16 files changed, 413 insertions, 51 deletions

diff --git a/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs b/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs
index eefcdad..bfbc480 100644
--- a/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs
+++ b/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs
@@ -77,6 +77,7 @@ namespace OpenSim.Framework.Servers.HttpServer
         // protected HttpListener m_httpListener;
         protected CoolHTTPListener m_httpListener2;
         protected Dictionary<string, XmlRpcMethod> m_rpcHandlers        = new Dictionary<string, XmlRpcMethod>();
+        protected Dictionary<string, JsonRPCMethod> jsonRpcHandlers     = new Dictionary<string, JsonRPCMethod>();
         protected Dictionary<string, bool> m_rpcHandlersKeepAlive       = new Dictionary<string, bool>();
         protected DefaultLLSDMethod m_defaultLlsdHandler = null; // <--   Moving away from the monolithic..  and going to /registered/
         protected Dictionary<string, LLSDMethod> m_llsdHandlers         = new Dictionary<string, LLSDMethod>();
@@ -217,6 +218,37 @@ namespace OpenSim.Framework.Servers.HttpServer
                 return new List<string>(m_rpcHandlers.Keys);
         }
 
+        // JsonRPC 
+        public bool AddJsonRPCHandler(string method, JsonRPCMethod handler)
+        {
+            lock(jsonRpcHandlers)
+            {
+                jsonRpcHandlers.Add(method, handler);
+            }
+            return true;
+        }
+
+        public JsonRPCMethod GetJsonRPCHandler(string method)
+        {
+            lock (jsonRpcHandlers)
+            {
+                if (jsonRpcHandlers.ContainsKey(method))
+                {
+                    return jsonRpcHandlers[method];
+                }
+                else
+                {
+                    return null;
+                }
+            }
+        }
+
+        public List<string> GetJsonRpcHandlerKeys()
+        {
+            lock (jsonRpcHandlers)
+                return new List<string>(jsonRpcHandlers.Keys);
+        }
+
         public bool AddHTTPHandler(string methodName, GenericHTTPMethod handler)
         {
             //m_log.DebugFormat("[BASE HTTP SERVER]: Registering {0}", methodName);
@@ -557,10 +589,18 @@ namespace OpenSim.Framework.Servers.HttpServer
     
                             buffer = HandleLLSDRequests(request, response);
                             break;
+
+                        case "application/json-rpc":
+                            if (DebugLevel >= 3)
+                                LogIncomingToContentTypeHandler(request);
+
+                            buffer = HandleJsonRpcRequests(request, response);
+                            break;
     
                         case "text/xml":
                         case "application/xml":
                         case "application/json":
+
                         default:
                             //m_log.Info("[Debug BASE HTTP SERVER]: in default handler");
                             // Point of note..  the DoWeHaveA methods check for an EXACT path
@@ -986,6 +1026,74 @@ namespace OpenSim.Framework.Servers.HttpServer
             return buffer;
         }
 
+        // JsonRpc (v2.0 only)
+        private byte[] HandleJsonRpcRequests(OSHttpRequest request, OSHttpResponse response)
+        {
+            Stream requestStream = request.InputStream;
+            JsonRpcResponse jsonRpcResponse = new JsonRpcResponse();
+            OSDMap jsonRpcRequest = null;
+
+            try
+            {
+                jsonRpcRequest = (OSDMap)OSDParser.DeserializeJson(requestStream);
+            }
+            catch (LitJson.JsonException e)
+            {
+                jsonRpcResponse.Error.Code = ErrorCode.InternalError;
+                jsonRpcResponse.Error.Message = e.Message;
+            }
+            
+            requestStream.Close();
+
+            if (jsonRpcRequest != null)
+            {
+                if (jsonRpcRequest.ContainsKey("jsonrpc") || jsonRpcRequest["jsonrpc"].AsString() == "2.0")
+                {
+                    jsonRpcResponse.JsonRpc = "2.0";
+
+                    // If we have no id, then it's a "notification"
+                    if (jsonRpcRequest.ContainsKey("id"))
+                    {
+                        jsonRpcResponse.Id = jsonRpcRequest["id"].AsString();
+                    }
+
+                    string methodname = jsonRpcRequest["method"];
+                    JsonRPCMethod method;
+
+                    if (jsonRpcHandlers.ContainsKey(methodname))
+                    {
+                        lock(jsonRpcHandlers)
+                        {
+                            jsonRpcHandlers.TryGetValue(methodname, out method);
+                        }
+
+                        method(jsonRpcRequest, ref jsonRpcResponse);
+                    }
+                    else // Error no hanlder defined for requested method
+                    {
+                        jsonRpcResponse.Error.Code = ErrorCode.InvalidRequest;
+                        jsonRpcResponse.Error.Message = string.Format ("No handler defined for {0}", methodname);
+                    }
+                }
+                else // not json-rpc 2.0 could be v1
+                {
+                    jsonRpcResponse.Error.Code = ErrorCode.InvalidRequest;
+                    jsonRpcResponse.Error.Message = "Must be valid json-rpc 2.0 see: http://www.jsonrpc.org/specification";
+
+                    if (jsonRpcRequest.ContainsKey("id"))
+                        jsonRpcResponse.Id = jsonRpcRequest["id"].AsString();
+                }
+            }
+
+            response.KeepAlive = true;
+            string responseData = string.Empty;
+
+            responseData = jsonRpcResponse.Serialize();
+       
+            byte[] buffer = Encoding.UTF8.GetBytes(responseData);
+            return buffer;
+        }
+
         private byte[] HandleLLSDRequests(OSHttpRequest request, OSHttpResponse response)
         {
             //m_log.Warn("[BASE HTTP SERVER]: We've figured out it's a LLSD Request");
diff --git a/OpenSim/Framework/Servers/HttpServer/Interfaces/IHttpServer.cs b/OpenSim/Framework/Servers/HttpServer/Interfaces/IHttpServer.cs
index 0bd3aae..13b5dd3 100644
--- a/OpenSim/Framework/Servers/HttpServer/Interfaces/IHttpServer.cs
+++ b/OpenSim/Framework/Servers/HttpServer/Interfaces/IHttpServer.cs
@@ -97,6 +97,8 @@ namespace OpenSim.Framework.Servers.HttpServer
         bool AddXmlRPCHandler(string method, XmlRpcMethod handler);
         bool AddXmlRPCHandler(string method, XmlRpcMethod handler, bool keepAlive);
 
+        bool AddJsonRPCHandler(string method, JsonRPCMethod handler);
+
         /// <summary>
         /// Gets the XML RPC handler for given method name
         /// </summary>
diff --git a/OpenSim/Framework/Servers/HttpServer/JsonRPCMethod.cs b/OpenSim/Framework/Servers/HttpServer/JsonRPCMethod.cs
new file mode 100644
index 0000000..7334049
--- /dev/null
+++ b/OpenSim/Framework/Servers/HttpServer/JsonRPCMethod.cs
@@ -0,0 +1,34 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System.Net;
+using OpenMetaverse.StructuredData;
+
+namespace OpenSim.Framework.Servers.HttpServer
+{
+    public delegate void JsonRPCMethod(OSDMap jsonRpcRequest, ref JsonRpcResponse response);
+}
diff --git a/OpenSim/Framework/Servers/HttpServer/JsonRpcResponse.cs b/OpenSim/Framework/Servers/HttpServer/JsonRpcResponse.cs
new file mode 100644
index 0000000..2c50587
--- /dev/null
+++ b/OpenSim/Framework/Servers/HttpServer/JsonRpcResponse.cs
@@ -0,0 +1,150 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Net;
+using OpenMetaverse.StructuredData;
+
+namespace OpenSim.Framework.Servers.HttpServer
+{
+    public sealed class ErrorCode
+    {
+        private ErrorCode() {}
+
+        public const int ParseError = -32700;
+        public const int InvalidRequest = -32600;
+        public const int MethodNotFound = -32601;
+        public const int InvalidParams = -32602;
+        public const int InternalError = -32604;
+
+    }
+
+    public class JsonRpcError
+    {
+        internal OSDMap Error = new OSDMap();
+
+        public int Code
+        {
+            get
+            {
+                if (Error.ContainsKey("code"))
+                    return Error["code"].AsInteger();
+                else
+                    return 0;
+            }
+            set
+            {
+                Error["code"] = OSD.FromInteger(value);
+            }
+        }
+
+        public string Message
+        {
+            get
+            {
+                if (Error.ContainsKey("message"))
+                    return Error["message"].AsString();
+                else
+                    return null;
+            }
+            set
+            {
+                Error["message"] = OSD.FromString(value);
+            }
+        }
+
+        public OSD Data
+        {
+            get; set;
+        }
+    }
+
+    public class JsonRpcResponse
+    {
+        public string JsonRpc
+        {
+            get
+            {
+                return Reply["jsonrpc"].AsString();
+            }
+            set
+            {
+                Reply["jsonrpc"] = OSD.FromString(value);
+            }
+        }
+
+        public string Id
+        {
+            get
+            {
+                return Reply["id"].AsString();
+            }
+            set
+            {
+                Reply["id"] = OSD.FromString(value);
+            }
+        }
+
+        public OSD Result
+        {
+            get; set;
+        }
+
+        public JsonRpcError Error
+        {
+            get; set;
+        }
+
+        public OSDMap Reply = new OSDMap();
+
+        public JsonRpcResponse()
+        {
+            Error = new JsonRpcError();
+        }
+
+        public string Serialize()
+        {
+            if (Result != null)
+                Reply["result"] = Result;
+
+            if (Error.Code != 0)
+            {
+                Reply["error"] = (OSD)Error.Error;
+            }
+
+            string result = string.Empty;
+            try
+            {
+                result = OSDParser.SerializeJsonString(Reply);
+            }
+            catch
+            {
+
+            }
+            return result; 
+        }
+    }
+}
diff --git a/OpenSim/Framework/Servers/MainServer.cs b/OpenSim/Framework/Servers/MainServer.cs
index ae7d515..293887f 100644
--- a/OpenSim/Framework/Servers/MainServer.cs
+++ b/OpenSim/Framework/Servers/MainServer.cs
@@ -230,6 +230,10 @@ namespace OpenSim.Framework.Servers
                     List<String> poll = httpServer.GetPollServiceHandlerKeys();
                     foreach (String s in httpServer.GetHTTPHandlerKeys())
                         handlers.AppendFormat("\t{0} {1}\n", s, (poll.Contains(s) ? "(poll service)" : string.Empty));
+                    
+                    handlers.AppendFormat("* JSONRPC:\n");
+                    foreach (String s in httpServer.GetJsonRpcHandlerKeys())
+                        handlers.AppendFormat("\t{0}\n", s);
         
 //                    handlers.AppendFormat("* Agent:\n");
 //                    foreach (String s in httpServer.GetAgentHandlerKeys())
diff --git a/OpenSim/Region/ClientStack/Linden/UDP/LLClientView.cs b/OpenSim/Region/ClientStack/Linden/UDP/LLClientView.cs
index ddbd677..6428b86 100644
--- a/OpenSim/Region/ClientStack/Linden/UDP/LLClientView.cs
+++ b/OpenSim/Region/ClientStack/Linden/UDP/LLClientView.cs
@@ -6600,19 +6600,10 @@ namespace OpenSim.Region.ClientStack.LindenUDP
                 #endregion
 
                 AgentRequestSit handlerAgentRequestSit = OnAgentRequestSit;
-                if (handlerAgentRequestSit != null)
-                    if (!(agentRequestSit.AgentData == null
-                        || agentRequestSit.TargetObject == null
-                        || agentRequestSit.TargetObject.TargetID == null
-                        || agentRequestSit.TargetObject.Offset == null))
-                    {
-                        var sp = m_scene.GetScenePresence(agentRequestSit.AgentData.AgentID);
-                        if (sp == null || sp.ParentID != 0) // ignore packet if agent is already sitting
-                            return true;
 
-                        handlerAgentRequestSit(this, agentRequestSit.AgentData.AgentID,
-                                               agentRequestSit.TargetObject.TargetID, agentRequestSit.TargetObject.Offset);
-                    }
+                if (handlerAgentRequestSit != null)
+                    handlerAgentRequestSit(this, agentRequestSit.AgentData.AgentID,
+                                           agentRequestSit.TargetObject.TargetID, agentRequestSit.TargetObject.Offset);
             }
             return true;
         }
diff --git a/OpenSim/Region/Framework/Scenes/ScenePresence.cs b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
index 1d6898b..c2ff110 100644
--- a/OpenSim/Region/Framework/Scenes/ScenePresence.cs
+++ b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
@@ -2197,6 +2197,10 @@ namespace OpenSim.Region.Framework.Scenes
 
             if (ParentID != 0)
             {
+                var targetPart = m_scene.GetSceneObjectPart(targetID);
+                if (targetPart != null && targetPart.LocalId == ParentID)
+                    return; // already sitting here, ignore
+
                 StandUp();
             }
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index 0fef67c..ae54499 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -166,7 +166,7 @@ public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParamet
 
     // If Debug logging level, enable logging from the unmanaged code
     m_DebugLogCallbackHandle = null;
-    if (BSScene.m_log.IsDebugEnabled || PhysicsScene.PhysicsLogging.Enabled)
+    if (BSScene.m_log.IsDebugEnabled && PhysicsScene.PhysicsLogging.Enabled)
     {
         BSScene.m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", BSScene.LogHeader);
         if (PhysicsScene.PhysicsLogging.Enabled)
@@ -202,7 +202,7 @@ private void BulletLoggerPhysLog(string msg)
 }
 
 public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
-                        out int updatedEntityCount, out int collidersCount)
+                                        out int updatedEntityCount, out int collidersCount)
 {
     BulletWorldUnman worldu = world as BulletWorldUnman;
     return BSAPICPP.PhysicsStep2(worldu.ptr, timeStep, maxSubSteps, fixedTimeStep, out updatedEntityCount, out collidersCount);
@@ -212,6 +212,19 @@ public override void Shutdown(BulletWorld world)
 {
     BulletWorldUnman worldu = world as BulletWorldUnman;
     BSAPICPP.Shutdown2(worldu.ptr);
+
+    if (m_paramsHandle.IsAllocated)
+    {
+        m_paramsHandle.Free();
+    }
+    if (m_collisionArrayPinnedHandle.IsAllocated)
+    {
+        m_collisionArrayPinnedHandle.Free();
+    }
+    if (m_updateArrayPinnedHandle.IsAllocated)
+    {
+        m_updateArrayPinnedHandle.Free();
+    }
 }
 
 public override bool PushUpdate(BulletBody obj)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index aadb583..a5fec87 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -126,9 +126,9 @@ public sealed class BSCharacter : BSPhysObject
         DetailLog("{0},BSCharacter.Destroy", LocalID);
         PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
         {
-            PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
+            PhysicsScene.Shapes.DereferenceBody(PhysBody, true /* inTaintTime */, null /* bodyCallback */);
             PhysBody.Clear();
-            PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
+            PhysicsScene.Shapes.DereferenceShape(PhysShape, true /* inTaintTime */, null /* bodyCallback */);
             PhysShape.Clear();
         });
     }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index bcebaec..e434412 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -124,9 +124,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         static readonly float PIOverTwo = ((float)Math.PI) / 2f;
 
         // For debugging, flags to turn on and off individual corrections.
-        private bool enableAngularVerticalAttraction = true;
-        private bool enableAngularDeflection = true;
-        private bool enableAngularBanking = true;
+        private bool enableAngularVerticalAttraction;
+        private bool enableAngularDeflection;
+        private bool enableAngularBanking;
 
         public BSDynamics(BSScene myScene, BSPrim myPrim)
         {
@@ -141,8 +141,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         public void SetupVehicleDebugging()
         {
             enableAngularVerticalAttraction = true;
-            enableAngularDeflection = true;
-            enableAngularBanking = true;
+            enableAngularDeflection = false;
+            enableAngularBanking = false;
             if (BSParam.VehicleDebuggingEnabled != ConfigurationParameters.numericFalse)
             {
                 enableAngularVerticalAttraction = false;
@@ -649,6 +649,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         private Quaternion m_knownOrientation;
         private Vector3 m_knownRotationalVelocity;
         private Vector3 m_knownRotationalForce;
+        private Vector3 m_knownRotationalImpulse;
         private Vector3 m_knownForwardVelocity;    // vehicle relative forward speed
 
         private const int m_knownChangedPosition           = 1 << 0;
@@ -658,9 +659,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         private const int m_knownChangedOrientation        = 1 << 4;
         private const int m_knownChangedRotationalVelocity = 1 << 5;
         private const int m_knownChangedRotationalForce    = 1 << 6;
-        private const int m_knownChangedTerrainHeight      = 1 << 7;
-        private const int m_knownChangedWaterLevel         = 1 << 8;
-        private const int m_knownChangedForwardVelocity    = 1 << 9;
+        private const int m_knownChangedRotationalImpulse  = 1 << 7;
+        private const int m_knownChangedTerrainHeight      = 1 << 8;
+        private const int m_knownChangedWaterLevel         = 1 << 9;
+        private const int m_knownChangedForwardVelocity    = 1 <<10;
 
         private void ForgetKnownVehicleProperties()
         {
@@ -700,6 +702,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     PhysicsScene.PE.SetInterpolationAngularVelocity(Prim.PhysBody, m_knownRotationalVelocity);
                 }
 
+                if ((m_knownChanged & m_knownChangedRotationalImpulse) != 0)
+                    Prim.ApplyTorqueImpulse((Vector3)m_knownRotationalImpulse, true /*inTaintTime*/);
+
                 if ((m_knownChanged & m_knownChangedRotationalForce) != 0)
                 {
                     Prim.AddAngularForce((Vector3)m_knownRotationalForce, false /*pushForce*/, true /*inTaintTime*/);
@@ -843,6 +848,17 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             m_knownChanged |= m_knownChangedRotationalForce;
             m_knownHas |= m_knownChangedRotationalForce;
         }
+        private void VehicleAddRotationalImpulse(Vector3 pImpulse)
+        {
+            if ((m_knownHas & m_knownChangedRotationalImpulse) == 0)
+            {
+                m_knownRotationalImpulse = Vector3.Zero;
+                m_knownHas |= m_knownChangedRotationalImpulse;
+            }
+            m_knownRotationalImpulse += pImpulse;
+            m_knownChanged |= m_knownChangedRotationalImpulse;
+        }
+
         // Vehicle relative forward velocity
         private Vector3 VehicleForwardVelocity
         {
@@ -1031,16 +1047,32 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 else
                 {
                     // Error is positive if below the target and negative if above.
-                    float verticalError = m_VhoverTargetHeight - VehiclePosition.Z;
-                    float verticalCorrectionVelocity = verticalError / m_VhoverTimescale * pTimestep;
+                    Vector3 hpos = VehiclePosition;
+                    float verticalError = m_VhoverTargetHeight - hpos.Z;
+                    float verticalCorrection = verticalError / m_VhoverTimescale;
+                    verticalCorrection *= m_VhoverEfficiency;
+
+                    hpos.Z += verticalCorrection;
+                    VehiclePosition = hpos;
+
+                    // Since we are hovering, we need to do the opposite of falling -- get rid of world Z
+                    Vector3 vel = VehicleVelocity;
+                    vel.Z = 0f;
+                    VehicleVelocity = vel;
+
+                    /*
+                    float verticalCorrectionVelocity = verticalError / m_VhoverTimescale;
+                    Vector3 verticalCorrection = new Vector3(0f, 0f, verticalCorrectionVelocity);
+                    verticalCorrection *= m_vehicleMass;
 
                     // TODO: implement m_VhoverEfficiency correctly
-                    VehicleAddForceImpulse(new Vector3(0f, 0f, verticalCorrectionVelocity));
+                    VehicleAddForceImpulse(verticalCorrection);
+                     */
 
-                    VDetailLog("{0},  MoveLinear,hover,pos={1},eff={2},hoverTS={3},height={4},target={5},err={6},corrVel={7}",
+                    VDetailLog("{0},  MoveLinear,hover,pos={1},eff={2},hoverTS={3},height={4},target={5},err={6},corr={7}",
                                     Prim.LocalID, VehiclePosition, m_VhoverEfficiency,
                                     m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight,
-                                    verticalError, verticalCorrectionVelocity);
+                                    verticalError, verticalCorrection);
                 }
 
             }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 5a1b5c7..2dc89b5 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -195,8 +195,11 @@ public sealed class BSLinksetCompound : BSLinkset
                 && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))
         {
             // TODO: replace this with are calculation of the child prim's orientation and pos.
-            updated.LinksetInfo = null;
-            ScheduleRebuild(updated);
+            // TODO: for the moment, don't rebuild the compound shape.
+            //    This is often just the car turning its wheels. When we can just reorient the one
+            //    member shape of the compound shape, the overhead of rebuilding won't be a problem.
+            // updated.LinksetInfo = null;
+            // ScheduleRebuild(updated);
         }
     }
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index 27ff047..862dbf6 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -318,13 +318,13 @@ public static class BSParam
             (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularSleepingThreshold=x;}, p, l, v); },
             (s,o,v) => { s.PE.SetSleepingThresholds(o.PhysBody, v, v); } ),
         new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ,
-            0f,     // set to zero to disable
+            0.3f,     // set to zero to disable
             (s,cf,p,v) => { CcdMotionThreshold = cf.GetFloat(p, v); },
             (s) => { return CcdMotionThreshold; },
             (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdMotionThreshold=x;}, p, l, v); },
             (s,o,v) => { s.PE.SetCcdMotionThreshold(o.PhysBody, v); } ),
         new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" ,
-            0f,
+            0.2f,
             (s,cf,p,v) => { CcdSweptSphereRadius = cf.GetFloat(p, v); },
             (s) => { return CcdSweptSphereRadius; },
             (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdSweptSphereRadius=x;}, p, l, v); },
@@ -465,7 +465,7 @@ public static class BSParam
             (s) => { return s.UnmanagedParams[0].shouldSplitSimulationIslands; },
             (s,p,l,v) => { s.UnmanagedParams[0].shouldSplitSimulationIslands = v; } ),
             new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching",
-            ConfigurationParameters.numericFalse,
+            ConfigurationParameters.numericTrue,
             (s,cf,p,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
             (s) => { return s.UnmanagedParams[0].shouldEnableFrictionCaching; },
             (s,p,l,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = v; } ),
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 185f111..821f470 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -382,10 +382,13 @@ public abstract class BSPhysObject : PhysicsActor
     {
         string identifier = op + "-" + id.ToString();
 
-        // Clean out any existing action
-        UnRegisterPreStepAction(op, id);
+        lock (RegisteredActions)
+        {
+            // Clean out any existing action
+            UnRegisterPreStepAction(op, id);
 
-        RegisteredActions[identifier] = actn;
+            RegisteredActions[identifier] = actn;
+        }
         PhysicsScene.BeforeStep += actn;
         DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier);
     }
@@ -395,22 +398,28 @@ public abstract class BSPhysObject : PhysicsActor
     {
         string identifier = op + "-" + id.ToString();
         bool removed = false;
-        if (RegisteredActions.ContainsKey(identifier))
+        lock (RegisteredActions)
         {
-            PhysicsScene.BeforeStep -= RegisteredActions[identifier];
-            RegisteredActions.Remove(identifier);
-            removed = true;
+            if (RegisteredActions.ContainsKey(identifier))
+            {
+                PhysicsScene.BeforeStep -= RegisteredActions[identifier];
+                RegisteredActions.Remove(identifier);
+                removed = true;
+            }
         }
         DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed);
     }
 
     protected void UnRegisterAllPreStepActions()
     {
-        foreach (KeyValuePair<string, BSScene.PreStepAction> kvp in RegisteredActions)
+        lock (RegisteredActions)
         {
-            PhysicsScene.BeforeStep -= kvp.Value;
+            foreach (KeyValuePair<string, BSScene.PreStepAction> kvp in RegisteredActions)
+            {
+                PhysicsScene.BeforeStep -= kvp.Value;
+            }
+            RegisteredActions.Clear();
         }
-        RegisteredActions.Clear();
         DetailLog("{0},BSPhysObject.UnRegisterAllPreStepActions,", LocalID);
     }
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index e5f7ab7..79fe632 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -379,7 +379,7 @@ public sealed class BSPrim : BSPhysObject
             // If the object is below ground it just has to be moved up because pushing will
             //     not get it through the terrain
             _position.Z = targetHeight;
-            if (!inTaintTime)
+            if (inTaintTime)
                 ForcePosition = _position;
             ret = true;
         }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index a5bdc07..e0b4992 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -387,12 +387,14 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         if (!m_initialized) return null;
 
         BSCharacter actor = new BSCharacter(localID, avName, this, position, size, isFlying);
-        lock (PhysObjects) PhysObjects.Add(localID, actor);
+        lock (PhysObjects)
+            PhysObjects.Add(localID, actor);
 
         // TODO: Remove kludge someday.
         // We must generate a collision for avatars whether they collide or not.
         // This is required by OpenSim to update avatar animations, etc.
-        lock (m_avatars) m_avatars.Add(actor);
+        lock (m_avatars)
+            m_avatars.Add(actor);
 
         return actor;
     }
@@ -408,9 +410,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         {
             try
             {
-                lock (PhysObjects) PhysObjects.Remove(actor.LocalID);
+                lock (PhysObjects)
+                    PhysObjects.Remove(bsactor.LocalID);
                 // Remove kludge someday
-                lock (m_avatars) m_avatars.Remove(bsactor);
+                lock (m_avatars)
+                    m_avatars.Remove(bsactor);
             }
             catch (Exception e)
             {
@@ -419,6 +423,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             bsactor.Destroy();
             // bsactor.dispose();
         }
+        else
+        {
+            m_log.ErrorFormat("{0}: Requested to remove avatar that is not a BSCharacter. ID={1}, type={2}",
+                                        LogHeader, actor.LocalID, actor.GetType().Name);
+        }
     }
 
     public override void RemovePrim(PhysicsActor prim)
diff --git a/OpenSim/Server/Base/ServerUtils.cs b/OpenSim/Server/Base/ServerUtils.cs
index 3f208bf..2e6d279 100644
--- a/OpenSim/Server/Base/ServerUtils.cs
+++ b/OpenSim/Server/Base/ServerUtils.cs
@@ -280,8 +280,11 @@ namespace OpenSim.Server.Base
                             {
                                 if (!(e is System.MissingMethodException))
                                 {
-                                    m_log.ErrorFormat("Error loading plugin {0} from {1}. Exception: {2}",
-                                        interfaceName, dllName, e.InnerException == null ? e.Message : e.InnerException.Message);
+                                    m_log.ErrorFormat("Error loading plugin {0} from {1}. Exception: {2}, {3}",
+                                        interfaceName, 
+                                        dllName, 
+                                        e.InnerException == null ? e.Message : e.InnerException.Message, 
+                                        e.StackTrace);
                                 }
                                 return null;
                             }