject prim) 
-    { 
-        return new BSShapeNull();
+    public static BSShape GetReference(BSScene physicsScene)
+    {
+        // Base compound shapes are not shared so this returns a raw shape.
+        // A built compound shape can be reused in linksets.
+        return new BSShapeCompound(CreatePhysicalCompoundShape(physicsScene));
+    }
+    public override BSShape GetReference(BSScene physicsScene, BSPhysObject prim)
+    {
+        // Calling this reference means we want another handle to an existing compound shape
+        //     (usually linksets) so return this copy.
+        IncrementReference();
+        return this;
+    }
+    // Dereferencing a compound shape releases the hold on all the child shapes.
+    public override void Dereference(BSScene physicsScene)
+    {
+        lock (physShapeInfo)
+        {
+            this.DecrementReference();
+            physicsScene.DetailLog("{0},BSShapeCompound.Dereference,shape={1}", BSScene.DetailLogZero, this);
+            if (referenceCount <= 0)
+            {
+                if (!physicsScene.PE.IsCompound(physShapeInfo))
+                {
+                    // Failed the sanity check!!
+                    physicsScene.Logger.ErrorFormat("{0} Attempt to free a compound shape that is not compound!! type={1}, ptr={2}",
+                                                LogHeader, physShapeInfo.shapeType, physShapeInfo.AddrString);
+                    physicsScene.DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}",
+                                                BSScene.DetailLogZero, physShapeInfo.shapeType, physShapeInfo.AddrString);
+                    return;
+                }
+
+                int numChildren = physicsScene.PE.GetNumberOfCompoundChildren(physShapeInfo);
+                physicsScene.DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}",
+                                        BSScene.DetailLogZero, physShapeInfo, numChildren);
+
+                // Loop through all the children dereferencing each.
+                for (int ii = numChildren - 1; ii >= 0; ii--)
+                {
+                    BulletShape childShape = physicsScene.PE.RemoveChildShapeFromCompoundShapeIndex(physShapeInfo, ii);
+                    DereferenceAnonCollisionShape(physicsScene, childShape);
+                }
+                physicsScene.PE.DeleteCollisionShape(physicsScene.World, physShapeInfo);
+            }
+        }
+    }
+    private static BulletShape CreatePhysicalCompoundShape(BSScene physicsScene)
+    {
+        BulletShape cShape = physicsScene.PE.CreateCompoundShape(physicsScene.World, false);
+        return cShape;
+    }
+    // Sometimes we have a pointer to a collision shape but don't know what type it is.
+    // Figure out type and call the correct dereference routine.
+    // Called at taint-time.
+    private void DereferenceAnonCollisionShape(BSScene physicsScene, BulletShape pShape)
+    {
+        BSShapeMesh meshDesc;
+        if (BSShapeMesh.TryGetMeshByPtr(pShape, out meshDesc))
+        {
+            meshDesc.Dereference(physicsScene);
+        }
+        else
+        {
+            BSShapeHull hullDesc;
+            if (BSShapeHull.TryGetHullByPtr(pShape, out hullDesc))
+            {
+                hullDesc.Dereference(physicsScene);
+            }
+            else
+            {
+                if (physicsScene.PE.IsCompound(pShape))
+                {
+                    BSShapeCompound recursiveCompound = new BSShapeCompound(pShape);
+                    recursiveCompound.Dereference(physicsScene);
+                }
+                else
+                {
+                    if (physicsScene.PE.IsNativeShape(pShape))
+                    {
+                        BSShapeNative nativeShape = new BSShapeNative(pShape);
+                        nativeShape.Dereference(physicsScene);
+                    }
+                }
+            }
+        }
+    }
+}
+
+// ============================================================================================================
+public class BSShapeConvexHull : BSShape
+{
+    private static string LogHeader = "[BULLETSIM SHAPE CONVEX HULL]";
+    public static Dictionary<System.UInt64, BSShapeConvexHull> ConvexHulls = new Dictionary<System.UInt64, BSShapeConvexHull>();
+
+    public BSShapeConvexHull(BulletShape pShape) : base(pShape)
+    {
+    }
+    public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
+    {
+        float lod;
+        System.UInt64 newMeshKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
+
+        physicsScene.DetailLog("{0},BSShapeMesh,getReference,newKey={1},size={2},lod={3}",
+                                prim.LocalID, newMeshKey.ToString("X"), prim.Size, lod);
+
+        BSShapeConvexHull retConvexHull = null;
+        lock (ConvexHulls)
+        {
+            if (ConvexHulls.TryGetValue(newMeshKey, out retConvexHull))
+            {
+                // The mesh has already been created. Return a new reference to same.
+                retConvexHull.IncrementReference();
+            }
+            else
+            {
+                retConvexHull = new BSShapeConvexHull(new BulletShape());
+                BulletShape convexShape = null;
+
+                // Get a handle to a mesh to build the hull from
+                BSShape baseMesh = BSShapeMesh.GetReference(physicsScene, false /* forceRebuild */, prim);
+                if (baseMesh.physShapeInfo.isNativeShape)
+                {
+                    // We get here if the mesh was not creatable. Could be waiting for an asset from the disk.
+                    // In the short term, we return the native shape and a later ForceBodyShapeRebuild should
+                    //     get back to this code with a buildable mesh.
+                    // TODO: not sure the temp native shape is freed when the mesh is rebuilt. When does this get freed?
+                    convexShape = baseMesh.physShapeInfo;
+                }
+                else
+                {
+                    convexShape = physicsScene.PE.BuildConvexHullShapeFromMesh(physicsScene.World, baseMesh.physShapeInfo);
+                    convexShape.shapeKey = newMeshKey;
+                    ConvexHulls.Add(convexShape.shapeKey, retConvexHull);
+                }
+
+                // Done with the base mesh
+                baseMesh.Dereference(physicsScene);
+
+                retConvexHull.physShapeInfo = convexShape;
+            }
+        }
+        return retConvexHull;
+    }
+    public override BSShape GetReference(BSScene physicsScene, BSPhysObject prim)
+    {
+        // Calling this reference means we want another handle to an existing shape
+        //     (usually linksets) so return this copy.
+        IncrementReference();
+        return this;
+    }
+    // Dereferencing a compound shape releases the hold on all the child shapes.
+    public override void Dereference(BSScene physicsScene)
+    {
+        lock (ConvexHulls)
+        {
+            this.DecrementReference();
+            physicsScene.DetailLog("{0},BSShapeConvexHull.Dereference,shape={1}", BSScene.DetailLogZero, this);
+            // TODO: schedule aging and destruction of unused meshes.
+        }
     }
-    public override void Dereference(BSScene physicsScene) { }
 }
 
 // ============================================================================================================
@@ -361,8 +907,12 @@ public class BSShapeAvatar : BSShape
     public BSShapeAvatar() : base()
     {
     }
-    public static BSShape GetReference(BSPhysObject prim) 
-    { 
+    public static BSShape GetReference(BSPhysObject prim)
+    {
+        return new BSShapeNull();
+    }
+    public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim)
+    {
         return new BSShapeNull();
     }
     public override void Dereference(BSScene physicsScene) { }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
index e4fecc3..c7deb4e 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
@@ -68,7 +68,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
 
     // This minCoords and maxCoords passed in give the size of the terrain (min and max Z
     //         are the high and low points of the heightmap).
-    public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, 
+    public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap,
                                                     Vector3 minCoords, Vector3 maxCoords)
         : base(physicsScene, regionBase, id)
     {
@@ -92,7 +92,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
     private void BuildHeightmapTerrain()
     {
         // Create the terrain shape from the mapInfo
-        m_mapInfo.terrainShape = PhysicsScene.PE.CreateTerrainShape( m_mapInfo.ID, 
+        m_mapInfo.terrainShape = m_physicsScene.PE.CreateTerrainShape( m_mapInfo.ID,
                                 new Vector3(m_mapInfo.sizeX, m_mapInfo.sizeY, 0), m_mapInfo.minZ, m_mapInfo.maxZ,
                                 m_mapInfo.heightMap, 1f, BSParam.TerrainCollisionMargin);
 
@@ -103,26 +103,26 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
         centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f);
         centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f);
 
-        m_mapInfo.terrainBody = PhysicsScene.PE.CreateBodyWithDefaultMotionState(m_mapInfo.terrainShape, 
+        m_mapInfo.terrainBody = m_physicsScene.PE.CreateBodyWithDefaultMotionState(m_mapInfo.terrainShape,
                                 m_mapInfo.ID, centerPos, Quaternion.Identity);
 
         // Set current terrain attributes
-        PhysicsScene.PE.SetFriction(m_mapInfo.terrainBody, BSParam.TerrainFriction);
-        PhysicsScene.PE.SetHitFraction(m_mapInfo.terrainBody, BSParam.TerrainHitFraction);
-        PhysicsScene.PE.SetRestitution(m_mapInfo.terrainBody, BSParam.TerrainRestitution);
-        PhysicsScene.PE.SetCollisionFlags(m_mapInfo.terrainBody, CollisionFlags.CF_STATIC_OBJECT);
+        m_physicsScene.PE.SetFriction(m_mapInfo.terrainBody, BSParam.TerrainFriction);
+        m_physicsScene.PE.SetHitFraction(m_mapInfo.terrainBody, BSParam.TerrainHitFraction);
+        m_physicsScene.PE.SetRestitution(m_mapInfo.terrainBody, BSParam.TerrainRestitution);
+        m_physicsScene.PE.SetCollisionFlags(m_mapInfo.terrainBody, CollisionFlags.CF_STATIC_OBJECT);
 
         // Return the new terrain to the world of physical objects
-        PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_mapInfo.terrainBody);
+        m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, m_mapInfo.terrainBody);
 
         // redo its bounding box now that it is in the world
-        PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_mapInfo.terrainBody);
+        m_physicsScene.PE.UpdateSingleAabb(m_physicsScene.World, m_mapInfo.terrainBody);
 
         m_mapInfo.terrainBody.collisionType = CollisionType.Terrain;
-        m_mapInfo.terrainBody.ApplyCollisionMask(PhysicsScene);
+        m_mapInfo.terrainBody.ApplyCollisionMask(m_physicsScene);
 
         // Make it so the terrain will not move or be considered for movement.
-        PhysicsScene.PE.ForceActivationState(m_mapInfo.terrainBody, ActivationState.DISABLE_SIMULATION);
+        m_physicsScene.PE.ForceActivationState(m_mapInfo.terrainBody, ActivationState.DISABLE_SIMULATION);
 
         return;
     }
@@ -134,9 +134,9 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
         {
             if (m_mapInfo.terrainBody.HasPhysicalBody)
             {
-                PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_mapInfo.terrainBody);
+                m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, m_mapInfo.terrainBody);
                 // Frees both the body and the shape.
-                PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_mapInfo.terrainBody);
+                m_physicsScene.PE.DestroyObject(m_physicsScene.World, m_mapInfo.terrainBody);
             }
         }
         m_mapInfo = null;
@@ -155,7 +155,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
         catch
         {
             // Sometimes they give us wonky values of X and Y. Give a warning and return something.
-            PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}",
+            m_physicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}",
                                 LogHeader, m_mapInfo.terrainRegionBase, pos);
             ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
         }
@@ -165,7 +165,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
     // The passed position is relative to the base of the region.
     public override float GetWaterLevelAtXYZ(Vector3 pos)
     {
-        return PhysicsScene.SimpleWaterLevel;
+        return m_physicsScene.SimpleWaterLevel;
     }
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
index 5240ad8..c4807c4 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
@@ -50,14 +50,14 @@ public abstract class BSTerrainPhys : IDisposable
         Mesh        = 1
     }
 
-    public BSScene PhysicsScene { get; private set; }
+    protected BSScene m_physicsScene { get; private set; }
     // Base of the region in world coordinates. Coordinates inside the region are relative to this.
     public Vector3 TerrainBase { get; private set; }
     public uint ID { get; private set; }
 
     public BSTerrainPhys(BSScene physicsScene, Vector3 regionBase, uint id)
     {
-        PhysicsScene = physicsScene;
+        m_physicsScene = physicsScene;
         TerrainBase = regionBase;
         ID = id;
     }
@@ -86,7 +86,7 @@ public sealed class BSTerrainManager : IDisposable
     public Vector3 DefaultRegionSize = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
 
     // The scene that I am part of
-    private BSScene PhysicsScene { get; set; }
+    private BSScene m_physicsScene { get; set; }
 
     // The ground plane created to keep thing from falling to infinity.
     private BulletBody m_groundPlane;
@@ -113,7 +113,7 @@ public sealed class BSTerrainManager : IDisposable
 
     public BSTerrainManager(BSScene physicsScene)
     {
-        PhysicsScene = physicsScene;
+        m_physicsScene = physicsScene;
         m_terrains = new Dictionary<Vector3,BSTerrainPhys>();
 
         // Assume one region of default size
@@ -132,21 +132,21 @@ public sealed class BSTerrainManager : IDisposable
     //    safe to call Bullet in real time. We hope no one is moving prims around yet.
     public void CreateInitialGroundPlaneAndTerrain()
     {
-        DetailLog("{0},BSTerrainManager.CreateInitialGroundPlaneAndTerrain,region={1}", BSScene.DetailLogZero, PhysicsScene.RegionName);
+        DetailLog("{0},BSTerrainManager.CreateInitialGroundPlaneAndTerrain,region={1}", BSScene.DetailLogZero, m_physicsScene.RegionName);
         // The ground plane is here to catch things that are trying to drop to negative infinity
-        BulletShape groundPlaneShape = PhysicsScene.PE.CreateGroundPlaneShape(BSScene.GROUNDPLANE_ID, 1f, BSParam.TerrainCollisionMargin);
-        m_groundPlane = PhysicsScene.PE.CreateBodyWithDefaultMotionState(groundPlaneShape, 
+        BulletShape groundPlaneShape = m_physicsScene.PE.CreateGroundPlaneShape(BSScene.GROUNDPLANE_ID, 1f, BSParam.TerrainCollisionMargin);
+        m_groundPlane = m_physicsScene.PE.CreateBodyWithDefaultMotionState(groundPlaneShape,
                                         BSScene.GROUNDPLANE_ID, Vector3.Zero, Quaternion.Identity);
 
-        PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_groundPlane);
-        PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_groundPlane);
+        m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, m_groundPlane);
+        m_physicsScene.PE.UpdateSingleAabb(m_physicsScene.World, m_groundPlane);
         // Ground plane does not move
-        PhysicsScene.PE.ForceActivationState(m_groundPlane, ActivationState.DISABLE_SIMULATION);
+        m_physicsScene.PE.ForceActivationState(m_groundPlane, ActivationState.DISABLE_SIMULATION);
         // Everything collides with the ground plane.
         m_groundPlane.collisionType = CollisionType.Groundplane;
-        m_groundPlane.ApplyCollisionMask(PhysicsScene);
+        m_groundPlane.ApplyCollisionMask(m_physicsScene);
 
-        BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize);
+        BSTerrainPhys initialTerrain = new BSTerrainHeightmap(m_physicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize);
         lock (m_terrains)
         {
             // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain.
@@ -157,12 +157,12 @@ public sealed class BSTerrainManager : IDisposable
     // Release all the terrain structures we might have allocated
     public void ReleaseGroundPlaneAndTerrain()
     {
-        DetailLog("{0},BSTerrainManager.ReleaseGroundPlaneAndTerrain,region={1}", BSScene.DetailLogZero, PhysicsScene.RegionName);
+        DetailLog("{0},BSTerrainManager.ReleaseGroundPlaneAndTerrain,region={1}", BSScene.DetailLogZero, m_physicsScene.RegionName);
         if (m_groundPlane.HasPhysicalBody)
         {
-            if (PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_groundPlane))
+            if (m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, m_groundPlane))
             {
-                PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_groundPlane);
+                m_physicsScene.PE.DestroyObject(m_physicsScene.World, m_groundPlane);
             }
             m_groundPlane.Clear();
         }
@@ -188,7 +188,7 @@ public sealed class BSTerrainManager : IDisposable
         float[] localHeightMap = heightMap;
         // If there are multiple requests for changes to the same terrain between ticks,
         //      only do that last one.
-        PhysicsScene.PostTaintObject("TerrainManager.SetTerrain-"+ m_worldOffset.ToString(), 0, delegate()
+        m_physicsScene.PostTaintObject("TerrainManager.SetTerrain-"+ m_worldOffset.ToString(), 0, delegate()
         {
             if (m_worldOffset != Vector3.Zero && MegaRegionParentPhysicsScene != null)
             {
@@ -219,7 +219,7 @@ public sealed class BSTerrainManager : IDisposable
     private void AddMegaRegionChildTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords)
     {
         // Since we are called by another region's thread, the action must be rescheduled onto our processing thread.
-        PhysicsScene.PostTaintObject("TerrainManager.AddMegaRegionChild" + minCoords.ToString(), id, delegate()
+        m_physicsScene.PostTaintObject("TerrainManager.AddMegaRegionChild" + minCoords.ToString(), id, delegate()
         {
             UpdateTerrain(id, heightMap, minCoords, maxCoords);
         });
@@ -318,26 +318,26 @@ public sealed class BSTerrainManager : IDisposable
     // TODO: redo terrain implementation selection to allow other base types than heightMap.
     private BSTerrainPhys BuildPhysicalTerrain(Vector3 terrainRegionBase, uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords)
     {
-        PhysicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}", 
-                                            LogHeader, PhysicsScene.RegionName, terrainRegionBase, 
+        m_physicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}",
+                                            LogHeader, m_physicsScene.RegionName, terrainRegionBase,
                                             (BSTerrainPhys.TerrainImplementation)BSParam.TerrainImplementation);
         BSTerrainPhys newTerrainPhys = null;
         switch ((int)BSParam.TerrainImplementation)
         {
             case (int)BSTerrainPhys.TerrainImplementation.Heightmap:
-                newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, terrainRegionBase, id,
+                newTerrainPhys = new BSTerrainHeightmap(m_physicsScene, terrainRegionBase, id,
                                             heightMap, minCoords, maxCoords);
                 break;
             case (int)BSTerrainPhys.TerrainImplementation.Mesh:
-                newTerrainPhys = new BSTerrainMesh(PhysicsScene, terrainRegionBase, id,
+                newTerrainPhys = new BSTerrainMesh(m_physicsScene, terrainRegionBase, id,
                                             heightMap, minCoords, maxCoords);
                 break;
             default:
-                PhysicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. Type={1}/{2},Region={3}/{4}",
-                                            LogHeader, 
-                                            (int)BSParam.TerrainImplementation, 
+                m_physicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. Type={1}/{2},Region={3}/{4}",
+                                            LogHeader,
+                                            (int)BSParam.TerrainImplementation,
                                             BSParam.TerrainImplementation,
-                                            PhysicsScene.RegionName, terrainRegionBase);
+                                            m_physicsScene.RegionName, terrainRegionBase);
                 break;
         }
         return newTerrainPhys;
@@ -429,8 +429,8 @@ public sealed class BSTerrainManager : IDisposable
         }
         else
         {
-            PhysicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}",
-                    LogHeader, PhysicsScene.RegionName, tX, tY);
+            m_physicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}",
+                    LogHeader, m_physicsScene.RegionName, tX, tY);
             DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXYZ,terrainNotFound,pos={1},base={2}",
                                 BSScene.DetailLogZero, pos, terrainBaseXYZ);
         }
@@ -451,8 +451,8 @@ public sealed class BSTerrainManager : IDisposable
         }
         else
         {
-            PhysicsScene.Logger.ErrorFormat("{0} GetWaterHeightAtXY: terrain not found: pos={1}, terrainBase={2}, height={3}",
-                    LogHeader, PhysicsScene.RegionName, pos, terrainBaseXYZ, ret);
+            m_physicsScene.Logger.ErrorFormat("{0} GetWaterHeightAtXY: terrain not found: pos={1}, terrainBase={2}, height={3}",
+                    LogHeader, m_physicsScene.RegionName, pos, terrainBaseXYZ, ret);
         }
         return ret;
     }
@@ -564,7 +564,7 @@ public sealed class BSTerrainManager : IDisposable
 
     private void DetailLog(string msg, params Object[] args)
     {
-        PhysicsScene.PhysicsLogging.Write(msg, args);
+        m_physicsScene.PhysicsLogging.Write(msg, args);
     }
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
index 2ce1513..e4ca098 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
@@ -51,7 +51,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys
     BulletShape m_terrainShape;
     BulletBody m_terrainBody;
 
-    public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize) 
+    public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize)
         : base(physicsScene, regionBase, id)
     {
     }
@@ -62,7 +62,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys
     }
 
     // Create terrain mesh from a heightmap.
-    public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, 
+    public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap,
                                                     Vector3 minCoords, Vector3 maxCoords)
         : base(physicsScene, regionBase, id)
     {
@@ -80,7 +80,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys
         if (BSParam.TerrainMeshMagnification == 1)
         {
             // If a magnification of one, use the old routine that is tried and true.
-            meshCreationSuccess = BSTerrainMesh.ConvertHeightmapToMesh(PhysicsScene,
+            meshCreationSuccess = BSTerrainMesh.ConvertHeightmapToMesh(m_physicsScene,
                                             initialMap, m_sizeX, m_sizeY,       // input size
                                             Vector3.Zero,                       // base for mesh
                                             out indicesCount, out indices, out verticesCount, out vertices);
@@ -88,7 +88,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys
         else
         {
             // Other magnifications use the newer routine
-            meshCreationSuccess = BSTerrainMesh.ConvertHeightmapToMesh2(PhysicsScene,
+            meshCreationSuccess = BSTerrainMesh.ConvertHeightmapToMesh2(m_physicsScene,
                                             initialMap, m_sizeX, m_sizeY,       // input size
                                             BSParam.TerrainMeshMagnification,
                                             physicsScene.TerrainManager.DefaultRegionSize,
@@ -98,21 +98,21 @@ public sealed class BSTerrainMesh : BSTerrainPhys
         if (!meshCreationSuccess)
         {
             // DISASTER!!
-            PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap,id={1}", BSScene.DetailLogZero, ID);
-            PhysicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh! base={1}", LogHeader, TerrainBase);
+            m_physicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap,id={1}", BSScene.DetailLogZero, ID);
+            m_physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh! base={1}", LogHeader, TerrainBase);
             // Something is very messed up and a crash is in our future.
             return;
         }
 
-        PhysicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,id={1},indices={2},indSz={3},vertices={4},vertSz={5}", 
+        m_physicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,id={1},indices={2},indSz={3},vertices={4},vertSz={5}",
                                 BSScene.DetailLogZero, ID, indicesCount, indices.Length, verticesCount, vertices.Length);
 
-        m_terrainShape = PhysicsScene.PE.CreateMeshShape(PhysicsScene.World, indicesCount, indices, verticesCount, vertices);
+        m_terrainShape = m_physicsScene.PE.CreateMeshShape(m_physicsScene.World, indicesCount, indices, verticesCount, vertices);
         if (!m_terrainShape.HasPhysicalShape)
         {
             // DISASTER!!
-            PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape,id={1}", BSScene.DetailLogZero, ID);
-            PhysicsScene.Logger.ErrorFormat("{0} Failed creation of terrain mesh! base={1}", LogHeader, TerrainBase);
+            m_physicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape,id={1}", BSScene.DetailLogZero, ID);
+            m_physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain mesh! base={1}", LogHeader, TerrainBase);
             // Something is very messed up and a crash is in our future.
             return;
         }
@@ -120,52 +120,52 @@ public sealed class BSTerrainMesh : BSTerrainPhys
         Vector3 pos = regionBase;
         Quaternion rot = Quaternion.Identity;
 
-        m_terrainBody = PhysicsScene.PE.CreateBodyWithDefaultMotionState(m_terrainShape, ID, pos, rot);
+        m_terrainBody = m_physicsScene.PE.CreateBodyWithDefaultMotionState(m_terrainShape, ID, pos, rot);
         if (!m_terrainBody.HasPhysicalBody)
         {
             // DISASTER!!
-            PhysicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase);
+            m_physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase);
             // Something is very messed up and a crash is in our future.
             return;
         }
         physicsScene.PE.SetShapeCollisionMargin(m_terrainShape, BSParam.TerrainCollisionMargin);
 
         // Set current terrain attributes
-        PhysicsScene.PE.SetFriction(m_terrainBody, BSParam.TerrainFriction);
-        PhysicsScene.PE.SetHitFraction(m_terrainBody, BSParam.TerrainHitFraction);
-        PhysicsScene.PE.SetRestitution(m_terrainBody, BSParam.TerrainRestitution);
-        PhysicsScene.PE.SetContactProcessingThreshold(m_terrainBody, BSParam.TerrainContactProcessingThreshold);
-        PhysicsScene.PE.SetCollisionFlags(m_terrainBody, CollisionFlags.CF_STATIC_OBJECT);
+        m_physicsScene.PE.SetFriction(m_terrainBody, BSParam.TerrainFriction);
+        m_physicsScene.PE.SetHitFraction(m_terrainBody, BSParam.TerrainHitFraction);
+        m_physicsScene.PE.SetRestitution(m_terrainBody, BSParam.TerrainRestitution);
+        m_physicsScene.PE.SetContactProcessingThreshold(m_terrainBody, BSParam.TerrainContactProcessingThreshold);
+        m_physicsScene.PE.SetCollisionFlags(m_terrainBody, CollisionFlags.CF_STATIC_OBJECT);
 
         // Static objects are not very massive.
-        PhysicsScene.PE.SetMassProps(m_terrainBody, 0f, Vector3.Zero);
+        m_physicsScene.PE.SetMassProps(m_terrainBody, 0f, Vector3.Zero);
 
         // Put the new terrain to the world of physical objects
-        PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_terrainBody);
+        m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, m_terrainBody);
 
         // Redo its bounding box now that it is in the world
-        PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_terrainBody);
+        m_physicsScene.PE.UpdateSingleAabb(m_physicsScene.World, m_terrainBody);
 
         m_terrainBody.collisionType = CollisionType.Terrain;
-        m_terrainBody.ApplyCollisionMask(PhysicsScene);
+        m_terrainBody.ApplyCollisionMask(m_physicsScene);
 
         if (BSParam.UseSingleSidedMeshes)
         {
-            PhysicsScene.DetailLog("{0},BSTerrainMesh.settingCustomMaterial,id={1}", BSScene.DetailLogZero, id);
-            PhysicsScene.PE.AddToCollisionFlags(m_terrainBody, CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK);
+            m_physicsScene.DetailLog("{0},BSTerrainMesh.settingCustomMaterial,id={1}", BSScene.DetailLogZero, id);
+            m_physicsScene.PE.AddToCollisionFlags(m_terrainBody, CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK);
         }
 
         // Make it so the terrain will not move or be considered for movement.
-        PhysicsScene.PE.ForceActivationState(m_terrainBody, ActivationState.DISABLE_SIMULATION);
+        m_physicsScene.PE.ForceActivationState(m_terrainBody, ActivationState.DISABLE_SIMULATION);
     }
 
     public override void Dispose()
     {
         if (m_terrainBody.HasPhysicalBody)
         {
-            PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_terrainBody);
+            m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, m_terrainBody);
             // Frees both the body and the shape.
-            PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_terrainBody);
+            m_physicsScene.PE.DestroyObject(m_physicsScene.World, m_terrainBody);
             m_terrainBody.Clear();
             m_terrainShape.Clear();
         }
@@ -185,7 +185,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys
         catch
         {
             // Sometimes they give us wonky values of X and Y. Give a warning and return something.
-            PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}",
+            m_physicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}",
                                                 LogHeader, TerrainBase, pos);
             ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
         }
@@ -195,7 +195,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys
     // The passed position is relative to the base of the region.
     public override float GetWaterLevelAtXYZ(Vector3 pos)
     {
-        return PhysicsScene.SimpleWaterLevel;
+        return m_physicsScene.SimpleWaterLevel;
     }
 
     // Convert the passed heightmap to mesh information suitable for CreateMeshShape2().
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
index 8012d91..d5060e3 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
@@ -104,11 +104,11 @@ public class BulletShape
 {
     public BulletShape()
     {
-        type = BSPhysicsShapeType.SHAPE_UNKNOWN;
+        shapeType = BSPhysicsShapeType.SHAPE_UNKNOWN;
         shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE;
         isNativeShape = false;
     }
-    public BSPhysicsShapeType type;
+    public BSPhysicsShapeType shapeType;
     public System.UInt64 shapeKey;
     public bool isNativeShape;
 
@@ -133,7 +133,7 @@ public class BulletShape
         buff.Append("<p=");
         buff.Append(AddrString);
         buff.Append(",s=");
-        buff.Append(type.ToString());
+        buff.Append(shapeType.ToString());
         buff.Append(",k=");
         buff.Append(shapeKey.ToString("X"));
         buff.Append(",n=");
@@ -224,42 +224,42 @@ public static class BulletSimData
 // As mentioned above, don't use the CollisionFilterGroups definitions directly in the code
 //     but, instead, use references to this dictionary. Finding and debugging
 //     collision flag problems will be made easier.
-public static Dictionary<CollisionType, CollisionTypeFilterGroup> CollisionTypeMasks 
+public static Dictionary<CollisionType, CollisionTypeFilterGroup> CollisionTypeMasks
             = new Dictionary<CollisionType, CollisionTypeFilterGroup>()
 {
-    { CollisionType.Avatar, 
-                new CollisionTypeFilterGroup(CollisionType.Avatar, 
-                                (uint)CollisionFilterGroups.BCharacterGroup, 
+    { CollisionType.Avatar,
+                new CollisionTypeFilterGroup(CollisionType.Avatar,
+                                (uint)CollisionFilterGroups.BCharacterGroup,
                                 (uint)CollisionFilterGroups.BAllGroup)
     },
-    { CollisionType.Groundplane, 
-                new CollisionTypeFilterGroup(CollisionType.Groundplane, 
-                                (uint)CollisionFilterGroups.BGroundPlaneGroup, 
+    { CollisionType.Groundplane,
+                new CollisionTypeFilterGroup(CollisionType.Groundplane,
+                                (uint)CollisionFilterGroups.BGroundPlaneGroup,
                                 (uint)CollisionFilterGroups.BAllGroup)
     },
-    { CollisionType.Terrain, 
-                new CollisionTypeFilterGroup(CollisionType.Terrain, 
-                                (uint)CollisionFilterGroups.BTerrainGroup, 
+    { CollisionType.Terrain,
+                new CollisionTypeFilterGroup(CollisionType.Terrain,
+                                (uint)CollisionFilterGroups.BTerrainGroup,
                                 (uint)(CollisionFilterGroups.BAllGroup & ~CollisionFilterGroups.BStaticGroup))
     },
-    { CollisionType.Static, 
-                new CollisionTypeFilterGroup(CollisionType.Static, 
-                                (uint)CollisionFilterGroups.BStaticGroup, 
+    { CollisionType.Static,
+                new CollisionTypeFilterGroup(CollisionType.Static,
+                                (uint)CollisionFilterGroups.BStaticGroup,
                                 (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup))
     },
-    { CollisionType.Dynamic, 
-                new CollisionTypeFilterGroup(CollisionType.Dynamic, 
-                                (uint)CollisionFilterGroups.BSolidGroup, 
+    { CollisionType.Dynamic,
+                new CollisionTypeFilterGroup(CollisionType.Dynamic,
+                                (uint)CollisionFilterGroups.BSolidGroup,
                                 (uint)(CollisionFilterGroups.BAllGroup))
     },
-    { CollisionType.VolumeDetect, 
-                new CollisionTypeFilterGroup(CollisionType.VolumeDetect, 
-                                (uint)CollisionFilterGroups.BSensorTrigger, 
+    { CollisionType.VolumeDetect,
+                new CollisionTypeFilterGroup(CollisionType.VolumeDetect,
+                                (uint)CollisionFilterGroups.BSensorTrigger,
                                 (uint)(~CollisionFilterGroups.BSensorTrigger))
     },
     { CollisionType.LinksetChild,
-                new CollisionTypeFilterGroup(CollisionType.LinksetChild, 
-                                (uint)CollisionFilterGroups.BLinksetChildGroup, 
+                new CollisionTypeFilterGroup(CollisionType.LinksetChild,
+                                (uint)CollisionFilterGroups.BLinksetChildGroup,
                                 (uint)(CollisionFilterGroups.BNoneGroup))
                                 // (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup))
     },
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
index 1284ae7..5792ae6 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -1,3 +1,12 @@
+PROBLEMS TO LOOK INTO
+=================================================
+Nebadon vehicle ride, get up, ride again. Second time vehicle does not act correctly.
+        Have to rez new vehicle and delete the old to fix situation.
+Hitting RESET on Nebadon's vehicle while riding causes vehicle to get into odd
+        position state where it will not settle onto ground properly, etc
+Two of Nebadon vehicles in a sim max the CPU. This is new.
+A sitting, active vehicle bobs up and down a small amount.
+
 CURRENT PRIORITIES
 =================================================
 Use the HACD convex hull routine in Bullet rather than the C# version.  
@@ -11,6 +20,8 @@ Deleting a linkset while standing on the root will leave the physical shape of t
 Linkset child rotations.
         Nebadon spiral tube has middle sections which are rotated wrong.
         Select linked spiral tube. Delink and note where the middle section ends up.
+Refarb compound linkset creation to create a pseudo-root for center-of-mass
+        Let children change their shape to physical indendently and just add shapes to compound
 Vehicle angular vertical attraction
 vehicle angular banking
 Center-of-gravity
@@ -27,14 +38,13 @@ llLookAt
 Avatars walking up stairs (HALF DONE)
 Avatar movement
         flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE)
-        walking up stairs is not calibrated correctly (stairs out of Kepler cabin)
+        walking up stairs is not calibrated correctly (stairs out of Kepler cabin) (DONE)
         avatar capsule rotation completed (NOT DONE - Bullet's capsule shape is not the solution)
 Vehicle script tuning/debugging
         Avanti speed script
         Weapon shooter script
 Move material definitions (friction, ...) into simulator.
 Add material densities to the material types.
-Terrain detail: double terrain mesh detail
 One sided meshes? Should terrain be built into a closed shape?
         When meshes get partially wedged into the terrain, they cannot push themselves out.
         It is possible that Bullet processes collisions whether entering or leaving a mesh.
@@ -42,6 +52,9 @@ One sided meshes? Should terrain be built into a closed shape?
 
 VEHICLES TODO LIST:
 =================================================
+LINEAR_MOTOR_DIRECTION values should be clamped to reasonable numbers.
+        What are the limits in SL?
+        Same for other velocity settings.
 UBit improvements to remove rubber-banding of avatars sitting on vehicle child prims:
         https://github.com/UbitUmarov/Ubit-opensim
 Border crossing with linked vehicle causes crash
@@ -347,4 +360,5 @@ Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE.
         DONE 20130120: BulletSim properly applies force in vehicle relative coordinates.
 Nebadon vehicles turning funny in arena (DONE)
 Lock axis (DONE 20130401)
+Terrain detail: double terrain mesh detail (DONE)